Movement assistance method, device and apparatus, electronic device, and storage medium

Abstract

Embodiments of the present disclosure relate to the technical field of biomedical engineering, and provide a movement assistance method, device and apparatus, an electronic device, and a storage medium. The method comprises: acquiring, in real time, target foot features of a subject based on a current activity type, wherein the target foot features comprise: a plurality of target foot actions and moments corresponding to the target foot actions; on the basis of a preset movement relationship feature model, determining a first correspondence describing a target foot action and the current activity type as a target correspondence, and determining a target waiting duration, a target auxiliary muscle group, and a target stimulation duration described in the target correspondence; and determining a stimulation moment on the basis of a moment corresponding to the target foot action and the target waiting duration, and assisting muscle activation of the subject by providing, at the stimulation moment, a stimulation signal of which the duration is the target stimulation duration to the target auxiliary muscle group, thereby achieving movement assistance.

Description

Motion assistance method, device, apparatus, electronic device, and storage medium TECHNICAL FIELD

[0001] The present application relates to the technical field of biomedical engineering, in particular, the present application relates to a motion assistance method, device, apparatus, electronic device and storage medium. BACKGROUND

[0002] With the development of society, people's sports health consciousness gradually enhanced, for the sports health has a further pursuit. At present, the athletes usually use elastic band or fitness equipment, by increasing external resistance or providing additional strength to enhance muscle activity, so as to assist more effectively for strength training, but the way of motion posture specification and muscle strength in this way need to be actively controlled by the athletes.

[0003] The above-mentioned motion assistance method is more suitable for athletes who have a certain sports foundation and muscle control ability. However, some athletes may have specific muscle weakness, muscle pain or neurological disorders, so that specific muscles cannot reasonably exert force, resulting in incorrect overall body movement posture, leading to problems such as heavy joint load, insufficient motion stability, some muscles are strong and some muscles are weak, etc. Long-term incorrect movement posture or excessive movement is easy to cause various physical injuries, and there is no effective method to solve or partially solve the above problems.

[0004] In this case, it is urgent to provide a motion assistance scheme to assist the muscle strength of the athletes. SUMMARY

[0005] The embodiments of the present disclosure provide a motion assistance method, device, apparatus, electronic device, computer readable storage medium and computer program product, which are used to solve the technical problem that the motion assistance scheme in the prior art cannot assist the muscle strength of the motion object.

[0006] According to an aspect of an embodiment of the present disclosure, a motion assistance method is provided, comprising:

[0007] Real-time acquisition of target foot features of the motion object based on the current motion type, the target foot features comprising: a plurality of target foot actions and time points corresponding to the target foot actions;

[0008] According to the preset motion relationship feature model, a first corresponding relationship describing the target foot action and the current motion type is determined as a target corresponding relationship, and a target waiting time length, a target auxiliary muscle group and a target stimulation time length described in the target corresponding relationship are determined;

[0009] determine a stimulation time according to the time corresponding to the target foot action and the target waiting time length, and provide a stimulation signal to the target auxiliary muscle group at the stimulation time, and a duration of providing the stimulation signal is the target stimulation time length;

[0010] The movement relationship feature model is used to describe each first corresponding relationship, and each first corresponding relationship is used to describe a corresponding relationship of one movement type, one foot action, one auxiliary muscle group, one waiting time length, and one stimulation time length.

[0011] According to another aspect of the embodiments of the present disclosure, a movement assistance device is provided, including at least one sensor and a processing unit.

[0012] The sensor is used to collect, in real time, a target foot feature of a movement object based on a current movement type;

[0013] The processing unit is used to perform the steps of the movement assistance method provided in any of the embodiments.

[0014] According to another aspect of the embodiments of the present disclosure, a movement assistance device is provided, including:

[0015] The feature acquisition module is used to acquire, in real time, a target foot feature of a movement object based on a current movement type, and the target foot feature includes a plurality of target foot actions and a time corresponding to each target foot action;

[0016] The target determination module is used to determine, according to a preset movement relationship feature model, a first corresponding relationship describing a target foot action and a current movement type as a target corresponding relationship, and determine a target waiting time length, a target auxiliary muscle group, and a target stimulation time length described in the target corresponding relationship;

[0017] The muscle group stimulation module is used to determine a stimulation time according to the time corresponding to the target foot action and the target waiting time length, and provide a stimulation signal to the target auxiliary muscle group at the stimulation time, and a duration of providing the stimulation signal is the target stimulation time length;

[0018] The movement relationship feature model is used to describe each first corresponding relationship, and each first corresponding relationship is used to describe a corresponding relationship of one movement type, one foot action, one auxiliary muscle group, one waiting time length, and one stimulation time length.

[0019] According to another aspect of the embodiments of the present disclosure, an electronic device is provided, including a memory, a processor, and a computer program stored in the memory, and the processor executes the computer program to implement the steps of the method provided in any of the embodiments.

[0020] According to a further aspect of the embodiments of the present disclosure, a computer readable storage medium is provided, and the computer readable storage medium has stored thereon a computer program. The computer program is configured to implement the steps of the method provided by any of the embodiments when executed by a processor.

[0021] According to an aspect of the embodiments of the present disclosure, a computer program product is provided, and the computer program product comprises a computer program. The computer program is configured to implement the steps of the method provided by any of the embodiments when executed by a processor.

[0022] The technical scheme provided by the embodiments of the present disclosure has the following beneficial effects:

[0023] The preset motion relationship feature model describes the corresponding relationship between the motion type, the foot action, the auxiliary muscle group, the waiting time length and the continuous time length. When the motion object performs the motion, after the corresponding foot action of the motion object and the time corresponding to the foot action are obtained, the stimulation time can be determined according to the current motion type, the time corresponding to the target foot action and the target waiting time length. At the corresponding stimulation time, the auxiliary muscle group corresponding to the motion object is provided with a stimulation signal with a target stimulation time length for a continuous time length, and the target muscle group corresponding to the motion object is assisted to exert force. BRIEF DESCRIPTION OF DRAWINGS

[0024] In order to more clearly illustrate the technical scheme in the embodiments of the present disclosure, the drawings needed to be used in the description of the embodiments of the present disclosure will be briefly introduced.

[0025] FIG. 1 is a flowchart of a motion assisting method according to an embodiment of the present disclosure;

[0026] FIG. 2 is a schematic diagram of a time corresponding to a foot action according to an embodiment of the present disclosure;

[0027] FIG. 3 is a schematic diagram of a motion state corresponding to a running motion type according to an embodiment of the present disclosure;

[0028] FIG. 4 is a schematic diagram of a structure of a motion assisting device according to an embodiment of the present disclosure;

[0029] FIG. 5 is a schematic diagram of a structure of an electronic device according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0030] The embodiments of the present disclosure will be described below in conjunction with the drawings in the present disclosure. It should be understood that the embodiments described below in conjunction with the drawings are exemplary descriptions for explaining the technical scheme of the embodiments of the present disclosure, and do not limit the technical scheme of the embodiments of the present disclosure.

[0031] It is to be understood that the singular forms "a," "an," and "the" include plural referents unless the context clearly dictates otherwise. It is further understood that the terms "comprising," "including," "containing," and "having" and the like, when used in the specification, specify the presence of stated features, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof. It is further understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements can be present. In addition, the use of "connection" or "coupling" herein also includes wireless connection or wireless coupling. As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items.

[0032] In order to make the purposes, technical solutions and advantages of the present disclosure clearer, the embodiments of the present disclosure will be further described in detail below with reference to the drawings.

[0033] The technical solutions of the embodiments of the present disclosure and the technical effects brought by the technical solutions of the present disclosure will be described below through the description of several exemplary embodiments. It should be pointed out that the following embodiments can be mutually referenced, borrowed or combined, and the same terms, similar features and similar implementation steps in different embodiments will not be repeatedly described.

[0034] The technical solutions of the embodiments of the present disclosure and the technical effects brought by the technical solutions of the present disclosure will be described below through the description of several exemplary embodiments. It should be pointed out that the following embodiments can be mutually referenced, borrowed or combined, and the same terms, similar features and similar implementation steps in different embodiments will not be repeatedly described.

[0035] It can be understood that any method step in the motion assistance method provided by the embodiments of the present disclosure can be executed by a terminal and / or a server, and all steps in the method can be executed independently by a terminal or a server, or jointly executed by a terminal and a server.

