CN104224411A - Method for providing affected limb side knee joint reference motions in real time - Google Patents
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Abstract
The invention discloses a method for providing affected limb side knee joint reference motions in real time. According to the method, a motion trail of an affected limb knee joint is speculated in real time on the basis of own unaffected limb knee joint motion information and planta counter force of a patient, a gait cycle of each of an unaffected limb and an affected limb sequentially includes eight phases, namely a foot holding period, a supporting earlier period, a supporting medium period, a supporting later period, a pre-swing period, a swing earlier period, a swing medium period and a swing later period, a motion trail of each phase is described approximately by a sine function or a cosine function, a phase period is determined according to a phase of real-time motion of the unaffected limb, and the motion trail of the affected limb is provided in real time by taking motions corresponding to the front half gait cycle of the unaffected limb for reference, so that continuity and accuracy of the reference motions of walk aid equipment such as an artificial limb are improved, working stability and intellectuality of the walk aid equipment are enhanced, comfort and motion freeness of the patient are improved, and safety motion of the patient aided by the walk aid equipment is guaranteed.
Description
Technical field
The present invention relates to a kind of suffering limb side knee joint that provides in real time with reference to the implementation method of moving.
Background technology
Along with the transition of society, because cause the disabling number increase of patient such as vehicle accident, industrial injury, unexpected injury and disease is very fast, and the transformation of population structure, having the elderly patient of dyskinesia to get more and more, is assist them to realize independent ambulation, again return the Main Means of mainstream of society for these people with disabilitys are equipped with walk help auxiliary facilities.But the many lacks of wisdom of existing walk-aid equipment, the walk help product of intelligence is used for again assisting below knee joint to have dyskinetic patient relatively, in order to auxiliary forfeiture knee joint or knee joint have dyskinetic patient to realize independent ambulation, more existing research institutions get down to artificial limb or the ectoskeleton walk-aid equipment that research and development have active control ability, but, thering is provided kneed with reference to motion stage for walk-aid equipment, also there is following subject matter:
1. gait statistical parameter when walking based on Healthy People differentiates each phase cycling.But motion exists notable difference between individuality, and independent part is with different leg speeds or step-length motion, and the gait parameter of each phase cycling all can difference to some extent; Therefore, be easy to concrete statistical parameter value the erroneous judgement causing phase cycling as a reference in conventional art, directly affect suffering limb side knee joint with reference to the seriality of movement locus and the job stability of walk-aid equipment, be unfavorable for the safety guaranteeing patient;
Although the gait statistical parameter 2. based on Healthy People can correctly judge each phase cycling, when the movement locus of applied statistics provides with reference to motion for suffering limb side knee joint, same meeting causes the movement symmetry of strong limb and suffering limb side walk-aid equipment very poor due to the movement differential between individuality, be unfavorable for artificial limb or ectoskeleton walk-aid equipment assisting patients easy motion, bring discomfort to patient;
3. because the gait statistical parameter of Healthy People is fixed, the parameter such as speed, amplitude of the reference campaign provided for suffering limb side knee joint is difficult to suitably adjust according to the sports consciousness of patient and external environment, make the control lack of wisdom of walk-aid equipment, be unfavorable for supporting that patient walks freely.
Summary of the invention
For solving the problems of the technologies described above, the present invention proposes a kind of suffering limb side knee joint that provides in real time with reference to the implementation method of moving, to reach walk-aid equipments such as improving artificial limb with reference to the seriality of moving and accuracy, improve the job stability of walk-aid equipment and intelligent, improve the comfort level of patient and property freely of moving, guarantee the object of walk-aid equipment assisting patients safety movement.
For achieving the above object, technical scheme of the present invention is as follows:
A kind of suffering limb side knee joint that provides in real time is with reference to the implementation method of moving, the kneed movement locus of suffering limb is inferred in real time based on the strong limb movement information of knee of patient self and Plantar force, foot is divided into maintain an equal level the cycle successively a gait cycle of strong limb and suffering limb, support early stage, support mid-term, support the later stage, the preliminary swing cycle, swing early stage, swing mid-term and swing later stage 8 phase places, and the movement locus of application SIN function or each phase place of cosine function approximate description, phase place belonging to strong limb real time kinematics determines the phase cycling of suffering limb, and the movement locus of suffering limb is provided as a reference in real time with the motion of half gait cycle corresponding phase before strong limb.
