CN111939525B - Isokinetic muscle strength training system and control method thereof - Google Patents
Isokinetic muscle strength training system and control method thereof Download PDFInfo
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- CN111939525B CN111939525B CN202010901660.2A CN202010901660A CN111939525B CN 111939525 B CN111939525 B CN 111939525B CN 202010901660 A CN202010901660 A CN 202010901660A CN 111939525 B CN111939525 B CN 111939525B
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
- A63B24/0087—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
- A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
- A63B71/0605—Decision makers and devices using detection means facilitating arbitration
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
- A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
- A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
- A63B71/0622—Visual, audio or audio-visual systems for entertaining, instructing or motivating the user
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
- A63B24/0087—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load
- A63B2024/0093—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load the load of the exercise apparatus being controlled by performance parameters, e.g. distance or speed
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Abstract
本发明公开了一种等速肌力训练系统及其控制方法，其中系统包括动力组件和控制组件，动力组件包括：输出杆；动力模块，动力模块包括电机和减速机，减速机的一端设有转轴，转轴与输出杆固定连接，减速机的另一端与电机连接，电机的输入端与控制组件的输出端连接；角度采集模块，角度采集模块用于采集输出杆的角度参数，角度采集模块的输出端与控制组件的第一输入端连接；扭矩采集模块，扭矩采集模块用于采集转轴的扭矩参数，扭矩采集模块的输出端与控制组件的第二输入端连接。本发明可以将肢体重力的影响降至最低，大大提高了肌力测试的准确性、可对比性，提高了等速肌力训练的训练效率。本发明可广泛应用于运动器械技术领域。
The present invention discloses an isokinetic muscle training system and a control method thereof, wherein the system includes a power assembly and a control assembly, and the power assembly includes: an output rod; a power module, the power module includes a motor and a reducer, one end of the reducer is provided with a rotating shaft, the rotating shaft is fixedly connected to the output rod, the other end of the reducer is connected to the motor, and the input end of the motor is connected to the output end of the control assembly; an angle acquisition module, the angle acquisition module is used to collect the angle parameters of the output rod, and the output end of the angle acquisition module is connected to the first input end of the control assembly; a torque acquisition module, the torque acquisition module is used to collect the torque parameters of the rotating shaft, and the output end of the torque acquisition module is connected to the second input end of the control assembly. The present invention can minimize the influence of limb gravity, greatly improve the accuracy and comparability of muscle strength testing, and improve the training efficiency of isokinetic muscle training. The present invention can be widely used in the field of sports equipment technology.
Description
Technical Field
The invention relates to the technical field of sports equipment, in particular to a constant-speed muscle strength training system and a control method thereof.
Background
Muscle function examination and assessment is one of the most basic and important matters in rehabilitation medicine. Common muscle function tests include isometric muscle strength, equal Zhang Jili and isokinetic muscle strength tests, etc. The constant-speed exercise technology has good accuracy, reliability and repeatability in muscle function test, and good safety, high efficiency and rationality in muscle strength training, so the constant-speed exercise technology has wide application prospect in clinical practice and scientific research of sports training and rehabilitation medicine.
The constant-speed exercise, also called adjustable anti-resistance exercise or constant angular velocity exercise, refers to the use of special equipment, according to the change of muscle strength in the exercise process, the external resistance is correspondingly adjusted, so that the whole joint exercise moves according to the preset speed, and the muscle strength only increases the muscle tension in the exercise process, so that the moment output is increased. The constant-speed movement can provide maximum resistance suitable for the muscle itself according to the conditions of strength, length change of the muscle, length of a moment arm, pain and fatigue and the like, and the limit of the load of the constant-speed movement cannot be exceeded. Therefore, the constant-speed motion has quite high efficiency and safety.
The output rod of the constant-speed equipment is connected with the limb through a fitting (connecting piece), and the limb actively exerts force to drive the output rod to rotate, so as to perform muscle strength test and training.
The constant-speed muscle strength testing and training equipment acquires torque of the rotating shaft to obtain a torque value output by the limb, so that real-time muscle strength of the limb can be obtained. However, the conventional isokinetic muscle force testing and training apparatus has the following disadvantages:
1) In the test process of the isokinetic muscle force, the influence of the gravity of the limb and the gravity of the accessory on the test result is not considered, so that the result of the muscle force test is inaccurate. In the bending movement, the measured moment value of the isokinetic device is actually the moment value of the limb output plus the moment value generated by the gravity, namely the measured moment value is larger than the moment value of the limb output, and the weight among different users has differences, accordingly, the influence of the limb gravity on the test data is also different, so that the muscle strength test data among different people cannot be objectively and effectively compared.
