CN111939525A - Constant-speed muscle strength training system and control method thereof - Google Patents

Abstract

The invention discloses an isokinetic muscle strength training system and a control method thereof, wherein the system includes a power component and a control component, the power component includes: an output rod; a power module, the power module includes a motor and a reducer, and one end of the reducer is provided with The rotating shaft is fixedly connected with the output rod, the other end of the reducer is connected with the motor, and the input end of the motor is connected with the output end of the control component; the angle acquisition module, the angle acquisition module is used to collect the angle parameters of the output rod, and the angle acquisition module The output end is connected with the first input end of the control assembly; the torque collecting module is used for collecting torque parameters of the rotating shaft, and the output end of the torque collecting module is connected with the second input end of the control assembly. The present invention can minimize the influence of limb gravity, greatly improve the accuracy and comparability of muscle strength testing, and improve the training efficiency of isokinetic muscle strength training. The invention can be widely used in the technical field of sports equipment.

Description

A kind of isokinetic muscle strength training system and control method thereof

technical field

The invention relates to the technical field of sports equipment, in particular to an isokinetic muscle training system and a control method thereof.

Background technique

Muscle function examination and evaluation is one of the most basic and important contents in rehabilitation medicine. Commonly used muscle function tests include isometric muscle strength, isotonic muscle strength, and isokinetic muscle strength tests. Because isokinetic exercise technology has good accuracy, reliability and repeatability in muscle function testing, and has good safety, efficiency and rationality in muscle strength training, it is widely used in sports training and rehabilitation medicine. It has broad application prospects in clinical practice and scientific research.

Isokinetic movement, also known as adjustable resistance movement or constant angular velocity movement, refers to the use of special equipment to adjust the external resistance accordingly according to the change in muscle strength during the movement process, so that the entire joint movement can move at a preset speed. Exertion only increases muscle tone and torque output. Isokinetic exercise can provide the maximum resistance suitable for the muscle itself according to the strength of the muscle, the change of the length of the muscle, the length of the moment arm, and the pain and fatigue, and it will not exceed the limit of its load. Therefore, the constant velocity motion has quite high efficiency and safety.

The output rod of the isokinetic equipment is connected with the limbs through accessories (connectors), and the limbs actively exert force to drive the output rod to rotate, and perform muscle strength testing and training.

The isokinetic muscle strength testing and training equipment obtains the torque value output by the limb by collecting the torque of the rotating shaft, so that the real-time muscle strength of the limb can be obtained. However, traditional isokinetic strength testing and training equipment has the following disadvantages:

1) During the test of isokinetic muscle strength, the influence of limb gravity and accessory gravity on the test results was not considered, resulting in inaccurate muscle strength test results. Taking knee flexion and extension as an example, in the process of extension, it will be restricted by the gravity of the limb and the gravity of the accessories. The force output by the limb is used to overcome the gravity, so the torque value measured by the isokinetic device is actually the torque output by the limb. value minus the torque value generated by gravity, that is, the measured torque value is less than the torque value output by the limb; and during the flexion movement, it will be assisted by the gravity of the limb and the gravity of the accessories, resulting in the torque value measured by the isokinetic device is actually The torque value output by the limb plus the torque value generated by gravity, that is, the measured torque value is greater than the torque value output by the limb; and there are differences in the body weight of different users, correspondingly, the impact of limb gravity on the test data is also different. As a result, the muscle strength test data between different people cannot be objectively and effectively compared and analyzed.

2) In practical applications of isokinetic equipment, it is difficult for users with muscle strength levels 3 to 4 to perform a full range of joint movements due to the constraints of the gravity of the limbs and accessories. Taking shoulder flexion and extension as an example, in the process of lifting the arm from vertical downward to vertical upward, when the arm moves to a horizontal position, the gravity of the arm and accessories will cause the greatest load on the arm, and it is difficult for users with weak muscle strength to continue. Stretching upwards, it is impossible to complete the full range of motion of the joints, which limits the training effect of isokinetic muscle training.

SUMMARY OF THE INVENTION

In order to solve the above technical problems, the purpose of the present invention is to provide an accurate and efficient isokinetic muscle training system and a control method thereof.

The first technical scheme adopted in the present invention is:

An isokinetic muscle training system, comprising a power component and a control component, the power component comprising:

output rod;

A power module, the power module includes a motor and a reducer, one end of the reducer is provided with a rotating shaft, the rotating shaft is fixedly connected with the output rod, the other end of the reducer is connected with the motor, the motor The input end is connected with the output end of the control assembly;

an angle collection module, the angle collection module is used to collect the angle parameters of the output rod, and the output end of the angle collection module is connected with the first input end of the control assembly;

A torque acquisition module, the torque acquisition module is used for acquiring torque parameters of the rotating shaft, and the output end of the torque acquisition module is connected with the second input end of the control component.

