A gait feedback assistive device

Abstract

The present application discloses a gait feedback assistive device, which belongs to the field of assistive technology. The gait feedback assistive device includes a plantar pressure pad, a pipeline and a sensor. The plantar pressure pad includes a support area and a capsule area. The support area includes the heel extension edge, the medial longitudinal arch and the transverse arch to improve the distribution of plantar pressure and thus assist walking stability. The capsule area is filled with fluid. One side of the cavity of the sensor is a pressure release area that can be deformed. The cavity and the capsule area are connected by a pipeline, and the sensor is placed on the surface of the human body, and the pressure release area is attached to the skin of the human body. In the gait feedback assistive device provided by the present application, the pressure changes during the contraction or release of the capsule area are transmitted to the sensor along the pipeline through the fluid, so that the patient can perceive the cyclic process of gait from the pressure release area, that is, understand the transfer of the center of gravity of the human body, and help the patient perceive the state of the pace.

Description

Technical Field

[0001] The present application relates to the field of assistive technology, and in particular to a gait feedback assistive device. Background Art

[0002] Deep sensory impairment refers to a neurological disorder characterized by abnormalities in position, movement, and vibration sense in muscles and joints. Gait abnormalities are a key manifestation of this condition. Because of this sensory impairment, patients experience a sensation of walking on cotton, unable to distinguish the depth or distance of their steps. They often need to bend over, look at the ground, or use crutches to walk. Falls are a common complication.

[0003] Currently, clinical treatment is primarily focused on the primary disease, and most patients are difficult to cure. They require long-term, ongoing checkups and medication, and the prognosis is poor. Most patients experience varying degrees of depression, are prone to falls, and find it difficult to go out alone, severely impacting their quality of life. Summary of the Invention

[0004] In view of this, the purpose of this application is to provide a gait feedback assistive device to help patients with abnormal gait perceive their own pace status, assist walking, and thus improve the quality of life of patients.

[0005] To solve the above technical problems, this application provides:

[0006] A gait feedback assistive device, comprising:

[0007] A plantar pressure pad, the plantar pressure pad comprising a support area and a bladder area, the bladder area being fixed to the support area, the support area comprising a heel extension edge, a medial longitudinal arch, and a transverse arch, the bladder area being filled with a fluid;

[0008] The sensor has a cavity, one side of the cavity is a pressure release area that can be deformed, the cavity and the sac area are connected by a pipeline, the sensor is attached to the human body surface, and the pressure release area is attached to the human skin;

[0009] When the heel of one side of the human body touches the ground, the sole of the foot on that side squeezes the sac area, and fluid flows from the sac area to the sensor, causing the pressure in the cavity to increase. As the pressure increases, the pressure release area deforms, and the human body senses that the leg on that side has entered the stance phase and controls the other leg to enter the push-off phase. Until the sole of the foot in the stance phase flattens, two pressure pulses with different peak values are sensed, and the entire body weight is transferred to the leg on that side. At this time, the human body controls the toe of the other side to lift off the ground. After the swing phase, the heel of the leg that has lifted off the ground touches the ground, completing a step.

[0010] The leg bearing the weight then enters the push-off phase until the toe leaves the ground, at which time the sac area expands and releases, and the pressure release area contracts, so that the human body senses that the pressure in the pressure release area disappears. This is a gait cycle, which is completed two times before the heel touches the ground again.

[0011] In addition, the gait feedback assistive device according to the present application may also have the following additional technical features:

[0012] In some embodiments of the present application, the bag area includes a first pressure pad bag and a second pressure pad bag, the first pressure pad bag corresponds to the heel position of the human foot, the second pressure pad bag corresponds to the lateral longitudinal arch position of the human foot, and the first pressure pad bag is connected to the second pressure pad bag, and the sensor is connected to the second pressure pad bag through the pipeline.

[0013] In some embodiments of the present application, the sensing member includes a cuff and a sensing ball having the cavity, the sensing ball is disposed in the cuff, the cuff has an opening, and the portion of the sensing ball located at the opening is the pressure release zone.

[0014] In some embodiments of the present application, the cuff includes a shell and a buffer material, the sensing ball is located in the shell, the buffer material is arranged between the sensing ball and the inner wall of the shell, and the opening is opened on the shell.

[0015] In some embodiments of the present application, a skin-friendly material layer is provided on the side of the plantar pressure pad facing the human foot.

[0016] In some embodiments of the present application, the pipeline extends along the fifth metatarsal tuberosity of the human foot toward the proximal end of the human limb, and the pipeline is fixedly arranged on the surface of the human body.

