A gait and balance training robotic system

Abstract

The application discloses a gait and balance training robot system and method; the system comprises a motion generating unit, the motion generating unit is used for generating gait trajectory motion, and the leg is driven to move in a gait; the motion generating unit comprises a parallel mechanism, a rocker mechanism and a connecting plate; the connecting plate and the connecting rod of the rocker mechanism are connected with the parallel mechanism, and are used for linking the parallel mechanism and the rocker mechanism; the rocker mechanism is used for generating gait trajectory motion; and the parallel mechanism is used for ensuring that the gait trajectory motion generated by the rocker mechanism is stable. The gait trajectory motion is generated by the rocker mechanism, the gait motion of the leg is simulated, and the leg is driven to move in a gait. The rocker mechanism has the advantages of simple structure and stable operation; and the parallel mechanism is linked with the rocker mechanism, so that the stable gait trajectory motion is further ensured, thereby achieving a better rehabilitation training effect.

Description

Technical Field

[0001] This invention relates to the field of gait rehabilitation training technology, and more particularly to a robotic system for gait and balance training. Background Technology

[0002] In recent years, the number of people suffering from lower limb motor dysfunction has been increasing. On the one hand, due to the aging population, more and more people are suffering from cerebrovascular emergencies such as stroke and Parkinson's syndrome, or neurodegenerative diseases. These diseases often affect the lower limb motor function, leading to symptoms such as bradykinesia, gait disturbances, and balance disorders. On the other hand, with economic and technological development, the number of people engaged in high-risk industries or participating in high-risk sports is also increasing year by year. Cases of lower limb injuries caused by sports are also constantly increasing. These patients often need to undergo a series of rehabilitation treatments before surgery to help them restore normal lower limb motor function.

[0003] For the aforementioned patients, current medical research demonstrates that, in addition to surgical and drug treatments, they also require extensive limb rehabilitation training to help restore lower limb motor function and motor learning ability. Currently, most rehabilitation training relies on rehabilitation therapists, and the effectiveness of the training directly depends on the therapist's experience. The large amount of repetitive training also places a significant burden on therapists. Furthermore, the number of rehabilitation therapists is currently limited, with only a very small number of hospitals able to provide enough therapists to meet patients' rehabilitation needs. With technological advancements, robot-assisted rehabilitation training effectively addresses these shortcomings, providing sufficient repetitive training in a quantifiable manner and ensuring training quality.

[0004] Existing walking rehabilitation training robots have complex structures and unstable movements, which prevents them from achieving good rehabilitation training results. Summary of the Invention

[0005] The main technical problem solved by this invention is to provide a robotic system for gait and balance training, which addresses the issue that rehabilitation training robots have complex structures, unstable movements, and cannot achieve good rehabilitation training results.

[0006] To solve the above-mentioned technical problems, one technical solution adopted by the present invention is to provide a robot system for gait and balance training, comprising: a motion generating unit, which is used to generate gait trajectory motion and drive the legs to perform gait motion; the motion generating unit includes a parallel mechanism, a rocker mechanism, and a connecting plate; the connecting rod of the rocker mechanism and the connecting plate are connected to the parallel mechanism to enable the parallel mechanism and the rocker mechanism to work together; the rocker mechanism is used to generate gait trajectory motion; and the parallel mechanism is used to ensure that the gait trajectory motion generated by the rocker mechanism is performed smoothly.

[0007] Preferably, the parallel mechanism includes a fixed plate, a first parallel rod, a second parallel rod, a third parallel rod, a fourth parallel rod, and a parallel plate. The lower ends of the first, second, third, and fourth parallel rods are respectively hinged to the fixed plate, and the upper ends of the first, second, third, and fourth parallel rods are respectively hinged to the parallel plate.

[0008] Preferably, the rocker mechanism includes a driver, a crank, a connecting rod, and a rocker arm. The driver drives the crank to perform circular motion. The fixed end of the crank is connected to the output shaft of the driver. The free end of the crank is hinged to the lower end of the connecting rod. The connecting rod includes an intermediate ring disposed in the middle. The intermediate ring is hinged to the front end of the parallel plate. The upper end of the connecting rod is hinged to the front end of the rocker arm. The rear end of the rocker arm is hinged to the upper end of the connecting plate. The lower end of the connecting plate is hinged to the rear end of the parallel plate.

