Gait and balance training evaluation system and method

Abstract

A gait and balance training system comprises treadmills, handrails are arranged on the two sides of the treadmills, the two treadmills are arranged in parallel left and right, servo motors of the two treadmills work independently, the two treadmills are located on a base, a base plate is fixedly arranged below each treadmill belt, four treadmill pressure sensors are installed below each base plate, and the two treadmill pressure sensors are arranged on the base plate. The lower end of each pressure sensor is fixedly connected to the base, and ultrasonic sensors are installed on the front portion and the side face of the treadmill. According to the gait and balance training evaluation system, the gait training method and the balance training evaluation method are included, the system has multiple functions, various modes of training can be carried out, the training process is safe and reliable, and the training effect is good. A weight reduction system is kept constant and is very easy to realize, and the patient does not feel uncomfortable in the walking process.

Description

Technical Field

[0001] The invention relates to rehabilitation training equipment, in particular to a gait and balance assessment training system and method, and belongs to the technical field of rehabilitation training. Background Art

[0002] Patients with limb dysfunction caused by damage to the nervous system after cerebral stroke are becoming more and more common, and there is a trend of tending to be younger. In clinical practice, in addition to drug treatment, targeted rehabilitation training is generally carried out at different stages. For such patients, gait training is an effective rehabilitation training method to help patients restore motor function. Moreover, such patients generally have a poor sense of balance, and balance training is also one of the indispensable contents. Current gait training mainly includes adaptive weight loss training equipment, such as a dynamic weight loss device for rehabilitation training disclosed in Chinese patent application No. 201910990965.2, which can follow the patient for training. However, when training with this equipment, the patient needs to turn around after reaching one end, and in order to ensure that the weight loss force remains constant during the weight loss process, the weight loss motor needs to perform frequent retraction and extension actions, which will cause a sudden pulling and releasing feeling to the patient, and the comfort is not good. Using a treadmill can The patient performs gait training with basically no displacement. Currently, the equipment that uses a treadmill in combination with a weight loss device for gait training mainly uses two methods to adaptively adjust the treadmill speed. One is to capture real-time images of the patient's movement through a camera and use image detection and analysis technology. This method is computationally complex and many of it requires reliance on machine self-learning. The second is to install a pressure sensor under the running belt and obtain the patient's step frequency data through the signal of the pressure sensor to provide a basis for adjusting the speed of the treadmill. Although this method is simple, the pressure sensor, as a force-bearing component, is prone to drift or damage, which can cause signal errors. Because the trained patients have obstacles in balance control and self-adjustment, this signal error is likely to cause harm to the patient. In addition, the pressure sensor will misidentify the patient in certain scenarios before he or she starts walking, which can also cause harm to the patient after starting the treadmill. Summary of the invention

[0003] The object of the present invention is to provide a more reliable and comfortable gait and balance assessment training system and method.

[0004] To achieve the purpose of the present invention, the following technical solutions are adopted: a gait and balance training system, comprising a treadmill, the treadmill comprising an active roller and a passive roller, the active roller being driven by a treadmill servo motor, a running belt being wrapped around the active roller and the passive roller, and handrails being provided on both sides of the treadmill, the treadmill comprising two treadmills arranged side by side on the left and right, the two treadmill servo motors working independently, the two treadmills being located on a base, a pad being fixedly provided under each running belt, four treadmill pressure sensors being installed under each pad, the lower end of each pressure sensor being fixedly connected to the base, and ultrasonic sensors being installed on the front and sides of the treadmill; A sliding weight-reducing walking device is installed on the treadmill, and the sliding weight-reducing walking device includes a fixed frame fixedly installed above the treadmill, a weight-reducing servo motor is fixedly connected to the fixed frame, a reducer is fixedly connected to the output shaft of the weight-reducing servo motor, a winding wheel is rotatably connected to the fixed frame and driven by the reducer, a weight-reducing pull rope is wound around the winding wheel, a pair of vertical guide rollers are rotatably installed on the fixed frame in the outlet direction of the winding wheel, a mounting plate is fixedly connected to the fixed frame behind the guide rollers, a weight-reducing pressure sensor is fixedly connected to the mounting plate, the lower part of the wheel seat is fixedly connected to the weight-reducing pressure sensor, a first groove wheel is rotatably installed on the wheel seat, a second groove wheel is rotatably installed on the fixed frame below the first groove wheel, a pair of horizontal front-to-back guide rollers are rotatably installed on the fixed frame above the second groove wheel, and a plurality of guide rollers are fixed on the frame above the fixed frame. A track beam connected to the front and rear directions is fixed, one end of the track beam located at the fixed frame is rotatably connected to a fixed pulley A, and the other end is rotatably connected to a fixed pulley B. A pulley is installed on the track beam, and a plurality of rollers matching the track beam are installed on the pulley. Two third groove wheels and a fourth groove wheel distributed front and back are rotatably installed on the pulley. After the pull rope is pulled out from the winding wheel, it passes through the guide roller in the vertical direction, the upper part of the first groove wheel, the lower part of the second groove wheel, the guide roller in the horizontal front and rear directions in sequence, and then passes around the fixed pulley A upward, around the fixed pulley B, the inner side of the third groove wheel, the inner side of the fourth groove wheel, and then the end is fixed on the track beam at the end of the fixed frame, wherein the pull rope has a downward V-shaped extension between the inner side of the third groove wheel and the inner side of the fourth groove wheel, and a movable pulley is matched on the V-shaped extension. The movable pulley is rotatably installed on the wheel frame, and the suspension is rotatably connected to the wheel frame through the vertical axis. Furthermore, an adjustable foot is installed under the base at the entrance and exit ends of the running belt, a lifting frame is hinged on the base at the other end, at least two rollers are installed on both sides of the lifting frame, the electric cylinder is hinged on the base frame, and the action end of the electric cylinder is hinged on the lifting frame.

