CN118161316A - Damping control method, device, terminal and storage medium based on swing period duration - Google Patents
Damping control method, device, terminal and storage medium based on swing period duration Download PDFInfo
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- 238000013016 damping Methods 0.000 title claims abstract description 174
- 238000000034 method Methods 0.000 title claims abstract description 35
- 210000003414 extremity Anatomy 0.000 claims abstract description 101
- 210000000629 knee joint Anatomy 0.000 claims abstract description 54
- 238000005452 bending Methods 0.000 claims abstract description 50
- 230000001133 acceleration Effects 0.000 claims description 15
- 230000010355 oscillation Effects 0.000 claims description 12
- 238000004458 analytical method Methods 0.000 claims description 8
- 238000012502 risk assessment Methods 0.000 claims description 8
- 210000003127 knee Anatomy 0.000 claims description 5
- 244000309466 calf Species 0.000 claims 1
- 230000036544 posture Effects 0.000 description 21
- 238000010586 diagram Methods 0.000 description 6
- 238000004590 computer program Methods 0.000 description 5
- 206010016173 Fall Diseases 0.000 description 2
- 238000002266 amputation Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 210000000689 upper leg Anatomy 0.000 description 2
- 238000003491 array Methods 0.000 description 1
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Abstract
The invention discloses a damping control method, a damping control device, a damping control terminal and a damping control storage medium based on swing period duration, wherein the damping control method comprises the following steps: acquiring a motion attitude of an intelligent artificial limb, and determining the duration of a swing period of the intelligent artificial limb based on the motion attitude, wherein the swing period is the period from when a foot of the intelligent artificial limb leaves the ground and the lower leg swings forwards until the next foot contacts the ground; judging whether a falling risk exists or not based on the duration of the swing period; if there is a risk of falling, the knee joint bending damping is adjusted based on the length of the swing period. According to the intelligent artificial limb swing period adjusting device, bending damping of the knee joint can be adjusted according to the period of the intelligent artificial limb in the swing period, so that falling risks can be avoided, and safety of users is guaranteed.
Description
Technical Field
The invention relates to the technical field of artificial limbs, in particular to a damping control method, device, terminal and storage medium based on swing period duration.
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.
Under the motion postures of walking (jogging, fast walking, normal walking) or running (jogging, fast running, normal running) of a human body, the motion period can be divided into a swing period (leaving the ground, forward swinging and advancing), a support period (the sole part contacts the ground, supports weight) and a standing period (the heel contacts the ground), the existing intelligent artificial limb is not provided with bending damping in the swing period, support cannot be provided, and a large falling risk exists.
Accordingly, there is a need for improvement and advancement in the art.
Disclosure of Invention
The invention aims to solve the technical problems that the intelligent artificial limb in the prior art is not provided with bending damping in the swing period, cannot provide support and has a large risk of falling down.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows:
in a first aspect, the present invention provides a method for controlling damping based on a swing period duration, where the method for controlling damping based on a swing period duration is applied to an intelligent artificial limb, the intelligent artificial limb includes a knee joint and a lower leg portion located below the knee joint, a damping device is disposed in the lower leg portion, and the damping device is configured to provide extension resistance or bending resistance to the knee joint, and the method for controlling damping based on a swing period duration includes:
Acquiring a motion attitude of an intelligent artificial limb, and determining the duration of a swing period of the intelligent artificial limb based on the motion attitude, wherein the swing period is the period from when a foot of the intelligent artificial limb leaves the ground and the lower leg swings forwards until the next foot contacts the ground;
judging whether a falling risk exists or not based on the duration of the swing period;
If there is a risk of falling, the knee joint bending damping is adjusted based on the length of the swing period.
In one implementation, the acquiring the motion gesture of the intelligent artificial limb, determining the duration of the swing period of the intelligent artificial limb based on the motion gesture, includes:
Acquiring the motion gesture of the sole of the intelligent artificial limb, wherein the motion gesture of the sole comprises the real-time gesture and the real-time position of the sole;
acquiring the movement gesture of the shank of the intelligent artificial limb, wherein the movement gesture of the shank comprises the real-time gesture and the real-time position of the shank;
And determining the swing period of the intelligent artificial limb based on the motion gesture of the sole and the motion gesture of the lower leg, and recording the duration of the swing period.