[0009] Preferably, the robot system further includes a pedal and an adjustment frame. The pedal is used to support the feet, and the adjustment frame is used to adjust the distance between the pedal and the motion generating unit. The adjustment frame includes an extension, which includes a vertically arranged lower extension and a first inner extension and a second inner extension extending from both ends of the lower extension. The first inner extension and the second inner extension are oriented in opposite directions.

[0010] Preferably, the adjustment frame further includes a first adjustment member and / or a second adjustment member, the first adjustment member and / or the second adjustment member being used to adjust the distance between the pedal and the motion unit. The first adjustment member includes a lower plate, an upper plate, and a first fixing block between the lower plate and the upper plate. The lower plate is connected to the crank, and the first fixing block is connected to the first inner extension. The second adjustment member includes a second fixing block and a support portion, and the second fixing block is connected to the second inner extension.

[0011] Preferably, the robot system further includes a balance training mechanism for driving the foot to rotate up and down around the ankle joint. The balance training mechanism includes a base plate, a long rod, and two telescopic rods. The base plate is disposed on the upper side of the support portion. The lower end of the long rod is hinged to the middle of the rear end of the base plate. The fixed ends of the two telescopic rods are respectively hinged to the two sides of the front end of the base plate. The upper ends of the long rod and the two telescopic rods are connected to the pedal via universal joints. The connection point between the long rod and the pedal is located at the middle of the rear side of the pedal, and the connection points between the two telescopic rods and the pedal are respectively located on the left and right sides of the middle of the pedal.

[0012] Preferably, the robot system further includes a binding mechanism, which includes binding straps and suspension straps. Multiple suspension straps are provided, with the lower ends of the suspension straps evenly distributed around the binding straps and the upper ends of the suspension straps suspended.

[0013] Preferably, the robot system further includes a frame for mounting the binding mechanism and the motion generating unit; the frame includes a fixing member, a vertical member, and a hanging member, the fixing member and the hanging member are respectively disposed at the upper and lower ends of the vertical member, and the fixing member and the hanging member extend in the same direction.

[0014] Preferably, a pressure sensor is provided on the surface of the pedal, the pressure sensor being used to detect the magnitude of the pressure on the trainee's sole during use of the robot system.

[0015] The present invention also provides a gait and balance training method, comprising the following steps:

[0016] Step S1: Adjust the positions of the left and right pedals. Adjust the position of the left pedal to the last side of the corresponding pedal movement trajectory, and adjust the position of the right pedal to the foremost side of the corresponding pedal movement trajectory.

[0017] Step S2: The trainee places both feet on the pedals on the left and right sides respectively, and the restraint straps are tied around the trainee's waist;

[0018] Step S3: The motion generating units on both the left and right sides simultaneously generate gait trajectory movements;

[0019] The motion generating unit on the left side drives the pedal on the left side to move forward, while the balance training mechanism on the left side drives the front end of the pedal on the left side to rotate upward; simulating the forward gait of the left leg;

[0020] The motion generating unit on the right side drives the pedal on the right side to move backward, while the balance training mechanism on the right side drives the front end of the pedal on the right side to rotate downward, simulating the backward gait of the right leg.

[0021] Step S4: After the left pedal moves to the front of the pedal movement trajectory, the right pedal moves to the back of the pedal movement trajectory.

[0022] Then, the motion generating unit on the left side drives the pedal on the left side to move backward, while the balance training mechanism on the left side drives the front end of the pedal on the left side to rotate downward; simulating the backward gait of the left leg.

[0023] The motion generating unit on the right side drives the pedal on the right side to move forward, while the balance training mechanism on the right side drives the front end of the pedal on the right side to rotate upward, simulating the forward gait of the right leg.

[0024] Step S5: Repeat steps S3 and S4 to simulate the forward gait of the left leg and the backward gait of the right leg, and vice versa, to perform gait and balance training.

[0025] The beneficial effects of this invention are: This invention uses a rocker mechanism to generate gait trajectory movement, simulating leg gait movement and driving the legs to perform gait movements. The rocker mechanism has the advantages of simple structure and smooth operation, and the linkage between the parallel mechanism and the rocker mechanism further ensures the smooth execution of gait trajectory movement, thereby achieving a better rehabilitation training effect. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of a robot system for gait and balance training according to an embodiment of the present invention;

[0027] Figure 2 This is a schematic diagram of the structure of a motion generating unit, an adjustment frame, and a balance training mechanism according to an embodiment of a robot system for gait and balance training based on the present invention.