[0005] Furthermore, the winding wheel includes an I-shaped winding wheel body, a cylinder for winding wire in the middle of the winding wheel body, baffles at both ends of the cylinder, a cylindrical chuck fixedly connected to the baffle, a wire groove is opened on the outer end face of the baffle, the wire groove is connected with the cylinder surface through a rope hole, the rope hole is along the tangent direction of the cylinder, the wire grooves from one side of the rope hole are respectively an inner wire groove, a middle wire groove, and an outer wire groove, the width of the inner wire groove is equal to the diameter of the pull rope, the width of the middle wire groove is twice the diameter of the pull rope, the width of the outer wire groove is greater than the middle wire groove, the outer wire groove passes through the outer circumference of the baffle, and a notch A is formed at the penetration point, the groove depth of the outer wire groove is less than the diameter of the pull rope, a notch B corresponding to the notch A is provided on the peripheral wall of the cylindrical chuck, a boss is fixedly connected to the bottom of the cylindrical chuck near the notch B, the rope body is folded and placed in the outer wire groove and the middle groove, the boss is inserted between the two folded rope bodies, and the cylindrical chuck is fixedly connected to the baffle by an axial screw.

[0006] Furthermore, a beam switch is installed on both sides of the track beam, and a self-locking motor is installed in front and behind the beam switch. A crank rod is fixedly connected to the output shaft of the self-locking motor. The beam switch and the self-locking motor are both connected to the controller.

[0007] A gait and balance training evaluation method, including a gait training method and a balance training evaluation method, using the above-mentioned gait and balance training evaluation system, Gait training methods include the following: A1: The two treadmills are never started, the patient is restrained by the restraint belt connected to the suspension rod of the sliding weight-reducing device, and the weight-reducing servo motor provides torque to tighten the pull rope to generate an upward weight-reducing force, and the patient performs weight-reducing autonomous walking training on the treadmill; A2: When the two treadmills are not started, the patient is restrained by the restraint belt connected to the suspension rod of the sliding weight-reducing device, and the weight-reducing servo motor provides torque to tighten the pull rope to generate an upward weight-reducing force, and the patient walks on the treadmill. After the opposing switch senses the signal of the trolley, the front self-locking motor rotates to drive the crank rod to rotate to block the front end of the pulley, and the rear self-locking motor rotates to drive the crank rod to rotate to block the rear end of the pulley. After blocking, the motors with self-locking are self-locking; start the two treadmills for two-foot walking training or start one treadmill for single-foot walking training; Balance training and assessment include the following methods: B1: Turn off the treadmill, and the patient stands on the treadmill with two feet or one foot to perform static balance training or static balance assessment; B2: Turn off the treadmill, and the patient stands sideways on the treadmill. The electric cylinder drives the lifting frame to rise and fall for dynamic lateral balance training or lateral balance assessment. B3: Turn off the treadmill, and the patient stands on the two treadmills with both feet facing forward and backward. The electric cylinder drives the lifting frame to perform slope training; B4: Turn off the treadmill, and the electric cylinder suddenly and quickly drives the support frame to rise and fall, causing the treadmill to tilt rapidly. The pressure sensor feedback is used to monitor whether the patient's center of gravity is quickly restored to its original position, and his dynamic balance training is evaluated.

