Human body walking balance training test system and dynamic balance interference method

Abstract

The invention discloses a human body walking balance training test system and a dynamic balance interference method. Relates to the field of human walking dynamic balance testing and training. The method and the system for testing and training the dynamic balance ability of human body walking cannot be interfered by various conditions such as external force pushing over, slipping and stumbling when the human body falls down due to unstable walking. The device comprises a servo motor, a tension sensor, a steel wire rope, a pulley mechanism, a treadmill, a motion capture camera and an experiment platform support. The servo motor is installed above the experiment platform support, an output shaft of the servo motor is connected with one end of the steel wire rope, the other end of the steel wire rope is connected with a waist winding belt and a foot winding belt of a human body, and the servo motor drives the steel wire rope to apply interference force to the waist and the legs of the human body through the waist winding belt and the foot winding belt; external force in different directions can be applied to a human body in the walking process of the human body, so that instability conditions such as pushing over, slipping and stumbling are simulated to solve problems. The method is applied to the field of human body balance ability detection.

Description

Technical Field

[0001] The invention relates to the field of human walking dynamic balance testing and training, and in particular to a human walking balance training testing system and a dynamic balance interference method. Background Art

[0002] Bipedal upright walking poses a huge challenge to maintaining human posture balance due to the smaller plantar support area and higher body center of mass. Traumatic brain injury, cerebrovascular accident, limb disability, and the decline in balance perception and multi-limb movement coordination caused by aging are the main causes of balance dysfunction, which puts patients at a very high risk of falling. Supplementation and rehabilitation of bipedal upright walking balance ability is an important means to improve the quality of life of patients with movement balance disorders, reduce the risk of falling, and return to social life. Balance interference training is currently an important balance ability rehabilitation treatment method in clinical practice, and an expert consensus has been formed: by applying external interference to the trunk, upper limbs or legs of the subject while sitting, standing or walking, the body's instability recovery stress action is induced, thereby exercising the body's balance ability.

[0003] At present, the systems used for testing and training human standing balance ability at home and abroad are relatively mature, but there is still a lack of methods and systems for testing and training human walking dynamic balance ability. Since the main causes of human walking instability and falls include external force pushing, slipping and tripping, in order to comprehensively evaluate the human body's ability to maintain dynamic walking balance, there is an urgent need for a walking dynamic balance interference method and balance training system that can simulate various instability situations such as pushing, slipping and tripping. Summary of the invention

[0004] In order to solve the problem that the existing methods and systems for testing and training the dynamic balance ability of human walking cannot perform training tests for interference from various situations such as external force pushing, slipping and tripping when the human body loses stability while walking and falls, the present invention provides a human walking balance training test system and a dynamic balance interference method.

[0005] The technical solution of the present invention is:

[0006] A human walking balance training and testing system, the balance training and testing system comprises a servo motor, a tension sensor, a steel wire rope, a pulley mechanism, a treadmill, a motion capture camera and an experimental platform bracket;

[0007] The servo motor is installed above the experimental platform bracket, the output shaft of the servo motor is connected to one end of the steel wire rope, the other end of the steel wire rope is connected to the waist belt and the foot belt of the human body, and the servo motor drives the steel wire rope to apply interference force to the waist and legs of the human body through the waist belt and the foot belt;

[0008] The tension sensor and the pulley mechanism are connected to the wire rope, and the tension sensor measures and controls the magnitude of the interference force;

[0009] The treadmill is installed at the lower inner part of the experimental platform support, and the treadmill is composed of two independently controllable running belts on the left and right sides;

[0010] The motion capture camera is installed at the upper corner of the experimental platform bracket, and the motion capture camera records the limb posture data of the human body when walking.

[0011] Further, the servo motor specifically includes an m1 servo motor, an m2 servo motor, an m3 servo motor, an m4 servo motor, an m5 servo motor and an m6 servo motor;

[0012] The m1 servo motor, the m2 servo motor, the m3 servo motor and the m4 servo motor are installed on the two long beams of the experimental platform bracket, and the m5 servo motor and the m6 servo motor are installed on the two short beams of the experimental platform bracket.

[0013] Furthermore, the steel wire ropes on the m1 servo motor, the m2 servo motor, the m3 servo motor and the m4 servo motor are connected to the waist belt, mainly randomly applying interference force to the waist of the human body.

