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CN118512291B - Method and device for controlling shaking of artificial limb, intelligent artificial limb, terminal and storage medium - Google Patents

Method and device for controlling shaking of artificial limb, intelligent artificial limb, terminal and storage medium Download PDF

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Publication number
CN118512291B
CN118512291B CN202410989529.4A CN202410989529A CN118512291B CN 118512291 B CN118512291 B CN 118512291B CN 202410989529 A CN202410989529 A CN 202410989529A CN 118512291 B CN118512291 B CN 118512291B
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resistance
artificial limb
data
resistance adjustment
knee joint
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CN118512291A (en
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韩璧丞
阿迪斯
何志仁
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Zhejiang Qiangnao Technology Co ltd
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Zhejiang Qiangnao Technology Co ltd
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/68—Operating or control means
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
    • G16H20/00—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance
    • G16H20/30—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to physical therapies or activities, e.g. physiotherapy, acupressure or exercising
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
    • G16H40/00—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices
    • G16H40/60—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices
    • G16H40/67—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for remote operation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/68—Operating or control means
    • A61F2002/6818—Operating or control means for braking
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/68—Operating or control means
    • A61F2/70—Operating or control means electrical
    • A61F2002/704—Operating or control means electrical computer-controlled, e.g. robotic control

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  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Public Health (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Epidemiology (AREA)
  • Medical Informatics (AREA)
  • Primary Health Care (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Business, Economics & Management (AREA)
  • Biophysics (AREA)
  • General Business, Economics & Management (AREA)
  • Cardiology (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Transplantation (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Vascular Medicine (AREA)
  • Animal Behavior & Ethology (AREA)
  • Veterinary Medicine (AREA)
  • Prostheses (AREA)

Abstract

本发明公开了假肢晃动控制方法、装置、智能假肢、终端及存储介质，所述方法包括：获取智能假肢的运动模式，并确定所述运动模式下所述智能假肢中单只假肢所处的运动状态，其中，所述运动状态包括单只假肢处于落地支撑状态或者处于站立起步状态；获取单只假肢处于所述运动状态时，膝关节的转轴的转动角度数据；基于所述转动角度数据，对所述单只假肢的膝关节的弯曲阻力或者伸展阻力进行调整。本发明可以针对单只假肢，通过调整膝关节的弯曲阻力或者伸展阻力来控制假肢晃动，提高假肢的稳定性与寿命，保证用户的使用安全。

The present invention discloses a prosthesis shaking control method, device, intelligent prosthesis, terminal and storage medium, the method comprising: obtaining a motion mode of an intelligent prosthesis, and determining the motion state of a single prosthesis in the intelligent prosthesis under the motion mode, wherein the motion state includes a single prosthesis being in a ground support state or a standing start state; obtaining rotation angle data of a rotating shaft of a knee joint when the single prosthesis is in the motion state; and adjusting the bending resistance or extension resistance of the knee joint of the single prosthesis based on the rotation angle data. The present invention can control the prosthesis shaking by adjusting the bending resistance or extension resistance of the knee joint for a single prosthesis, thereby improving the stability and life of the prosthesis and ensuring the user's safety.

Description

Method and device for controlling shaking of artificial limb, intelligent artificial limb, terminal and storage medium
Technical Field
The invention relates to the technical field of artificial limbs, in particular to an artificial limb shaking control method, an artificial limb shaking control device, an intelligent artificial limb, a terminal and a storage medium.
Background
Along with the development of society, the convenience of traffic and the continuous improvement of industrial level, the patients who cause amputation due to machine trauma car accidents and the like are more and more, and the amputation brings a lot of inconvenience to the patients and loses basic life ability. It is therefore becoming increasingly urgent to develop a smart prosthesis that helps amputees achieve basic life capabilities. The intelligent artificial limb needs to have the functions of assisting a patient in walking, running and the like, the intelligent artificial limb needs to have the capability of identifying different movement modes of walking, running and the like, and the intelligent artificial limb needs to be controlled individually for users in different states.
The weight of the upper body is shared to two legs when standing, the two legs bear all the weight alternately when walking, the bearing of a single artificial limb is very large, the rotating shaft part of the knee joint of the existing artificial limb can slightly rotate under heavy pressure due to insufficient resistance, the condition of slight shaking in the front-back direction occurs, the safety and the service life of the artificial limb are influenced to a certain extent, and the use experience of a user is greatly influenced.
Accordingly, there is a need for improvement and advancement in the art.
Disclosure of Invention
The invention aims to solve the technical problems that aiming at the defects in the prior art, the invention provides a method, a device, an intelligent artificial limb, a terminal and a storage medium for controlling the shaking of the artificial limb, and aims to solve the problems that in the prior art, the rotating shaft part of the knee joint of the artificial limb slightly rotates due to insufficient resistance under heavy pressure, the condition of slight shaking in the front-back direction occurs, and the safety and the service life of the artificial limb are affected to a certain extent.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows:
In a first aspect, the present invention provides a method for controlling prosthetic sway, wherein the method is applied to an intelligent prosthetic, the intelligent prosthetic includes a knee joint and a shank located below the knee joint, a damping device is disposed in the shank, the damping device is used for providing extension resistance or bending resistance to the knee joint, and the method for controlling prosthetic sway includes:
acquiring a motion mode of an intelligent artificial limb, and determining a motion state of a single artificial limb in the intelligent artificial limb in the motion mode, wherein the motion state comprises a state that the single artificial limb is in a ground support state or a standing starting state;
acquiring rotation angle data of a rotating shaft of the knee joint when a single artificial limb is in the motion state;
Based on the rotation angle data, the bending resistance or the stretching resistance of the knee joint of the single artificial limb is adjusted.
