TWI810097B - Method and device with intelligent motion assistance - Google Patents

Abstract

The present invention provides an intelligent motion assistance method and device capable of active protection. Through real-time intelligent judgment, the equipment is controlled to generate a corresponding output force, so as to assist the operator to effectively and safely complete the operation of the equipment. An intelligent exercise assistance method of the present invention is to execute the following steps through a computing device and sports equipment connected with the computing device: a motion state measurement step, a state analysis step and a feedback adjustment step. The present invention can reduce the sports injuries caused by improper force by judging the state of the operator's effort in real time and correspondingly adjusting the force of the damping device. In the process of operation, it can actively assist in real time, and has the effect of improving muscle strength.

Description

Method and device with intelligent motion assistance

The present invention is an auxiliary method and device applied to sports equipment, especially a method and device that can adjust the output in real time to protect the user or assist the user.

In the busy modern society, with the assistance of fitness equipment in spare time, not only can exercise and fitness, but also can strengthen the muscle strength of designated parts. However, during the operation of the fitness equipment, if there is a slight failure, it will not only fail to achieve the desired goal, but may also cause physical injury.

Many gyms (or sports centers) will have the assistance of on-site coaches, who will actively guide the parts of the force or the operation process during use, so that the operator can achieve the goal of fitness after using it safely and correctly. Due to the limitation of funds, the number of coaches cannot reach 1:1 (one equipment, one coach), that is, the coaches in these places cannot accompany each operator at all times, and once some operators do not practice according to the instructions , it may cause sports injuries. Some operators will hire exclusive coaches, formulate exclusive menus, and be fully accompanied during the operation to produce better results. However, this method is very expensive and requires limited cooperation in terms of time and venue.

At present, the coach's video guidance or live interactive teaching is transmitted through the Internet. This method can achieve the purpose of guidance, but there is no security protection, or any assistance when the operator's muscle strength is about to break through the barrier.

In order to overcome the above-mentioned problems, the present invention provides an intelligent motion assistance method and device capable of active protection. Through real-time intelligent judgment, the control equipment generates corresponding output force to assist the operator to effectively complete the operation of the equipment. The present invention actively improves the safety of the operator by judging the state of the operator's effort in real time, reduces sports injuries caused by operational errors, and can actively provide appropriate assistance during the operation, which has the effect of improving muscle strength. In particular, the present invention provides an immediate response during the exercise of the operator, and is currently the first method in the field of sports equipment.

An intelligent exercise assistance method of the present invention allows the user to directly generate real-time assistance from the equipment when operating the exercise equipment, so as to avoid injury and enhance the effect of exercise. It is connected to the operation device through a computing device The sports equipment performs the following steps: a motion state measurement step, a state analysis step and a feedback adjustment step.

The exercise state measurement step is based on an electrical damping device installed on the exercise equipment to obtain information on an acceleration, a time, a displacement and a corresponding force generated for each stroke, wherein the information The data is captured more than once per second, preferably more than 50 times per second, and the captured information is stored in the computing device.

The state analyzing step is to judge in real time whether each of the information records belongs to a normal state, a state of borrowing force or a state of assisting force.

The feedback adjustment step is to perform corresponding control according to the state, so that the sports equipment cooperates with the corresponding output control to achieve the effect of protection or improvement.

The embodiment of the present invention further pre-stores multiple pieces of information of the user in the computing device, so as to assist in calculating the corresponding output according to the user's situation.

Embodiments of the present invention further set a mode selection step before the state analysis step, which is used to select an exercise mode or a rehabilitation mode; when the exercise mode is selected, continue to judge whether the action content includes the normal state , the state of borrowing force or the state of assisting force; When the rehabilitation mode is selected, it will judge whether the speed of the movement is maintained within a preset range. If the speed exceeds the range, the resistance generated by the resistance will be increased. If the speed is slower than the preset range , will reduce the resistance generated by the electrical damping. Thereby, the operations of the rehabilitation process can be made to reach the desired number of times, and the progress of the rehabilitation can be ensured.

In the embodiment of the present invention, a muscle strength calculation step can be further set in the state analysis step, and a muscle strength curve can be drawn based on the muscle strength value obtained in the muscle strength calculation step, wherein the muscle strength value is the The current feedback of the electric damping device at each movement position is correspondingly compared and converted to obtain a muscle strength value. By connecting the muscle strength values to the presentation of the muscle strength curve, it is easy to understand the corresponding state, and it can also be further used as a method for system judgment.