Further, the angle acquisition module is an encoder, the encoder is mounted on the motor, and the output end of the encoder is connected to the first input end of the control assembly.

Further, the torque acquisition module includes a resistance strain gauge, a signal processing unit and a signal transmission unit, the resistance strain gauge is mounted on the rotating shaft, and the output end of the resistance strain gauge passes through the signal processing unit and the signal A transmission unit is connected to the second input of the control assembly.

Further, the resistance strain gauge is a full bridge strain gauge.

Further, the power assembly also includes:

a casing, the power module, the angle acquisition module and the torque acquisition module are all arranged in the casing;

A limiting device, the limiting device is fixed on one end of the casing, the rotating shaft passes through the limiting device, and extends from the limiting device to be fixedly connected to the output rod.

Further, the control assembly includes a processor and a motor driver, the output end of the processor is connected to the input end of the motor through the motor driver, and the output end of the angle acquisition module is connected to the first end of the processor. The input end is connected, and the output end of the torque acquisition module is connected with the second input end of the processor.

Further, the isokinetic muscle strength training system further includes a human-computer interaction component, and the human-computer interaction component includes a display and an input device, and both the display and the input device are electrically connected to the processor.

Further, the isokinetic muscle training system also includes a base assembly, and the base assembly includes:

a base, one end of the base is fixedly connected with the control assembly;

a rotary lifting mechanism, the rotary lifting mechanism is connected with the power assembly, the rotary lifting mechanism includes a first adjustment rod and a second adjustment rod, the first adjustment rod is used to adjust the height of the power assembly, the The second adjustment rod is used to adjust the rotation angle of the power assembly.

Further, the isokinetic muscle strength training system further includes a seat assembly, the seat assembly includes a seat and a seat adjustment mechanism, and the seat is movably arranged on the base through the seat adjustment mechanism.

The second technical scheme adopted by the present invention is:

A control method for an isokinetic muscle training system, for execution by the above-mentioned isokinetic muscle training system, comprising the following steps:

The angle acquisition module collects the angle parameters of the output rod and transmits the angle parameters to the control assembly;

The control component obtains the first moment of the limb gravity on the rotating shaft according to the angle parameter and the pre-acquired limb gravity torque parameter;

The control assembly outputs a second torque to the rotating shaft through the motor, the second torque is the same in magnitude and opposite to the first torque;

The torque acquisition module collects torque parameters of the rotating shaft and transmits the torque parameters to the control component;

The control component obtains the muscle strength parameter of the limb according to the torque parameter and the first torque.

Further, the control method also includes the step of acquiring the limb gravitational moment parameter, which is specifically:

The angle acquisition module collects the static angle parameters of the output rod and transmits the static angle parameters to the control assembly;

The torque acquisition module collects static torque parameters of the rotating shaft and transmits the static torque parameters to the control component;

The control component obtains the limb gravitational moment parameter according to the static angle parameter and the static torque parameter;

Wherein, the static angle parameter and the static torque parameter are collected when the limb and the output rod are stationary.

The beneficial effects of the present invention are: an isokinetic muscle strength training system and a control method thereof of the present invention, when the limbs are undergoing isokinetic muscle strength training, the angle parameters of the output rod are collected in real time through the angle acquisition module to obtain the first position of the limb gravity to the rotating shaft. torque, and then output a second torque that offsets the first torque through the motor to the rotating shaft, which can minimize the influence of body gravity on the constant velocity movement, and then collect the torque parameters of the rotating shaft in real time through the torque acquisition module, according to the torque parameters And the first torque can get accurate muscle strength test results. The invention can minimize the influence of limb gravity, greatly improve the accuracy and comparability of muscle strength test, and also help users with weak muscle strength to use isokinetic equipment for training, so as to enhance muscle strength, Improve limb motor function and improve the training efficiency of isokinetic muscle training.

Description of drawings

Fig. 1 is the overall structure diagram of the isokinetic muscle strength training system provided by the embodiment of the present invention;

2 is an exploded structural diagram of a power assembly provided by an embodiment of the present invention;

Fig. 3 is the signal connection schematic diagram of the isokinetic muscle strength training system provided by the embodiment of the present invention;

4 is a schematic diagram of a rotation angle of an output rod in a vertical plane according to an embodiment of the present invention;

FIG. 5 is a flowchart of steps of a control method of an isokinetic muscle strength training system provided by an embodiment of the present invention.

