Posture monitoring equipment and method for lower limb movement

Abstract

The invention relates to the technical field of motion detection, in particular to posture monitoring equipment and method for lower limb motion. The invention provides an innovative solution aiming at the technical problems that the sensor precision of the existing motion monitoring equipment is easily influenced by human body activities and the environment, bad postures interfere with the data accuracy, the leg height cannot be individually adjusted and the like. The device is of an up-down split structure and comprises a shoulder and back adjusting unit and a lower limb motion capturing unit. Posture correction of the shoulder and back unit is achieved through an arc-shaped elastic plate, an L-shaped bearing arm and a sliding block-limiting rod feedback system; the lower limb unit adopts a multi-connecting-rod mechanism, an IMU sensor is integrated, and an air bag adjusting U-shaped hip joint fixing structure, a double-spring supporting adjusting system and a rack-positioning claw shank adjusting mechanism are innovatively designed. According to the technical scheme, the accuracy and applicability of exercise monitoring are improved, and technical obstacles of existing equipment in clinical rehabilitation and exercise training application are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of motion monitoring, and in particular to a posture monitoring device and method for lower limb motion. Background Art

[0002] Accurately capturing and analyzing lower body movements is a key research area in existing motion monitoring technologies. Currently, inertial sensors, surface electromyography, optical motion capture, and pressure measurement are primarily used for gait assessment, injury prevention, rehabilitation training, and performance optimization. However, these methods still have significant limitations in practical applications.

[0003] For example, a device and method for monitoring lower limb posture, published as CN116510259A, describes a posture monitoring device for lower limb movement. When monitoring lower limb movement, the height and angle sensors of the motion sensor collect height change data L and angle change data T, the pressure monitoring board collects the user's overall pressure data U, and the pressure sensor collects limb pressure data J. The monitoring unit collects this data in real time, the processing unit categorizes and stores it, and the analysis unit normalizes it to form evaluation data Q and sets a threshold for comparison. When the pressure sensor data J is less than a first threshold range, or the evaluation data Q is within a second threshold range, the control center directs the decision-making unit and the adjustment unit to adjust the fixed straps to ensure stable data collection by the motion sensor, thus enabling monitoring of lower limb posture. However, directly mounting the sensor on the human body can easily affect accuracy. For example, soft tissue swaying or clothing slipping can cause sensor displacement and introduce noise. Furthermore, individual differences, such as differences in muscle activation patterns, body shape, and joint mobility, can also affect the interpretation of electromyographic signals and motion trajectories. Environmental factors, such as floor hardness, electromagnetic interference, or optical obstruction, can also reduce data reliability.

[0004] Publication number CN114366559A describes a multimodal sensing system for a lower limb rehabilitation robot. An angle encoder is used to obtain lower limb joint motion parameters; a torque sensor measures joint torque; an inertial sensor senses the three-dimensional posture of each body segment and detects abnormal joint motion; a plantar pressure sensor captures walking pressure information; a visual sensor senses the three-dimensional trajectory of the human body in the field of view; a surface electromyography sensor captures muscle activation, fatigue time, and trigger activation time; and a heart rate and blood oxygen sensor measures changes in blood oxygen content and heart rate during training. An electroencephalogram (EEG) monitors the activation of the corresponding cerebral cortex in response to exercise and monitors the effectiveness of the training feedback neural circuit. Using a variety of different sensors, the system systematically and comprehensively monitors and evaluates the progress and status of rehabilitation patients during rehabilitation training. Lower limb data is collected using external auxiliary devices, but poor posture (such as hunchback) can also alter the mechanical pattern of the lower limb during lower limb data collection, thereby interfering with monitoring results. A kyphosis can cause the center of gravity to shift forward, affecting gait analysis and joint load assessment. If not corrected, it may lead to misjudgment of motor dysfunction or rehabilitation progress. Current research mostly focuses on the optimization of single sensors or the analysis of specific movements, while the comprehensive processing of complex factors (such as postural compensation and multimodal data fusion) is still imperfect. Therefore, it is necessary to develop more rigorous lower body motion monitoring methods that can compensate for individual differences and postural interference through the coordination of multiple components to improve the accuracy and applicability of monitoring. Summary of the Invention

[0005] The purpose of the present invention is to overcome the problems that the accuracy of the sensor is easily affected by human activities and the environment, bad posture interferes with data accuracy, and the height of the legs cannot be adjusted individually.

[0006] To achieve the above-mentioned purpose, the technical ideas adopted by the present invention to solve the technical problems are as follows:

[0007] A posture monitoring device for lower limb movement is provided. The device adopts an upper and lower split structure, with the upper part being a shoulder and back adjustment mechanism and the lower part being a lower limb motion capture unit. The shoulder and back adjustment mechanism is supported by a backboard, to which a shoulder locking assembly is connected via an elastic member. The shoulder and back adjustment mechanism opens the shoulder blades by pulling backward, correcting hunchback. The elastic member and the slider are linked by a connecting rod, and the slider slides on a vertical slide rail on the backboard. When the shoulder locking assembly is pushed forward, the connecting rod pushes the slider downward, compressing the elastic member, causing the shoulder locking assembly to rest against the user's shoulders. The elastic member rebounds, driving the shoulder locking assembly backward, pulling the user toward the backboard. As the user gradually approaches the backboard, the connecting rod retracts, driving the slider upward. A raised surface on the slider serves as a feedback node. When touched, it prompts the shoulders to open and pushes the chest forward, preventing the user from relying entirely on the backboard, which affects movement balance and lower limb posture monitoring.