[0028] Figure 3 This is a schematic diagram of the structure of a motion generation unit according to an embodiment of a robot system for gait and balance training based on the present invention.

[0029] Figure 4 This is a schematic diagram of the structure of the parallel plate connection point in an embodiment of a robot system for gait and balance training according to the present invention.

[0030] Figure 5 This is a schematic diagram of the structure of the first connector in an embodiment of a robot system for gait and balance training according to the present invention;

[0031] Figure 6 This is a schematic diagram of the structure of the connecting seat and the second connecting member according to an embodiment of the robot system for gait and balance training according to the present invention;

[0032] Figure 7 This is a schematic diagram of the structure of an adjustment frame according to an embodiment of a robot system for gait and balance training based on the present invention;

[0033] Figure 8 This is a schematic diagram of the balance training mechanism according to an embodiment of a robot system for gait and balance training based on the present invention.

[0034] Figure 9 This is a schematic diagram of the pedal motion trajectory of an embodiment of a robot system for gait and balance training according to the present invention.

[0035] Figure 10This is a schematic diagram of the link dimension relationship of an embodiment of a robot system for gait and balance training according to the present invention;

[0036] Figure 11 This is a flowchart of an embodiment of the gait and balance training method according to the present invention. Detailed Implementation

[0037] To facilitate understanding of the present invention, a more detailed description is provided below with reference to the accompanying drawings and specific embodiments. Preferred embodiments of the invention are shown in the drawings. However, the invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a thorough and complete understanding of the disclosure of the invention.

[0038] It should be noted that, unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the invention. The term "and / or" as used in this specification includes any and all combinations of one or more of the associated listed items.

[0039] Figures 1-10 An embodiment of the robot system for gait and balance training of the present invention is shown, including: a motion generating unit 1, which generates gait trajectory movements to drive the legs in gait movements. The motion generating unit 1 includes a parallel mechanism 11, a rocker mechanism 12, and a connecting plate 13. The connecting rod 123 of the rocker mechanism 12 and the connecting plate 13 connect the parallel mechanism 11 to enable the parallel mechanism 11 and the rocker mechanism 12 to move in tandem. The rocker mechanism 12 generates gait trajectory movements, and the parallel mechanism 11 ensures that the gait trajectory movements generated by the rocker mechanism 12 are performed smoothly.

[0040] The rocker mechanism 12 generates gait trajectory movement, simulating leg gait movements and driving the legs to perform gait movements. This facilitates gait training. The parallel mechanism 11 is linked to the rocker mechanism 12 through the connecting rod 123 and the connecting plate 13, causing the crank 122 in the rocker mechanism 12 to smoothly perform gait trajectory movement.

[0041] like Figure 3As shown, the parallel mechanism 11 includes a fixed plate 110, a first parallel rod 111, a second parallel rod 112, a third parallel rod 113, a fourth parallel rod 114, and a parallel plate 115. The lower ends of the first parallel rod 111, the second parallel rod 112, the third parallel rod 113, and the fourth parallel rod 114 are respectively hinged to the fixed plate 110, and the upper ends of the first parallel rod 111, the second parallel rod 112, the third parallel rod 113, and the fourth parallel rod 114 are respectively hinged to the parallel plate 115.

[0042] The fixing plate 110 is provided with four rectangular fixing seats 116. Each fixing seat 116 includes a horizontally arranged fixing part and a vertically arranged connecting part. A fixing shaft is provided inside the connecting part, and a bearing is sleeved on the outside of the fixing shaft. The bearing is preferably a deep groove ball bearing, with its inner ring sleeved around the outside of the fixing shaft. The two ends of the first parallel rod 111, the second parallel rod 112, the third parallel rod 113, and the fourth parallel rod 114 are all annular, and the end of the first parallel rod 111, the second parallel rod 112, the third parallel rod 113, or the fourth parallel rod 114 is sleeved on the outer ring of the bearing. This allows the lower end of the first parallel rod 111, the second parallel rod 112, the third parallel rod 113, or the fourth parallel rod 114 to be hinged to the fixing seat 116. A bearing end cap can also be provided on the outside of the bearing for sealing. The hinges in this application can all be achieved by setting a fixing shaft and bearings, which will not be elaborated further below.