2) In practical application, the isokinetic device is difficult to perform full range of joint movement for users with muscle forces of 3 to 4 stages because the users are restricted by the gravity of limbs and accessories. Taking the shoulder joint bending and stretching movement as an example, in the process that the arm is lifted from the vertical downward direction to the vertical upward direction, when the arm moves to the horizontal position, the load caused by the gravity of the arm and accessories on the arm is maximum, the user with weak muscle strength is difficult to continue to stretch upwards, the full-range movement of the joint cannot be completed, and the training effect of constant-speed muscle strength training is limited.
Disclosure of Invention
In order to solve the technical problems, the invention aims to provide an accurate and efficient constant-speed muscle strength training system and a control method thereof.
The first technical scheme adopted by the invention is as follows:
a isokinetic muscle strength training system comprising a power assembly and a control assembly, the power assembly comprising:
An output lever;
The power module comprises a motor and a speed reducer, one end of the speed reducer is provided with a rotating shaft, the rotating shaft is fixedly connected with the output rod, the other end of the speed reducer is connected with the motor, and the input end of the motor is connected with the output end of the control assembly;
The angle acquisition module is used for acquiring the angle parameters of the output rod, and the output end of the angle acquisition module is connected with the first input end of the control assembly;
the torque acquisition module is used for acquiring torque parameters of the rotating shaft, and the output end of the torque acquisition module is connected with the second input end of the control assembly.
Further, the angle acquisition module is an encoder, the encoder is installed on the motor, and the output end of the encoder is connected with the first input end of the control assembly.
Further, the torque acquisition module comprises a resistance strain gauge, a signal processing unit and a signal transmission unit, wherein the resistance strain gauge is installed on the rotating shaft, and the output end of the resistance strain gauge is connected to the second input end of the control assembly through the signal processing unit and the signal transmission unit.
Further, the resistance strain gauge is a full bridge strain gauge.
Further, the power assembly further comprises:
The power module, the angle acquisition module and the torque acquisition module are arranged in the shell;
And the limiting device is fixed at one end of the shell, and the rotating shaft penetrates through the limiting device and extends out of the limiting device to be fixedly connected with the output rod.
Further, the control assembly comprises a processor and a motor driver, wherein the output end of the processor is connected to the input end of the motor through the motor driver, the output end of the angle acquisition module is connected with the first input end of the processor, and the output end of the torque acquisition module is connected with the second input end of the processor.
Further, the constant velocity muscle training system further comprises a human-computer interaction assembly, wherein the human-computer interaction assembly comprises a display and an input device, and the display and the input device are electrically connected with the processor.
Further, the isokinetic muscle training system further comprises a base assembly comprising:
the base, one end of the said base is fixedly connected with said control assembly;
The rotary lifting mechanism is connected with the power assembly and comprises a first adjusting rod and a second adjusting rod, the first adjusting rod is used for adjusting the height of the power assembly, and the second adjusting rod is used for adjusting the rotation angle of the power assembly.
Further, the isokinetic muscle training system further comprises a seat assembly, wherein the seat assembly comprises a seat and a seat adjusting mechanism, and the seat is movably arranged on the base through the seat adjusting mechanism.
The second technical scheme adopted by the invention is as follows:
the control method of the constant velocity muscle strength training system is used for being executed by the constant velocity muscle strength training system and comprises the following steps of:
the angle acquisition module acquires the angle parameters of the output rod and transmits the angle parameters to the control assembly;
the control component obtains a first moment of the limb gravity to the rotating shaft according to the angle parameter and a pre-obtained limb gravity moment parameter;
The control assembly outputs a second moment to the rotating shaft through the motor, wherein the second moment is the same as the first moment in magnitude and opposite in direction;
the torque acquisition module acquires torque parameters of the rotating shaft and transmits the torque parameters to the control assembly;
the control component obtains muscle strength parameters of the limbs according to the torque parameters and the first torque.
Further, the control method further comprises a step of acquiring a limb gravity moment parameter, which specifically comprises the following steps:
The angle acquisition module acquires the static angle parameter of the output rod and transmits the static angle parameter to the control assembly;
The torque acquisition module acquires static torque parameters of the rotating shaft and transmits the static torque parameters to the control assembly;
The control component obtains a limb gravity moment parameter according to the resting angle parameter and the resting torque parameter;
The static angle parameter and the static torque parameter are acquired when the limb and the output rod are static.
The constant-speed muscle strength training system and the control method thereof have the beneficial effects that the angle parameters of the output rod are acquired in real time through the angle acquisition module when the limb is subjected to constant-speed muscle strength training to obtain the first moment of the limb gravity on the rotating shaft, and then the motor is used for outputting the second moment which is counteracted with the first moment on the rotating shaft, so that the influence of the limb gravity on constant-speed motion can be reduced to the minimum, the torque parameters of the rotating shaft are acquired in real time through the torque acquisition module, and an accurate muscle strength test result can be obtained according to the torque parameters and the first moment. The invention can minimize the influence of the gravity of the limb, greatly improves the accuracy and the comparability of the muscle strength test, and is also beneficial to the training of a user with weak muscle strength by using constant-speed equipment so as to strengthen the muscle strength, improve the limb movement function and improve the training efficiency of the constant-speed muscle strength training.