[0008] The lower limb motion posture monitoring mechanism uses a passive articulated motion capture frame, which is fixed to the outside of the lower limb by auxiliary tools such as straps. The frame is hinged by lightweight rigid connecting rods and does not provide active support force. It only stretches and bends naturally with human movement. Each joint hinge point is equipped with a high-precision inertial measurement unit (IMU) to collect motion data such as joint angle and angular velocity in real time, realizing dynamic monitoring and analysis of lower limb motion posture. The entire system assists posture correction through a closed-loop mechanism of "bidirectional force application of shoulder and back + dynamic fitting support" while ensuring the accuracy and real-time performance of lower limb motion posture monitoring.

[0009] In order to achieve the above-mentioned purpose, the technical solution adopted by the present invention to solve the technical problem is:

[0010] Design a posture monitoring device and method for lower limb movement. The specific scheme is as follows:

[0011] A posture monitoring device for lower limb movement includes a monitoring component, wherein the monitoring component is arranged on a lower limb motion capture unit, and the lower limb motion capture unit also includes a capture frame that can deform with the movement of the human lower limb; a shoulder adjustment unit is arranged on the top of the lower limb motion capture unit, including:

[0012] a back support, the bottom of which is hinged to the lower limb motion capture unit;

[0013] A shoulder restraint assembly movably connected to the upper portion of the back support member via an elastic reset mechanism;

[0014] The feedback adjustment mechanism is slidably arranged on the back support component and linked to the shoulder restraint component.

[0015] Furthermore, the capture frame includes: a hip joint fixing member, hinged to the back support member via a rotating shaft, and arranged at the user's hip joint;

[0016] The thigh rod is hinged to the hip joint fixing member via a rotating shaft;

[0017] The calf rod is hinged to the thigh rod through a rotating shaft;

[0018] The foot rod is hinged to the calf rod through a rotating shaft;

[0019] The monitoring parts are respectively arranged at the hinges of each joint.

[0020] Furthermore, the calf rod comprises:

[0021] a fixed sleeve, the top end of which is hinged to the thigh rod;

[0022] A movable rod is telescopically arranged in the fixed sleeve;

[0023] The length adjustment mechanism is used to achieve the telescopic positioning of the movable rod.

[0024] Furthermore, the length adjustment mechanism includes:

[0025] Positioning holes are arranged at intervals along the length direction of both sides of the fixed sleeve;

[0026] The positioning claw has a movable end that is slidably connected to the movable rod and a fixed end that is movably engaged with the positioning hole;

[0027] The lifting rack is arranged on the fixed sleeve and abuts against the movable end of the positioning claw;

[0028] Among them, the relative movement of the fixed sleeve and the movable rod body drives the lifting rack to move relative to the positioning claw. The movable end of the positioning claw moves horizontally and can be selectively engaged with the positioning hole to achieve self-locking fixation after height adjustment.

[0029] Furthermore, a binding piece is provided on one side of the capture frame for connecting the capture frame and the user's legs.

[0030] Furthermore, the back support is a longitudinal arc-shaped elastic plate, the bending axis of which is parallel to the up and down direction of the user, and the arc is concave toward the back of the user, so as to dynamically adapt to the width of the user's back.

[0031] Furthermore, the shoulder restraint assembly includes:

[0032] The support arm is slidably mounted on the back support member and connected to the back support member via an elastic reset mechanism. The support arm slides perpendicular to the back support member and engages with the user's shoulders.

[0033] The movable connecting rod is arranged at the end of the supporting arm and is hinged to the feedback adjustment mechanism.

[0034] Furthermore, the feedback regulation mechanism includes:

[0035] The slide rail is opened along the length direction of the back support member, and a limit column is provided on the slide rail;

[0036] A slider, slidably connected to the slide rail;

[0037] The elastic clamping piece is arranged to clamp the slider and the limiting column, and is used to provide phased resistance for the sliding of the supporting arm.

[0038] A posture monitoring device for lower limb movement, the monitoring method of which includes:

[0039] S1. Length adjustment: Adjust the length of the calf rod 202 and lock it;

[0040] S2 wear fixed: the capture frame 20 is fixed to the user's lower limbs by the binding member 23;

[0041] S3 shoulder adjustment: The shoulder adjustment unit is provided on the user's back, so that the shoulder restraint assembly 14 of the support arm 141 fits the user's shoulder, the preload force of the elastic reset member 13 allows the user to maintain an upright position on the upper body;

[0042] S4. Data collection: The monitoring unit 21 is used to collect the movement data of each joint of the lower limbs.

