A gait correction system based on chaos algorithm

Abstract

The present invention provides a gait correction system based on a chaos algorithm, which is used for rehabilitation training of hemiplegic patients when walking. The system includes a gait corrector, a server and an intelligent terminal application. The gait corrector includes: shoes, a sole device located under the shoes, an adjustment mechanism, a plurality of pressure sensors and a processor. The processor performs the following functions: sending a plantar pressure distribution signal to the intelligent terminal application and receiving a motion mode suitable for the user issued by the intelligent terminal application; calculating the height data and posture data of the sole device based on the chaos algorithm according to the motion mode; and sending a corresponding control signal to the adjustment mechanism according to the calculation result, so that the adjustment mechanism changes the height and posture of the sole device according to the control signal. The server receives and processes the plantar pressure distribution signal uploaded by the intelligent terminal application, and sends the motion prescription to the intelligent terminal application.

Description

Technical Field

[0001] The invention relates to the technical field of rehabilitation shoes, and in particular to a gait correction system based on a chaos algorithm. Background Art

[0002] After stroke hemiplegic patients have walking difficulties, rehabilitation training is a necessary means to reshape brain nerve function and restore patients' walking ability. Due to the lack of medical resources, most hemiplegic patients cannot get professional training guidance, resulting in unsatisfactory recovery of hemiplegic patients. Therefore, a professional training rehabilitation system is very valuable for the majority of patients.

[0003] CN103110239A discloses a rehabilitation shoe, in which a rubber plastic capsule and a control box are provided in the sole. By controlling the filling and discharge of raw materials in the rubber plastic capsule, the volume of the capsule is changed, and then the position of the sole is adjusted to prevent the user from falling.

[0004] CN102866640A discloses a fall control system and a rehabilitation shoe using the system. An adjustment gasket is provided in a gravity center adjustment mechanism of the sole. By adjusting the position of the gasket, the position of the sole plate is changed, thereby preventing a person from falling.

[0005] However, the existing rehabilitation shoes have a single function when adjusting the sole position. They either only correct the ankle posture of foot eversion, foot inversion, and foot drop, or only perform interference training on the patient's balance. There is no comprehensive training, so the rehabilitation effect is limited. In addition, the existing rehabilitation shoes do not have a sports evaluation system, and there is no customized exercise prescription for patients to guide patients in training, so the therapeutic effect is not great. Summary of the invention

[0006] In order to solve the defects in the prior art, the present invention proposes a gait correction system based on chaos algorithm.

[0007] The gait correction system of the present invention is used for rehabilitation training of hemiplegic patients when they are standing and walking, and comprises a gait corrector, an intelligent terminal application program and a server.

[0008] The gait corrector comprises: a shoe, which is worn by a user; a sole device located under the shoe, which is used to support and fix the shoe; an adjustment mechanism, which comprises a motor and a plurality of telescopic structures driven by the motor, wherein the plurality of telescopic structures perform up and down telescopic movements to change the overall height and posture of the sole device; a plurality of pressure sensors, which are used to receive the plantar pressure of the user and generate a plantar pressure distribution signal; a processor, which is used to perform the following functions: sending the plantar pressure distribution signal to an intelligent terminal application and receiving an exercise prescription suitable for the user issued by the intelligent terminal application; calculating the height data and posture data of the sole device based on the chaotic algorithm according to the exercise prescription; and sending a corresponding control signal to the adjustment mechanism according to the calculation result, so that the adjustment mechanism changes the overall height and posture of the sole device according to the control signal.

[0009] The smart terminal application is used to perform the following functions: receiving the plantar pressure distribution signal uploaded by the gait corrector and uploading it to the server; receiving the exercise prescription issued by the server and issuing it to the gait corrector; and displaying a human-computer interaction interface to the user, providing a visual training management system.