[0014] Furthermore, the steel wire ropes on the m5 servo motor and the m6 servo motor are connected to the foot straps, which mainly randomly apply interference force to the ankles of the human body's swinging legs.

[0015] Furthermore, the experimental platform support includes a longitudinal beam, a long cross beam, a short cross beam, a side support beam and a tail support beam;

[0016] The upper and lower ends of the longitudinal beam are respectively vertically connected to the long crossbeam and the short crossbeam to form a rectangular main frame of the experimental platform bracket. The long crossbeam is vertically symmetrically connected to the side support beam, and the short crossbeam is vertically symmetrically connected to the tail support beam.

[0017] Furthermore, the height of the side support beam is higher than that of the tail support beam, and a pulley mechanism is installed above the side support beam and the tail support beam, and the pulley in the pulley mechanism is slidably connected to the steel wire rope.

[0018] Furthermore, the center point of the starting end of the treadmill belt is the origin O of the XYZ coordinate system, the Y-axis direction is the same as the treadmill belt direction, the Z-axis direction is perpendicular to the treadmill belt, and the X-axis direction is determined according to the right-hand rule.

[0019] Further, the XY plane is a horizontal plane, and the interference force application direction of the human waist in the XY plane and the gait phase stage of the interference force application;

[0020] Furthermore, the ZY plane is a sagittal plane, and the direction of the sliding speed interference of the supporting foot of the human body in the ZY plane and the gait phase stage in which the sliding interference is applied.

[0021] Furthermore, a dynamic balance interference method of a human walking balance training and testing system comprises the following steps:

[0022] Step 1: Method to simulate the instability of a human body being pushed down while walking:

[0023] The output shaft of each servo motor is connected to a wire rope, and a tension sensor is installed between the motor output shaft and the wire rope to measure and control the magnitude of the interference force;

[0024] The m1 servo motor, m2 servo motor, m3 servo motor and m4 servo motor are responsible for randomly applying interference forces F1, F2, F3 and F4 to the waist of the human body. The total interference force Fp received by the waist is calculated by the following formula:

[0025] Fp=F1+F2+F3+F4;

[0026] By randomly applying Fp of different sizes and directions at the initial, middle and final stages of the human walking support phase, the instability of being pushed down while walking is simulated; the human motion capture camera records the limb posture data of the human body in real time while walking, which is used to evaluate the human body's ability to maintain dynamic balance while walking;

[0027] Step 2: Method to simulate the instability caused by slipping of the sole of the foot when walking:

[0028] The treadmill supports the experimental subjects to walk or run at a constant speed, and the treadmill has two independently controllable running belts on the left and right. The magnitude and direction of the running belt acceleration As are controlled to simulate the instability of the foot slipping. The treadmill can randomly apply acceleration As in different directions at the initial, middle and final stages of the human walking support phase, thereby simulating the instability of the foot slipping when the human body is walking; the human motion capture camera records the limb posture data of the human body when walking in real time, which is used to evaluate the ability of the human body to maintain dynamic balance when walking;

[0029] At the same time, the treadmill measures and records the plantar pressure information of the human body during walking in real time, which is used to evaluate the human body's ability to maintain dynamic balance while walking;

[0030] Step 3: Method to simulate the instability of a person being tripped by an obstacle while walking:

[0031] The m5 servo motor and the m6 servo motor are responsible for applying a random interference force Ft to the ankle of the human swinging leg. By randomly applying an interference force Ft in the opposite direction of the human walking in the early, middle and final stages of the human walking support phase, the instability caused by the human body being tripped by an obstacle while walking is simulated. The human motion capture camera is installed on the experimental platform bracket to record the limb posture data of the human body while walking in real time, which is used to evaluate the human body's ability to maintain dynamic balance while walking.

[0032] Compared with the prior art, the present invention has the following effects:

[0033] 1. The present invention can apply external forces in different directions to the human body during walking by setting up structures such as servo motors, tension sensors, steel wire ropes, pulley mechanisms and treadmills, thereby simulating instability situations such as falling, slipping and tripping. At the same time, the system can measure the body movement posture and plantar pressure information of the human body during the instability recovery process, which is used to evaluate the human body's dynamic balance ability while walking.