The embodiment of the present invention further includes obtaining a maximum muscle strength value, the calculation algorithm is Wm+Wt*K/N, Wm is the maximum single weight, N is the total number of times of exercise, Wt is the total exercise weight, and K is a range between 0 to a constant of 1. By obtaining the maximum muscle strength value, it is used as one of the conditions for judging the output. Furthermore, K is determined according to the status of each user.

Embodiments of the present invention further include obtaining a threshold value of muscle strength, which gradually increases the output of the electric damping device from between 40% and 70% of the maximum muscle strength (with 60% of the maximum muscle strength as a suitable starting point) , and measure the movement speed. When the speed decreases, the corresponding output weight is the critical value of muscle strength.

The definition of each movement in the embodiment of the present invention includes a centripetal action (Concentric Muscle Action), a centrifugal action (Eccentric Muscle Action) or a combination of a centripetal action and a centrifugal action, and the end point of the centripetal action is The maximum value, when the centrifugal motion stops, is the starting point of the reciprocating motion.

The instantaneous speed variation value in the embodiment of the present invention is the speed change within a period of time. For example, if the instantaneous speed changes from 0.5m/s to 1m/s in one second, the variation value is (0.5m/s)2, which can be used as one of the conditions for judging the state.

In the embodiment of the present invention, it is also disclosed that the supplementary force mechanism can be adjusted linearly or nonlinearly, for example, it can reduce the counterweight by 5%-20% at a time (wherein, 10% is an appropriate value), or it can be adjusted every time Reduce the weight by 1% in 50 milliseconds, or perform mixed execution, that is, reduce the weight by 5%-20% first, and then reduce the weight by 1% every 50 milliseconds until the user can continue to move. Wherein, reducing the counterweight by 1% every 50 milliseconds is a suitable implementation, but not limited thereto.

In the embodiment of the present invention, there is also provided an intelligent sports assisting device, the signal of which is connected to at least one electric damping device in a sports equipment, for performing the method described in the present invention, which includes: a processor, a signal connection device and a storage device. Wherein, the signal connector is electrically connected with the processor; the storage device is connected with the processor for storing multiple pieces of information.

The device of the present invention can be connected with the sports equipment to carry out the aforementioned method to achieve the effect of immediate protection or assistance. The user only needs to connect the device of the present invention to the sports equipment in a wired or wireless manner. The acquisition of the state and the control of the output can be carried out successively, and the purpose of the present invention can be achieved.

Please refer to the flowchart shown in Figure 1. This embodiment is an intelligent motion assistance method capable of active protection. Through real-time judgment, the control device generates a corresponding output force. Through the ability of real-time judgment, the present invention improves the safety of the operator, reduces the occurrence of sports injuries, and provides real-time and appropriate output adjustment during the operation process. In addition to avoiding the occurrence of sports injuries, it can also achieve a breakthrough in improving muscle strength. Effect. Also, the definition of each trip in the embodiment of the present invention includes a concentric action (Concentric Muscle Action), an centrifugal action (Eccentric Muscle Action) or a combination of a centripetal action and a centrifugal action, the centripetal action The end point is the maximum value of the moving position, and when the centrifugal motion stops, it is the starting point of the reciprocating motion, which will be described here first.

An intelligent exercise assistance method according to an embodiment of the present invention, which allows the user to generate real-time assistance while operating the exercise equipment. It performs the following steps through a computing device and the exercise equipment connected to the computing device: 1. Exercise state measurement Step S1, a state analysis step S2 and a feedback adjustment step S3.

Exercise state measurement step S1: This step is based on an electrical damping device 11 installed on the exercise equipment 10 to capture information about a displacement and a corresponding force generated in each stroke, wherein the information is obtained by The frequency of capturing is more than 1 time per second, more preferably more than 50 times per second, and the captured information is stored in the computing device 20 for subsequent calculation. In addition, the force data mentioned above can be the data directly produced by the resistance damping device, or can be converted after calculating relevant data. Furthermore, in the process of starting exercise, it is often necessary to apply weight after the preparation position for training. If the fixed point is used for instant adjustment, that is, when the operator directly applies the specified weight before exerting force, the muscle will be pulled. Risk of injury and discomfort. If the fixed-point gradual adjustment is adopted, the muscle burden is still heavy during the adjustment process, which is also prone to injury. In order to overcome the above problems, this embodiment can further provide a step of weightless preparatory exercise. The method is to make the muscles give the correct weight before returning to the preparatory position before the formal training, that is, at the beginning of the first exercise. During the reciprocating process, no load is given or the load is gradually increased in the centripetal movement (towards). When reaching the apex and performing the centrifugal movement in reverse, the weight is gradually adjusted. The user can smoothly reach the pre-exercise position and generate a corresponding load, thereby facilitating the measurement of the exercise state to be more accurate. Again, the stroke can be a centripetal movement, a centrifugal movement or a combination of a centripetal movement and a centrifugal movement.