In one implementation manner, the acquiring the motion mode of the intelligent artificial limb and determining the motion state of a single artificial limb in the intelligent artificial limb in the motion mode includes:
acquiring swing speed data of a single artificial limb in the intelligent artificial limb, and determining a movement mode of the intelligent artificial limb based on the swing speed data, wherein the movement mode comprises a walking mode or a running mode;
and acquiring inclination angle change data of the lower leg part of the single artificial limb, and determining the movement state of the single artificial limb according to the inclination angle change data.
In one implementation manner, the determining the motion state of the single artificial limb according to the inclination angle change data includes:
if the inclination angle change data is gradually reduced to 0, determining that the motion state is a floor support state;
And if the inclination angle change data is gradually increased from 0, determining that the motion state is a standing start state.
In one implementation, the adjusting the bending resistance or the stretching resistance of the knee joint of the single prosthesis based on the rotation angle data includes:
Matching the rotation angle data with the motion state, and acquiring an angle range corresponding to the motion mode when the rotation angle data is successfully matched with the motion state;
Comparing the rotation angle data with the angle range;
and if the rotation angle data exceeds the angle range, adjusting the bending resistance or the stretching resistance of the knee joint of the single artificial limb.
In one implementation, the adjusting the bending resistance or the stretching resistance of the knee joint of the single prosthesis if the rotation angle data exceeds the angle range includes:
If the rotation angle data exceeds the angle range, acquiring difference data of the rotation angle data exceeding the angle range;
Determining a resistance adjustment based on the difference data, wherein the resistance adjustment includes a bending resistance adjustment or a stretching resistance adjustment;
Based on the resistance adjustment amount, the bending resistance or the extension resistance of the knee joint of the single prosthesis is adjusted.
In one implementation, the adjusting the bending resistance or the stretching resistance of the knee joint of the single prosthesis based on the resistance adjustment amount includes:
If the exercise mode is a running mode, increasing the expansion resistance of the knee joint of the single artificial limb by the expansion resistance adjustment amount;
if the movement mode is a walking mode, the bending resistance of the knee joint of the single artificial limb is increased by the bending resistance adjustment amount.
In a second aspect, an embodiment of the present invention further provides a prosthetic swing control device, where the prosthetic swing control device is applied to an intelligent prosthetic, the intelligent prosthetic includes a knee joint and a shank located below the knee joint, a damping device is disposed in the shank, the damping device is used to provide extension resistance or bending resistance for the knee joint, and the prosthetic swing control device includes:
The state analysis module is used for acquiring a motion mode of the intelligent artificial limb and determining a motion state of a single artificial limb in the intelligent artificial limb in the motion mode, wherein the motion state comprises a state that the single artificial limb is in a floor support state or a standing starting state;
the angle analysis module is used for acquiring rotation angle data of a rotating shaft of the knee joint when the single artificial limb is in the motion state;
and the resistance adjustment module is used for adjusting the bending resistance or the stretching resistance of the knee joint of the single artificial limb based on the rotation angle data.
In one implementation, the state analysis module includes:
the motion mode determining unit is used for obtaining swing speed data of a single artificial limb in the intelligent artificial limbs and determining a motion mode of the intelligent artificial limbs based on the swing speed data, wherein the motion mode comprises a walking mode or a running mode;
and the motion state determining unit is used for acquiring the inclination angle change data of the lower leg part of the single artificial limb and determining the motion state of the single artificial limb according to the inclination angle change data.
In one implementation, the motion state determining unit includes:
the floor support state analysis subunit is used for determining the motion state to be a floor support state if the inclination angle change data gradually decreases to 0;
And the standing start state analysis subunit is used for determining that the motion state is a standing start state if the inclination angle change data is gradually increased from 0.
In one implementation, the resistance adjustment module includes:
The data matching unit is used for matching the rotation angle data with the motion state and acquiring an angle range corresponding to the motion mode when the rotation angle data is successfully matched with the motion state;
a data comparing unit for comparing the rotation angle data with the angle range;
And the resistance adjustment unit is used for adjusting the bending resistance or the stretching resistance of the knee joint of the single artificial limb if the rotation angle data exceeds the angle range.
In one implementation, the resistance adjustment unit includes:
the difference data determining subunit is used for acquiring difference data of the rotation angle data exceeding the angle range if the rotation angle data exceeds the angle range;
a resistance adjustment amount determination subunit configured to determine a resistance adjustment amount based on the difference data, wherein the resistance adjustment amount includes a bending resistance adjustment amount or an extension resistance adjustment amount;
and the resistance adjustment execution subunit is used for adjusting the bending resistance or the stretching resistance of the knee joint of the single artificial limb based on the resistance adjustment quantity.