[0043] Furthermore, in step S3 , the restraining force of the shoulder restraint assembly 14 on the shoulder is controlled by feedback adjusting the position of the mechanism 12 .

[0044] The beneficial effects of the present invention are:

[0045] 1. The monitoring components are installed at the joints of the lower limbs, and the capture frame is composed of multiple articulated rods. It can accurately follow the movement trajectory of the lower limbs of the human body and capture the movement data of the hip joints, thighs, calves, feet and other parts in real time. It can comprehensively and accurately reflect the movement posture of the lower limbs and provide reliable data support for motion analysis, rehabilitation treatment, etc.

[0046] 2. The back support features a longitudinally curved elastic plate that dynamically adapts to the width of the user's back. The shoulder restraint assembly is connected to the back support via an elastic reset mechanism, allowing for adaptive adjustment based on the user's shoulder shape and movement. The calf bar features a length adjustment mechanism to accommodate users of varying heights. These features ensure a better fit, improving wearer comfort and stability while minimizing discomfort from prolonged use.

[0047] 3. The length adjustment mechanism realizes the rapid adjustment and self-locking fixation of the calf rod length through the cooperation of the positioning hole, positioning claw and lifting rack; the feedback adjustment mechanism can control the restraining force of the shoulder restraint assembly on the shoulder, and through the design of the slide rail, slider and elastic clip, it provides phased resistance for the sliding of the support arm, which is convenient for users to flexibly adjust according to their own needs and movement status. The operation is simple and convenient, which improves the efficiency of equipment use. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 It is a schematic diagram of the structure of the present invention;

[0049] Figure 2 It is a schematic diagram of the structure of the shoulder and back adjustment unit and the hip joint fixing component;

[0050] Figure 3 This is a rear view of the shoulder adjustment unit and hip joint fixation components;

[0051] Figure 4 A top view of the shoulder and back adjustment unit and hip joint fixation components;

[0052] Figure 5 for Figure 4Cross-section along AA direction;

[0053] Figure 6 for Figure 5 Structural details of part B;

[0054] Figure 7 for Figure 5 Structural details of part A;

[0055] Figure 8 Schematic diagram of the feedback regulation mechanism structure;

[0056] Figure 9 Schematic diagram of the calf rod structure;

[0057] Figure 10 1 is a structural diagram of a calf rod;

[0058] Figure 11 for Figure 10 Cross-section along BB direction;

[0059] Figure 12 for Figure 11 Part C structural details;

[0060] Figure 13 This is a detailed diagram of the second structure of the calf rod;

[0061] Figure 14 for Figure 13 Part D structural details;

[0062] Figure 15 for Figure 14 Part E structural details;

[0063] Figure 16 Schematic diagram of the movable rod structure;

[0064] Figure 17 for Figure 16 Cross-section along CC direction;

[0065] Figure 18 Schematic diagram of the positioning claw structure;

[0066] Figure 19 Schematic diagram of the fixed casing structure.

[0067] The above drawings include the following reference numerals:

[0068] 10. Back support; 101. Slide rail; 1010. Limit rod; 1011. Protrusion; 12. Feedback adjustment mechanism; 121. Slider; 1221. Sliding column; 13. Elastic reset member; 14. Shoulder restraint assembly; 141. Support arm; 142. Active connecting rod; 15. Guide rod; 20. Capture frame; 201. Hip joint fixation component; 2010. Airbag; 2011. Curved bottom plate; 2012. Vertical plate; 2014. L-shaped movable plate; 2014a. Vertical plate; 2014b. Horizontal plate; 2015. Hip joint rod 1; 2016. Hip joint rod 2; 2017. Hip joint rod 3; 202. Large Leg rod; 2021, thigh rod one; 2022, thigh rod two; 203, calf rod; 2031, calf rod one; 2032, calf rod two; 20321, fixed sleeve; 203210, limit slot one; 20322, movable rod; 203220, limit slot two; 203221, guide slot; 204, foot rod; 21, monitoring component; 22, binding component; 30, positioning claw; 301, limit block; 3011, sliding slot; 302, hinged rod; 303, sliding rod; 31, lifting rack; 310, conical limit plate; 32, positioning hole; 40, wedge-shaped positioning block; 41, horizontal rod; 42, vertical rod. DETAILED DESCRIPTION

[0069] The technical solutions in the embodiments of the present invention will be described clearly and completely below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments, rather than all the embodiments.

[0070] In the description of the present invention, it should be understood that the terms "front", "back", "left", "right", "up", "down", "top", "bottom", "inside", "outside", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as limiting the present invention.

[0071] refer to Figure 1-19 The present invention provides a posture monitoring device for lower limb movement, which is mainly composed of a shoulder and back adjustment mechanism and a lower limb motion capture unit.