[0010] The server is used to perform the following functions: receiving and processing the plantar pressure distribution signal uploaded by the smart terminal application; extracting characteristic values ​​from the plantar pressure distribution signal; comparing the characteristic values ​​with predetermined values ​​and determining the user's exercise mode based on the comparison result; customizing the exercise prescription for the user based on the exercise mode; and sending the exercise prescription to the smart terminal application.

[0011] The present invention has the following beneficial effects:

[0012] The gait correction system based on chaos algorithm of the present invention has a very good effect on ankle posture correction, ankle stretching, balance training, and brain function remodeling of hemiplegic patients, and can effectively shorten the rehabilitation time of hemiplegic patients. Compared with the high rehabilitation training costs of rehabilitation hospitals, the gait correction system of the present invention greatly reduces the rehabilitation cost and can reduce the burden on patients and their families. In addition, the present invention can customize personalized exercise prescriptions for patients, effectively improving the rehabilitation training effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a stereoscopic diagram of a gait corrector according to a preferred embodiment of the present invention.

[0014] Figure 2 It is a stereoscopic view of a sole device of a gait corrector according to a preferred embodiment of the present invention.

[0015] FIG. 3( a ) is a schematic diagram of an exploded view of a gait corrector according to a preferred embodiment of the present invention, and FIG. 3( b ) is a schematic diagram of an insole according to a preferred embodiment of the present invention installed inside a shoe.

[0016] Figure 4 It is a three-dimensional diagram of an adjustment mechanism of a gait corrector according to a preferred embodiment of the present invention.

[0017] Figure 5 It is a cross-sectional view of the telescopic structure of a gait corrector according to a preferred embodiment of the present invention.

[0018] Figure 6 It is a schematic diagram of the structure of a gait correction system according to a preferred embodiment of the present invention.

[0019] Figure 7 It is a workflow diagram of a cloud server of a gait correction system according to a preferred embodiment of the present invention. DETAILED DESCRIPTION

[0020] The following will illustrate the implementation methods of the present invention in conjunction with the drawings in the specification. It should be noted that the implementation methods involved in this specification are not exhaustive and do not represent the only implementation methods of the present invention. The following corresponding embodiments are only for the purpose of clearly illustrating the invention content of the patent of the present invention, and are not intended to limit its implementation methods. For ordinary technicians in this field, different forms of changes and modifications can be made on the basis of the description of this embodiment. All obvious changes or modifications that belong to the technical concept and invention content of the present invention are also within the scope of protection of the present invention.

[0021] like Figure 6 FIG. 2 is a schematic diagram of a gait correction system according to a preferred embodiment of the present invention. Figure 6 As shown, the gait correction system based on chaos algorithm of the present invention includes a gait corrector A, an intelligent terminal application B and a cloud server C.

[0022] Among them, the gait corrector A is worn by the user and performs rehabilitation training for the user by changing the overall height and posture of the sole device through the chaos principle (chaos algorithm) according to the exercise prescription (or training plan) provided by the smart terminal application B, thereby correcting the ankle posture, ankle stretching training and balance training.

[0023] The smart terminal application B uploads the data generated by the gait corrector A to the cloud server C, and sends the exercise prescription generated by the cloud server C to the gait corrector A. In addition, the smart terminal application B has a human-computer interaction interface for providing the user with an intuitive and visual training management system. Preferably, the smart terminal application B is connected to the cloud server C via a mobile phone signal, and is connected to the gait corrector A via Bluetooth. In the present invention, the smart terminal can be a computer, such as a personal computer or a laptop computer. The smart terminal can also be a mobile communication device, such as a smart phone. When the smart terminal is a smart phone, the smart terminal application is a smart phone APP.

[0024] The cloud server C evaluates the degree of hemiplegia of the user based on the plantar pressure distribution of the user uploaded by the smart terminal application B, and provides a customized exercise prescription suitable for the user for the gait corrector A according to the degree of hemiplegia. The exercise prescription includes the corrector movement mode, training intensity, training frequency and training duration, etc. At the same time, the cloud server C also provides training data management services for the smart terminal application, and provides training guidance and consulting services to users through the smart terminal application B.

