CN108078740A - Upper and lower limb joint Isokinetic training method can be achieved in one kind - Google Patents

Upper and lower limb joint Isokinetic training method can be achieved in one kind Download PDF

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CN108078740A
CN108078740A CN201810116380.3A CN201810116380A CN108078740A CN 108078740 A CN108078740 A CN 108078740A CN 201810116380 A CN201810116380 A CN 201810116380A CN 108078740 A CN108078740 A CN 108078740A
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mrow
theta
msup
mfrac
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CN108078740B (en
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王勇
张素才
马文章
王虎
刘正士
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Hefei University of Technology
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0214—Stretching or bending or torsioning apparatus for exercising by rotating cycling movement
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/024—Knee
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/0244—Hip
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
    • A61H1/0277—Elbow
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
    • A61H1/0281—Shoulder
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
    • A63B22/0002—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements involving an exercising of arms
    • A63B22/001—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements involving an exercising of arms by simultaneously exercising arms and legs, e.g. diagonally in anti-phase
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
    • A63B22/06—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with support elements performing a rotating cycling movement, i.e. a closed path movement
    • A63B22/0605—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with support elements performing a rotating cycling movement, i.e. a closed path movement performing a circular movement, e.g. ergometers
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
    • A63B24/0087—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/06—Arms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/06—Arms
    • A61H2205/062—Shoulders
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/08—Trunk
    • A61H2205/088—Hip
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/10—Leg
    • A61H2205/102—Knee

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  • Physical Education & Sports Medicine (AREA)
  • General Health & Medical Sciences (AREA)
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  • Life Sciences & Earth Sciences (AREA)
  • Pain & Pain Management (AREA)
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  • Rehabilitation Tools (AREA)

Abstract

The invention discloses the methods that achievable two joints of upper and lower limb simple joint or upper and lower limb are carried out at the same time Isokinetic training.The end haulage gear such as treadmill formula treadmill formula end haulage gear turned round by that can realize complete cycle, traction is acral, and then realizes the Isokinetic training of limbs joint.This method is according to joint motion rule, changed by the crank length for controlling end haulage gear or control the crank length variation of end haulage gear and the characteristics of motion of crank simultaneously, to control the kneed movement of limbs, i.e. realization limbs simple joint or the Isokinetic training in multiple joints.

Description

Upper and lower limb joint Isokinetic training method can be achieved in one kind
Technical field：
The present invention relates to one kind can be achieved upper and lower limb joint Isokinetic training method, belong to rehabilitation medical and sport and body-building neck Domain.
Background technology：
The reasons such as social senilization's degree is increasingly deepened, cerebral apoplexy, spinal cord injury cause limb function movement to reduce, even Total loss has seriously affected quality of life.Rehabilitation is to recover the effective way of motor function, and constant speed technology is in the world One relatively advanced muscular strength functional evaluation and rehabilitation technique, can be on the premise of ensuring safety efficiently for user Recover and improve limb function, but Isokinetic training device is blocked mostly by foreign technology, and heaviness, price are high after all mostly for product High, product function is also all only for simple joint Isokinetic training, and therefore, that studies a kind of simple possible can realize that upper and lower limb list closes The method of section or multi-joint while Isokinetic training has far-reaching realistic meaning.
The content of the invention：
The defects of to overcome the prior art, can realize upper and lower limb it is an object of the invention to provide a kind of simple possible Joint Isokinetic training method.
The present invention solves technical problem and adopts the following technical scheme that：
Upper and lower limb simple joint Isokinetic training method can be achieved in one kind, by controlling crank in the haulage gear of treadmill formula end The variation of length, to realize the Isokinetic training of limbs simple joint：
Step 1：It establishes human body and simplifies motion model with treadmill formula end haulage gear
A rigid multi-body dynamics system will be simplified on the left of human body lower limbs, with the crank up of treadmill formula end haulage gear Center is origin, establishes Descartes's rectangular coordinate system 1.1, if：The a length of l of thigh1；The a length of l of shank2；The a length of l of crank3, with level Face angle is θ3, rotating speed ω3；The crank up center of treadmill formula end haulage gear is less than human hip horizontal plane, away from people Body hip joint horizontal distance s, vertical distance h；Angle, that is, knee joint angle between thigh and shank is θk, thigh and horizontal plane Angle is θh, shank angle with horizontal plane is θ2；
A rigid multi-body dynamics system will be simplified on the left of human upper limb, with the crank up of treadmill formula end haulage gear Center is origin, establishes Descartes's rectangular coordinate system 1.2, if：The a length of l of large arm1；The a length of l of forearm2；The a length of l of crank3, with level Face angle is θ3, rotating speed ω3；The crank up center of treadmill formula end haulage gear is higher than human body shoulder joint horizontal plane, away from people Body shoulder joint horizontal distance s, vertical distance h, less than shoulder joint horizontal plane；Angle, that is, Angle of Elbow Joint between large arm and forearm For θa, large arm angle with horizontal plane is θs, forearm angle with horizontal plane is θ2；
Step 2：It establishes the equation of motion and solves
(1) kinematical equation is established according to Descartes's rectangular coordinate system 1.1：
l1cosθh+ s=l2cosθ2+l3cosθ3
l1sinθh+ h=l3sinθ3+l2sinθ2
Wherein：θ3=ω3T, θh=θk+θ2；
If carrying out Isokinetic training to knee joint, crank length l thus can be solved3Expression formula：
Wherein：
A=l1-l2cosθk
B=l2sinθk
If carrying out Isokinetic training to hip joint, crank length l thus can be solved3Expression formula：
As long as the thus, crank length l of treadmill formula end haulage gear3Change according to the rule, you can under realization The individual Isokinetic training of limb knee joint, hip joint.