[0043] like Figure 3 As shown, the rocker mechanism 12 includes a driver 121, a crank 122, a connecting rod 123, and a rocker arm 124. The driver 121 drives the crank 122 to perform circular motion. The fixed end of the crank 122 is connected to the output shaft of the driver 121. The free end of the crank 122 is hinged to the lower end of the connecting rod 123. The upper end of the connecting rod 123 is hinged to the front end of the rocker arm 124. The rear end of the rocker arm 124 is hinged to the upper end of the connecting plate 13. The lower end of the connecting plate 13 is hinged to the rear end of the parallel plate 115.

[0044] The crank 122 is disposed on the inner side of a fixed base 116, and the driver 121 is disposed on the outer side of the fixed base 116. The driver 121 is an electric motor or hydraulic motor, etc. The output shaft of the driver 121 passes through the fixed base 116 and is connected to the fixed end of the crank 122, driving the free end of the crank 122 to perform circular motion around the fixed end. A hole is provided at the fixed plate 110 directly below the crank 122 to allow the crank 122 to perform circular motion. The fixed plate 110 is U-shaped.

[0045] like Figure 3 As shown, the connecting rod 123 includes an intermediate ring 1230 disposed in the middle, and the intermediate ring 1230 is hinged to the front end of the parallel plate 115.

[0046] Preferred, such as Figure 3 As shown, the first parallel rod 111 is hinged to the rear left side of the fixed plate 110, the second parallel rod 112 is hinged to the rear right side of the fixed plate 110, the third parallel rod 113 is hinged to the front right side of the fixed plate 110, and the fourth parallel rod 114 is hinged to the front left side of the fixed plate 110. The crank 122 and the driver 121 are located at the fixed seat 116 corresponding to the first parallel rod 111.

[0047] Preferred, such as Figure 4 and Figure 5 As shown, the upper ends of the third parallel rod 113 and the fourth parallel rod 114 are both hinged to the first connecting member 125. The third parallel rod 113 and the fourth parallel rod 114 are hinged to the intermediate ring 1230 of the connecting rod 123 through the first connecting member 125. The first connecting member 125 includes a through portion 1250, and an outer connecting shaft 1252 and an inner connecting shaft 1253 extending from both ends of the through portion 1250, respectively. The outer connecting shaft 1252 is hinged to the upper end of the third parallel rod 113 or the fourth parallel rod 114 through a bearing, and the inner connecting shaft 1253 is hinged to the intermediate ring 1230 of the connecting rod 123 through a bearing.

[0048] Preferably, the through portion 1250 is fixedly connected to the front end of the parallel plate 115. The through portion 1250 is a cuboid. A through hole 1251 is provided in the front-back direction of the middle part of the through portion 1250. The front end of the parallel plate 115 extends out to form an inner part 1150 that is adapted to the through hole 1251. The inner part 1150 passes through the through hole 1251 and is fixedly connected to the through portion 1250.

[0049] Preferred, such as Figure 4 and Figure 6 As shown, the upper ends of the first parallel rod 111 and the second parallel rod 112 are hinged to a connecting seat 126 and a second connecting member 127. The connecting seat 126 includes a first connecting shaft 1260 hinged to the first parallel rod 111 or the second parallel rod 112, an intermediate plate 1261 connected to the first connecting shaft 1260, and a locking block 1262 connected to the intermediate plate 1261. A bearing is provided on the outer side of the first connecting shaft 1260 and hinged to the first parallel rod 111 or the second parallel rod 112. The second connecting member 127 includes a first clip 1271 locked on the outer side of the locking block 1262, and a second clip 1272 diagonally opposite to the first clip 1271.

[0050] Preferred, such as Figure 4As shown, a connecting seat 126 and a second connecting member 127 are provided on the right side of the upper end of the first parallel rod 111 and the second parallel rod 112. The locking block 1262 of the connecting seat 126 is parallel to the parallel plate 115, so that the first clip 1271 and the second clip 1272 of the second connecting member 127 are parallel to the parallel plate 115. The second clip 1272 is locked at the rear end of the parallel plate 115 and fixedly connected to the parallel plate 115. This makes the first parallel rod 111 and the second parallel rod 112 hinged to the parallel plate 115.