[0036] The server can be a stand-alone physical server, a server cluster composed of multiple physical servers, or a distributed system, and can also be a cloud server providing cloud computing services. The terminal can be a smartphone, a tablet computer, a notebook computer, a desktop computer, a smart voice interaction device (such as a smart speaker), a wearable electronic device (such as a smart watch), a vehicle terminal, a smart home appliance (such as a smart television), an AR / VR device, and the like, but is not limited thereto.

[0037] The server is used as an execution subject to introduce the embodiments of the present disclosure, but this does not constitute a limitation on the embodiments of the present disclosure.

[0038] FIG. 1 is a flowchart of a motion assisting method according to an embodiment of the present disclosure. As shown in FIG. 1, the technical solution provided by the present disclosure includes the following steps:

[0039] In step S101, real-time target foot features of a motion object based on a current motion type are acquired, and the target foot features include a plurality of target foot actions and time points corresponding to the target foot actions.

[0040] Specifically, taking any motion object performing a motion of a current motion type as an example, the method provided by the present disclosure is described in detail.

[0041] In step S101, the motion object performs a motion based on a current motion type, and real-time target foot features corresponding to the motion of the motion object are acquired, and the target foot features include a plurality of target foot actions and time points corresponding to the target foot actions. It should be noted that in the present disclosure, “target” is used to distinguish the foot features as real-time foot features.

[0042] It can be understood that the foot features include foot actions and time points corresponding to the foot actions, the foot action refers to a specific action performed by the foot when the motion object performs a motion of a current motion type, and the time point corresponding to the foot action refers to a time point at which the foot action occurs, reflecting the moment at which the foot action occurs.

[0043] For example, the current motion type can be walking, running, Burpee jumping, cycling, and the like. When the motion type is walking or running, the foot action can include corresponding heel landing, toe landing, heel lifting, and toe lifting of the ipsilateral foot and the contralateral foot. When the motion type is Burpee jumping, the corresponding foot action can include the actions of lifting both feet and landing both feet. When the motion type is cycling, a coordinate system is established in the vertical and horizontal directions, and the foot action can be the action of rotating the ipsilateral foot and the contralateral foot to 0°, 90°, 180°, and 270° on the pedal.

[0044] It can be understood that the above movement types and foot actions are only used as specific examples to assist in describing the embodiments of the present disclosure, and in actual applications, the specific types and number of foot actions are related to the current movement type. The specific movement type and corresponding foot action can be determined according to actual needs.

[0045] In addition, the specific way of obtaining the above foot action and the time corresponding to the foot action, and the specific type of the sensor used, can be determined according to actual needs.

[0046] In step S102, a first corresponding relationship describing a target foot action and a current movement type is determined according to a preset movement relationship feature model, as a target corresponding relationship, a target waiting time, a target auxiliary muscle group and a target stimulation time described in the target corresponding relationship are determined.

[0047] The movement relationship feature model is used to describe each first corresponding relationship, and each first corresponding relationship is used to describe the corresponding relationship of a movement type, a foot action, an auxiliary muscle group, a waiting time and a stimulation time.

[0048] Specifically, in order to analyze the movement relationship between the foot action and the auxiliary muscle group in the movement process, the embodiments of the present disclosure preset a movement relationship feature model to describe the corresponding relationship of the movement type, the foot action, the auxiliary muscle group, the waiting time and the stimulation time.

[0049] The movement relationship feature model can be used to describe at least one first corresponding relationship, and each first corresponding relationship is used to describe the corresponding relationship of a movement type, a foot action, an auxiliary muscle group, a waiting time and a stimulation time. The auxiliary muscle group refers to a muscle group that completes a specific action in the movement process, that is, at least one muscle that contracts and exerts force when completing a specific action.

[0050] It should be noted that the movement relationship feature model is used to determine the corresponding relationship between the foot action and the muscle group (auxiliary muscle group) associated with the foot action for exerting force. The waiting time refers to the interval time between the time corresponding to the foot action and the time when the auxiliary muscle group starts to exert force, and the stimulation time refers to the time for providing stimulation to the auxiliary muscle group when the method provided by the embodiments of the present disclosure is used. The auxiliary muscle group, the waiting time and the stimulation time corresponding to different types of foot actions can be different, and the specific corresponding relationship and the specific value of the time can be determined according to actual needs.

[0051] It can be understood that the specific form of the movement relationship feature model is determined according to actual needs, including but not limited to a model composed of a mapping corresponding relationship, a machine learning model, etc.

[0052] In step S102, a first corresponding relationship describing the target foot action and the current motion type is determined according to a preset motion relationship feature model, as a target corresponding relationship, and a target waiting time length, a target auxiliary muscle group and a target stimulation time length corresponding to the target foot action described in the target corresponding relationship are determined according to the corresponding relationship between the foot action, the auxiliary muscle group, the waiting time length and the stimulation time length described by the target corresponding relationship.

[0053] In step S103, a stimulation time is determined according to the time corresponding to the target foot action and the target waiting time length, and a stimulation signal is provided to the target auxiliary muscle group at the stimulation time, and the duration of providing the stimulation signal is the target stimulation time length.

[0054] Specifically, in step S103, a stimulation time is determined according to the time corresponding to the target foot action and the target waiting time length, and a stimulation signal is provided to the target auxiliary muscle group at the stimulation time, and the duration of providing the stimulation signal is the target stimulation time length.

[0055] It can be understood that, in the embodiments of the present disclosure, by providing a stimulation signal to the target auxiliary muscle group, the target auxiliary muscle group is assisted in the contraction movement while actively exerting force to contract, so as to achieve motion assistance.

[0056] The type of the stimulation signal includes, but is not limited to, an electrical stimulation signal, a local low-temperature stimulation signal, an external pressure stimulation signal, etc.

[0057] For example, when the stimulation signal is an electrical stimulation signal, an alternating current small current provided by an electrical muscle stimulation (EMS) device can be used to provide the electrical stimulation signal through a conductive patch attached to the skin near the muscle, to generate a weak potential difference to trigger the contraction response of the muscle. Because there are calcium, magnesium and other ions in the muscle fibers, the nerve electrical signal control can trigger the contraction response of the muscle, and the weak potential difference transmitted to the muscle by the nerve endings will trigger the contraction response of the muscle. If the weak potential transmitted to the muscle by the nerve endings is replaced by external current stimulation of the muscle, the same contraction action is generated, thereby assisting the target muscle group to perform the contraction action. Further, it can be achieved that, during the motion process, the muscle that cannot exert force makes reasonable muscle contraction to achieve the purpose of assisting the action.

[0058] When the stimulation signal is a low-temperature stimulation signal, considering the importance of temperature to the biological activities of the body, the metabolism and electrical signal transmission in the nervous tissue exhibit a certain temperature dependence. When a low-temperature stimulation signal is provided, the local cooling of the nerves around the auxiliary muscle group can be achieved, and the conduction speed and intensity of the nerve signals can be significantly reduced, which has the advantages of rapid reversibility and non-addiction. Considering that the signal blocking in the process of nerve impulse transmission of mammals usually occurs below 15℃, the low-temperature stimulation signal can be cold air released on the skin surface corresponding to the pain area, and a temperature stimulation signal with a temperature of 4℃ is provided. The rhythm and intensity of the release are controlled by cycles.

[0059] In addition to assisting the muscle group in the movement process of a healthy person, the method can also be used for pain relief by using the gate control theory. According to the different conduction speeds of the human body to various sensations, the conduction speed of some pain sensations will be slower. By providing a stimulation, the nerves can be controlled by the gate, so that the movement object cannot temporarily feel the pain, and part of the muscle can be assisted to relieve pain, so that the injured muscle group can still exert force normally.

[0060] For example, the ankle is injured and the muscle is in acute inflammation, and every step will cause pain and cannot exert force normally. The movement assistance method provided by the embodiment of the present disclosure can be used to reduce the pain of the ankle injury patient when exerting force while walking by providing a stimulation signal.

[0061] The technical solution provided by the embodiment of the present disclosure describes the corresponding relationship among the movement type, the foot action, the auxiliary muscle group, the waiting time length and the continuous time length by using the pre-set movement relationship feature model. After the corresponding foot action of the movement object is acquired and the time corresponding to the foot action is acquired, the stimulation time can be determined according to the current movement type, the time corresponding to the target foot action and the target waiting time length. The stimulation signal with the target stimulation time length is provided to the corresponding auxiliary muscle group of the movement object at the corresponding stimulation time, and the corresponding target muscle group of the movement object is assisted to exert force.