Reference number:

1. Base assembly; 2. Power assembly; 3. Control assembly; 4. Seat assembly; 5. Human-computer interaction assembly; 11. Base; 12. Rotary lifting mechanism; 121, First adjustment rod; 122, Second adjustment rod; 21, output rod; 22, power module; 221, motor; 222, reducer; 2221, shaft; 23, angle acquisition module; 24, torque acquisition module; 241, resistance strain gauge; 242, signal processing unit; 243 25, housing; 26, limit device; 31, processor; 32, motor driver; 41, seat; 42, seat adjustment mechanism; 51, display; 52, input device.

Detailed ways

The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. The numbers of the steps in the following embodiments are only set for the convenience of description, and the sequence between the steps is not limited in any way, and the execution sequence of each step in the embodiments can be adapted according to the understanding of those skilled in the art Sexual adjustment.

In the description of the present invention, the meaning of multiple is more than two. If there is a description of the first and the second, it is only for the purpose of distinguishing technical features, and should not be understood as indicating or implying relative importance or implicitly indicating that The number of technical features indicated or implicitly indicates the order of the indicated technical features. Also, unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The terms used in the specification herein are for the purpose of describing specific embodiments only, and not for the purpose of limiting the present invention.

1 to 3, an embodiment of the present invention provides an isokinetic muscle strength training system, including a power assembly 2 and a control assembly 3, and the power assembly 2 includes:

output rod 21;

The power module 22, the power module 22 includes a motor 221 and a reducer 222, one end of the reducer 222 is provided with a rotating shaft 2221, the rotating shaft 2221 is fixedly connected with the output rod 21, the other end of the reducer 222 is connected with the motor 221, and the input end of the motor 221 Connect with the output end of the control assembly 3;

The angle acquisition module 23, the angle acquisition module 23 is used for acquiring the angle parameter of the output rod 21, and the output end of the angle acquisition module 23 is connected with the first input end of the control assembly 3;

The torque acquisition module 24 is used for acquiring torque parameters of the rotating shaft 2221 , and the output end of the torque acquisition module 24 is connected to the second input end of the control component 3 .

Specifically, the power module 22 is used to provide power for the output rod 21; the angle parameter of the output rod 21 refers to the inclination angle of the output rod 21 in the vertical plane. It is realized by setting the attitude sensor and setting the encoder in the motor 221. Since the output rod 21 is fixedly connected with the rotating shaft 2221, the angle parameters of the two are the same, and the output rod 21 and the motor 221 are connected through the reducer 222. In the case of the transmission ratio of the motor 222, the angle parameter of the output rod 21 can also be obtained according to the rotation angle and the number of turns of the motor 221 collected by the encoder; The deformation of the rotating shaft 2221 is converted into an electrical signal through the resistance strain gauge 241, so that the torque of the rotating shaft 2221 can be collected.

In the embodiment of the present invention, when the limbs are undergoing isokinetic muscle strength training, the angle parameters of the output rod 21 are collected in real time by the angle acquisition module 23 to obtain the first torque of the limb gravity on the rotating shaft 2221, and then the output of the rotating shaft 2221 by the motor 221 is proportional to the first torque. The offset second torque can minimize the impact of body gravity on the constant velocity movement, and then collect the torque parameters of the rotating shaft 2221 in real time through the torque acquisition module 24, and obtain accurate muscle strength according to the torque parameters and the first torque. Test Results. The embodiment of the present invention can minimize the influence of limb gravity, greatly improve the accuracy and comparability of muscle strength testing, and also help users with weak muscle strength to use isokinetic equipment for training to enhance muscle strength Strength, improve limb motor function, and improve the training efficiency of isokinetic muscle training.

Further as an optional embodiment, the angle acquisition module 23 is an encoder, the encoder is installed on the motor 221 , and the output end of the encoder is connected to the first input end of the control component 3 .

Specifically, the encoder is installed on the motor 221 to measure data such as the magnetic pole position and the rotation angle and rotational speed of the motor 221, thereby obtaining the angle parameters of the output rod 21. In this embodiment of the present invention, the encoder is used as the angle acquisition module 23 to compare the use attitude As far as the sensor is concerned, the measurement results are more accurate, which further improves the accuracy of muscle strength testing and the efficiency of isokinetic muscle strength training.

2 and 3, the torque acquisition module 24 includes a resistance strain gauge 241, a signal processing unit 242 and a signal transmission unit 242. The resistance strain gauge 241 is installed on the rotating shaft 2221, and the output end of the resistance strain gauge 241 passes through the signal processing unit 242 and the signal The transmission unit 242 is connected to the second input of the control assembly 3 .

