CN117442398A - Intelligent artificial limb adjusting method, device, terminal and medium based on gait difference - Google Patents

Intelligent artificial limb adjusting method, device, terminal and medium based on gait difference Download PDF

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Publication number
CN117442398A
CN117442398A CN202311777887.0A CN202311777887A CN117442398A CN 117442398 A CN117442398 A CN 117442398A CN 202311777887 A CN202311777887 A CN 202311777887A CN 117442398 A CN117442398 A CN 117442398A
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limb
user
artificial limb
intelligent artificial
motion
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CN117442398B (en
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韩璧丞
汪文广
殷红磊
阿迪斯
李晓
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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
    • A61F2/60—Artificial legs or feet or parts thereof
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
    • A61B5/1116—Determining posture transitions
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
    • A61B5/112—Gait analysis
    • 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
    • A61F2/60—Artificial legs or feet or parts thereof
    • A61F2/64—Knee joints
    • 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
    • A61F2/74—Operating or control means fluid, i.e. hydraulic or pneumatic
    • 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
    • A61F2/76—Means for assembling, fitting or testing prostheses, e.g. for measuring or balancing, e.g. alignment means
    • A61F2002/7615—Measuring means
    • A61F2002/764—Measuring means for measuring acceleration
    • 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
    • A61F2/76—Means for assembling, fitting or testing prostheses, e.g. for measuring or balancing, e.g. alignment means
    • A61F2002/7695—Means for testing non-implantable prostheses

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  • Health & Medical Sciences (AREA)
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  • Public Health (AREA)
  • General Health & Medical Sciences (AREA)
  • Veterinary Medicine (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Animal Behavior & Ethology (AREA)
  • Transplantation (AREA)
  • Oral & Maxillofacial Surgery (AREA)
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  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
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  • Orthopedic Medicine & Surgery (AREA)
  • Prostheses (AREA)
  • Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)

Abstract

The invention discloses an intelligent artificial limb adjusting method, device, terminal and medium based on gait difference, wherein the method comprises the following steps: determining gait difference data between the intelligent artificial limb and the normal limb of the user based on the first motion data of the intelligent artificial limb and the second motion data of the normal limb of the user respectively; determining movement mode information of a user based on the first movement data of the intelligent artificial limb and the second movement data of the normal limb of the user respectively; based on gait difference data and movement pattern information, a damping adjustment scheme is determined, and a damping coefficient of the damping device is adjusted based on the damping adjustment scheme. The intelligent artificial limb takes the normal limb of the user as a motion parameter, performs motion analysis, and determines gait difference data between the intelligent artificial limb and the normal limb of the user and motion mode information of the user, so that the intelligent artificial limb is subjected to fine adjustment based on the gait difference data and the motion mode information, the use requirement of the user is met, and the use safety of the user is ensured.

Description

Intelligent artificial limb adjusting method, device, terminal and medium based on gait difference
Technical Field
The invention relates to the technical field of artificial limbs, in particular to an intelligent artificial limb adjusting method, device, terminal and medium based on gait difference.
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.
In the prior art, when a user uses the intelligent artificial limb, the intelligent artificial limb cannot be finely adjusted, so that the intelligent artificial limb cannot meet the use requirement of the user in time, and the use safety of the user is affected.
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, an intelligent artificial limb adjusting method, device, terminal and storage medium based on gait difference are provided, and the problems that in the prior art, a user cannot finely adjust an intelligent artificial limb when using the intelligent artificial limb, so that the intelligent artificial limb cannot meet the use requirement of the user in time, and the use safety of the user is affected are solved.
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 adjusting an intelligent prosthesis based on gait differences, wherein the intelligent prosthesis comprises a knee joint and a lower leg below the knee joint, a damping device is arranged in the lower leg, and the damping device is used for providing bending resistance or stretching resistance for the knee joint, and the method comprises:
determining gait difference data between the intelligent artificial limb and the normal limb of the user based on the first motion data of the intelligent artificial limb and the second motion data of the normal limb of the user respectively, wherein the intelligent artificial limb corresponds to the normal limb of the user, and the normal limb of the user is a motion reference of the intelligent artificial limb;
determining movement mode information of a user based on the first movement data of the intelligent artificial limb and the second movement data of the normal limb of the user respectively;
and determining a damping adjustment scheme based on the gait difference data and the movement pattern information, and adjusting a damping coefficient of the damping device based on the damping adjustment scheme.
In one implementation, the determining gait difference data between the intelligent prosthesis and the user's normal limb based on the first motion data of the intelligent prosthesis and the second motion data of the user's normal limb, respectively, includes:
When the intelligent artificial limb and the normal limb of the user are in alternate swing, acquiring a first swing speed, a first swing amplitude and a first swing period of the intelligent artificial limb in a preset time period, and acquiring a second swing speed, a second swing amplitude and a second swing period of the normal limb of the user;
taking the first swing speed, the first swing amplitude and the first swing period as the first motion data;
taking the second swing speed, the second swing amplitude and the second swing period as the second motion data;
step difference information and step speed difference information between the intelligent artificial limb and the normal limb of the user are determined based on the first motion data and the second motion data respectively, and the step difference information and the step speed difference information are used as gait difference data.
In one implementation, the determining step difference information and step speed difference information between the intelligent prosthesis and the user's normal limb based on the first motion data and the second motion data, respectively, includes:
determining a first foot falling position of the intelligent artificial limb according to a first swing amplitude in the first motion data;
Determining a second foot drop position of a normal limb of the user according to a second swing amplitude in the second motion data;
determining step difference information between the intelligent artificial limb and the normal limb of the user according to the first foot drop position and the second foot drop position;
comparing the first swing speed in the first motion data with the second swing speed in the second motion data, and determining the step speed difference information between the intelligent artificial limb and the normal limb of the user.
In one implementation, the first motion data further includes: the time length information of the contact between the intelligent artificial limb and the ground and the pressure information of the contact between the intelligent artificial limb and the ground are used for determining the movement mode information of the user based on the first movement data of the intelligent artificial limb and the second movement data of the normal limb of the user respectively, and the method comprises the following steps:
determining a first motion law of the intelligent prosthesis based on a first swing period in the first motion data;
determining a second motion rule of the normal limb of the user based on a second swing period in the second motion data, wherein the first motion rule and the second motion rule are respectively used for reflecting periodic motion states of the intelligent artificial limb and the normal limb of the user;
And if the first motion rule and the second motion rule are the same, determining the motion mode information according to the duration information and the pressure information.
