CN108095978A - 一种可实现上、下肢双关节等速训练方法 - Google Patents
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Abstract
本发明公开了一种可实现上、下肢双关节等速训练方法,提出了一种可实现上、下肢双关节进行等速训练方法。通过具有能够整周回转的曲柄结构的末端牵引装置如踏车式训练机,牵引肢体末端,进而实现肢体关节的等速运动。该方法为根据关节活动规律,通过控制末端牵引机构的曲柄回转中心与肢体关节:肩关节或髋关节的相对位移的变化运动,来控制肢体关节的运动,即实现肢体双关节的等速运动。
Description
技术领域:
本发明涉及一种可实现上、下肢双关节等速训练方法,属于康复医疗和运动健身领域。
背景技术:
社会老龄化程度日益加深、脑卒中、脊髓损伤等原因导致肢体功能运动降低,甚至全部丧失,严重影响了生活质量。康复治疗是恢复运动功能的有效途径,等速技术是国际上一项较为先进的肌力功能评价和康复技术,对于使用者,能够在保障安全的前提下高效地恢复和改善肢体功能,但等速训练装置大多被国外技术封锁,且产品大多毕竟笨重、售价高昂,产品功能也都仅针对单关节等速训练,因此,研究一种简单可行的可实现上、下肢双关节等速训练的方法具有深远的现实意义。
发明内容:
为克服现有技术的缺陷,本发明的目的在于提供一种可实现上、下肢双关节等速训练方法。
本发明解决技术问题采用如下技术方案:
一种可实现上、下肢双关节等速训练方法,通过控制踏车式末端牵引机构的曲柄回转中心与肢体关节:肩关节或髋关节的相对位移的变化运动,来实现肢体双关节的等速运动:
步骤一:建立人体与踏车式末端牵引机构运动模型
将人体下肢左侧简化成一个多刚体运动***,以踏车式末端牵引机构的曲柄回转中心为原点,建立笛卡尔直角坐标系1,设:大腿长为l1;小腿长为l2;曲柄长为l3,与水平面夹角为θ3,转速为ω3;踏车式末端牵引机构的曲柄回转中心低于人体髋关节水平面,距人体髋关节水平距离s,竖直距离h;大腿和小腿之间的夹角即膝关节角度为θk,大腿与水平面夹角为θh,小腿与水平面夹角为θ2;
将人体上肢左侧简化成一个多刚体运动***,以踏车式末端牵引机构的曲柄回转中心为原点,建立笛卡尔直角坐标系2,设:大臂长为l1;小臂长为l2;曲柄长为l3,与水平面夹角为θ3,转速为ω3;踏车式末端牵引机构的曲柄回转中心高于人体肩关节水平面,距人体肩关节水平距离s,竖直距离h,低于肩关节水平面;大臂和小臂之间的夹角即肘关节角度为θa,大臂与水平面夹角为θs,小臂与水平面夹角为θ2;
步骤二:建立运动方程并求解
在曲柄转速不变的情况下:
(1)根据笛卡尔直角坐标系1建立运动学方程:
l1cosθh+s=l2cosθ2+l3cosθ3
l1sinθh+h=l3sinθ3+l2sinθ2
其中:θ3=ω3t,θ2=θh-θk,θh、θk角度因进行等速训练,数值已知,由此可解得s、h的表达式:
s=l2cos(θh-θk)+l3cosθ3-l1cosθh
h=l2sin(θh-θk)+l3sinθ3-l1sinθh
由此可得,只要踏车式末端牵引机构和下肢髋关节的水平距离s以及竖直距离h按照该规律变化,即可实现膝、髋关节同时的等速训练;
(2)依据笛卡尔直角坐标系2建立运动学方程:
l1cosθs+s=l2cosθ2+l3cosθ3
l1sinθs-h=l2sinθ2+l3sinθ3
其中:θ2=θs+θa,θ3=ω3t,θs、θa角度因进行等速训练,数值已知,由此可解得s、h的表达式:
s=l2cosθ2+l3cosθ3-l1cosθs
h=l1sinθs-l2sinθ2-l3sinθ3
由此可得,只要踏车式末端牵引机构和上肢肩关节的水平距离s以及竖直距离h按照该规律变化,即可实现肩、肘关节同时的等速训练。
与已有技术相比,本发明的有益效果体现在:
本发明提出了一种可实现上、下肢双关节进行等速训练方法。通过末端牵引机构如踏车式训练机,牵引肢体末端,进而实现肢体关节的等速运动。该方法为根据关节活动规律,通过控制末端牵引机构的曲柄回转中心与肢体关节:肩关节或髋关节的相对位移的变化运动,来控制肢体关节的运动,即实现肢体双关节的同时等速运动。
附图说明:
图1为笛卡尔直角坐标系1的***简图;图2为笛卡尔直角坐标系2的***简图;图3为康健设备的结构示意图;图4为水平运动机构、调节机构及训练机的连接关系结构示意图;图5为使用康健设备时的人机模型图,其中,A为训练机曲柄回转轴心;B为肢体末端即踝关节;C为下肢膝关节;D为下肢髋关节;E为上肢肩关节;F为上肢肘关节;G为上肢末端即腕关节;DC长为l1;BC长为l2;AB为曲柄,长度为l3,转速为ω3;训练机距人体髋关节水平距离s,竖直距离h,θk为膝关节角度,θh为大腿与水平面夹角。
图中标号:1训练机,2支撑架,3座椅,4座椅底架,5电机,6丝杠,7导轨,11滑块,12圆盘式曲柄,13支撑辅具,31靠背,32坐垫本体。
以下通过具体实施方式,并结合附图对本发明作进一步说明。
具体实施方式:
参见图3和图4,以实现本发明中下肢等速训练的某种康健设备为例进行说明,当然,也可以采用2017102408979的康健设备或2016104588308的健身器材等。
本发明中:座椅3的高度可调节,训练机固定在一滑块11上,可进行水平位移。
图3、4所示,该康健设备包括训练机1和调节装置,调节装置带动训练机水平位移的水平运动机构;
训练机1固定设于水平运动机构的滑块11上;
在水平运动机构的两侧设有支撑架2以及由支撑架2支撑的座椅3。
水平运动机构包括电机5、丝杠6、导轨7以及滑块11,丝杠的一端通过联轴器与电机5的输出轴连接,另一端与滑块11的中部连接形成螺旋副,导轨7用于对滑块支撑、导向。
训练机1(踏车式末端牵引机构的一种)包括底部支撑、圆盘式曲柄12、支撑辅具13(即脚踏);
底部支撑设置于滑块11上,以底部支撑为承载体设有驱动单元,圆盘式曲柄12由驱动单元驱动转动,支撑辅具13通过连杆设于圆盘式曲柄的两侧盘面上。
座椅3具有靠背31以及坐垫本体32。
通过控制踏车式末端牵引机构的曲柄回转中心与肢体关节:肩关节或髋关节的相对位移的变化运动,来实现肢体双关节的等速运动:
步骤一:建立人体与踏车式末端牵引机构运动模型
将人体下肢左侧简化成一个多刚体运动***,以踏车式末端牵引机构的曲柄回转中心为原点,如图1所示,建立笛卡尔直角坐标系1,设:大腿长为l1;小腿长为l2;曲柄长为l3,与水平面夹角为θ3,转速为ω3;踏车式末端牵引机构的曲柄回转中心低于人体髋关节水平面,距人体髋关节水平距离s,竖直距离h;大腿和小腿之间的夹角即膝关节角度为θk,大腿与水平面夹角为θh,小腿与水平面夹角为θ2;
将人体上肢左侧简化成一个多刚体运动***,以踏车式末端牵引机构的曲柄回转中心为原点,如图2所示,建立笛卡尔直角坐标系2,设:大臂长为l1;小臂长为l2;曲柄长为l3,与水平面夹角为θ3,转速为ω3;踏车式末端牵引机构的曲柄回转中心高于人体肩关节水平面,距人体肩关节水平距离s,竖直距离h,低于肩关节水平面;大臂和小臂之间的夹角即肘关节角度为θa,大臂与水平面夹角为θs,小臂与水平面夹角为θ2;
步骤二:建立运动方程并求解
在曲柄转速不变的情况下:
(1)根据笛卡尔直角坐标系1建立运动学方程:
l1cosθh+s=l2cosθ2+l3cosθ3
l1sinθh+h=l3sinθ3+l2sinθ2
其中:θ3=ω3t,θ2=θh-θk,θh、θk角度因进行等速训练,数值已知,由此可解得s、h的表达式:
s=l2cos(θh-θk)+l3cosθ3-l1cosθh
h=l2sin(θh-θk)+l3sinθ3-l1sinθh
由此可得,只要踏车式末端牵引机构和下肢髋关节的水平距离s以及竖直距离h按照该规律变化,即可实现膝、髋关节同时的等速训练;
(2)依据笛卡尔直角坐标系2建立运动学方程:
l1cosθs+s=l2cosθ2+l3cosθ3
l1sinθs-h=l2sinθ2+l3sinθ3
其中:θ2=θs+θa,θ3=ω3t,θs、θa角度因进行等速训练,数值已知,由此可解得s、h的表达式:
s=l2cosθ2+l3cosθ3-l1cosθs
h=l1sinθs-l2sinθ2-l3sinθ3
由此可得,只要踏车式末端牵引机构和上肢肩关节的水平距离s以及竖直距离h按照该规律变化,即可实现肩、肘关节同时的等速训练。
Claims (1)
1.一种可实现上、下肢双关节等速训练方法,通过控制踏车式末端牵引机构的曲柄回转中心与肢体关节:肩关节或髋关节的相对位移的变化运动,来实现肢体双关节的等速运动,其特征在于:
步骤一:建立人体与踏车式末端牵引机构运动模型