Specifically, the torque collection module 24 is used to collect torque parameters applied to the rotating shaft 2221 by the user through the output rod 21 . The torque acquisition module 24 includes a resistance strain gauge 241, a signal processing unit 242 and a signal transmission unit 242. The resistance strain gauge 241 is pasted on the surface of the rotating shaft 2221 of the reducer 222, and the resistance strain gauge 241 can convert the mechanical deformation of the rotating shaft 2221 into a resistance change, Then, the analog signal of the resistance strain gauge 241 is amplified and filtered by the signal processing unit 242, and converted into a digital signal through an analog-to-digital converter. The signal transmission unit 242 adopts the brush-type current collector mode to transmit power and signals between the fixed position and the rotating position while continuously rotating, and transmit the collected torque data to the control component 3 .

Further as an optional embodiment, the resistance strain gauge 241 is a full bridge strain gauge.

Specifically, the resistance strain gauge 241 can be used as a single-piece full-bridge strain gauge. The full-bridge strain gauge only measures the torsional stress of the rotating shaft 2221. The radial force and axial force of the rotating shaft 2221 will not affect the measurement of the torsional stress. The influence of gravity of the power assembly 2 at different inclination angles is eliminated, while the traditional constant velocity equipment using non-full-bridge strain gauges cannot eliminate the influence of gravity of the power assembly 2 at different inclination angles. In addition, the single-piece full-bridge strain gage is more convenient to paste than the full bridge composed of multiple strain gages, reducing the manufacturing process.

Referring to Figure 2, further as an optional embodiment, the power assembly 2 also includes:

The casing 25 , the power module 22 , the angle acquisition module 23 and the torque acquisition module 24 are all arranged in the casing 25 ;

The limiting device 26 is fixed on one end of the casing 25 , and the rotating shaft 2221 is passed through the limiting device 26 and protrudes from the limiting device 26 to be fixedly connected to the output rod 21 .

Specifically, the limiting device 26 is used to limit the range of motion of the user's limbs, so as to avoid limb or joint damage to the user.

Referring to FIG. 3 , as an optional embodiment, the control assembly 3 includes a processor 31 and a motor driver 32 . The output end of the processor 31 is connected to the input end of the motor 221 through the motor driver 32 , and the output end of the angle acquisition module 23 is connected to the input end of the motor 221 . The first input end of the processor 31 is connected, and the output end of the torque acquisition module 24 is connected to the second input end of the processor 31 .

Specifically, the processor 31 is configured to control the motor 221 to output a corresponding torque to offset the influence of the limb gravity on the rotating shaft 2221 according to the angle parameters collected in real time, and calculate the limb muscle strength data according to the torque parameters collected in real time.

1 and 3, further as an optional embodiment, the isokinetic muscle strength training system also includes a human-computer interaction component 5, and the human-computer interaction component 5 includes a display 51 and an input device 52, and both the display 51 and the input device 52 are processed with The device 31 is electrically connected.

Specifically, the input device 52 is used to set the working mode and operating parameters of the isokinetic muscle strength training system, and the display 51 is used to display the result of the limb muscle strength test.

1 , further as an optional embodiment, the isokinetic muscle training system further includes a bottom seat assembly 1, and the bottom seat assembly 1 includes:

The base 11, one end of the base 11 is fixedly connected with the control assembly 3;

The rotary lifting mechanism 12 is connected with the power assembly 2. The rotary lifting mechanism 12 includes a first adjustment rod 121 and a second adjustment rod 122. The first adjustment rod 121 is used to adjust the height of the power assembly 2, and the second adjustment rod 122 is used to adjust the rotation angle of the power assembly 2 .

Specifically, the base 11 is used to fix the isokinetic muscle training system, and the rotating lifting mechanism 12 is used to adjust the position of the power assembly 2 according to the actual situation of the user.

Referring to FIG. 1 , as an optional embodiment, the isokinetic muscle training system further includes a seat assembly 4 , and the seat assembly 4 includes a seat 41 and a seat adjustment mechanism 42 , and the seat 41 is movably arranged on the seat through the seat adjustment mechanism 42 . on the base 11.

Specifically, the setting of the seat 41 and the seat adjustment mechanism 42 can facilitate the user to adjust the limb state according to his own situation, so as to perform isokinetic muscle training.

The above is the description of the system structure of the embodiment of the present invention, and the principle and related settings of the embodiment of the present invention are further described below in combination with the above-mentioned system structure.

FIG. 4 is a schematic diagram showing the rotation angle of the output rod 21 in the vertical plane. In order to more conveniently describe the principles of the embodiments of the present invention, relevant settings and descriptions are now made as follows:

1) It is defined that when the output rod 21 is vertically downward, the angle θ of the output rod 21 is 0°, and when rotated clockwise, the angle θ increases, and when rotated counterclockwise, the angle θ decreases. For example, if rotated 90° clockwise, the angle θ of the output rod 21 is 90°, if rotated 90° counterclockwise, the angle θ of the output rod 21 is -90°, and so on. In particular, when the output rod 21 is vertically upward, the angle θ of the output rod 21 is 180° (or -180°, which has no effect in the embodiment of the present invention).

