Running machine for rehabilitation training

Abstract

The invention discloses a treadmill for rehabilitation training, and relates to the technical field of medical rehabilitation equipment, in order to solve the problem that an existing treadmill cannot meet rehabilitation requirements of special crowds, the treadmill comprises a rack, a double-running-belt mechanism is arranged on the rack, and the double-running-belt mechanism comprises two running belts which are arranged in parallel and are independently controlled; the suspension mechanism is arranged at the top of the rack and used for providing upward weight reduction force for the human body, the projection mechanism is arranged at the top of the rack and used for projecting a rehabilitation training game to the running belt, and the six-axis gyroscope is used for detecting the acceleration vector of the human body and the inclination angle of the human body posture in real time; the camera assembly is arranged on the machine frame and used for recognizing the stepping speed of the left limb and the right limb of the human body, the control mechanism is in signal connection with the double-running-belt mechanism, the suspension mechanism, the projection mechanism, the six-axis gyroscope and the camera assembly, and therefore it can be ensured that a rehabilitation training scheme always meets the individual requirement and the real-time state of a patient, and the rehabilitation requirement of special crowds is met.

Description

Technical Field

[0001] This invention relates to the field of medical rehabilitation equipment technology, and more specifically, to a treadmill for rehabilitation training. Background Technology

[0002] As people's living standards improve, the demand for sports and health is increasing. More and more medical institutions are using smart technologies to assess patients' rehabilitation levels and obtain differentiated data on the movement postures of patients and non-patients, while also using smart systems to assist patients with mobility disorders in rehabilitation treatment.

[0003] However, most mainstream treadmills currently available are single-belt treadmills. The synchronous drive design of a single-belt treadmill cannot meet the needs of patients with significant differences in muscle strength between their left and right limbs, leading to a higher risk of falls and lower limb pain during use. Furthermore, the training process can be monotonous, potentially causing patients to give up.

[0004] Therefore, how to solve the problem that existing treadmills cannot meet the rehabilitation needs of special populations is an urgent problem to be solved by those skilled in the art. Summary of the Invention

[0005] In view of this, the purpose of the present invention is to provide a treadmill for rehabilitation training, which can accurately analyze the patient's exercise status and rehabilitation progress by acquiring the patient's exercise data in real time, ensuring that the rehabilitation training program always meets the individual needs and real-time status of the patient, realizing truly personalized rehabilitation training, improving rehabilitation effect, and thus meeting the rehabilitation needs of special populations.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] A treadmill for rehabilitation training includes:

[0008] frame;

[0009] A dual treadmill belt mechanism is mounted on the frame. The dual treadmill belt mechanism includes two treadmill belts arranged in parallel and controlled separately.

[0010] The suspension mechanism, located at the top of the frame, is used to provide an upward weight-reducing force for the human body.

[0011] The projection mechanism, located at the top of the rack, is used to project rehabilitation training games onto the treadmill belt.

[0012] A six-axis gyroscope is used to detect the acceleration vector of the human body and the tilt angle relative to the body posture in real time.

[0013] A camera assembly, mounted on a frame, is used to identify the stepping speed of the left and right limbs of a human body;

[0014] The control mechanism is connected to the dual treadmill belt mechanism, suspension mechanism, projection mechanism, six-axis gyroscope, and camera assembly via signals.

[0015] Preferably, the control mechanism includes a control cabinet and a display mounted on a rack. The control cabinet includes a controller and a wireless communication module. The wireless communication module is used to transmit the controller's operating data and the patient's rehabilitation data to the display and external devices. The display is equipped with a start button.

[0016] Preferably, the frame is also equipped with handrails on both sides, and the handrails are equipped with emergency stop buttons.

[0017] Preferably, the dual treadmill belt mechanism further includes two sets of drive mechanisms. Each drive mechanism includes a first motor, a drive wheel, and a driven wheel. The treadmill belt is wound around the drive wheel and the driven wheel. The drive wheel is located on the output shaft of the first motor, and the driven wheel is rotatably connected to the frame.

[0018] Preferably, the first motor is equipped with an encoder, which is used to detect the transmission speed of the treadmill belt in real time and send the measured speed information to the control mechanism.

