Lower limb dyskinesia adjusting equipment and gait adjusting method

Abstract

The invention discloses lower limb dyskinesia adjusting equipment and a gait adjusting method, and the equipment comprises a wearing part which comprises a housing matched with a lower limb; the projection module comprises a projector arranged on the shell, and the projection angle of the projector is adjustable; the control unit comprises a control mainboard arranged in the shell and an acquisition module communicating with the control mainboard, and the acquisition module is configured to acquire gait data of the wearing piece in real time; the projector communicates with the control mainboard, and the control mainboard is configured to control and adjust the projection angle of the projector based on the gait data acquired by the acquisition module. The lower limb dyskinesia adjusting device prompts gait disorders by using vision, and the mechanism is that the lower limb dyskinesia adjusting device can provide external sensory cues for the patient and stimulate the visual system of the patient, so that neural activity of the premotor area is activated. Visual information is used for guiding gaits, and the deficiency of internal movement rhythm caused by basal ganglion dysfunction is made up.

Description

Technical Field

[0001] This invention relates to the technical field of sports rehabilitation equipment, and in particular to a device for adjusting lower limb movement disorders and a method for adjusting gait. Background Technology

[0002] Clinically, various factors can lead to gait disturbances, such as Parkinson's disease, or post-orthopedic surgery-related walking difficulties. Parkinson's disease is clinically characterized by resting tremor, bradykinesia, rigidity, and postural gait disturbances. Postural gait disturbances are a significant contributing factor to disability and severely impact patients' quality of life. Typical gait patterns in Parkinson's disease patients include shuffling steps, a forward-leaning gait, difficulty turning, and freezing of gait (FOG). Freezing of gait is a common gait disturbance in mid-to-late stages of Parkinson's disease, characterized by sudden, brief interruptions in gait, as if the feet are "frozen" in the ground, making it difficult to take a step. This symptom typically occurs when starting, turning, or reaching a destination and is a significant risk factor for falls. After orthopedic surgery, patients may also experience difficulty walking normally due to post-operative effects, requiring post-operative gait guidance.

[0003] To treat postural and gait disorders, lower limb rehabilitation equipment is usually required for gait adjustment. Existing lower limb rehabilitation equipment is relatively large, usually in the form of a rehabilitation bed or frame structure. Patients lie on the rehabilitation bed or walk within the frame, and corresponding monitoring equipment also needs to be set up separately. This means that patients who already have mobility difficulties need to go to a rehabilitation institution for rehabilitation. Moreover, such equipment is inconvenient to use and difficult to use in daily life. Summary of the Invention

[0004] In view of the problems of existing lower limb movement disorder adjustment devices being large in size and difficult to use in daily life, this invention is proposed.

[0005] Therefore, one objective of this invention is to provide a lower limb movement disorder adjustment device, the purpose of which is to provide a simple and easy-to-use rehabilitation aid that can be used in daily life to improve patient compliance and effectiveness in rehabilitation training.

[0006] To solve the above-mentioned technical problems, the present invention provides the following technical solution: a lower limb movement disorder adjustment device, comprising a wearable component including a housing adapted to the lower limb; a projection module including a projector disposed on the housing, the projection angle of the projector being adjustable; and a control unit including a control motherboard disposed within the housing and a data acquisition module communicating with the control motherboard, the data acquisition module being configured to acquire gait data of the wearable component in real time; the projector communicating with the control motherboard, the control motherboard being configured to control and adjust the projection angle of the projector based on the gait data acquired by the data acquisition module.

[0007] As a preferred embodiment of the lower limb movement disorder adjustment device of the present invention, the acquisition module includes an IMU sensor disposed in the housing for acquiring lower limb gait data, the gait data including but not limited to three-dimensional acceleration and three-dimensional angular velocity, for calculating gait.

[0008] As a preferred embodiment of the lower limb movement disorder adjustment device of the present invention, the acquisition module further includes a plantar pressure pad that is communicatively connected to the control motherboard. The plantar pressure pad is disposed on the sole of the patient's foot and is provided with a plurality of pressure sensors arranged in an array for acquiring plantar pressure distribution data.