[0051] Preferred, such as Figure 4 As shown, each of the upper left sides of the first parallel rod 111 and the second parallel rod 112 is provided with another connecting seat 126 and another second connecting member 127. The locking block 1262 of the connecting seat 126 is parallel to the connecting plate 13, so that the first clip 1271 and the second clip 1272 of the second connecting member 127 are parallel to the connecting plate 13. The second clip 1272 is locked at the lower end of the connecting plate 13 and is fixedly connected to the connecting plate 13. This makes the first parallel rod 111 and the second parallel rod 112 hinged to the connecting plate 13.

[0052] Furthermore, such as Figure 3 As shown, a clamping plate 131 extends from the upper end of the connecting plate 13, and a clamping seat 14 is hinged to the rear end of the rocker arm 124. The clamping seat 14 includes a fixed shaft that is hinged to the rocker arm 124 and a third clamping clip 141 that clamps the clamping plate 131. A bearing is provided on the outside of the fixed shaft and hinged to the rocker arm 124. The third clamping clip 141 is clamped on the periphery of the clamping plate 131 and is fixedly connected to the clamping plate 131.

[0053] Based on the above, gait trajectory movement can be generated through the rocker mechanism 12. The parallel mechanism 11 is linked with the rocker mechanism 12 through the connecting rod 123 and the connecting plate 13, so that the crank 122 in the rocker mechanism 12 can smoothly perform gait trajectory movement. It has the advantages of simple structure and smooth movement.

[0054] In the above structure, crank 122 can be used as pedal 2, which supports the leg for rehabilitation training. Alternatively, a plate-like structure adapted to the shape of the leg can be fixed to crank 122 as pedal 2, supporting the leg for gait training. Figure 9 As shown, the motion trajectory of crank 122 is the pedal motion trajectory 10, and the pedal motion trajectory 10 is the gait motion trajectory.

[0055] The dimensional relationship between the rocker mechanism 12 and the parallel mechanism 11 described above is as follows: Figure 10As shown, l1 is the length between the two fixed seats 116 on the left, l2 is the length of the rocker arm 124, l3 is the length of the connecting rod 123 between point O and point P, l4 is the length of the first parallel rod 111, θ1 is the angle between the rocker arm 124 and the fixed plate 110, θ2 is half the angle between the rocker arm 124 and the connecting rod 123, and θ3 is the angle between the first parallel rod 111 and the fixed plate 110. Point O is the hinge position between the crank 122 and the connecting rod 123, point Q is the position of the center ring 1230, and point P is the hinge position between the connecting rod 123 and the rocker arm 124. X and Y are coordinate axes.

[0056] The above dimensions satisfy the formula:

[0057] x p =f(θ1)=l2 cosθ1+n×l3 cosθ2(θ1)

[0058] y p =g(θ1)=l2 cosθ1+n×l3 cosθ2(θ1)

[0059] In the formula: x p y p Let represent the ordinate and abscissa of point P, respectively. n represents the proportion by which the intermediate ring 1230 divides the connecting rod 123. n × l3 equals the total length of the connecting rod 123. θ2 (θ1) is an intermediate formula, expressed as:

[0060]

[0061] In the formula, A, B, and C are intermediate formulas, respectively expressed as:

[0062]

[0063] B=2l2l3 cosθ1-2l1l3

[0064] C=2l2l3 sinθ1

[0065] After the rocker mechanism 12 and the parallel mechanism 11 satisfy the above relationship, the gait trajectory movement can be made smooth.

[0066] The aforementioned structure is quite tall, and if pedal 2 is directly fixed to crank 122, it will occupy a significant amount of space in terms of height. Therefore, it is necessary to change the position of pedal 2 to reduce the space occupied by height.

[0067] To solve the above problems, further, such as Figure 2 and Figure 7As shown, the robot system also includes an adjustment frame 3, which includes an extension 31. The extension 31 is used to mount the pedal 2, changing the position of the pedal 2 to the underside of the motion generating unit 1. This reduces the space occupied by the height and facilitates its use in rehabilitation training.

