Intelligent gait rehabilitation training device with feedback function

Abstract

The present invention discloses an intelligent gait rehabilitation training device with feedback function, including: a support; a lower limb bearing assembly, including a power device, a pedal and a leg joint bracket, the pedal and the leg joint bracket are two, the power device is respectively connected to each pedal in a transmission manner to drive the two pedals to move vertically back and forth and back and forth, the lower end of the leg joint bracket is respectively fixedly connected to the pedal, and the upper end of the leg joint bracket is hinged to the support; a pressure sensor is installed on the pedal for detecting human body weight; a vibrator is respectively installed in the middle of the two leg joint brackets for contacting the human body knee and providing vibration; a controller receives the weight value signals of the two pressure sensors, compares the size to obtain the difference, and when the difference exceeds the preset value, sends a driving signal to drive one of the vibrators to vibrate. The present invention can provide feedback to the user's rehabilitation training, which is more conducive to correcting the rehabilitation training gait.

Description

Technical Field

[0001] The invention relates to a rehabilitation training device, in particular to an intelligent gait rehabilitation training device with a feedback function. Background Art

[0002] Some seriously ill patients are still unable to walk independently after treatment, such as patients with cerebral infarction, spinal cord injury, and stroke. They need rehabilitation training devices to restore the ability of lower limbs to stand and walk. In addition, for some elderly people, as their body functions decline, they also have lower limb control, regulation and other activity disorders. Therefore, rehabilitation training devices are needed to assist in the rehabilitation of lower limb functions.

[0003] Currently, rehabilitation training devices for lower limb gait rehabilitation mostly use conveyor belt devices to drive the human body to walk forward autonomously. Some rehabilitation training devices are equipped with pedals, foot supports and other mechanisms to support the lower limbs, especially the legs and feet, so that the lower limbs can passively perform rehabilitation training movements.

[0004] However, these rehabilitation training devices, regardless of whether the user's movements are active or passive, do not provide feedback on whether the user's movements are correct when performing gait rehabilitation training. If the user is in a wrong posture for a long time during active or passive training, it will lead to incorrect posture coordination of the muscle groups after training, thereby hindering the achievement of effective rehabilitation training results. Summary of the invention

[0005] In order to overcome the deficiencies of the prior art, the purpose of the present invention is to provide an intelligent gait rehabilitation training device with a feedback function, which can provide feedback on the user's rehabilitation training and is more conducive to correcting the rehabilitation training gait.

[0006] The purpose of the present invention is achieved through the following technical solutions:

[0007] An intelligent gait rehabilitation training device with feedback function, comprising:

[0008] Support;

[0009] The lower limb bearing assembly includes a power device, a pedal and a leg joint bracket. There are two pedals and two leg joint brackets. The power device is respectively connected to each pedal in a transmission manner to drive the two pedals to move back and forth vertically and back and forth. The lower ends of the leg joint brackets are respectively fixedly connected to the pedals, and the upper ends of the leg joint brackets are hinged to the support.

[0010] A pressure sensor, installed on the pedal, is used to detect the weight of the human body;

[0011] Vibrators are respectively installed in the middle of the joint brackets of the two legs, and are used to contact the human knees and provide vibration;

[0012] The controller receives the weight value signals from the two pressure sensors, compares the values ​​to obtain the difference, and sends a driving signal to drive one of the vibrators to vibrate when the difference exceeds a preset value.

[0013] Preferably, the lower limb bearing assembly also includes an adjustment rod, a sliding seat and a knee pad. The sliding seat is slidably fitted with the adjustment rod, the adjustment rod is laterally fixed to the middle part of the leg joint support, the sliding seat has an inwardly concave arc-shaped concave plate, the knee pad is embedded in the arc-shaped concave plate, and the vibrator is arranged in the knee pad.

[0014] Preferably, the lower limb bearing assembly further comprises a first adjusting screw, the first adjusting screw being threadably engaged with the sliding seat, and the rod end of the first adjusting screw being used to abut against the adjusting rod.

[0015] Preferably, a mounting groove is provided on the pedal, and the mounting groove is distributed throughout the upper surface of the pedal. The pressure sensor is a sheet-type pressure sensor and is embedded and filled in the mounting groove.