[0025] The gait corrector A in the gait correction system of the present invention is described in detail below with reference to the accompanying drawings.

[0026] like Figure 1 -3, a gait corrector A of the present invention comprises: a shoe 1, a sole device 2, an adjustment mechanism 6, a plurality of pressure sensors 12 and a processor 5.

[0027] The shoe 1 is for a user to wear. The sole device 2 located below the shoe 1 is used to support and fix the shoe 1. Preferably, the shoe 1 and the sole device 2 are connected by a snap-fit ​​method. The shoe 1 has an insole 11 inside. The sole device 2 has an outer shell 3 and a cover plate 4. The outer shell 3 has a shape such as a sole plate, including a bottom plate and peripheral side walls, and an open upper portion. In this embodiment, the interior of the outer shell 3 is also used to accommodate a processor 5 and a part of the adjustment mechanism 6. The upper opening of the outer shell 3 is covered by the cover plate 4. Preferably, the edge of the outer shell 3 and the edge of the cover plate 4 are fixed together by a threaded connection.

[0028] The adjustment mechanism 6 includes a motor 61 and a plurality of telescopic structures 65 driven by the motor 61. The plurality of telescopic structures 65 perform up and down telescopic movements to change the height and posture of the sole device 2. The specific structure of the adjustment mechanism 6 will be described in detail below.

[0029] A plurality of pressure sensors 12 are used to receive the pressure of the sole of the foot of the user and generate a sole pressure distribution signal. In this embodiment, a plurality of pressure sensors 12 are arranged in the insole 11. The plurality of pressure sensors 12 are appropriately distributed based on the area where the pressure is generated on the sole of the foot, so as to more effectively obtain the sole pressure distribution of the user. The insole 11 also has a connecting piece 13, and an outlet (not shown) is reserved at a corresponding position on the shoe 1 for the connecting piece 13 to extend out, and the connecting piece 13 is then electrically connected to the processor 5 through the through hole 43 on the cover plate 4, so as to transmit the sole pressure distribution signal to the processor 5.

[0030] Processor 5 is used to perform the following functions:

[0031] Sending the plantar pressure distribution signal to the smart terminal application B and receiving an exercise prescription suitable for the user issued by the smart terminal application B;

[0032] Calculating the height data and posture data of the sole device based on the chaotic algorithm according to the exercise prescription; and

[0033] According to the calculation result, a corresponding control signal is sent to the adjustment mechanism 6, so that the adjustment mechanism 6 changes the height and posture of the sole device 2 relative to the ground according to the control signal. The ground here refers to the ground or floor of the training ground.

[0034] As mentioned above, the processor 5 and a part of the adjustment mechanism 6 are arranged in the housing 3, and the cover plate 4 covers the upper opening of the housing 3. Furthermore, the cover plate 4 includes an upper cover plate 41 and a soft board 42. The upper cover plate 41 and the soft board 42 are fixed together, and a stroke detection device is also arranged on the soft board 42. The stroke detection device can be composed of a Hall sensor 44, which is connected to the processor 5 to control the stroke of the motor 61. Specifically, the Hall sensor records the number of revolutions of the motor. When the number of revolutions reaches the set number, the processor 5 sends a control signal to the adjustment mechanism 6 to stop the motor 61 from rotating, thereby controlling the stroke of the motor 61. As mentioned above, the cover plate 4 also has a through hole 43 for the connecting piece 13 to pass through.

[0035] Combine the following Figure 4-5 The structure of the adjustment mechanism 6 is described in detail. Preferably, the adjustment mechanism 6 includes a motor 61, a motor wheel 62, a belt 63, a telescopic structure wheel 64 and a telescopic structure 65. The motor 61 drives the motor wheel 62 to rotate, the motor wheel 62 drives the telescopic structure wheel 64 to rotate through the belt 63, and the telescopic structure wheel 64 drives the telescopic structure 65 to perform up and down telescopic movements.