[0017] In some embodiments of the present application, a regulating valve is provided on the sensing member, one end of the regulating valve is connected to the cavity, and the other end of the regulating valve is connected to the pressure calibration regulating member.

[0018] Beneficial effects of this application:

[0019] The present application proposes a gait feedback assistive device, including a plantar pressure pad and a sensor. The plantar pressure pad includes a support area and a sac area fixedly arranged in the support area. The support area includes a heel extension edge, an inner longitudinal arch and a transverse arch. The sac area is filled with fluid. The sensor has a cavity. One side of the cavity is a pressure release area that can be deformed. The cavity and the sac area are connected by a pipeline. The sensor is tied to the surface of the human body, and the pressure release area is attached to the skin of the human body.

[0020] During the use of gait feedback assistive devices, when the heel of one side of the human body touches the ground, the sole of the foot on that side squeezes the sac area, and the fluid flows from the sac area to the sensor to increase the pressure in the cavity. As the pressure increases, the pressure release area deforms, and the human body senses that the leg on that side has entered the support period and controls the other leg to enter the push-off period. Until the sole of the foot in the support period is flattened, two pressure pulses with different peak values are sensed, and the entire body weight is transferred to the leg on that side. At this time, the human body controls the toe of the other side to leave the ground, and the heel of the leg that has left the ground touches the ground after the swing period, completing a step.

[0021] The leg bearing the body weight then enters the push-off phase, until the toe leaves the ground, the sac area expands and releases, and the pressure release area contracts, so that the human body feels that the pressure in the pressure release area disappears, until two steps are completed before the heel touches the ground again, which is a gait cycle.

[0022] The gait feedback assistive device provided in this application transmits the pressure changes during the contraction or release of the sac area to the sensor through the fluid along the pipeline, so that the patient can perceive the cyclical process of gait from the pressure release area, that is, understand the transfer of the center of gravity of the human body, and help the patient perceive the state of the pace. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without creative work.

[0024] Figure 1 It shows a schematic structural diagram of the gait feedback assistive device in the first embodiment of the present application;

[0025] Figure 2 It shows a schematic structural diagram of the sensor in the first embodiment of the present application;

[0026] Figure 3 A first schematic diagram showing the relative positions of the sac area and the sole of a human foot in the first embodiment of the present application is shown;

[0027] Figure 4 A second schematic diagram showing the relative positions of the sac area and the sole of a human foot in the first embodiment of the present application is shown;

[0028] Figure 5 A schematic structural diagram of a gait feedback assistive device in a second embodiment of the present application is shown.

[0029] Description of main component symbols:

[0030] 100- gait feedback aid; 110- plantar pressure pad; 111- support area; 112- sac area; 1121- first pressure pad sac; 1122- second pressure pad sac; 120- sensor; 121- cuff; 1211- opening; 1212- shell; 1213- cushioning material; 122- sensor ball; 1221- cavity; 1222- pressure release area; 123- regulating valve; 120a- first sensor; 120b- second sensor; 130- pipeline; 130a- first pipeline; 130b- second pipeline; 200- sole of the patient's foot; 210- calcaneus; 220- cuboid bone; 230- first metatarsal; 240- fifth metatarsal. DETAILED DESCRIPTION

[0031] The following describes in detail embodiments of the present application. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application and are not to be construed as limiting the present application.

[0032] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0033] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. Throughout the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0034] In this application, unless otherwise expressly specified or limited, terms such as "mounted," "connected," "connect," and "fixed" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal connections between two components or interactions between two components. Those skilled in the art will understand the specific meanings of these terms in this application based on specific circumstances.

[0035] In this application, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0036] Example 1

[0037] like Figure 1 As shown, embodiment 1 of the present application provides a gait feedback assistive device 100, which belongs to the field of assistive technology and is used to solve the problem of difficulty in walking for patients with abnormal gait.

[0038] The gait feedback assistive device 100 provided in this embodiment may include a plantar pressure pad 110, a pipeline 130 and a sensor 120. The plantar pressure pad 110 includes a support area 111 and a sac area 112 fixedly arranged on the support area 111. The support area 111 includes a heel extension edge, an inner longitudinal arch and a transverse arch. The sac area 112 is filled with fluid. The sensor 120 has a cavity 1221, and one side of the cavity 1221 is a pressure release area 1222 that can be deformed. The cavity 1221 and the sac area 112 are connected by a pipeline 130. The sensor 120 is tied to the surface of the human body, and the pressure release area 1222 is attached to the skin of the human body.

