Lower limb rehabilitation device for children with cerebral palsy

Abstract

The utility model discloses a lower limb rehabilitation device for children with cerebral palsy, and relates to the technical field of medical treatment. Comprising a seat and a pedal mechanism arranged at the front end of the seat, the pedal mechanism comprises a permanent magnet motor, a first pedal and a second pedal, and the first pedal and the second pedal are correspondingly arranged on the two sides of the permanent magnet motor; the system further comprises a host, VR glasses, an upper computer, a permanent magnet motor driver and a detection unit of a pedal mechanism. The detection unit is arranged on the pedal mechanism and is in communication connection with the host; the VR glasses and the upper computer are in communication connection with the host; and the permanent magnet motor driver is arranged on the permanent magnet motor and is connected with the upper computer. Games presented by the VR glasses add fun to rehabilitation, multi-sensory stimulation of the VR glasses promotes plasticity of brain nerves, training time can be effectively prolonged, training frequency and intensity are improved, a new way is developed for rehabilitation treatment of children with cerebral palsy, and the rehabilitation process of the children with cerebral palsy is powerfully promoted. The structure is simple and easy to realize, and the experience of cerebral palsy children is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to medical technology field especially, relate to a cerebral palsy children lower limbs rehabilitation device. BACKGROUND

[0002] Cerebral palsy (CP) is a non-progressive brain injury syndrome, mainly manifested as central motor disorders and abnormal posture, and is a common motor disorder disease in children. The occurrence of cerebral palsy is closely related to abnormal brain development or injury, which may cause a series of problems such as movement, perception, cognition, communication and behavior disorders in patients.

[0003] The rehabilitation treatment of cerebral palsy children is a long-term and complex process. Rehabilitation equipment has covered the action mechanism of sound, light, electricity, magnetism, heat and mechanical etc. so far, and has become an indispensable treatment method in clinical rehabilitation treatment. Traditional rehabilitation methods include physical therapy, occupational therapy and speech therapy, but these methods often have limited efficiency and high dependence on therapists. With the development of technology and the progress of virtual reality technology, the research and development of cerebral palsy children rehabilitation device has become a new research field.

[0004] Therefore, a cerebral palsy children lower limbs rehabilitation device is proposed to overcome the difficulties existing in the prior art, which is a problem that needs to be solved by those skilled in the art. CONTENT OF THE UTILITY MODEL

[0005] Therefore, the cerebral palsy children lower limbs rehabilitation device provided by the utility model has a scientific and reasonable structure design, low equipment construction and operation cost, low failure rate and long service life, and can effectively help children to stimulate the brain for rehabilitation through movement.

[0006] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0007] A cerebral palsy children lower limbs rehabilitation device comprises:

[0008] A seat, a foot pedal mechanism arranged at the front end of the seat, the foot pedal mechanism comprising a permanent magnet motor, a first pedal and a second pedal, the first pedal and the second pedal being arranged on the two sides of the permanent magnet motor correspondingly;

[0009] Further comprising a host computer, a VR glasses, an upper computer, a permanent magnet motor driver and a detection unit of the foot pedal mechanism;

[0010] The detection unit is arranged on the foot pedal mechanism and is in communication connection with the host computer;

[0011] The VR glasses and the upper computer are in communication connection with the host computer;

[0012] The permanent magnet motor driver is mounted on the permanent magnet motor and connected to the host computer.

[0013] Optionally, the host device of the aforementioned apparatus may include a database and a microcontroller connected in communication.

[0014] Optionally, the detection unit of the above-mentioned device includes a Hall sensor, a first HX711 sensor and a second HX711 sensor arranged in parallel.

[0015] The Hall sensor is mounted on the permanent magnet motor, the first HX711 sensor is mounted on the first pedal, and the second HX711 sensor is mounted on the second pedal.

[0016] The Hall sensor, the first HX711 sensor, and the second HX711 sensor are respectively connected to the microcontroller of the host computer.

[0017] Optionally, the aforementioned device may also include a millimeter-wave radar that communicates with the host computer.

[0018] Optionally, the aforementioned device may also include a monitoring terminal that communicates with the host computer.