In one implementation manner, the determining whether a falling risk exists based on the duration of the swing period includes:
Comparing the duration of the swing period with a preset duration threshold;
if the duration of the swing period is greater than or equal to the duration threshold, determining that a fall risk exists;
And if the duration of the swing period is smaller than the duration threshold value, determining that no falling risk exists.
In one implementation, the determining the duration threshold includes:
acquiring the duration of the intelligent artificial limb in a swinging period under various movement modes when the intelligent artificial limb is used by a single user or a plurality of users;
and calculating an average duration based on the duration of the swing period in various motion modes, and taking the average duration as the duration threshold.
In one implementation, the adjusting the knee bending damping based on the length of the swing period if there is a risk of a fall, includes:
If the falling risk exists, determining a difference value between the duration of the swing period and the duration threshold;
And determining a target damping corresponding to the difference value based on the difference value, and adjusting the knee joint bending damping to the target damping, wherein the target damping is larger than the bending damping.
In one implementation, the adjusting the knee flexion damping to the target damping includes:
And determining a damping acceleration corresponding to the difference value based on the difference value, and adjusting the knee joint bending damping to the target damping based on the damping acceleration, wherein the larger the difference value is, the larger the damping acceleration is.
In a second aspect, an embodiment of the present invention further provides a damping control device based on a swing period duration, where the damping control device based on the swing period duration is applied to an intelligent prosthesis, the intelligent prosthesis includes a knee joint and a shank portion located below the knee joint, a damping device is disposed in the shank portion, the damping device is configured to provide extension resistance or bending resistance to the knee joint, and the damping control device based on the swing period duration includes:
The time length analysis module is used for acquiring the motion gesture of the intelligent artificial limb, and determining the time length of the intelligent artificial limb in a swing period based on the motion gesture, wherein the swing period is the period from when the foot of the intelligent artificial limb leaves the ground and the lower leg swings forwards to when the foot of the intelligent artificial limb contacts the ground next time;
The risk analysis module is used for judging whether a falling risk exists or not based on the duration of the swing period;
And the damping adjustment module is used for adjusting the bending damping of the knee joint based on the length of the swinging period if the falling risk exists.
In one implementation, the duration analysis module includes:
The sole posture determining unit is used for obtaining the motion posture of the sole of the intelligent artificial limb, wherein the motion posture of the sole comprises a real-time posture and a real-time position of the sole;
A shank posture determining unit for acquiring a movement posture of a shank of the intelligent artificial limb, wherein the movement posture of the shank comprises a real-time posture and a real-time position of the shank;
And the swing period duration determining unit is used for determining the swing period of the intelligent artificial limb based on the motion gesture of the sole and the motion gesture of the lower leg and recording the duration of the swing period.
In one implementation, the risk analysis module includes:
The time length comparison unit is used for comparing the time length of the swing period with a preset time length threshold value;
The first risk determining unit is used for determining that a falling risk exists if the duration of the swing period is greater than or equal to the duration threshold value;
and the second risk determining unit is used for determining that no falling risk exists if the duration of the swing period is smaller than the duration threshold value.
In one implementation, the risk analysis module includes a duration threshold determination unit that includes:
The time length acquisition subunit is used for acquiring the time length of the intelligent artificial limb in the swing period under various motion modes when the intelligent artificial limb is used for a single user or a plurality of users;
And the duration analysis subunit is used for calculating an average duration based on the duration of the swing period in various motion modes, and taking the average duration as the duration threshold.
In one implementation, the damping adjustment module includes:
The difference value determining unit is used for determining the difference value between the duration of the swing period and the duration threshold value if the falling risk exists;
And the damping adjustment unit is used for determining a target damping corresponding to the difference value based on the difference value and adjusting the bending damping of the knee joint to the target damping, wherein the target damping is larger than the bending damping.
In one implementation, the damping adjustment unit includes:
And the damping increasing subunit is used for determining the damping acceleration corresponding to the difference value based on the difference value, and adjusting the bending damping of the knee joint to the target damping based on the damping acceleration, wherein the larger the difference value is, the larger the damping acceleration is.