[0039] During use of the gait feedback assistive device 100, when the heel of one side of the human body touches the ground, the sole of the foot on that side squeezes the sac area 112, and the fluid flows from the sac area 112 to the cavity 1221 of the sensor 120, so that the pressure in the cavity 1221 increases. As the pressure increases, the pressure release area 1222 deforms, and the human body senses that the leg on that side has entered the support period. At the same time, the human body controls the other leg to enter the push-off period. Until the sole of the foot in the support period is flattened, two pressure pulses with different peak values have been sensed, and the entire body weight is transferred to the leg on that side. At this time, the human body can control the toe of the other side to leave the ground. After the swing period, the heel of the leg that has left the ground touches the ground, completing a step.

[0040] Then, the leg bearing the weight continues to enter the push-off phase, until the toe leaves the ground, the sac area 112 expands and releases, and the pressure release area 1222 contracts, so that the human body feels that the pressure in the pressure release area 1222 disappears, until two steps are completed before the heel touches the ground again, that is, one gait cycle.

[0041] In the gait feedback assistive device 100 provided in this embodiment, the pressure changes during the contraction or release of the sac area 112 are transmitted to the sensor 120 via the fluid along the pipeline 130, so that the patient's body surface can sense the above-mentioned gait cycle process and assist the patient in walking.

[0042] like Figure 3 As shown, the human foot includes a heel and a lateral longitudinal arch, wherein the heel is located below the calcaneus 210 , and the lateral longitudinal arch is located below the cuboid bone 220 and on the side of the plantar centerline H away from the first metatarsal bone 230 .

[0043] In this embodiment, the structure of the plantar pressure pad 110 is similar to that of a shoe insole and can be attached to the sole 200 of the patient's foot. The plantar pressure pad 110 can be provided with two left and right pads as needed, respectively adapted to the patient's left and right feet, and each plantar pressure pad 110 can be set to different sizes according to the foot length or shoe length of different patients.

[0044] The plantar pressure pad 110 is provided with a support area 111 and a bladder area 112 according to the structure of the sole of the human foot. The bladder area 112 corresponds to the position of the heel. The support area 111 is used to fix, protect and assist the bladder area 112, and maintain the function of the foot and increase the stability of walking when the bladder area 112 is squeezed and released. Among them, the heel extension is the part added to the outside of the heel, which can expand the safe center of gravity support area. The medial longitudinal arch and transverse arch support fit the shape of the sole of the foot, which can cooperate with the bladder area 112 to cushion and absorb the ground reaction force, maintain the elastic function of the sole of the foot and increase the stability when walking.

[0045] The sac area 112 is embedded in the support area 111 and covers the heel and lateral longitudinal arch area of the foot. The sensor 120 is in contact with the human body surface, for example, the skin of the lower limbs or upper limbs, or is set on clothing. The setting position of the sensor 120 can be set according to actual needs, as long as it is convenient for the human body to feel the pressure changes of the sensor 120.

[0046] The sensor 120 is connected to the sac area 112 through the pipeline 130 and is in conduction. The sac area 112 is filled with fluid. When the sac area 112 contracts or expands as the patient walks, the fluid flows between the sac area 112 and the sensor 120 through the pipeline 130.

[0047] In this embodiment, the fluid can be either gas or liquid, depending on the design requirements. In this embodiment, liquid is preferred because liquids conduct pressure better. By providing a fluid to transmit pressure changes in the bladder area 112 to the sensor 120, the patient's body surface can sense the pressure changes through the pressure release area 1222 of the sensor 120.

[0048] In addition, the pipe 130 is made of a light, easy-to-bend, low-elasticity material, such as nylon. It is particularly necessary to ensure that the elasticity of the pipe 130 is relatively low to avoid the setting of the pipe 130 affecting the pressure transmission between the sensor 120 and the bag area 112.

[0049] When the patient wears the gait feedback assistive device 100, the pressure in the sac area 112 quickly reaches a peak value from zero during the period from when the heel touches the ground to when the foot is flattened, and then the foot gradually flattens. During the flattening process, the pressure force on the sole of the foot decreases, and the pressure on the lateral longitudinal arch of the foot gradually increases. When the foot is flat, the pressure force on the sole of the foot reaches a second peak value. At this time, the leg on this side can fully support the entire body weight, and at the same time, the force on the sole of the other side is transferred to the toes, gradually transitioning to toe-off. At this time, it is in the double-foot support period, and the center of gravity of the body is safely transferred to the supporting leg.

[0050] During the above-mentioned stepping process, the pressure changes during the contraction or expansion process of the sac area 112 are transmitted to the sensor 120 through the fluid along the pipeline 130, so that the patient's body surface can sense the progress of the gait cycle, thereby assisting the patient to complete the transfer of the body's center of gravity and helping the patient to walk.