[0019] As can be seen from the above technical solution, compared with the prior art, this utility model provides a lower limb rehabilitation device and method for children with cerebral palsy, which has the following beneficial effects:

[0020] 1) Games in VR glasses add fun to the rehabilitation process. This immersive experience can attract children's attention and make them more willing to actively participate in rehabilitation training. For children with cerebral palsy who have difficulty concentrating and are easily bored by repetitive movements, the fun of VR games can effectively extend their training time and increase the frequency and intensity of training.

[0021] 2) By combining VR games with motor assistance, the motor can drive the legs to rotate, allowing children to feel that their legs are participating in the movement. This positive feedback will enhance their confidence in rehabilitation and stimulate their intrinsic motivation for rehabilitation.

[0022] 3) VR glasses not only provide visual stimulation, but also auditory stimulation through sound effects in the game (such as the sound of bicycle bells and ambient sounds); at the same time, the motor drives the legs to rotate, allowing children to feel tactile and kinesthetic stimulation of their limbs; this multi-sensory stimulation helps the brain’s neuroplasticity and promotes the reconstruction of neural pathways.

[0023] 4) The device has a simple structure and is easy to implement and control, improving the user experience. Attached Figure Description

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description only represent some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of the provided drawings.

[0025] Figure 1 A structural block diagram of a cerebral palsy child lower limb rehabilitation device is disclosed in the present application.

[0026] Figure 2 A schematic diagram of a cerebral palsy child lower limb rehabilitation device is disclosed in the present application.

[0027] Figure 3 A structural schematic diagram of a 3144E switch type Hall sensor integrated module is disclosed in the present application.

[0028] Figure 4 An internal circuit diagram of a 3144E switch type Hall sensor integrated module is disclosed in the present application.

[0029] Figure 5 A typical circuit diagram of a HX711 sensor is disclosed in the present application. DETAILED DESCRIPTION

[0030] The technical solutions in the embodiments of the present application will be described clearly and completely in the following with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments only represent some embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0031] In the present application, the relationship terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between the entities or operations, the term "comprise", "include" or any other variant thereof is intended to cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or equipment. Without more limitation, the element defined by the statement "comprising a" does not exclude the presence of other identical elements in the process, method, article or equipment including the element.

[0032] REFERENCE Figure 1 and 2As shown, a cerebral palsy child lower limb rehabilitation device comprises:

[0033] The seat 1, the foot pedal mechanism 2 arranged at the front end of the seat, the foot pedal mechanism 2 comprising a permanent magnet motor 21, a first pedal 22 and a second pedal 23, the first pedal 22 and the second pedal 23 being arranged on both sides of the permanent magnet motor 21 correspondingly;

[0034] Further comprising a host computer 3, a VR glasses 4, a host computer 5, a permanent magnet motor driver, a detection unit of the foot pedal mechanism 2;

[0035] The detection unit is arranged on the foot pedal mechanism 2 and is in communication connection with the host computer 3;

[0036] The VR glasses 4 and the host computer 5 are in communication connection with the host computer 3;

[0037] The permanent magnet motor driver is arranged on the permanent magnet motor 21 and is connected with the host computer 5.

[0038] The host computer 3 comprises a database and a single-chip microcomputer in communication connection.

[0039] The detection unit comprises a Hall sensor, a first HX711 sensor and a second HX711 sensor arranged in parallel;

[0040] The Hall sensor is arranged on the permanent magnet motor 21, the first HX711 sensor is arranged on the first pedal 22, and the second HX711 sensor is arranged on the second pedal 23;

[0041] The Hall sensor, the first HX711 sensor and the second HX711 sensor are in communication connection with the single-chip microcomputer of the host computer 3 respectively.

[0042] Further comprising a millimeter wave radar and a supervision end in communication connection with the host computer 3.

[0043] Further comprising a Unity platform in communication connection with the VR glasses 4 and the host computer 5.

[0044] The Hall sensor adopts a 3144E switch type Hall sensor, which is used for measuring the speed and pedal frequency of the spinning bike. Figure 3 , which includes two output modes: 1 if the output is a digital quantity DO, the analog quantity AO is invalid, 2 if the output DO, AO is invalid, and cannot be used simultaneously. The internal circuit is shown in Figure 4 .