[0019] Preferably, the suspension mechanism includes a second motor, a reducer, and an elastic vest. The second motor is connected to the reducer, and the output shaft of the reducer is connected to the elastic vest via a tether.

[0020] Preferably, the suspension mechanism further includes an electromagnetic brake, which is located on the second motor and is signal-connected to the control mechanism.

[0021] Preferably, the six-axis gyroscope is a wearable sensor worn on the waist.

[0022] Preferably, the camera assembly includes a depth camera and an image processor. The depth camera is used to identify the stepping speed of the left and right limbs of the human body, and the image processor is used to process the image data acquired by the depth camera and send the processed speed information to the control mechanism.

[0023] Preferably, the bottom of the frame is equipped with casters with braking function.

[0024] The treadmill for rehabilitation training provided by this invention includes a frame, a dual running belt mechanism, a suspension mechanism, a projection mechanism, a six-axis gyroscope, a camera assembly, and a control mechanism. Specifically, the dual running belt mechanism is located on the frame and includes two parallel and independently controlled running belts. The dual running belt mechanism can independently control the speed of each running belt, achieving different tread speeds for the left and right limbs, perfectly adapting to situations of left and right limb incoordination. This allows patients to maintain comfort and balance during running, providing personalized rehabilitation training for the left and right limbs and helping to improve rehabilitation outcomes. The suspension mechanism is located at the top of the frame and provides upward weight-reduction force to the body. For patients with insufficient lower limb strength who cannot bear their full weight during training, the weight-reduction force provided by the suspension mechanism can effectively reduce the weight-bearing burden on the lower limbs, enabling patients to perform rehabilitation training on the treadmill. During rehabilitation training, the suspension mechanism provides upward weight-reduction force to the body, supporting the body to a certain extent. Even if the patient experiences imbalance or instability during training, they will not fall directly, thus effectively reducing the risk of falls and enhancing safety during training.

[0025] The projection mechanism, located at the top of the rack, projects rehabilitation training games onto the treadmill. By projecting various games onto the treadmill, patients are no longer engaged in monotonous repetitive exercises but can participate in fun games, effectively increasing their participation and motivation, and reducing the boredom and psychological burden of the rehabilitation process. Furthermore, the projection mechanism can dynamically adjust the content and difficulty of the rehabilitation games according to the patient's individual condition and rehabilitation stage, meeting the needs of patients at different stages and improving the effectiveness and relevance of the rehabilitation training. A six-axis gyroscope is used to detect the human body's acceleration vector and tilt angle in real time. Once an abnormal change is detected, the control mechanism can appropriately reduce the speed of the treadmill or increase the weight reduction ratio of the suspension mechanism to adapt to the patient's real-time condition, improving the effectiveness and safety of the rehabilitation training and preventing falls and injuries.

[0026] The camera component, mounted on the rack, identifies the stepping speed of the left and right limbs, providing precise speed data to the control mechanism. This allows the control mechanism to accurately adjust the speed of the dual treadmill belts, ensuring that the speed of the left and right belts matches the stepping speed of the patient's left and right limbs, thereby improving the accuracy and personalization of rehabilitation training. The control mechanism is signal-connected to the dual treadmill belt mechanism, suspension mechanism, projection mechanism, six-axis gyroscope, and camera component. As the core hub, the control mechanism organically integrates the dual treadmill belt mechanism, suspension mechanism, projection mechanism, six-axis gyroscope, and camera component, achieving efficient collaboration among these mechanisms. Using real-time patient motion data acquired by the six-axis gyroscope and camera component, such as the stepping speed of the left and right limbs, the sum of the body's acceleration vectors, and the body's posture angle, the control mechanism can accurately analyze the patient's motion state and rehabilitation progress. Based on this data, the control mechanism can dynamically adjust parameters such as the speed of the dual treadmill belts, the weight reduction ratio of the suspension mechanism, and the game difficulty of the projection mechanism, ensuring that the rehabilitation training program always meets the individual needs and real-time status of the patient, achieving truly personalized rehabilitation training and improving rehabilitation outcomes. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0028] Figure 1 This is a schematic diagram of the structure of the treadmill for rehabilitation training provided by the present invention;

[0029] Figure 2 for Figure 1 A structural diagram from another perspective.