[0036] The telescopic structure (also called telescopic foot support) 65 includes an inner core thread 651 and an outer screw tube 654. The inner core thread 651 is tightly matched with the telescopic structure wheel 64. The inner core thread 651 rotates with the telescopic structure wheel 64 to cause the outer screw tube 654 to produce an up and down telescopic movement, that is, the outer screw tube 654 is extended or shortened at the bottom of the sole device 2. The outer screw tube 654 contacts the ground and is subjected to the reaction force of the ground, thereby adjusting the height and posture of the bottom of the sole device 2 relative to the ground.

[0037] Further, the telescopic foot support 65 also has a bearing 652, a guide sleeve 655 and an outer screw tube rubber sleeve 657. The bearing 652 is arranged between the telescopic structure wheel 64 and the inner core thread 651, and is used to reduce the rotation resistance of the inner core thread 6. The guide sleeve 655 is arranged on the upper outer side of the outer screw tube 654 to guide the outer screw tube 654 so that the outer screw tube 654 can move vertically up and down. The outer screw tube rubber sleeve 657 wraps the lower outer side of the outer screw tube 654 to protect the outer screw tube and isolate dust. In addition, the upper end of the outer screw tube rubber sleeve 657 is sleeved on the lower end of the guide sleeve 655 to provide static friction, which can prevent the outer screw tube 654 from rotating with the inner core thread 651, so that the outer screw tube 654 can only move up and down.

[0038] Next, combine Figure 7 The cloud server C is described. Figure 7 As shown, the cloud server C performs the following functions, specifically the following steps S1-S5.

[0039] Step S1: receiving and processing the plantar pressure distribution signal uploaded by the smart terminal application B.

[0040] Step S2: extracting characteristic values ​​from the plantar pressure distribution signal. The characteristic values ​​are the distribution range of the center of gravity coordinates of the user's affected limb obtained based on the plantar pressure value.

[0041] Step S3: Compare the characteristic value with a predetermined value and determine the user's movement mode according to the comparison result. The predetermined value is the distribution range of the center of gravity coordinates of the user's healthy limb. The cloud server C evaluates the user's hemiplegia degree according to the comparison result of the characteristic value with the predetermined value, and determines the movement mode suitable for the user according to the hemiplegia degree.

[0042] In the present invention, the movement mode limits the overall height, forward tilt range, backward tilt range, left tilt range and right tilt range of the sole device. The overall height can be understood as the overall height (or average height, or height at a certain point) of the entire gait corrector A (including the shoe 1 and the sole device 2) when it is in a horizontal (non-tilted) state, that is, the initial height before the inclination of the sole device 2 is adjusted. Specifically, the overall height can be represented by the height of the sole device 2 when the gait corrector A is in a horizontal state, or it can be represented by the height of the shoe 1 when the gait corrector A is in a horizontal state. Unless otherwise specified, the heights are all relative to the height of the training ground. Based on the structure of the gait corrector A, for example, the overall height can be determined by the length of the telescopic structure 65 relative to the limit of contraction, and the telescopic structure 65 is set to zero when it is contracted to the limit.

[0043] The forward tilt range is the angle range between the bottom surface of the sole device 2 formed by the heel portion of the gait corrector A rising relative to the toe portion and the horizontal plane, the backward tilt range is the angle range between the bottom surface of the sole device 2 formed by the toe portion of the gait corrector A rising relative to the heel portion and the horizontal plane, the left tilt range is the angle range between the bottom surface of the sole device 2 formed by the left side of the gait corrector A descending relative to the right side and the horizontal plane, and the right tilt range is the angle range between the bottom surface of the sole device 2 formed by the right side of the gait corrector A descending relative to the left side and the horizontal plane.