[0045] Millimeter wave radar: used for measuring distance or motion information, such as:

[0046] 77G breathing heartbeat R77ABH1

[0047] Output content

[0048] Some / No one activity / Static signs of the size of the respiratory vital signs heart rate detection

[0049] Product size <60x45x5mm

[0050] Operating frequency 77-78Hz

[0051] Transmit power 10dBm

[0052] Product power consumption 5V / 250mA

[0053] Operating voltage 3.3V

[0054] Output format serial / high-low level

[0055] Installation direction top / sloping down / horizontal

[0056] Detection direction 5V / 250mA

[0057] Installation height 2m

[0058] Respiratory heartbeat observation range (R) Radar and thoracic linear distance 0.1-2m.

[0059] HX711 sensor is a weighing sensor for weight measurement. Integrated in acrylic thickness: 10kg thick 4.5mm, 20kg and 40kg thick 7mm;

[0060] Suitable sensor size: long 89mm, wide 22mm, thick 2lmm sensor line length: about 20cm; The sensor interface on the weighing platform is: XH2.54-4P; Product size 130*95mm. See Figure 5 The typical circuit diagram of HX711 sensor, wherein L1 is used for isolating analog and digital units, and Q1 is used for shutting off the sensor and ADC unit.

[0061] In one specific embodiment, the Unity platform is used to build pictures into the VR glasses 4 and transmit data to the host computer 5 and then to the database. The Unity platform builds a VR scene including basic elements for building a VR scene, sets the lighting effect of the scene, adds materials to the objects in the scene, and if interaction with VR is needed, the interface provided by the VR plugin can be used to obtain the input information of the handle.

[0062] The VR plugin is a SteamVR plugin, which realizes accurate detection of handle operation through the SteamVR_Input_Sources class, including capturing handle button pressing operation signals and triggering corresponding events in the Unity scene according to pre-set logic, and obtaining handle joystick moving direction and amplitude information and converting it into scene character view rotation or object translation, rotation and other operations.

[0063] In one specific embodiment, the single-chip microcomputer, connected with the millimeter wave radar, is used to control the signal transmission and reception process of the millimeter wave radar, analyze and process the reflected waves to extract the vital sign data of the child, including the heart rate and the respiration rate; connected with the HX711 sensor, used to receive the pedal pressure digital signal amplified and analog-to-digital converted by the HX711 sensor and calculate the pressure value borne by the pedal; connected with the Hall sensor, used to calculate the rotating speed of the permanent magnet motor 21 by counting the pulse signals generated by the Hall sensor and measuring the time interval between adjacent pulses, and transmit the vital sign data of the child, the pedal pressure and the rotating speed data of the permanent magnet motor 21 after being sorted and packaged to the host computer 5.

[0064] Specifically, in the cooperative working mechanism of the single-chip microcomputer and the millimeter wave radar, the millimeter wave radar transmits millimeter wave signals of a specific frequency, and after being reflected by the child's body, the single-chip microcomputer extracts the vital sign data of the child by analyzing the key parameters such as the frequency offset, phase change and amplitude change of the reflected waves. In the data transmission channel of the single-chip microcomputer and the HX711 sensor, when the child interacts with the pedal equipped with the HX711 sensor, the pedal pressure causes the strain gauge inside the HX711 sensor to deform, the HX711 sensor amplifies the weak electric signal generated and converts it into a digital signal to transmit to the single-chip microcomputer, and the single-chip microcomputer calculates the pressure value borne by the pedal and analyzes the child's body weight distribution information, posture change situation and whether there is abnormal behavior.

[0065] The single-chip microcomputer and the millimeter wave radar establish a close connection and cooperative working mechanism. The millimeter wave radar, with its unique high-frequency electromagnetic wave transmission and reception capability, continuously transmits millimeter wave signals of a specific frequency to the surrounding space. When these signals encounter the child's body, reflection occurs, and the reflected millimeter waves carry rich information. The single-chip microcomputer precisely controls the signal transmission and reception process of the millimeter wave radar and deeply analyzes and processes the reflected waves. By analyzing the key parameters such as the frequency offset, phase change and amplitude change of the reflected waves, the vital sign data of the child is successfully extracted, including the heart rate, which reflects the rhythm and health status of the heart, and the respiration rate, which is a core parameter related to body metabolism and life maintenance. This non-contact vital sign collection method based on millimeter wave radar has high precision and reliability, not only can realize continuous and stable data monitoring without disturbing the child's normal activities, but also effectively avoids the discomfort or potential risks that the traditional contact collection method may bring to the child, providing a safe, efficient and comfortable solution for the child's life and health monitoring.