[0068] like Figure 7 As shown, the extension 31 includes a vertically arranged lower extension 310, and a first inner extension 311 and a second inner extension 312 extending from both ends of the lower extension 310. The first inner extension 311 and the second inner extension 312 have opposite orientations. The first inner extension 311 faces the rocker arm 124 and can be fixedly connected to the rocker arm 124, while the second inner extension 312 is away from the rocker arm 124. The lower extension 310 allows the position of the pedal 2 to be shifted downwards, and the first inner extension 311 and the second inner extension 312 allow the position of the pedal 2 to be shifted inwards. The entire extension 31 allows the position of the pedal 2 to be downwards and inwards.

[0069] Furthermore, such as Figure 7 As shown, the adjustment frame 3 further includes a first adjustment member 32 and / or a second adjustment member 33, which can further extend the position of the pedal 2 inward. The first adjustment member 32 includes a lower plate 320, an upper plate 321, and a first fixing block 322 between the lower plate 320 and the upper plate 321. A first inner extension 311 is disposed on the side of the first fixing block 322. By adjusting the position of the first inner extension 311 relative to the first fixing block 322, the pedal 2 can be further adjusted to be near or away from the rocker arm 124.

[0070] like Figure 7 As shown, the second adjusting member 33 includes a second fixing block 330 and a support portion 331. A second inner extension portion 312 is disposed on the side of the second fixing block 330. By adjusting the position of the second inner extension portion 312 relative to the second fixing block 330, the pedal 2 can be further adjusted to be near or away from the rocker arm 124. The support portion 331 is triangular, with its long side horizontal at the top. The pedal 2 can be mounted on two support portions 331.

[0071] Preferred, such as Figure 7 As shown, there are four extension members 31. The first inner extension portion 311 of two extension members 31 is respectively disposed on both sides of a first fixing block 322, and the second inner extension portion 312 of two extension members 31 is respectively disposed on both sides of a second fixing block 330. The first inner extension portion 311 of the other two extension members 31 is respectively disposed on both sides of another first fixing block 322, and the second inner extension portion 312 of the other two extension members 31 is respectively disposed on both sides of another second fixing block 330.

[0072] The position of the pedal 2 can be adjusted using the adjustment bracket 3, so that the pedal 2 is located on the lower inner side of the motion generating unit 1. This reduces the space occupied by the pedal and facilitates its use in rehabilitation training.

[0073] Furthermore, such as Figure 2 and Figure 8 As shown, the robot system also includes a balance training mechanism 4, which drives foot movement, causing the foot to rotate up and down around the ankle joint for lateral and horizontal training. The motion generating unit 1 drives the legs for gait training, while the balance training mechanism 4 drives the feet for balance training. This effectively combines gait and balance training, allowing for simultaneous gait and balance training. This effectively stimulates the trainee's motor learning ability, promotes the rebuilding of limb motor function, and restores the ability to stand and walk. It significantly improves training effectiveness and reduces training time.

[0074] Preferred, such as Figure 8 As shown, the balance training mechanism 4 is used to drive the foot to rotate back and forth around the ankle joint. The balance training mechanism 4 includes a base plate 41, a long rod 42, and two telescopic rods 43. The base plate 41 is located on the upper side of the support part 331. The lower end of the long rod 42 is hinged to the middle of the rear end of the base plate 41. The fixed ends of the two telescopic rods 43 are respectively hinged to the two sides of the front end of the base plate 41. The lower end of the long rod 42 and the lower ends of the two telescopic rods 43 form an isosceles triangle. The upper ends of the long rod 42 and the two telescopic rods 43 are connected to the pedal 2 through universal joints. The connection point between the long rod 42 and the pedal 2 is located at the middle of the rear side of the pedal 2, and the connection points between the two telescopic rods 43 and the pedal 2 are located on the left and right sides of the middle of the pedal 2, respectively. The telescopic rods 43 can be electric telescopic rods 43 or hydraulic telescopic rods 43. The extension and retraction of the telescopic rods 43 causes the front end of the pedal 2 to rotate upward or downward. The angle between the rotation angle and the horizontal plane of the pedal 2 is -20° to 20°. The balance training device works in conjunction with the motion generating unit 1. When the motion generating unit 1 moves the pedal 2 forward, the balance training device moves the front end of the pedal 2 upward. When the motion generating unit 1 moves the pedal 2 backward, the balance training device moves the front end of the pedal 2 downward.