(2) kinematical equation is established according to Descartes's rectangular coordinate system 1.2：
l1cosθs+ s=l2cosθ2+l3cosθ3
l1sinθs- h=l2sinθ2+l3sinθ3
θ2=θs+θa
If Isokinetic training, θ are carried out to shoulder jointsAngle is because carrying out Isokinetic training, and numerical value is it is known that thus crank can be solved long Spend l3Expression formula：
If Isokinetic training, θ are carried out to elbow jointaAngle is because carrying out Isokinetic training, and numerical value is it is known that thus crank can be solved long Spend l3Expression formula：
Wherein：
A=l1-l2cosθa
B=l2sinθa
As long as thus, the crank length of treadmill formula end haulage gear in this manner middle gained rule carry out Variation, you can realize upper limb shoulder joint and the individual Isokinetic training of upper limb elbow joint.
Upper and lower limb doublejointed Isokinetic training method can be achieved in one kind, by controlling crank in the haulage gear of treadmill formula end The variation of length and the characteristics of motion of crank, Isokinetic training while realizing two joints of upper limb or lower limb：
Step 1：It establishes human body and simplifies motion model with treadmill formula end haulage gear
A rigid multi-body dynamics system will be simplified on the left of human body lower limbs, with the crank up of treadmill formula end haulage gear Center is origin, establishes Descartes's rectangular coordinate system 2.1, if：The a length of l of thigh1；The a length of l of shank2；The a length of l of crank3, with level Face angle is θ3, rotating speed ω3；The crank up center of treadmill formula end haulage gear is less than human hip horizontal plane, away from people Body hip joint horizontal distance s, vertical distance h；Angle, that is, knee joint angle between thigh and shank is θk, thigh and horizontal plane Angle is θh, shank angle with horizontal plane is θ2。
A rigid multi-body dynamics system will be simplified on the left of human upper limb, with the crank up of treadmill formula end haulage gear Center is origin, establishes Descartes's rectangular coordinate system 2.2, if：The a length of l of large arm1；The a length of l of forearm2；The a length of l of crank3, with level Face angle is θ3, rotating speed ω3；The crank up center of treadmill formula end haulage gear is higher than human body shoulder joint horizontal plane, away from people Body shoulder joint horizontal distance s, vertical distance h, less than shoulder joint horizontal plane；Angle, that is, Angle of Elbow Joint between large arm and forearm For θa, large arm angle with horizontal plane is θs, forearm angle with horizontal plane is θ2；
Step 2：It establishes the equation of motion and solves
(1) if two joints of lower limb are carried out at the same time Isokinetic training, kinematics side is established according to Descartes's rectangular coordinate system 2.1 Journey:
l1cosθh+ s=l2cosθ2+l3cosθ3
l1sinθh+ h=l3sinθ3+l2sinθ2
Wherein：θ2=θh-θk
Thus the expression formula of crank length and crank angle can be solved：
As long as thus, the crank length of treadmill formula end haulage gear and the crank of treadmill formula end haulage gear It rotates and changes according to the rule, you can realize the Isokinetic training of lower limb knee, hip joint simultaneously.
(2) if two joints of upper limb are carried out at the same time Isokinetic training, motion vector is established according to Descartes's rectangular coordinate system 2.2 Equation：
l1cosθs+ s=l2cosθ2+l3cosθ3
l1sinθs- h=l2sinθ2+l3sinθ3
Wherein：θ2=θs+θa
Compared with the prior art, beneficial effects of the present invention are embodied in：
The present invention proposes a kind of achievable upper and lower limb joint Isokinetic training method.The end turned round by that can realize complete cycle Haulage gear such as treadmill formula treadmill formula end haulage gear is held, traction is acral, and then realizes the Isokinetic training of limbs joint.