[0066] In the cooperation relationship between the single-chip microcomputer and the Hall sensor, the Hall sensor generates a pulse signal when the magnetic element at the shaft part of the permanent magnet motor 21 produces a periodic change in the magnetic field as the motor shaft rotates. The single-chip microcomputer calculates the motor speed by counting the pulse signal and measuring the time interval, and precisely controls and flexibly adjusts the equipment running speed according to the safety operation parameters and control strategy.

[0067] Further, the single-chip microcomputer and the Hall sensor also form a close cooperation relationship to accurately collect the motor speed. The Hall sensor skillfully uses the Hall effect principle to work, and the magnetic element is carefully installed at the shaft part of the motor. As the motor shaft rotates stably, the magnetic field generated by the magnetic element will change periodically. The Hall sensor sensitively senses the dynamic change of the magnetic field and generates a corresponding pulse signal accordingly. The single-chip microcomputer accurately counts these pulse signals and accurately measures the time interval between adjacent pulses, uses mature mathematical calculation models and algorithms, and can accurately calculate the motor speed at different times. The single-chip microcomputer can precisely control and flexibly adjust the running speed of the equipment according to the pre-set safety operation parameters and control strategy by monitoring the real-time data of the motor speed. It ensures that the motor always runs stably within a safe and appropriate speed range, effectively prevents dangerous situations such as equipment out of control and collision caused by excessive motor speed, or the device cannot work normally due to slow motor speed, affecting the child's use experience or causing potential safety hazards, and fully guarantees the safety and comfort of children using electric devices.

[0068] The single-chip microcomputer and the HX711 sensor form an efficient data transmission channel to accurately collect the pressure of the child's pedal. When the child stands on or interacts with the pedal equipped with the HX711 sensor, the pressure on the pedal will cause the strain gauge inside the HX711 to deform slightly but accurately. This deformation will directly cause the corresponding change in the resistance value of the strain gauge, and the HX711 sensor will fully exert its excellent signal amplification and analog-to-digital conversion functions. It can amplify the weak electrical signal generated by the change in resistance value by a large margin, so that it can meet the requirements of the single-chip microcomputer for signal strength and accuracy. Then the amplified analog signal is accurately converted into a digital signal and quickly transmitted to the single-chip microcomputer. After receiving these digital signals from the HX711 sensor, the single-chip microcomputer performs rapid operation and analysis on the data according to the pre-set program, accurately calculates the pressure value of the pedal, and continuously monitors and analyzes the pressure data. Not only can we obtain the child's weight distribution information and understand the changes in the child's posture on the pedal, but also we can detect abnormal and violent jumping behavior of the child on the pedal, or long-term stillness, which may indicate potential safety hazards or abnormal conditions, providing strong data support for child activity safety monitoring.

[0069] The database receives the speed of the permanent magnet motor 21 and the vital signs of the child from the single-chip microcomputer, and controls the speed of the permanent magnet motor through Modbus RTU to promote the recovery of children with cerebral palsy.

[0070] After collecting and preliminarily processing the multi-source data such as the child's vital signs, pedal pressure, and the speed of the permanent magnet motor 21, the single-chip microcomputer further transmits these sorted and packaged data to the upper computer 5 through serial communication technology. It realizes seamless connection and smooth information transmission between the single-chip microcomputer as the data collection source and the upper computer 5 as the data comprehensive processing and decision center, providing solid data guarantee and technical support for the stable operation and precise control of the entire intelligent child safety monitoring and equipment control system.