[0016] Preferably, the pedal is vertically fixedly connected to the lower end of the leg joint bracket.

[0017] Preferably, the intelligent gait rehabilitation training device with feedback function also includes a waist limiting component and a front and rear adjustment component. The waist limiting component is used to provide a limiting ring for limiting the waist and abdomen of the human body. The waist limiting component is installed on the support through the front and rear adjustment component. The front and rear adjustment component is installed on the support and is used to adjust the front and rear position of the waist limiting component relative to the support.

[0018] Preferably, the waist limiting assembly includes a back plate, a cushion and a waist strap, the back plate is connected to the front and rear adjustment assemblies, the cushion is fixed to the rear side of the back plate, the waist strap is arranged on both sides of the cushion, and the waist strap is used to enclose the cushion to form a limiting ring for limiting the waist and abdomen of the human body.

[0019] Preferably, the front and rear adjustment components include a fixed seat, an adjustment plate, a fastening screw, a guide column and a second adjustment screw, one end of the guide column is fixed to the back plate, and the other end of the guide column slides into the rear side of the adjustment plate, the second adjustment screw is inserted into the front side of the adjustment plate and threadedly engaged in the guide column; the fastening screw is inserted into the adjustment plate from the top of the adjustment plate and threadedly engaged with the adjustment plate, and the rod end of the fastening screw is against the fixed seat, and the fixed seat is fixed to the support.

[0020] Preferably, the intelligent gait rehabilitation training device with feedback function further includes an upper limb limiting assembly and a linkage rod, one end of the linkage rod is hinged to the upper limb limiting assembly, and the other end of the linkage rod is hinged to the lower limb bearing assembly.

[0021] Preferably, the upper limb limiting assembly includes a sliding mechanism and a gripping portion for a person to hold, the gripping portion is fixed to the sliding mechanism and is located above the lower limb bearing assembly, the sliding mechanism and the support slide in cooperation along the front-to-back direction, one end of the linkage rod is hinged to the sliding mechanism, and the other end of the linkage rod is hinged to the lower limb bearing assembly.

[0022] Compared with the prior art, the present invention has the following beneficial effects:

[0023] The present invention obtains the human body weight through a pressure sensor, and then drives the vibrator to vibrate by comparing the difference in weights obtained by the two pedals, thereby giving the user feedback on the center of gravity shift. Because when the user's center of gravity shifts, the weight value obtained by the pedal corresponding to the shift direction is larger than that of the other pedal, and when the difference exceeds a set value, it is considered that the user has a center of gravity shift. The vibration feedback of the vibrator can timely remind the user in the rehabilitation training process, so that the user can correct the training gait of the center of gravity shift in time, thereby improving the effect of rehabilitation training more intelligently. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a schematic diagram of the three-dimensional structure of the intelligent gait rehabilitation training device with feedback function of the present invention;

[0025] Figure 2 for Figure 1 A is an enlarged schematic diagram;

[0026] Figure 3 This is the second three-dimensional structural schematic diagram of the intelligent gait rehabilitation training device with feedback function of the present invention (the adjustment plate is omitted);

[0027] Figure 4 for Figure 3 The enlarged schematic diagram of point B in FIG.

[0028] In the figure: 1. support; 2. lower limb bearing assembly; 21. power device; 22. pedal; 221. mounting groove; 23. leg joint bracket; 24. adjustment rod; 25. slide seat; 251. arc-shaped concave plate; 26. knee pad; 27. first adjustment screw; 3. waist limit assembly; 31. back plate; 32. cushion; 33. waist strap; 34. limit ring; 4. front and rear adjustment assembly; 41. fixed seat; 42. adjustment plate; 43. fastening screw; 44. guide column; 45. second adjustment screw; 5. upper limb limit assembly; 51. sliding mechanism; 52. gripping part; 6. linkage rod. DETAILED DESCRIPTION

[0029] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0030] like Figure 1-4 The intelligent gait rehabilitation training device with feedback function shown in the figure comprises: a support 1, a lower limb bearing assembly 2, a pressure sensor (not shown), a vibrator (not shown) and a controller (not shown); wherein:

[0031] Support 1;

[0032] The lower limb bearing assembly 2 includes a power device 21, a pedal 22 and a leg joint bracket 23. There are two pedals 22 and two leg joint brackets 23. The power device 21 is respectively connected to each pedal 22 to drive the two pedals 22 to move vertically back and forth and back and forth. The lower ends of the leg joint brackets 23 are respectively fixedly connected to the pedals 22, and the upper ends of the leg joint brackets 23 are hinged to the support 1.