This method is according to joint motion rule, is changed by the crank length for controlling end haulage gear, to control limb The movement in body joint realizes the Isokinetic training of limbs simple joint or the crank length of end haulage gear is controlled to change simultaneously And the characteristics of motion of crank, Isokinetic training while realizing limbs multiple joints.
Description of the drawings：
Fig. 1 is 1.1 and 2.1 man-machine model's schematic diagram of Descartes's rectangular coordinate system；Fig. 2 is 1.2 He of Descartes's rectangular coordinate system 2.2 man-machine model's schematic diagrams；Fig. 3 is the structure diagram of healthy equipment, and Fig. 4 is crank structure figure in Fig. 3.
Figure label：1 treadmill formula end haulage gear, 2 disk cranks, 3 treadmill formula end dragger frameworks, 4 supports Accessory, 21 crank bodies, 22 length adjustment push rods.
Below by way of specific embodiment, and with reference to attached drawing, the invention will be further described.
Specific embodiment：
Embodiment：Referring to Fig. 3 and Fig. 4, to be illustrated exemplified by realizing certain healthy equipment of the present invention, certainly, also may be used With using 2017102408979 healthy equipment or 2016104588308 fitness equipment.
Shown in Fig. 3, which includes treadmill formula end haulage gear 1, disk crank 2, the traction of treadmill formula end Mechanism rack 3, support accessory 4 (i.e. foot-operated).Wherein disk crank can complete cycle revolution, and speed is controllable, shown in Fig. 4, disc type Crank length can be adjusted by push rod.
Upper and lower limb joint Isokinetic training method can be achieved in the present invention, and step is as follows：
The movement of upper and lower limb is mostly based on sagittal plane, and motion state is approximate, therefore achievement in research is generally applicable, and in sagittal plane Interior limb motion is symmetrical, therefore only studies wherein one side limb motion state.
Embodiment 1：
By controlling the variation of crank length in the haulage gear of treadmill formula end, to realize that the constant speed of limbs simple joint is instructed Practice, it is characterised in that：
Step 1：It establishes human body and simplifies motion model with treadmill formula end haulage gear
A rigid multi-body dynamics system will be simplified on the left of human body lower limbs, with the crank up of treadmill formula end haulage gear Center is origin, shown in Fig. 1, establishes Descartes's rectangular coordinate system 1.1, if：The a length of l of thigh1；The a length of l of shank2；Crank is a length of l3, angle with horizontal plane θ3, rotating speed ω3；The crank up center of treadmill formula end haulage gear is less than human hip water Plane, away from human hip horizontal distance s, vertical distance h；Angle, that is, knee joint angle between thigh and shank is θk, greatly Leg angle with horizontal plane is θh, shank angle with horizontal plane is θ2。
A rigid multi-body dynamics system will be simplified on the left of human upper limb, with the crank up of treadmill formula end haulage gear Center is origin, shown in Fig. 2, establishes Descartes's rectangular coordinate system 1.2, if：The a length of l of large arm1；The a length of l of forearm2；Crank is a length of l3, angle with horizontal plane θ3, rotating speed ω3；The crank up center of treadmill formula end haulage gear is water-saving higher than human body shoulder joint Plane, away from human body shoulder joint horizontal distance s, vertical distance h, less than shoulder joint horizontal plane；Angle between large arm and forearm is Angle of Elbow Joint is θa, large arm angle with horizontal plane is θs, forearm angle with horizontal plane is θ2；
Step 2：It establishes the equation of motion and solves
(1) kinematical equation is established according to Descartes's rectangular coordinate system 1.1：
l1cosθh+ s=l2cosθ2+l3cosθ3
l1sinθh+ h=l3sinθ3+l2sinθ2
Wherein：θ3=ω3T, θh=θk+θ2；
If carrying out Isokinetic training to knee joint, crank length l thus can be solved3Expression formula：
Wherein：
A=l1-l2cosθk
B=l2sinθk
If carrying out Isokinetic training to hip joint, crank length l thus can be solved3Expression formula：
As long as the thus, crank length l of treadmill formula end haulage gear3Change according to the rule, you can under realization The individual Isokinetic training of limb knee joint, hip joint.
(2) kinematical equation is established according to Descartes's rectangular coordinate system 1.2：
l1cosθs+ s=l2cosθ2+l3cosθ3
l1sinθs- h=l2sinθ2+l3sinθ3
θ2=θs+θa
If Isokinetic training, θ are carried out to shoulder jointsAngle is because carrying out Isokinetic training, and numerical value is it is known that thus crank can be solved long Spend l3Expression formula：
If Isokinetic training, θ are carried out to elbow jointaAngle is because carrying out Isokinetic training, and numerical value is it is known that thus crank can be solved long Spend l3Expression formula：
Wherein：
A=l1-l2cosθa
B=l2sinθa
As long as thus, the crank length of treadmill formula end haulage gear in this manner middle gained rule carry out Variation, you can realize upper limb shoulder joint and the individual Isokinetic training of upper limb elbow joint.