[0009] As a preferred embodiment of the lower limb movement disorder adjustment device of the present invention, the control motherboard acquires gait data and plantar pressure distribution data in real time and calculates the projection angle of the projector.

[0010] Another object of the present invention is to provide a gait adjustment method, comprising the following steps: The patient's gait data was collected, including three-dimensional acceleration and three-dimensional angular velocity; Feature extraction was performed on the collected gait data to analyze the patient's gait characteristics; Based on the patient's gait characteristics, dynamic adjustment parameters for the projection are calculated, including angle adjustment and distance adjustment.

[0011] As a preferred embodiment of the gait adjustment method of the present invention, the gait data includes at least three-dimensional acceleration and three-dimensional angular velocity, as well as plantar pressure distribution data. By detecting the patient's leg movements and plantar pressure distribution, it is determined whether the patient is in the swing phase or the standing phase.

[0012] In a preferred embodiment of the gait adjustment method of the present invention, the analysis of the patient's gait characteristics involves determining the patient's gait characteristics by dividing the gait cycle through peak detection of coronal plane acceleration, wherein the three-dimensional acceleration is represented as A. （t） =[A x A y Az The coronal acceleration is A. y When A is satisfied y When the sustained pressure is >0.8g and the fluctuation is <0.2g, and the plantar pressure distribution data meets the normal standing distribution data, the plantar pressure is considered to be fully on the ground, and the standing phase is determined; when the coronal acceleration meets A... y A sudden drop of <0.3g followed by a peak >1.5g, and a rapid decrease in plantar pressure distribution data to near zero, indicates foot lift-off acceleration, classifying it as the swing phase; if the coronal acceleration does not satisfy A y A sustained dose >0.8g and a fluctuation <0.2g do not meet the A standard. y If a sudden drop of <0.3g is followed by a peak value of >1.5g, then the data is erroneous and should not be considered.

[0013] In a preferred embodiment of the gait adjustment method of the present invention, the three-dimensional angular velocity is expressed as ω. （t） =[ω x ω y ω z The angle adjustment includes calculating the target angle θ based on the change in the three-dimensional angular velocity in the sagittal plane. target =k·ω x（t） +θ init Where k is the adjustment coefficient, ω x（t） For the three-dimensional angular velocity in the sagittal plane, θ init This is the initial projection angle.

[0014] As a preferred embodiment of the gait adjustment method of the present invention, the distance adjustment includes calculating the target distance d. target =α·(0.5×L normal )×t swing Where α is the correction factor, L normal t represents the patient's normal walking stride length. swing The oscillation phase time.

[0015] As a preferred embodiment of the gait adjustment method of the present invention, it further includes: dynamically adjusting the projection mode according to the patient's gait characteristics; the projection mode has two types, namely a gait trigger mode and a continuous projection mode. When the gait characteristics meet the preset normal gait characteristics, the gait trigger mode is triggered. When the gait characteristics do not meet the preset normal gait characteristics, it is an abnormal gait, and the continuous projection mode is triggered. The duration of the continuous projection mode is controlled according to the degree of abnormality of the gait characteristics.

[0016] The beneficial effects of this invention are as follows: This invention utilizes visual cues to address gait disorders. The mechanism involves providing patients with external sensory cues that stimulate their visual system, thereby activating neural activity in the premotor cortex. When visual cues (such as lights, markers, etc.) appear ahead of the patient while walking, the patient focuses their attention on these cues, using visual information to guide their gait and compensate for the loss of internal motor rhythm due to basal ganglia dysfunction. These external cues can activate undamaged neural pathways (such as the cortex and parietal-premotor cortex), bypassing the automatic basal ganglia network, thereby improving the patient's gait rhythm and stability. Visual cues can significantly improve gait parameters such as stride length, cadence, and speed, and reduce the frequency and duration of frozen gait.