[0030] Figure label:

[0031] 1-Frame; 2-Dual treadmill belt mechanism; 3-Suspension mechanism; 4-Projection mechanism; 5-Six-axis gyroscope; 6-Camera assembly; 7-Display; 8-Handrail; 9-Emergency stop button; 10-Human body. Detailed Implementation

[0032] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0033] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0034] It should be noted that the directional terms such as "up" and "down" in the following text are defined based on the accompanying drawings in the instruction manual.

[0035] The core of this invention is to provide a treadmill for rehabilitation training. By acquiring real-time patient exercise data, it can accurately analyze the patient's exercise status and rehabilitation progress, ensuring that the rehabilitation training plan always meets the individual needs and real-time status of the patient, realizing truly personalized rehabilitation training, improving rehabilitation effects, and thus meeting the rehabilitation needs of special populations.

[0036] Please refer to Figure 1 and Figure 2 A treadmill for rehabilitation training includes a frame 1, a dual running belt mechanism 2, a suspension mechanism 3, a projection mechanism 4, a six-axis gyroscope 5, a camera assembly 6, and a control mechanism.

[0037] Specifically, the dual treadmill belt mechanism 2 is located on the frame 1. It comprises two parallel and independently controlled treadmill belts. This mechanism allows for individual speed control of each belt, enabling different tread speeds for the left and right limbs. This perfectly adapts to situations where the left and right limbs are uncoordinated, allowing patients to maintain comfort and balance during running. It provides personalized rehabilitation training for each limb, contributing to improved rehabilitation outcomes. The suspension mechanism 3 is located at the top of the frame 1 and provides upward weight-reduction force to the human body 10. For patients with insufficient lower limb strength who cannot bear their full weight during training, the weight-reduction force provided by the suspension mechanism 3 effectively reduces the load on the lower limbs, allowing them to perform rehabilitation training on the treadmill. During rehabilitation training, the suspension mechanism 3 provides upward weight-reduction force to the human body 10, supporting it to a certain extent. Even if the patient experiences imbalance or instability during training, they will not fall directly, effectively reducing the risk of falls and enhancing safety during training.

[0038] The projection mechanism 4, located at the top of the frame 1, projects rehabilitation training games onto the treadmill belt. By projecting various rehabilitation training games onto the treadmill belt, patients are no longer engaged in monotonous repetitive exercises but can participate in fun games, effectively increasing their participation and enthusiasm, and reducing the boredom and psychological burden of the rehabilitation process. Furthermore, the projection mechanism 4 can dynamically adjust the content and difficulty of the rehabilitation training games according to the patient's individual condition and rehabilitation stage to meet the rehabilitation needs of patients at different stages, improving the effectiveness and relevance of the rehabilitation training. The six-axis gyroscope 5 is used to detect the acceleration vector and tilt angle of the human body 10 in real time. Once an abnormal change in the human body 10 is detected, the control mechanism can appropriately reduce the speed of the treadmill belt or increase the weight reduction ratio of the suspension mechanism 3 to adapt to the patient's real-time condition, improving the effectiveness and safety of the rehabilitation training and preventing falls and injuries.