[0062] The method for affecting the muscle exertion in the prior art usually uses a device to assist traction or provides an electric stimulation to the muscle to achieve rehabilitation treatment. However, this method needs more sensors and more complex devices. The biological electric signals are collected by using a plurality of sensors attached to the human body to determine the time when the electric stimulation is provided to the muscle. The device is expensive and complex, and has poor convenience and limited application scenarios. Compared with the above method, the scheme provided by the present application can be widely applied to various scenes by using the association method of the target foot feature.

[0063] In one possible implementation, the stimulation time is determined according to the time corresponding to the target foot action and the target waiting time length, and the stimulation signal is provided to the target auxiliary muscle group at the stimulation time. Before that, the method further includes:

[0064] obtaining a plurality of continuous foot features of the moving object, each foot feature comprising a plurality of foot actions;

[0065] If the sequence of each foot action in the plurality of continuous foot features is consistent, it is determined that the movement action of the moving object is periodically stable.

[0066] Specifically, in order to ensure the accuracy of the stimulation signal applied at the stimulation time, so as to avoid the error of the auxiliary muscle force caused by the inaccurate stimulation time, and thus the improper execution of the movement action of the moving object, and the risk of injury of the moving object.

[0067] The movement assisting method provided by the embodiments of the present disclosure determines the stimulation time according to the time corresponding to the target foot action and the target waiting time, and provides a stimulation signal to the target auxiliary muscle group at the stimulation time. Before that, it is also necessary to determine whether the movement action of the moving object is periodically stable, and the specific steps are as follows.

[0068] obtaining a plurality of continuous foot features of the moving object, each foot feature comprising a plurality of foot actions;

[0069] determining whether the sequence of each foot action corresponding to each foot feature is consistent, and if the sequence of each foot action in the plurality of continuous foot features is consistent, it is determined that the movement action of the moving object is periodically stable.

[0070] On the contrary, it is considered that the movement action of the moving object is not periodically stable, and the subsequent step of providing a stimulation signal is not performed.

[0071] It can be understood that the plurality of continuous foot features are used as the basis for determining whether the movement action of the moving object is periodically stable, wherein the specific number of foot features is determined according to actual needs (such as the foot feature corresponding to the current time and the two foot features before the current time) each time. Each foot feature comprises a plurality of foot actions, and the specific type and number of foot actions can be determined according to actual needs.

[0072] The technical scheme provided by the embodiments of the present disclosure acquires a plurality of continuous foot features of the moving object, analyzes the plurality of foot actions corresponding to each foot feature, determines whether the sequence of the foot action corresponding to each foot feature is consistent, and if it is determined that the sequence of the foot action is consistent, it is determined that the movement action of the moving object is stable and repeated when the moving object is moving, indicating that the movement action of the moving object is periodically stable. A stimulation signal is provided to the moving object to improve the accuracy of the stimulation signal providing time.

[0073] In one possible implementation, the waiting time is determined according to the foot feature period corresponding to the foot action, the muscle contraction time coefficient, and the movement coefficient corresponding to the moving object;

[0074] The stimulation duration is determined according to the foot feature period corresponding to the foot action, the muscle contraction time period coefficient, and the movement coefficient.

[0075] The foot feature period is a period determined according to a time corresponding to the foot action, and the time corresponding to the foot action includes at least one of a start time, a peak time, and an end time. The start time refers to a time when a foot region corresponding to the foot action contacts a preset contact surface. The peak time refers to a time when the foot region compacts the preset contact surface. The end time refers to a time when the foot action is completed.

[0076] The muscle contraction time coefficient is used to indicate a ratio of a time from a start time of the foot feature period to a start time of the contraction of the auxiliary muscle group to the foot feature period.

[0077] The muscle contraction time period coefficient is used to indicate a ratio of a period corresponding to a start of the contraction of the auxiliary muscle group to an end of the contraction to the foot feature period.

[0078] The movement coefficient is used to indicate a movement ability of the movement object.

[0079] Specifically, the embodiments of the present disclosure determine the waiting duration and the stimulation duration by analyzing a relationship between the foot action and a start time and a duration of the contraction of the auxiliary muscle group in the movement process.

[0080] The waiting duration is determined according to the foot feature period corresponding to the foot action, the muscle contraction time coefficient, and the movement coefficient corresponding to the movement object.

[0081] The stimulation duration is determined according to the foot feature period corresponding to the foot action, the muscle contraction time period coefficient, and the movement coefficient.

[0082] The muscle contraction time coefficient is used to indicate a ratio of a time from a start time of the foot feature period to a start time of the contraction of the auxiliary muscle group to the foot feature period. The muscle contraction time period coefficient is used to indicate a ratio of a period corresponding to a start of the contraction of the auxiliary muscle group to an end of the contraction to the foot feature period. The movement coefficient is used to indicate a movement ability of the movement object.

[0083] The foot feature period is a period determined according to a time corresponding to the foot action. The time corresponding to the foot action includes at least one of a start time, a peak time, and an end time. The start time refers to a time when a foot region corresponding to the foot action contacts a preset contact surface. The peak time refers to a time when the foot region compacts the preset contact surface. The end time refers to a time when the foot action is completed.

[0084] That is, in the movement process, according to the contact condition of the foot action and the preset contact surface, the time corresponding to each foot action can be divided into the start time, the peak time, and the end time. In actual application, the time corresponding to the foot action includes at least one of the above three types of time.

[0085] For example, taking running as an example of the type of movement, one gait cycle corresponds to one foot feature, and the foot action in one foot feature includes: the heel landing, the foot sole landing and the toe landing actions corresponding to the ipsilateral foot and the contralateral foot.

[0086] Figure 2 is a schematic diagram of the time acquisition corresponding to the foot action provided by the embodiment of the present disclosure. As shown in Figure 2, when the sensor for acquiring the time of the foot action is a sound sensor, the horizontal axis of the upper half of Figure 2 represents time, and the vertical axis represents decibels. According to Figure 2(A), it can be determined that the peak time corresponding to each foot action can be determined according to the decibel value of the sound. The horizontal axis of the lower half of Figure 2 represents time, and the vertical axis represents frequency. The darkness of the color represents the decibel size (from deep to shallow, indicating that the decibel is from large to small). According to the frequency of the sound signal shown in Figure 2(B), the start time and the end time corresponding to each foot action can be determined.

[0087] According to any two time points, a time period can be determined, which is the foot feature time period. The time points corresponding to the two ends of the foot feature time period can be determined according to actual needs. For example, the foot feature time period can refer to the time period between the two appearances of time A corresponding to the same foot action of the continuous two foot features, or the time period between time B corresponding to the foot action 1 and time C corresponding to the foot action 2, or the time period between time B corresponding to the foot action 1 and time D, etc.

[0088] For example, the waiting time = foot feature time period * muscle contraction time coefficient * movement coefficient ± fine-tuning time variable.

[0089] For example, 0.243 * 45% * 0.9 - 0.005 (unit: seconds).

[0090] The foot feature time period 0.243 is the average value of the time interval between the first action (the time when the heel contacts the ground) and the fifth action (the time when the foot sole is pressed to the ground) of the three times of the foot before this foot.

[0091] It can be understood that, in order to ensure the accuracy of the waiting time, the difference between the values of the above three time intervals does not exceed 10%. If the decrease exceeds 10%, the phased exit and stop mode is entered.

[0092] The muscle contraction time coefficient is a ratio of 0% to 100%, which is calculated according to the statistics of human ergonomics of human muscle time and sequence of different types and movements. For example, 45% is the position of the middle gluteus muscle, which is calculated according to the waiting time formula of the contraction of the middle gluteus muscle under the condition that the middle gluteus muscle is in the position of a healthy middle-aged man, the height is 1.7 to 1.8 meters, the step length is 0.6 to 0.7 meters, and the speed is 10 to 12 kilometers per hour.

[0093] The motion coefficient is a coefficient determined by the performance of the motion. The faster the outstanding motion is, the shorter the contraction is, and the smaller the coefficient is, and the earlier the time is. For example, 0.9 is a time ratio artificially adjusted to stimulate the middle gluteal muscle to contract earlier.

[0094] The fine-tuning time variable is a time value determined by conditions, which can be a circuit or mechanical delay. For example, 0.005 is the time obtained by compensating for the actual time of the event compared to the time calculated by the model due to the slow processing speed of the CPU.