[0072] The shoulder and back adjustment unit is located at the top of the device and is hingedly connected to the top of the lower-limb motion capture unit via a back support 10, forming a split upper and lower structure. The lower-limb motion capture unit includes a capture frame 20 that deforms with the movement of the lower limbs. One side of the capture frame 20 is secured to the user's leg via a binding 22. Monitoring components 21 are located at each joint of the lower-limb motion capture unit and in the linkage mechanism of the shoulder and back adjustment unit to collect real-time motion data.

[0073] In specific implementation, the back support member 10 is a longitudinal arc-shaped elastic plate, which is arranged vertically as a whole, with its bending axis parallel to the up and down direction of the user, and the arc-shaped opening is concave inward toward the user's back. The back support member 10 is made of elastic stainless steel plate or glass fiber reinforced nylon composite material, and the surface is covered with a breathable silicone cushion layer to prevent scratches. A longitudinal slide rail 101 is provided in the middle of the back support member 10. The slide rail 101 has a "medium" cross-section and runs through the middle. Both sides are limit grooves extending into the interior of the slide rail 101. A limit rod 1010 is provided along the length direction of the through-section of the slide rail 101. A plurality of columnar protrusions 1011 are evenly arranged on one side of the limit rod 1010 along its length direction. The top of the protrusion 1011 is smooth and is used to slide with the slider 121 of the feedback adjustment mechanism 12.

[0074] The slider 121 is crafted from aluminum alloy or plastic into a rectangular parallelepiped structure with a through-channel running its length. This through-channel forms a sliding engagement with a stopper rod 1010 fixed to the back support. On the side of the slider 121 facing the user's back, an elastic snap-fit ​​assembly is provided. This includes multiple sets of cylindrical stopper grooves equidistantly spaced on the slider 121. Each set of stopper grooves houses a pressure feedback assembly consisting of a return spring and a sliding post 1221. One end of the return spring is fixed to the bottom of the stopper groove, while the other end is connected to the sliding post 1221. Equally spaced protrusions 1011 are arranged on the slide rail 101, with their spacing corresponding to the spacing between the stopper grooves. When the slider 121 slides along the stopper rod 1010 until the protrusions 1011 align with the stopper grooves, the protrusions 1011 push the sliding post 1221 outward, overcoming the spring force. This creates tactile contact with the user's back, prompting the user to keep their chest straight. As the slider continues to slide, the spring resets the slider.

[0075] In specific implementation, the shoulder restraint assembly 14 includes two support arms 141 and a movable connecting rod 142. The support arm 141 adopts an L-shaped buffer structure, and its specific structure is as follows: the support arm is formed by bending an aluminum alloy profile and is L-shaped as a whole. A 120° transition arc is formed between the horizontal section and the vertical section, and the arc matches the curve of the human shoulder and clavicle. The front surface of the vertical section is wrapped with a sponge buffer pad to fit the front area of ​​the human clavicle. The horizontal section is slidably arranged in two sliding holes symmetrically opened on the back support 10. An elastic reset member 13 is provided at the end of the horizontal section. This mechanism adopts a stainless steel compression spring. One end of the spring is fixed to the mounting seat at the end of the horizontal section by a pin, and the other end is connected to the adjustment base outside the sliding hole. When the user's shoulder leans forward, the horizontal section of the support arm moves forward along the sliding hole, and the spring is compressed between the end of the horizontal section and the base of the sliding hole, generating a rebound force; when the shoulder extends backward, the spring stretches to generate a reset traction force. This mechanism ensures that the support arm 141 only makes linear motion in the front-to-back direction through a matching sliding pair. The movable connecting rod 142 is T-shaped and includes a horizontal telescopic rod and a connecting rod with one end hinged to the horizontal telescopic rod. The horizontal telescopic rod adopts a two-section sleeve structure with a compression spring arranged inside. The two ends are hinged to the ends of the horizontal sections of the two support arms 141 through pins. The connecting rod is perpendicular to the horizontal telescopic rod, and its other end is hinged to the slider 121 of the feedback adjustment mechanism 12. When the user's shoulder extends backward, the support arm 141 moves backward under the drive of the human shoulder blade, and through the movable connecting rod 142 of the horizontal telescopic rod, the slider 121 is driven to slide upward along the slide rail 101. Conversely, when the shoulder is flexed forward, the spring retracts and pushes the entire connecting rod system to reset.

[0076] During specific implementation, the lower limb motion capture unit includes a capture frame 20 and a monitoring component 21 .

[0077] The capture frame 20 is a passive articulated frame made of lightweight aluminum alloy, including a hip joint fixing component 201, a thigh rod 202, a calf rod 203, and a foot rod 204. Each component is hinged by a rotating shaft to form a bionic joint structure.