[0034] 2. The present invention can simulate various human walking instability scenarios such as being pushed down, slipping and tripping by setting up structures such as servo motors, tension sensors, steel wire ropes, pulley mechanisms and treadmills. It can be used to evaluate the human body's ability to maintain walking stability, and can be used as a rehabilitation training device to exercise the human body's balance ability, filling the gap in my country's current human walking balance interference methods and system equipment.

[0035] 3. The present invention can simulate the instability of a human body being pushed down while walking by arranging structures such as servo motors, tension sensors, wire ropes, pulley mechanisms and treadmills. The output shaft of each servo motor is connected to the wire rope, and a tension sensor is also installed between the motor output shaft and the wire rope to measure and control the size of the interference force. The m1 servo motor, m2 servo motor, m3 servo motor and m4 servo motor are responsible for randomly applying interference forces F1, F2, F3 and F4 to the human waist. The total interference force Fp received by the waist is calculated by the following formula: Fp=F1+F2+F3+F4; by randomly applying Fp of different sizes and directions in the initial, middle and final stages of the support phase of human walking, the instability of a human body being pushed down while walking is simulated, and the human motion capture camera records the limb posture data of the human body when walking in real time, which is used to evaluate the ability of the human body to maintain dynamic balance while walking.

[0036] 4. The present invention can simulate the instability situation of the sole slipping when the human body walks. The treadmill supports the experimental subjects to walk or run at a constant speed, and the treadmill has two independently controllable left and right running belts. The instability situation of the sole slipping is simulated by controlling the size and direction of the running belt acceleration As. The treadmill can randomly apply accelerations As in different directions in the initial, middle and final stages of the human body's walking support phase, thereby simulating the instability situation of the sole slipping when the human body walks; the human body motion capture camera records the limb posture data of the human body when walking in real time, which is used to evaluate the human body's ability to maintain dynamic balance when walking. At the same time, the treadmill measures and records the sole pressure information of the human body during walking in real time, which is used to evaluate the human body's ability to maintain dynamic balance when walking.

[0037] 5. The present invention simulates the instability situation of a human body being tripped by an obstacle while walking. The m5 servo motor and the m6 servo motor are responsible for applying a random interference force Ft to the ankle of the human swinging leg. By randomly applying an interference force Ft in the opposite direction of the human body's walking direction in the initial, middle and final stages of the human body's walking support phase, the instability situation of a human body being tripped by an obstacle while walking is simulated. The human motion capture camera is installed on the experimental platform bracket 7 to record the limb posture data of the human body while walking in real time, which is used to evaluate the human body's ability to maintain dynamic balance while walking. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 It is a schematic diagram of the structure of the present invention;

[0039] Figure 2 It is a schematic diagram of the direction of external force interference on the waist;

[0040] In the figure: the X axis is F14, F23, the Y axis is F12, F34, and the oblique axis is F1-F4;

[0041] Figure 3 It is the force diagram of the interference force application direction of the human waist in the XY plane (horizontal plane) and the gait phase stage of the interference force application;

[0042] In the figure: A, the end of the support phase, B, the middle of the support phase, C, the beginning of the support phase;

[0043] Figure 4 It is the force diagram of the gait phase stage of the human body supporting foot sliding speed disturbance application direction and sliding disturbance application in the ZY plane (sagittal plane);

[0044] In the figure: A, the end of the support phase, B, the middle of the support phase, C, the beginning of the support phase;

[0045] Figure 5 It is the force diagram of the gait phase stage where the interference force is applied and the direction of the interference force applied on the human body's swinging ankle;

[0046] In the figure: A, end of swing phase, B, middle of swing phase, C, early swing phase;

[0047] Among them: 1. servo motor, 2. tension sensor, 3. wire rope, 4. pulley mechanism, 5. treadmill, 6. motion capture camera, 7. experimental platform bracket, 8. waist strap, 9. foot strap, 7-1. longitudinal beam, 7-2. long cross beam, 7-3. short cross beam, 7-4. side support beam, 7-5. tail support beam. DETAILED DESCRIPTION

[0048] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. The following embodiments are used to illustrate the present invention but are not used to limit the scope of the present invention.