Embodiment 2：By controlling the variation of the characteristics of motion of crank length and crank in the haulage gear of treadmill formula end, Isokinetic training while realizing two joints of upper limb or lower limb：
Step 1：It establishes human body and simplifies motion model with treadmill formula end haulage gear
A rigid multi-body dynamics system will be simplified on the left of human body lower limbs, with the crank up of treadmill formula end haulage gear Center is origin, shown in Fig. 1, establishes Descartes's rectangular coordinate system 2.1, if：The a length of l of thigh1；The a length of l of shank2；Crank is a length of l3, angle with horizontal plane θ3, rotating speed ω3；The crank up center of treadmill formula end haulage gear is less than human hip water Plane, away from human hip horizontal distance s, vertical distance h；Angle, that is, knee joint angle between thigh and shank is θk, greatly Leg angle with horizontal plane is θh, shank angle with horizontal plane is θ2。
A rigid multi-body dynamics system will be simplified on the left of human upper limb, with the crank up of treadmill formula end haulage gear Center is origin, shown in Fig. 2, establishes Descartes's rectangular coordinate system 2.2, if：The a length of l of large arm1；The a length of l of forearm2；Crank is a length of l3, angle with horizontal plane θ3, rotating speed ω3；The crank up center of treadmill formula end haulage gear is water-saving higher than human body shoulder joint Plane, away from human body shoulder joint horizontal distance s, vertical distance h, less than shoulder joint horizontal plane；Angle between large arm and forearm is Angle of Elbow Joint is θa, large arm angle with horizontal plane is θs, forearm angle with horizontal plane is θ2；
Step 2：It establishes the equation of motion and solves
(1) if two joints of lower limb are carried out at the same time Isokinetic training, kinematics side is established according to Descartes's rectangular coordinate system 2.1 Journey:
l1cosθh+ s=l2cosθ2+l3cosθ3
l1sinθh+ h=l3sinθ3+l2sinθ2
Wherein：θ2=θh-θk
Thus the expression formula of crank length and crank angle can be solved：
As long as thus, the crank length of treadmill formula end haulage gear and the crank of treadmill formula end haulage gear It rotates and changes according to the rule, you can realize the Isokinetic training of lower limb knee, hip joint simultaneously.
(2) if two joints of upper limb are carried out at the same time Isokinetic training, motion vector is established according to Descartes's rectangular coordinate system 2.2 Equation：
l1cosθs+ s=l2cosθ2+l3cosθ3
l1sinθs- h=l2sinθ2+l3sinθ3
Wherein：θ2=θs+θa

Claims (2)

1. upper and lower limb simple joint Isokinetic training method can be achieved in one kind, by controlling crank in the haulage gear of treadmill formula end long The variation of degree, to realize the Isokinetic training of limbs simple joint, it is characterised in that：
Step 1：It establishes human body and simplifies motion model with treadmill formula end haulage gear
A rigid multi-body dynamics system will be simplified on the left of human body lower limbs, with the crank up center of treadmill formula end haulage gear For origin, Descartes's rectangular coordinate system 1.1 is established, if：The a length of l of thigh1；The a length of l of shank2；The a length of l of crank3, pressed from both sides with horizontal plane Angle is θ3, rotating speed ω3；The crank up center of treadmill formula end haulage gear is less than human hip horizontal plane, away from human body hip Articulation level distance s, vertical distance h；Angle, that is, knee joint angle between thigh and shank is θk, thigh angle with horizontal plane For θh, shank angle with horizontal plane is θ2；