State analysis step S2: judge in real time whether each of the information records belongs to a normal state, a force-absorbing state or an assisting force state. The description of each status is as follows:

Normal state: the trip is completed within a predetermined time interval, and the speed during the trip is greater than 0 m/s. In addition, the value of the travel speed can be set by the operator, or automatically generated by the system based on the operator's past records, such as 1 meter per second, or an interval value, such as 0-2 meters per second.

Borrowing state: the calculation device calculates the instantaneous speed according to the displacement in each information data, and then subtracts the instantaneous speed from the previous information data to obtain the instantaneous speed variation value. When the second instantaneous speed variation value reaches or exceeds a preset leverage value, it is judged to be in the leverage state. Borrowing most often occurs when the operator wants to use the instantaneously accelerated swing to break through, but it is also one of the causes of injury. By judging the occurrence of the leverage state, it is possible to proactively discover operational problems, especially in the current related art, whether the instructor is at the side or when the images during the class are transmitted through the camera, if the leverage action is not obvious , it is impossible to judge the occurrence of this problem.

Auxiliary force state: the calculation device calculates the instantaneous speed according to the displacement in each information data, and then subtracts the instantaneous speed from the previous information data to obtain the instantaneous speed variation value. When the instantaneous speed variation value reaches or is smaller than a preset assist force value, it is judged as the assist force state. This state is mainly when the operator is performing a certain round of operation, it may be pushed by a certain force, unable to push to change its position and stalemate. Generally speaking, if the coach is on the scene, the coach will use his hands slightly Push it to help the operator's muscle strength to break through, which is similar to the method of this embodiment, first let the operator break through the current time, and then return to the same damping force in the next stroke, this method can also increase The confidence of the operator helps the operator to break through the muscle strength; through the instant supplement of this embodiment, it can assist the operator to challenge the muscle strength to improve the corresponding muscle strength.

Wherein, the feedback adjustment step S3 is to perform corresponding control according to the status, so that the sports equipment cooperates with the corresponding output control to achieve the effect of protection or improvement. Among them, the corresponding actions are as follows:

Normal state: the corresponding control maintains the setting of the trip. Since it belongs to normal operation, the resistance damping device can be continuously adjusted or maintained at a constant value according to the set method.

Borrowing state: the speed is limited according to the control, and the resistance damping device is adjusted so that the speed of this movement does not exceed a speed preset value. The way to limit the speed is to increase the output of the resistance damping device. The way to increase the output of the resistance damping device can be linear increase or non-linear increase, and after the force state is released, it returns to the original setting state.

The state of the auxiliary force: the corresponding control reduces the output force of the resistance damping device. The way to reduce the output force of the resistance damping device can be linear reduction or nonlinear reduction. And after the auxiliary power state is released, it will return to the original set state. For example: in the supplementary force state described above, a preferred embodiment can reduce the counterweight (the output of the resistance damping device) by 10% at a time, or reduce the counterweight by 1% every 50 milliseconds, or After reducing the counterweight by 10% once, reduce the counterweight by 1% every 50 milliseconds until the user can continue to perform the action, then stop lowering the counterweight. In addition, it is specifically stated here that when reducing the counterweight, the counterweight can be reduced between 1% and 20% at a time, and the counterweight can be reduced by 1% every 50 milliseconds. It can also be adjusted to reduce between 1% and 5%, or It is between 0.1% and 1% every 10 milliseconds. The value of the time and weight ratio can be adjusted by the system according to different operator conditions. The operator's condition can be the current exercise status, the length of exercise time and the information in the historical record.