[0017] Furthermore, this invention provides patients with a simple and easy-to-use rehabilitation aid by incorporating two devices fixed to their legs. This aid can be used in daily life, improving patient compliance and the effectiveness of rehabilitation training. Visual cues help improve patients' quality of life and independence, reduce the risk of falls due to gait disturbances, and enhance their adaptability in home and social environments. The adjustable projector can be adapted to different patients and can automatically calculate and adjust the projection. It is simple and convenient to operate and can automatically record gait data, facilitating subsequent treatment. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the overall structure of the lower limb movement disorder adjustment device of the present invention.

[0020] Figure 2 This is a schematic diagram of the structure of the lower limb movement disorder adjustment device of the present invention from the rear view.

[0021] Figure 3 This is a schematic diagram of the mainboard of the lower limb movement disorder adjustment device of the present invention.

[0022] Figure 4 This is a schematic diagram of the IMU sensor in the lower limb movement disorder adjustment device of the present invention.

[0023] Figure 5 This is a flowchart illustrating the gait adjustment method of the present invention. Detailed Implementation

[0024] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0025] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0026] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that is mutually exclusive with other embodiments.

[0027] Secondly, the present invention is described in detail with reference to the schematic diagrams. When detailing the embodiments of the present invention, for ease of explanation, the cross-sectional views illustrating the device structure may be partially enlarged, not according to the usual scale. Furthermore, the schematic diagrams are merely examples and should not limit the scope of protection of the present invention. In addition, actual fabrication should include three-dimensional spatial dimensions of length, width, and depth.

[0028] Example 1

[0029] Reference Figures 1-4 The first embodiment of the present invention provides a lower limb movement disorder adjustment device. The device includes a wearable part 100, which includes a housing 101 adapted to the lower limb; and a projection module 200, which includes a projector 201 disposed on the housing 101, the projection angle of the projector 201 being adjustable.

[0030] The control unit 300 includes a control motherboard 301 disposed within the housing 101 and a data acquisition module 302 communicating with the control motherboard 301. The data acquisition module 302 is configured to acquire gait data of the wearable device 100 in real time. The projector 201 communicates with the control motherboard 301. The control motherboard 301 is configured to control and adjust the projection angle of the projector 201 based on the gait data acquired by the data acquisition module 302.

[0031] When in use, the wearable device 100 is fixed to the front of the patient's lower leg near the knee. The projection module 200 is mounted on the front of the wearable device 100, facing the patient's walking direction. Both the wearable device 100 and the projection module 200 can be made of plastic to reduce weight. The wearable device 100 is curved to fit the human leg, with its outer surface facing the direction of walking. The back of the wearable device 100 is padded, and straps are provided on both sides to secure the wearable device 100 to the patient's leg.

[0032] The projection module 200 includes a projector 201 and a driver. The driver is used to drive the projector 201 to rotate and adjust the projection angle and distance. The angle adjustment and distance adjustment are controlled independently and are driven by a stepper motor (angle) and a stabilizing motor (distance) respectively, so as to achieve fine angle adjustment. The stepper motor and the projector 201 are connected by gear transmission. The rotation of the stepper motor drives the projector 201 to adjust the pitch angle, and the stabilizing motor drives the projector 201 to translate along the sagittal plane to achieve the adjustment of the light spot projection distance. The adjustment range is 0~450mm, with an error of ±5mm.

[0033] The control unit 300 is housed inside the housing 101 and includes a control motherboard 301. The control motherboard houses a processor for calculating various data. A storage battery is also located within the housing 101 for power supply. Notably, the control motherboard 301 also features a wireless transmission unit supporting Bluetooth 5.0 and Wi-Fi dual-mode, using the MQTT protocol with TLS / SSL encryption to ensure latency <50ms. Gait data stored on the motherboard 205 is encapsulated in JSON format and automatically uploaded to a cloud server, allowing therapists to view it remotely via an app. The control unit 300 has several interfaces K on its side, which can be used to connect to an external power source for charging or to connect a data cable for data transmission.

[0034] The acquisition module 302 includes at least an IMU sensor 302a (inertial sensor), equipped with an accelerometer and a three-dimensional angular velocity meter, capable of acquiring the patient's gait acceleration A in the x / y / z three dimensions. （t） and three-dimensional angular velocity ω （t） The six-axis data, which serves as the basis for calculating the patient's gait, is input into the control motherboard 301 and calculated by the processor. After calculating how to adjust the projector 201, the driver is controlled to adjust the projection angle and distance of the projector 201.