A rigid multi-body dynamics system will be simplified on the left of human upper limb, with the crank up center of treadmill formula end haulage gear For origin, Descartes's rectangular coordinate system 1.2 is established, if：The a length of l of large arm1；The a length of l of forearm2；The a length of l of crank3, pressed from both sides with horizontal plane Angle is θ3, rotating speed ω3；The crank up center of treadmill formula end haulage gear is higher than human body shoulder joint horizontal plane, away from human body shoulder Articulation level distance s, vertical distance h, less than shoulder joint horizontal plane；Angle, that is, Angle of Elbow Joint between large arm and forearm is θa, large arm angle with horizontal plane is θs, forearm angle with horizontal plane is θ2；
Step 2：It establishes the equation of motion and solves
(1) kinematical equation is established according to Descartes's rectangular coordinate system 1.1：
<mrow> <msub> <mi>l</mi> <mn>1</mn> </msub> <msup> <mi>e</mi> <mrow> <msub> <mi>i&amp;theta;</mi> <mi>h</mi> </msub> </mrow> </msup> <mo>+</mo> <mi>i</mi> <mi>h</mi> <mo>+</mo> <mi>s</mi> <mo>=</mo> <msub> <mi>l</mi> <mn>2</mn> </msub> <msup> <mi>e</mi> <mrow> <msub> <mi>i&amp;theta;</mi> <mn>2</mn> </msub> </mrow> </msup> <mo>+</mo> <msub> <mi>l</mi> <mn>3</mn> </msub> <msup> <mi>e</mi> <mrow> <msub> <mi>i&amp;theta;</mi> <mn>3</mn> </msub> </mrow> </msup> </mrow>
l1cosθh+ s=l2cosθ2+l3cosθ3
l1sinθh+ h=l3sinθ3+l2sinθ2
Wherein：θ3=ω3T, θh=θk+θ2；
If carrying out Isokinetic training to knee joint, crank length l thus can be solved3Expression formula：
<mrow> <msub> <mi>&amp;theta;</mi> <mi>h</mi> </msub> <mo>=</mo> <mi>arcsin</mi> <mrow> <mo>(</mo> <mfrac> <mrow> <mi>s</mi> <mi> </mi> <msub> <mi>tan&amp;theta;</mi> <mn>3</mn> </msub> <mo>-</mo> <mi>h</mi> </mrow> <msqrt> <mrow> <mo>(</mo> <msup> <mi>A</mi> <mn>2</mn> </msup> <mo>+</mo> <msup> <mi>B</mi> <mn>2</mn> </msup> <mo>)</mo> <mo>(</mo> <mn>1</mn> <mo>+</mo> <msup> <mi>tan</mi> <mn>2</mn> </msup> <msub> <mi>&amp;theta;</mi> <mn>3</mn> </msub> <mo>)</mo> </mrow> </msqrt> </mfrac> <mo>)</mo> </mrow> <mo>-</mo> <mi>arctan</mi> <mrow> <mo>(</mo> <mfrac> <mi>B</mi> <mi>A</mi> </mfrac> <mo>)</mo> </mrow> <mo>-</mo> <msub> <mi>&amp;theta;</mi> <mn>3</mn> </msub> </mrow>
<mrow> <msub> <mi>l</mi> <mn>3</mn> </msub> <mo>=</mo> <mfrac> <mrow> <msub> <mi>l</mi> <mn>1</mn> </msub> <msub> <mi>sin&amp;theta;</mi> <mi>h</mi> </msub> <mo>+</mo> <mi>h</mi> <mo>-</mo> <msub> <mi>l</mi> <mn>2</mn> </msub> <msub> <mi>sin&amp;theta;</mi> <mn>2</mn> </msub> </mrow> <mrow> <msub> <mi>sin&amp;theta;</mi> <mn>3</mn> </msub> </mrow> </mfrac> </mrow>
Wherein：
A=l1-l2cosθk
B=l2sinθk
If carrying out Isokinetic training to hip joint, crank length l thus can be solved3Expression formula：
<mrow> <msub> <mi>&amp;theta;</mi> <mn>2</mn> </msub> <mo>=</mo> <mi>arccos</mi> <mrow> <mo>(</mo> <mfrac> <mrow> <msub> <mi>l</mi> <mn>1</mn> </msub> <msub> <mi>sin&amp;theta;</mi> <mi>h</mi> </msub> <mo>+</mo> <mi>h</mi> <mo>-</mo> <msub> <mi>l</mi> <mn>1</mn> </msub> <msub> <mi>tan&amp;theta;</mi> <mn>3</mn> </msub> <msub> <mi>cos&amp;theta;</mi> <mi>h</mi> </msub> <mo>-</mo> <mi>s</mi> <mi> </mi> <msub> <mi>tan&amp;theta;</mi> <mn>3</mn> </msub> </mrow> <msqrt> <mrow> <msup> <msub> <mi>l</mi> <mn>2</mn> </msub> <mn>2</mn> </msup> <mo>+</mo> <msup> <msub> <mi>l</mi> <mn>2</mn> </msub> <mn>2</mn> </msup> <msup> <mi>tan</mi> <mn>2</mn> </msup> <msub> <mi>&amp;theta;</mi> <mn>3</mn> </msub> </mrow> </msqrt> </mfrac> <mo>)</mo> </mrow> <mo>-</mo> <mi>arctan</mi> <mrow> <mo>(</mo> <mfrac> <mn>1</mn> <mrow> <msub> <mi>tan&amp;theta;</mi> <mn>3</mn> </msub> </mrow> </mfrac> <mo>)</mo> </mrow> </mrow>
<mrow> <msub> <mi>l</mi> <mn>3</mn> </msub> <mo>=</mo> <mfrac> <mrow> <msub> <mi>l</mi> <mn>1</mn> </msub> <msub> <mi>sin&amp;theta;</mi> <mi>h</mi> </msub> <mo>+</mo> <mi>h</mi> <mo>-</mo> <msub> <mi>l</mi> <mn>2</mn> </msub> <msub> <mi>sin&amp;theta;</mi> <mn>2</mn> </msub> </mrow> <mrow> <msub> <mi>sin&amp;theta;</mi> <mn>3</mn> </msub> </mrow> </mfrac> </mrow>
As long as the thus, crank length l of treadmill formula end haulage gear3Change according to the rule, you can realize that lower limb knee closes Section, the individual Isokinetic training of hip joint.