[0095] It can be understood that the above method of applying a sound sensor is only used as a specific example to assist in explaining the method steps of obtaining the time corresponding to the foot movement in the embodiments of the present disclosure. In actual application, the types of sensors that can be used include but are not limited to sound sensors, devices that convert vibration into electrical signals (such as bone conduction sensors), pressure sensors, vibration sensors (by detecting the amplitude and frequency of vibration or movement of the corresponding device), accelerometers, etc. The type and number of sensors used can be determined according to actual needs.

[0096] For example, using a bone conduction sensor can conduct sound through the skeleton, and directly determine the time corresponding to the foot movement through the vibration of the corresponding bone during the movement process. Compared with a sound sensor, it can be more suitable for occasions where there is external noise interference.

[0097] The technical solution provided by the embodiments of the present disclosure determines the waiting time and the stimulation time corresponding to the foot movement according to the time corresponding to the foot movement and the movement ability of the moving object, so that the waiting time and the stimulation time are more targeted compared with the foot movement and the individual moving object. It is ensured that when the muscle group is stimulated, the time when the stimulation signal is provided and the duration of the stimulation signal provided conform to the actual situation of the current movement of the moving object, and the accuracy of the time when the stimulation signal is provided is improved.

[0098] In one possible implementation, the stimulation level is used to indicate the intensity of the stimulation signal for at least one target auxiliary muscle group;

[0099] According to the time corresponding to the target foot movement and the target waiting time, the stimulation time is determined, and the stimulation signal is provided to the target auxiliary muscle group at the stimulation time, including:

[0100] The time corresponding to the target foot movement plus the target waiting time is taken as the stimulation time;

[0101] At the stimulation time, the stimulation signal is provided to the target auxiliary muscle group in a step-by-step increasing manner according to the pre-set multiple stimulation levels.

[0102] Specifically, the method provided by the embodiment of the present disclosure sets multiple stimulation levels in advance before providing stimulation to the target auxiliary muscle group, and the stimulation level is used to indicate at least one target auxiliary muscle group and the intensity of the stimulation signal. The specific number of stimulation levels and the specific intensity of the stimulation signal can be determined according to actual needs.

[0103] It can be understood that when the stimulation signal is an electrical stimulation signal, the intensity of the stimulation signal can refer to the frequency, current amplitude, pulse intensity, etc. of the electrical signal. When the stimulation signal is a local hypothermia stimulation signal, the intensity of the stimulation signal can refer to the temperature value.

[0104] When the stimulation signal is provided, the time point after the target waiting time corresponding to the time point of the target foot movement is taken as the stimulation time point.

[0105] At the stimulation time point, the stimulation signal is provided to the target auxiliary muscle group in a step-by-step increasing manner according to the multiple stimulation levels set in advance.

[0106] It can be understood that the preset stimulation level can also indicate at least one of the intensity and the stimulation duration of the stimulation signal. When the stimulation signal is provided to the target auxiliary muscle group in a step-by-step increasing manner, in addition to the increase in the intensity of the stimulation signal, the stimulation duration can also be increased synchronously, or only one of them can be increased. The specific values of the stimulation signal and the stimulation duration need to be kept within a safe range.

[0107] The technical solution provided by the embodiment of the present disclosure sets multiple stimulation levels in advance, and provides the stimulation signal to the moving object in a step-by-step increasing manner, so that the moving object can gradually adapt to stimulation signals of different intensities, and ensure that the provided stimulation signal is always within an appropriate safe range. While providing effective movement assistance to the moving object, it avoids affecting the normal movement of the moving object due to the sudden provision of a too large stimulation signal, and causing damage to the muscles or joints.

[0108] In one possible implementation, providing the stimulation signal to the target auxiliary muscle group in a step-by-step increasing manner includes:

[0109] Before stimulating the target auxiliary muscle group with the stimulation signal at the first stimulation level, the target foot features of the moving object are obtained to obtain a first foot feature set, and after stimulating the target auxiliary muscle group with the stimulation signal at the first stimulation level, the target foot features of the moving object are obtained to obtain a second foot feature set.

[0110] According to the first foot feature set, the movement performance parameters corresponding to each target foot feature are obtained to obtain a first movement performance parameter set, and according to the second foot feature set, the movement performance parameters corresponding to each target foot feature are obtained to obtain a second movement performance parameter set. The movement performance parameter is used to indicate the movement performance of the moving object.

[0111] If it is determined that the target foot feature in the second foot feature set corresponds to a consistent foot action sequence, and the motion performance of the motion object is improved after the stimulation signal is provided according to the first motion performance parameter set and the second motion performance parameter set, the stimulation signal is provided to the target auxiliary muscle group corresponding to the motion object according to the second stimulation level;

[0112] The intensity of the stimulation signal corresponding to the second stimulation level is greater than the intensity of the stimulation signal corresponding to the first stimulation level.

[0113] Specifically, when the stimulation signal is provided to the target auxiliary muscle group in a step-by-step manner, first, the target foot features of the motion object before the target auxiliary muscle group is stimulated by the stimulation signal of the first stimulation level are obtained to obtain a first foot feature set, and the target foot features of the motion object after the target auxiliary muscle group is stimulated by the stimulation signal of the first stimulation level are obtained to obtain a second foot feature set.

[0114] It can be understood that the foot features in the first foot feature set and the second foot feature set are used to analyze whether the motion label of the motion object changes before and after the stimulation signal of the first stimulation level is provided, and each set includes at least one foot feature. The specific number of foot features in each set can be determined according to actual needs.

[0115] The motion performance parameter of the motion object is indicated by the motion performance parameter of the motion object in the embodiment of the present disclosure, and the motion performance parameter includes but is not limited to indicating the step length, step frequency or cycle time in the motion process. According to the change of the motion performance parameter, whether the motion performance of the motion object rises after being stimulated by the stimulation signal of the first stimulation level can be determined.

[0116] The motion performance parameter corresponding to each target foot feature is obtained according to the first foot feature set to obtain a first motion performance parameter set, and the motion performance parameter corresponding to each target foot feature is obtained according to the second foot feature set to obtain a second motion performance parameter set.

[0117] If it is determined that the target foot feature in the second foot feature set corresponds to a consistent foot action sequence, it indicates that the motion action of the motion object is still periodic and stable.

[0118] On the contrary, it indicates that the motion action of the motion object has changed, and the corresponding intervention should be stopped for stimulation to prevent continuous stimulation from making the stimulation inaccurate, resulting in muscle damage and injury risk.

[0119] If it is determined that the movement performance of the movement object is improved after the stimulation signal is provided according to the first set of movement performance parameters and the second set of movement performance parameters, the stimulation signal is provided to the target auxiliary muscle group of the movement object according to a second stimulation level, and the intensity of the stimulation signal corresponding to the second stimulation level is greater than the intensity of the stimulation signal corresponding to the first stimulation level.

[0120] If not, it indicates that the movement performance of the movement object is not improved after the stimulation signal of the first stimulation level is provided, and the stimulation signal is maintained to be provided to the movement object at the first stimulation level.

[0121] It can be understood that the specific manner of determining that the movement performance is improved can be that the value corresponding to the set of movement performance parameters exceeds a preset threshold value or the percentage of improvement exceeds a preset percentage threshold value after the stimulation signal of the first stimulation level is provided, and the specific manner can be determined according to actual needs.

[0122] The technical solution provided by the embodiments of the present disclosure sets a plurality of stimulation levels in advance, and provides the stimulation signal to the movement object in a step-by-step increasing manner, can determine to adjust the stimulation level according to whether the movement action of the movement object is periodically stable and whether the movement performance is improved, can make the movement object gradually adapt to the stimulation signal of different intensities, ensure that the provided stimulation signal is always in an appropriate range, while providing effective movement assistance for the movement object, avoid affecting the normal movement of the movement object due to the sudden provision of a too large stimulation signal, and cause damage to the muscles or joints.

[0123] In one possible implementation, the stimulation time is determined according to the time corresponding to the target foot action and the target waiting time length, and the stimulation signal is provided to the target auxiliary muscle group at the stimulation time, and then the method further includes:

[0124] Real-time acquisition of a plurality of target foot features of the movement object based on the current movement type to obtain a third set of foot features;

[0125] Acquisition of a movement performance parameter corresponding to each target foot feature according to the third set of foot features to obtain a third set of movement performance parameters, the movement performance parameter being used to indicate the movement performance of the movement object;

[0126] According to the third set of movement performance parameters, it is determined that the movement performance of the movement object is decreased, and then the stimulation signal is provided to the corresponding maintenance auxiliary muscle group according to a preset stop level, and the stimulation signal is stopped to be provided to the auxiliary muscle group other than the maintenance auxiliary muscle group.