[0039] Camera component 6, mounted on frame 1, identifies the stepping speeds of the left and right limbs of the human body 10, providing precise speed data to the control mechanism. This allows the control mechanism to accurately adjust the speed of the dual treadmill belts, ensuring that the speeds of the left and right belts match the stepping speeds of the patient's left and right limbs, thereby improving the accuracy and personalization of rehabilitation training. The control mechanism is signal-connected to the dual treadmill belt mechanism 2, suspension mechanism 3, projection mechanism 4, six-axis gyroscope 5, and camera component 6. As the core hub, the control mechanism organically integrates the dual treadmill belt mechanism 2, suspension mechanism 3, projection mechanism 4, six-axis gyroscope 5, and camera component 6, achieving efficient collaboration among these mechanisms. Utilizing real-time patient motion data acquired by the six-axis gyroscope 5 and camera component 6, such as the stepping speeds of the left and right limbs, the sum of the acceleration vectors of the human body 10, and the body posture tilt angle of the human body 10, the control mechanism can accurately analyze the patient's motion state and rehabilitation progress. Based on this data, the control mechanism can dynamically adjust parameters such as the speed of the dual running belts, the weight reduction ratio of the suspension mechanism 3, and the game difficulty of the projection mechanism 4, ensuring that the rehabilitation training program always meets the individual needs and real-time status of the patient, achieving truly personalized rehabilitation training and improving rehabilitation outcomes. The treadmill designed for rehabilitation training using the above method integrates a dual running belt mechanism 2, a suspension mechanism 3, a projection mechanism 4, a six-axis gyroscope 5, and a camera component 6. It can meet the fitness needs of people with left and right limb incoordination, weakened lower limb strength, and a high risk of falls. In particular, it relates to a treadmill system for rehabilitation training that integrates projection game technology. This system aims to address the limitations of existing treadmill designs for people with left and right limb incoordination and weakened lower limb strength, and to increase safety and enjoyment during use.

[0040] The rehabilitation training games projected by the projection mechanism 4 (which can be a projector) can provide patients with a variety of training methods, transforming tedious rehabilitation training into fun games. This effectively improves patients' enthusiasm and participation, allowing them to complete rehabilitation training tasks in a relaxed and enjoyable atmosphere, thereby promoting better rehabilitation outcomes. This embodiment lists five specific implementation methods for the games, but in practical applications, the implementation methods are not limited to these five games.

[0041] In one feasible embodiment, the projection mechanism 4 projects a series of stepping stones onto the treadmill belt. These stepping stones are arranged at certain intervals and sizes. The patient needs to walk according to the projected stepping stones. The camera component 6 monitors the patient's left and right limb stepping speed and gait information in real time. Based on this data, the system dynamically adjusts the position, size, and spacing of the stepping stones to provide a personalized rehabilitation training plan based on the patient's real-time gait information, meeting the rehabilitation needs of different patients. For example, if the patient's gait is unstable during walking, the system will automatically increase the spacing between the stepping stones, giving the patient more time to adjust their steps; if the patient's gait is stable, the system will gradually decrease the spacing, increasing the training difficulty, allowing the patient to improve gait stability and coordination through continuous challenges, thereby enhancing the effectiveness of rehabilitation training.

[0042] In one feasible embodiment, randomization elements, such as random variation levels and stepping stone obstacles, are added to the stepping stone game. These random elements appear randomly on the running belt, and the patient needs to react quickly and avoid the obstacles while walking. A six-axis gyroscope 5 monitors the patient's acceleration vector and body tilt angle in real time, and dynamically adjusts the frequency and location of the obstacles based on this data. For example, when the patient's reaction speed is detected to be slow, the control mechanism will appropriately reduce the frequency of obstacle appearances, allowing the patient more time to adapt; when the patient's reaction speed increases, the control mechanism will increase the complexity of the obstacles. The randomized obstacle settings require the patient to continuously adjust their pace and reaction speed during walking, which helps improve the patient's reaction ability and motor coordination, enabling the patient to better cope with complex walking environments.

[0043] In one feasible embodiment, the projection mechanism 4 projects various obstacles, such as virtual stones and branches, onto the treadmill belt. The patient needs to avoid these obstacles while walking. This process requires the patient to constantly adjust their balance and stride, which helps improve gait stability and reduce swaying and instability during walking. The camera assembly 6 and six-axis gyroscope 5 monitor the patient's motion and gait information in real time, dynamically adjusting the type, size, and position of the obstacles based on this data. For example, for patients in the early stages of rehabilitation, the system projects smaller, simpler obstacles; as the patient's rehabilitation progresses, the system gradually increases the size and complexity of the obstacles, increasing the training difficulty.