(2) kinematical equation is established according to Descartes's rectangular coordinate system 1.2：
<mrow> <msub> <mi>l</mi> <mn>1</mn> </msub> <msup> <mi>e</mi> <mrow> <msub> <mi>i&amp;theta;</mi> <mi>s</mi> </msub> </mrow> </msup> <mo>-</mo> <mi>i</mi> <mi>h</mi> <mo>+</mo> <mi>s</mi> <mo>=</mo> <msub> <mi>l</mi> <mn>2</mn> </msub> <msup> <mi>e</mi> <mrow> <msub> <mi>i&amp;theta;</mi> <mn>2</mn> </msub> </mrow> </msup> <mo>+</mo> <msub> <mi>l</mi> <mn>3</mn> </msub> <msup> <mi>e</mi> <mrow> <msub> <mi>i&amp;theta;</mi> <mn>3</mn> </msub> </mrow> </msup> </mrow>
l1cosθs+ s=l2cosθ2+l3cosθ3
l1sinθs- h=l2sinθ2+l3sinθ3
θ2=θs+θa
If Isokinetic training, θ are carried out to shoulder jointsAngle is because carrying out Isokinetic training, thus numerical value is it is known that can solve crank length l3 Expression formula：
<mrow> <msub> <mi>&amp;theta;</mi> <mn>2</mn> </msub> <mo>=</mo> <mi>arccos</mi> <mrow> <mo>(</mo> <mfrac> <mrow> <msub> <mi>l</mi> <mn>1</mn> </msub> <msub> <mi>sin&amp;theta;</mi> <mi>s</mi> </msub> <mo>-</mo> <mi>h</mi> <mo>-</mo> <msub> <mi>l</mi> <mn>1</mn> </msub> <msub> <mi>tan&amp;theta;</mi> <mn>3</mn> </msub> <msub> <mi>cos&amp;theta;</mi> <mi>s</mi> </msub> <mo>-</mo> <mi>s</mi> <mi> </mi> <msub> <mi>tan&amp;theta;</mi> <mn>3</mn> </msub> </mrow> <msqrt> <mrow> <msup> <msub> <mi>l</mi> <mn>2</mn> </msub> <mn>2</mn> </msup> <mo>+</mo> <msup> <msub> <mi>l</mi> <mn>2</mn> </msub> <mn>2</mn> </msup> <msup> <mi>tan</mi> <mn>2</mn> </msup> <msub> <mi>&amp;theta;</mi> <mn>3</mn> </msub> </mrow> </msqrt> </mfrac> <mo>)</mo> </mrow> <mo>-</mo> <mi>arctan</mi> <mrow> <mo>(</mo> <mfrac> <mn>1</mn> <mrow> <msub> <mi>tan&amp;theta;</mi> <mn>3</mn> </msub> </mrow> </mfrac> <mo>)</mo> </mrow> </mrow>
<mrow> <msub> <mi>l</mi> <mn>3</mn> </msub> <mo>=</mo> <mfrac> <mrow> <msub> <mi>l</mi> <mn>1</mn> </msub> <msub> <mi>sin&amp;theta;</mi> <mi>s</mi> </msub> <mo>-</mo> <mi>h</mi> <mo>-</mo> <msub> <mi>l</mi> <mn>2</mn> </msub> <msub> <mi>sin&amp;theta;</mi> <mn>2</mn> </msub> </mrow> <mrow> <msub> <mi>sin&amp;theta;</mi> <mn>3</mn> </msub> </mrow> </mfrac> </mrow>
If Isokinetic training, θ are carried out to elbow jointaAngle is because carrying out Isokinetic training, thus numerical value is it is known that can solve crank length l3 Expression formula：
<mrow> <msub> <mi>&amp;theta;</mi> <mi>s</mi> </msub> <mo>=</mo> <mi>arccos</mi> <mrow> <mo>(</mo> <mfrac> <mrow> <mo>-</mo> <mi>s</mi> <mi> </mi> <msub> <mi>tan&amp;theta;</mi> <mn>3</mn> </msub> <mo>-</mo> <mi>h</mi> </mrow> <msqrt> <mrow> <mo>(</mo> <msup> <mi>A</mi> <mn>2</mn> </msup> <mo>+</mo> <msup> <mi>B</mi> <mn>2</mn> </msup> <mo>)</mo> <mo>(</mo> <mn>1</mn> <mo>+</mo> <msup> <mi>tan</mi> <mn>2</mn> </msup> <msub> <mi>&amp;theta;</mi> <mn>3</mn> </msub> <mo>)</mo> </mrow> </msqrt> </mfrac> <mo>)</mo> </mrow> <mo>-</mo> <mi>arctan</mi> <mrow> <mo>(</mo> <mfrac> <mi>A</mi> <mi>B</mi> </mfrac> <mo>)</mo> </mrow> <mo>-</mo> <msub> <mi>&amp;theta;</mi> <mn>3</mn> </msub> </mrow>