Preferably, its concrete steps are as follows:
The task of phase place initial time:
(1) current phase cycling state is upgraded;
(2) upgrade front 1 phase cycling information based on the initial time of current phase place and knee joint start angle, comprise the time cycle of phase place and the knee joint termination point of phase place;
(3) the suffering limb side knee joint angle that suffering limb side motion of knee joint output function corresponding to front 1 phase cycling provides current phase place starting point is applied;
(4) start angle of current suffering limb side phase output function is upgraded based on the output of step (3);
(5) based on half gait cycle corresponding phase before strong limb time cycle and knee joint is initial, termination point upgrades current suffering limb phase output period of a function and peak value;
(6) variable of knee joint angle and the phase place start angle difference after the variable representing sampled point number after current phase place starting point and expression interval fixed sample point of resetting, according to the variable that the counting period time cycle fixed sample of half gait cycle corresponding phase before strong limb is counted, prepare for estimating and adjusting current phase output period of a function, so that the reference campaign of suffering limb side still correctly can be provided when adjusting leg speed or stride;
(7) initial time and the knee joint start angle of current strong limb phase cycling is recorded;
(8) if the starting stage, after record starting, the counting variable of phase place number adds 1;
The task of non-phase initial time:
(9) judge whether motion terminates according to the strong limb side relevant information recorded, if motion terminates, upgrade the state that motion terminates variable;
(10) upgrade the state variable representing the starting stage, if determined the 9th phase place after starting, represent that the state variable of starting stage is all set to null value;
(11) if motion does not terminate, suffering limb side is exported according to the movement output function of 8 phase places kneed with reference to motion; If motion terminates, the kneed output in suffering limb side is constant.
Preferably, new phase cycling is that non-specific threshold value is foundation according to the peak value of being good for limb movement information of knee and Plantar force, valley, null value or the state of rising and decline.
Preferably, according to the strong limb motion of knee joint function of the strong limb knee joint angle recorded in real time and current phase place, predict the time cycle of current phase place and adjust the movement output period of a function of suffering limb side.
Beneficial effect:
1. judge each phase cycling according to the parameter attribute (peak value, valley, null value, ascendant trend and downward trend) of strong limb side knee joint angle, angular velocity, forefoot counteracting force and rear heel counteracting force, can not the change of gait parameter be that is to say because of step-length or the adjustment of leg speed and affect the correct judgement of phase cycling, be conducive to correctly exporting continuous print suffering limb motion of knee joint track.
2. provide kneed with reference to motion based on the kneed movement locus of strong limb for suffering limb side, the symmetry of two limb motion can be increased, be conducive to the stationarity improving patient moving.And if patient wants to adjust step-length, strong limb knee joint angle can change to some extent, correspondingly, the output of suffering limb side can adjust according to the change of strong limb knee joint angle.Therefore, infer that suffering limb is kneed based on the method and also can have good symmetry with strong limb motion of knee joint with reference to motion, be conducive to completing easy motion based on this reference motor control walk-aid equipment assisting patients.
3. application sine or cosine function describe the movement locus of each phase cycling, and the cycle of current phase place is again estimated according to the strong limb knee joint angle of current real-time testing, the function cycle that the corresponding suffering limb of current phase place exports motion can be adjusted in real time, the reference campaign of suffering limb side is made to adapt to the change of leg speed preferably, be conducive to the intelligent and job stability improving suffering limb side walk-aid equipment motor control, and be conducive to controlling walk-aid equipment assisting patients and steadily walk, improve comfort level and the safety of patient.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below.