In one implementation manner, if the first motion rule and the second motion rule are the same, determining the motion mode information according to the duration information and the pressure information includes:
if the first motion rule is the same as the second motion rule, a contact time length average value is obtained based on the collected time length information, and a contact pressure average value is obtained based on the collected pressure information;
comparing the contact time average value with a preset time threshold value, and comparing the contact pressure average value with a preset pressure threshold value;
if the average value of the contact time length is smaller than the time length threshold value and the average value of the contact pressure is smaller than the pressure threshold value, determining that the movement mode information is a fast walking mode;
if the average value of the contact time length is smaller than the time length threshold value and the average value of the contact pressure is larger than the pressure threshold value, determining that the movement mode information is a fast running mode;
if the average value of the contact time length is larger than the time length threshold value and the average value of the contact pressure is smaller than the pressure threshold value, determining that the movement mode information is a slow-walking mode;
And if the average value of the contact time length is larger than the time length threshold value and the average value of the contact pressure is larger than the pressure threshold value, determining that the movement mode information is a jogging mode.
In one implementation, the determining a damping adjustment scheme based on the gait difference data and the movement pattern information includes:
when the movement mode information is a fast walking mode, if the step difference information in the gait difference data reflects that the first swing amplitude of the intelligent artificial limb is smaller than the second swing amplitude of the normal limb of the user, determining that the damping adjustment scheme is to reduce the bending damping coefficient of the damping device;
when the movement mode information is a jogging mode, if the step difference information in the gait difference data reflects that the first swing amplitude of the intelligent artificial limb is larger than the second swing amplitude of the normal limb of the user, determining that the damping adjustment scheme is to increase the bending damping coefficient of the damping device;
when the movement mode information is a fast running mode, if the step speed difference information in the gait difference data reflects that the first swing speed of the intelligent artificial limb is larger than the second swing speed of the normal limb of the user, determining that the damping adjustment scheme is to increase the expansion damping coefficient of the damping device;
When the movement mode information is a slow walking mode, if the step speed difference information in the gait difference data reflects that the first swing speed of the intelligent artificial limb is smaller than the second swing speed of the normal limb of the user, determining that the damping adjustment scheme is to reduce the expansion damping coefficient of the damping device.
In one implementation, the method further comprises:
if the average value of the contact time length of the intelligent artificial limb contacted with the ground is larger than the average value of the contact time length of the normal limb of the user, determining that the damping adjustment scheme is to reduce the expansion damping coefficient of the damping device;
and if the average value of the contact time length of the intelligent artificial limb contacted with the ground is smaller than the average value of the contact time length of the normal limb of the user, determining that the damping adjustment scheme is to increase the expansion damping coefficient of the damping device.
In a second aspect, an embodiment of the present invention further provides an intelligent artificial limb adjustment device based on gait difference, where the intelligent artificial limb includes a knee joint and a shank located below the knee joint, a damping device is disposed in the shank, and the damping device is used to provide bending resistance or stretching resistance for the knee joint, and the intelligent artificial limb adjustment device includes:
The gait difference determining module is used for determining gait difference data between the intelligent artificial limb and the normal limb of the user based on the first motion data of the intelligent artificial limb and the second motion data of the normal limb of the user respectively, wherein the intelligent artificial limb corresponds to the normal limb of the user, and the normal limb of the user is a motion reference of the intelligent artificial limb;
the motion mode determining module is used for determining motion mode information of the user based on the first motion data of the intelligent artificial limb and the second motion data of the normal limb of the user respectively;
and the damping scheme determining module is used for determining a damping adjustment scheme based on the gait difference data and the movement pattern information and adjusting the damping coefficient of the damping device based on the damping adjustment scheme.
In a third aspect, an embodiment of the present invention further provides a terminal, where the terminal includes a memory, a processor, and a gait-difference-based intelligent prosthesis adjustment program stored in the memory and capable of running on the processor, and when the processor executes the gait-difference-based intelligent prosthesis adjustment program, the processor implements the steps of the gait-difference-based intelligent prosthesis adjustment method in any one of the above solutions.
In a fourth aspect, an embodiment of the present invention further provides a computer readable storage medium, where the computer readable storage medium stores a gait difference-based intelligent prosthesis adjustment program, where the gait difference-based intelligent prosthesis adjustment program, when executed by a processor, implements the steps of the gait difference-based intelligent prosthesis adjustment method in the foregoing solution.
The beneficial effects are that: compared with the prior art, the invention provides an intelligent artificial limb adjustment method based on gait difference, which comprises the steps of firstly determining gait difference data between an intelligent artificial limb and a user normal limb based on first motion data of the intelligent artificial limb and second motion data of the user normal limb, wherein the intelligent artificial limb corresponds to the user normal limb, and the user normal limb is a motion reference of the intelligent artificial limb. And then, determining the movement mode information of the user based on the first movement data of the intelligent artificial limb and the second movement data of the normal limb of the user respectively. And finally, determining a damping adjustment scheme based on the gait difference data and the movement pattern information, and adjusting the damping coefficient of the damping device based on the damping adjustment scheme. The intelligent artificial limb takes the normal limb of the user as a motion parameter, performs motion analysis, and determines gait difference data between the intelligent artificial limb and the normal limb of the user and motion mode information of the user, so that the intelligent artificial limb is subjected to fine adjustment based on the gait difference data and the motion mode information, the use requirement of the user is met, and the use safety of the user is ensured.
Drawings
Fig. 1 is a flowchart of a specific implementation of an intelligent artificial limb adjustment method based on gait differences according to an embodiment of the invention.
Fig. 2 is a functional schematic diagram of an intelligent artificial limb adjustment device based on gait difference according to an embodiment of the invention.