Drawings
FIG. 1 is an overall block diagram of a isokinetic muscle training system provided by an embodiment of the present invention;
FIG. 2 is an exploded view of a power assembly according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of signal connection of a isokinetic training system according to an embodiment of the present invention;
FIG. 4 is a schematic view of a rotation angle of an output rod in a vertical plane according to an embodiment of the present invention;
fig. 5 is a flowchart of steps of a control method of the isokinetic muscle training system according to an embodiment of the present invention.
Reference numerals:
1. The device comprises a base assembly, a power assembly, a 3, a control assembly, a4, a seat assembly, a 5, a man-machine interaction assembly, a 11, a base, a 12, a rotary lifting mechanism, a 121, a first adjusting rod, a 122, a second adjusting rod, a 21, an output rod, a 22, a power module, a 221, a motor, a 222, a speed reducer, a 2221, a rotating shaft, a 23, an angle acquisition module, a 24, a torque acquisition module, a 241, a resistance strain gauge, a 242, a signal processing unit, a 243, a signal transmission unit, a 25, a shell, a 26, a limiting device, a 31, a processor, a 32, a motor driver, a 41, a seat, a 42, a seat adjusting mechanism, a 51, a display, a 52 and an input device.
Detailed Description
The invention will now be described in further detail with reference to the drawings and to specific examples. The step numbers in the following embodiments are set for convenience of illustration only, and the order between the steps is not limited in any way, and the execution order of the steps in the embodiments may be adaptively adjusted according to the understanding of those skilled in the art.
In the description of the present invention, the plural means that more than two are used for distinguishing technical features if the first and second are described only, and should not be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated. Furthermore, unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used in the description presented herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
Referring to fig. 1 to 3, an embodiment of the present invention provides a isokinetic muscle training system including a power assembly 2 and a control assembly 3, the power assembly 2 including:
An output lever 21;
The power module 22, the power module 22 includes the electrical machinery 221 and speed reducer 222, one end of the speed reducer 222 has spindle 2221, the spindle 2221 is fixedly connected with output rod 21, another end of the speed reducer 222 is connected with electrical machinery 221, the input end of the electrical machinery 221 is connected with output end of the control assembly 3;
The angle acquisition module 23 is used for acquiring the angle parameter of the output rod 21, and the output end of the angle acquisition module 23 is connected with the first input end of the control assembly 3;
The torque acquisition module 24, the torque acquisition module 24 is used for acquiring torque parameters of the rotating shaft 2221, and an output end of the torque acquisition module 24 is connected with a second input end of the control assembly 3.
Specifically, the power module 22 is configured to provide power for the output rod 21, the angle parameter of the output rod 21 refers to an inclination angle of the output rod 21 in a vertical plane, the inclination angle is achieved by arranging an attitude sensor on the output rod 21, arranging an attitude sensor on the rotating shaft 2221, arranging an encoder in the motor 221, and the like, and the output rod 21 and the motor 221 are fixedly connected with each other, so that the angle parameters of the output rod 21 and the motor 221 are consistent, the output rod 21 and the motor 221 are connected through the speed reducer 222, the angle parameter of the output rod 21 can be obtained according to the rotation angle and the rotation number of the motor 221 acquired by the encoder under the condition that the transmission ratio of the speed reducer 222 is known, the torque of the rotating shaft 2221 is actually the result of the synergistic action of the body muscle force and the body gravity, and the deformation of the rotating shaft 2221 can be converted into an electric signal through the resistance strain gauge 241, so that the torque of the rotating shaft 2221 can be acquired.
According to the embodiment of the invention, when the limb performs isokinetic muscle strength training, the angle acquisition module 23 acquires the angle parameter of the output rod 21 in real time to obtain the first moment of the limb gravity to the rotating shaft 2221, and then the motor 221 outputs the second moment which is offset with the first moment to the rotating shaft 2221, so that the influence of the limb gravity on isokinetic motion can be reduced to the minimum, and further the torque parameter of the rotating shaft 2221 is acquired in real time through the torque acquisition module 24, and an accurate muscle strength test result can be obtained according to the torque parameter and the first moment. The embodiment of the invention can minimize the influence of the gravity of the limb, greatly improve the accuracy and the comparability of the muscle strength test, and simultaneously is beneficial to the training of a user with weak muscle strength by using constant-speed equipment so as to strengthen the muscle strength, improve the movement function of the limb and improve the training efficiency of the constant-speed muscle strength training.