2) Set the movement range of the limb, the maximum position of clockwise movement is P1 (the angle corresponding to the output rod 21 is -90°), and the maximum position of the counterclockwise movement is P2 (the angle corresponding to the output rod 21 is 90°).

3) When the torque value is defined as a positive number, it means that the torque direction is clockwise, and when the torque value is negative, it means that the torque direction is counterclockwise.

4) Set the rotation direction of the motor 221 according to the movement position of the limb:

The limb moves clockwise from the position P2 to the position P1, and the rotation direction of the motor 221 is set as the clockwise direction. Before moving to the position P1, even if the limb exerts force in a counterclockwise direction, the rotation direction of the motor 221 will not be changed. After moving to the position P1, the rotation direction of the motor 221 is changed to a counterclockwise direction.

The limb moves counterclockwise from the position P1 to the position P2, and the rotation direction of the motor 221 is set as the counterclockwise direction. Before moving to the position P2, even if the limb exerts force in a clockwise direction, the rotation direction of the motor 221 will not be changed. After moving to the position P2, the rotation direction of the motor 221 is changed to a clockwise direction.

5) The constant velocity movement of the limbs is realized by means of the speed limit of the motor 221 . According to Newton's law of motion, during the uniform motion of the limb, the force of the limb is equal to the reaction force of the motor 221 . When the muscle strength increases, the motor 221 increases the resistance accordingly, and when the muscle strength decreases, the motor 221 decreases the resistance accordingly.

The limb moves clockwise from the position P2 to the position P1, and the maximum speed of the motor 221 is set as V1. The limbs exert force clockwise to drive the motor 221 to accelerate to V1, the limbs continue to increase the strength, the motor 221 keeps the speed V1 unchanged, the muscle force only increases the muscle tension during the exercise, and the torque output increases, but the movement speed is constant. When the limb exerts force in a counterclockwise direction or stops exerting force, the motor 221 decelerates to a stop.

The limb moves counterclockwise from the position P1 to the position P2, and the maximum speed of the motor 221 is set as V2. The limbs exert force in the counterclockwise direction to drive the motor 221 to accelerate to V2, the limbs continue to increase the strength, and the motor 221 keeps the speed V2 unchanged. During the exercise, the muscle force only increases the muscle tension and the torque output increases, but the movement speed is constant. When the limbs exert force in a clockwise direction or stop exerting force, the motor 221 decelerates to a stop.

The isokinetic muscle strength training system of the embodiment of the present invention pre-adjusts the positions of the bottom seat assembly 1, the power assembly 2 and the seat assembly 4 before training, so that the movement axis of the limb is coaxially aligned with the rotation axis of the motor 221, Then, the output rod 21 is connected with the limb through the accessories, and the limb actively drives the output rod 21 to rotate, and then realizes the isokinetic movement through the motor speed limit, so as to carry out the muscle strength test and training.

It should be understood that, during the constant velocity motion of the limb, the rotating shaft 2221 keeps rotating at a constant speed. At this time, the limb generates a certain torque to the rotating shaft 2221 through the output rod 21, and the rotating shaft 2221 itself generates a certain mechanical deformation to overcome the torque, while the resistance strain gauge 241 Then, the mechanical deformation of the rotating shaft 2221 can be converted into an electrical signal, and finally the value of the torque can be obtained. However, the torque is actually the result of the synergistic effect of limb gravity and limb muscle strength, so the muscle strength of the limb cannot be accurately obtained through the torque value. With the change of the angle of the output rod 21, the magnitude and direction of the moment acting on the rotation shaft 2221 by the body's gravity also changes all the time. Therefore, the embodiment of the present invention collects the angle of the output rod 21 in real time, so as to obtain the current moment of the limb's gravity on the rotation shaft 2221. Then, the torque of the rotating shaft 2221 is collected by the torque collecting module 24, and the muscle strength of the limb can be accurately calculated according to the obtained torque and the torque of the limb gravity on the rotating shaft 2221 at the current moment.

The control method in the embodiment of the present invention will be described below.