Fig. 3 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 an intelligent artificial limb adjustment method based on gait difference, and in implementation, the embodiment can firstly determine gait difference data between an intelligent artificial limb and a normal limb of a user based on first motion data of the intelligent artificial limb and second motion data of the normal limb of the user respectively, wherein the intelligent artificial limb corresponds to the normal limb of the user, and the normal limb of the user is a motion reference of the intelligent artificial limb. And then, determining the movement mode information of the user based on the first movement data of the intelligent artificial limb and the second movement data of the normal limb of the user respectively. And finally, determining a damping adjustment scheme based on the gait difference data and the movement pattern information, and adjusting the damping coefficient of the damping device based on the damping adjustment scheme. The intelligent artificial limb in the embodiment takes the normal limb of the user as a motion parameter, performs motion analysis, and determines gait difference data between the intelligent artificial limb and the normal limb of the user and motion mode information of the user, so that the intelligent artificial limb is subjected to fine adjustment based on the gait difference data and the motion mode information, the use requirement of the user is met, and the use safety of the user is ensured.
The intelligent artificial limb adjustment method based on gait difference of the embodiment can be applied to an intelligent artificial limb, wherein the intelligent artificial limb comprises an intelligent controller for realizing the resistance adjustment method of the knee joint. In addition, the intelligent artificial limb adjustment method based on gait difference of the embodiment can be applied to a terminal which can be arranged in an intelligent artificial limb to realize the intelligent artificial limb adjustment method based on gait difference through the terminal. Specifically, as shown in fig. 1, the intelligent artificial limb adjustment method based on gait difference of the embodiment includes the following steps:
step S100, gait difference data between the intelligent artificial limb and the normal limb of the user are determined based on the first motion data of the intelligent artificial limb and the second motion data of the normal limb of the user respectively, wherein the intelligent artificial limb corresponds to the normal limb of the user, and the normal limb of the user is a motion reference of the intelligent artificial limb.
The intelligent artificial limb of this embodiment includes shank portion and rotates the knee joint of being connected through the pivot between with the shank, and the pivot setting is on knee joint for drive shank rotation, realize knee joint's flexible movement, knee joint is located shank's top, and intelligent artificial limb still includes the accepting cavity, accepting cavity and knee joint fixed connection, accepting cavity are used for installing on user's thigh. The damping device is arranged in the lower leg part in the embodiment, and can be a hydraulic cylinder, and the damping device can be used for providing stretching resistance or bending resistance for the knee joint, and the bending resistance can provide support when the knee joint is bent backwards, so that the intelligent artificial limb is kept stable; the stretching resistance can control the swinging angle when the lower leg swings forwards, so that the action modes such as walking or running and the like can be realized conveniently.
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, so as to ensure the use safety of the intelligent artificial limb and also help the intelligent artificial limb to be better used by the user. When the intelligent artificial limb is installed on the left arm of the user, the intelligent artificial limb can use the right arm as a movement reference. Because the intelligent artificial limb corresponds to the normal limb of the user, the intelligent artificial limb and the limb of the user alternately move during movement, and in order to meet the use requirement of the user, the movement state and movement data of the intelligent artificial limb are similar to those of the intelligent artificial limb of the normal limb of the user, so that the requirements can be met. Thus, whether the movement between the intelligent prosthesis and the user's normal limb is similar or not can be used to evaluate the movement effect of the intelligent prosthesis. Therefore, the first motion data of the intelligent artificial limb and the second motion data of the normal limb of the user can be respectively obtained, and the first motion data and the second motion data can respectively reflect the motion conditions of the intelligent artificial limb and the normal limb of the user. Accordingly, the present embodiments may determine gait difference data between the intelligent prosthesis and the user's normal limb based on the first motion data and the second motion data. The gait difference data reflects differences in step size, foot step speed and the like between the intelligent artificial limb and the normal limb of the user.
In one implementation, the present embodiment includes the following steps when determining gait difference data:
step S101, when the intelligent artificial limb and the normal limb of the user are in alternate swing, acquiring a first swing speed, a first swing amplitude and a first swing period of the intelligent artificial limb in a preset time period, and acquiring a second swing speed, a second swing amplitude and a second swing period of the normal limb of the user;
step S102, taking the first swing speed, the first swing amplitude and the first swing period as the first motion data;
step S103, taking the second swing speed, the second swing amplitude and the second swing period as the second motion data;
step S104, step difference information and step speed difference information between the intelligent artificial limb and the normal limb of the user are determined based on the first motion data and the second motion data respectively, and the step difference information and the step speed difference information are used as the gait difference data.
Specifically, the present embodiment provides inertial sensors on the intelligent prosthesis and the user's normal limb, respectively. When the intelligent artificial limb and the normal limb of the user are in alternate swing, the embodiment presets a preset time period, and then the first swing speed, the first swing amplitude and the first swing period of the intelligent artificial limb are respectively acquired based on the inertial sensor in the preset time period. And collecting a second swing speed, a second swing amplitude and a second swing period of the normal limb of the user. In this embodiment, the swing speed may reflect the speed of swing of the intelligent prosthesis or the user's normal limb. The swing amplitude can be used for reflecting the amplitude of the intelligent artificial limb or the normal limb of the user when the intelligent artificial limb is arranged on the leg, and the swing amplitude can also reflect the step size. The swing period may be used to reflect the length of time that the intelligent prosthesis and the user's normal limb swing back and forth. The motion condition of the intelligent artificial limb or the normal limb of the user can be accurately reflected based on the swing speed, the swing amplitude and the swing period. Thus, the first swing speed, the first swing amplitude and the first swing period can be used as first motion data of the intelligent artificial limb; and taking the second swing speed, the second swing amplitude and the second swing period as second motion data of normal limbs of the user.
The first foot falling position of the intelligent artificial limb can be determined according to the first swing amplitude, and the second foot falling position of the normal limb of the user can be determined according to the second swing amplitude. Because the intelligent artificial limb and the normal limb of the user swing alternately, the first foot drop position and the second foot drop position determined by the embodiment are foot drop positions when the intelligent artificial limb and the normal limb of the user swing in the same direction, and the terminal can determine the step length of the intelligent artificial limb based on the first foot drop positions of two adjacent times and determine the step length of the normal limb of the user based on the second foot drop positions of two adjacent times, so that step length difference information between the intelligent artificial limb and the normal limb of the user is obtained. The step size difference information reflects the difference of each step when the intelligent artificial limb and the normal limb of the user walk or run. The terminal may then compare the first swing speed to the second swing speed to determine step speed differential information between the intelligent prosthesis and the user's normal limb. And finally, the step difference information and the step speed are taken as gait difference data by the terminal.