In one implementation, the resistance adjustment execution subunit includes:
an extension resistance adjustment unit for increasing extension resistance of the knee joint of the single prosthesis by the extension resistance adjustment amount if the exercise mode is a running mode;
And the bending resistance adjusting unit is used for increasing the bending resistance of the knee joint of the single artificial limb according to the bending resistance adjusting amount if the movement mode is a walking mode.
In a third aspect, an embodiment of the present invention further provides an intelligent prosthesis, where the intelligent prosthesis includes a socket, a knee joint, a shank, and the prosthesis sway control device described in the foregoing solutions.
In a fourth aspect, an embodiment of the present invention further provides a terminal, where the terminal includes a memory, a processor, and a prosthesis shaking control program stored in the memory and capable of running on the processor, and when the processor executes the prosthesis shaking control program, the processor implements the steps of the prosthesis shaking control method in any one of the foregoing solutions.
In a fifth aspect, an embodiment of the present invention further provides a computer readable storage medium, where the computer readable storage medium stores a prosthesis wobble control program, where the prosthesis wobble control program, when executed by a processor, implements the steps of the prosthesis wobble control method according to any one of the above aspects.
The beneficial effects are that: compared with the prior art, the invention provides a method for controlling the shaking of the artificial limb, which comprises the steps of firstly acquiring a motion mode of an intelligent artificial limb and determining a motion state of a single artificial limb in the intelligent artificial limb in the motion mode, wherein the motion state comprises that the single artificial limb is in a floor support state or in a standing starting state. And then, acquiring rotation angle data of a rotating shaft of the knee joint when the single artificial limb is in the motion state. Finally, based on the rotation angle data, the bending resistance or the stretching resistance of the knee joint of the single artificial limb is adjusted. The invention can control the shaking of the artificial limb by adjusting the bending resistance or the stretching resistance of the knee joint aiming at a single artificial limb, improves the stability and the service life of the artificial limb and ensures the use safety of users.
Drawings
Fig. 1 is a flowchart of a specific implementation of a method for controlling prosthetic sway according to an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of an intelligent artificial limb according to an embodiment of the present invention.
Fig. 3 is a functional schematic diagram of a prosthetic sway control device according to an embodiment of the present invention.
Fig. 4 is a schematic block diagram of a terminal according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and effects of the present invention clearer and more specific, the present invention will be described in further detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
The embodiment provides a method for controlling the shaking of the artificial limb, which can control the shaking of the artificial limb by adjusting the bending resistance or the stretching resistance of a knee joint aiming at a single artificial limb, improves the stability and the service life of the artificial limb and ensures the use safety of a user. When the intelligent artificial limb is particularly applied, firstly, a motion mode of the intelligent artificial limb is obtained, and a motion state of a single artificial limb in the intelligent artificial limb in the motion mode is determined, wherein the motion state comprises that the single artificial limb is in a ground support state or in a standing starting state. And then, acquiring rotation angle data of a rotating shaft of the knee joint when the single artificial limb is in the motion state. Finally, based on the rotation angle data, the bending resistance or the stretching resistance of the knee joint of the single artificial limb is adjusted, and based on the adjustment, the adaptive adjustment of the bending resistance or the stretching resistance of the knee joint of each artificial limb is realized, the condition that the artificial limb shakes forwards and backwards due to rotation of a knee joint rotating shaft is avoided, and the service life of the intelligent artificial limb and the safety of a user in using the intelligent artificial limb are improved.
The artificial limb shaking control method of the embodiment can be applied to an intelligent artificial limb, and the intelligent artificial limb comprises an intelligent controller for realizing the artificial limb shaking control method. In addition, the method for controlling the shaking of the artificial limb of the embodiment can be applied to a terminal, and the terminal can be arranged in an intelligent artificial limb so as to realize the method for controlling the shaking of the artificial limb through the terminal. The intelligent artificial limb comprises a knee joint and a shank part positioned below the knee joint, wherein a damping device is arranged in the shank part and used for providing stretching resistance or bending resistance for the knee joint. Specifically, as shown in fig. 1, the method for controlling the prosthetic sway of the present embodiment includes the following steps:
and step S100, acquiring a movement mode of the intelligent artificial limbs, and determining a movement state of a single artificial limb in the intelligent artificial limbs in the movement mode, wherein the movement state comprises a state that the single artificial limb is in a floor stand or a standing starting state.
As shown in fig. 2, the intelligent artificial limb of the embodiment comprises a shank 11 and a knee joint 12 rotatably connected with the shank 11 through a rotating shaft, wherein the rotating shaft is arranged on the knee joint 12 and is used for driving the shank to rotate so as to realize flexible movement of the knee joint 12, the knee joint 12 is positioned at the top of the shank 11, the intelligent artificial limb further comprises a receiving cavity 3, the receiving cavity 3 is fixedly connected with the knee joint 12, and the receiving cavity 3 is used for being installed on the thigh of a user. The lower leg portion 11 in this embodiment is provided with a damping device 2, which damping device 2 may be a hydraulic cylinder, which may be used to provide extension resistance or bending damping to the knee joint so that the knee joint 12 remains stable.