Further alternatively, the angle acquisition module 23 is an encoder, the encoder is mounted on the motor 221, and an output end of the encoder is connected to the first input end of the control assembly 3.
Specifically, the encoder is mounted on the motor 221 to measure the magnetic pole position, the rotation angle, the rotation speed and other data of the motor 221, so as to obtain the angle parameter of the output rod 21.
Referring to fig. 2 and 3, the torque acquisition module 24 includes a resistance strain gauge 241, a signal processing unit 242, and a signal transmission unit 242, the resistance strain gauge 241 is mounted on the rotating shaft 2221, and an output end of the resistance strain gauge 241 is connected to a second input end of the control assembly 3 through the signal processing unit 242 and the signal transmission unit 242.
Specifically, the torque acquisition module 24 is configured to acquire a torque parameter applied to the rotating shaft 2221 by the user through the output lever 21. The torque acquisition module 24 includes a resistance strain gauge 241, a signal processing unit 242 and a signal transmission unit 242, the resistance strain gauge 241 is adhered to the surface of the rotating shaft 2221 of the speed reducer 222, the resistance strain gauge 241 can convert the mechanical deformation of the rotating shaft 2221 into resistance change, and then the signal processing unit 242 amplifies and filters the analog signal of the resistance strain gauge 241, and converts the analog signal into a digital signal through an analog-to-digital converter. The signal transmission unit 242 adopts a brush type slip ring mode, and transmits power and signals between a fixed position and a rotating position while continuously rotating, and transmits collected torque data to the control assembly 3.
Further alternatively, the resistive strain gauge 241 is a full bridge strain gauge.
Specifically, the resistance strain gauge 241 may be a monolithic full-bridge strain gauge, where the full-bridge strain gauge only measures the torsional stress of the rotating shaft 2221, and the radial force and the axial force of the rotating shaft 2221 do not affect the measurement of the torsional stress, so that the influence of the gravity of the power assembly 2 under different inclination angles can be eliminated, and the gravity influence of the power assembly 2 under different inclination angles cannot be eliminated by adopting a non-full-bridge strain gauge in the conventional constant-speed device. In addition, the single-piece full-bridge strain gage is more convenient to paste than a full-bridge formed by a plurality of strain gages, and the manufacturing process is reduced.
Referring to fig. 2, further as an alternative embodiment, the power assembly 2 further includes:
the shell 25, the power module 22, the angle acquisition module 23 and the torque acquisition module 24 are all arranged in the shell 25;
And the limiting device 26 is fixed at one end of the shell 25, and the rotating shaft 2221 penetrates through the limiting device 26 and extends out of the limiting device 26 to be fixedly connected with the output rod 21.
In particular, the limiting device 26 is used to limit the movement range of the limb of the user, so as to avoid injury to the limb or joint of the user.
Referring to fig. 3, further as an alternative embodiment, the control assembly 3 includes a processor 31 and a motor driver 32, an output of the processor 31 is connected to an input of the motor 221 through the motor driver 32, an output of the angle acquisition module 23 is connected to a first input of the processor 31, and an output of the torque acquisition module 24 is connected to a second input of the processor 31.
Specifically, the processor 31 is configured to control the motor 221 to output a corresponding torque to counteract the influence of the gravity of the limb on the rotating shaft 2221 according to the angle parameter acquired in real time, and calculate the muscle force data of the limb according to the torque parameter acquired in real time.
Referring to fig. 1 and 3, further as an alternative embodiment, the isokinetic training system further comprises a human-machine interaction assembly 5, the human-machine interaction assembly 5 comprising a display 51 and an input device 52, the display 51 and the input device 52 each being electrically connected to the processor 31.
Specifically, the input device 52 is used for setting the working mode and the operation parameters of the isokinetic muscle training system, and the display 51 is used for displaying the result of the limb muscle strength test.
Referring to fig. 1, further as an alternative embodiment, the isokinetic muscle training system further includes a base chair assembly 1, the base chair assembly 1 including:
the base 11, one end of the base 11 is fixedly connected with the control component 3;
The rotary lifting mechanism 12, the rotary lifting mechanism 12 is connected with the power assembly 2, the rotary lifting mechanism 12 comprises a first adjusting rod 121 and a second adjusting rod 122, the first adjusting rod 121 is used for adjusting the height of the power assembly 2, and the second adjusting rod 122 is used for adjusting the rotation angle of the power assembly 2.
Specifically, the base 11 is used for fixedly placing a constant-speed muscle training system, and the rotary lifting mechanism 12 is used for adjusting the position of the power assembly 2 according to the actual situation of a user.
Referring to fig. 1, further as an alternative embodiment, the isokinetic muscle training system further includes a seat assembly 4, the seat assembly 4 including a seat 41 and a seat adjustment mechanism 42, the seat 41 being movably disposed on the base 11 by the seat adjustment mechanism 42.