[0035] A through slot is provided on the outer shell of the housing 101 corresponding to the position of the projector 201, for the projector 201 to project light spots outward.

[0036] During use, the device has two wearable parts 100, one on each of the patient's legs. Each part contains a data acquisition module 302, fixed to the patient's lower leg near the knee joint. The device is secured to the patient's lower leg near the knee with medical straps to ensure a tight fit against the skin and prevent data movement interference. The projector 201 is pointed in the patient's walking direction. The device is then activated to first acquire the patient's gait data before starting gait training. While the patient walks, the data acquisition module 302 collects the patient's gait time and distance parameters. Time parameters include, but are not limited to, the duration of each gait phase during each walk, such as ground contact time, stance time, and swing time. Distance parameters include, but are not limited to, stride width, stride length, stride speed, cadence, ground contact angle, ground takeoff angle, ground impact force, and walking cycle. The collected data is transmitted to the processor within the device for calculation, determining the patient's next foot placement. This position data is then transmitted to the driver, which controls the angle of the projector 201 based on the position information. The angle adjustment range is 0-24°, increasing in 2° increments, achieved through a motor and gear system. The distance adjustment range is 0-450mm, driven by a stabilizing motor that moves the projector 201 along the sagittal plane. The projector 201 projects a guide light spot to guide the patient's next foot placement. During walking, the acquisition module 302 continuously collects and stores the patient's gait data, which is wirelessly transmitted to the processor (delay <50ms). The processor synchronously controls the stepper motor (angle) and the stabilizing motor (distance) based on the gait data, dynamically adjusting the light spot position and refreshing the display every 100ms.

[0037] Example 2

[0038] Reference Figures 1-4 This is the second embodiment of the present invention. The difference between this embodiment and the first embodiment is that the acquisition module 302 further includes a plantar pressure pad 302b that is communicatively connected to the control motherboard 301. The plantar pressure pad 302b is disposed on the patient's foot and has several pressure sensors arranged in an array for acquiring plantar pressure distribution data.

[0039] Among them, the plantar pressure pad 302b can use a multi-point piezoresistive sensor (range 0~100N / cm², accuracy ±2%) to cover the heel, arch and forefoot, forming a pressure acquisition surface to collect pressure data of various parts of the foot when the patient lands. By pre-collecting plantar pressure data when landing under normal gait, it can be used to compare and judge the patient's abnormal gait.

[0040] The plantar pressure pad 302b also integrates a wireless transmission module, enabling wireless communication with the control motherboard 301 in the wearable device 100 for data transmission. A two-point or multi-point calibration method is used to record the output values ​​of each sensor under different test postures and calculate calibration coefficients. Plantar pressure data is acquired synchronously with gait data; a trigger signal activates the pressure sensor data acquisition function, with a sampling frequency of 50Hz.

[0041] The synchronization method can be achieved by IMU sensor 302a sending a hardware interrupt signal to the pressure acquisition module when it detects coronal plane acceleration >1.5g, starting pressure data recording, and plantar pressure pad 302b wirelessly transmitting the data synchronously to the control motherboard 301. The processor records the synchronization timestamp and aligns it with the timestamp of IMU sensor 302a.

[0042] Gait data includes, but is not limited to, three-dimensional acceleration and three-dimensional angular velocity, used to calculate gait. Combined with pressure distribution data collected by the plantar pressure pad 302b, it determines whether the foot landing posture is correct. For example, when the acceleration collected by the IMU sensor 302a is 0, it is determined that the patient is in the standing phase or has completed foot landing. At this time, plantar pressure distribution data in the standing or landing state can be detected. When the IMU sensor 302a is rapidly decreasing towards 0, it can be determined that the patient is in the process of foot landing. At this time, it can detect which parts of the patient's foot first contact the ground, thereby determining whether the patient's foot landing posture is correct.

[0043] After the gait data is calculated by the control board, it is determined whether the patient is walking or landing, and then, in conjunction with the plantar pressure distribution data, it is determined whether the patient's landing posture is correct.