[0049] Specific implementation method 1: Combination Figure 1 The present embodiment is described. The present embodiment is a human walking balance training and testing system. The balance training and testing system comprises a servo motor 1 for generating interference force, a tension sensor 2 for measuring the magnitude of the interference force, a steel wire rope 3 for transmitting the interference force, a pulley mechanism 4 for changing the direction of the interference force, a treadmill 5 capable of measuring the plantar pressure of a human body, a human motion capture camera 6, and an experimental platform bracket 7 for installing the servo motor 1, the pulley mechanism 3 and the motion capture camera 5;

[0050] The servo motor 1 is installed above the experimental platform bracket 7, and the output shaft of the servo motor 1 is connected to one end of the steel wire rope 3, and the other end of the steel wire rope 3 is connected to the waist strap 8 and the foot strap 9 of the human body. The servo motor 1 drives the steel wire rope 3 to apply interference force to the waist and legs of the human body through the waist strap 8 and the foot strap 9; the output shaft of the servo motor 1 is connected to the steel wire rope 3 and is responsible for applying interference force to the waist and legs of the human body, thereby simulating instability scenarios such as pushing down and tripping.

[0051] The tension sensor 2 and the pulley mechanism 4 are connected to the wire rope 3, and the tension sensor 2 measures and controls the magnitude of the interference force;

[0052] The treadmill 5 is installed at the lower inner part of the experimental platform bracket 7, and the treadmill 5 has two independently controllable running belts on the left and right; the treadmill 5 can support the experimental subjects to walk or run at a constant speed, and the treadmill 5 has two independently controllable running belts on the left and right, and can simulate the instability of plantar slippage by controlling the acceleration or deceleration of the running belts, and the treadmill can measure and record the plantar pressure information of the human body during walking in real time, which is used to evaluate the ability of the human body to maintain dynamic balance while walking.

[0053] The motion capture camera 6 is installed at the upper corner of the experimental platform bracket 7. The motion capture camera 6 can record the limb posture data of the human body when walking in real time, which is used to evaluate the ability of the human body to maintain dynamic balance while walking.

[0054] Specific implementation method 2: Combination Figure 1 This embodiment is described. This embodiment is a human walking balance training and testing system. The servo motor 1 specifically includes an m1 servo motor, an m2 servo motor, an m3 servo motor, an m4 servo motor, an m5 servo motor and an m6 servo motor.

[0055] The m1 servo motor, the m2 servo motor, the m3 servo motor and the m4 servo motor are installed on the two long beams of the experimental platform bracket 7, and the m5 servo motor and the m6 servo motor are installed on the two short beams of the experimental platform bracket 7.

[0056] The m1 servo motor, m2 servo motor, m3 servo motor, m4 servo motor, m5 servo motor and m6 servo motor are arranged above the long beam 7-2 and the short beam 7-3 through the motor frame.

[0057] The m1 servo motor, m2 servo motor, m3 servo motor, m4 servo motor, m5 servo motor and m6 servo motor are servo motors of the same power.

[0058] Specific implementation method three: Combination Figure 1 The present embodiment is described as a human walking balance training and testing system. The steel wire ropes 3 on the m1 servo motor, the m2 servo motor, the m3 servo motor and the m4 servo motor are connected to the waist belt 8, which mainly randomly applies interference force to the human waist.

[0059] The waist belt 8 is wrapped around the waist of the human body, wherein the waist belt 8 has a ring belt, which is evenly distributed around the ring belt in a ring structure, and is fixed to the ring belt on the waist belt 8 by the ends of four steel wire ropes 3; the four steel wire ropes on the waist belt 8 are F1 interference force, F2 interference force, F3 interference force and F4 interference force respectively.

[0060] Specific implementation method four: Combination Figure 1 The present embodiment is described as a human walking balance training and testing system, wherein the steel wire rope 3 on the m5 servo motor and the m6 servo motor is connected to the foot strap 9, mainly for randomly applying interference force to the ankle of the human swinging leg.

[0061] The foot strap 9 is wrapped around the ankle of the human body, and a ring belt is set on the foot strap 9, and the steel wire rope connecting the m5 servo motor and the m6 servo motor is connected to the ring belt of the foot strap 9. The two steel wire ropes on the foot strap 9 are F5 interference force and F6 interference force respectively.