Specifically, the provision of the seat 41 and the seat adjustment mechanism 42 can facilitate the user to adjust the limb state according to his own situation for isokinetic muscle training.
The system structure of the embodiment of the present invention is described above, and the principles and related settings of the embodiment of the present invention are further described below with reference to the system structure.
Fig. 4 shows a schematic view of the rotation angle of the output shaft 21 in the vertical plane. The following are relevant settings and descriptions to more conveniently illustrate the principles of embodiments of the present invention:
1) When the output lever 21 is defined vertically downward, the angle θ of the output lever 21 is 0 °, and is rotated clockwise, and the angle θ is increased and rotated counterclockwise, and the angle θ is decreased. For example, turning 90 clockwise, the angle θ of the output rod 21 is 90, turning 90 counterclockwise, the angle θ of the output rod 21 is-90, and so on. In particular, when the output rod 21 is vertically upward, the angle θ of the output rod 21 is 180 ° (or-180 °, with no effect in the embodiment of the present invention).
2) The movement range of the limb is set, the maximum position of clockwise movement is P1 (corresponding to the angle of the output rod 21 is 90 degrees), and the maximum position of counterclockwise movement is P2 (corresponding to the angle of the output rod 21 is 90 degrees).
3) When the moment value is defined as positive, the moment direction is indicated as clockwise, and when the moment value is defined as negative, the moment direction is indicated as anticlockwise.
4) The rotational direction of the motor 221 is set according to the movement position of the limb:
The limb moves clockwise from position P2 to position P1, setting the direction of rotation of motor 221 to be clockwise. The rotation direction of the motor 221 is not changed even if the limb is forced in the counterclockwise direction before moving to the position P1. After moving to the position P1, the rotation direction of the motor 221 is changed to the counterclockwise direction.
The limb moves counterclockwise from position P1 to position P2, setting the rotational direction of motor 221 to be counterclockwise. The rotation direction of the motor 221 is not changed even if the limb is forced clockwise before moving to the position P2. After moving to the position P2, the rotation direction of the motor 221 is changed to the clockwise direction.
5) The limb isokinetic movement is realized by the way of speed limiting of the motor 221. According to Newton's law of motion, the force of the limb is equal to the reaction force of the motor 221 during uniform motion. When the muscle force increases, the motor 221 correspondingly increases the resistance, and when the muscle force decreases, the motor 221 correspondingly decreases the resistance.
The limb moves clockwise from position P2 to position P1, setting the maximum rotational speed of motor 221 to V1. The limb applies force clockwise to drive the motor 221 to accelerate to V1, the limb continues to increase the force, the motor 221 keeps the speed V1 unchanged, the muscle applies force only to increase the muscle tension in the movement process, the torque output is increased, and the movement speed is constant. The limb applies or ceases to apply force in a counter-clockwise direction and the motor 221 slows to a stop.
The limb moves anticlockwise from position P1 to position P2, setting the maximum rotational speed of motor 221 to V2. The limb applies force in the anticlockwise direction, drives the motor 221 to accelerate to V2, the limb continues to increase the force, the motor 221 keeps the speed V2 unchanged, the muscle applies force only to increase the muscle tension in the movement process, the torque output is increased, and the movement speed is constant. The limb applies or ceases to apply force in a clockwise direction and the motor 221 slows to a stop.
The isokinetic muscle strength training system of the embodiment of the invention adjusts the positions of the base seat assembly 1, the power assembly 2 and the seat assembly 4 in advance before training, so that the movement axes of limbs are aligned coaxially with the rotation axes of the motor 221, then the output rod 21 is connected with the limbs through accessories, the limbs actively drive the output rod 21 to rotate forcefully, and then the isokinetic movement is realized through the speed limiting of the motor, thereby carrying out muscle strength test and training.
It should be appreciated that during constant motion of the limb, the rotating shaft 2221 keeps rotating at a constant speed, at this time, the limb generates a certain torque to the rotating shaft 2221 through the output rod 21, the rotating shaft 2221 generates a certain mechanical deformation to overcome the torque, and the resistance strain gauge 241 can convert the mechanical deformation of the rotating shaft 2221 into an electrical signal, so as to finally obtain the value of the torque. However, the torque is actually the result of the synergistic effect of the weight of the limb and the muscle strength of the limb, so that the muscle strength of the limb cannot be accurately obtained by the value of the torque. The magnitude and direction of the moment acting on the rotating shaft 2221 by the limb gravity are also changed at any time along with the change of the angle of the output rod 21, so that the embodiment of the invention acquires the angle of the output rod 21 in real time, thereby acquiring the moment of the limb gravity on the rotating shaft 2221 at the current moment, and then acquires the torque of the rotating shaft 2221 through the torque acquisition module 24, and the muscle strength of the limb can be accurately calculated according to the acquired torque and the moment of the limb gravity on the rotating shaft 2221 at the current moment.