[0078] In specific implementation, a hip joint fixing part 201 is provided at the bottom of the back support part 10. The main body of the hip joint fixing part 201 is a U-shaped aluminum alloy frame with an opening facing forward. It is light in weight and consists of an arc-shaped bottom plate 2011 and vertical upright plates 2012 on both sides. Independently inflated air bags 2010 made of medical-grade silicone material are respectively provided at the two inner corners of the U-shaped structure (i.e., the connection between the arc-shaped bottom plate and the vertical upright plate), and L-shaped movable plates 2014 are provided at the two open ends of the U-shaped structure (i.e., the free ends of the vertical upright plates 2012 on both sides). Its specific structure is as follows: the horizontal plate 2014b and the vertical plate 2014a form an L-shaped structure, wherein the horizontal plate 2014b extends inward, and the angle between its end and the vertical plate 2014a forms an arc-shaped clamping surface that fits the curve of the human body; the vertical plate 2014a is parallel to the vertical upright plate 2012 and is slidably connected by a slide groove. A bolt is provided in the slide groove, and the bolt passes through the threaded hole provided on the vertical upright plate 2012 and is threadedly connected to the vertical plate 2014a. Rotating the bolt drives the vertical plate 2014a to slide relative to the vertical upright plate 2012, thereby controlling the degree of closeness between the hip joint fixator 201 and the user's hip joint.

[0079] A vertical movable groove is provided at the bottom of the back support 10, and a corresponding movable groove of the same size is provided at the top of the hip joint fixing part 201, and the center lines of the two grooves remain coaxial. A tension spring is provided in the movable groove. The movable ends of the two springs are connected by a guide rod 15, and limit blocks are provided at both ends of the guide rod 15. A guide sleeve is provided at the outlet of the movable groove, which cooperates with the guide rod 15. The diameter of the limit block is larger than the inner diameter of the guide sleeve to form a mechanical stop. When the back support 10 and the hip joint fixing part 201 produce relative displacement, the guide rod 15 slides in the guide sleeve to ensure that the motion trajectory strictly maintains a vertical straight line. The two springs are stretched synchronously to provide a balanced return force. The distance between the back support 10 and the lower limb motion capture unit can be adjusted to adapt to different users.

[0080] Hip joint movable parts for supporting and simulating hip joint movement are also provided on both sides of the hip joint fixing part 201, including hip joint rod 1 2015, hip joint rod 2 2016 and hip joint rod 3 2017. Among them, hip joint rod 1 2015 is a shorter triangular rod with its bottom ends fixed to the hip joint fixing part 201 and its top end hinged to hip joint rod 2 2016.

[0081] As a stable support base for the hip joint's moving parts, it is similar to the support provided by the human torso for the hip joint. When the "torso" provides initial momentum, it provides a stable fulcrum for the entire hip joint movement, just as the human pelvis supports the hip joint, ensuring the foundation for force transmission for subsequent movements.

[0082] Hip Joint Rod 2 2016 is a rod with a certain inclination angle. Its top end is hinged to Hip Joint Rod 1 2015 and its bottom end is hinged to Hip Joint Rod 3 2017. It transmits force through its own angle changes. When the "torso" drives Hip Joint Rod 1 2015, Hip Joint Rod 2 2016 rotates through the hinge, transmitting force to Hip Joint Rod 3 2017. This simulates the force transmission caused by the contraction of muscles surrounding the human hip joint (such as the gluteus medius and iliopsoas muscles), driving thigh movement. For example, when the thigh swings forward during walking, this rod's changing inclination angle assists in achieving force transmission similar to muscle stretching and contraction.

[0083] Hip joint rod 3 2017 is shaped to fit between hip joint rod 2 2016 and thigh rod 202, typically at an angle to simulate multi-directional hip joint motion. Its upper end is hinged to hip joint rod 2 2016, and its lower end is hinged to thigh rod 202. By pivoting with hip joint rod 2 2016, it transmits force to thigh rod 202, simulating the movement of the thigh driven by the hip joint. For example, during human walking, the thigh swings forward or backward, initiated by the hip. This hinged rotation mimics the flexion, extension, and rotation of the hip joint, enabling thigh rod 202 to achieve similar motion.

[0084] These three hip rods are articulated to form a linkage mechanism that mimics the complex motion and force generation patterns of the human hip joint. Hip rod 1 2015 provides stable support, hip rod 2 2016 transmits and adjusts force, and hip rod 3 2017 directly drives thigh movement. Together, these three enable thigh rod 202 to swing in multiple angles and directions during walking, much like a human thigh, paving the way for subsequent calf and foot movement.

[0085] During specific implementation, the thigh rod 202 includes a thigh rod 1 2021 and a thigh rod 2 2022, wherein the thigh rod 1 2021 is in the shape of a straight rod and is the main support and power transmission structure of the thigh part. It is long and simulates the main shape of the femur. The upper end is connected to the hip joint rod 1 2015 through a hinge point, and is hinged to the hip joint rod 3 2017 below the hinge point. The lower end is connected to the main hinge point of the shank rod 203, directly transmitting the power from the hip joint. As the main load-bearing rod for thigh movement, it imitates the core supporting role of the femur when the human body walks, and efficiently transmits the power of the hip joint to the shank, ensuring the stability of the thigh swinging movement and the directness of the power transmission. The thigh rod 2 2022 has a rod with a certain angle, forming a combined structure with the thigh rod 1 2021. One end is hinged to the bottom of the hip joint rod 1 2015, and the other end is hinged to the shank rod 203. It helps to enhance the structural strength of the thigh part by forming a stable triangular geometric structure to disperse the force and avoid excessive force on a single rod. At the same time, it coordinates the multi-angle swing during thigh movement, making the thigh movement closer to the real human movement state, simulating the auxiliary support and coordination role of the thigh muscle group on the bones.