[0033] A pressure sensor, mounted on the pedal 22, for detecting the weight of a human body;

[0034] Vibrators, respectively mounted at the middle of the two leg joint brackets 23, for contacting the human knee and providing vibration;

[0035] The controller receives the weight value signals from the two pressure sensors, compares the values ​​to obtain the difference, and sends a driving signal to drive one of the vibrators to vibrate when the difference exceeds a preset value.

[0036] The human body weight obtained by the pressure sensor is combined with the difference in weight obtained by the two pedals 22 to drive the vibrator to vibrate, thereby giving the user feedback on the center of gravity shift. Because when the user's center of gravity shifts, the weight value obtained by the pedal 22 corresponding to the shift direction is larger than that of the other pedal 22. When the difference exceeds the set value, it is considered that the user has a center of gravity shift. The vibration feedback of the vibrator can timely remind the user in the rehabilitation training process, so that the user can correct the training gait with center of gravity shift in time, and improve the effect of rehabilitation training more intelligently.

[0037] Among them, when the center of gravity shifts, the controller can be preset to select so that the vibrator to which the center of gravity shifts is biased vibrates, so that the user can be reminded in time that the direction of the center of gravity shift is one side of the vibration. Of course, it can also be set to vibrate the vibrator in the opposite direction to the aforementioned direction, so that the user can be reminded in time to tilt and adjust the center of gravity in the direction of one side of the vibrator vibration. The controller of this embodiment is a conventional IC chip with comparison and judgment, and can also use CPU, MCU, or single-chip microcomputer to compare, judge, and store preset values, so as to timely feed back the vibrator to the human knee. The power device 21 can use a motor to drive the screw nut to realize a two-axis sliding mechanism, and the staggered movement of the two pedals 22 is realized by configuring two power devices 21. The vibrator can use a micro vibrator, such as a vibration motor used for mobile phone vibration.

[0038] like Figure 2 As shown, the lower limb bearing assembly 2 of this embodiment also includes an adjustment rod 24, a slide 25 and a knee pad 26. The slide 25 is slidably matched with the adjustment rod 24. The adjustment rod 24 is transversely fixed to the middle of the leg joint bracket 23. The slide 25 has a concave arc-shaped concave plate 251. The knee pad 26 is embedded in the arc-shaped concave plate 251, and the vibrator is arranged in the knee pad 26. In this way, the position of the knee pad 26 can be adjusted by adjusting the displacement of the slide 25 relative to the adjustment rod 24 to adapt to different people's body shapes and heights. The configuration of the arc-shaped concave plate 251 enables the knee pad 26 to not only adhere to the knee with its elastic force, but also to form a covering effect on the knee to prevent the knee from shifting. Furthermore, to facilitate the position adjustment and fixation of the slide 25, the lower limb bearing assembly 2 also includes a first adjusting screw 27, which is threadedly engaged with the slide 25, and the rod end of the first adjusting screw 27 is used to resist the adjusting rod 24. The slide 25 is fastened and fixed by the first adjusting screw 27, thereby fixing the position of the knee pad 26.

[0039] To facilitate the installation of the pressure sensor, a mounting groove 221 is provided on the pedal 22, and the mounting groove 221 is distributed throughout the upper surface of the pedal 22. The pressure sensor is a sheet-type pressure sensor and is embedded and filled in the mounting groove 221. In this way, the pressure sensor can directly contact the sole of the human foot to detect the value and change of the gravity. In order to better correct the gait of the user's rehabilitation training, the pedal 22 of this embodiment is vertically fixedly connected to the lower end of the leg joint bracket 23, so that the human foot and calf are kept in a vertical state during rehabilitation training.