The control method of the embodiment of the present invention is described below.
Referring to fig. 5, an embodiment of the present invention provides a control method of a isokinetic muscle training system, for being executed by the isokinetic muscle training system, including the following steps:
s101, an angle acquisition module 23 acquires angle parameters of an output rod 21 and transmits the angle parameters to a control assembly 3;
S102, the control component 3 obtains a first moment of the limb gravity to the rotating shaft 2221 according to the angle parameter and the limb gravity moment parameter obtained in advance;
Specifically, the weight moment parameter of the limb is the moment of the limb gravity to the rotating shaft 2221 when the output rod 21 is in the horizontal position. The limb gravity moment parameters can be obtained according to the limb gravity and the moment arm acting on the rotating shaft 2221, and can also be obtained by testing the isokinetic muscle strength training system of the embodiment of the invention before training.
S103, the control assembly 3 outputs a second moment to the rotating shaft 2221 through the motor 221, wherein the second moment is the same as the first moment in magnitude and opposite in direction;
specifically, the limb can be moved in a zero gravity state by outputting a moment by the motor 221 to cancel the moment generated by gravity. Defining the limb gravity moment parameters as Mg, defining four regions of the output rod 21 in the vertical plane as shown in fig. 4, several cases of the first moment M1 and the second moment M2 are specifically as follows:
A1, if the limb moves clockwise, when the output rod 21 is in the third area or the fourth area, the angle of the output rod 21 is θ1, the limb gravity provides resistance to restrict the limb to move clockwise, at this time, the first moment of the limb gravity to the rotating shaft 2221 is counterclockwise, the first moment can be expressed as M1= -Mg×sin θ1, the motor 221 outputs a second moment in the clockwise direction in real time, the magnitude is the same as the first moment to offset the moment generated by the limb gravity to the rotating shaft 2221, and the second moment can be expressed as M2= -M1=Mg×sin θ1;
A2, if the limb moves clockwise, when the output rod 21 is in the first area or the second area, the angle of the output rod 21 is θ2, the limb gravity provides assistance to assist the limb to move clockwise, at this time, the first moment of the limb gravity to the rotating shaft 2221 is clockwise, the first moment can be expressed as M1= -Mg×sin θ2, the motor 221 outputs a second moment in the counterclockwise direction in real time, the magnitude is the same as the first moment to offset the moment generated by the limb gravity to the rotating shaft 2221, and the second moment can be expressed as M2= -M1=Mg×sin θ2;
A3, if the limb moves anticlockwise, when the output rod 21 is in the third area or the fourth area, the angle of the output rod 21 is θ3, the limb gravity provides assistance to assist the limb to move anticlockwise, at this time, the first moment of the limb gravity to the rotating shaft 2221 is anticlockwise, the first moment can be expressed as M1= -Mg×sin θ3, the motor 221 outputs a second moment in the clockwise direction in real time, the magnitude is the same as the first moment to offset the moment generated by the limb gravity to the rotating shaft 2221, and the second moment can be expressed as M2= -M1=Mg×sin θ3;
A4, if the limb moves anticlockwise, when the output rod 21 is in the first area or the second area, the angle of the output rod 21 is θ4, the limb gravity provides resistance to restrict the limb to move anticlockwise, at this time, the first moment of the limb gravity to the rotating shaft 2221 is clockwise, the first moment can be expressed as m1= -mg×sin θ4, the motor 221 outputs a second moment in anticlockwise direction in real time, the magnitude is the same as the first moment to offset the moment generated by the limb gravity to the rotating shaft 2221, and the second moment can be expressed as m2= -m1=mg×sin θ4.
From the above analysis of several cases, the relationship between the first moment M1, the second moment M2 and the output shaft angle parameter θ is m2= -m1=mg×sin θ, it should be understood that when θ is located in the first region or the second region, sin θ is smaller than 0, the first moment is clockwise, the second moment is counterclockwise, and when θ is located in the third region or the fourth region, sin θ is larger than 0, the first moment is counterclockwise, and the second moment is clockwise.
In particular, when the output rod 21 is vertically up or vertically down, the force of the body gravity is a radial force on the rotating shaft 2221, and the moment of the body gravity on the rotating shaft 2221 is zero, so that the body gravity does not affect the measurement of the torque of the rotating shaft 2221, and does not restrict or assist the movement of the body, so that the motor 221 does not need to output moment to offset the moment generated by the gravity.
S104, the torque acquisition module 24 acquires torque parameters of the rotating shaft 2221 and transmits the torque parameters to the control assembly 3;
S105, the control component 3 obtains the muscle strength parameter of the limb according to the torque parameter and the first torque.