[0075] Furthermore, such as Figure 1 As shown, the robot system also includes a restraint mechanism 5. The restraint mechanism 5 is used to restrain the trainee to prevent the trainee from falling and to protect the trainee.

[0076] The binding mechanism 5 includes binding straps 51 and suspension straps 52. Multiple suspension straps 52 are provided, preferably four. The lower ends of the suspension straps 52 are evenly distributed around the periphery of the binding straps 51, and the upper ends of the suspension straps 52 are suspended. The binding straps 51 can be straps with Velcro or straps with buckles for easy binding.

[0077] The upper end of the suspension belt 52 is fixed, and the binding strap 51 is tied around the waist of the trainee to protect the trainee and prevent falls during training.

[0078] Furthermore, such as Figure 1 As shown, the robot system also includes a frame 6. The frame 6 is used to house the binding mechanism 5 and the motion generating unit 1. The frame 6 includes a fixing member 61, a vertical member 62, and a suspension member 63. The fixing member 61 and the suspension member 63 are respectively located at the upper and lower ends of the vertical member 62, and their extension directions are the same. The fixing member 61 is used to house the motion generating unit 1, and the suspension member 63 is used to house the binding mechanism 5. The fixing member 61 includes two spaced-apart lower crossbeams. The suspension member 63 includes two spaced-apart upper crossbeams.

[0079] Furthermore, the robot system also includes a visual stimulation unit, which is equipped with different virtual scenes to provide various visual stimuli. The visual stimulation unit includes a display screen or VR glasses, preferably VR glasses. The virtual scenes include concrete roads, slopes, gravel roads, sandy areas, etc. The visual stimulation unit can simulate different virtual scenes, preventing the trainee from becoming bored.

[0080] Furthermore, a thin-film plantar pressure sensor is provided on the surface of the pedal 2. This sensor is used to detect the magnitude of the plantar pressure exerted by the trainee during use. The data on the trainee's plantar pressure is collected, and a computer-aided assessment of the trainee's rehabilitation progress is then performed.

[0081] Furthermore, such as Figure 11 As shown, the present invention also includes a gait and balance rehabilitation training method, comprising the following steps:

[0082] Step S1: Adjust the positions of the left and right pedals 2. Adjust the position of the left pedal 2 to the last side of the corresponding pedal movement trajectory 10, and adjust the position of the right pedal 2 to the foremost side of the corresponding pedal movement trajectory 10.

[0083] Step S2: The trainee places both feet on the left and right pedals 2 respectively, and the binding strap 51 is tied around the trainee's waist.

[0084] Step S3: The motion generating units 1 on both the left and right sides simultaneously generate gait trajectory movements. The motion generating unit 1 on the left side drives the left pedal 2 to move forward, while the balance training mechanism 4 on the left side drives the front end of the left pedal 2 to rotate upward, simulating the forward gait movement of the left leg. The motion generating unit 1 on the right side drives the right pedal 2 to move backward, while the balance training mechanism 4 on the right side drives the front end of the right pedal 2 to rotate downward, simulating the backward gait movement of the right leg.

[0085] Step S4: After the left pedal 2 moves to the foremost side of the pedal movement trajectory 10, the right pedal 2 simultaneously moves to the rearmost side of the pedal movement trajectory 10. Then, the left motion generating unit 1 drives the left pedal 2 to move backward, while the left balance training mechanism 4 drives the front end of the left pedal 2 to rotate downward, simulating a backward gait of the left leg. The right motion generating unit 1 drives the right pedal 2 to move forward, while the right balance training mechanism 4 drives the front end of the right pedal 2 to rotate upward, simulating a forward gait of the right leg.

[0086] Step S5: Repeat steps S3 and S4 to simulate the forward gait of the left leg and the backward gait of the right leg, and vice versa, to train gait and balance, thereby improving the trainee's walking ability.

[0087] Before or after step S1, the positions of the first adjustment member 32 and / or the second adjustment member 33 can be adjusted to adjust the distance between the pedal 2 and the motion generating unit 1 to suit different trainees.