5, an embodiment of the present invention provides a control method for an isokinetic muscle training system, which is used to execute through the above-mentioned isokinetic muscle training system, including the following steps:

S101, the angle collection module 23 collects the angle parameter of the output rod 21 and transmits the angle parameter to the control component 3;

S102, the control component 3 obtains the first moment of the limb gravity on the rotating shaft 2221 according to the angle parameter and the pre-acquired limb gravity torque parameter;

Specifically, the limb gravitational torque parameter is the magnitude of the limb gravitational moment on the rotating shaft 2221 when the output rod 21 is in a horizontal position. The limb gravity torque parameter can be obtained according to the limb gravity and the moment arm acting on the rotating shaft 2221, and can also be obtained by testing the isokinetic muscle strength training system of the embodiment of the present invention before training.

S103, the control assembly 3 outputs a second torque to the rotating shaft 2221 through the motor 221, and the second torque is the same in magnitude and opposite to the first torque;

Specifically, the torque generated by the gravitational force is offset by the output torque of the motor 221, so that the limb can be moved in a state of zero gravity. The limb gravitational moment parameter is defined as Mg, and the four regions of the output rod 21 in the vertical plane are defined as shown in FIG. 4 . Several situations of the first moment M1 and the second moment M2 are as follows:

A1. If the limb moves clockwise, when the output rod 21 is in the third area or the fourth area, the angle of the output rod 21 is θ1, and the weight of the limb provides resistance, restricting the movement of the limb clockwise. At this time, the weight of the limb is opposite to the rotation axis. The first torque of 2221 is counterclockwise, and the first torque can be expressed as M1=-Mg×sinθ1. The motor 221 outputs a second torque in the clockwise direction in real time, and the magnitude is the same as the first torque, so as to offset the gravity of the limbs on the rotating shaft 2221. moment, the second moment can be expressed as M2=-M1=Mg×sinθ1;

A2. If the limb moves clockwise, when the output rod 21 is in the first area or the second area, the angle of the output rod 21 is θ2, and the limb gravity provides assistance to assist the limb to move in a clockwise direction. At this time, the limb gravity is opposite to the rotation axis. The first torque of 2221 is clockwise, the first torque can be expressed as M1=-Mg×sinθ2, the motor 221 outputs the second torque in the counterclockwise direction in real time, and the magnitude is the same as the first torque, so as to offset the body gravity on the rotating shaft 2221. moment, the second moment can be expressed as M2=-M1=Mg×sinθ2;

A3. If the limb moves counterclockwise, when the output rod 21 is in the third area or the fourth area, the angle of the output rod 21 is θ3, and the limb gravity provides assistance to assist the limb to move in a counterclockwise direction. At this time, the limb gravity is opposite to the rotation axis. The first torque of 2221 is counterclockwise, and the first torque can be expressed as M1=-Mg×sin θ3. The motor 221 outputs a second torque in a clockwise direction in real time, the magnitude of which is the same as the first torque, so as to offset the gravity of the limbs on the rotating shaft 2221. The moment of , the second moment can be expressed as M2=-M1=Mg×sinθ3;

A4. If the limb moves counterclockwise, when the output rod 21 is in the first area or the second area, the angle of the output rod 21 is θ4, and the weight of the limb provides resistance to restrict the movement of the limb in the counterclockwise direction. At this time, the weight of the limb is opposite to the rotation axis The first torque of 2221 is clockwise, the first torque can be expressed as M1=-Mg×sinθ4, the motor 221 outputs the second torque in the counterclockwise direction in real time, and the magnitude is the same as the first torque, so as to offset the gravity of the limbs on the rotating shaft 2221. The second moment can be expressed as M2=-M1=Mg×sinθ4.

According to the analysis of the above situations, the relationship between the first moment M1, the second moment M2 and the output rod angle parameter θ is, M2=-M1=Mg×sinθ, it should be understood that when θ is located in the first region or the In the second zone, sinθ is less than 0, the first moment is clockwise, and the second moment is counterclockwise; when θ is in the third or fourth zone, sinθ is greater than 0, the first moment is counterclockwise, and the second moment is in the counterclockwise direction. Moment is clockwise.

In particular, when the output rod 21 is vertically upwards or vertically downwards, the body gravity produces radial force on the rotating shaft 2221. At this time, the moment of the body gravity on the rotating shaft 2221 is zero, and the body gravity does not affect the torque of the rotating shaft 2221. The measurement will not restrict or assist the movement of the limbs. Therefore, the motor 221 does not need to output torque to counteract the torque generated by gravity.

S104, the torque collection module 24 collects the torque parameters of the rotating shaft 2221 and transmits the torque parameters to the control component 3;

S105, the control component 3 obtains the muscle strength parameter of the limb according to the torque parameter and the first torque.