[0044] The motion mode includes multiple levels, each level defines its own overall height, forward tilt range, backward tilt range, left tilt range and right tilt range. For example, the motion mode can have 12 levels. In a preferred embodiment, the overall height of the first level is 1mm, the forward tilt range is 0 to 1.5 degrees, the backward tilt range is 0 to 1.5 degrees, the left tilt range is 0 to 1.5 degrees, and the right tilt range is 0 to 1.5 degrees. The overall height of the second level is 2mm, the forward tilt range is 0 to 3 degrees, the backward tilt range is 0 to 3 degrees, the left tilt range is 0 to 3 degrees, and the right tilt range is 0 to 3 degrees. The third level to the twelfth level are analogous, the overall height increases by 1mm, and each tilt angle range increases by 1.5 degrees.

[0045] Step S4: determining the user's exercise prescription according to the exercise pattern, the exercise prescription including the exercise pattern of the gait corrector A, the time of each training, the training cycle, the training frequency, etc.

[0046] Step S5: Send the exercise prescription to the smart terminal application B.

[0047] Back to the gait corrector A, when the processor of the gait corrector A receives the exercise prescription data sent by the intelligent terminal application B, the exercise prescription includes data of a certain level of the exercise mode, and the processor 5 calculates the overall height, forward tilt range or backward tilt range, and left tilt range or right tilt range of a certain period of time based on the chaos algorithm within the range of the multiple levels of the exercise mode, thereby obtaining the determined height and posture within the range of the exercise mode level. For example, in one embodiment, within the aforementioned first level of the exercise mode, the overall height of the gait corrector A in a certain period of time calculated based on the chaos algorithm is 1mm, the forward tilt angle is 1 degree, and the left tilt angle is 1 degree. Preferably, multiple time periods and the duration of each time period can be set under one level of the exercise mode, and the height and posture in each time period are limited within the range of the exercise mode level, but the specific height and posture in each time period can be variable. The processor 5 then sends a corresponding control signal to the motor 61 based on the determined height and posture to drive each telescopic structure 65 in the multiple telescopic structures to telescope the corresponding stroke. By setting the chaos coefficient, the overall height and posture of the gait corrector calculated based on the chaos algorithm are more conducive to the rehabilitation training of the user and more effectively improve the training effect.

[0048] Preferably, return to Figure 1-2 As shown, in this embodiment, four adjustment mechanisms 6 are included. Two of the adjustment mechanisms 6 are located at the front of the sole device 2, i.e., the forefoot portion. The other two adjustment mechanisms 6 are located at the rear of the sole device 2, i.e., the heel portion. By arranging the adjustment mechanisms 6 in this way and controlling the telescopic strokes of each adjustment mechanism 6 respectively, the height and posture of the sole device 2 relative to the ground can be adjusted in infinite dimensions, i.e., the bottom of the sole device 2 can form infinite inclinations relative to the ground, thereby making the posture adjustment more accurate.

[0049] As described above, the gait correction system based on the chaos algorithm of the present invention obtains the plantar pressure distribution of the user and evaluates the degree of hemiplegia of the user, thereby determining a personalized exercise prescription suitable for the user, wherein the exercise prescription includes the level of the exercise mode, training duration, training frequency, training cycle, etc. The exercise prescription provides the user with a human-computer interaction interface and training data management in the smart terminal application, and obtains the overall height and posture of the gait corrector suitable for the user based on the chaos algorithm within the determined range of the level of the exercise mode, and then controls the corresponding travel of each telescopic structure in the multiple telescopic structures, thereby controlling the gait corrector to form an infinite number of inclinations. By using the system of the present invention, the user can not only achieve ankle posture correction, but also perform ankle stretching and balance training, which can effectively improve the rehabilitation training effect.

[0050] Obviously, those skilled in the art should realize that the above embodiments are only used to illustrate the present invention, and are not used to limit the present invention. As long as they are within the spirit of the present invention, any changes or modifications to the above embodiments will fall within the scope of the claims of the present invention.