[0040] To further adapt to different users' physiques and heights, and better assist users in correcting the correct training gait, such as Figure 1 As shown, the intelligent gait rehabilitation training device with feedback function in this embodiment also includes a waist limit component 3 and a front-back adjustment component 4. The waist limit component 3 is used to provide a limit ring 34 for limiting the waist and abdomen of the human body. The waist limit component 3 is installed on the support 1 through the front-back adjustment component 4. The front-back adjustment component 4 is installed on the support 1 and is used to adjust the front-back position of the waist limit component 3 relative to the support 1. Through the forward and backward movement thrust of the front-back adjustment component 4, the front-back position of the waist limit component 3 is adjusted to better adapt to the physique of various people; and the waist limit component 3 also plays a restraining role in gait training and can prevent the user from tipping over.

[0041] Specifically, Figure 1As shown, the waist limiting assembly 3 of this embodiment includes a back plate 31, a soft pad 32 and a waist strap 33. The back plate 31 is connected to the front and rear adjustment assembly 4. The soft pad 32 is fixed to the rear side of the back plate 31. The waist strap 33 is arranged on both sides of the soft pad 32. The waist strap 33 is used to enclose with the soft pad 32 to form a limiting ring 34 for limiting the waist and abdomen of the human body. The limiting ring 34 has the elasticity provided by the soft pad 32, and can be flexibly changed in position and size, so as to better adapt to the body size and height of different people.

[0042] like Figure 1 ,like Figure 4 As shown, the front-back adjustment assembly 4 of this embodiment includes a fixed seat 41, an adjustment plate 42, a fastening screw 43, a guide post 44 and a second adjustment screw 45. One end of the guide post 44 is fixed to the back plate 31, and the other end of the guide post 44 slides into the rear side of the adjustment plate 42. The second adjustment screw 45 is inserted from the front side of the adjustment plate 42 and threadedly engaged in the guide post 44. The fastening screw 43 is inserted from the top of the adjustment plate 42 into the adjustment plate 42 and threadedly engaged with the adjustment plate 42, and the rod end of the fastening screw 43 is against the fixed seat 41, and the fixed seat 41 is fixed to the support 1. When the front-back position of the waist limit assembly 3 needs to be adjusted, the fastening screw 43 is first loosened so that the rotation of the second adjustment screw 45 can be converted into a force to push or tighten the guide post 44, thereby allowing the back plate 31 to move forward and backward under the action of the sliding of the outer surface of the guide post 44 and the adjustment plate 42.

[0043] like Figure 1 , Figure 3 As shown, the intelligent gait rehabilitation training device with feedback function in this embodiment also includes an upper limb limit assembly 5 and a linkage rod 6, one end of the linkage rod 6 is hinged to the upper limb limit assembly 5, and the other end of the linkage rod 6 is hinged to the lower limb bearing assembly 2. In this way, the upper limbs of the user can be traction-restricted to a certain extent, and under the transmission of the linkage rod 6, it can also be linked with the lower limb bearing assembly 2, combined with the waist limit assembly 3, so that the upper limbs, waist and abdomen, and lower limbs of the user can all be effectively passively pulled, and the gait of the rehabilitation training is more accurate and effective.

[0044] Specifically, the upper limb limit assembly 5 of this embodiment includes a sliding mechanism 51 and a gripping portion 52 for a person to hold, the gripping portion 52 is fixed to the sliding mechanism 51 and is located above the lower limb bearing assembly 2, the sliding mechanism 51 and the support 1 slide in cooperation along the front-back direction, one end of the linkage rod 6 is hinged to the sliding mechanism 51, and the other end of the linkage rod 6 is hinged to the lower limb bearing assembly 2. After the user grasps the gripping portion 52, the hand can be driven to move back and forth by the gripping portion 52, and the sliding mechanism 51 provides the gripping portion 52 with the ability to slide back and forth, and the linkage rod 6 transmits the sliding power to the sliding mechanism 51, so that the upper limb limit assembly 5, the waist limit assembly 3, and the lower limb limit assembly act on the user's body together, pulling the user's rehabilitation training gait and body posture, and preventing the user's posture from being deformed and displaced after long-term training.