After the intelligent artificial limb is installed on the thigh of the user, the user can use the intelligent artificial limb to be applied to various scenes. Because the weight of the upper body of the user is shared to two legs when standing, and the two legs bear all the weight alternately when walking, the bearing of a single artificial limb is very large, the rotating shaft part of the knee joint 12 of the existing artificial limb is slightly rotated due to insufficient resistance under heavy pressure, the condition of slight shaking in the front-back direction occurs, the safety and the service life of the artificial limb are influenced to a certain extent, and the use experience of the user is greatly influenced. Therefore, the embodiment firstly obtains the motion mode of the intelligent artificial limb, determines the motion state of a single artificial limb in the intelligent artificial limb in the motion mode, and the motion mode of the embodiment comprises a walking mode and a running mode, because the two legs bear all the weight alternately in the walking mode and the running mode, the bearing capacity of the single artificial limb is larger, at the moment, the analysis of the motion state of the single artificial limb is helpful for determining whether the single artificial limb can shake when the single artificial limb is in a ground support state or in a standing starting state, and if the single artificial limb shakes, the standing horse processes so as to meet the requirement of ensuring the safety of the intelligent artificial limb.
In one implementation, the method in this embodiment includes the following steps when determining the motion state:
Step S101, swing speed data of a single artificial limb in the intelligent artificial limbs are obtained, and a movement mode of the intelligent artificial limbs is determined based on the swing speed data, wherein the movement mode comprises a walking mode or a running mode;
and step S102, acquiring inclination angle change data of the lower leg part of the single artificial limb, and determining the movement state of the single artificial limb according to the inclination angle change data.
Specifically, the embodiment can analyze a single artificial limb of the intelligent artificial limb, and when a user uses the intelligent artificial limb, the swing speed data of the single artificial limb can be obtained, and then the movement mode of the intelligent artificial limb is analyzed according to the swing speed data. In this embodiment, the greater the swing speed data, the faster the movement speed of the individual prosthesis is illustrated, so that it can be determined whether the intelligent prosthesis is in walking mode and running mode. In practical application, an inertial sensor can be mounted on the shank 11 of the intelligent prosthesis, and the inertial sensor can acquire swing speed data of the shank 11, so that swing speed data of a single prosthesis can be obtained. The swing speed data of the individual prostheses is then compared with a predetermined speed threshold value, which is used to distinguish whether the intelligent prostheses are in walking or running mode. When the swing speed data is greater than the speed threshold, the intelligent prosthesis may be determined to be in the running mode, and when the swing speed data is less than the speed threshold, the intelligent prosthesis may be determined to be in the walking mode. After determining the movement mode of the intelligent artificial limb, the embodiment further analyzes the single artificial limb, and obtains the inclination angle change data of the single artificial limb so as to determine the movement state of the single artificial limb based on the inclination angle change data.
Because the intelligent artificial limb is in a walking mode or a running mode, the pressure brought by the weight of a user can be applied when a single artificial limb contacts the ground, and at the moment, the rotating shaft on the artificial limb can slightly rotate due to insufficient resistance, so that the situation of slight shaking in the front-rear direction occurs. For this reason, the present embodiment requires analysis of the movement state of the single prosthesis when it is in contact with the ground, and specifically, the movement state of the single prosthesis when it is in contact with the ground includes a floor stand state and a standing start state. In a specific implementation, the calf portion 11 of the intelligent prosthesis of the present embodiment is provided with an angle sensor, and when the intelligent prosthesis is in motion, the inclination angle of each prosthesis can be detected by the angle sensor, and inclination angle change data of each prosthesis can be further determined. When the intelligent artificial limb is vertical to the ground, the user stands completely at this time, and the inclination angle of the intelligent artificial limb is 0. While the intelligent artificial limb moves, the inclination angle of the single artificial limb is continuously changed. If the inclination angle change data of the single artificial limb is gradually reduced to 0, the artificial limb is changed to a state perpendicular to the ground, so that the movement state can be determined to be a floor support state. The ground support state reflects a state that changes from the sole of the prosthesis contacting the ground to a fully standing state (i.e., the intelligent prosthesis is perpendicular to the ground, the inclination angle of the intelligent prosthesis is 0). If the inclination angle change data is gradually increased from 0, the prosthesis is described as being inclined from a state perpendicular to the ground, and therefore the movement state can be determined as a standing start state. The standing start state reflects the state that the artificial limb is completely standing (namely, the intelligent artificial limb is vertical to the ground, and the inclination angle of the intelligent artificial limb is 0) and is changed to the state that the sole is completely separated from the ground. Therefore, according to the embodiment, whether the artificial limb is in the ground support state or the standing start state is analyzed through the inclination angle change data of the single artificial limb, so that analysis is conducted on the two states in a subsequent step respectively, whether the intelligent artificial limb shakes or not is determined, and the bending resistance or the stretching resistance is adjusted in time. In other implementation manners, the embodiment can also analyze the movement gesture of the single artificial limb in real time, and analyze the gesture information of the single artificial limb during movement, so as to determine the floor support state and the standing start state of the single artificial limb based on the analyzed gesture information.
And step 200, acquiring rotation angle data of a rotating shaft of the knee joint when the single artificial limb is in the motion state.