Step 200, determining the movement mode information of the user based on the first movement data of the intelligent artificial limb and the second movement data of the normal limb of the user respectively.
After determining the first motion data of the intelligent artificial limb and the second motion data of the normal limb of the user, the embodiment can determine the motion mode information of the user according to the first motion data and the second motion data. Because the actions executed by the intelligent artificial limb and the normal limb of the user are similar, and the first motion data and the second motion data can accurately reflect the motion condition between the intelligent artificial limb and the normal limb of the user respectively, the user can be determined to be walking or running, fast walking or jogging at the moment based on the first motion data and the second motion data, and the motion mode information is obtained.
In one implementation, when determining the motion mode information, the embodiment includes the following steps:
step S201, determining a first motion rule of the intelligent artificial limb based on a first swing period in the first motion data;
step S202, determining a second motion rule of the normal limb of the user based on a second swing period in the second motion data, wherein the first motion rule and the second motion rule are respectively used for reflecting periodic motion states of the intelligent artificial limb and the normal limb of the user;
Step 203, if the first motion rule and the second motion rule are the same, determining the motion mode information according to the duration information of the contact between the intelligent artificial limb and the ground and the pressure information.
Specifically, according to the embodiment, the duration of the intelligent artificial limb completing one reciprocating motion can be determined according to the first swinging period in the first motion data, so as to obtain the first motion rule of the intelligent artificial limb. The first motion law can be combined with the motion trail of the intelligent artificial limb to further reflect how the intelligent artificial limb does swinging motion. Likewise, the terminal may determine, according to the second swing period in the second motion data, a period of time for the user's normal limb to complete a round trip motion, thereby determining a second motion rule of the user's normal limb. Similarly, the second motion law can be combined with the motion trail of the normal limb of the user to further reflect the swinging motion of the normal limb of the user. Therefore, the first motion rule and the second motion rule in this embodiment are respectively used to reflect the periodic motion states of the intelligent artificial limb and the normal limb of the user. And then, the terminal can compare the first motion rule with the second motion rule and further determine the motion mode information by combining the duration information of the contact of the intelligent artificial limb with the ground and the pressure information.
In one implementation, if the first motion law and the second motion law are the same, it is indicated that the first swing period of the intelligent artificial limb and the second swing period of the normal limb of the user are the same at this time, so that the periods of time for the intelligent artificial limb and the normal limb of the user to complete one round trip motion are the same. The intelligent artificial limb corresponds to the normal limb of the user, so that the movement conditions of the intelligent artificial limb and the normal limb of the user are basically the same. The first motion data of the present embodiment further includes: and the time length information of the intelligent artificial limb contacted with the ground and the pressure information of the intelligent artificial limb contacted with the ground. The duration information and the pressure information can be acquired based on a preset time sensor and a pressure sensor respectively. For example, the method comprises the steps of collecting time length information of the intelligent artificial limb in contact with the ground in a plurality of swinging periods based on a preset time sensor, then taking an average value based on the collected time length information to obtain a contact time length average value, comparing the contact time length average value with a preset time length threshold value, if the contact time length average value is smaller than the time length threshold value, indicating that the contact time with the intelligent artificial limb is short, and when the swinging speed of the intelligent artificial limb is large, the contact time of the intelligent artificial limb with the ground is short. Conversely, if the average value of the contact duration is greater than the duration threshold, a long contact time with the intelligent prosthesis with the ground is indicated. And when the swing speed of the intelligent artificial limb is smaller, the contact time between the intelligent artificial limb and the ground is longer. Likewise, the embodiment can also collect pressure information of the intelligent artificial limb in contact with the ground in a plurality of swing periods based on a preset pressure sensor, then average the pressure information to obtain a contact pressure average value, compare the contact pressure average value with a preset pressure threshold value, and if the contact pressure average value is smaller than the pressure threshold value, then indicate that the contact pressure of the intelligent artificial limb with the ground is small. When the pace of the intelligent artificial limb is smaller, the intelligent artificial limb does not need to use a large pedaling force, and the contact pressure between the intelligent artificial limb and the ground is smaller. Conversely, if the average contact pressure is greater than the pressure threshold, then a large contact pressure with the ground with the intelligent prosthesis is indicated. When the pace of the intelligent artificial limb is larger, the intelligent artificial limb needs to use a large pedaling force, and the contact pressure between the intelligent artificial limb and the ground is larger. Thus, the terminal can comprehensively analyze the contact time period average value and the contact pressure average value. Thereby determining movement pattern information of the user. When the average value of the contact time length is smaller than the time length threshold value and the average value of the contact pressure is smaller than the pressure threshold value, the intelligent artificial limb has high swing speed and small step, and therefore the determined movement mode information is a fast walking mode. When the average value of the contact time length is smaller than the time length threshold value and the average value of the contact pressure is larger than the pressure threshold value, the intelligent artificial limb has large swing speed and large step, and therefore the determined movement mode information is a fast running mode. When the average value of the contact time length is larger than the time length threshold value and the average value of the contact pressure is smaller than the pressure threshold value, the intelligent artificial limb has small swinging speed and smaller step, and therefore the determined movement mode information is a slow-walking mode. When the average value of the contact time length is larger than the time length threshold value and the average value of the contact pressure is larger than the pressure threshold value, the intelligent artificial limb has small swinging speed and larger step, and therefore the determined movement mode information is a jogging mode. Therefore, the embodiment can accurately analyze the movement pattern information of the user based on the time period of the intelligent artificial limb contacting the ground and the pressure information generated when the intelligent artificial limb contacting the ground.