[0086] In practice, the shank bar 203 comprises a shank bar 1 2031 and a shank bar 2 2032. Shank bar 1 2031 is an inverted triangle, simulating the primary support structure of the shin. It is relatively sturdy and acts as a telescopic rod, the core of the shank's power transmission. Its top ends are hinged to the bottoms of thigh bar 1 2021 and thigh bar 2 22, respectively, and its lower end is hinged to the foot bar 204. This mimics the primary support and motion function of the shin during walking, directing power transmitted from the thigh to the foot, enabling the extension and retraction of the shank, ensuring stability and efficient power transmission during walking. Shank bar 2032 has a certain arc or curve, simulating the shape of the fibula or posterior calf muscles and tendons. It is relatively slender, with a bend at its top. Its hinge point with thigh bar 1 2021 is located above the hinge point between thigh bar 1 2021 and shank bar 1 2031, and its bottom is hinged to the foot bar 204. It assists the first blue main pole, enhancing the stability of the calf structure and distributing the force, while also simulating complex calf movements (such as slight twisting or side support). Its curved design better accommodates the various angles of the calf during walking, mimicking the fibula's auxiliary support of the tibia and the fine-tuning of calf movement by muscles and tendons, making calf movement more realistic than human mechanics.

[0087] The calf rod 2032 is composed of a fixed sleeve 20321, a movable rod 20322 and an adjustment mechanism:

[0088] The top end of the fixed sleeve 20321 is hinged to the thigh rod 202, and positioning holes 32 are evenly spaced along its length on either side. A retaining groove 203210 is provided in the middle of the fixed sleeve 20321 along its length. A lifting rack 31 is vertically arranged within this retaining groove 203210. The lifting rack 31 consists of a cylindrical rod and conical retaining plates 310 evenly spaced along its length, with the tips of the conical retaining plates 310 facing upward.

[0089] One end of the movable rod 20322 is telescopically inserted into the fixed sleeve 20321, and the other end is hingedly connected to the foot rod 204. A second limit slot 203220 is defined along the length of the movable rod 20322, extending from the top. The second limit slot 203220 corresponds to the first limit slot 203210. When the movable rod 20322 is inserted into the fixed sleeve 20321, the second limit slot 203220 and the first limit slot 203210 overlap and connect to form a sliding cavity. A rectangular accommodating cavity is defined in the upper half of the second limit slot 203220, extending therethrough. Guide grooves 203221 are provided on opposite sides of the rectangular accommodating cavity to engage with the adjustment mechanism.

[0090] The adjustment mechanism is composed of a lifting rack 31 , a positioning hole 32 and a positioning claw 30 on the fixed sleeve 20321 .

[0091] The positioning claw 30 includes a limit block 301, a hinge rod 302, a sliding rod 303, and a clamping portion. The clamping portion has two sets of clamping units, one on each side of the lower leg rod 2032 and clamped to the positioning hole 32. The clamping units are composed of several sets of wedge-shaped positioning blocks 40 and connecting rods. The clamping units include: a vertical rod 42 and three parallel horizontal rods 41 evenly spaced along the length of the vertical rod 42. The ends of the upper and lower horizontal rods 41 are respectively rotatably connected to the ends of the wedge-shaped positioning blocks 40. The connection is equipped with a torsion spring, which allows the wedge-shaped positioning blocks 40 to rotate around the horizontal rods 41 and automatically reset. The front end of the wedge-shaped positioning block 40 is W-shaped and adapts to the positioning hole 32. The spacing between the upper and lower horizontal rods 41 is equal to the spacing between the positioning holes 32, so that the wedge-shaped positioning blocks 40 and the positioning holes 32 correspond one-to-one. A sliding rod 303 is fixed at each end of the central horizontal rod 41. The sliding rod 303 slides within the guide groove 203221, and a spring is provided between the sliding rod 303 and the guide groove 203221. When the sliding rods 303 arranged on either side of the rectangular accommodating cavity move away from each other, the spring compresses, generating a reset tendency. The sliding rods 303 located on either side of the rectangular accommodating cavity are each hingedly connected to a hinged rod 302 at the end closest to the rectangular accommodating cavity. The two hinged rods 302 extend into the rectangular accommodating cavity in a V-shape, and the ends extending into the accommodating cavity are hingedly connected to the ends of the limit blocks 301. The two hinged rods 302 on the opposite side are also connected to a limit block 301. Due to the spring force, in the absence of external force, the sliding rods 303 drive the hinged rods 302 to tend to extend into the accommodating cavity, causing the limit blocks 301 to abut against each other. The two limiting blocks 301 are each provided with a sliding groove 3011 on one side facing the interior of the rectangular accommodating cavity. The two sliding grooves 3011 correspond to form a cylindrical sliding groove, and the lifting rack 31 is placed in the cylindrical sliding groove and slides against it.