Fig. 1 changes in the angle of a gait cycle with reference to the knee joint of limb strong in the implementation method of motion and suffering limb for a kind of disclosed in the embodiment of the present invention provides suffering limb side knee joint in real time;
Fig. 2 provides suffering limb side knee joint with reference to strong limb side corresponding to each phase place after the starting stage in the implementation method of motion and suffering limb side motion of knee joint function expression in real time for a kind of disclosed in the embodiment of the present invention;
Fig. 3 is a kind of relevant parameter providing starting stage front 4 phase motion output functions in the implementation method of suffering limb side knee joint reference motion in real time disclosed in the embodiment of the present invention;
Fig. 4 provides suffering limb side knee joint with reference to both limbs knee joint angle in the implementation method of motion and speed and forefoot and rear heel counteracting force corresponding relation schematic diagram in real time for a kind of disclosed in the embodiment of the present invention;
Fig. 5 is for a kind of suffering limb side knee joint that provides in real time disclosed in the embodiment of the present invention is with reference to the correlated condition differentiating each phase cycling in the implementation method of moving;
Fig. 6 is for a kind of suffering limb side knee joint that provides in real time disclosed in the embodiment of the present invention is with reference to each name variable applied in the implementation method of moving and implication;
Fig. 7 is for a kind of suffering limb side knee joint that provides in real time disclosed in the embodiment of the present invention is with reference to the program flow diagram in the implementation method of motion.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is clearly and completely described.
The present invention proposes a kind of suffering limb side knee joint that provides in real time with reference to the implementation method of moving, main thought is the phase cycling judging suffering limb according to the biomechanical information of strong limb, and it is kneed with reference to motion to provide current phase place suffering limb side in real time based on the motion of knee joint of half gait cycle before strong limb; Application the method can improve the seriality exported with reference to motion, apply the walk-aid equipments such as the artificial limb that this reference campaign is suffering limb side and target trajectory is provided, be conducive to controlling walk-aid equipment assisting patients and freely walk reposefully, improve the practicality of walk-aid equipment, the comfort level improving patient and safety.
Below in conjunction with embodiment and detailed description of the invention, the present invention is further detailed explanation.
As shown in Figure 1, a gait cycle is divided into 8 phase cyclings, be respectively foot maintain an equal level, support early stage, support mid-term, support latter stage, preliminary swing, swing early stage, swing mid-term and swing latter stage, during this phase division method makes human body walking, the phase place corresponding relation of bilateral lower limb is: the foot fair cycle is mutually corresponding with the preliminary swing cycle, support early stage mutually corresponding for early stage with swing, support mid-term mutually corresponding for mid-term with swing, support latter stage mutually corresponding for latter stage with swing.Therefore, as long as correctly judge the phase place residing for current strong limb according to the input information of strong limb, the current residing phase place (front half gait cycle is good for the phase place corresponding to limb) of suffering limb can be inferred.
Because step-length in human walking procedure and leg speed likely change at any time, correspondingly, the phase cycling that half, front and back gait cycle left and right lower limb are corresponding and joint rotation angle also can change to some extent, in order to phase cycling and the angle amplitude of the motion of knee joint output of suffering limb side can be adjusted in real time, in the present invention, application sine or cosine function describe the motion of knee joint of 8 phase cyclings, as shown in Figure 2.If because leg speed or the adjustment of step-length make the cycle of current phase place or joint angles change to some extent, as long as the cycle of adjustment output function or peak value can make movement output adapt to leg speed or the adjustment of step-length.Based on this thought, except swinging latter stage at each phase recording phase cycling, start angle and termination point; And in swing latter stage, using initial time with swing the time difference in turning point corresponding moment in latter stage as phase cycling, the angle in swing turning point in latter stage correspondence moment is as termination point, and start angle definition mode is identical with other phase places.Like this, front half gait cycle corresponding phase cycle and two angles are only poor can as 1/4 cycle of current phase output function (4 times of each phase cycling is the cycle of respective function expression formula) and peak value.In front 4 phase places of starting stage, the strong limb side motion of knee joint cannot applying front half gait cycle is the movement output raising reference of suffering limb side, therefore, gait statistical parameter setting correlation output period of a function and peak value (Fig. 3) directly based on Healthy People in the method.Due to only before the starting stage half gait cycle provide suffering limb side with reference to motion based on the gait statistical parameter of Healthy People, can not impact the stability of the seriality and corresponding walk-aid equipment that export motion.