[0062] Specific implementation method five: Combination Figure 1 This embodiment is described. This embodiment is a human walking balance training and testing system. The experimental platform bracket 7 includes a longitudinal beam 7-1, a long cross beam 7-2, a short cross beam 7-3, a side support beam 7-4 and a tail support beam 7-5;

[0063] The upper and lower ends of the longitudinal beam 7-1 are respectively vertically connected to the long crossbeam 7-2 and the short crossbeam 7-3 to form a rectangular main frame of the experimental platform bracket 7. A treadmill 5 is installed below the main frame. The treadmill 5 is installed in the middle position of the rectangular main frame. When performing a balance test, the human body stands on the treadmill and the function of the treadmill 5 is adjusted according to different scene requirements.

[0064] The long cross beam 7-2 is vertically symmetrically connected to the side support beam 7-4, and the short cross beam 7-3 is vertically symmetrically connected to the tail support beam 7-5. The longitudinal beam 7-1, the long cross beam 7-2, the short cross beam 7-3, the side support beam 7-4 and the tail support beam 7-5 adopt a square tube structure, and the middle longitudinal beam 7-1 is hammer-fixed and connected as a whole with the long cross beam 7-2 and the short cross beam 7-3 by welding. The side support beam 7-4 is fixed on the long cross beam 7-2 by welding, and the height of a group of long cross beams 7-2 is the same. The tail support beam 7-5 is fixed on the short cross beam 7-3 by welding, and the height of the two short cross beams 7-3 is the same.

[0065] Specific implementation method six: Combination Figure 1 The present embodiment is described as a human walking balance training and testing system, wherein the height of the side support beam 7-4 is higher than the height of the tail support beam 7-5, and a pulley mechanism 4 is installed above the side support beam 7-4 and the tail support beam 7-5, and the pulley in the pulley mechanism 4 is slidably connected to the wire rope 3.

[0066] The pulley mechanism 4 is mainly composed of a pulley and a rotating shaft. After the rotating shaft passes through the mounting hole of the support beam, the pulley can rotate on the rotating shaft. The wire rope 3 is arranged in the wheel groove of the pulley to support and guide the wire rope 3.

[0067] Specific implementation method seven: Combination Figure 1 The present embodiment is described as a human walking balance training test system, wherein the center point of the starting end of the belt of the treadmill 5 is the origin O of the XYZ coordinate system, the Y-axis direction is the same as the direction of the belt of the treadmill 5, the Z-axis direction is perpendicular to the belt of the treadmill 5, and the X-axis direction is determined according to the right-hand rule.

[0068] Specific implementation method eight: Combination Figure 2 — Figure 5This embodiment is described. This embodiment is a human walking balance training and testing system. The XY plane is a horizontal plane, and the interference force application direction of the human waist in the XY plane and the gait phase stage of the interference force application; wherein Figure 4 It is the direction of the interference force applied to the human ankle and the gait phase stage of the interference force applied.

[0069] According to the interference force application direction of the human waist in the XY plane (horizontal plane) and the gait phase stage of the interference force application, the ZY plane is the sagittal plane, and the human support foot sliding speed interference application direction and the gait phase stage of the sliding interference application in the ZY plane. According to the human support foot sliding speed interference application direction and the gait phase stage of the sliding interference application in the ZY plane (sagittal plane),

[0070] Specific implementation method nine: Combination Figure 1 — Figure 5 This embodiment describes a dynamic balance interference method for a human walking balance training and testing system, the method comprising the following steps:

[0071] Step 1: Method to simulate the instability of a human body being pushed down while walking:

[0072] The output shaft of each servo motor 1 is connected to a steel wire rope 3, and a tension sensor 2 is installed between the motor output shaft and the steel wire rope 3 to measure and control the magnitude of the interference force;

[0073] The m1 servo motor, m2 servo motor, m3 servo motor and m4 servo motor are responsible for randomly applying interference forces F1, F2, F3 and F4 to the waist of the human body. The total interference force Fp received by the waist is calculated by the following formula:

[0074] Fp=F1+F2+F3+F4;