[0008] Furthermore, in A2, after the treadmill is turned on, after confirming that the pressure sensor is not faulty, the walking frequency of the patient's foot is obtained by the length of time when the pressure sensor value on the corresponding treadmill is zero, and the speed of the treadmill is adaptively adjusted according to the walking frequency of the corresponding foot. The running speeds of the two treadmills are the same or different. When the walking frequencies of the patient's two feet are inconsistent, the two treadmills adaptively adjust the speeds according to the corresponding walking frequencies.

[0009] Furthermore, in A2, the patient stands on the treadmill when the weight-reducing servo motor is stopped. When the pressure sensor values ​​of the two treadmills keep changing but the torque sensor signals do not change, it is determined that the patient is in a shivering state on the treadmill and the treadmill is not turned on.

[0010] Furthermore, in A2, after a patient's training cadence is stabilized, the patient's forward and backward movement frequency is detected by an ultrasonic sensor in front of the treadmill, and the patient's left and right movement frequency is detected by an ultrasonic sensor on the side of the treadmill, and a corresponding relationship database of cadence, forward and backward movement frequency, and left and right movement frequency is formed. When the forward and backward movement frequency matches the left and right movement frequency but does not match the cadence, and when the cadence exceeds the range by more than plus or minus 15%, it is determined that the pressure sensor is faulty.

[0011] The positive and beneficial technical effects of the present invention are: the system has multiple functions, can carry out various modes of training, and is safe and reliable during the training process. The weight loss system can be easily maintained at a constant level, and the patient does not feel discomfort during walking. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is an overall schematic diagram of the present invention.

[0013] Figure 2 It is a schematic diagram of the lower part of the present invention.

[0014] Figure 3 It is a schematic diagram of the interior with the lower part cut open along the length direction.

[0015] Figure 4 This is a schematic diagram of the fixing bracket.

[0016] Figure 5 yes Figure 4 Schematic diagram after removing the track beam.

[0017] Figure 6 This is a view of the lower part of the fixing bracket.

[0018] Figure 7It is a discrete schematic diagram of the two ends of the track beam.

[0019] Figure 8 This is a schematic diagram of the hanging part.

[0020] Fig. 9 It is a schematic diagram of a self-locking motor inside the track beam.

[0021] Fig.10 It is a discrete schematic diagram of the winding wheel.

[0022] Fig.11 It is a schematic diagram of the track beam. DETAILED DESCRIPTION

[0023] In order to more fully explain the implementation of the present invention, implementation examples of the present invention are provided. These implementation examples are merely elaborations of the present invention and do not limit the scope of the present invention.

[0024] The present invention is further explained in detail in conjunction with the accompanying drawings, in which the following marks are as follows: 1: base; 2: running belt; 3: lifting frame; 4: rolling wheel; 5: adjustable foot; 6: handrail; 7: track beam, 701: track; 8: fixed frame; 9: treadmill servo motor; 10: electric cylinder; 11: ultrasonic sensor mounting frame; 12: pad; 13: treadmill pressure sensor; 14: weight reduction servo motor; 15: reducer; 16: winding wheel; 17: pull rope; 18: guide roller in the vertical direction; 19: wheel seat; 20: first groove wheel; 21: fixed pulley A; 22: guide roller in the horizontal direction Roller; 23: mounting plate; 24: weight-reducing pressure sensor; 25: second groove wheel; 26: fixed pulley B; 27: pulley; 28: roller; 29: V-shaped extension; 30: third groove wheel; 31: fourth groove wheel; 32: fixed pulley C; 33: movable pulley; 34: wheel frame; 35: suspension; 36: motor with self-locking; 38: crank rod; 39: shooting switch; 161: cylinder; 162: blocking surface; 163: inner wire groove; 164: middle wire groove; 165: outer wire groove; 166: notch A; 167: cylindrical chuck; 168: boss; 169: notch B.