[0127] Specifically, the embodiments of the present disclosure also provide an intervention measure corresponding to the stimulation stop, and after the stimulation time is determined according to the time corresponding to the target foot action and the target waiting time length, and the stimulation signal is provided to the target auxiliary muscle group at the stimulation time, the method further includes the following steps:

[0128] obtaining a third set of foot features of the sports object based on the current sports type,

[0129] obtaining a third set of sports performance parameters corresponding to each target foot feature according to the third set of foot features, wherein the sports performance parameter is used to indicate the sports performance of the sports object.

[0130] It can be understood that the specific steps of obtaining the target foot features and obtaining the sports performance parameters are described above and will not be repeated here.

[0131] If it is determined that the sports performance of the sports object is decreased according to the third set of sports performance parameters, a stimulation signal is provided to the corresponding maintenance auxiliary muscle group, and the stimulation signal is stopped to be provided to the auxiliary muscle group other than the maintenance auxiliary muscle group.

[0132] It can be understood that the preset stop level is used to indicate that the maintenance auxiliary muscle group adopts a preset stop signal as an intermediate transition level of complete stop stimulation, so that the stimulation signal can still be provided to the maintenance auxiliary muscle group of the sports object when the sports performance of the sports object is decreased, so as to ensure that the stimulation provided to the sports object is not suddenly stopped, so that the process of the sports performance decreasing to stop has continuity, and the muscle strain or injury caused by the sudden stop of the stimulation is avoided.

[0133] The technical scheme provided by the embodiments of the present disclosure can accurately identify whether the sports object appears the situation of the sports performance decreasing through the identification of the target foot features, and can provide a stimulation signal to the maintenance auxiliary muscle group (such as the core muscle group of the user) to maintain the body stability of the sports object when the sports performance decreases, and stop providing the stimulation signal to other muscle groups, so that the stimulation of the auxiliary muscle group can be effectively avoided, and the situation that the sports object is injured due to the incorrect stimulation can be avoided.

[0134] In one possible implementation, the stimulation signal is provided to the corresponding maintenance auxiliary muscle group, and the stimulation signal is stopped to be provided to the auxiliary muscle group other than the maintenance auxiliary muscle group, and then further includes:

[0135] obtaining a fourth set of foot features of the sports object based on the current sports type in real time;

[0136] If it is determined that the sequences of the foot actions corresponding to each target foot feature in the fourth set of foot features are inconsistent, the stimulation signal is stopped to be provided to all auxiliary muscle groups.

[0137] Specifically, the embodiment of the present disclosure also provides a stimulation stopping intervention measure, wherein the stimulation time is determined according to the target foot action corresponding time and the target waiting time length, and after the stimulation signal is provided to the target auxiliary muscle group at the stimulation time, the following steps are included:

[0138] The fourth foot feature set is obtained by acquiring a plurality of target foot features of the sports object based on the current movement type in real time.

[0139] It can be understood that the specific steps of acquiring the target foot features are described above and will not be repeated here.

[0140] According to each foot feature in the fourth foot feature set, it is determined whether the foot action sequence corresponding to each foot feature is consistent. If it is determined that the foot action sequence corresponding to each target foot feature in the fourth foot feature set is inconsistent, it means that the sports object movement action cycle is broken, which means that the movement action may be chaotic, uncoordinated or suddenly stopped, and at this time, the stimulation signal is stopped to all auxiliary muscle groups.

[0141] The above method can ensure that the muscle stimulation is stopped in time when the movement action cycle is broken, so as to avoid continuous stimulation according to the previous stimulation mode, inaccurate stimulation muscles, stimulation time and stimulation time, and muscle damage and injury risk.

[0142] The technical solution provided by the embodiment of the present disclosure can accurately identify whether the sports object movement action cycle is broken by identifying the target foot features. Different stimulation stopping methods are provided for different situations, and the stimulation signal is stopped to all auxiliary muscle groups when it is determined that the sports object movement action cycle is broken. According to the actual situation, the stimulation stopping method can effectively avoid overstimulation and avoid the situation that the sports object is injured due to incorrect stimulation.

[0143] In one possible implementation, the stimulation time is determined according to the target foot action corresponding time and the target waiting time length, and the stimulation signal is provided to the target auxiliary muscle group at the stimulation time, and the method further includes:

[0144] During the provision of the stimulation signal, if it is determined that the preset stimulation enhancement condition is triggered, the stimulation signal is enhanced according to the enhancement strategy corresponding to the preset stimulation enhancement condition;

[0145] The enhancement strategy includes at least one of increasing the intensity of the stimulation signal and increasing the target stimulation time.

[0146] Specifically, the embodiment of the present disclosure provides a method for enhancing the stimulation signal during the provision of the stimulation signal, which includes the following steps:

[0147] During the period of providing the stimulation signal, if it is determined that the preset stimulation enhancement condition is triggered, the stimulation signal is enhanced according to an enhancement strategy corresponding to the preset stimulation enhancement condition, and the enhancement strategy includes at least one of increasing the intensity of the stimulation signal and increasing the target stimulation duration.

[0148] It can be understood that the correspondence between the preset stimulation enhancement condition and the corresponding enhancement strategy, and the specific manner of the preset stimulation condition and the enhancement strategy, can be determined according to actual needs.

[0149] For example, when it is determined that the moving object is performing rehabilitation training or sports training, if it is determined that the position, angle, acceleration, etc. corresponding to the action of the moving object start to weaken during the period of providing the stimulation signal, and the standard action cannot be completed, the preset stimulation enhancement condition is triggered, and the intensity of the stimulation signal is increased to allow the muscle to continue to contract with increased force.

[0150] If it is found that the position, angle, acceleration, etc. corresponding to the action of the moving object do not weaken during the period of providing the stimulation signal, but the adaptation state of the moving object is good, and the training intensity can be increased, the preset stimulation enhancement condition is triggered, and the target stimulation duration is increased to increase the duration of muscle contraction.

[0151] The technical solution provided by the embodiments of the present disclosure provides a way of enhancing the stimulation signal during the period of providing the stimulation signal. By using an enhancement strategy to enhance the stimulation signal when it is determined that the preset stimulation enhancement condition is triggered during the period of providing the stimulation signal, the intensity of the stimulation can be accurately controlled, the intensity of the stimulation can be adjusted in a timely manner during the period of providing the stimulation signal, different intensities of stimulation can be provided for muscle groups, and the effect of motion assistance is optimized.

[0152] In one possible implementation, the stimulation moment is determined according to the moment corresponding to the target foot action and the target waiting duration, and the stimulation signal is provided to the target auxiliary muscle group at the stimulation moment, and the method further includes:

[0153] During the period of providing the stimulation signal, if it is determined that the preset stimulation stop condition is triggered, the stimulation signal provided to the target auxiliary muscle group is immediately stopped.

[0154] The preset stimulation stop condition indicates that the moving object stops performing the current type of motion.

[0155] Specifically, the embodiments of the present disclosure provide a way of stopping providing the stimulation signal during the period of providing the stimulation signal, which specifically includes the following steps:

[0156] During the period of providing the stimulation signal, if it is determined that the preset stimulation stop condition is triggered, the stimulation signal provided to the target auxiliary muscle group is immediately stopped.

[0157] It can be understood that the preset stimulation stop condition indicates that the moving object stops moving in the current movement type, at which time the muscle group of the moving object is exerting force when moving in the original movement type, at which time the force exertion may be stopped, and therefore the stimulation signal is immediately stopped from being provided to protect the moving object from the risk of movement injury caused by the erroneous provision of the stimulation.

[0158] The technical solution provided by the embodiments of the present disclosure provides a way to stop providing a stimulation signal during the provision of the stimulation signal, by immediately stopping the provision of the stimulation signal to the target auxiliary muscle group when it is determined that the preset stimulation stop condition is triggered during the provision of the stimulation signal, to avoid the risk of movement injury caused by the erroneous provision of the stimulation.