In another implementation manner, the speed threshold range may be preset, and the speed threshold range may be used to measure whether the swing speed of the intelligent artificial limb is too high, and then comprehensively analyze the swing amplitude of the intelligent artificial limb in combination, so as to determine the movement mode information. In this embodiment, two speed intervals, a first speed interval and a second speed interval, are provided in the speed threshold range, wherein the first speed interval is smaller than the second speed interval. Therefore, the terminal matches the first swing speed with the speed threshold range, and the obtained speed matching result is to determine whether the first swing speed belongs to the first speed interval or the second speed interval. After the speed matching result is obtained, the terminal can comprehensively analyze the speed matching result and the first swing amplitude of the intelligent artificial limb, so that the movement mode information is determined. In particular, when the first swing amplitude of the smart prosthesis is greater than the amplitude threshold, it is indicated that the smart prosthesis is in a swing motion of a greater arc, and therefore, it may be determined that the smart prosthesis is in a running motion because the swing amplitude of the running motion is relatively large. Further, if the speed matching result shows that the first swing speed is in the first speed interval, the swing speed of the intelligent artificial limb is smaller, and therefore the movement mode information can be determined to be a jogging mode. And if the first swing amplitude is larger than the amplitude threshold and the first swing speed is in the second speed interval, the intelligent artificial limb is indicated to be in swing motion with larger radian and the swing speed is larger, and the movement mode information can be determined to be a sprint mode. And if the first swing amplitude is less than the amplitude threshold, indicating that the intelligent prosthesis is in swing motion with smaller radian. At this time, if the speed matching result is that the first swing speed is in the first speed interval, it indicates that the swing speed of the intelligent prosthesis is small, so that the movement mode information can be determined to be the walkdown mode. If the first swing amplitude is smaller than the amplitude threshold and the speed matching result is that the first swing speed is in the second speed interval, the intelligent artificial limb is indicated to be in swing motion with smaller radian and larger swing speed, so that the motion mode information can be determined to be a fast walking mode. Therefore, when the movement rules of the intelligent artificial limb and the normal limb of the user are the same, the first swing period, the first swing amplitude and the first swing speed of the intelligent artificial limb are further analyzed, and then the movement mode information of the user is determined.
And step S300, determining a damping adjustment scheme based on the gait difference data and the movement pattern information, and adjusting the damping coefficient of the damping device based on the damping adjustment scheme.
After gait difference data of the intelligent artificial limb are obtained, the terminal can accurately analyze the difference between the intelligent artificial limb and a normal limb of a user, and in order to meet the use requirement of the user and ensure the use safety of the user, the terminal can also determine a damping adjustment scheme according to the gait difference data and the movement mode information and adjust the damping coefficient of the damping device based on the damping adjustment scheme, so that fine adjustment of the intelligent artificial limb is realized.
In one implementation, the present embodiment includes the following steps when determining the damping adjustment scheme:
step S301, when the movement mode information is a fast walking mode, if the step difference information in the gait difference data reflects that the first swing amplitude of the intelligent artificial limb is smaller than the second swing amplitude of the normal limb of the user, determining that the damping adjustment scheme is to reduce the bending damping coefficient of the damping device;
step S302, when the movement mode information is a jogging mode, if the step difference information in the gait difference data reflects that the first swing amplitude of the intelligent artificial limb is larger than the second swing amplitude of the normal limb of the user, determining that the damping adjustment scheme is to increase the bending damping coefficient of the damping device;
Step S303, when the movement mode information is a fast running mode, if the step speed difference information in the gait difference data reflects that the first swing speed of the intelligent artificial limb is greater than the second swing speed of the normal limb of the user, determining that the damping adjustment scheme is to increase the expansion damping coefficient of the damping device;
and step S304, when the movement mode information is a slow walking mode, if the step speed difference information in the gait difference data reflects that the first swing speed of the intelligent artificial limb is smaller than the second swing speed of the normal limb of the user, determining that the damping adjustment scheme is to reduce the expansion damping coefficient of the damping device.
In particular, the step difference information and the step speed difference information between the intelligent artificial limb and the normal limb of the user have different degrees of influence on the movement under different movement mode information. When the movement mode information is the fast walking mode, the step difference information in the gait difference data can be used for determining which swing amplitude between the intelligent artificial limb and the normal limb of the user is large. If the step difference information reflects that the first swing amplitude of the intelligent artificial limb is smaller than the second swing amplitude of the normal limb of the user, the step of the intelligent artificial limb is smaller than the step of the normal limb of the user when the intelligent artificial limb performs fast walking movement, and if the step of the intelligent artificial limb is smaller for a long time, the intelligent artificial limb cannot keep up with the rhythm of the normal limb of the user, the use of the user is affected, and the user is unbalanced. Because the user is in the state of walking at this moment, action range is not big, in order to satisfy user's user demand, avoids the unbalanced condition of health, and at this moment, this embodiment can confirm damping adjustment scheme for reducing damping device's crooked damping coefficient, through reducing crooked damping coefficient, just can reduce the crooked resistance of knee joint in the intelligent artificial limb to make the walking that the intelligent artificial limb can be lighter, thereby increase the first swing range of intelligent artificial limb, so that the intelligent artificial limb can keep up with the rhythm of user's normal limbs. And when the movement mode information is the jogging mode, if the step difference information in the gait difference data reflects that the first swing amplitude of the intelligent artificial limb is larger than the second swing amplitude of the normal limb of the user, the intelligent artificial limb is indicated to have the swing amplitude larger than the swing amplitude of the normal limb of the user when the intelligent artificial limb performs jogging operation. Therefore, the stride of the intelligent artificial limb is larger than the stride of the normal limb of the user, if the stride of the intelligent artificial limb is larger for a long time, the user is easy to fall down, and in addition, the user is in a running state, the action amplitude is larger, so that the safety of the user is ensured, at the moment, the embodiment can determine that the damping adjustment scheme is to increase the bending damping coefficient of the damping device, and the bending resistance of the knee joint in the intelligent artificial limb can be increased by increasing the bending damping coefficient, so that the intelligent artificial limb is more stable and is more beneficial to supporting, and the falling situation of the user is avoided.