[0025] As shown in the accompanying drawings, a gait and balance training system includes a treadmill, wherein the treadmill includes an active roller and a passive roller, wherein the active roller is driven by a treadmill servo motor 9, a running belt 2 is wrapped around the active roller and the passive roller, and armrests 6 are provided on both sides of the treadmill. The treadmill is composed of two treadmills arranged side by side on the left and right, and the two treadmill servo motors work independently. The two treadmills are located on a base 1, and a pad 12 is fixedly provided under each running belt, and four treadmill pressure sensors 13 are installed under each pad, and the lower end of each treadmill pressure sensor is fixedly connected to the base, and ultrasonic sensors are installed on the front and sides of the treadmill; the ultrasonic sensor is not shown in the figure, and 11 is an ultrasonic sensor mounting frame, which can be fixedly installed on the telescopic rod, the front ultrasonic sensor is fixedly connected to the ultrasonic sensor mounting frame, and the side ultrasonic sensor can be fixed to one side of the armrest. An adjustable foot 5 is installed under the base at the entrance and exit end of the running belt, a lifting frame 3 is hinged on the base at the other end, at least two rolling wheels 4 are installed on both sides of the lifting frame, an electric cylinder 10 is hinged on the base, and the action end of the electric cylinder is hinged on the lifting frame 3. The electric cylinder can drive the lifting frame to rise, so that one end of the treadmill is raised.

[0026] A sliding weight-reducing walking device is installed on the treadmill, and the sliding weight-reducing walking device includes a fixed frame 8 fixedly installed above the treadmill, a weight-reducing servo motor 14 is fixedly connected to the fixed frame, a reducer 15 is fixedly connected to the output shaft of the weight-reducing servo motor, a winding wheel 16 is rotatably connected to the fixed frame and driven by the reducer, a weight-reducing pull rope 17 is wound around the winding wheel, and the winding wheel includes an I-shaped winding wheel body, a cylinder 161 for winding is in the middle of the winding wheel body, and baffle surfaces 162 are provided at both ends of the cylinder, a cylindrical chuck 167 is fixedly connected to the baffle surface, a wire groove is provided on the outer end surface of the baffle surface, the wire groove is connected to the cylinder surface through a rope hole, and the rope hole is inserted along the tangent direction of the cylinder. The cylindrical body is inserted into the cylinder, and the wire grooves from the rope hole to one side are respectively an inner wire groove 163, a middle wire groove 164, and an outer wire groove 165. The width of the inner wire groove is equal to the diameter of the pull rope, the width of the middle wire groove is twice the diameter of the pull rope, the width of the outer wire groove is greater than the middle wire groove, the outer wire groove passes through the outer periphery of the blocking surface, and a notch A166 is formed at the penetration point. The groove depth of the outer wire groove is less than the diameter of the pull rope. A notch B169 corresponding to the notch A is provided on the peripheral wall of the cylindrical chuck 167, and a boss 168 is fixedly connected to the bottom of the cylindrical chuck near the notch B. The pull rope 17 is folded and placed in the outer wire groove and the middle groove, and the boss 168 is inserted between the two folded rope bodies. The cylindrical chuck 167 is fixedly connected to the blocking surface by an axial screw. This design has the following advantages: the end of the above-mentioned pull rope is fixed by means of chuck pressure, boss limiting and other means, and the end of the pull rope is not easy to crack. Secondly, the rope hole enters the cylinder along the tangent direction of the cylinder, so that the pull rope is arranged in circles on the cylinder without stacking. The motor drive torque calculation arm is the sum of the rope winding surface radius and the pull rope radius. In this way, the calculation process is very simple. During dynamic weight loss, the tension value of the pull rope will not change due to the change of the lever arm, causing the patient's weight loss force change to be stuck, affecting the training comfort.