[0071] The host computer 5 acts as a data aggregation hub, after receiving the multi-source data transmitted by the single-chip microcomputer, quickly activates the operation structure similar to an efficient "sorting workshop", and sorts the complex information. In the face of children's heart rate, respiratory rate and other vital sign data, the channel built-in intelligent "screening filter" can sensitively capture and eliminate abnormal values and noise interference, ensuring that the output data accurately reflects the real-time health status of children, and laying a solid information foundation for medical staff to judge the physical condition in the rehabilitation process. In the face of pedal pressure data collected by HX711 sensor and rotation speed data of permanent magnet motor 21 captured by Hall sensor, a "cleaning pipeline" system is established. Accurate data can be extracted, such as sensor failure, signal interference, and repeated redundant parts, which can disturb the analysis. After strict screening and elimination, the data "regains new life", is pure and reliable, and smoothly flows to the subsequent link, ensuring the accurate operation of rehabilitation. After completing the data "purification", the host computer switches to the "commander-in-chief" role of motor control, relying on the "evaluation command" architecture to drive the permanent magnet motor to operate accurately.

[0072] Specifically, the host computer 5 encodes the target rotation speed, steering, torque and other key control parameters of the permanent magnet motor 21 according to a specific byte format and adds a check code, and sends it to the permanent magnet motor driver of the permanent magnet motor 21 through the serial communication interface. The permanent magnet motor driver unpacks and verifies the instruction data packet to extract the control parameter information and adjust the power supply voltage, current and frequency of the permanent magnet motor 21 and other electrical parameters.

[0073] The Unity platform and the database communicate with each other, and the Unity platform uploads the interaction data of children in the VR scene, such as operation records, position information, behavior actions, etc. to the database in real time, and the database determines whether the behavior of children exists safety risks according to the preset safety rules and algorithms, and sends an alarm signal and feedbacks relevant information to the supervision end when there is a safety risk.

[0074] For example, if the child is in a dangerous area for a long time or performs an abnormal intense action in the VR scene, the database can send an alarm signal in time and feedback relevant information to the supervision end, so that relevant personnel can take measures quickly to ensure the safety and health of children during the use of the VR glasses 4.

[0075] The working principle of the cerebral palsy child lower limb rehabilitation device is as follows:

[0076] The Unity platform controls the VR glasses 4 to display a picture, and then transmits data to the host computer 5, and further to the database;

[0077] The single-chip microcomputer collects the vital signs of the child through the millimeter wave radar, collects the pressure of the child on the first pedal 22 and the second pedal 23 through the HX711 sensor, collects the rotating speed of the permanent magnet motor 21 through the Hall sensor, and then is transmitted to the upper computer 5 through a serial port and finally is transmitted to a database;

[0078] The upper computer 5 establishes a connection with the database by virtue of calling a Mysql library to write a script, queries data by using a SELECT statement, and thus directly operates the database;

[0079] The upper computer 5 controls the rotating speed of the permanent magnet motor 21 according to a Modbus RTU protocol.

[0080] Further, the database and the upper computer 5 are further included to communicate data, acquire the rotating speed of the permanent magnet motor 21 and the vital signs data of the child, judge whether the behavior of the child has a safety risk according to preset safety rules and algorithms, timely send an alarm signal and feed back relevant information to a supervision end when the safety risk exists.

[0081] Referring to Figure 2 The utility model discloses a cerebral palsy child lower limb rehabilitation device,

[0082] The seat 1, the footrest mechanism 2 arranged at the front end of the seat, the footrest mechanism 2 includes the permanent magnet motor 21, the first pedal 22 and the second pedal 23, and the first pedal 22 and the second pedal 23 are correspondingly arranged at the two sides of the permanent magnet motor 21, the Hall sensor (not shown in the figure) is arranged on the permanent magnet motor 21, the first HX711 sensor (not shown in the figure) is arranged on the first pedal 22, and the second HX711 sensor (not shown in the figure) is arranged on the second pedal 23, the Hall sensor, the first HX711 sensor and the second HX711 sensor are respectively in communication connection with the single-chip microcomputer of the host computer 3, the millimeter wave radar (not shown in the figure) is arranged in the training room and is in communication connection with the single-chip microcomputer, the VR glasses 4 receive the VR scene built, the upper computer 5 is used for analyzing and processing training data and vital signs data and controlling the rotating speed of the permanent magnet motor 21.

[0083] The Unity platform constructs a picture in the VR glasses 4, transmits the required data to the upper computer 5 and then to the database, the single-chip microcomputer receives the rotating speed of the permanent magnet motor 21 and the vital signs data of the child and transmits the rotating speed and the vital signs data to the database, and the database controls the rotating speed of the permanent magnet motor 21 more accurately to make the cerebral palsy child promote recovery through stimulation.