In addition, when the determined movement mode information is a fast running mode, if the step speed difference information in the gait difference data reflects that the first swing speed of the intelligent artificial limb is larger than the second swing speed of the normal limb of the user at the moment, the intelligent artificial limb is indicated that the swing speed of the intelligent artificial limb is larger than the swing speed of the normal limb of the user when the intelligent artificial limb performs fast running. If the swing speed of the intelligent artificial limb is large for a long time, the user can not keep up with the intelligent artificial limb, so that the conditions of uncoordinated limbs, unbalanced body and easy falling can occur. In addition, since the motion amplitude is larger in the running state, in order to ensure the safety of the user, at this time, the embodiment can determine that the damping adjustment scheme is to increase the expansion damping coefficient of the damping device, and by increasing the expansion damping coefficient, the expansion resistance of the knee joint in the intelligent artificial limb can be increased, so that the swing speed of the intelligent artificial limb is reduced, and the intelligent artificial limb is more stable, and the user is prevented from falling down. And when the movement mode information is a slow walking mode, if the step speed difference information in the gait difference data reflects that the first swing speed of the intelligent artificial limb is smaller than the second swing speed of the normal limb of the user, the intelligent artificial limb is indicated to have the swing speed smaller than the swing speed of the normal limb of the user when the intelligent artificial limb performs the slow walking action. If the swing speed of the intelligent artificial limb is smaller for a long time, the conditions of uncoordinated limbs, unbalanced body, easy falling and the like can also occur. At this time, the present embodiment may determine that the damping adjustment scheme is to reduce the expansion damping coefficient of the damping device, and by reducing the expansion damping coefficient, the expansion resistance of the knee joint in the intelligent artificial limb may be reduced, so that the intelligent artificial limb is more flexible, thereby improving the swing speed of the intelligent artificial limb, realizing coordination between the intelligent artificial limb and the normal limb of the user, and ensuring the use safety of the user.
In other implementation manners, the embodiment can also adjust the damping coefficient of the damping device according to the time length information of the contact between the artificial limb and the ground. Specifically, in this embodiment, the average value of the contact time length of the intelligent artificial limb in contact with the ground in the preset time period is compared with the average value of the contact time length of the normal limb of the user in contact with the ground, and if the average value of the contact time length of the intelligent artificial limb in contact with the ground is greater than the average value of the contact time length of the normal limb of the user, it is indicated that the support time of the intelligent artificial limb is too long, and at this time, in order to coordinate the intelligent artificial limb with the normal limb of the user, the support time of the intelligent artificial limb needs to be shortened, so that at this time, the damping adjustment scheme can be determined to reduce the expansion damping coefficient of the damping device. By reducing the expansion damping coefficient, the expansion resistance of the knee joint in the intelligent artificial limb can be reduced, so that the intelligent artificial limb is more flexible, the swinging speed of the intelligent artificial limb is improved, the purpose of shortening the supporting time of the intelligent artificial limb is achieved, and the intelligent artificial limb is coordinated with a normal limb of a user. If the average value of the contact time length of the intelligent artificial limb in contact with the ground is smaller than the average value of the contact time length of the normal limb of the user in the preset time period, the support time of the intelligent artificial limb is too short, and at the moment, in order to coordinate the intelligent artificial limb with the normal limb of the user, the support time of the intelligent artificial limb needs to be lengthened, so that the damping adjustment scheme can be determined to be used for increasing the expansion damping coefficient of the damping device, and the expansion resistance of the knee joint in the intelligent artificial limb can be increased by increasing the expansion damping coefficient, so that the swinging speed of the intelligent artificial limb is reduced, the purpose of lengthening the support time of the intelligent artificial limb is achieved, and the intelligent artificial limb is coordinated with the normal limb of the user.
In other implementation manners, after the damping coefficient of the intelligent artificial limb is adjusted, the motion data of the intelligent artificial limb after the damping coefficient is adjusted is monitored in real time and compared with the motion data of the normal limb of the user, and if the motion data of the intelligent artificial limb after the damping coefficient is adjusted is identical to the motion data of the normal limb of the user or is within a preset difference range, the motion effect of the intelligent artificial limb is confirmed to obtain the use requirement of the user. If the difference between the motion data of the intelligent artificial limb after the damping coefficient is adjusted and the motion data of the normal limb of the user exceeds the preset difference range, the damping coefficient of the intelligent artificial limb is further subjected to fine adjustment, and the fine adjustment mode can be analyzed again by adopting the mode until the intelligent artificial limb meets the use requirement of the user.
In summary, the intelligent artificial limb of the embodiment takes the normal limb of the user as a motion parameter, performs motion analysis, and determines gait difference data between the intelligent artificial limb and the normal limb of the user and motion mode information of the user, so that the intelligent artificial limb is subjected to fine adjustment based on the gait difference data and the motion mode information, the use requirement of the user is met, and the use safety of the user is ensured.
Based on the above embodiment, the invention further provides an intelligent artificial limb adjusting device based on gait difference, the intelligent artificial limb comprises a knee joint and a lower leg part below the knee joint, a damping device is arranged in the lower leg part, and the damping device is used for providing bending resistance or stretching resistance for the knee joint. Specifically, as shown in fig. 2, the intelligent prosthesis adjustment device includes: gait difference determination module 10, movement pattern determination module 20, and damping scheme determination module 30. The gait difference determining module 10 is configured to determine gait difference data between the intelligent artificial limb and the normal limb of the user based on the first motion data of the intelligent artificial limb and the second motion data of the normal limb of the user, where the intelligent artificial limb corresponds to the normal limb of the user, and the normal limb of the user is a motion reference of the intelligent artificial limb. The motion mode determining module 20 is configured to determine motion mode information of the user based on the first motion data of the intelligent prosthesis and the second motion data of the normal limb of the user, respectively. The damping scheme determining module 30 is configured to determine a damping adjustment scheme based on the gait difference data and the movement pattern information, and adjust a damping coefficient of the damping device based on the damping adjustment scheme.
In one implementation, the gait difference determination module 10 includes:
the data acquisition unit is used for acquiring a first swing speed, a first swing amplitude and a first swing period of the intelligent artificial limb in a preset time period and acquiring a second swing speed, a second swing amplitude and a second swing period of the normal limb of the user when the intelligent artificial limb and the normal limb of the user are in alternate swing;
a first motion data determining unit configured to take the first swing speed, the first swing amplitude, and the first swing period as the first motion data;
a second motion data determining unit configured to take the second swing speed, the second swing amplitude, and the second swing period as the second motion data;
the gait analysis unit is used for determining step difference information and step speed difference information between the intelligent artificial limb and the normal limb of the user based on the first motion data and the second motion data respectively, and taking the step difference information and the step speed difference information as the gait difference data.