[0044] In one feasible embodiment, the treadmill accelerates and decelerates according to a preset speed change pattern. The projection mechanism 4 projects corresponding speed cues, such as virtual signs or speed bars, onto the running belt to guide the patient in adaptive gait adjustments. By continuously adjusting the treadmill speed, the patient needs to quickly adapt to different speed changes during walking, which helps improve the patient's gait adaptability and enables them to better cope with various walking scenarios in daily life. The camera component 6 monitors the patient's left and right limb stepping speed and gait rhythm in real time, and dynamically adjusts the treadmill's speed change pattern based on this data. For example, if the patient experiences gait instability during acceleration, the control mechanism will appropriately reduce the acceleration amplitude; if the patient can adapt to the speed changes smoothly, the control mechanism will increase the frequency and amplitude of speed changes.

[0045] In one feasible embodiment, the projection mechanism 4 projects patterns such as sine waves or narrow stripes onto the treadmill belt to guide the patient in curved or sequential walking training. Curved and sequential walking training requires the patient to continuously adjust their balance and stride during walking, which helps improve gait stability and reduce swaying and instability. The camera assembly 6 and six-axis gyroscope 5 monitor the patient's motion and gait information in real time, dynamically adjusting the frequency and width of the patterns based on this data. For example, for patients in the early stages of rehabilitation, the control mechanism projects wider, lower-frequency patterns; as the patient's rehabilitation progresses, the control mechanism gradually reduces the pattern width and increases the frequency, increasing the training difficulty.

[0046] In the above embodiment, the control mechanism includes a control cabinet and a display 7 mounted on the rack 1. The control cabinet includes a controller and a wireless communication module. The wireless communication module is used to transmit the controller's operating data and the patient's rehabilitation data to the display 7 and external devices. The display 7 is equipped with a start button. The start button is signal-connected to the controller.

[0047] It should be noted that the wireless communication module transmits the controller's operational data and the patient's rehabilitation data to the display 7 in real time. Patients and operators can view this data at any time during training, such as the treadmill speed, the weight reduction ratio of the suspension mechanism 3, the stepping speed of the left and right limbs, the sum of the acceleration vectors of the human body 10, and the body posture angle of the human body 10. Real-time data monitoring provides patients with immediate feedback, helping them better understand their training status and progress. It also provides operators with important reference information for timely adjustments to the training plan. The controller can store operational data and the patient's rehabilitation data, which can be permanently archived as the patient's rehabilitation record. Through the wireless communication module, this data can also be transmitted to external devices, such as computers, tablets, or cloud servers, facilitating long-term tracking and analysis of the patient's rehabilitation progress by rehabilitation therapists.

[0048] The start button on display 7 is connected to the controller signal, enabling operators to start the rehabilitation training program with simple button operation, simplifying the operation process and improving the ease of use of the equipment and user experience.

[0049] In the above configuration, handrails 8 are also provided on both sides of the frame 1, and emergency stop buttons 9 are provided on the handrails 8. The emergency stop buttons 9 are connected to the controller signal.

[0050] Understandably, during rehabilitation training, patients may need to immediately stop the treadmill due to physical discomfort, emergencies, or operational errors. In such emergencies, patients can quickly press the emergency stop button 9. Upon receiving the signal, the controller instantly activates the emergency braking mechanism, causing the treadmill belt to stop rapidly. This rapid response mechanism significantly shortens the time from the discovery of danger to stopping the equipment, effectively preventing serious injuries caused by delayed braking and providing patients with the most direct and effective safety guarantee.

[0051] Among them, the emergency stop button 9, as an emergency control device independent of the normal stop procedure, adds an extra layer of safety to the treadmill used for rehabilitation training. It works in conjunction with other safety measures on the treadmill (such as the emergency locking of the suspension mechanism 3 and speed anomaly monitoring) to build a comprehensive safety protection system. Even if other safety systems malfunction or fail to respond in time, the emergency stop button 9 can quickly intervene to ensure the patient's safety, giving patients and operators greater peace of mind during use.

[0052] The emergency stop button 9 is located on the handrail 8, on both sides of the frame 1, taking into full account the patient's posture and operating habits during rehabilitation training. While walking or running, the patient can easily reach the emergency stop button 9 with their fingers while naturally gripping the handrail 8. This allows for rapid braking in emergencies without requiring significant adjustments to body posture or searching for the button. This easily accessible design improves ease of operation, enabling patients to react quickly when needed and enhancing their control over the equipment.