In this invention, the main feature according to the kneed angle in strong limb side, angular velocity, forefoot counteracting force and rear heel counteracting force 4 variablees differentiates each phase cycling and swings the turning point in latter stage, as shown in Figure 4 and Figure 5.Here mentioned feature mainly refers to the state of peak value, valley, null value and increase or minimizing, and does not apply concrete numerical value as Rule of judgment.Therefore, avoid due to individual variation or due to the adjustment of individual leg speed or step-length and the phase place erroneous judgement caused.
Other sampled points outside each phase place starting point, first judge whether the phase cycling needing to upgrade output function, and applying corresponding movement output function afterwards is again that suffering limb side exports kneed reference movement angle.Being good for limb side kneed movement function expression formula due to current phase place is known (' homonymy ' in Fig. 2), the kneed angle value of limb can be good for according to two sampled points and calculate the cycle of current phase place and the peak value of strong limb side motion of knee joint function, namely cycle of current phase place and peak value be estimated.And then the cycle of the period modulation suffering limb side output function estimated can be applied, to adapt to the phase cycling change caused due to leg speed or the real-time change of step-length.Due in gait processes, knee joint angle change in each phase place caused due to the change of leg speed or step-length is also not obvious, in this invention all the time before half gait cycle be good for the peak value of difference as current phase motion output function of the initial of limb corresponding phase and termination point, the peak value not based on the strong limb side motion of knee joint function calculated carries out corresponding change.In the process again estimating current phase cycling, if the first two data point only applying current phase place easily causes the larger error of calculation, so be carry out up-to-date estimating at interval of after interval_point_Num (>=2) point in this method.The numerical value of interval_point_Num depends on the cycle of front half gait cycle corresponding phase, and at present, the numerical value of interval_point_Num is set to the sampled point number corresponding to half in respective phase cycle.
Because foot maintains an equal level, supports mid-term, swings and be good for limb side knee joint angle respective function expression formula identical (SIN function, with reference to figure 2), so can estimate the cycle of current phase place with Same Way with 4 phase places in swing latter stage early stage.In like manner, early stage, the latter stage of support, preliminary swing and swing mid-term (function expression is cosine function) also can estimate current phase place cycle with Same Way is supported.
Below introduced estimating the derivation method in cycle in two kinds of situations respectively.Wherein, the difference of the strong limb knee joint angle that the integral multiple sampled point of interval interval_point_Num is corresponding and current phase place start angle is designated as Δ α 1, the time difference of this moment and phase place starting point is designated as Δ t, when time difference that is satisfied and phase place starting point is 2 Δ t sometime, corresponding angle and the difference of phase place start angle are designated as 2 Δ α 2.
1. current phase place is good for function expression corresponding to limb knee joint angle is SIN function
Obtain in conjunction with formula (1) and (2):
Wherein acos represents inverse cosine function.
2. current phase place is good for function expression corresponding to limb knee joint angle is cosine function
Obtain in conjunction with formula (4) and (5):
No matter for that phase cycling, if the T value estimated is greater than the time difference of current time and phase place initial time, just substitute the T value of original front half gait corresponding phase with new T value, otherwise, do not change original T value.Simultaneously, after upgrading T value, the angle generation numerical value saltus step exported, while renewal T, upgrade the start angle of current phase cycling, method is the difference adding the original output function of current time (applying the T of front half gait cycle corresponding phase) and the required angle of new output function (the new T that application is estimated) on the basis of initial value.