In a third aspect, an embodiment of the present invention further provides an intelligent prosthesis, where the intelligent prosthesis includes a socket, a knee joint, a shank, and a damping control device based on a swing period duration according to the above scheme.
In a fourth aspect, an embodiment of the present invention further provides a terminal, where the terminal includes a memory, a processor, and a damping control program based on a duration of a swing period, where the damping control program based on the duration of the swing period is stored in the memory and is executable on the processor, and when the processor executes the damping control program based on the duration of the swing period, the processor implements the steps of the damping control method based on the duration of the swing period in any one of the above schemes.
In a fifth aspect, an embodiment of the present invention further provides a computer readable storage medium, where the computer readable storage medium stores a damping control program based on a period of oscillation, where the damping control program based on the period of oscillation is executed by a processor, to implement the steps of the damping control method based on the period of oscillation according to any one of the above schemes.
The beneficial effects are that: compared with the prior art, the invention provides a damping control method based on the swing period duration, which comprises the steps of firstly obtaining the motion gesture of an intelligent artificial limb, and determining the duration of the swing period of the intelligent artificial limb based on the motion gesture, wherein the swing period is the period from the moment that the foot of the intelligent artificial limb leaves the ground and the lower leg swings forwards to the moment that the foot contacts the ground next time. And then, judging whether a falling risk exists or not based on the duration of the swing period. Finally, if there is a risk of falling, the knee joint bending damping is adjusted based on the length of the swing period. According to the intelligent artificial limb swing period adjusting device, bending damping of the knee joint can be adjusted according to the period of the intelligent artificial limb in the swing period, so that falling risks can be avoided, and safety of users is guaranteed.
Drawings
Fig. 1 is a flowchart of a specific implementation of a damping control method based on a swing period duration according to an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of an intelligent artificial limb according to an embodiment of the present invention.
Fig. 3 is a functional schematic diagram of a damping control device based on a swing period duration according to an embodiment of the present invention.
Fig. 4 is a schematic block diagram of a terminal according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and effects of the present invention clearer and more specific, the present invention will be described in further detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
The embodiment provides a damping control method based on the swing period duration, and the method can adjust the bending damping of the knee joint according to the swing period duration of the intelligent artificial limb, thereby being beneficial to avoiding falling risks and ensuring the safety of users. In particular applications, the present embodiment may first obtain a motion gesture of the intelligent prosthesis, and determine, based on the motion gesture, a duration of a swing period of the intelligent prosthesis, where the swing period is a period from when the foot of the intelligent prosthesis leaves the ground and the lower leg swings forward until the next foot contacts the ground. And then, judging whether a falling risk exists or not based on the duration of the swing period. Finally, if there is a risk of falling, the knee joint bending damping is adjusted based on the length of the swing period.
The damping control method based on the swing period duration can be applied to an intelligent artificial limb, and the intelligent artificial limb comprises an intelligent controller for realizing the damping control method based on the swing period duration. In addition, the damping control method based on the swing period duration can be applied to a terminal, and the terminal can be arranged in an intelligent artificial limb so as to realize the damping control method based on the swing period duration through the terminal. The intelligent artificial limb comprises a knee joint and a shank part positioned below the knee joint, wherein a damping device is arranged in the shank part and is used for providing stretching damping or bending damping for the knee joint. Specifically, as shown in fig. 1, the damping control method based on the swing period duration of the present embodiment includes the following steps:
step S100, acquiring a motion gesture of the intelligent artificial limb, and determining the duration of the swing period of the intelligent artificial limb based on the motion gesture, wherein the swing period is the period from when the foot of the intelligent artificial limb leaves the ground and the lower leg swings forwards to when the foot of the intelligent artificial limb contacts the ground next time.
As shown in fig. 2, the intelligent artificial limb of the embodiment comprises a shank 11 and a knee joint 12 rotatably connected with the shank 11 through a rotating shaft, wherein the rotating shaft is arranged on the knee joint 12 and is used for driving the shank to rotate so as to realize flexible movement of the knee joint 12, the knee joint 12 is positioned at the top of the shank 11, the intelligent artificial limb further comprises a receiving cavity 3, the receiving cavity 3 is fixedly connected with the knee joint 12, and the receiving cavity 3 is used for being installed on the thigh of a user. The lower leg portion 11 in this embodiment is provided with a damping device 2, which damping device 2 may be a hydraulic cylinder, which may be used to provide extension resistance or bending damping to the knee joint so that the knee joint 12 remains stable.