[0053] Furthermore, the dual treadmill belt mechanism 2 also includes two drive mechanisms, each comprising a first motor, a drive wheel, and a driven wheel. The treadmill belt is wound around the drive wheel and the driven wheel. The drive wheel is located on the output shaft of the first motor, and the driven wheel is rotatably connected to the frame 1. Specifically, the dual treadmill belt mechanism 2, which allows for independent speed control, enables the left and right treadmill belts to achieve different tread speeds for the left and right limbs. This perfectly adapts to the incoordination of the left and right limbs in people with disabilities, allowing them to maintain comfort and balance during running.

[0054] It should be noted that the operation of the first motor is controlled by a control mechanism to drive the drive wheel to rotate, which in turn drives the treadmill belt to rotate synchronously. The treadmill belt then drives the driven wheel to rotate. During use, by controlling the operation of the first motor, the speed of the treadmill belt can be controlled, allowing for different tread speeds for the left and right limbs. This perfectly adapts to situations where the left and right limbs are uncoordinated, allowing patients to maintain comfort and balance during running. It provides personalized rehabilitation training for the left and right limbs, helping to improve rehabilitation outcomes.

[0055] In the above embodiment, the first motor is equipped with an encoder, which is used to detect the transmission speed of the treadmill belt in real time and send the measured speed information to the control mechanism.

[0056] Understandably, by installing an encoder on the first motor, the transmission speed of the treadmill belt can be detected accurately in real time, ensuring that the patient maintains an appropriate exercise intensity during training and improving the effectiveness of rehabilitation training. In one feasible embodiment, the speed difference between the left and right treadmill belts can be monitored in real time. When the speed difference between the two sides exceeds 1.8 km / h for more than 10 seconds, a voice prompt is automatically triggered and the speed gradient is reduced. This not only promptly reminds the patient to pay attention to the speed difference and avoid the risk of falls due to uncoordinated movement of the left and right limbs, but also automatically adjusts the speed of the treadmill belt to ensure the patient's safety. When an excessive speed difference is detected, the control mechanism informs the patient through a voice prompt to attract their attention and enable them to react quickly.

[0057] The first motor is a brushless motor with a peak torque of 4.2 N·m, which not only provides sufficient power but also boasts high reliability and durability. The low noise and low vibration characteristics of the brushless motor provide a more comfortable training environment for patients, while its long lifespan reduces equipment maintenance costs and replacement frequency, thus improving the overall reliability of the equipment.

[0058] Based on the above embodiments, the suspension mechanism 3 includes a second motor, a reducer, and an elastic vest. The second motor is connected to the reducer, and the output shaft of the reducer is connected to the elastic vest via a tether.

[0059] It should be noted that the human body 10 receives an upward weight-reducing force through the suspension mechanism 3, which accounts for a certain percentage of the weight of the human body 10. This not only reduces the burden on the lower limbs but also enhances the applicability and safety of the treadmill, making it particularly suitable for people with weakened lower limb strength.

[0060] In the above embodiment, the suspension mechanism 3 further includes an electromagnetic brake, which is located on the second motor and is signal-connected to the control mechanism.

[0061] Understandably, an electromagnetic brake is installed in suspension mechanism 3. When an abnormal situation is detected (such as the patient suddenly losing balance or other emergencies), the control mechanism activates the electromagnetic brake quickly, locking the output shaft of the second motor and immediately stopping the elastic vest. The electromagnetic brake can lock within 300ms, with a braking distance of less than 5cm. During emergency braking, this extremely short braking distance means the patient moves a very short distance on the treadmill belt, thus reducing the risk of falls or collisions due to inertia.

[0062] In a preferred embodiment, the six-axis gyroscope 5 is a waist-worn sensor used to detect the acceleration vector of the human body 10 and the body posture tilt angle of the human body 10 in real time, and to send the measured information to the control mechanism.