[0045] The implementation methods of the present invention are not limited to these. According to the above-mentioned embodiments of the present invention, by using conventional technical knowledge and customary means in the field, without departing from the above-mentioned basic technical ideas of the present invention and without conflict, the above-mentioned preferred embodiments may also be modified, replaced or combined in various other forms, and the other embodiments obtained all fall within the scope of protection of the present invention.

Claims

1. An intelligent gait rehabilitation training device with feedback function, characterized in that: include: Support; The lower limb bearing assembly includes a power device, a pedal and a leg joint bracket. There are two pedals and two leg joint brackets. The power device is respectively connected to each pedal in a transmission manner to drive the two pedals to move vertically back and forth and back and forth. The lower ends of the leg joint brackets are respectively fixedly connected to the pedals, and the upper ends of the leg joint brackets are hinged to the support. The lower limb bearing assembly also includes an adjustment rod, a slide seat and a knee pad. The slide seat is slidably matched with the adjustment rod, and the adjustment rod is transversely fixed to the middle of the leg joint bracket. The slide seat has an inwardly concave arc plate, and the knee pad is embedded in the arc plate. The vibrator is arranged in the knee pad. The pressure sensor is installed on the pedal and is used to detect the weight of the human body. The pedal is provided with a mounting groove, which is distributed throughout the upper surface of the pedal. The pressure sensor is a sheet-type pressure sensor and is embedded and filled in the mounting groove. Vibrators are respectively installed in the middle of the joint brackets of the two legs, and are used to contact the human knees and provide vibration; The controller receives the weight value signals of the two pressure sensors, compares the values ​​to obtain the difference, and when the difference exceeds a preset value, sends a driving signal to drive one of the vibrators to vibrate; The intelligent gait rehabilitation training device with feedback function also includes a waist limiting component, a front-back adjustment component, an upper limb limiting component and a linkage rod, wherein the waist limiting component is used to provide a limiting ring for limiting the waist and abdomen of the human body, the waist limiting component is installed on the support through the front-back adjustment component, and the front-back adjustment component is installed on the support and is used to adjust the front-back position of the waist limiting component relative to the support; one end of the linkage rod is hinged to the upper limb limiting component, and the other end of the linkage rod is hinged to the lower limb bearing component; The upper limb limiting assembly includes a sliding mechanism and a gripping portion for a person to hold. The gripping portion is fixed to the sliding mechanism and is located above the lower limb bearing assembly. The sliding mechanism and the support slide in cooperation along the front-back direction. One end of the linkage rod is hinged to the sliding mechanism, and the other end of the linkage rod is hinged to the lower limb bearing assembly.

2. The intelligent gait rehabilitation training device with feedback function according to claim 1, characterized in that: The lower limb bearing assembly also includes a first adjusting screw rod, the first adjusting screw rod threadably engages with the sliding seat, and the rod end of the first adjusting screw rod is used to abut against the adjusting rod.

3. The intelligent gait rehabilitation training device with feedback function according to claim 1, characterized in that: The pedal is vertically fixedly connected to the lower end of the leg joint bracket.

4. The intelligent gait rehabilitation training device with feedback function according to claim 1, characterized in that: The waist limiting assembly includes a back plate, a cushion and a waist strap. The back plate is connected to the front and rear adjustment assemblies. The cushion is fixed on the rear side of the back plate. The waist strap is arranged on both sides of the cushion. The waist strap is used to enclose the cushion to form a limiting ring for limiting the waist and abdomen of the human body.

5. The intelligent gait rehabilitation training device with feedback function according to claim 4, characterized in that: The front and rear adjustment components include a fixed seat, an adjustment plate, a fastening screw, a guide column and a second adjustment screw. One end of the guide column is fixed to the back plate, and the other end of the guide column slides into the rear side of the adjustment plate. The second adjustment screw is inserted from the front side of the adjustment plate and threadedly engaged in the guide column. The fastening screw is inserted into the adjustment plate from the top of the adjustment plate and threadedly engaged with the adjustment plate, and the rod end of the fastening screw is against the fixed seat, and the fixed seat is fixed to the support.

Images