[0027] A pair of guide rollers 18 in the vertical direction are rotatably mounted on a fixed frame in the outlet direction of the winding wheel, a mounting plate 23 is fixedly connected to the fixed frame behind the guide rollers, a weight reduction pressure sensor 24 is fixedly connected to the mounting plate, the lower part of the wheel seat 19 is fixedly connected to the weight reduction pressure sensor, a first groove wheel 20 is rotatably mounted on the wheel seat, a second groove wheel 25 is rotatably mounted on the fixed frame below the first groove wheel, a pair of guide rollers 22 in the horizontal front-to-back direction are rotatably mounted on the fixed frame above the second groove wheel, a track beam 7 in the front-to-back direction is fixedly connected to the frame above the fixed frame, a track beam 701 in the front-to-back direction is provided in the track beam, one end of the track beam located on the fixed frame is rotatably connected to a fixed pulley A21, and the other end is rotatably connected to a fixed pulley B26, a pulley 27 is mounted on the track beam, and a plurality of pulleys that cooperate with the tracks on the track beam are mounted on the pulley. The roller 28 has two third sheaves 30 and fourth sheaves 31 rotatably installed on the pulley, which are distributed front and back. After the pull rope 17 is pulled out from the winding wheel, it passes through the guide roller 18 in the vertical direction, the upper part of the first sheave 20, the lower part of the second sheave 25, the guide roller 22 in the horizontal front and rear direction, bypasses the fixed pulley A22 upward, bypasses the fixed pulley B26 backward, the inner side of the third sheave 30, the inner side of the fourth sheave 31, and then the end is fixed on the track beam at the fixed frame end. In this embodiment, a fixed pulley C32 is rotatably connected to the track beam at the end of the fixed pulley A, and the pull rope is fixed to the track beam after bypassing the fixed pulley C, wherein the pull rope has a downward V-shaped extension 29 between the inner sides of the third sheave and the inner sides of the fourth sheave, and a movable pulley 33 is matched on the V-shaped extension. The movable pulley is rotatably installed on the wheel frame 34, and the suspension 35 is rotatably connected to the wheel frame through a vertical axis.

[0028] A beam switch 39 is installed on both sides of the track beam. A self-locking motor is installed before and after the beam switch. A crank rod is fixedly connected to the output shaft of the self-locking motor. The beam switch and the self-locking motor are connected to the controller. Fig. 9 A set is shown in the figure, 36 is a motor with self-locking; 37 is a crank rod, and the two sets of motors with self-locking are used to clamp the pulley front and back to keep the pulley motionless during the patient's rehabilitation training.

[0029] A gait and balance training evaluation method, including a gait training method and a balance training evaluation method, using the above-mentioned gait and balance training evaluation system, Gait training methods include the following: A1: The two treadmills are never started, the patient is restrained by the restraint belt connected to the suspension rod of the sliding weight-reducing device, and the weight-reducing servo motor provides torque to tighten the pull rope to generate an upward weight-reducing force, and the patient performs weight-reducing autonomous walking training on the treadmill; A2: When the two treadmills are not started, the patient is restrained by the restraint belt connected to the suspension rod of the sliding weight-reducing device, and the weight-reducing servo motor provides torque to tighten the pull rope to generate an upward weight-reducing force, and the patient walks on the treadmill. After the opposing switch senses the signal of the trolley, the front self-locking motor rotates to drive the crank rod to rotate to block the front end of the pulley, and the rear self-locking motor rotates to drive the crank rod to rotate to block the rear end of the pulley. After blocking, the motors with self-locking are self-locking; start the two treadmills for two-foot walking training or start one treadmill for single-foot walking training; Balance training and assessment include the following methods: B1: Turn off the treadmill, and the patient stands on the treadmill with two feet or one foot to perform static balance training or static balance assessment; during static balance training, the signal sent to the controller by the four pressure sensors under each treadmill can detect the change in the patient's center of gravity, and the patient's static balance ability can be assessed through the change in the center of gravity. In this mode, the patient can also stand on one foot on a treadmill to train and assess the patient's single-foot balance ability. The static balance training and assessment are the same as the existing static balance training and assessment equipment. The treadmill can also be controlled to be stationary at a certain angle by an electric cylinder drive, and the patient's static balance ability at various angles can be detected through pressure sensor feedback.

[0030] B2: Turn off the treadmill, and the patient stands sideways on the treadmill. The electric cylinder drives the lifting frame to rise and fall for dynamic lateral balance training or lateral balance assessment. The electric cylinder sets a speed to move slowly, driving the treadmill to swing up and down. The pressure sensor feedback monitors the changes in the patient's center of gravity, and dynamic balance training and assessment are performed.