[0044] Calculate parameters such as plantar pressure distribution pattern and pressure center movement trajectory, and compare and analyze them with a normal gait database.

[0045] , Where P i Let x be the pressure value measured by the i-th pressure sensor on the sole of the foot. i y i The coordinates of the sensor in the plantar coordinate system are given.

[0046] During use, the plantar pressure pad 302b synchronously collects data with the IMU sensor 302a as the patient walks. When the patient lands, the various piezoresistive sensors on the pad detect the pressure at different points on the sole of the foot, thus determining whether the patient's landing posture is correct. For example, based on the data collected by the IMU sensor 302a, if the outer edge of the patient's foot generates pressure before the inner edge, it indicates that the patient is not landing on the forefoot or heel, and the landing posture is incorrect. After the patient has fully landed, the IMU sensor 302a detects that the corresponding leg acceleration is 0, indicating that the patient has landed completely. It then collects the pressure distribution data of the patient's foot to determine if there is any abnormal pressure in any area and generates a corresponding plantar pressure report for review.

[0047] The remaining structure is the same as that in Example 1.

[0048] Example 3

[0049] refer to Figure 5 The third embodiment of the present invention differs from the above embodiments in that it provides a gait adjustment method, including the following steps: The patient's gait data was collected, including three-dimensional acceleration and three-dimensional angular velocity. Feature extraction is performed on the collected gait data to analyze the patient's gait characteristics and obtain gait parameters such as stride length, gait frequency, and gait speed. Based on the patient's gait characteristics, the dynamic adjustment parameters of the projection are calculated, including angle adjustment and distance adjustment.

[0050] When powered on, the IMU unit 204 is calibrated, and the zero point and sensitivity are set. The zero point is the initial point when the patient is standing and stable, and the sensitivity is the data change amplitude when data acquisition is started. The IMU unit 204 acquires data at a sampling frequency of 100Hz.

[0051] The acquired gait data is low-pass filtered with a cutoff frequency of 1Hz to eliminate high-frequency noise.

[0052] The filtered gait data is normalized, and acceleration is converted. Unit: m / s 2 3D angular velocity conversion , in rad / s.

[0053] Gait data includes three-dimensional acceleration A （t） =[A x A y A z and three-dimensional angular velocity ω （t） =[ω x ω y ωz The three dimensions are: x is the sagittal plane, y is the coronal plane, and z is the horizontal plane. A pressure-collecting insole is also installed on the sole of the patient's foot. Several pressure sensors are distributed on the surface of the insole to detect the plantar pressure distribution data of the patient's foot, which can be used to determine whether the patient is standing with the sole of their foot on the ground correctly.

[0054] Furthermore, referring to the table below, the standing and oscillating phases are determined by coronal acceleration A. y Peak detection is used to divide gait cycles, where the standing phase determination condition is A. y If the weight is consistently >0.8g and fluctuates <0.2g, the oscillating phase determination condition is A. y A sudden drop of <0.3g was followed by a peak of >1.5g.

[0055] If the coronal acceleration does not satisfy A y A sustained dose >0.8g and a fluctuation <0.2g do not meet the A standard. y If a sudden drop of <0.3g is followed by a peak value of >1.5g, then the data is erroneous and should not be considered.

[0056] Table 1

[0057] Table 1 shows how to determine whether a patient is in the standing or swinging phase using coronal plane acceleration in three-dimensional acceleration, specifically based on acceleration data detected by IMU sensor 302a.

[0058] Gait data also includes, but is not limited to, stride length L, cadence f, and gait speed v.

[0059] The formula for calculating stride length L is: L = k × leg length × sinθ, where L is the stride length, the clinical calibration coefficient k = 0.415, and θ is the lower leg swing angle, θ = ∫ω y（t） d t (ω) y (Sagittal three-dimensional angular velocity of the patient's lower leg swing angle).

[0060] The formula for calculating step frequency f is: f = N / t, where f is the step frequency, N is the number of gait cycles per unit time, t is the statistical time, and N = A / t per unit time. y The peak quantity (peak threshold > 1.5g).