After the intelligent artificial limb is installed on the thigh of the user, the user can use the intelligent artificial limb to be applied to various scenes, in order to ensure the use safety of the intelligent artificial limb and also help the intelligent artificial limb to be better used by the user, the intelligent artificial limb of the embodiment is provided with an inertial sensor, and the inertial sensor can be used for acquiring the posture and the position of the intelligent artificial limb so as to determine the movement posture of the intelligent artificial limb, and the movement posture can reflect whether the intelligent artificial limb stands, swings or supports, so that the time length of the swing period of the intelligent artificial limb can be determined based on the movement posture of the intelligent artificial limb, wherein the swing period is the period from the condition that the foot of the intelligent artificial limb leaves the ground and the lower leg swings forwards to the condition that the foot contacts the ground next time.
In one implementation, the method includes the following steps when determining the duration of the swing period of the intelligent prosthesis:
step S101, acquiring the motion gesture of the sole of the intelligent artificial limb, wherein the motion gesture of the sole comprises the real-time gesture and the real-time position of the sole;
step S102, acquiring the movement gesture of the lower leg part of the intelligent artificial limb, wherein the movement gesture of the lower leg part comprises the real-time gesture and the real-time position of the lower leg part;
step S103, determining the swing period of the intelligent artificial limb based on the motion gesture of the sole and the motion gesture of the lower leg, and recording the duration of the swing period.
According to the method, the motion gesture of the sole of the intelligent artificial limb can be obtained, and the motion gesture of the sole can reflect the real-time gesture and the real-time position of the sole, so that the contact condition of the sole and the ground, namely the contact area, can be determined based on the motion gesture of the sole, and the sole can be determined to be in the standing, supporting or swinging process based on the contact area. Furthermore, the movement gesture of the shank of the intelligent artificial limb can be reflected, so that whether the shank is vertical or inclined can be determined according to the real-time gesture and the real-time position of the shank, and further, the swing period of the intelligent artificial limb is determined by combining the movement gesture of the sole, and the duration of the swing period is recorded.
And step 200, judging whether a falling risk exists or not based on the duration of the swing period.
After determining the duration of the swing period of the intelligent artificial limb, the embodiment can analyze based on the duration of the swing period, and because the intelligent artificial limb is most easy to fall when in the swing period, if the duration of the swing period is too long, the possibility of falling is greater, so that the embodiment can determine whether the falling risk exists based on the duration of the swing period.
In one implementation, the present embodiment, when determining whether there is a risk of falling, includes the steps of:
step S201, comparing the duration of the swing period with a preset duration threshold;
Step S202, if the duration of the swing period is greater than or equal to the duration threshold, determining that a falling risk exists;
Step 203, if the duration of the swing period is smaller than the duration threshold, determining that there is no risk of falling down.
Specifically, the embodiment compares the duration of the swing period of the intelligent artificial limb with a preset duration threshold, wherein the duration threshold is used for measuring whether the swing period of the intelligent artificial limb is overlong. In this embodiment, when the intelligent prosthesis is used for a single user or multiple users, the duration of the intelligent prosthesis in the swing period in various movement modes is obtained, where the movement modes include, but are not limited to: fast walking mode, slow walking mode, fast running mode, and jogging mode. And then, calculating an average duration based on the duration of the swing period in various motion modes, and taking the average duration as the duration threshold. If the duration of the swing period is greater than or equal to the duration threshold, the swing period of the intelligent artificial limb is too long, and the swing of the intelligent artificial limb is affected by blocking of an obstacle possibly, so that the risk of falling can be determined. And if the duration of the swing period is smaller than the duration threshold value, determining that no falling risk exists. The embodiment can also control the preset buzzer alarm to give an alarm or control the alarm indicator lamp to flash to inform the user when the falling risk is determined. And, in practical application, the longer the duration of the swing period, the greater the alarm sound, the higher the frequency of the alarm, and the faster the frequency of the flashing of the indicator lamp, so as to better inform the user.