[0088] This invention uses a rocker mechanism to generate gait trajectory movement, simulating leg gait motion and driving the legs to perform gait movements. The rocker mechanism has the advantages of simple structure and stable operation. Furthermore, the linkage between the rocker mechanism and a parallel mechanism further ensures the smooth execution of the gait trajectory movement, thus achieving a better rehabilitation training effect. By using a motion generating unit to drive the legs in gait training and a balance training mechanism to drive the feet in balance training, gait training and balance training are effectively combined. This allows for balance training while gait training, effectively stimulating the trainee's motor learning ability, promoting the reconstruction of limb motor function, and restoring the ability to stand and walk. It greatly improves training effectiveness and reduces training time.

[0089] The above are merely embodiments of the present invention and do not limit the patent scope of the present invention. Any equivalent structural transformations made based on the content of the present invention specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A robotic system for gait and balance training, characterized in that, include: A motion generating unit is provided, which generates gait trajectory motion to drive the legs in gait motion. The motion generating unit includes a parallel mechanism, a rocker mechanism, and a connecting plate. The connecting rod of the rocker mechanism and the connecting plate connect the parallel mechanism to enable the parallel mechanism and the rocker mechanism to work together. The rocker mechanism generates gait trajectory motion, and the parallel mechanism ensures that the gait trajectory motion generated by the rocker mechanism is performed smoothly. The parallel mechanism includes a fixed plate, a first parallel rod, a second parallel rod, a third parallel rod, a fourth parallel rod, and a parallel plate. The lower ends of the first, second, third, and fourth parallel rods are respectively hinged to the fixed plate, and the upper ends of the first, second, third, and fourth parallel rods are respectively hinged to the parallel plate. The rocker mechanism includes a driver, a crank, a connecting rod, and a rocker arm. The driver drives the crank to perform circular motion. The fixed end of the crank is connected to the output shaft of the driver. The free end of the crank is hinged to the lower end of the connecting rod. The connecting rod includes an intermediate ring located in the middle, which is hinged to the front end of the parallel plate. The upper end of the connecting rod is hinged to the front end of the rocker arm. The rear end of the rocker arm is hinged to the upper end of the connecting plate. The lower end of the connecting plate is hinged to the rear end of the parallel plate. The robot system also includes a pedal and an adjustment frame. The pedal is used to support the feet, and the adjustment frame is used to adjust the distance between the pedal and the motion generating unit. The adjustment frame includes an extension, which includes a vertically arranged lower extension and a first inner extension and a second inner extension extending from both ends of the lower extension. The first inner extension and the second inner extension are oriented in opposite directions.

2. The robot system for gait and balance training according to claim 1, characterized in that, The adjustment frame further includes a first adjustment member and / or a second adjustment member, which are used to adjust the distance between the pedal and the motion generating unit. The first adjustment member includes a lower plate, an upper plate, and a first fixing block between the lower plate and the upper plate. The lower plate is connected to the crank, and the first fixing block is connected to the first inner extension. The second adjustment member includes a second fixing block and a support portion, and the second fixing block is connected to the second inner extension.

3. The robot system for gait and balance training according to claim 2, characterized in that, The robot system also includes a balance training mechanism, which drives the foot to rotate up and down around the ankle joint. The balance training mechanism includes a base plate, a long rod, and two telescopic rods. The base plate is located on the upper side of the support part. The lower end of the long rod is hinged to the middle of the rear end of the base plate. The fixed ends of the two telescopic rods are respectively hinged to the two sides of the front end of the base plate. The upper ends of the long rod and the two telescopic rods are connected to the pedal through universal joints. The connection point between the long rod and the pedal is located at the middle of the rear side of the pedal, and the connection points between the two telescopic rods and the pedal are located on the left and right sides of the middle of the pedal, respectively.

4. The robot system for gait and balance training according to claim 3, characterized in that, The robot system also includes a binding mechanism, which includes binding straps and suspension straps. Multiple suspension straps are provided, with the lower ends of the suspension straps evenly distributed around the binding straps and the upper ends of the suspension straps suspended.

5. The robot system for gait and balance training according to claim 4, characterized in that, The robot system also includes a frame for mounting the binding mechanism and the motion generating unit; the frame includes a fixing member, a vertical member, and a suspension member, the fixing member and the suspension member are respectively disposed at the upper and lower ends of the vertical member, and the fixing member and the suspension member extend in the same direction.

6. The robot system for gait and balance training according to any one of claims 1-5, characterized in that, A pressure sensor is provided on the surface of the pedal, which is used to detect the amount of pressure on the trainee's sole during use of the robot system.

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