In software implementing course, directly according to the feature of current phase cycling state and strong limb side knee joint angle, angular velocity, forefoot counteracting force and rear heel counteracting force, differentiate the original position of next phase place, so both be conducive to improving identification effect, and be conducive to again increasing differentiation accuracy rate.For suffering limb side knee joint provide in real time with reference to motion specific implementation step as follows, shown in correlated variables implication Fig. 6, software flow pattern as shown in Figure 7:
The task of phase place initial time:
(1) current phase cycling state is upgraded;
(2) upgrade front 1 phase cycling information based on the initial time of current phase place and knee joint start angle, comprise the time cycle of phase place and the knee joint termination point of phase place;
(3) the suffering limb side knee joint angle that suffering limb side motion of knee joint output function corresponding to front 1 phase cycling provides current phase place starting point is applied;
(4) start angle of current suffering limb side phase output function is upgraded based on the output of step (3);
(5) based on half gait cycle corresponding phase before strong limb time cycle and knee joint is initial, termination point upgrades current suffering limb phase output period of a function and peak value;
(6) variable of knee joint angle and the phase place start angle difference after the variable representing sampled point number after current phase place starting point and expression interval fixed sample point of resetting, according to the variable that the counting period time cycle fixed sample of half gait cycle corresponding phase before strong limb is counted, prepare for estimating and adjusting current phase output period of a function, so that the reference campaign of suffering limb side still correctly can be provided when adjusting leg speed or stride;
(7) initial time and the knee joint start angle of current strong limb phase cycling is recorded;
(8) if the starting stage, after record starting, the counting variable of phase place number adds 1;
Wherein the turning point position of starting stage first phase place only needs to complete related work according to the order of (1) (4) (5) (6) (7) (3) (8).Owing to being first phase place of starting, cycle and the peak value of (5) middle output function cannot provide based on front half gait cycle corresponding phase information, but directly provide (Fig. 3) based on Healthy People gait statistical data; (6) interval_point_Num in task in like manner; 3. first output valve of current phase place is directly provided in task according to gait statistical data.In addition, swinging the turning point position in latter stage, only needing (1) (2) (3) task.Owing to having upgraded the relevant information swinging latter stage swinging the turning point position in latter stage, as long as so perform (1) (4) (5) (6) (7) (8) task in the ensuing foot phase place starting point that maintains an equal level.
Except the inter-related task of above mentioned phase place initial time, at other sampled points of each phase place, mainly complete following task:
(9) judge whether motion terminates according to the strong limb side relevant information recorded, if motion terminates, upgrade the state that motion terminates variable;
(10) upgrade the state variable representing the starting stage, if determined the 9th phase place after starting, represent that the state variable of starting stage is all set to null value;
(11) if motion does not terminate, suffering limb side is exported according to the movement output function of 8 phase places kneed with reference to motion; If motion terminates, the kneed output in suffering limb side is constant.
By above mode, a kind of suffering limb side knee joint that provides in real time provided by the present invention is with reference to the implementation method of moving, based on strong limb side movable information in real time for suffering limb side provide knee joint with reference to motion, the symmetry of bilateral knee joint motions can be increased, be conducive to the walk-aid equipment assisting patients easy motion controlling suffering limb side.Simultaneously, based on each phase place of feature decision such as peak state and variation tendency of strong limb side biomechanical information, the erroneous judgement of phase place can be reduced, be conducive to controlling the stability of walk-aid equipment, and be conducive to controlling walk-aid equipment and assist different patients to realize independent ambulation.In addition, movable information based on the current phase place of strong limb estimates new phase cycling, the knee joint reference motor fitness leg speed of suffering limb side or the change of step-length can be made, be conducive to controlling the leg speed during walk-aid equipment assisting patients adjusts walking at any time and step-length, and not motion-affecting stationarity.
Above-described is only that a kind of suffering limb side knee joint that provides in real time disclosed in this invention is with reference to the preferred implementation in the implementation method of motion; should be understood that; for the person of ordinary skill of the art; without departing from the concept of the premise of the invention; can also make some distortion and improvement, these all belong to protection scope of the present invention.