And step 300, if the falling risk exists, adjusting the bending damping of the knee joint based on the length of the swing period.
If the risk of falling exists, the bending damping can be adjusted according to the embodiment, so that the intelligent artificial limb can be better supported, and the safety of a user is ensured. In practical applications, the present embodiment may adjust the knee bending damping based on the length of the swing period.
In one implementation, this embodiment, when adjusting the bending damping, includes the steps of:
Step 301, if a fall risk exists, determining a difference value between the duration of the swing period and the duration threshold;
And step S302, determining a target damping corresponding to the difference value based on the difference value, and adjusting the knee joint bending damping to the target damping, wherein the target damping is larger than the bending damping.
Specifically, if it is determined that the intelligent prosthesis is at risk of falling, the embodiment calculates a difference between the duration of the swing period and the duration threshold, where the difference may reflect a range in which the duration of the swing period exceeds the duration threshold. If the difference is larger, the longer the swing period is, the greater the risk of falling is. Based on this, in the present embodiment, when adjusting the bending damping, a target damping corresponding to the difference may be determined based on the difference, and then the bending damping of the knee joint may be adjusted to the target damping. In order to ensure the safety of the user, the intelligent prosthesis is better supported, and the target damping in the embodiment is larger than the bending damping.
In one implementation manner, in this embodiment, target damping corresponding to different differences is preset, and the larger the difference is, the larger the target damping is. When the difference is larger, the longer the swing period is, the greater the risk of falling is, and therefore, the larger target damping is required, and the difference is proportional to the target damping. When adjusting the knee joint bending damping to the target damping, the present embodiment may determine a damping acceleration corresponding to the difference based on the difference. The damping acceleration rate is preset to correspond to the difference value, and in the same way, in order to better support the intelligent artificial limb, the larger the difference value is, the larger the damping acceleration rate is, so that the bending damping can be rapidly increased to the target damping. Based on this, the present embodiment can adjust the knee joint bending damping to the target damping based on the damping increase rate. In addition, if the detected swing period duration of the intelligent artificial limb is smaller than the preset duration threshold, the forward movement mode of the intelligent artificial limb can be restored, the damping device is controlled to restore to bending damping, and normal use of the intelligent artificial limb is ensured.
In summary, the present embodiment may first obtain a motion gesture of the intelligent prosthesis, and determine, based on the motion gesture, a duration of a swing period of the intelligent prosthesis, where the swing period is a period from when the foot of the intelligent prosthesis leaves the ground and the lower leg swings forward until the next foot contacts the ground. And then, judging whether a falling risk exists or not based on the duration of the swing period. Finally, if there is a risk of falling, the knee joint bending damping is adjusted based on the length of the swing period. According to the embodiment, the bending damping of the knee joint can be adjusted according to the length of the intelligent artificial limb in the swing period, so that the risk of falling is avoided, and the safety of a user is ensured.
Based on the embodiment, the invention further provides a damping control device based on the swing period duration. The damping control device based on the swing period duration is applied to an intelligent artificial limb, 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 is used for providing stretching resistance or bending resistance for the knee joint, and as shown in fig. 3, the damping control device based on the swing period duration comprises: a duration analysis module 10, a risk analysis module 20, and a damping adjustment module 30. Specifically, the duration analysis module 10 is configured to obtain a motion gesture of the intelligent prosthesis, and determine, based on the motion gesture, a duration of a swing period of the intelligent prosthesis, where the swing period is a period from when the foot of the intelligent prosthesis leaves the ground and the lower leg swings forward until the next foot contacts the ground. The risk analysis module 20 is configured to determine whether a risk of falling exists based on the duration of the swing period. The damping adjustment module 30 is configured to adjust the knee bending damping based on the length of the swing period if there is a risk of falling.
In one implementation, the duration analysis module 10 includes:
The sole posture determining unit is used for obtaining the motion posture of the sole of the intelligent artificial limb, wherein the motion posture of the sole comprises a real-time posture and a real-time position of the sole;
A shank posture determining unit for acquiring a movement posture of a shank of the intelligent artificial limb, wherein the movement posture of the shank comprises a real-time posture and a real-time position of the shank;
And the swing period duration determining unit is used for determining the swing period of the intelligent artificial limb based on the motion gesture of the sole and the motion gesture of the lower leg and recording the duration of the swing period.