[0061] The formula for calculating step speed v is: v = L × f, where L is the step length and f is the step frequency.

[0062] The projection target angle of projector 201 is calculated based on the three-dimensional angular velocity in the gait data. This is based on the three-dimensional angular velocity ω in the sagittal plane. x（t） Calculate the change in target angle θ target =k·ωx（t） +θinit, where k is the adjustment coefficient (0.5-1.2), ω x（t） θ is the three-dimensional angular velocity in the sagittal plane (unit: ° / s). init The initial projection angle is set to 12° by default. The stepper motor-driven gear system adjusts the optical module to the target angle with an adjustment accuracy of ±0.5°.

[0063] The projection distance of the projector 201 is calculated based on the step length and swing phase time in the gait parameters.

[0064] Calculate the target distance d target =α·(0.5×L normal )×t swing Where α is the correction factor (0.8-1.2), L normal t represents the patient's normal walking stride length. swing This refers to the swing phase time. The drive motor adjusts the projection distance to the target distance, with an error range of ±5mm.

[0065] The projection mode is dynamically adjusted based on the patient's gait characteristics.

[0066] Furthermore, it also includes dynamically adjusting the projection mode based on the patient's gait characteristics, namely the gait trigger mode: the light spot follows the patient's steps (when A is detected). y The light automatically turns off when the weight drops by less than 0.3g; otherwise, it projects light spots to simulate a natural gait rhythm. Continuous projection mode: the light spots remain lit continuously, suitable for balance training.

[0067] Furthermore, based on the patient's gait characteristics, the system automatically determines whether to switch modes.

[0068] First, determine if the patient's gait is abnormal.

[0069] Normal gait refers to a patient's gait characteristics meeting pre-set normal gait data, i.e., triggering the gait triggering mode. Abnormal gait is divided into mild and severe abnormal states. Mild abnormality: gait frequency f meets 0.3Hz ≤ f < 0.5Hz or stride asymmetry meets 15% ≤ asymmetry ≤ 25%, maintained for 5-10 gait cycles; severe abnormality: gait frequency f meets f < 0.3Hz or stride asymmetry > 25%, maintained for 10-20 gait cycles. When stride asymmetry > 15% or turning time > 3 seconds is detected, the central processing unit 206 controls the mode switching. For example, as shown in the table below, when the patient's gait meets the conditions for mild abnormality, the central processing unit 206 switches the projection mode from gait triggering mode to continuous projection mode and maintains it for 5-10 cycles. After the required number of cycles, it re-determines whether there is an abnormality. If there is still an abnormality, the continuous projection mode is maintained.

[0070] Table 2

[0071] Table 2 shows the criteria for determining minor and severe abnormalities, and controls the number of maintenance cycles of the continuous projection mode according to different abnormal states. Each cycle is the number of normal steps the patient takes.

[0072] It is important to note that the constructions and arrangements of this application shown in several different exemplary embodiments are merely illustrative. Although only a few embodiments are described in detail in this disclosure, those who consult this disclosure will readily understand that many modifications are possible (e.g., changes in the size, dimensions, structure, shape and proportion of various elements, as well as parameter values ​​(e.g., temperature, pressure, etc.), mounting arrangements, use of materials, color, orientation, etc.) without substantially departing from the novel teachings and advantages of the subject matter described in this application). For example, an element shown as integrally formed may be composed of multiple parts or elements, the position of elements may be inverted or otherwise changed, and the nature or number or position of discrete elements may be altered or changed. Therefore, all such modifications are intended to be included within the scope of the invention. The order or sequence of any process or method steps may be changed or rearranged according to alternative embodiments. Therefore, the invention is not limited to the particular embodiments but extends to a variety of modifications that still fall within the scope of the appended claims.

[0073] Furthermore, in order to provide a concise description of exemplary embodiments, not all features of actual embodiments (i.e., those features that are not relevant to the currently considered best mode for carrying out the invention, or those features that are not relevant to implementing the invention) may be omitted.