<mrow> <msub> <mi>l</mi> <mn>3</mn> </msub> <mo>=</mo> <mfrac> <mrow> <msub> <mi>l</mi> <mn>1</mn> </msub> <msub> <mi>sin&amp;theta;</mi> <mi>s</mi> </msub> <mo>-</mo> <mi>h</mi> <mo>-</mo> <msub> <mi>l</mi> <mn>2</mn> </msub> <msub> <mi>sin&amp;theta;</mi> <mn>2</mn> </msub> </mrow> <mrow> <msub> <mi>sin&amp;theta;</mi> <mn>3</mn> </msub> </mrow> </mfrac> </mrow>
Wherein：
A=l1-l2cosθa
B=l2sinθa
Thus, as long as the rule of the crank length of treadmill formula end haulage gear middle gained in this manner is become Change, you can realize upper limb shoulder joint and the individual Isokinetic training of upper limb elbow joint.
2. upper and lower limb doublejointed Isokinetic training method can be achieved in one kind, by controlling crank in the haulage gear of treadmill formula end long The variation of the characteristics of motion of degree and crank, Isokinetic training while realizing two joints of upper limb or lower limb, it is characterised in that：
Step 1：It establishes human body and simplifies motion model with treadmill formula end haulage gear
A rigid multi-body dynamics system will be simplified on the left of human body lower limbs, with the crank up center of treadmill formula end haulage gear For origin, Descartes's rectangular coordinate system 2.1 is established, if：The a length of l of thigh1；The a length of l of shank2；The a length of l of crank3, pressed from both sides with horizontal plane Angle is θ3, rotating speed ω3；The crank up center of treadmill formula end haulage gear is less than human hip horizontal plane, away from human body hip Articulation level distance s, vertical distance h；Angle, that is, knee joint angle between thigh and shank is θk, thigh angle with horizontal plane For θh, shank angle with horizontal plane is θ2。
A rigid multi-body dynamics system will be simplified on the left of human upper limb, with the crank up center of treadmill formula end haulage gear For origin, Descartes's rectangular coordinate system 2.2 is established, if：The a length of l of large arm1；The a length of l of forearm2；The a length of l of crank3, pressed from both sides with horizontal plane Angle is θ3, rotating speed ω3；The crank up center of treadmill formula end haulage gear is higher than human body shoulder joint horizontal plane, away from human body shoulder Articulation level distance s, vertical distance h, less than shoulder joint horizontal plane；Angle, that is, Angle of Elbow Joint between large arm and forearm is θa, large arm angle with horizontal plane is θs, forearm angle with horizontal plane is θ2；
Step 2：It establishes the equation of motion and solves
(1) if two joints of lower limb are carried out at the same time Isokinetic training, kinematical equation is established according to Descartes's rectangular coordinate system 2.1:
<mrow> <msub> <mi>l</mi> <mn>1</mn> </msub> <msup> <mi>e</mi> <mrow> <msub> <mi>i&amp;theta;</mi> <mi>h</mi> </msub> </mrow> </msup> <mo>+</mo> <mi>i</mi> <mi>h</mi> <mo>+</mo> <mi>s</mi> <mo>=</mo> <msub> <mi>l</mi> <mn>2</mn> </msub> <msup> <mi>e</mi> <mrow> <msub> <mi>i&amp;theta;</mi> <mn>2</mn> </msub> </mrow> </msup> <mo>+</mo> <msub> <mi>l</mi> <mn>3</mn> </msub> <msup> <mi>e</mi> <mrow> <msub> <mi>i&amp;theta;</mi> <mn>3</mn> </msub> </mrow> </msup> </mrow>