In one implementation, the risk analysis module 20 includes:
The time length comparison unit is used for comparing the time length of the swing period with a preset time length threshold value;
The first risk determining unit is used for determining that a falling risk exists if the duration of the swing period is greater than or equal to the duration threshold value;
and the second risk determining unit is used for determining that no falling risk exists if the duration of the swing period is smaller than the duration threshold value.
In one implementation, the risk analysis module 20 includes a duration threshold determination unit that includes:
The time length acquisition subunit is used for acquiring the time length of the intelligent artificial limb in the swing period under various motion modes when the intelligent artificial limb is used for a single user or a plurality of users;
And the duration analysis subunit is used for calculating an average duration based on the duration of the swing period in various motion modes, and taking the average duration as the duration threshold.
In one implementation, the damping adjustment module 30 includes:
The difference value determining unit is used for determining the difference value between the duration of the swing period and the duration threshold value if the falling risk exists;
And the damping adjustment unit is used for determining a target damping corresponding to the difference value based on the difference value and adjusting the bending damping of the knee joint to the target damping, wherein the target damping is larger than the bending damping.
In one implementation, the damping adjustment unit includes:
And the damping increasing subunit is used for determining the damping acceleration corresponding to the difference value based on the difference value, and adjusting the bending damping of the knee joint to the target damping based on the damping acceleration, wherein the larger the difference value is, the larger the damping acceleration is.
The working principle of each module in the damping control device based on the swing period duration 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 embodiment, the invention further provides a smart prosthesis, wherein the smart prosthesis comprises a receiving cavity, a knee joint, a lower leg part and the damping control device based on the swing period duration.
Based on the above embodiment, the present invention also provides a terminal, and a schematic block diagram of the terminal may be shown in fig. 4. The terminal may include one or more processors 100 (only one shown in fig. 4), a memory 101, and a computer program 102 stored in the memory 101 and executable on the one or more processors 100, such as a damping control program based on the duration of the swing period. The one or more processors 100, when executing the computer program 102, may implement the various steps in an embodiment of a damping control method based on a period of oscillation. Or the one or more processors 100, when executing the computer program 102, may implement the functions of the various modules/units in the embodiment of the damping control device based on the duration of the oscillation period, without limitation.
In one embodiment, the Processor 100 may be a central processing unit (Central Processing Unit, CPU), but may also be other general purpose processors, digital signal processors (DIGITAL SIGNAL processors, DSPs), application SPECIFIC INTEGRATED Circuits (ASICs), off-the-shelf Programmable gate arrays (Field-Programmable GATE ARRAY, FPGA) or other Programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
In one embodiment, the memory 101 may be an internal storage unit of the electronic device, such as a hard disk or a memory of the electronic device. The memory 101 may also be an external storage device of the electronic device, such as a plug-in hard disk provided on the electronic device, a smart memory card (SMART MEDIA CARD, SMC), a Secure Digital (SD) card, a flash memory card (FLASH CARD), or the like. Further, the memory 101 may also include both an internal storage unit and an external storage device of the electronic device. The memory 101 is used to store computer programs and other programs and data required by the terminal. The memory 101 may also be used to temporarily store data that has been output or is to be output.
It will be appreciated by those skilled in the art that the functional block diagram shown in fig. 4 is merely a block diagram of some of the structures associated with the present inventive arrangements and is not limiting of the terminal to which the present inventive arrangements may be applied, as a specific terminal may include more or less components than those shown, or may be combined with some components, or may have a different arrangement of components.
Those skilled in the art will appreciate that implementing all or part of the above-described methods may be accomplished by way of a computer program, which may be stored on a non-transitory computer readable storage medium, that when executed may comprise the steps of the embodiments of the methods described above. Any reference to memory, storage, operational database, or other medium used in embodiments provided herein may include non-volatile and/or volatile memory. The nonvolatile memory can include Read Only Memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual operation data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (SYNCHLINK) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), among others.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. The damping control method based on the swing period duration is characterized by being applied to an intelligent artificial limb, wherein the intelligent artificial limb comprises a knee joint and a shank part positioned below the knee joint, a damping device is arranged in the shank part and is used for providing stretching resistance or bending resistance for the knee joint, and the damping control method based on the swing period duration comprises the following steps:
Acquiring a motion attitude of an intelligent artificial limb, and determining the duration of a swing period of the intelligent artificial limb based on the motion attitude, wherein the swing period is the period from when a foot of the intelligent artificial limb leaves the ground and the lower leg swings forwards until the next foot contacts the ground;
judging whether a falling risk exists or not based on the duration of the swing period;
If there is a risk of falling, the knee joint bending damping is adjusted based on the length of the swing period.