Specifically, the muscle force parameter is the moment of the muscle force of the limb to the rotating shaft 2221, and the moment M4 of the muscle force of the limb to the rotating shaft 2221 can be accurately calculated according to the moment M3 of the rotating shaft 2221 and the first moment M1 of the gravity of the limb to the rotating shaft 2221 at the current moment. Since the rotation axis 2221 is deformed, the torque is the result of the combined action of the body gravity and the body muscle force, and thus m3=m1+m4 is present, i.e. the moment m4=m3-m1=m3+mg×sin θ of the body muscle force to the rotation axis 2221 can be calculated.
According to the embodiment of the invention, when the limb performs isokinetic muscle strength training, the angle acquisition module 23 acquires the angle parameter of the output rod 21 in real time to obtain the first moment of the limb gravity to the rotating shaft 2221, and then the motor 221 outputs the second moment which is offset with the first moment to the rotating shaft 2221, so that the influence of the limb gravity on isokinetic motion can be reduced to the minimum, and further the torque parameter of the rotating shaft 2221 is acquired in real time through the torque acquisition module 24, and an accurate muscle strength test result can be obtained according to the torque parameter and the first moment. The embodiment of the invention can minimize the influence of the gravity of the limb, greatly improve the accuracy and the comparability of the muscle strength test, and simultaneously is beneficial to the training of a user with weak muscle strength by using constant-speed equipment so as to strengthen the muscle strength, improve the movement function of the limb and improve the training efficiency of the constant-speed muscle strength training.
Further as an optional implementation manner, the control method further includes a step of acquiring a limb gravity moment parameter, which specifically includes:
b1, an angle acquisition module 23 acquires the static angle parameter of the output rod 21 and transmits the static angle parameter to a control assembly 3;
b2, the torque acquisition module 24 acquires the static torque parameter of the rotating shaft 2221 and transmits the static torque parameter to the control component 3;
b3, the control component 3 obtains a limb gravity moment parameter according to the resting angle parameter and the resting torque parameter;
wherein the resting angle parameter and the resting torque parameter are acquired when the limb and the output rod 21 are stationary.
Specifically, the constant velocity muscle strength training system of the embodiment of the invention is used for testing the limb gravity moment parameters before training, so that the gravity influence of the relevant accessories for connecting the limb and the output rod 21 can be taken into consideration, and the accuracy of muscle strength testing is further improved. The specific implementation mode is that the limb is placed horizontally as far as possible, the locking motor 221 is not moved, the user completely loosens the limb, the limb is in a state of no force, the static angle parameter is theta 0, the static torque parameter is M0, and the limb is not forced, so that the gravity moment of the limb and the accessory at the horizontal position is calculated through the control component 3, namely the gravity moment parameter of the limb can be expressed as Mg= |M0/sin theta 0|, wherein the|represents an absolute value.
It should be appreciated that embodiments of the invention may be implemented or realized by computer hardware, a combination of hardware and software, or by computer instructions stored in a non-transitory computer readable memory. The above-described methods may be implemented in a computer program using standard programming techniques, including a non-transitory computer readable storage medium configured with a computer program, where the storage medium so configured causes a computer to operate in a specific and predefined manner, in accordance with the methods and drawings described in the specific embodiments. Each program may be implemented in a high level procedural or object oriented programming language to communicate with a computer system. However, the program(s) can be implemented in assembly or machine language, if desired. In any case, the language may be a compiled or interpreted language. Furthermore, the program can be run on a programmed application specific integrated circuit for this purpose.
Furthermore, the operations of the processes described herein may be performed in any suitable order unless otherwise indicated herein or otherwise clearly contradicted by context. The processes (or variations and/or combinations thereof) described herein may be performed under control of one or more computer systems configured with executable instructions, and may be implemented as code (e.g., executable instructions, one or more computer programs, or one or more applications), by hardware, or combinations thereof, collectively executing on one or more processors. The computer program includes a plurality of instructions executable by one or more processors.
Further, the above-described methods may be implemented in any type of computing platform operatively connected to a suitable computing platform, including, but not limited to, a personal computer, mini-computer, mainframe, workstation, network or distributed computing environment, a separate or integrated computer platform, or in communication with a charged particle tool or other imaging device, and so forth. Aspects of the invention may be implemented in machine-readable code stored on a non-transitory storage medium or device, whether removable or integrated into a computing platform, such as a hard disk, optical read and/or write storage medium, RAM, ROM, etc., such that it is readable by a programmable computer, which when read by a computer, is operable to configure and operate the computer to perform the processes described herein. Further, the machine readable code, or portions thereof, may be transmitted over a wired or wireless network. When such media includes instructions or programs that, in conjunction with a microprocessor or other data processor, implement the steps described above, the invention described herein includes these and other different types of non-transitory computer-readable storage media. The invention also includes the computer itself when programmed according to the methods and techniques described herein.