[0092] When the fixed sleeve 20321 and the movable rod 20322 are relatively separated, that is, the height of the second shank rod 2032 is raised, the lifting rack 31 moves in the cylindrical slot, and the conical limit plate 310 gradually passes through the cylindrical slot from the tip, pushing the two limit blocks 301 apart. The limit blocks 301 move toward the outside of the rectangular accommodating cavity, pushing the hinge rod 302 to tilt toward the outside of the rectangular accommodating cavity, causing the two sliding rods 303 on both sides to move away from each other, driving the horizontal rod 41 to move away from the second shank rod 2032, and at the same time driving the wedge-shaped positioning block 40 to rotate a certain angle and slide out of the positioning hole 32. As the limit block 301 slides along the inclined side of the conical limit plate 310 to the horizontal bottom edge of the conical limit plate 310, the wedge-shaped positioning block 40 moves inward again and snaps into the corresponding positioning hole 32 in sequence, and the other components are reset. Since the bottom surface of the conical limiting plate 310 is horizontal, when the calf rod 2032 is subjected to a vertical downward force during walking, the top of the limiting block 301 abuts against the bottom surface of the conical limiting plate 310, which can achieve limit locking and prevent the fixed sleeve 20321 and the movable rod 20322 from being relatively close and offset.

[0093] When the height of the calf rod 2032 needs to be lowered, that is, the fixed sleeve 20321 and the movable rod 20322 need to be relatively close, the clamping parts on both sides are grasped by hand to move them away from the positioning hole 32. At this time, the sliding rod 303 drives the hinge rod 302 to slide, further moving the limit block 301 away. After adjusting the wedge-shaped positioning block 40 to the appropriate position, release the grip and all components are reset.

[0094] The foot bar 204 is a curved plate that matches the contours of the human foot. A binding 22 is attached to the front end to tether the user's foot for synchronized movement. The top of the rear end is hinged to the bottom of the calf bar 203. This allows for ankle dorsiflexion and plantar flexion with an angle of 0-50°. An IMU module is built into the hinge to collect ankle motion data.

[0095] The binding parts 22 are Velcro straps, which are respectively arranged on the inner sides of the thigh rod 202, the calf rod 203 and the foot rod 204. The length is adjustable and is used to fix the capture frame 20 to the outside of the user's lower limbs to avoid sensor displacement caused by soft tissue shaking.

[0096] During specific implementation, an IMU module is installed at each joint of the capture frame 20 for information collection. The monitoring component 21 is a multi-axis inertial measurement unit (IMU), model MPU-6050, with a sampling frequency of 100Hz. It includes a three-axis accelerometer with a range of ±16g, a three-axis gyroscope with a range of ±2000° / s, and a three-axis magnetometer. It is integrated into a sealed box at the joint of each joint and has an IP65 protection level, making it waterproof and dustproof. The IMU modules of the hip, knee, and ankle joints collect joint angle θ, angular velocity ω, and acceleration a data in real time, and transmit them to external terminals such as mobile phones and computers via Bluetooth 5.0.

[0097] The specific detection steps using a posture monitoring device for lower limb movement are as follows:

[0098] 1. Steps for wearing the device:

[0099] (1) Adjust the shoulder unit:

[0100] Place the back support 10 upright along the spine, ensuring the curved opening faces toward the back.

[0101] Adjust the support arm 141 of the shoulder restraint assembly 14 so that the L-shaped buffer structure fits tightly against the front of the clavicle. Adjust the preload of the elastic reset member 13 through the sliding hole to maintain moderate restraint.

[0102] Back support height adjustment:

[0103] Stretch guide rod 15 to adjust the appropriate spacing

[0104] Dual spring system automatically maintains balanced tension

[0105] (2) Fixed lower limb unit:

[0106] Put the U-shaped frame of the hip joint fixing device 201 on both sides of the pelvis

[0107] Rotate the adjusting bolt to make the arc-shaped clamping surface of the L-shaped movable plate 2014 close to the iliac crest

[0108] Inflate the airbags 2010 on both sides to ensure stable fixation

[0109] (3) Length adjustment:

[0110] Calf rod 2032 length adjustment:

[0111] Automatic progressive elongation by applying axial tension

[0112] When shortening, pull the clamping part to release the lock, and it will automatically lock after adjusting to the correct position.

[0113] Tie the thigh, calf and foot straps in turn, keeping them moderately tight (enough to insert a finger)

[0114] 2. Data collection steps:

[0115] System calibration:

[0116] Maintain an upright and stationary posture for 15 seconds to complete the automatic calibration of the IMU module

[0117] Confirm that the initial angle of each joint is zero on the terminal device

[0118] 3. Motion monitoring:

[0119] Perform normal exercise (walking / running / rehabilitation training)

[0120] Real-time acquisition of each joint IMU

[0121] 4. Data analysis steps:

[0122] Data transmission:

[0123] Transmit data to the terminal in real time via Bluetooth 5.0

[0124] Parameter calculation:

[0125] Gait symmetry index: SI = (left leg parameter - right leg parameter) / mean × 100%

[0126] Range of motion: ROM = θmax - θmin

[0127] Movement rhythmicity: CV = standard deviation / mean × 100%

[0128] The external terminal displays the lower limb motion trajectory in real time and analyzes parameters such as gait cycle, joint range of motion, center of gravity offset, etc. through preset algorithms for sports injury prevention or rehabilitation training evaluation.