When the motion state of the single prosthesis is determined, the present embodiment acquires the rotation angle data of the rotation shaft of the knee joint 12 in real time when the single prosthesis is in the motion state. That is, the present embodiment acquires the rotation angle data of the rotation shaft of the knee joint 12 in real time when the single prosthesis is in the floor support state or the standing start state. Because the knee joint 12 is subjected to load when the single prosthesis is in a ground supporting state or a standing starting state, the rotating shaft on the prosthesis may slightly rotate due to insufficient resistance, and slight shaking in the front-rear direction occurs. The embodiment analyzes when a single artificial limb is in a floor support state or a standing starting state, obtains the rotation angle data of the rotating shaft of the knee joint 12, and is beneficial to analyzing whether the rotation angle data of the rotating shaft is abnormal or not so as to timely process when the abnormality occurs.
Step S300, based on the rotation angle data, adjusting the bending resistance or the stretching resistance of the knee joint 12 of the single prosthesis.
After the rotation angle data of the single artificial limb is analyzed, the embodiment further determines whether the rotation angle data of the rotation shaft is abnormal according to the rotation angle data of the single artificial limb, and if so, the embodiment adjusts the bending resistance or the stretching resistance of the rotation shaft of the knee joint 12 of the single artificial limb.
In one implementation, the present embodiment, when adjusting the bending resistance or the stretching resistance, includes the steps of:
Step 301, matching the rotation angle data with the motion state, and obtaining an angle range corresponding to the motion mode when the rotation angle data is successfully matched with the motion state;
step S302, comparing the rotation angle data with the angle range;
And step S303, if the rotation angle data exceeds the angle range, adjusting the bending resistance or the stretching resistance of the knee joint of the single artificial limb.
Specifically, after the rotation angle data of the single artificial limb is obtained, the rotation angle data is firstly matched with the motion state, namely, the ground support state or the standing start state, and whether the rotation angle data is obtained in the ground support state or the standing start state is determined, so that the accuracy of the rotation angle data is ensured. In particular, when the rotation angle data is collected in real time, the floor support state or the standing start state is analyzed in real time, so that the embodiment can respectively obtain the first timestamp information corresponding to the rotation angle data and the second timestamp information corresponding to the floor support state or the standing start state, and match the first timestamp information with the second timestamp information, thereby determining whether the rotation angle data is successfully matched with the floor support state or the standing start state. And when the rotation angle data is successfully matched with the motion state, acquiring an angle range corresponding to the motion mode, wherein the angle range is a reasonable range of the rotating shaft of the knee joint 12 in the corresponding motion mode. Specifically, an angular range of the walking mode and an angular range of the running mode are obtained. The intelligent artificial limb in the walking mode has low movement speed and low swing amplitude, and the intelligent artificial limb in the running mode has higher movement speed and higher swing amplitude, so that the angle range of the walking mode is smaller than that of the running mode. The rotation angle data of the single artificial limb obtained in this embodiment is also obtained in the walking mode or the running mode, so this embodiment can compare the obtained rotation angle data with the angle range in the corresponding movement mode to determine whether the rotation angle data is abnormal, if the rotation angle data exceeds the angle range, it is indicated that the rotation axis of the knee joint 12 of the artificial limb at this time is abnormally rotated, the artificial limb also swings, and at this time, the bending resistance or the stretching resistance of the rotation axis of the knee joint 12 of the single artificial limb needs to be adjusted. In one implementation manner, when it is determined that the rotation angle data is abnormal, the embodiment may notify the user by means of a voice alert or an optoelectronic alert.
Specifically, if the rotation angle data exceeds the angle range, acquiring difference data of the rotation angle data exceeding the angle range of the corresponding motion mode. Then, a preset resistance adjustment reference table is acquired, and resistance adjustment amounts corresponding to different difference data are recorded in the resistance adjustment reference table, so that after the difference number is matched with the resistance adjustment reference table, the resistance adjustment amount can be determined, wherein the resistance adjustment amount comprises a bending resistance adjustment amount or an extension resistance adjustment amount. Then, based on the resistance adjustment amount, the bending resistance or the extension resistance of the knee joint 12 of the single prosthesis is adjusted. In other implementations, the present embodiment may further set a correspondence between the difference data and the resistance adjustment level, and determine the resistance adjustment level at this time by matching the correspondence with the currently determined difference data, where each resistance adjustment level corresponds to a resistance adjustment amount, and the resistance adjustment amount includes a bending resistance adjustment amount in the walking mode and an extension resistance adjustment amount in the running mode, so that the resistance of the rotation axis of the knee joint 12 may be accurately adjusted based on the bending resistance adjustment amount or the extension resistance adjustment amount.
Further, when the exercise mode of the intelligent prosthesis is the running mode, in order to increase the sensitivity of the knee joint 12 to the movement, the extension resistance of the damping device 2 is generally reduced when the knee joint 12 performs the leg swinging motion. If the rotation angle data of the single prosthesis in the ground support state or the standing start state exceeds the angle range, in order to improve the stability of the single prosthesis and reduce the sway of the single prosthesis, the extension resistance of the knee joint 12 of the single prosthesis needs to be increased, specifically, the extension resistance can be increased by increasing the extension damping coefficient of the damping device 2, and then the extension resistance adjustment amount is used to increase the extension resistance, so that the single prosthesis is more stable and safer. And when the motion mode of the intelligent artificial limb is a walking mode, if the rotation angle data of the single artificial limb in a ground support state or a standing starting state exceeds the angle range, the bending resistance during the backward knee bending action needs to be increased in order to improve the stability of the single artificial limb. In particular, the bending resistance can be increased by increasing the bending damping coefficient of the damping device 2 and then by adjusting the bending resistance, so that the single artificial limb is more stable and safer.