[0159] FIG. 3 is a schematic diagram of a movement state corresponding to a running movement type according to an embodiment of the present disclosure. As shown in FIG. 3, in the running process, multiple muscles at different positions (such as the gluteus maximus T1, the gluteus medius Z1, the hamstrings G2, the lumbar muscle group Y, and the ankle muscle J) are used to achieve movement together.

[0160] The following describes the movement assistance method provided by the embodiments of the present disclosure by taking a specific application example, taking running as the movement type of the moving object, taking any foot as the ipsilateral foot, and taking the muscles of the gluteus maximus T1, the lumbar muscle group Y, and the ankle muscle J in FIG. 3 as examples of the muscles with defects in the movement process (in which the gluteus maximus T1 and the lumbar muscle group Y have poor performance in force exertion, and the ankle muscle J is twisted and has pain in force exertion).

[0161] In the embodiments of the present disclosure, the pressure sensor, the vibration sensor, and the accelerometer are used to assist in determining the foot movement, and the sound sensor is used to accurately determine the time corresponding to the foot movement. The specific determination method of the time is not described herein.

[0162] Referring again to FIG. 2, the time when the ipsilateral foot heel lands is taken as the 0th ms reference time, and the rest of the foot movements are added on the basis of the 0th ms reference time. The logic of the movement assistance method provided by the embodiments of the present disclosure is shown in Table 1 as follows:

[0163] Table 1

[0164] It can be understood that the above Table 1 movement only includes the foot movement of the ipsilateral foot in the standard running movement posture. In the continuous movement process, the foot movements of the ipsilateral foot and the contralateral foot are alternately performed. The corresponding control method of the foot movement of the ipsilateral foot can be selected to be changed or unchanged, and the specific control method can be determined according to the actual situation. The embodiments of the present disclosure do not limit this.

[0165] It should be noted that the types of stimulation signals include, but are not limited to, electrical stimulation signals and local low-temperature stimulation signals, etc., which can provide stimulation according to the characteristics of different muscle group defect problems and give different intensities to the stimulation signals, such as different electrical stimulation signals corresponding to different frequencies, current amplitudes, pulse widths and durations, and local low-temperature stimulation signals corresponding to different temperature values and stimulation intensities.

[0166] In the embodiments of the present disclosure, the gluteus maximus T1 and the lumbar muscle group Y are provided with electrical stimulation signals, and the ankle muscle J is provided with local low-temperature stimulation signals. The "first" to "seventh" numbers in Table 1 are used to distinguish different stimulation signals, and the waiting time provided by the stimulation signals corresponding to different foot movements at different times is determined according to actual conditions.

[0167] It can be understood that the embodiments of the present disclosure are only used as a specific example to describe the present application in detail, and the described embodiments are only intended to facilitate the understanding of the present application, and do not have any limiting effect on it.

[0168] According to another aspect of the embodiments of the present disclosure, a motion assistance device is provided, comprising: at least one sensor and a processing unit;

[0169] The sensor is used to collect the target foot features of the motion object based on the current motion type in real time;

[0170] The processing unit is used to execute the steps of the motion assistance method provided by any of the above embodiments.

[0171] Specifically, the motion assistance method provided by the embodiments of the present disclosure can be implemented based on a motion assistance device, and the motion assistance device comprises: at least one sensor and a processing unit.

[0172] The sensor is used to collect the target foot features of the motion object based on the current motion type in real time, and transmit the acquired target foot features to the processing unit.

[0173] It can be understood that the specific types of sensors include, but are not limited to, cameras, audio sensors, angular velocity sensors, etc., and the specific types, quantities and installation positions of the sensors can be determined according to actual needs.

[0174] After acquiring the target foot features sent by the sensor, the processing unit analyzes, stores and compares the target foot features with the previously stored foot features to implement the steps of the motion assistance method provided by any of the above embodiments.

[0175] FIG. 4 is a structural schematic diagram of a motion assistance device provided by the embodiments of the present disclosure, as shown in FIG. 4, the motion assistance device 400 comprises:

[0176] The feature acquisition module 401 is configured to acquire, in real time, a target foot feature of the moving object based on a current movement type, the target foot feature comprising a plurality of target foot actions and time instants corresponding to the target foot actions.

[0177] The target determination module 402 is configured to determine, according to a preset movement relationship feature model, a first corresponding relationship describing the target foot action and the current movement type as a target corresponding relationship, and determine a target waiting time length, a target auxiliary muscle group and a target stimulation time length described in the target corresponding relationship.

[0178] The muscle group stimulation module 403 is configured to determine a stimulation time instant according to the time instant corresponding to the target foot action and the target waiting time length, and provide a stimulation signal to the target auxiliary muscle group at the stimulation time instant, and a duration of the stimulation signal is the target stimulation time length.

[0179] The movement relationship feature model is configured to describe each first corresponding relationship, and each first corresponding relationship is configured to describe a corresponding relationship of one movement type, one foot action, one auxiliary muscle group, one waiting time length and one stimulation time length.

[0180] In one possible implementation, the determination of the stimulation time instant according to the time instant corresponding to the target foot action and the target waiting time length, and the provision of the stimulation signal to the target auxiliary muscle group at the stimulation time instant, further comprises:

[0181] The plurality of continuous foot features of the moving object are obtained, and each foot feature comprises a plurality of foot actions.

[0182] If the sequence of each foot action in the plurality of continuous foot features is consistent, it is determined that the movement action of the moving object is periodic and stable.

[0183] In one possible implementation, the waiting time length is determined according to a foot feature time period corresponding to the foot action, a muscle group contraction time instant coefficient and a movement coefficient corresponding to the moving object.

[0184] The stimulation time length is determined according to a foot feature time period corresponding to the foot action, a muscle group contraction time period coefficient and a movement coefficient.

[0185] The foot feature time period is a time period determined according to a time instant corresponding to the foot action, the time instant corresponding to the foot action comprises at least one of a start time instant, a peak time instant and an end time instant, the start time instant refers to a time instant at which a foot region corresponding to the foot action contacts a preset contact surface, the peak time instant refers to a time instant at which the foot region compacts the preset contact surface, and the end time instant refers to a time instant at which the foot action is completed.

[0186] The muscle group contraction time instant coefficient is configured to indicate a ratio of a time period from a start time instant of the foot feature time period to a start time instant of contraction of the auxiliary muscle group to the foot feature time period.

[0187] The muscle group contraction period coefficient is used to indicate a ratio of a period corresponding to a start of contraction to an end of contraction of the auxiliary muscle group to the foot feature period.

[0188] The motion coefficient is used to indicate a motion ability of the motion object.

[0189] In a possible implementation, the stimulation level is used to indicate at least one group of target auxiliary muscle groups and a strength of the stimulation signal.

[0190] The stimulation time is determined according to the time corresponding to the target foot action and the target waiting time length, and the stimulation signal is provided to the target auxiliary muscle group at the stimulation time, including:

[0191] The time corresponding to the target foot action plus the target waiting time length is taken as the stimulation time.

[0192] At the stimulation time, the stimulation signal is provided to the target auxiliary muscle group in a step-by-step increasing manner according to a plurality of stimulation levels set in advance.

[0193] In a possible implementation, the stimulation signal is provided to the target auxiliary muscle group in a step-by-step increasing manner, including:

[0194] The target foot features of the motion object before the target auxiliary muscle group is stimulated by the stimulation signal at the first stimulation level are obtained to obtain a first foot feature set, and the target foot features of the motion object after the target auxiliary muscle group is stimulated by the stimulation signal at the first stimulation level are obtained to obtain a second foot feature set.

[0195] The motion performance parameter corresponding to each target foot feature is obtained according to the first foot feature set to obtain a first motion performance parameter set, and the motion performance parameter corresponding to each target foot feature is obtained according to the second foot feature set to obtain a second motion performance parameter set, the motion performance parameter being used to indicate a motion performance of the motion object.

[0196] If it is determined that the target foot features in the second foot feature set correspond to consistent foot action sequences, and the motion performance of the motion object is improved after the stimulation signal is provided according to the first motion performance parameter set and the second motion performance parameter set, the stimulation signal is provided to the target auxiliary muscle group corresponding to the motion object according to the second stimulation level.

[0197] The strength of the stimulation signal corresponding to the second stimulation level is greater than the strength of the stimulation signal corresponding to the first stimulation level.