[0031] B3: Turn off the treadmill, and the patient stands on the two treadmills with both feet facing forward and backward. The electric cylinder drives the lifting frame to perform slope training; the patient stands on the slope with the front higher and the back lower, and can perform muscle stretching training B4: Turn off the treadmill, and the electric cylinder suddenly and quickly drives the support frame to rise and fall, causing the treadmill to tilt quickly. The pressure sensor is used to monitor whether the patient's center of gravity is quickly reset, and his dynamic balance training evaluation is performed. This program is a dynamic balance training evaluation program for patients to detect their lateral and front-to-back anti-fall ability;

[0032] In A2, when the weight-reducing servo motor is stopped, the patient stands on the treadmill. When the pressure sensor values ​​of the two treadmills keep changing but the torque sensor signal does not change, it is judged that the patient is shivering on the treadmill and the treadmill is not turned on. When the pressure sensor values ​​of the two treadmills keep changing and the torque sensor signal changes, it is judged that the patient has started the foot-lifting walking training and the treadmill is turned on. In the present invention, a torque sensor is provided on each of the two running belt reducers, and the model can be: LZ-NJYF ( Brand: Huilizhi), in the initial state, the running belt reducer is self-locked and released, and the servo motor reducer provides a certain torque to maintain and eliminate part of the friction resistance between the running belt and the lining (this can make the patient more comfortable during the initial stepping and walking training, and it is also convenient for the torque sensor to better detect the torque brought by the running belt reducer). At this time, the running belt is in a stationary state. When the patient wants to step and walk training, the center of gravity moves forward, and the patient's left and right heels are lifted. The left and right toes will give each running belt a backward shear force. After the torque sensor measures it, combined with the pressure sensor signal, the feedback controls the reducer to rotate forward, and drives the running belt to move at a certain initial speed; if the patient steps on the left foot first according to habit, As the center of gravity moves forward, the shear force exerted by the toe of the right foot on the running belt increases. The torque sensor measures a larger and larger torque, which can be used as an auxiliary feedback signal to the controller to control the speed of the reducer to speed up, drive the running belt to accelerate, maintain the center of gravity at the initial position, switch between left and right feet, and the running belt speed gradually adapts to the patient's stepping speed until the normal gait training is maintained; when the patient wants to actively slow down, the patient's center of gravity moves backward instinctively, which will give the running belt a forward shear force. As the center of gravity moves backward, the torque sensor measures a smaller and smaller torque, and the feedback control speed of the reducer decreases, driving the running belt to slow down and move backward, and the patient's stepping rate slows down until the running belt stops. Since most patients are hemiplegic, the speed of the left and right feet can be adaptively controlled. This avoids the situation where the double running belts are stationary or moving at a certain speed, and the patient does not want to do gait training but steps on the spot / jumps in a small range, and the step frequency will gradually increase. At this time, the simple pressure sensor detection will misjudge that the patient wants to do accelerated gait training and continue to increase the running belt speed, causing the patient to be uncomfortable or even fall. In the present invention, the treadmill speed is adjusted by using the signal fed back by the pressure sensor, and the torque sensor mainly assists in determining whether the patient is in a shivering state to prevent the patient from being injured by erroneous operation. When it is determined that the pressure sensor fails, the signal of the torque sensor can be temporarily used to control the motor speed.

[0033] After the treadmill is turned on, if it is confirmed that the pressure sensor is not faulty, the walking frequency of the patient's foot is obtained by the duration of time when the pressure sensor value on the corresponding treadmill is zero, and the speed of the treadmill is adaptively adjusted according to the walking frequency of the corresponding foot. The running speeds of the two treadmills are the same or different. When the walking frequencies of the two feet of the patient are inconsistent, the two treadmills are adaptively adjusted according to the corresponding walking frequencies. The two treadmills are adaptively adjusted according to the corresponding walking frequencies. The adaptive adjustment speed can be built in a corresponding table of walking frequency-treadmill speed in the controller, and the running speed of the treadmill is obtained by looking up the table. In the present invention, the adjustment of the treadmill speed is preferentially based on the signal fed back by the pressure sensor, and the torque sensor is mainly used to assist in judging whether the patient is in a shivering state to prevent the patient from being injured due to misoperation.

[0034] In A2, after a patient's training cadence is stable, the ultrasonic sensor in front of the treadmill detects the patient's forward and backward movement frequency, and the ultrasonic sensor on the side of the treadmill detects the patient's left and right movement frequency, and forms a corresponding relationship database of cadence, forward and backward movement frequency, and left and right movement frequency. When the forward and backward movement frequency matches the left and right movement frequency but does not match the cadence, when the cadence exceeds the range by more than plus or minus 15%, it is judged that the pressure sensor is faulty. Ultrasonic sensors are non-contact sensors with relatively stable performance and are not easy to damage. Pressure sensor damage (drift) is relatively common. It is more reliable to use ultrasonic sensors to detect whether the pressure sensor is faulty. When the pressure sensor fails, the speed of the treadmill can no longer be adjusted adaptively according to the cadence. At this time, the servo motor is forced to stop and an alarm signal is issued. For example, the corresponding relationship between the forward and backward movement frequency, the left and right movement frequency, and the cadence is 35:35:20. When the cadence is greater than 26 or less than 14, it is judged that the pressure sensor is faulty. This data is the basic guarantee data and can be continuously optimized according to the actual use.