In another implementation, the present embodiment also notifies the user by means of a voice alert or an optoelectronic alert after the bending resistance or stretching resistance adjustment is completed. In addition, the embodiment can upload the bending resistance after the rotation angle data are adjusted in the walking mode and the stretching resistance after the rotation angle data are adjusted in the running mode to the server, so that the server can learn and analyze big data of the adjusted stretching resistance and the adjusted bending resistance and serve as resistance adjustment reference data, and therefore the intelligent artificial limb can better adjust the bending resistance or the stretching resistance in the subsequent use process.
In summary, the embodiment first obtains a movement mode of the intelligent artificial limb, and determines a movement state of a single artificial limb in the intelligent artificial limb in the movement mode, wherein the movement state includes that the single artificial limb is in a ground support state or in a standing starting state. And then, acquiring rotation angle data of a rotating shaft of the knee joint when the single artificial limb is in the motion state. Finally, based on the rotation angle data, the bending resistance or the stretching resistance of the knee joint of the single artificial limb is adjusted. According to the embodiment, the artificial limb can be controlled to shake by adjusting the bending resistance or the stretching resistance of the knee joint aiming at a single artificial limb, so that the stability and the service life of the artificial limb are improved, and the use safety of a user is ensured.
Based on the above embodiments, the present invention also provides a prosthetic sway control device applied to a smart prosthetic including a knee joint and a lower leg portion below the knee joint, in which a damping device for providing extension resistance or bending resistance to the knee joint is provided, as shown in fig. 3, the prosthetic sway control device comprising: a state analysis module 10, an angle analysis module 20, and a resistance adjustment module 30. Specifically, the state analysis module 10 is configured to obtain a movement mode of the intelligent prostheses, and determine a movement state of a single prosthesis in the intelligent prostheses in the movement mode, where the movement state includes the single prosthesis being in a ground support state or in a standing start state. The angle analysis module 20 is configured to obtain rotation angle data of a rotation axis of the knee joint when the single prosthesis is in the motion state. The resistance adjustment module 30 is configured to adjust a bending resistance or an extension resistance of the knee joint of the single prosthesis based on the rotation angle data.
In one implementation, the state analysis module 10 includes:
the motion mode determining unit is used for obtaining swing speed data of a single artificial limb in the intelligent artificial limbs and determining a motion mode of the intelligent artificial limbs based on the swing speed data, wherein the motion mode comprises a walking mode or a running mode;
and the motion state determining unit is used for acquiring the inclination angle change data of the lower leg part of the single artificial limb and determining the motion state of the single artificial limb according to the inclination angle change data.
In one implementation, the motion state determining unit includes:
the floor support state analysis subunit is used for determining the motion state to be a floor support state if the inclination angle change data gradually decreases to 0;
And the standing start state analysis subunit is used for determining that the motion state is a standing start state if the inclination angle change data is gradually increased from 0.
In one implementation, the resistance adjustment module 30 includes:
The data matching unit is used for matching the rotation angle data with the motion state and acquiring an angle range corresponding to the motion mode when the rotation angle data is successfully matched with the motion state;
a data comparing unit for comparing the rotation angle data with the angle range;
And the resistance adjustment unit is used for adjusting the bending resistance or the stretching resistance of the knee joint of the single artificial limb if the rotation angle data exceeds the angle range.
In one implementation, the resistance adjustment unit includes:
the difference data determining subunit is used for acquiring difference data of the rotation angle data exceeding the angle range if the rotation angle data exceeds the angle range;
a resistance adjustment amount determination subunit configured to determine a resistance adjustment amount based on the difference data, wherein the resistance adjustment amount includes a bending resistance adjustment amount or an extension resistance adjustment amount;
and the resistance adjustment execution subunit is used for adjusting the bending resistance or the stretching resistance of the knee joint of the single artificial limb based on the resistance adjustment quantity.
In one implementation, the resistance adjustment execution subunit includes:
an extension resistance adjustment unit for increasing extension resistance of the knee joint of the single prosthesis by the extension resistance adjustment amount if the exercise mode is a running mode;
And the bending resistance adjusting unit is used for increasing the bending resistance of the knee joint of the single artificial limb according to the bending resistance adjusting amount if the movement mode is a walking mode.
The working principle of each module in the artificial limb shake control device of this embodiment is the same as that of each step in the above method embodiment, and will not be described here again.
Based on the above embodiment, the invention further provides an intelligent artificial limb, wherein the intelligent artificial limb comprises a receiving cavity, a knee joint, a shank and the artificial limb shaking control device in the above embodiment.
Based on the above embodiment, the present invention also provides a terminal, and a schematic block diagram of the terminal may be shown in fig. 4. The terminal may include one or more processors 100 (only one shown in fig. 4), a memory 101, and a computer program 102, such as a prosthesis wobble control program, stored in the memory 101 and executable on the one or more processors 100. The one or more processors 100, when executing the computer program 102, may implement various steps in embodiments of a method for controlling prosthetic wobble. Or the one or more processors 100, when executing the computer program 102, may perform the functions of the various modules/units of the prosthetic sway control device embodiment, without limitation.