Specifically, the muscle strength parameter is the moment of the limb muscle force on the rotating shaft 2221. According to the torque M3 of the rotating shaft 2221 at this time and the first moment M1 of the limb gravity on the rotating shaft 2221 at the current moment, the force of the limb muscle strength on the rotating shaft 2221 can be accurately calculated. Moment M4. Since the rotation shaft 2221 is deformed, its torque is the result of the joint action of the limb gravity and the limb muscle force, so M3=M1+M4, that is, the moment M4=M3-M1=M3+Mg of the limb muscle force to the rotation shaft 2221 can be calculated ×sinθ.

In the embodiment of the present invention, when the limbs are undergoing isokinetic muscle strength training, the angle parameters of the output rod 21 are collected in real time by the angle acquisition module 23 to obtain the first torque of the limb gravity on the rotating shaft 2221, and then the output of the rotating shaft 2221 by the motor 221 is proportional to the first torque. The offset second torque can minimize the impact of body gravity on the constant velocity movement, and then collect the torque parameters of the rotating shaft 2221 in real time through the torque acquisition module 24, and obtain accurate muscle strength according to the torque parameters and the first torque. Test Results. The embodiment of the present invention can minimize the influence of limb gravity, greatly improve the accuracy and comparability of muscle strength testing, and also help users with weak muscle strength to use isokinetic equipment for training to enhance muscle strength Strength, improve limb motor function, and improve the training efficiency of isokinetic muscle training.

Further as an optional embodiment, the above-mentioned control method also includes the step of acquiring the limb gravitational moment parameter, which is specifically:

B1, the angle collection module 23 collects the static angle parameter of the output rod 21 and transmits the static angle parameter to the control assembly 3;

B2. The torque acquisition module 24 collects the static torque parameters of the rotating shaft 2221 and transmits the static torque parameters to the control component 3;

B3. The control component 3 obtains the limb gravitational moment parameter according to the static angle parameter and the static torque parameter;

Among them, the static angle parameter and the static torque parameter are collected when the limb and the output rod 21 are stationary.

Specifically, before training, the limb gravitational torque parameters are obtained through the test of the isokinetic muscle strength training system of the embodiment of the present invention, so that the gravitational influence of the relevant accessories connecting the limb and the output rod 21 can also be taken into account, which further improves the muscle strength Test accuracy. The specific implementation method is as follows: placing the limb as horizontal as possible, locking the motor 221 without moving, the user completely relaxes the limb, so that the limb is in a state of no force; the static angle parameter obtained at this time is θ0, and the static torque parameter is M0. No force is required, so there is |M0|=Mg×|sinθ0|, and the gravitational moment of the limb and accessories in the horizontal position is calculated by the control component 3, which is the limb gravitational moment parameter, which can be expressed as Mg=|M0/sinθ0|, where || represents an absolute value.

It should be appreciated that embodiments of the present invention may be implemented or implemented by computer hardware, a combination of hardware and software, or by computer instructions stored in non-transitory computer readable memory. The above-described methods can be implemented in a computer program using standard programming techniques—including a non-transitory computer-readable storage medium configured with a computer program, wherein the storage medium so configured causes the computer to operate in a specific and predefined manner—according to the specific implementation. The methods and figures described in the examples. Each program may be implemented in a high-level procedural or object-oriented programming language to communicate with a computer system. However, if desired, the program can be implemented in assembly or machine language. In any case, the language can be a compiled or interpreted language. Furthermore, the program can be run on a programmed application specific integrated circuit for this purpose.

Furthermore, the operations of the processes described herein may be performed in any suitable order unless otherwise indicated herein or otherwise clearly contradicted by context. The processes (or variations and/or combinations thereof) described herein can be performed under the control of one or more computer systems configured with executable instructions, and as code that executes collectively on one or more processors (eg, , executable instructions, one or more computer programs or one or more applications), implemented in hardware, or a combination thereof. The computer program described above includes a plurality of instructions executable by one or more processors.

Further, the above-described methods may be implemented in any type of computing platform operably connected to a suitable, including but not limited to personal computer, minicomputer, mainframe, workstation, network or distributed computing environment, separate or integrated computer platforms , or communicate with charged particle tools or other imaging devices, etc. Aspects of the invention may be implemented in machine-readable code stored on a non-transitory storage medium or device, whether removable or integrated into a computing platform, such as a hard disk, an optically read and/or written storage medium, RAM, ROM, etc., such that it can be read by a programmable computer, when a storage medium or device is read by a computer, it can be used to configure and operate the computer to perform the processes described herein. Furthermore, the machine-readable code, or portions thereof, may be transmitted over wired or wireless networks. The inventions described herein include these and other various types of non-transitory computer-readable storage media when such media include instructions or programs that implement the steps described above in conjunction with a microprocessor or other data processor. The invention also includes the computer itself when programmed according to the methods and techniques described herein.