l1cosθh+ s=l2cosθ2+l3cosθ3
l1sinθh+ h=l3sinθ3+l2sinθ2
Wherein：θ2=θh-θk
Thus the expression formula of crank length and crank angle can be solved：
<mrow> <msub> <mi>&amp;theta;</mi> <mn>3</mn> </msub> <mo>=</mo> <mi>arctan</mi> <mfrac> <mrow> <msub> <mi>l</mi> <mn>1</mn> </msub> <msub> <mi>sin&amp;theta;</mi> <mi>h</mi> </msub> <mo>+</mo> <mi>h</mi> <mo>-</mo> <msub> <mi>l</mi> <mn>2</mn> </msub> <msub> <mi>sin&amp;theta;</mi> <mn>2</mn> </msub> </mrow> <mrow> <msub> <mi>l</mi> <mn>1</mn> </msub> <msub> <mi>cos&amp;theta;</mi> <mi>h</mi> </msub> <mo>+</mo> <mi>s</mi> <mo>-</mo> <msub> <mi>l</mi> <mn>2</mn> </msub> <msub> <mi>cos&amp;theta;</mi> <mn>2</mn> </msub> </mrow> </mfrac> </mrow>
<mrow> <msub> <mi>l</mi> <mn>3</mn> </msub> <mo>=</mo> <mfrac> <mrow> <msub> <mi>l</mi> <mn>1</mn> </msub> <msub> <mi>sin&amp;theta;</mi> <mi>h</mi> </msub> <mo>+</mo> <mi>h</mi> <mo>-</mo> <msub> <mi>l</mi> <mn>2</mn> </msub> <msub> <mi>sin&amp;theta;</mi> <mn>2</mn> </msub> </mrow> <mrow> <msub> <mi>sin&amp;theta;</mi> <mn>3</mn> </msub> </mrow> </mfrac> </mrow>
Thus, as long as the crank length of treadmill formula end haulage gear and the crank of treadmill formula end haulage gear rotate Change according to the rule, you can realize the Isokinetic training of lower limb knee, hip joint simultaneously.
(2) if two joints of upper limb are carried out at the same time Isokinetic training, motion vector side is established according to Descartes's rectangular coordinate system 2.2 Journey：
<mrow> <msub> <mi>l</mi> <mn>1</mn> </msub> <msup> <mi>e</mi> <mrow> <msub> <mi>i&amp;theta;</mi> <mi>s</mi> </msub> </mrow> </msup> <mo>-</mo> <mi>i</mi> <mi>h</mi> <mo>+</mo> <mi>s</mi> <mo>=</mo> <msub> <mi>l</mi> <mn>2</mn> </msub> <msup> <mi>e</mi> <mrow> <msub> <mi>i&amp;theta;</mi> <mn>2</mn> </msub> </mrow> </msup> <mo>+</mo> <msub> <mi>l</mi> <mn>3</mn> </msub> <msup> <mi>e</mi> <mrow> <msub> <mi>i&amp;theta;</mi> <mn>3</mn> </msub> </mrow> </msup> </mrow>
l1cosθs+ s=l2cosθ2+l3cosθ3
l1sinθs- h=l2sinθ2+l3sinθ3
Wherein：θ2=θs+θa
<mrow> <msub> <mi>&amp;theta;</mi> <mn>3</mn> </msub> <mo>=</mo> <mi>arctan</mi> <mfrac> <mrow> <msub> <mi>l</mi> <mn>1</mn> </msub> <msub> <mi>sin&amp;theta;</mi> <mi>s</mi> </msub> <mo>-</mo> <mi>h</mi> <mo>-</mo> <msub> <mi>l</mi> <mn>2</mn> </msub> <msub> <mi>sin&amp;theta;</mi> <mn>2</mn> </msub> </mrow> <mrow> <msub> <mi>l</mi> <mn>1</mn> </msub> <msub> <mi>cos&amp;theta;</mi> <mi>s</mi> </msub> <mo>+</mo> <mi>s</mi> <mo>-</mo> <msub> <mi>l</mi> <mn>2</mn> </msub> <msub> <mi>cos&amp;theta;</mi> <mn>2</mn> </msub> </mrow> </mfrac> </mrow>
<mrow> <msub> <mi>l</mi> <mn>3</mn> </msub> <mo>=</mo> <mfrac> <mrow> <msub> <mi>l</mi> <mn>1</mn> </msub> <msub> <mi>sin&amp;theta;</mi> <mi>s</mi> </msub> <mo>-</mo> <mi>h</mi> <mo>-</mo> <msub> <mi>l</mi> <mn>2</mn> </msub> <msub> <mi>sin&amp;theta;</mi> <mn>2</mn> </msub> </mrow> <mrow> <msub> <mi>sin&amp;theta;</mi> <mn>3</mn> </msub> </mrow> </mfrac> </mrow>
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