In one implementation, the gait analysis unit comprises:
A first foot drop position determining subunit, configured to determine a first foot drop position of an intelligent artificial limb according to a first swing amplitude in the first motion data;
a second foot drop position determining subunit, configured to determine a second foot drop position of the normal limb of the user according to a second swing amplitude in the second motion data;
a step difference determining subunit, configured to determine step difference information between the intelligent artificial limb and the normal limb of the user according to the first foothold position and the second foothold position;
and the step speed difference determining subunit is used for comparing the first swing speed in the first motion data with the second swing speed in the second motion data to determine step speed difference information between the intelligent artificial limb and the normal limb of the user.
In one implementation, the motion pattern determination module 20 includes:
the first motion law determining unit is used for determining a first motion law of the intelligent artificial limb based on a first swing period in the first motion data;
the second motion rule determining unit is used for determining a second motion rule of the normal limb of the user based on a second swing period in the second motion data, and the first motion rule and the second motion rule are respectively used for reflecting periodic motion states of the intelligent artificial limb and the normal limb of the user;
And the movement pattern analysis unit is used for determining the movement pattern information according to the duration information and the pressure information if the first movement rule and the second movement rule are the same.
In one implementation, the motion pattern analysis unit includes:
the information acquisition subunit is used for acquiring a contact duration average value based on the acquired duration information and acquiring a contact pressure average value based on the acquired pressure information if the first motion rule is the same as the second motion rule;
an information comparison subunit, configured to compare the contact duration average value with a preset duration threshold value, and compare the contact pressure average value with a preset pressure threshold value;
a fast-walking mode determining subunit, configured to determine that the motion mode information is a fast-walking mode if the average value of the contact time length is smaller than the time length threshold and the average value of the contact pressure is smaller than the pressure threshold;
the fast running mode determining subunit is configured to determine that the motion mode information is a fast running mode if the average value of the contact time length is smaller than the time length threshold and the average value of the contact pressure is greater than the pressure threshold;
A slow-walking mode determining subunit, configured to determine that the motion mode information is a slow-walking mode if the average contact duration is greater than the duration threshold and the average contact pressure is less than the pressure threshold;
and the jogging mode determining subunit is used for determining the movement mode information to be a jogging mode if the average value of the contact time length is larger than the time length threshold value and the average value of the contact pressure is larger than the pressure threshold value.
In one implementation, the damping scheme determination module 30 includes:
the first adjustment scheme determining unit is used for determining that the damping adjustment scheme is to reduce the bending damping coefficient of the damping device if the step difference information in the gait difference data reflects that the first swing amplitude of the intelligent artificial limb is smaller than the second swing amplitude of the normal limb of the user when the movement mode information is in the fast walking mode;
the second adjustment scheme determining unit is used for determining that the damping adjustment scheme is to increase the bending damping coefficient of the damping device if the step difference information in the gait difference data reflects that the first swing amplitude of the intelligent artificial limb is larger than the second swing amplitude of the normal limb of the user when the movement mode information is in the jogging mode;
The third adjustment scheme determining unit is used for determining that the damping adjustment scheme is to increase the expansion damping coefficient of the damping device if the first swing speed of the intelligent artificial limb is larger than the second swing speed of the normal limb of the user as reflected by the step speed difference information in the gait difference data when the movement mode information is in the running mode;
and the fourth adjustment scheme determining unit is used for determining that the damping adjustment scheme is to reduce the expansion damping coefficient of the damping device if the step speed difference information in the gait difference data reflects that the first swing speed of the intelligent artificial limb is smaller than the second swing speed of the normal limb of the user when the movement mode information is in the slow walking mode.
In one implementation, the apparatus further comprises:
a fifth adjustment scheme determining unit, configured to determine that the damping adjustment scheme is to reduce an expansion damping coefficient of the damping device if an average value of contact time periods of the intelligent prosthesis in contact with the ground is greater than an average value of contact time periods of normal limbs of the user;
and a sixth adjustment scheme determining unit, configured to determine that the damping adjustment scheme is to increase the expansion damping coefficient of the damping device if the average value of the contact duration of the intelligent artificial limb in contact with the ground is smaller than the average value of the contact duration of the normal limb of the user.
The working principle of each module in the intelligent artificial limb adjusting device based on gait difference in this embodiment is the same as the principle of each step in the above method embodiment, and will not be described here again.
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. 3. The terminal may include one or more processors 100 (only one shown in fig. 3), a memory 101, and a computer program 102 stored in the memory 101 and executable on the one or more processors 100, such as a smart prosthesis adjustment program based on gait discrepancies. The execution of the computer program 102 by the one or more processors 100 may implement various steps in an embodiment of a method for intelligent prosthetic adjustment based on gait discrepancies. Alternatively, the one or more processors 100, when executing the computer program 102, may implement the functions of the various modules/units of the intelligent prosthetic adjustment device embodiments based on gait discrepancies, as not limited herein.
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 Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), 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, a Smart Media Card (SMC), a Secure Digital (SD) card, a flash card (flash card) or the like, which are provided on the electronic device. 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. 3 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 DRAM (SLDRAM), memory bus 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 (10)

1. A method of intelligent artificial limb adjustment based on gait discrepancies, the intelligent artificial limb comprising a knee joint and a lower leg located below the knee joint, a damping device disposed within the lower leg for providing bending resistance or extension resistance to the knee joint, the method comprising:
determining gait difference data between the intelligent artificial limb and the normal limb of the user based on the first motion data of the intelligent artificial limb and the second motion data of the normal limb of the user respectively, wherein the intelligent artificial limb corresponds to the normal limb of the user, and the normal limb of the user is a motion reference of the intelligent artificial limb;
Determining movement mode information of a user based on the first movement data of the intelligent artificial limb and the second movement data of the normal limb of the user respectively;
and determining a damping adjustment scheme based on the gait difference data and the movement pattern information, and adjusting a damping coefficient of the damping device based on the damping adjustment scheme.