[0035] After describing the implementation mode of the present invention in detail, people familiar with the technology can clearly understand that various changes and modifications can be made without departing from the scope and spirit of the above-mentioned patent application. Any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention are within the scope of the technical solution of the present invention, and the present invention is not limited to the implementation mode of the examples given in the specification.

Claims

1. A gait and balance training system, comprising a treadmill, wherein the treadmill comprises an active roller and a passive roller, wherein the active roller is driven by a treadmill servo motor, a running belt is wound around the active roller and the passive roller, and handrails are provided on both sides of the treadmill, wherein the system is characterized in that: The treadmills are two treadmills arranged side by side on the left and right, and the servo motors of the two treadmills work independently. The two treadmills are located on a base, and a pad is fixedly arranged under each running belt. Four treadmill pressure sensors are installed under each pad, and the lower end of each pressure sensor is fixedly connected to the base. Ultrasonic sensors are installed on the front and sides of the treadmill. A sliding weight-reducing walking device is installed on the treadmill, and the sliding weight-reducing walking device includes a fixed frame fixedly installed above the treadmill, a weight-reducing servo motor is fixedly connected to the fixed frame, a reducer is fixedly connected to the output shaft of the weight-reducing servo motor, a winding wheel is rotatably connected to the fixed frame and driven by the reducer, a weight-reducing pull rope is wound around the winding wheel, a pair of vertical guide rollers are rotatably installed on the fixed frame in the outlet direction of the winding wheel, a mounting plate is fixedly connected to the fixed frame behind the guide rollers, a weight-reducing pressure sensor is fixedly connected to the mounting plate, the lower part of the wheel seat is fixedly connected to the weight-reducing pressure sensor, a first groove wheel is rotatably installed on the wheel seat, a second groove wheel is rotatably installed on the fixed frame below the first groove wheel, a pair of horizontal front-to-back guide rollers are rotatably installed on the fixed frame above the second groove wheel, and a plurality of guide rollers are fixed on the frame above the fixed frame. A track beam in the front-to-back direction is fixedly connected, one end of the track beam located on the fixed frame is rotatably connected to a fixed pulley A, and the other end is rotatably connected to a fixed pulley B. A pulley is installed on the track beam, and a plurality of rollers matching the track beam are installed on the pulley. Two third groove wheels and a fourth groove wheel distributed front and back are rotatably installed on the pulley. After the pull rope is pulled out from the winding wheel, it passes through the guide roller in the vertical direction, the upper part of the first groove wheel, the lower part of the second groove wheel, the guide roller in the horizontal front-to-back direction, and then passes around the fixed pulley A upward, around the fixed pulley B, the inner side of the third groove wheel, the inner side of the fourth groove wheel, and then the end is fixed on the track beam at the end of the fixed frame, wherein the pull rope has a downward V-shaped extension between the inner side of the third groove wheel and the inner side of the fourth groove wheel, and a movable pulley is matched on the V-shaped extension. The movable pulley is rotatably installed on the wheel frame, and the suspension is rotatably connected to the wheel frame through a vertical axis.

2. The gait and balance training evaluation system according to claim 1, characterized in that: An adjustable foot is installed under the base at the inlet and outlet ends of the running belt, a lifting frame is hinged on the base at the other end, at least two rolling wheels are installed on both sides of the lifting frame, an electric cylinder is hinged on the base frame, and an action end of the electric cylinder is hinged on the lifting frame.