[0198] In a possible implementation, the stimulation time is determined according to the time corresponding to the target foot action and the target waiting time length, and the stimulation signal is provided to the target auxiliary muscle group at the stimulation time, and then further including:

[0199] Real-time acquisition of a plurality of target foot features of the moving object based on the current movement type, to obtain a third foot feature set;

[0200] According to the third foot feature set, obtain the movement performance parameter corresponding to each target foot feature, to obtain a third movement performance parameter set, and the movement performance parameter is used to indicate the movement performance of the moving object;

[0201] According to the third movement performance parameter set, determine that the movement performance of the moving object decreases, then according to a preset stop level, provide a stimulation signal to the corresponding maintenance auxiliary muscle group, and stop providing the stimulation signal to the auxiliary muscle group other than the maintenance auxiliary muscle group.

[0202] In one possible implementation, after providing the stimulation signal to the corresponding maintenance auxiliary muscle group and stopping providing the stimulation signal to the auxiliary muscle group other than the maintenance auxiliary muscle group, the method further includes:

[0203] Real-time acquisition of a plurality of target foot features of the moving object based on the current movement type, to obtain a fourth foot feature set;

[0204] If it is determined that the foot action sequence corresponding to each target foot feature in the fourth foot feature set is inconsistent, stop providing the stimulation signal to all auxiliary muscle groups.

[0205] In one possible implementation, the stimulation time is determined according to the time corresponding to the target foot action and the target waiting time length, and the stimulation signal is provided to the target auxiliary muscle group at the stimulation time, and the method further includes:

[0206] During the provision of the stimulation signal, if it is determined that a preset stimulation enhancement condition is triggered, the stimulation signal is enhanced according to an enhancement strategy corresponding to the preset stimulation enhancement condition;

[0207] The enhancement strategy includes at least one of increasing the intensity of the stimulation signal and increasing the target stimulation time length.

[0208] In one possible implementation, the stimulation time is determined according to the time corresponding to the target foot action and the target waiting time length, and the stimulation signal is provided to the target auxiliary muscle group at the stimulation time, and the method further includes:

[0209] During the provision of the stimulation signal, if it is determined that a preset stimulation stop condition is triggered, immediately stop providing the stimulation signal to the target auxiliary muscle group;

[0210] The preset stimulation stop condition indicates that the moving object stops performing the movement of the current movement type.

[0211] The apparatuses provided in the embodiments of the present disclosure can perform the methods provided in the embodiments of the present disclosure, and the implementation principles are similar. The actions performed by each module in the apparatuses provided in the embodiments of the present disclosure correspond to the steps in the methods provided in the embodiments of the present disclosure. For the detailed functions of each module of the apparatus, refer to the description of the corresponding method provided in the foregoing description, which will not be repeated here.

[0212] In addition, in the embodiments of the present disclosure, the term "module" or "unit" refers to a computer program or a part of a computer program with a predetermined function, and works together with other related parts to achieve a predetermined target, and can be implemented entirely or partially by using software, hardware (such as a processing circuit or a memory) or a combination thereof. Similarly, one processor (or multiple processors or memories) can be used to implement one or more modules or units. In addition, each module or unit can be a part of an integral module or unit that includes the functions of the module or unit.

[0213] In the embodiments of the present disclosure, an electronic device (computer device / equipment / system) is provided, which includes a memory, a processor and a computer program stored in the memory. The processor executes the computer program to implement the steps of the method provided in any optional embodiment of the present disclosure, and achieves the corresponding technical effects.

[0214] In an optional embodiment, an electronic device is provided. FIG. 5 is a structural schematic diagram of an electronic device provided in an embodiment of the present disclosure. As shown in FIG. 5, the electronic device 500 includes a processor 501 and a memory 503. The processor 501 and the memory 503 are connected, for example, through a bus 502. Optionally, the electronic device 500 can further include a transceiver 504. The transceiver 504 can be used for data interaction, such as data transmission and / or data reception, between the electronic device and other electronic devices. It should be noted that the transceiver 504 is not limited to one in actual application, and the structure of the electronic device 500 does not constitute a limitation on the embodiments of the present disclosure.

[0215] The processor 501 can be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array) or other programmable logic device, transistor logic device, hardware component, or any combination thereof. It can implement or execute various exemplary logical blocks, modules and circuits described in conjunction with the disclosure. The processor 501 can also be a combination of computing functions, such as one or more microprocessor combinations, combinations of DSP and microprocessor, etc.

[0216] The bus 502 can include a path for transmitting information between the above-mentioned components. The bus 502 can be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. The bus 502 can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is shown in FIG. 5, but it does not mean that there is only one bus or only one type of bus.

[0217] The memory 503 can be a ROM (Read Only Memory) or other type of static storage device that can store static information and instructions, a RAM (Random Access Memory) or other type of dynamic storage device that can store information and instructions, an EEPROM (Electrically Erasable Programmable Read Only Memory), a CD-ROM (Compact Disc Read Only Memory) or other optical disk storage, an optical disk storage (including a compact disk, a laser disk, an optical disk, a digital versatile disk, a Blu-ray disk, etc.), a magnetic disk storage medium, other magnetic storage device, or any other medium capable of carrying or storing computer programs and capable of being read by a computer, without limitation.

[0218] The memory 503 is used to store computer programs for executing the embodiments of the disclosure, and is controlled by the processor 501 to execute. The processor 501 is used to execute the computer programs stored in the memory 503 to realize the steps shown in the foregoing method embodiments.

[0219] The electronic device in the embodiments of the present disclosure can include, but is not limited to, a mobile terminal such as a mobile phone, a notebook computer, a digital broadcast receiver, a PDA (Personal Digital Assistant), a PAD (Tablet Personal Computer), a PMP (Portable Multimedia Player), a car terminal (for example, a car navigation terminal), a wearable device, and the like, and a stationary terminal such as a digital TV, a desktop computer, and the like.

[0220] The embodiments of the present disclosure provide a computer readable storage medium, which stores a computer program. The computer program is executed by a processor to implement the steps and corresponding contents of the foregoing method embodiments.

[0221] The embodiments of the present disclosure also provide a computer program product, which includes a computer program. The computer program is executed by a processor to implement the steps and corresponding contents of the foregoing method embodiments.

[0222] It should be noted that the computer readable storage medium of the present disclosure described above can be a computer readable signal medium or a computer readable storage medium or any combination of the above two. The computer readable storage medium may, for example, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or apparatus, or any combination of the above. More specific examples of the computer readable storage medium can include, but are not limited to, an electrical connection with one or more conductive wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0223] In the present disclosure, the computer readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, device or apparatus. In the present disclosure, the computer readable signal medium can include a data signal carried in a baseband or as a part of a carrier wave, which carries computer readable program code. Such a propagated data signal can take various forms, including but not limited to an electromagnetic signal, an optical signal or any suitable combination of the above. The computer readable signal medium can also be any computer readable medium other than the computer readable storage medium, which can send, propagate or transmit a program for use by or in conjunction with an instruction execution system, device or apparatus. The program code contained in the computer readable medium can be transmitted by any suitable medium, including but not limited to a wire, a cable, a RF (radio frequency) or the like, or any suitable combination of the above.

[0224] Computer program code for performing the operations of this disclosure can be written in one or more programming languages ​​or a combination thereof, including but not limited to object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0225] The terms “first,” “second,” “third,” “fourth,” “1,” “2,” etc. (if present) in the specification, claims, and accompanying drawings of this disclosure are used to distinguish similar objects and are not necessarily used to describe a particular order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this disclosure described herein can be implemented in a sequence other than that shown in the figures or text.

[0226] It should be understood that although arrows indicate various operation steps in the flowcharts of the embodiments of this disclosure, the order in which these steps are implemented is not limited to the order indicated by the arrows. Unless explicitly stated herein, in some implementation scenarios of the embodiments of this disclosure, the implementation steps in each flowchart can be executed in other orders as required. Furthermore, some or all of the steps in each flowchart may include multiple sub-steps or multiple stages based on the actual implementation scenario. Some or all of these sub-steps or stages can be executed at the same time, and each sub-step or stage can also be executed at different times. In scenarios where execution times differ, the execution order of these sub-steps or stages can be flexibly configured as required, and the embodiments of this disclosure do not limit this.

[0227] The above description is only an optional implementation method for some implementation scenarios of this disclosure. It should be noted that for those skilled in the art, other similar implementation methods based on the technical concept of this disclosure without departing from the technical concept of this disclosure also fall within the protection scope of the embodiments of this disclosure.