[0075] By randomly applying Fp of different sizes and directions at the initial, middle and final stages of the human walking support phase, the instability of being pushed down while walking is simulated; the human motion capture camera 6 records the limb posture data of the human body while walking in real time, which is used to evaluate the ability of the human body to maintain dynamic balance while walking;

[0076] Step 2: Method to simulate the instability caused by slipping of the sole of the foot when walking:

[0077] The treadmill 5 supports the experimental subjects to walk or run at a constant speed, and the treadmill 5 has two independently controllable running belts on the left and right. The magnitude and direction of the running belt acceleration As are controlled to simulate the instability of the foot slipping. The treadmill can randomly apply accelerations As in different directions at the initial, middle and final stages of the human walking support phase, thereby simulating the instability of the foot slipping when the human body is walking; the human motion capture camera 6 records the limb posture data of the human body when walking in real time, which is used to evaluate the ability of the human body to maintain dynamic balance when walking;

[0078] At the same time, the treadmill 5 measures and records the plantar pressure information of the human body during walking in real time, so as to evaluate the ability of the human body to maintain dynamic balance during walking;

[0079] Step 3: Method to simulate the instability of a person being tripped by an obstacle while walking:

[0080] The m5 servo motor and the m6 servo motor are responsible for applying a random interference force Ft to the ankle of the human swinging leg. By randomly applying an interference force Ft in the opposite direction of the human walking direction in the early, middle and final stages of the human walking support phase, the instability caused by the human body being tripped by an obstacle while walking is simulated. The human motion capture camera 6 is installed on the experimental platform bracket 7 to record the limb posture data of the human body while walking in real time, which is used to evaluate the human body's ability to maintain dynamic balance while walking.

[0081] The above is only a preferred embodiment of the present invention and does not limit the present invention in any form. Although the present invention has been disclosed as a preferred embodiment as above, it is not used to limit the present invention. Any technician familiar with this profession can make some changes or modify the technical contents disclosed above into equivalent embodiments without departing from the scope of the technical solution of the present invention. However, any simple modification, equivalent replacement and improvement made to the above embodiments without departing from the content of the technical solution of the present invention, based on the technical essence of the present invention, within the spirit and principles of the present invention, still fall within the protection scope of the technical solution of the present invention.

Claims

1. A human walking balance training and testing system, characterized in that: The balance training test system comprises a servo motor (1), a tension sensor (2), a steel wire rope (3), a pulley mechanism (4), a treadmill (5), a motion capture camera (6) and an experimental platform bracket (7); The servo motor (1) is installed above the experimental platform bracket (7), the output shaft of the servo motor (1) is connected to one end of the steel wire rope (3), the other end of the steel wire rope (3) is connected to the waist belt (8) and the foot belt (9) of the human body, and the servo motor (1) drives the steel wire rope (3) to apply interference force to the waist and legs of the human body through the waist belt (8) and the foot belt (9); The tension sensor (2) and the pulley mechanism (4) are connected to the wire rope (3), and the tension sensor (2) measures and controls the magnitude of the interference force; The treadmill (5) is installed at the lower inner part of the experimental platform bracket (7), and the treadmill (5) is composed of two left and right running belts whose speed and direction can be independently controlled; The motion capture camera (6) is installed at the upper corner of the experimental platform bracket (7), and the motion capture camera (6) records the limb posture data of the human body when walking.

2. A human walking balance training and testing system according to claim 1, characterized in that: The servo motor (1) specifically includes an m1 servo motor, an m2 servo motor, an m3 servo motor, an m4 servo motor, an m5 servo motor and an m6 servo motor; The m1 servo motor, the m2 servo motor, the m3 servo motor and the m4 servo motor are mounted on two long beams of the experimental platform bracket (7), and the m5 servo motor and the m6 servo motor are mounted on two short beams of the experimental platform bracket (7).

3. A human walking balance training and testing system according to claim 2, characterized in that: The steel wire ropes (3) on the m1 servo motor, the m2 servo motor, the m3 servo motor and the m4 servo motor are connected to the waist belt (8), and mainly randomly apply interference force to the waist of the human body.

4. A human walking balance training and testing system according to claim 2, characterized in that: The steel wire rope (3) on the M5 servo motor and the M6 ​​servo motor is connected to the foot wrap (9), which mainly applies a random interference force to the ankle of the human body's swinging leg.