The embodiment of the present invention further pre-stores a plurality of pieces of information on the user in the computing device, so that it can refer to the user's past muscle strength exercises to assist in calculating the time plan for increasing the output or each corresponding Auxiliary settings such as the number of times the effort should be completed. Also, before the official training starts, the physical state of the operator on that day can be recorded and obtained by gradually increasing the damping output, and then the menu can be fine-tuned according to the state.

As shown in FIG. 3 , the embodiment of the present invention further sets a mode selection step S4 before the state analysis step S2 , which is used to select an exercise mode or a rehabilitation mode. When the exercise mode is selected, it is judged whether the action content includes the normal state, the state of borrowing force or the state of assisting force. When the recovery mode is selected, it will first judge whether the speed of the movement is maintained within a preset range. If the speed exceeds the range, the resistance generated by the resistance will be increased. If the speed is slower than the preset range , will reduce the resistance generated by the electrical damping. Thereby, the operations of the rehabilitation process can be made to reach the desired number of times, and the progress of the rehabilitation can be ensured. In the process of executing the exercise, it will still be checked from time to time whether there is a state of borrowing force or assisting force, so as to protect the operator.

Please refer to Fig. 4, in the embodiment of the present invention, in the state analysis step S2, the muscle strength calculation step S5 can be further set, and a muscle strength curve can be drawn according to the muscle strength value obtained in the muscle strength calculation step, as shown in FIG. As shown in FIG. 5 , the muscle strength value is obtained by correspondingly comparing the current feedback of the electrical damping device at each movement position. Through the presentation of the muscle strength curve, it is easy to understand the corresponding state of the operator, and it can also be used as a tool for system judgment and analysis. For example, observing the slope change of the tangent line on the muscle strength curve can assist in judging whether the operator has reached the maximum strength. .

Embodiments of the present invention may further include obtaining a maximum muscle strength value, and its algorithm is Wm+Wt*K/N, Wm is the maximum single weight, N is the total number of times of exercise, Wt is the total exercise weight, and K is a value between A constant between 0 and 1. Among them, the constant of K will be adjusted according to the operator's status, historical records, or the elapsed time of the day. For example, if you have been exercising for 1 hour that day, K will be close to 0 (for example: 0.1). If you just start exercising 15 minutes will make K close to 1 (eg: 0.9). In other words, an appropriate K value can be given for calculation according to various conditions at that time. By obtaining the maximum muscle strength value, it is used as one of the conditions for judging the output value of the resistance damping device.

Embodiments of the present invention further include obtaining a muscle strength critical value, which gradually increases the output of the electric damping device from 40%-70% of the maximum muscle strength (wherein, 60% is a suitable embodiment), and measures Movement speed, when the speed decreases, the corresponding output weight is the critical value of muscle strength. The above-mentioned exercise speed can be measured by performing exercise under different loads, and obtaining current feedback at each exercise position, so as to calculate the change trend of muscle exercise force output at different positions, and then can be used to produce Draw the maximum muscle strength and muscle strength curve.

The instantaneous speed variation value in the embodiment of the present invention is the speed change within a period of time. For example, if the instantaneous speed changes from 0.5m/s to 1m/s in one second, the variation value is 0.5m/s. After obtaining the instantaneous speed variation value, it can be used as one of the conditions for judging the state.

As shown in FIG. 2 , in the embodiment of the present invention, an intelligent sports assisting device 20 is also provided, the signal of which is connected to at least one electric damping device 11 in a sports equipment 10, in order to execute the method described in the present invention. It includes: a processor 21 , a signal connector 22 and a storage device 23 . Wherein, the signal connector 22 is connected to the processor 21 by telecommunication; the storage device 23 is connected to the processor 22 by signal to store a plurality of pieces of information. With this auxiliary device 20, it can be directly connected with various sports equipment with resistance damping to achieve auxiliary safety performance. In this way, it will not be limited by the location of the equipment, and only need to carry the intelligent sports auxiliary device 20 and equipment. It only needs to be connected, which is suitable for business people who need to travel around. Alternatively, the information in the intelligent sports assisting device 20 can be uploaded to the cloud through the cloud connection, and then logged in on the equipment equipped with the intelligent sports assisting device 20, which can also achieve real-time recording and protection. efficacy.

The device of the present invention can be connected with the sports equipment to carry out the aforementioned method to achieve the effect of immediate protection or assistance. The user only needs to connect the device of the present invention to the sports equipment in a wired or wireless manner. The acquisition of the state and the control of the output can be carried out successively, and the purpose of the present invention can be achieved.