[0084] In the Unity platform, create a VR scene project, first build the basic elements of the VR scene, such as creating a cube representing the rehabilitation training site, setting its size and position, creating a sphere as an auxiliary object in the scene, etc. Then set the scene lighting, adjust the intensity and color of the main light source to simulate natural sunlight, set the shadow type to soft shadow, and set the decay range according to the size of the scene to make the entire scene have a natural light and shadow effect. Then add materials to the objects in the scene, such as adding a material with a certain friction texture to the ground of the rehabilitation site, and adding a material with bright and shiny color to the auxiliary object to attract the attention of children. To realize VR interaction, introduce the SteamVR plug-in, initialize the SteamVR_Input_Sources class, so as to detect the handle operation in the subsequent. The Unity platform transmits the VR scene picture built to the VR glasses 4, and transmits the related data (such as scene interaction data, including the operation record, position information, behavior action of children in the VR scene, etc.) to the host computer 5. After receiving the data, the host computer 5 performs preliminary processing on the data, extracts the key information, and then transmits the data to the database for storage. For example, the Unity platform records the time when the child presses the handle button in the VR scene, the operation type and the position of the character at that time, etc. After being transmitted to the host computer 5, the host computer 5 sorts these information and stores them in the corresponding data table in the database, so as to be queried and analyzed in the subsequent.

[0085] The single-chip microcomputer is connected with the millimeter wave radar, HX711 sensor, Hall sensor and host computer 5 through serial communication line. When connecting, the serial port parameter settings such as baud rate, data bits, stop bits, etc. are carefully checked to ensure normal serial communication between devices. For the millimeter wave radar (not shown in the figure), it is installed at a suitable position so that the millimeter wave signals emitted by it can effectively cover the area where the children are; the HX711 sensor (not shown in the figure) is installed at a suitable position inside the rehabilitation pedal to ensure that it can accurately sense the pedal pressure; the Hall sensor (not shown in the figure) is installed near the motor shaft and cooperates well with the magnetic element.

[0086] The host computer 5 establishes a network connection with the database server, configures the network address, port and other parameters to ensure that the host computer 5 can communicate with the database in both directions. At the same time, the introduction configuration of Mysql library is completed in the development environment of the host computer 5, and the Mysql library file path is specified and the required dependencies are linked.

[0087] The permanent magnet motor 21 is connected with the motor driver, and the motor driver is connected with the host computer 5 through serial communication, so as to receive the control instructions of the host computer 5 and drive the permanent magnet motor 21 to operate.

[0088] In this embodiment, the specific content of vital sign data acquisition is:

[0089] The single-chip microcomputer starts the millimeter wave radar and sets the frequency of the millimeter wave signal emitted by the millimeter wave radar (for example, 24 GHz). When the child enters the rehabilitation training area, the millimeter wave radar continuously emits signals, and the signals are reflected back after encountering the child's body. The single-chip microcomputer receives the reflected wave signals in real time and analyzes the reflected waves by using the built-in signal processing algorithm. By detecting the frequency offset, phase change, and amplitude change of the reflected waves, the heart rate and respiratory rate of the child are calculated. For example, when the heart beats, the surface of the body will produce a slight displacement change, causing a slight frequency offset of the reflected wave. The single-chip microcomputer calculates the heart rate from these offset amounts according to a specific algorithm, with an accuracy of beats per minute; similarly, the respiratory rate is calculated from the reflected wave changes caused by the body fluctuations due to breathing. After the collected vital sign data is sorted and packaged, it is transmitted to the host computer in a predetermined data format through serial communication.