In one embodiment, the Processor 100 may be a central processing unit (Central Processing Unit, CPU), but may also be other general purpose processors, digital signal processors (DIGITAL SIGNAL processors, DSPs), application SPECIFIC INTEGRATED Circuits (ASICs), off-the-shelf Programmable gate arrays (Field-Programmable GATE ARRAY, FPGA) or other Programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
In one embodiment, the memory 101 may be an internal storage unit of the electronic device, such as a hard disk or a memory of the electronic device. The memory 101 may also be an external storage device of the electronic device, such as a plug-in hard disk provided on the electronic device, a smart memory card (SMART MEDIA CARD, SMC), a Secure Digital (SD) card, a flash memory card (FLASH CARD), or the like. Further, the memory 101 may also include both an internal storage unit and an external storage device of the electronic device. The memory 101 is used to store computer programs and other programs and data required by the terminal. The memory 101 may also be used to temporarily store data that has been output or is to be output.
It will be appreciated by those skilled in the art that the functional block diagram shown in fig. 4 is merely a block diagram of some of the structures associated with the present inventive arrangements and is not limiting of the terminal to which the present inventive arrangements may be applied, as a specific terminal may include more or less components than those shown, or may be combined with some components, or may have a different arrangement of components.
Those skilled in the art will appreciate that implementing all or part of the above-described methods may be accomplished by way of a computer program, which may be stored on a non-transitory computer readable storage medium, that when executed may comprise the steps of the embodiments of the methods described above. Any reference to memory, storage, operational database, or other medium used in embodiments provided herein may include non-volatile and/or volatile memory. The nonvolatile memory can include Read Only Memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual operation data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (SYNCHLINK) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), among others.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims (7)

1. The utility model provides a prosthetic rock control method which characterized in that, prosthetic rock control method is applied to intelligent prosthetic, intelligent prosthetic includes knee joint and the shank that is located the knee joint below, set up damping device in the shank, damping device is used for providing extension resistance or bending resistance to the knee joint, prosthetic rock control method includes:
acquiring a motion mode of an intelligent artificial limb, and determining a motion state of a single artificial limb in the intelligent artificial limb in the motion mode, wherein the motion state comprises a state that the single artificial limb is in a ground support state or a standing starting state;
acquiring rotation angle data of a rotating shaft of the knee joint when a single artificial limb is in the motion state;
adjusting a bending resistance or an extension resistance of the knee joint of the single prosthesis based on the rotation angle data;
The adjusting of the bending resistance or the stretching resistance of the knee joint of the single artificial limb based on the rotation angle data comprises the following steps:
Matching the rotation angle data with the motion state, and acquiring an angle range corresponding to the motion mode when the rotation angle data is successfully matched with the motion state;
Comparing the rotation angle data with the angle range;
If the rotation angle data exceeds the angle range, adjusting the bending resistance or the stretching resistance of the knee joint of the single artificial limb;
The matching the rotation angle data with the motion state includes:
Respectively acquiring first time stamp information corresponding to the rotation angle data and second time stamp information corresponding to the floor support state or the standing start state;
matching the first time stamp information with the second time stamp information, and determining whether the rotation angle data is successfully matched with the floor support state or the standing start state;
And if the rotation angle data exceeds the angle range, adjusting the bending resistance or the stretching resistance of the knee joint of the single artificial limb, wherein the method comprises the following steps:
If the rotation angle data exceeds the angle range, acquiring difference data of the rotation angle data exceeding the angle range;
Determining a resistance adjustment based on the difference data, wherein the resistance adjustment includes a bending resistance adjustment or a stretching resistance adjustment;
Adjusting the bending resistance or the stretching resistance of the knee joint of the single artificial limb based on the resistance adjustment amount;
The determining a resistance adjustment amount based on the difference data includes:
Acquiring a preset resistance adjustment reference table, wherein the resistance adjustment reference table records resistance adjustment amounts corresponding to different difference data;
After the difference value number is matched with the resistance adjustment reference table, determining a resistance adjustment amount;
Or the determining the resistance adjustment amount based on the difference data includes:
setting a corresponding relation between the difference data and the resistance adjustment level, and matching the corresponding relation with the current determined difference data to determine the resistance adjustment level, wherein each resistance adjustment level corresponds to a resistance adjustment amount, and the resistance adjustment amount comprises a bending resistance adjustment amount in a walking mode and an extension resistance adjustment amount in a running mode;
the adjusting the bending resistance or the stretching resistance of the knee joint of the single artificial limb based on the resistance adjustment amount comprises the following steps:
If the exercise mode is a running mode, increasing the expansion resistance of the knee joint of the single artificial limb by the expansion resistance adjustment amount;
if the motion mode is a walking mode, the bending resistance of the knee joint of the single artificial limb is increased by the bending resistance adjustment amount;
The method further comprises the steps of:
And uploading the bending resistance of the rotation angle data after adjustment in the walking mode and the stretching resistance after adjustment in the running mode to a server, so that big data learning and analysis are performed on the adjusted stretching resistance and the adjusted bending resistance through the server, and the big data learning and analysis are used as resistance adjustment reference data.