Claims (4)
1. one kind provides the implementation method of suffering limb side knee joint with reference to motion in real time, the kneed movement locus of suffering limb is inferred in real time based on the strong limb movement information of knee of patient self and Plantar force, foot is divided into maintain an equal level the cycle successively a gait cycle of strong limb and suffering limb, support early stage, support mid-term, support the later stage, the preliminary swing cycle, swing early stage, swing mid-term and swing later stage 8 phase places, and the movement locus of application SIN function or each phase place of cosine function approximate description, it is characterized in that, phase place belonging to strong limb real time kinematics determines the phase cycling of suffering limb, and the movement locus of suffering limb is provided as a reference in real time with the motion of half gait cycle corresponding phase before strong limb.
2. a kind of suffering limb side knee joint that provides in real time according to claim 1 is with reference to the implementation method of moving, and it is characterized in that, its step is specific as follows:
The task of phase place initial time:
(1) current phase cycling state is upgraded;
(2) upgrade front 1 phase cycling information based on the initial time of current phase place and knee joint start angle, comprise the time cycle of phase place and the knee joint termination point of phase place;
(3) the suffering limb side knee joint angle that suffering limb side motion of knee joint output function corresponding to front 1 phase cycling provides current phase place starting point is applied;
(4) start angle of current suffering limb side phase output function is upgraded based on the output of step (3);
(5) based on half gait cycle corresponding phase before strong limb time cycle and knee joint is initial, termination point upgrades current suffering limb phase output period of a function and peak value;
(6) variable of knee joint angle and the phase place start angle difference after the variable representing sampled point number after current phase place starting point and expression interval fixed sample point of resetting, according to the variable that the counting period time cycle fixed sample of half gait cycle corresponding phase before strong limb is counted, prepare for estimating and adjusting current phase output period of a function, so that the reference campaign of suffering limb side still correctly can be provided when adjusting leg speed or stride;
(7) initial time and the knee joint start angle of current strong limb phase cycling is recorded;
(8) if the starting stage, after record starting, the counting variable of phase place number adds 1;
The task of non-phase initial time:
(9) judge whether motion terminates according to the strong limb side relevant information recorded, if motion terminates, upgrade the state that motion terminates variable;
(10) upgrade the state variable representing the starting stage, if determined the 9th phase place after starting, represent that the state variable of starting stage is all set to null value;
(11) if motion does not terminate, suffering limb side is exported according to the movement output function of 8 phase places kneed with reference to motion; If motion terminates, the kneed output in suffering limb side is constant.
3. a kind of suffering limb side knee joint that provides in real time according to claim 1 is with reference to the implementation method of moving, it is characterized in that, new phase cycling is that non-specific threshold value is foundation according to the peak value of being good for limb movement information of knee and Plantar force, valley, null value or the state of rising and decline.
4. a kind of suffering limb side knee joint that provides in real time according to claim 1 is with reference to the implementation method of moving, it is characterized in that, according to the strong limb motion of knee joint function of the strong limb knee joint angle recorded in real time and current phase place, predict the time cycle of current phase place and adjust the movement output period of a function of suffering limb side.
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| CN111658246A (en) * | 2020-05-19 | 2020-09-15 | 中国科学院计算技术研究所 | Intelligent joint prosthesis regulating and controlling method and system based on symmetry |
| CN111658246B (en) * | 2020-05-19 | 2021-11-30 | 中国科学院计算技术研究所 | Intelligent joint prosthesis regulating and controlling method and system based on symmetry |
| CN112220650A (en) * | 2020-12-09 | 2021-01-15 | 南京伟思医疗科技股份有限公司 | Online step generation control system for exoskeleton robot contralateral training |
| CN112220650B (en) * | 2020-12-09 | 2021-04-16 | 南京伟思医疗科技股份有限公司 | Online step generation control system for exoskeleton robot contralateral training |
| CN114161421A (en) * | 2021-12-14 | 2022-03-11 | 深圳市优必选科技股份有限公司 | Motion terrain determination method and device, robot and readable storage medium |
| CN114161421B (en) * | 2021-12-14 | 2024-01-19 | 深圳市优必选科技股份有限公司 | Motion terrain determination method, device, robot and readable storage medium |
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