[0090] In this embodiment, the specific content of the pedal pressure data collection is as follows:

[0091] When the child stands on or moves on the pedal mechanism 2 equipped with the HX711 sensor, the pressure borne by the pedal causes the strain gauge inside the HX711 sensor to deform, and the resistance value of the strain gauge changes accordingly. After the HX711 sensor detects the change in resistance value, it amplifies the weak electric signal generated, and the amplification factor is set according to actual needs (such as 128 times amplification), so that the signal strength meets the processing requirements of the single-chip microcomputer. Then the amplified analog signal is converted into a digital signal, and the conversion accuracy can be set to a suitable value (such as 24 bits), and is quickly transmitted to the single-chip microcomputer. After receiving the digital signal, the single-chip microcomputer performs operation and analysis on the data according to the pre-written and optimized algorithm program. Through the comprehensive processing of multiple sensor data, the pressure value borne by the pedal is calculated, and the body weight distribution information of the child is analyzed, such as whether the pressure of the child's two feet is balanced; the posture change of the child on the pedal is monitored, such as whether the body tilting causes uneven pressure distribution; abnormal behaviors are detected in time, such as sudden and violent jumping of the child on the pedal (judged by rapid and large fluctuations in pressure value) or long-term static state (pressure value has no obvious change for a long time). After these data are sorted and packaged, they are transmitted to the host computer 5 through the serial port.

[0092] In this embodiment, the specific content of the permanent magnet motor 21 rotation speed data collection is as follows:

[0093] When the permanent magnet motor 21 is running, the magnetic elements on the rotating shaft of the permanent magnet motor 21 rotate with the shaft to generate a periodic change of the magnetic field. The Hall sensor sensitively senses the change of the magnetic field and generates a corresponding pulse signal. The single-chip microcomputer accurately counts the pulse signal, for example, counts the number of pulses in a unit of time by using a timer interrupt mode, and at the same time, accurately measures the time interval between adjacent pulses, calculates the speed value of the permanent magnet motor 21 at different times by using a mature mathematical calculation model (for example, the formula for calculating the speed according to the number of pulses and the time interval: speed = number of pulses x 60 / (time interval x number of magnetic poles)), and transmits the speed data of the permanent magnet motor 21 to the upper computer 5 after the single-chip microcomputer sorts the speed data, so that the upper computer 5 can monitor and control the running state of the permanent magnet motor 21.

[0094] Each of the embodiments in the specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other. Each embodiment focuses on the difference from other embodiments. In particular, for the system or system embodiment, since it is basically similar to the method embodiment, it is described more simply, and the related parts can be referred to the part of the method embodiment. The above-described system and system embodiment are merely illustrative, and the units described as separate components can be or can not be physically separated, and the components displayed as units can be or can not be physical units, that is, they can be located in one place or distributed on multiple network units. Part or all of the modules can be selected to achieve the purpose of the embodiment according to the actual needs. Those skilled in the art can understand and implement it without creative labor.

[0095] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A lower limb rehabilitation device for children with cerebral palsy, characterized in that, include: The seat (1) and the foot pedal mechanism (2) are located at the front end of the seat. The foot pedal mechanism (2) includes a permanent magnet motor (21), a first pedal (22) and a second pedal (23). The first pedal (22) and the second pedal (23) are respectively located on both sides of the permanent magnet motor (21). It also includes a detection unit for the host (3), VR glasses (4), host computer (5), permanent magnet motor driver, and foot pedal mechanism (2); The detection unit is mounted on the foot pedal mechanism (2) and is connected to the host (3) in communication. The VR glasses (4) and the host computer (5) are both connected to the host (3) for communication. The permanent magnet motor driver is mounted on the permanent magnet motor (21) and connected to the host computer (5).

2. The lower limb rehabilitation device for children with cerebral palsy according to claim 1, characterized in that, The host (3) includes a database and a microcontroller with communication connections.

3. The lower limb rehabilitation device for children with cerebral palsy according to claim 2, characterized in that, The detection unit includes a Hall sensor, a first HX711 sensor, and a second HX711 sensor arranged in parallel; Hall sensors are mounted on permanent magnet motors (21), first HX711 sensors are mounted on first pedals (22), and second HX711 sensors are mounted on second pedals (23). The Hall sensor, the first HX711 sensor, and the second HX711 sensor are respectively connected to the microcontroller of the host (3) for communication.

4. A lower limb rehabilitation device for children with cerebral palsy according to claim 3, characterized in that, It also includes a millimeter-wave radar that communicates with the host (3).

5. A lower limb rehabilitation device for children with cerebral palsy according to claim 4, characterized in that, It also includes a monitoring terminal that communicates with the host (3).

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