S1: Movement state measurement steps S2: State analysis step S3: Feedback adjustment steps S4: Mode selection step S5: Calculation steps of muscle strength 10: Sports equipment 11: Resistance damping 20: computing device 21: Processor 22: Signal connector 23: storage device

FIG. 1 is a flowchart of an embodiment of the present invention. Fig. 2 is a block diagram of the device of the present invention. Fig. 3 is a flowchart of another embodiment of the present invention. Fig. 4 is a flowchart of another embodiment of the present invention. Fig. 5 is a schematic diagram of the muscle strength curve of the present invention.

S1: Movement state measurement steps

S2: State analysis step

S3: Feedback adjustment steps

Claims (8)

An intelligent exercise assistance method allows users to generate real-time assistance when operating exercise equipment. It performs the following steps through a computing device and the exercise equipment connected to the computing device: A motion state measurement step, according to an electric damping device installed on the sports equipment, captures information data of a displacement of each stroke and a corresponding generated force, wherein the frequency of the information data is acquired is More than once per second, and store the captured information in the computing device. The stroke can be a centripetal movement, a centrifugal movement, or a combination of a centripetal movement and a centrifugal movement; A state analysis step is to immediately judge whether each of the information records belongs to a normal state, a state of borrowing force or a state of assisting force, wherein each state is defined as follows: The normal state: the trip is completed within a predetermined time interval, and the speed during each trip is greater than 0 m/s; The state of leverage: the calculation device calculates the instantaneous speed according to the displacement in each information data, and then subtracts the instantaneous speed of the previous information data from the instantaneous speed to obtain the instantaneous speed variation value, When the instantaneous speed variation value reaches or exceeds a preset leverage value, it is judged as the leverage state; The auxiliary power state: the calculation device calculates the instantaneous speed according to the displacement in each information data, and then subtracts the instantaneous speed of the previous information data from the instantaneous speed to obtain the instantaneous speed variation value, When the instantaneous speed variation value reaches or is less than a preset auxiliary force value, it is judged as an auxiliary force state; A feedback adjustment step, corresponding control is carried out according to the state, as follows: The normal state: the corresponding control maintains the setting of the trip; The borrowing state: speed limit corresponding to the control, adjust the resistance damping device so that the speed of this movement does not exceed a speed preset value; The state of the auxiliary force: the corresponding control reduces the output force of the resistance damping device. The intelligent exercise assistance method as described in Claim 1, wherein a plurality of pieces of information data of the user are pre-stored in the computing device. The intelligent exercise assistance method as described in Claim 1, wherein further before the state analysis step, a mode selection step is set, which is used to select an exercise mode or a rehabilitation mode; when the exercise mode is selected , continue to judge whether the action content includes the normal state, the borrowed state or the auxiliary state; When the rehabilitation mode is selected, it will judge whether the speed of the movement is maintained within a preset range. If the speed exceeds the range, the resistance generated by the resistance will be increased. If the speed is slower than the preset range , will reduce the resistance generated by the electrical damping. The intelligent motion assistance method as described in Claim 1, wherein a muscle strength calculation step can be further set in the state analysis step, and a muscle strength curve can be drawn based on the muscle strength value obtained in the muscle strength calculation step, Wherein, the muscle strength value is obtained by correspondingly comparing the current feedback of the electrical damping device at each movement position. The intelligent exercise assistance method as described in claim 4 may further include obtaining the maximum muscle strength value, the algorithm is Wm+Wt/N*K, Wm is the maximum single weight, Wt is the total exercise weight, and N is the total The number of times of exercise (the average weight is regarded as N RM), K is a constant between 0 and 1. The intelligent exercise assistance method as described in claim 5, which further includes obtaining a muscle strength threshold, which gradually increases the output of the electric damping device from 40% to 60% of the maximum muscle strength, and measures the movement Speed, when the speed decreases, the corresponding output weight is the critical value of muscle strength. The intelligent motion assisting method as described in Claim 1, wherein the supplementary force mechanism is a linear or non-linear reduction of the counterweight until the user can continue to perform the action. An intelligent sports assisting device, the signal of which is connected to at least one electric damping device in a sports equipment, is used to execute the method as described in claim 1, which includes: a processor; a signal connector, wherein the signal connector is in telecommunications connection with the processor; A storage device is connected with the processor for storing multiple pieces of information.