[0074] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A device for adjusting lower limb movement disorders, characterized in that: include, Wearable device (100), which includes a shell (101) adapted to the lower limb; The projection unit (200) includes a projector (201) disposed on a housing (101), the projection angle of the projector (201) being adjustable; as well as, The control unit (300) includes a control motherboard (301) disposed within a housing (101) and a data acquisition module (302) communicating with the control motherboard (301), the data acquisition module (302) being configured to acquire gait data of the wearer (100) in real time; The projector (201) communicates with the control board (301), which is configured to control and adjust the projection angle of the projector (201) based on gait data acquired by the acquisition module (302).

2. The lower limb movement disorder adjustment device according to claim 1, characterized in that: The acquisition module (302) includes an IMU sensor (302a) disposed in the housing (101) for acquiring lower limb gait data, the gait data including three-dimensional acceleration and three-dimensional angular velocity, for calculating gait characteristics.

3. The lower limb movement disorder adjustment device according to claim 1 or 2, characterized in that: The acquisition module (302) also includes a plantar pressure pad (302b) that is communicatively connected to the control motherboard (301). The plantar pressure pad (302b) is placed on the patient's foot and is provided with several pressure sensors arranged in an array for collecting plantar pressure distribution data.

4. The lower limb movement disorder adjustment device according to claim 3, characterized in that: The control motherboard (301) acquires gait data and plantar pressure distribution data in real time and calculates the projection angle of the projector (201).

5. A gait adjustment method, comprising using the lower limb movement disorder adjustment device as described in any one of claims 1 to 4 for gait adjustment, characterized in that: include, Collect gait data from patients; Feature extraction was performed on the collected gait data to analyze the patient's gait characteristics; Based on the patient's gait characteristics, dynamic adjustment parameters for the projection are calculated, including angle adjustment and distance adjustment.

6. The gait adjustment method according to claim 5, characterized in that: The gait data includes at least three-dimensional acceleration and three-dimensional angular velocity, as well as plantar pressure distribution data. By detecting the patient's leg movements and plantar pressure distribution, it is determined whether the patient is in the swing phase or the standing phase.

7. The gait adjustment method according to claim 6, characterized in that: The analysis of patients' gait characteristics involves determining gait characteristics by dividing the gait cycle through peak coronal plane acceleration detection. The three-dimensional acceleration is represented by A. （t） =[A x A y A z The coronal acceleration is A. y When A is satisfied y When the sustained pressure is >0.8g and the fluctuation is <0.2g, and the plantar pressure distribution data meets the normal standing distribution data, the plantar pressure is considered to be fully on the ground, and the standing phase is determined; when the coronal acceleration meets A... y A sudden drop of <0.3g followed by a peak of >1.5g, and a rapid decrease in plantar pressure distribution data to near 0, indicate foot lift-off acceleration, which is identified as the swing phase. If the coronal acceleration does not satisfy A y A sustained dose >0.8g and a fluctuation <0.2g do not meet the A standard. y If a sudden drop of <0.3g is followed by a peak value of >1.5g, then the data is erroneous and should not be considered.

8. The gait adjustment method according to claim 7, characterized in that: The three-dimensional angular velocity is expressed as ω. （t） =[ω x ω y ω z The angle adjustment includes calculating the target angle θ based on the change in the three-dimensional angular velocity in the sagittal plane. target =k·ω x（t） +θ init Where k is the adjustment coefficient, ω x（t） For the three-dimensional angular velocity in the sagittal plane, θ init This is the initial projection angle.

9. The gait adjustment method according to claim 7 or 8, characterized in that: The distance adjustment includes calculating the target distance d. target =α·(0.5×L normal )×t swing Where α is the correction factor, L normal t represents the patient's normal walking stride length. swing The oscillation phase time.

10. The gait adjustment method according to claim 9, characterized in that: It also includes dynamically adjusting the projection mode based on the patient's gait characteristics; The projection mode has two types: gait trigger mode and continuous projection mode. When the gait feature meets the preset normal gait feature, the gait trigger mode is triggered. When the gait feature does not meet the preset normal gait feature, it is an abnormal gait and the continuous projection mode is triggered. The duration of the continuous projection mode is controlled according to the degree of abnormality of the gait feature.

Images