A computer program can be applied to input data to perform the functions described herein, transforming the input data to generate output data for storage to non-volatile memory. The output information can also be applied to one or more output devices such as a display. In a preferred embodiment of the invention, the transformed data represents physical and tangible objects, including specific visual depictions of physical and tangible objects produced on the display.

The above are only preferred embodiments of the present invention, and the present invention is not limited to the above-mentioned embodiments, as long as it achieves the technical effect of the present invention by the same means, all within the spirit and principle of the present invention, do Any modification, equivalent replacement, improvement, etc., should be included within the protection scope of the present invention. Various modifications and changes can be made to its technical solutions and/or implementations within the protection scope of the present invention.

Claims (10)

1. an isokinetic muscle training system, is characterized in that, comprises power assembly and control assembly, and described power assembly comprises: output rod; A power module, the power module includes a motor and a reducer, one end of the reducer is provided with a rotating shaft, the rotating shaft is fixedly connected with the output rod, the other end of the reducer is connected with the motor, the motor The input end is connected with the output end of the control assembly; an angle collection module, the angle collection module is used to collect the angle parameter of the output rod, and the output end of the angle collection module is connected with the first input end of the control assembly; A torque acquisition module, the torque acquisition module is used for acquiring torque parameters of the rotating shaft, and the output end of the torque acquisition module is connected with the second input end of the control component. 2. a kind of isokinetic muscle training system according to claim 1, is characterized in that, described angle acquisition module is encoder, and described encoder is installed on described motor, and the output end of described encoder and A first input of the control assembly is connected. 3. An isokinetic muscle training system according to claim 1, wherein the torque acquisition module comprises a resistance strain gauge, a signal processing unit and a signal transmission unit, and the resistance strain gauge is mounted on the rotating shaft above, the output end of the resistance strain gauge is connected to the second input end of the control assembly through the signal processing unit and the signal transmission unit. 4. a kind of isokinetic muscle training system according to claim 1, is characterized in that, described power component also comprises: a casing, the power module, the angle acquisition module and the torque acquisition module are all arranged in the casing; A limiting device, the limiting device is fixed on one end of the casing, the rotating shaft passes through the limiting device, and extends from the limiting device to be fixedly connected to the output rod. 5. An isokinetic muscle training system according to claim 1, wherein the control assembly comprises a processor and a motor driver, and an output end of the processor is connected to the motor through the motor driver The output end of the angle acquisition module is connected to the first input end of the processor, and the output end of the torque acquisition module is connected to the second input end of the processor. 6. A kind of isokinetic muscle strength training system according to claim 5, is characterized in that, described isokinetic muscle strength training system also comprises human-computer interaction component, and described human-computer interaction component comprises display and input device, so Both the display and the input device are electrically connected to the processor. 7. a kind of isokinetic muscle strength training system according to any one of claim 1 to 6, is characterized in that, described isokinetic muscle strength training system also comprises base assembly, and described base assembly comprises: a base, one end of the base is fixedly connected with the control assembly; a rotary lifting mechanism, the rotary lifting mechanism is connected with the power assembly, the rotary lifting mechanism includes a first adjustment rod and a second adjustment rod, the first adjustment rod is used to adjust the height of the power assembly, the The second adjustment rod is used to adjust the rotation angle of the power assembly. 8. The isokinetic muscle training system according to claim 7, wherein the isokinetic muscle training system further comprises a seat assembly, the seat assembly comprising a seat and a seat adjustment mechanism, The seat is movably arranged on the base through the seat adjustment mechanism. 9. a control method of an isokinetic muscle training system, for carrying out by the isokinetic muscle training system as described in any one of claims 1 to 8, it is characterized in that, comprises the following steps: The angle acquisition module collects the angle parameters of the output rod and transmits the angle parameters to the control assembly; The control component obtains the first moment of the limb gravity on the rotating shaft according to the angle parameter and the pre-acquired limb gravity torque parameter; The control assembly outputs a second torque to the rotating shaft through the motor, the second torque is the same in magnitude and opposite to the first torque; The torque acquisition module collects torque parameters of the rotating shaft and transmits the torque parameters to the control component; The control component obtains the muscle strength parameter of the limb according to the torque parameter and the first torque. 10. The control method according to claim 9, characterized in that, the control method further comprises the step of acquiring a limb gravitational moment parameter, which is specifically: The angle acquisition module collects the static angle parameters of the output rod and transmits the static angle parameters to the control assembly; The torque acquisition module collects static torque parameters of the rotating shaft and transmits the static torque parameters to the control component; The control component obtains the limb gravitational moment parameter according to the static angle parameter and the static torque parameter; Wherein, the static angle parameter and the static torque parameter are collected when the limb and the output rod are stationary.

Images