2. The method for controlling the sway of the artificial limb according to claim 1, wherein the steps of acquiring the movement pattern of the intelligent artificial limb and determining the movement state of a single artificial limb in the intelligent artificial limb in the movement pattern comprise the following steps:
acquiring swing speed data of a single artificial limb in the intelligent artificial limb, and determining a movement mode of the intelligent artificial limb based on the swing speed data, wherein the movement mode comprises a walking mode or a running mode;
and acquiring inclination angle change data of the lower leg part of the single artificial limb, and determining the movement state of the single artificial limb according to the inclination angle change data.
3. The method for controlling the sway of a prosthesis according to claim 2, wherein the determining the motion state of the single prosthesis according to the tilt angle change data comprises:
if the inclination angle change data is gradually reduced to 0, determining that the motion state is a floor support state;
And if the inclination angle change data is gradually increased from 0, determining that the motion state is a standing start state.
4. The utility model provides a prosthetic hand rocks controlling means, its characterized in that, prosthetic hand rocks controlling means is applied to intelligent prosthetic hand, intelligent prosthetic hand includes knee joint and is located the shank below the knee joint, set up damping device in the shank, damping device is used for right the knee joint provides extension resistance or bending resistance, prosthetic hand rocks controlling means includes:
The state analysis module is used for acquiring a motion mode of the intelligent artificial limb and determining a motion state of a single artificial limb in the intelligent artificial limb in the motion mode, wherein the motion state comprises a state that the single artificial limb is in a floor support state or a standing starting state;
the angle analysis module is used for acquiring rotation angle data of a rotating shaft of the knee joint when the single artificial limb is in the motion state;
The resistance adjustment module is used for adjusting the bending resistance or the stretching resistance of the knee joint of the single artificial limb based on the rotation angle data;
the resistance adjustment module includes:
The data matching unit is used for matching the rotation angle data with the motion state and acquiring an angle range corresponding to the motion mode when the rotation angle data is successfully matched with the motion state;
a data comparing unit for comparing the rotation angle data with the angle range;
the resistance adjusting unit is used for adjusting the bending resistance or the stretching resistance of the knee joint of the single artificial limb if the rotation angle data exceeds the angle range;
The data matching unit includes:
Respectively acquiring first time stamp information corresponding to the rotation angle data and second time stamp information corresponding to the floor support state or the standing start state;
matching the first time stamp information with the second time stamp information, and determining whether the rotation angle data is successfully matched with the floor support state or the standing start state;
the resistance adjustment unit includes:
the difference data determining subunit is used for acquiring difference data of the rotation angle data exceeding the angle range if the rotation angle data exceeds the angle range;
a resistance adjustment amount determination subunit configured to determine a resistance adjustment amount based on the difference data, wherein the resistance adjustment amount includes a bending resistance adjustment amount or an extension resistance adjustment amount;
a resistance adjustment execution subunit configured to adjust a bending resistance or an extension resistance of the knee joint of the single prosthesis based on the resistance adjustment amount;
the resistance adjustment amount determination subunit includes:
Acquiring a preset resistance adjustment reference table, wherein the resistance adjustment reference table records resistance adjustment amounts corresponding to different difference data;
After the difference value number is matched with the resistance adjustment reference table, determining a resistance adjustment amount;
Or the resistance adjustment amount determination subunit includes:
setting a corresponding relation between the difference data and the resistance adjustment level, and matching the corresponding relation with the current determined difference data to determine the resistance adjustment level, wherein each resistance adjustment level corresponds to a resistance adjustment amount, and the resistance adjustment amount comprises a bending resistance adjustment amount in a walking mode and an extension resistance adjustment amount in a running mode;
the resistance adjustment execution subunit includes:
an extension resistance adjustment unit for increasing extension resistance of the knee joint of the single prosthesis by the extension resistance adjustment amount if the exercise mode is a running mode;
A bending resistance adjustment unit for increasing the bending resistance of the knee joint of the single artificial limb by the bending resistance adjustment amount if the movement mode is a walking mode;
the apparatus further comprises:
And uploading the bending resistance of the rotation angle data after adjustment in the walking mode and the stretching resistance after adjustment in the running mode to a server, so that big data learning and analysis are performed on the adjusted stretching resistance and the adjusted bending resistance through the server, and the big data learning and analysis are used as resistance adjustment reference data.
5. A smart prosthesis comprising a socket, a knee joint, a shank, and a prosthesis sway control device of claim 4.
6. A prosthetic sway control terminal comprising a memory, a processor and a prosthetic sway control program stored in the memory and operable on the processor, wherein the processor performs the steps of the prosthetic sway control method of any of claims 1-3 when executing the prosthetic sway control program.
7. A computer readable storage medium, wherein a prosthesis wobble control program is stored on the computer readable storage medium, which when executed by a processor, implements the steps of the prosthesis wobble control method according to any one of claims 1-3.
CN202410989529.4A 2024-07-23 2024-07-23 Method and device for controlling shaking of artificial limb, intelligent artificial limb, terminal and storage medium Active CN118512291B (en)

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