[0129] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

Claims

1. A posture monitoring device for lower limb movement, comprising a monitoring element (21), characterized in that: The monitoring component (4) is arranged on the lower limb motion capture unit, and the lower limb motion capture unit further comprises a capture frame (20) that can be deformed along with the movement of the lower limbs of the human body; a shoulder and back adjustment unit is arranged on the top of the capture frame (20), comprising: a back support member (10), the bottom of which is hinged to the lower limb motion capture unit; A shoulder restraint assembly (14) is movably connected to the upper portion of the back support member (10) via an elastic reset mechanism (13); A feedback adjustment mechanism (12) is slidably arranged on the back support member (10) and linked to the shoulder restraint assembly (14).

2. The posture monitoring device for lower limb movement according to claim 1, characterized in that: The capture frame (20) includes: A hip joint fixing member (201) is connected to the bottom of the back support member (10) and is arranged at the user's hip joint; A thigh rod (202) is hinged to the hip joint fixing member (201) via a rotating shaft; The calf rod (203) is hinged to the thigh rod (202) via a rotating shaft; The foot rod (204) is hinged to the calf rod (202) via a rotating shaft; The monitoring components (4) are respectively arranged at the hinged positions of the joints.

3. The posture monitoring device for lower limb movement according to claim 2, characterized in that: The calf rod (203) comprises: A fixed sleeve (2031), the top end of which is hinged to the thigh rod (202); A movable rod (2032) is telescopically arranged in the fixed sleeve (2031); The adjustment mechanism is used to realize the telescopic positioning of the movable rod (2032).

4. The posture monitoring device for lower limb exercise according to claim 3, characterized in that: The regulatory bodies include: Positioning holes (2033) are arranged at intervals along the length direction of both sides of the fixed sleeve (2031); A positioning claw (2034), the movable end of which is slidably connected to the movable rod (2032), and the fixed end of which is movably engaged with the positioning hole (2033); A lifting rack (31) is provided on the fixed sleeve (2031) and abuts against the movable end of the positioning claw (2034); The relative movement of the fixed sleeve (2031) and the movable rod (2032) drives the lifting rack (2035) to move relative to the positioning claw (2034), and the movable end of the positioning claw (2034) moves horizontally and can selectively engage with the positioning hole (2033) to achieve self-locking fixation after height adjustment.

5. The posture monitoring device for lower limb exercise according to claim 2, characterized in that: A binding piece (22) is provided on one side of the capture frame (20) for connecting the capture frame (20) and the user's legs.

6. The posture monitoring device for lower limb exercise according to claim 1, characterized in that: The back support member (10) is a longitudinal arc-shaped elastic plate, the bending axis of which is parallel to the up-down direction of the user, and the arc is concave inward toward the back of the user, so as to dynamically adapt to the width of the user's back.

7. The posture monitoring device for lower limb exercise according to claim 1, characterized in that: The shoulder restraint assembly (14) comprises: The supporting arm (141) is slidably mounted on the back support member (10) and connected to the back support member (10) via an elastic reset mechanism (13). The supporting arm (141) slides perpendicularly to the back support member (10) and engages with the shoulders of the user. A movable connecting rod (142) is arranged at the end of the supporting arm (141) and is hinged to the feedback adjustment mechanism (12).

8. The posture monitoring device for lower limb exercise according to claim 7, characterized in that: The feedback regulating mechanism (12) comprises: A slide rail (101) is provided along the length direction of the back support member (10), and a limiting column (1011) is provided on the slide rail (101); A slider (121) is slidably connected to the slide rail (101); The elastic clamping member (122) is arranged to be clamped between the slider (121) and the limiting column (1011) and is used to provide phased resistance for the sliding of the supporting arm (141).

9. The posture monitoring device for lower limb exercise according to claim 1, characterized in that: The monitoring method is implemented using the device according to any one of claims 1 to 8, wherein the monitoring method comprises: S1. Length adjustment: Adjust the length of the calf rod (202) and lock it; S2. Wearing and fixing: The capture frame (20) is fixed to the user's lower limbs by a binding member (22); S3. Shoulder adjustment: The shoulder adjustment unit is set on the user's back so that the support arm (141) of the shoulder restraint assembly (14) fits the user's shoulder, and the preload force of the elastic reset member (13) keeps the user's upper body in an upright position; S4. Data collection: The movement data of each joint of the lower limbs are collected through the monitoring device (4).

10. The monitoring method according to claim 9, characterized in that: In step S3, the restraining force of the shoulder restraint assembly (14) on the shoulder is controlled by feedback adjusting the position of the mechanism (12).

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