5. A human walking balance training and testing system according to claim 2, characterized in that: The experimental platform bracket (7) comprises a longitudinal beam (7-1), a long cross beam (7-2), a short cross beam (7-3), a side support beam (7-4) and a tail support beam (7-5); The upper and lower ends of the longitudinal beam (7-1) are respectively vertically connected to the long crossbeam (7-2) and the short crossbeam (7-3) to form a rectangular main frame of the experimental platform bracket (7); the long crossbeam (7-2) is vertically symmetrically connected to the side support beam (7-4); and the short crossbeam (7-3) is vertically symmetrically connected to the tail support beam (7-5).

6. A human walking balance training and testing system according to claim 2, characterized in that: The height of the side support beam (7-4) is higher than the height of the tail support beam (7-5), and a pulley mechanism (4) is installed above the side support beam (7-4) and the tail support beam (7-5), and the pulley in the pulley mechanism (4) is slidably connected to the steel wire rope (3).

7. The human walking balance training and testing system according to claim 1, characterized in that: The center point of the starting end of the belt of the treadmill (5) is the origin O of the XYZ coordinate system, the Y-axis direction is the same as the direction of the belt of the treadmill (5), the Z-axis direction is perpendicular to the belt of the treadmill (5), and the X-axis direction is determined according to the right-hand rule.

8. The human walking balance training and testing system according to claim 6, characterized in that: The XY plane is a horizontal plane, and the interference force application direction of the human waist in the XY plane and the gait phase stage of the interference force application.

9. The human walking balance training and testing system according to claim 6, characterized in that: The ZY plane is the sagittal plane, and the direction of the sliding speed interference of the supporting foot of the human body in the ZY plane and the gait phase stage of the sliding interference are applied.

10. A dynamic balance interference method for a human walking balance training and testing system according to any one of claims 1 to 9, characterized in that: The method comprises the following steps: Step 1: Method to simulate the instability of a human body being pushed down while walking: Step 1: Measure and control the magnitude of the disturbance force; The output shaft of each servo motor (1) is connected to a steel wire rope (3), and a tension sensor (2) is installed between the motor output shaft and the steel wire rope (3) to measure and control the magnitude of the interference force; Step 1 and 2: Assess the body's ability to maintain dynamic balance while walking; Step 121: Calculate the total disturbance force Fp: The m1 servo motor, m2 servo motor, m3 servo motor and m4 servo motor are responsible for randomly applying interference forces F1, F2, F3 and F4 to the waist of the human body. The total interference force Fp received by the waist is calculated by the following formula: Fp=F1+F2+F3+F4; Step 122: By randomly applying Fp of different magnitudes and directions at the initial, middle and final stages of the human walking support phase, the instability of being pushed down while walking is simulated; Steps 1, 2, and 3: The human motion capture camera (6) records the limb posture data of the human body when walking in real time, so as to evaluate the ability of the human body to maintain dynamic balance while walking; Step 2: Method to simulate the instability caused by slipping of the sole of the foot when walking: The treadmill (5) supports the experimental subjects to walk or run at a constant speed, and the treadmill (5) has two independently controllable running belts on the left and right, and the instability of the foot slipping is simulated by controlling the magnitude and direction of the running belt acceleration As. The treadmill can randomly apply acceleration As in different directions at the initial, middle and final stages of the human walking support phase, thereby simulating the instability of the foot slipping when the human body is walking; The human motion capture camera (6) records the limb posture data of the human body when walking in real time, which is used to evaluate the ability of the human body to maintain dynamic balance while walking; At the same time, the treadmill (5) measures and records the plantar pressure information of the human body during walking in real time, so as to evaluate the ability of the human body to maintain dynamic balance during walking; Step 3: Method to simulate the instability of a person being tripped by an obstacle while walking: The m5 servo motor and the m6 servo motor are responsible for applying a random interference force Ft to the ankle of the human swinging leg. By randomly applying an interference force Ft in the opposite direction of the human walking direction in the initial, middle and final stages of the human walking support phase, the instability caused by the human body being tripped by an obstacle while walking is simulated. The human motion capture camera (6) is installed on the experimental platform bracket (7) to record the limb posture data of the human body while walking in real time, which is used to evaluate the human body's ability to maintain dynamic balance while walking.

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