2. The method for damping control based on a swing period duration according to claim 1, wherein the acquiring a motion gesture of the intelligent prosthesis, and determining a duration of the swing period of the intelligent prosthesis based on the motion gesture, comprises:
Acquiring the motion gesture of the sole of the intelligent artificial limb, wherein the motion gesture of the sole comprises the real-time gesture and the real-time position of the sole;
acquiring the movement gesture of the shank of the intelligent artificial limb, wherein the movement gesture of the shank comprises the real-time gesture and the real-time position of the shank;
And determining the swing period of the intelligent artificial limb based on the motion gesture of the sole and the motion gesture of the lower leg, and recording the duration of the swing period.
3. The damping control method based on the duration of the hunting period according to claim 1, wherein the determining whether there is a risk of falling based on the duration of the hunting period includes:
Comparing the duration of the swing period with a preset duration threshold;
if the duration of the swing period is greater than or equal to the duration threshold, determining that a fall risk exists;
And if the duration of the swing period is smaller than the duration threshold value, determining that no falling risk exists.
4. A method of damping control based on a period of oscillation as defined in claim 3, wherein the manner of determining the period threshold comprises:
acquiring the duration of the intelligent artificial limb in a swinging period under various movement modes when the intelligent artificial limb is used by a single user or a plurality of users;
and calculating an average duration based on the duration of the swing period in various motion modes, and taking the average duration as the duration threshold.
5. The swing period duration based damping control method of claim 3, wherein adjusting the knee joint bending damping based on the swing period duration if there is a risk of a fall comprises:
If the falling risk exists, determining a difference value between the duration of the swing period and the duration threshold;
And determining a target damping corresponding to the difference value based on the difference value, and adjusting the knee joint bending damping to the target damping, wherein the target damping is larger than the bending damping.
6. The swing period duration based damping control method of claim 5, wherein said adjusting the knee bending damping to the target damping comprises:
And determining a damping acceleration corresponding to the difference value based on the difference value, and adjusting the knee joint bending damping to the target damping based on the damping acceleration, wherein the larger the difference value is, the larger the damping acceleration is.
7. The utility model provides a damping control device based on swing period is long, its characterized in that, damping control device based on swing period is long is applied to intelligent artificial limb, intelligent artificial limb includes knee joint and is located the shank below the knee joint, set up damping device in the shank, damping device is used for providing extension resistance or bending resistance to the knee joint, damping control device based on swing period is long includes:
The time length analysis module is used for acquiring the motion gesture of the intelligent artificial limb, and determining the time length of the intelligent artificial limb in a swing period based on the motion gesture, wherein the swing period is the period from when the foot of the intelligent artificial limb leaves the ground and the lower leg swings forwards to when the foot of the intelligent artificial limb contacts the ground next time;
The risk analysis module is used for judging whether a falling risk exists or not based on the duration of the swing period;
And the damping adjustment module is used for adjusting the bending damping of the knee joint based on the length of the swinging period if the falling risk exists.
8. A smart prosthesis comprising a socket, a knee joint, a calf portion and a swing period duration based damping control device according to claim 7.
9. A terminal comprising a memory, a processor and a damping control program based on a period of oscillation stored in the memory and operable on the processor, wherein the processor, when executing the damping control program based on a period of oscillation, implements the steps of the damping control method based on a period of oscillation as claimed in any one of claims 1 to 6.
10. A computer readable storage medium, wherein a damping control program based on a period of oscillation is stored on the computer readable storage medium, and when the damping control program based on the period of oscillation is executed by a processor, the steps of the damping control method based on the period of oscillation according to any one of claims 1-6 are implemented.
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