The computer program can be applied to input data to perform the functions described herein, thereby converting the input data to generate output data that is stored to the non-volatile memory. The output information may also be applied to one or more output devices such as a display. In a preferred embodiment of the invention, the transformed data represents physical and tangible objects, including specific visual depictions of physical and tangible objects produced on a display.
The present invention is not limited to the above embodiments, but can be modified, equivalent, improved, etc. by the same means to achieve the technical effects of the present invention, which are included in the spirit and principle of the present invention. Various modifications and variations are possible in the technical solution and/or in the embodiments within the scope of the invention.
Claims (10)
1.A constant velocity muscle strength training system comprising a power assembly and a control assembly, the power assembly comprising:
An output lever;
The power module comprises a motor and a speed reducer, one end of the speed reducer is provided with a rotating shaft, the rotating shaft is fixedly connected with the output rod, the other end of the speed reducer is connected with the motor, and the input end of the motor is connected with the output end of the control assembly;
The angle acquisition module is used for acquiring the angle parameters of the output rod, and the output end of the angle acquisition module is connected with the first input end of the control assembly;
The torque acquisition module is used for acquiring torque parameters of the rotating shaft, and the output end of the torque acquisition module is connected with the second input end of the control assembly;
The control component is used for obtaining a first moment of limb gravity to the rotating shaft according to the angle parameter and a pre-obtained limb gravity moment parameter, and outputting a second moment to the rotating shaft through the motor, so that the second moment is the same as the first moment in size and opposite in direction, and further obtaining a muscle force parameter of the limb according to the torque parameter and the first moment.
2. The isokinetic muscle strength training system as set forth in claim 1, wherein said angle acquisition module is an encoder mounted on said motor, an output of said encoder being connected to a first input of said control assembly.
3. The isokinetic muscle strength training system according to claim 1, wherein the torque acquisition module comprises a resistance strain gauge, a signal processing unit and a signal transmission unit, the resistance strain gauge is mounted on the rotating shaft, and an output end of the resistance strain gauge is connected to the second input end of the control assembly through the signal processing unit and the signal transmission unit.
4. The isokinetic muscle force training system as set forth in claim 1, wherein said power assembly further comprises:
The power module, the angle acquisition module and the torque acquisition module are arranged in the shell;
And the limiting device is fixed at one end of the shell, and the rotating shaft penetrates through the limiting device and extends out of the limiting device to be fixedly connected with the output rod.
5. A isokinetic muscle training system as claimed in claim 1, wherein said control assembly comprises a processor and a motor driver, an output of said processor being connected to an input of said motor via said motor driver, an output of said angle acquisition module being connected to a first input of said processor, an output of said torque acquisition module being connected to a second input of said processor.
6. The isokinetic muscle force training system of claim 5, further comprising a human-machine interaction assembly comprising a display and an input device, wherein the display and the input device are each electrically connected to the processor.
7. The isokinetic muscle force training system as set forth in any one of claims 1 to 6, further comprising a base assembly including:
the base, one end of the said base is fixedly connected with said control assembly;
The rotary lifting mechanism is connected with the power assembly and comprises a first adjusting rod and a second adjusting rod, the first adjusting rod is used for adjusting the height of the power assembly, and the second adjusting rod is used for adjusting the rotation angle of the power assembly.
8. The isokinetic muscle force training system as set forth in claim 7, further comprising a seat assembly including a seat and a seat adjustment mechanism, said seat being movably disposed on said base by said seat adjustment mechanism.
9. A control method of a isokinetic muscle training system for execution by the isokinetic muscle training system according to any one of claims 1 to 8, comprising the steps of:
the angle acquisition module acquires the angle parameters of the output rod and transmits the angle parameters to the control assembly;
the control component obtains a first moment of the limb gravity to the rotating shaft according to the angle parameter and a pre-obtained limb gravity moment parameter;
The control assembly outputs a second moment to the rotating shaft through the motor, wherein the second moment is the same as the first moment in magnitude and opposite in direction;
the torque acquisition module acquires torque parameters of the rotating shaft and transmits the torque parameters to the control assembly;
the control component obtains muscle strength parameters of the limbs according to the torque parameters and the first torque.
10. The control method according to claim 9, characterized in that it further comprises a step of acquiring a limb gravity moment parameter, which is specifically:
The angle acquisition module acquires the static angle parameter of the output rod and transmits the static angle parameter to the control assembly;
The torque acquisition module acquires static torque parameters of the rotating shaft and transmits the static torque parameters to the control assembly;
The control component obtains a limb gravity moment parameter according to the resting angle parameter and the resting torque parameter;
The static angle parameter and the static torque parameter are acquired when the limb and the output rod are static.
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