Claims

1. A gait correction system based on chaos algorithm, used for rehabilitation training of hemiplegic patients while walking, characterized by: Including gait corrector, smart terminal application and server, The gait corrector comprises: Shoes, the shoes being worn by a user; A sole device located under the shoe, used to support and fix the shoe; an adjustment mechanism, comprising a motor and a plurality of telescopic structures driven by the motor, wherein the plurality of telescopic structures perform up and down telescopic motions to change the overall height and posture of the sole device; A plurality of pressure sensors, for receiving the pressure of the user's sole and generating a sole pressure distribution signal; A processor is used to perform the following functions: Sending the plantar pressure distribution signal to a smart terminal application and receiving an exercise prescription suitable for the user issued by the smart terminal application; The height data and posture data of the sole device are obtained by calculating based on the chaos algorithm according to the exercise prescription. According to; and Sending a corresponding control signal to the adjustment mechanism according to the calculation result, so that the adjustment mechanism changes the overall height and posture of the sole device according to the control signal, The smart terminal application is used to perform the following functions: receiving the plantar pressure distribution signal uploaded by the gait corrector and uploading it to the server; receiving the exercise prescription issued by the server and issuing it to the gait corrector; and Show users the human-computer interaction interface and provide a visual training management system. The server is used to perform the following functions: Receive and process the plantar pressure distribution signal uploaded by the smart terminal application; extract a characteristic value from the plantar pressure distribution signal, where the characteristic value is a distribution range of the center of gravity coordinates of the user's affected limb obtained based on the plantar pressure value; comparing the characteristic value with a predetermined value and determining the user's motion mode based on the comparison result, wherein the predetermined value is a distribution range of the center of gravity coordinates of the user's healthy limb; the motion mode includes a plurality of levels, each level defining a respective overall height, forward tilt range, rearward tilt range, left tilt range, and right tilt range of the sole device; According to the exercise mode, the exercise prescription is customized for the user, wherein the exercise prescription includes data of a certain level of the exercise mode; the exercise prescription is sent to the smart terminal application, Among them, when the processor receives the exercise prescription, it calculates the overall height, forward tilt range or backward tilt range, and left tilt range or right tilt range of the sole device based on the chaos algorithm within the range of one of the multiple levels of the exercise mode, thereby obtaining the determined height data and posture data within the range of the exercise mode level.

2. The gait correction system according to claim 1, characterized in that The overall height is the height of the sole device of the gait corrector when it is in a horizontal state; the forward tilt range is the angle range between the bottom surface of the sole device formed by the heel portion of the gait corrector rising relative to the toe portion and the horizontal plane; the backward tilt range is the angle range between the bottom surface of the sole device formed by the toe portion of the gait corrector rising relative to the heel portion and the horizontal plane; the left tilt range is the angle range between the bottom surface of the sole device formed by the left side of the gait corrector descending relative to the right side and the horizontal plane; and the right tilt range is the angle range between the bottom surface of the sole device formed by the right side of the gait corrector descending relative to the left side and the horizontal plane.

3. The gait correction system according to claim 2, characterized in that The sport mode has 12 levels.

4. The gait correction system according to claim 3, characterized in that The exercise prescription also includes training duration and training cycle.

5. The gait correction system according to claim 4, characterized in that: The posture data of the sole device calculated based on the chaos algorithm according to the exercise prescription includes a forward tilt angle or a backward tilt angle, and a left tilt angle or a right tilt angle of the sole device.

6. The gait correction system according to claim 5, characterized in that: The overall height data and posture data of the sole device calculated based on the chaos algorithm according to the exercise prescription do not exceed the overall height, forward tilt range, backward tilt range, left tilt range and right tilt range specified by the level of the exercise mode in the exercise prescription.

7. The gait correction system according to claim 1, characterized in that The number of the plurality of telescopic structures is four, wherein two telescopic structures are located at the front of the sole device, and two telescopic structures are located at the rear of the sole device.

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