Claims

1. A motion assist method characterized by, The method comprises the following steps: acquiring a target foot feature of a moving object based on a current movement type in real time, the target foot feature comprising a plurality of target foot actions and time instants corresponding to the target foot actions; determining a first corresponding relationship between the target foot action and the current movement type according to a preset movement relationship feature model, as a target corresponding relationship, determining a target waiting time length, a target auxiliary muscle group and a target stimulation time length described in the target corresponding relationship; determining a stimulation time instant according to the time instant corresponding to the target foot action and the target waiting time length, and providing a stimulation signal to the target auxiliary muscle group at the stimulation time instant, wherein the duration of the stimulation signal is the target stimulation time length; wherein the movement relationship feature model is used to describe each first corresponding relationship, and each first corresponding relationship is used to describe the corresponding relationship between a movement type, a foot action, an auxiliary muscle group, a waiting time length and a stimulation time length.

2. The motion assist method according to claim 1, characterized by, Before the step of determining the stimulation time instant according to the time instant corresponding to the target foot action and the target waiting time length, and providing the stimulation signal to the target auxiliary muscle group at the stimulation time instant, the method further comprises the following steps: obtaining a plurality of continuous foot features of the moving object, each foot feature comprising a plurality of foot actions; if the order of each foot action in the plurality of continuous foot features is consistent, determining that the movement action of the moving object is periodic and stable.

3. The motion assist method according to claim 2, characterized by, The waiting time length is determined according to a foot feature time period corresponding to the foot action, a muscle contraction time instant coefficient and a movement coefficient corresponding to the moving object; The stimulation time length is determined according to the foot feature time period corresponding to the foot action, a muscle contraction time period coefficient and the movement coefficient; wherein the foot feature time period is determined according to a time instant corresponding to the foot action, the time instant corresponding to the foot action comprises at least one of a start time instant, a peak time instant and an end time instant, the start time instant refers to a time instant at which a foot region corresponding to the foot action contacts a preset contact surface, the peak time instant refers to a time instant at which the foot region compacts the preset contact surface, and the end time instant refers to a time instant at which the foot action is completed; the muscle contraction time instant coefficient is used to indicate a ratio of a start time instant of the foot feature time period to a time instant at which the auxiliary muscle group starts to contract to the foot feature time period; the muscle contraction time period coefficient is used to indicate a ratio of a time period corresponding to the start of contraction to the end of contraction of the auxiliary muscle group to the foot feature time period; the movement coefficient is used to indicate the movement ability of the moving object.

4. The motion assist method according to claim 1, characterized by, The stimulation level is used to indicate at least one target auxiliary muscle group and the intensity of the stimulation signal; The step of determining the stimulation time instant according to the time instant corresponding to the target foot action and the target waiting time length, and providing the stimulation signal to the target auxiliary muscle group at the stimulation time instant comprises the following steps: taking a time instant after the target waiting time length from the time instant corresponding to the target foot action as the stimulation time instant; at the stimulation time instant, providing the stimulation signal to the target auxiliary muscle group in a step-by-step increasing manner according to a plurality of preset stimulation levels.

5. The motion assist method according to claim 4, characterized by, The step of providing the stimulation signal to the target auxiliary muscle group in a step-by-step increasing manner comprises the following steps: Before stimulating the target auxiliary muscle group with the stimulation signal at the first stimulation level, a target foot feature of the sports object is acquired to obtain a first foot feature set, and after stimulating the target auxiliary muscle group with the stimulation signal at the first stimulation level, a target foot feature of the sports object is acquired to obtain a second foot feature set; According to the first foot feature set, a movement performance parameter corresponding to each target foot feature is acquired to obtain a first movement performance parameter set, and according to the second foot feature set, a movement performance parameter corresponding to each target foot feature is acquired to obtain a second movement performance parameter set, wherein the movement performance parameter is used to indicate the movement performance of the sports object; If it is determined that the target foot features in the second foot feature set all correspond to consistent foot action sequence sequences, and according to the first movement performance parameter set and the second movement performance parameter set, it is determined that the movement performance of the sports object is improved after the stimulation signal is provided, then a stimulation signal is provided to the target auxiliary muscle group corresponding to the sports object according to a second stimulation level; Wherein the intensity of the stimulation signal corresponding to the second stimulation level is greater than the intensity of the stimulation signal corresponding to the first stimulation level.

6. The motion assist method according to any one of claims 1-5, characterized by, The stimulation time point is determined according to the time point corresponding to the target foot action and the target waiting time length, and a stimulation signal is provided to the target auxiliary muscle group at the stimulation time point, and then the method further comprises: A plurality of target foot features of the sports object based on a current movement type are acquired in real time to obtain a third foot feature set; According to the third foot feature set, a movement performance parameter corresponding to each target foot feature is acquired to obtain a third movement performance parameter set, wherein the movement performance parameter is used to indicate the movement performance of the sports object; According to the third movement performance parameter set, it is determined that the movement performance of the sports object is decreased, then a stimulation signal is provided to the corresponding maintenance auxiliary muscle group according to a preset stop level, and a stimulation signal is stopped from being provided to the auxiliary muscle groups other than the maintenance auxiliary muscle group.

7. The motion assist method according to claim 6, characterized by, The stimulation signal is provided to the corresponding maintenance auxiliary muscle group, and a stimulation signal is stopped from being provided to the auxiliary muscle groups other than the maintenance auxiliary muscle group, and then the method further comprises: A plurality of target foot features of the sports object based on a current movement type are acquired in real time to obtain a fourth foot feature set; If it is determined that the target foot features in the fourth foot feature set all correspond to inconsistent foot action sequence sequences, then a stimulation signal is stopped from being provided to all auxiliary muscle groups.

8. The motion assist method according to any one of claims 1-5, characterized by, The stimulation time point is determined according to the time point corresponding to the target foot action and the target waiting time length, and a stimulation signal is provided to the target auxiliary muscle group at the stimulation time point, and then the method further comprises: During the provision of the stimulation signal, if it is determined that a preset stimulation enhancement condition is triggered, then the stimulation signal is enhanced according to an enhancement strategy corresponding to the preset stimulation enhancement condition; Wherein the enhancement strategy comprises at least one of increasing the intensity of the stimulation signal and increasing the target stimulation time length.

9. The motion assist method according to any one of claims 1-5, characterized by, The stimulation time point is determined according to the time point corresponding to the target foot action and the target waiting time length, and a stimulation signal is provided to the target auxiliary muscle group at the stimulation time point, and then the method further comprises: During the providing of the stimulation signal, if it is determined that a preset stimulation stop condition is triggered, immediately stop providing the stimulation signal to the target auxiliary muscle group; The preset stimulation stop condition indicates that the moving object stops performing the current movement type.

10. A motion assist device characterized by comprising: The method comprises the following steps: at least one sensor and a processing unit; The sensor is used to collect the target foot features of the moving object based on the current movement type in real time; The processing unit is used to execute the steps of the movement assistance method in any one of claims 1-9.

11. A motion assist device characterized by comprising: The method comprises the following steps: The feature acquisition module is used to acquire the target foot features of the moving object based on the current movement type in real time, and the target foot features comprise a plurality of target foot actions and time points corresponding to the target foot actions. The target determination module is used to determine a first corresponding relationship between the target foot action and the current movement type according to a preset movement relationship feature model, as a target corresponding relationship, determine a target waiting time length, a target auxiliary muscle group and a target stimulation time length described in the target corresponding relationship. The muscle group stimulation module is used to determine a stimulation time point according to the time point corresponding to the target foot action and the target waiting time length, provide a stimulation signal to the target auxiliary muscle group at the stimulation time point, and the duration of the stimulation signal is the target stimulation time length. The movement relationship feature model is used to describe each first corresponding relationship, and each first corresponding relationship is used to describe the corresponding relationship between a movement type, a foot action, an auxiliary muscle group, a waiting time length and a stimulation time length.

12. An electronic device comprising a memory, a processor, and a computer program stored on the memory, wherein the computer program, when executed by the processor, is arranged to perform the method of any one of claims 1 to 11. The processor executes the computer program to implement the steps of the method in any one of claims 1-9.

13. A computer readable storage medium having stored thereon a computer program, characterized in that The computer program is executed by the processor to implement the steps of the method in any one of claims 1-9.

14. A computer program product comprising a computer program, characterized in that, The computer program is executed by the processor to implement the steps of the method in any one of claims 1-9.

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