将人体下肢左侧简化成一个多刚体运动***,以踏车式末端牵引机构的曲柄回转中心为原点,建立笛卡尔直角坐标系1,设:大腿长为l1;小腿长为l2;曲柄长为l3,与水平面夹角为θ3,转速为ω3;踏车式末端牵引机构的曲柄回转中心低于人体髋关节水平面,距人体髋关节水平距离s,竖直距离h;大腿和小腿之间的夹角即膝关节角度为θk,大腿与水平面夹角为θh,小腿与水平面夹角为θ2;
将人体上肢左侧简化成一个多刚体运动***,以踏车式末端牵引机构的曲柄回转中心为原点,建立笛卡尔直角坐标系2,设:大臂长为l1;小臂长为l2;曲柄长为l3,与水平面夹角为θ3,转速为ω3;踏车式末端牵引机构的曲柄回转中心高于人体肩关节水平面,距人体肩关节水平距离s,竖直距离h,低于肩关节水平面;大臂和小臂之间的夹角即肘关节角度为θa,大臂与水平面夹角为θs,小臂与水平面夹角为θ2;
步骤二:建立运动方程并求解
在曲柄转速不变的情况下:
(1)根据笛卡尔直角坐标系1建立运动学方程:
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<mn>1</mn>
</msub>
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</msub>
</mrow>
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<mn>2</mn>
</msub>
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<mi>i&theta;</mi>
<mn>2</mn>
</msub>
</mrow>
</msup>
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<mn>3</mn>
</msub>
<msup>
<mi>e</mi>
<mrow>
<msub>
<mi>i&theta;</mi>
<mn>3</mn>
</msub>
</mrow>
</msup>
</mrow>
l1cosθh+s=l2cosθ2+l3cosθ3
l1sinθh+h=l3sinθ3+l2sinθ2
其中:θ3=ω3t,θ2=θh-θk,θh、θk角度因进行等速训练,数值已知,由此可解得s、h的表达式:
s=l2cos(θh-θk)+l3cosθ3-l1cosθh
h=l2sin(θh-θk)+l3sinθ3-l1sinθh
由此可得,只要踏车式末端牵引机构和下肢髋关节的水平距离s以及竖直距离h按照该规律变化,即可实现膝、髋关节同时的等速训练;
(2)依据笛卡尔直角坐标系2建立运动学方程:
<mrow>
<msub>
<mi>l</mi>
<mn>1</mn>
</msub>
<msup>
<mi>e</mi>
<mrow>
<msub>
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</msub>
</mrow>
</msup>
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<mn>2</mn>
</msub>
<msup>
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<mrow>
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<mi>i&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&theta;</mi>
<mn>3</mn>
</msub>
</mrow>
</msup>
</mrow>
l1cosθs+s=l2cosθ2+l3cosθ3
l1sinθs-h=l2sinθ2+l3sinθ3
其中:θ2=θs+θa,θ3=ω3t,θs、θa角度因进行等速训练,数值已知,由此可解得s、h的表达式:
s=l2cosθ2+l3cosθ3-l1cosθs
h=l1sinθs-l2sinθ2-l3sinθ3
由此可得,只要踏车式末端牵引机构和上肢肩关节的水平距离s以及竖直距离h按照该规律变化,即可实现肩、肘关节同时的等速训练。
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