2. The intelligent artificial limb adjustment method based on gait difference according to claim 1, wherein the determining gait difference data between the intelligent artificial limb and the user's normal limb based on the first motion data of the intelligent artificial limb and the second motion data of the user's normal limb, respectively, comprises:
when the intelligent artificial limb and the normal limb of the user are in alternate swing, acquiring a first swing speed, a first swing amplitude and a first swing period of the intelligent artificial limb in a preset time period, and acquiring a second swing speed, a second swing amplitude and a second swing period of the normal limb of the user;
taking the first swing speed, the first swing amplitude and the first swing period as the first motion data;
taking the second swing speed, the second swing amplitude and the second swing period as the second motion data;
Step difference information and step speed difference information between the intelligent artificial limb and the normal limb of the user are determined based on the first motion data and the second motion data respectively, and the step difference information and the step speed difference information are used as gait difference data.
3. The intelligent prosthesis adjustment method based on gait differences according to claim 2, wherein the determining step difference information and step speed difference information between the intelligent prosthesis and the user's normal limb based on the first and second motion data, respectively, comprises:
determining a first foot falling position of the intelligent artificial limb according to a first swing amplitude in the first motion data;
determining a second foot drop position of a normal limb of the user according to a second swing amplitude in the second motion data;
determining step difference information between the intelligent artificial limb and the normal limb of the user according to the first foot drop position and the second foot drop position;
comparing the first swing speed in the first motion data with the second swing speed in the second motion data, and determining the step speed difference information between the intelligent artificial limb and the normal limb of the user.
4. The intelligent prosthetic adjustment method based on gait differences of claim 2, wherein the first motion data further comprises: the time length information of the contact between the intelligent artificial limb and the ground and the pressure information of the contact between the intelligent artificial limb and the ground are used for determining the movement mode information of the user based on the first movement data of the intelligent artificial limb and the second movement data of the normal limb of the user respectively, and the method comprises the following steps:
determining a first motion law of the intelligent prosthesis based on a first swing period in the first motion data;
determining a second motion rule of the normal limb of the user based on a second swing period in the second motion data, wherein the first motion rule and the second motion rule are respectively used for reflecting periodic motion states of the intelligent artificial limb and the normal limb of the user;
and if the first motion rule and the second motion rule are the same, determining the motion mode information according to the duration information and the pressure information.
5. The intelligent artificial limb adjustment method based on gait difference according to claim 4, wherein if the first motion law and the second motion law are the same, determining the motion pattern information according to the duration information and the pressure information comprises:
If the first motion rule is the same as the second motion rule, a contact time length average value is obtained based on the collected time length information, and a contact pressure average value is obtained based on the collected pressure information;
comparing the contact time average value with a preset time threshold value, and comparing the contact pressure average value with a preset pressure threshold value;
if the average value of the contact time length is smaller than the time length threshold value and the average value of the contact pressure is smaller than the pressure threshold value, determining that the movement mode information is a fast walking mode;
if the average value of the contact time length is smaller than the time length threshold value and the average value of the contact pressure is larger than the pressure threshold value, determining that the movement mode information is a fast running mode;
if the average value of the contact time length is larger than the time length threshold value and the average value of the contact pressure is smaller than the pressure threshold value, determining that the movement mode information is a slow-walking mode;
and if the average value of the contact time length is larger than the time length threshold value and the average value of the contact pressure is larger than the pressure threshold value, determining that the movement mode information is a jogging mode.
6. The intelligent prosthetic adjustment method based on gait difference of claim 5, wherein the determining a damping adjustment scheme based on the gait difference data and the movement pattern information comprises:
When the movement mode information is a fast walking mode, if the step difference information in the gait difference data reflects that the first swing amplitude of the intelligent artificial limb is smaller than the second swing amplitude of the normal limb of the user, determining that the damping adjustment scheme is to reduce the bending damping coefficient of the damping device;
when the movement mode information is a jogging mode, if the step difference information in the gait difference data reflects that the first swing amplitude of the intelligent artificial limb is larger than the second swing amplitude of the normal limb of the user, determining that the damping adjustment scheme is to increase the bending damping coefficient of the damping device;
when the movement mode information is a fast running mode, if the step speed difference information in the gait difference data reflects that the first swing speed of the intelligent artificial limb is larger than the second swing speed of the normal limb of the user, determining that the damping adjustment scheme is to increase the expansion damping coefficient of the damping device;
when the movement mode information is a slow walking mode, if the step speed difference information in the gait difference data reflects that the first swing speed of the intelligent artificial limb is smaller than the second swing speed of the normal limb of the user, determining that the damping adjustment scheme is to reduce the expansion damping coefficient of the damping device.
7. The intelligent prosthetic adjustment method based on gait differences of claim 5, further comprising:
if the average value of the contact time length of the intelligent artificial limb contacted with the ground is larger than the average value of the contact time length of the normal limb of the user, determining that the damping adjustment scheme is to reduce the expansion damping coefficient of the damping device;
and if the average value of the contact time length of the intelligent artificial limb contacted with the ground is smaller than the average value of the contact time length of the normal limb of the user, determining that the damping adjustment scheme is to increase the expansion damping coefficient of the damping device.
8. An intelligent artificial limb adjusting device based on gait difference, characterized in that 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 bending resistance or stretching resistance for the knee joint, and the intelligent artificial limb adjusting device comprises:
the gait difference determining module is used for determining gait difference data between the intelligent artificial limb and the normal limb of the user based on the first motion data of the intelligent artificial limb and the second motion data of the normal limb of the user respectively, wherein the intelligent artificial limb corresponds to the normal limb of the user, and the normal limb of the user is a motion reference of the intelligent artificial limb;
The motion mode determining module is used for determining motion mode information of the user based on the first motion data of the intelligent artificial limb and the second motion data of the normal limb of the user respectively;
and the damping scheme determining module is used for determining a damping adjustment scheme based on the gait difference data and the movement pattern information and adjusting the damping coefficient of the damping device based on the damping adjustment scheme.
9. A terminal comprising a memory, a processor and a gait-discrepancy-based intelligent prosthesis adjustment program stored in the memory and operable on the processor, wherein the processor, when executing the gait-discrepancy-based intelligent prosthesis adjustment program, performs the steps of the gait-discrepancy-based intelligent prosthesis adjustment method of any one of claims 1-7.
10. A computer readable storage medium, wherein the computer readable storage medium has stored thereon a gait-discrepancy-based intelligent prosthesis adjustment program, which when executed by a processor, performs the steps of the gait-discrepancy-based intelligent prosthesis adjustment method of any of claims 1-7.
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