3. The gait and balance training evaluation system according to claim 1, characterized in that: The winding wheel includes an I-shaped winding wheel body, a cylinder for winding wire in the middle of the winding wheel body, baffle surfaces at both ends of the cylinder, a cylindrical chuck fixedly connected to the baffle surface, a wire groove is opened on the outer end surface of the baffle surface, the wire groove is connected with the cylinder surface through a rope hole, the rope hole is along the tangent direction of the cylinder, the wire grooves from one side of the rope hole are respectively an inner wire groove, a middle wire groove, and an outer wire groove, the width of the inner wire groove is equal to the diameter of the pull rope, the width of the middle wire groove is twice the diameter of the pull rope, the width of the outer wire groove is greater than the middle wire groove, the outer wire groove passes through the outer circumference of the baffle surface, and a notch A is formed at the penetration point, the groove depth of the outer wire groove is less than the diameter of the pull rope, a notch B corresponding to the notch A is provided on the peripheral wall of the cylindrical chuck, a boss is fixedly connected to the bottom of the cylindrical chuck near the notch B, the rope body is folded and placed in the outer wire groove and the middle groove, the boss is inserted between the two folded rope bodies, and the cylindrical chuck is fixedly connected to the baffle surface by an axial screw.

4. The gait and balance training evaluation system according to claim 2, characterized in that: A beam switch is installed on both sides of the track beam, and a self-locking motor is installed in front and behind the beam switch. A crank rod is fixedly connected to the output shaft of the self-locking motor. The beam switch and the self-locking motor are both connected to the controller.

5. A gait and balance training evaluation method, comprising a gait training method and a balance training evaluation method, using the gait and balance training evaluation system of claim 4, characterized in that: Gait training methods include the following: A1: The two treadmills are never started, the patient is restrained by the restraint belt connected to the suspension rod of the sliding weight-reducing device, and the weight-reducing servo motor provides torque to tighten the pull rope to generate an upward weight-reducing force, and the patient performs weight-reducing autonomous walking training on the treadmill; A2: When the two treadmills are not started, the patient is restrained by the restraint belt connected to the suspension rod of the sliding weight-reducing device, and the weight-reducing servo motor provides torque to tighten the pull rope to generate an upward weight-reducing force, and the patient walks on the treadmill. After the opposing switch senses the signal of the trolley, the front self-locking motor rotates to drive the crank rod to rotate to block the front end of the pulley, and the rear self-locking motor rotates to drive the crank rod to rotate to block the rear end of the pulley. After blocking, the motors with self-locking are self-locking; start the two treadmills for two-foot walking training or start one treadmill for single-foot walking training; Balance training and assessment include the following methods: B1: Turn off the treadmill, and the patient stands on the treadmill with two feet or one foot to perform static balance training or static balance assessment; B2: Turn off the treadmill, and the patient stands sideways on the treadmill. The electric cylinder drives the lifting frame to rise and fall for dynamic lateral balance training or lateral balance assessment. B3: Turn off the treadmill, and the patient stands on the two treadmills with both feet facing forward and backward. The electric cylinder drives the lifting frame to perform slope training; B4: Turn off the treadmill, and the electric cylinder suddenly and quickly drives the support frame to rise and fall, causing the treadmill to tilt rapidly. The pressure sensor feedback is used to monitor whether the patient's center of gravity is quickly restored to its original position, and his dynamic balance training is evaluated.

6. The gait and balance training evaluation method according to claim 5, characterized in that: In A2, after the treadmill is turned on, after confirming that the pressure sensor is not faulty, the walking frequency of the patient's foot is obtained by the length of time when the pressure sensor value on the corresponding treadmill is zero, and the speed of the treadmill is adaptively adjusted according to the walking frequency of the corresponding foot. The running speeds of the two treadmills are the same or different. When the walking frequencies of the patient's two feet are inconsistent, the two treadmills adaptively adjust the speeds according to the corresponding walking frequencies.

7. The gait and balance training evaluation method according to claim 5, characterized in that: In A2, the patient stands on the treadmill while the servo motor of the treadmill is stopped. When the pressure sensor values ​​of the two treadmills keep changing but the torque sensor signals do not change, it is determined that the patient is in a shivering state on the treadmill and the treadmill is not turned on.

8. The gait and balance training evaluation method according to claim 5, characterized in that: In A2, after a patient's training cadence stabilizes, the ultrasonic sensor in front of the treadmill detects the patient's forward and backward movement frequency, and the ultrasonic sensor on the side of the treadmill detects the patient's left and right movement frequency, and forms a database of corresponding relationships among cadence, forward and backward movement frequency, and left and right movement frequency. When the forward and backward movement frequency matches the left and right movement frequency but does not match the cadence, and when the cadence exceeds the range by more than plus or minus 15%, it is determined that the pressure sensor is faulty.

Images