[0063] It should be noted that the wearable waist sensor can detect the acceleration vector sum and body posture tilt angle of the human body 10 in real time, providing continuous and real-time motion status data to the control mechanism. This allows the control mechanism to monitor the patient's movement at any time during training and promptly detect any abnormal or unstable states. For example, when the patient experiences imbalance, sudden acceleration, or sudden deceleration, the sensor can immediately capture these changes and send the data to the control mechanism for analysis and processing. After receiving the acceleration vector sum and body posture tilt angle data, the control mechanism can accurately assess the patient's motion status based on preset safety thresholds and the rehabilitation training plan. If the patient's motion status is detected to be outside the safe range or inconsistent with the training plan, corresponding measures can be taken immediately, such as adjusting the speed of the treadmill belt, increasing the weight reduction ratio of the suspension mechanism 3, or issuing voice prompts, to ensure that the patient remains in a safe and effective motion state throughout the training process, thereby improving the effectiveness and safety of rehabilitation training.

[0064] Among them, the gyroscope is a high-precision sensor capable of accurately measuring the acceleration vector and tilt angle of the human body 10 in three-dimensional space. During rehabilitation training, the gyroscope can capture subtle changes in the patient's body movements in real time, such as tilt angle and rotation speed, enabling the control mechanism to accurately assess the patient's motion status and provide more scientific and accurate data support for rehabilitation training. For example, when the patient's tilt angle exceeds a preset safety threshold, the control mechanism can immediately activate an emergency braking mechanism, lock the treadmill belt, and adjust the weight-reducing force of the suspension mechanism 3 to prevent the patient from falling and getting injured.

[0065] In one feasible embodiment, when the six-axis gyroscope 5 detects that the sum of the acceleration vectors of the human body 10 is less than 0.7G and lasts for more than 200ms, or when the body tilt angle is greater than 45° and increases rapidly within 300ms, it indicates that the body is tilting uncontrollably and the human body 10 is in a state of weightlessness (characteristics of the initial stage of a fall). At this time, the speed of the treadmill belt can be adjusted, the weight reduction ratio of the suspension mechanism 3 can be increased, or voice prompts can be issued to ensure that the patient remains in a safe and effective exercise state throughout the training process, thereby improving the effectiveness and safety of rehabilitation training. In practical applications, the conditions for determining that the human body 10 has fall characteristics can be adjusted according to the actual situation.

[0066] In the above scenario, camera assembly 6 includes a depth camera and an image processor. The depth camera is used to identify the stepping speed of the human body's left and right limbs, and the image processor is used to process the image data acquired by the depth camera and send the processed speed information to the control mechanism.

[0067] Understandably, depth cameras can accurately and in real-time identify the stepping speed of the left and right limbs. Through advanced image acquisition technology, depth cameras can capture every subtle movement of the patient on the treadmill, including the lifting and lowering of the feet and the rhythm of the gait. The image processor quickly and accurately processes the acquired image data, extracting the stepping speed information of the left and right limbs. The processed speed information can be sent to the control mechanism in real time, allowing the control mechanism to dynamically adjust the speed of the treadmill, the weight reduction ratio of the suspension mechanism 3, and other relevant parameters based on the patient's real-time stepping speed. This ensures that the patient remains in a suitable exercise state throughout the training process, improving the effectiveness and safety of rehabilitation training.

[0068] In the above embodiment, the bottom of the frame 1 is provided with casters with braking function.

[0069] It should be noted that the omnidirectional wheels allow the treadmill used for rehabilitation training to move easily between different positions. The brakes on the wheels ensure stability during use, guaranteeing patient safety.

[0070] Furthermore, a ramp is provided for patients to access the treadmill belt. For patients undergoing rehabilitation, especially those with limited mobility or weakness, getting on and off the treadmill can be challenging. The ramp design provides a simple, safe, and convenient way for patients to easily transition from the ground to the treadmill belt, reducing the difficulty and risks associated with getting on and off the treadmill, and improving the accessibility and ease of use of the equipment.

[0071] In summary, the treadmill for rehabilitation training provided by this invention employs a dual-belt mechanism with independently pacing capabilities, enabling different treading speeds for the left and right limbs to accommodate individuals with left-right limb incoordination. It utilizes a suspension mechanism 3 with weight-reduction function, providing upward weight-reduction force to the human body 10 to accommodate individuals with weakened lower limb abilities. A gyroscope is used to monitor the posture and movement of the human body 10 in real time; if a fall risk is detected, the suspension mechanism 3 is locked to prevent falls. A projector projects footprints, obstacles, and other elements onto the running belt, transforming rehabilitation training into an engaging game activity, increasing training motivation and participation. The game difficulty can also be dynamically adjusted based on the patient's real-time performance, ensuring the training's adaptability and challenge. A depth camera identifies the running speed of the human body 10 in real time and, combined with preset training speed levels, provides accurate user scoring, helping patients understand their training progress and shortcomings, facilitating timely adjustments to the rehabilitation plan and improving the targetedness and effectiveness of rehabilitation training.

[0072] It should be noted that in this specification, relational terms such as first and second are used only to distinguish one entity from several other entities, and do not necessarily require or imply any such actual relationship or order between these entities.

[0073] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0074] The present invention provides a detailed description of a treadmill for rehabilitation training. Specific examples have been used to illustrate the principles and implementation methods of the invention. The descriptions of these embodiments are merely illustrative of the method and core ideas of the invention. It should be noted that those skilled in the art can make various improvements and modifications to the invention without departing from its principles, and these improvements and modifications also fall within the scope of protection of the present invention.

Claims

1. A treadmill for rehabilitation training, characterized in that, include: Rack (1); A dual treadmill belt mechanism (2) is provided on the frame (1). The dual treadmill belt mechanism (2) includes two treadmill belts arranged in parallel and controlled separately. The suspension mechanism (3) is located at the top of the frame (1) and is used to provide an upward weight-reducing force for the human body (10). A projection mechanism (4) is located on the top of the frame (1), and the projection mechanism (4) is used to project rehabilitation training games onto the running belt; A six-axis gyroscope (5) is used to detect the acceleration vector and tilt angle of the human body (10) in real time; A camera assembly (6) is provided on the frame (1), and the camera assembly (6) is used to identify the stepping speed of the left and right limbs of a human body; The control mechanism is signal-connected to the dual running belt mechanism (2), the suspension mechanism (3), the projection mechanism (4), the six-axis gyroscope (5), and the camera assembly (6).

2. The treadmill for rehabilitation training according to claim 1, characterized in that, The control mechanism includes a control cabinet and a display (7) located on the rack (1). The control cabinet includes a controller and a wireless communication module. The wireless communication module is used to transmit the operating data of the controller and the patient's rehabilitation data to the display (7) and external devices. The display (7) is equipped with a start button.

3. The treadmill for rehabilitation training according to claim 2, characterized in that, The frame (1) is also provided with handrails (8) on both sides, and an emergency stop button (9) is provided on the handrails (8).

4. The treadmill for rehabilitation training according to claim 1, characterized in that, The dual running belt mechanism (2) also includes two sets of drive mechanisms. The drive mechanism includes a first motor, a drive wheel and a driven wheel. The running belt is wound around the drive wheel and the driven wheel. The drive wheel is located on the output shaft of the first motor. The driven wheel is rotatably connected to the frame (1).

5. The treadmill for rehabilitation training according to claim 4, characterized in that, The first motor is equipped with an encoder, which is used to detect the transmission speed of the treadmill belt in real time and send the measured speed information to the control mechanism.

6. The treadmill for rehabilitation training according to claim 1, characterized in that, The suspension mechanism (3) includes a second motor, a reducer and an elastic vest. The second motor is connected to the reducer, and the output shaft of the reducer is connected to the elastic vest via a tether.

7. The treadmill for rehabilitation training according to claim 6, characterized in that, The suspension mechanism (3) also includes an electromagnetic brake, which is located on the second motor and is signal-connected to the control mechanism.

8. The treadmill for rehabilitation training according to claim 1, characterized in that, The six-axis gyroscope (5) is a wearable sensor worn on the waist.

9. The treadmill for rehabilitation training according to any one of claims 1-8, characterized in that, The camera assembly (6) includes a depth camera and an image processor. The depth camera is used to identify the stepping speed of the left and right limbs of a human body. The image processor is used to process the image data acquired by the depth camera and send the processed speed information to the control mechanism.

10. The treadmill for rehabilitation training according to claim 9, characterized in that, The bottom of the frame (1) is equipped with casters with braking function.

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