[0051] It is understandable that, depending on the patient's sensory impairment, the patient can choose to wear the gait feedback assistive device 100 on one side or both sides, that is, wear it on the left foot alone, wear it on the right foot alone, or wear it on both feet at the same time. Here, the gait feedback assistive device 100 is worn on both feet at the same time for further explanation:

[0052] The human walking gait includes a double-foot support period, that is, when one heel touches the ground and the other toe leaves the ground, the body's center of gravity is transferred.

[0053] Among them, when one side of the heel touches the ground, the sac area 112 on that side is gradually squeezed and contracted, and the pressure in the cavity 1221 of the sensor 120 increases. As the pressure increases, the patient senses through the sensor 120 that the leg on that side has entered the support period. At this time, the patient controls the toe of the other side to leave the ground, and the foot on that side gradually flattens. During the flattening process, the sac area 112 on that side expands and releases, and the patient senses that the pressure in the pressure release area 1222 decreases or even disappears, and the center of gravity is successfully transferred, completing a step. This reciprocating cycle allows the patient to continue taking steps.

[0054] like Figure 1 As shown, in some embodiments of the present application, optionally, the bladder area 112 includes a first pressure cushion bladder 1121 and a second pressure cushion bladder 1122 .

[0055] Among them, the first pressure pad bag 1121 corresponds to the heel position of the human foot, the second pressure pad bag 1122 corresponds to the lateral longitudinal arch position of the human foot, the first pressure pad bag 1121 and the second pressure pad bag 1122 are connected, the sensor 120 is in contact with the patient's body surface, and is connected to the second pressure pad bag 1122 through the pipeline 130.

[0056] In this embodiment, the first pressure pad 1121 and the second pressure pad 1122 can be made of a friction-resistant, oil-resistant, highly waterproof, and breathable material, such as TPU (thermoplastic polyurethane). The first pressure pad 1121 and the second pressure pad 1122 are interconnected, and the conduit 130 is disposed on the second pressure pad 1122 to ensure that pressure changes in the bladder area 112 are more clearly reflected.

[0057] It is easy to understand that when the patient's heel touches the ground, the impact of the reaction force of the ground causes the first pressure pad 1121 to be quickly squeezed and contracted, and the pressure change reaches the sensor 120 through the pipeline 130. The patient senses the pressure increase from the pressure release area 1222 of the sensor 120, so the heel-landing state can be clearly reflected in real time.

[0058] The lateral longitudinal arch is mainly related to maintaining the upright position of the body and has weaker elasticity. When standing with weight, the lateral longitudinal arch is almost completely on the ground. Therefore, the setting of the second pressure pad 1122 can reflect the state of the foot being flat in real time. The state of the foot being flat means that the whole foot is on the ground. At this time, the center of gravity of the patient's whole body is transferred to the leg on that side. The sensor 120 can understand the transfer of the center of gravity of the human body by tracking the cycle process of heel landing and foot flatness.

[0059] Continue reading Figure 1 In this embodiment, optionally, the first pressure pad bladder 1121 has a circular cross-section and is located below the calcaneus 210 and a certain distance from the edge of the support area 111. The second pressure pad bladder 1122 has an elliptical cross-section and is located medially to the fifth metatarsal bone 240, lateral to the plantar centerline H, below the cuboid bone 220, and a certain distance from the edge of the support area 111. Its cross-section is parallel to the surface of the plantar pressure pad 110. In other words, the first pressure pad bladder 1121 is configured as a cylindrical structure based on the shape and size of the heel. The second pressure pad bladder 1122 is configured as an elliptical cylinder based on the shape and size of the lateral longitudinal arch, thereby accurately adapting to the structure of the patient's plantar 200 and ensuring more accurate pressure changes on the sensor 120.

[0060] like Figure 2As shown, in the above embodiment, the sensor 120 optionally includes a cuff 121 and a sensor ball 122. The size of the sensor ball 122 is matched with the size of the plantar pressure pad 110. The sensor ball 122 is disposed within the cuff 121, and a cavity 1221 is formed inside the sensor ball 122. The cavity 1221 is used to accommodate a fluid. The pipeline 130 is respectively disposed through the cuff 121 and the sensor ball 122 and is connected to the cavity 1221. The cuff 121 is provided with an opening 1211. A portion of the sensor ball 122 is located at the open portion and contacts the patient's body surface.

[0061] In this embodiment, the cuff 121 is provided to facilitate the installation of the sensing ball 122, and the cavity 1221 is provided to facilitate the accommodation of fluid. The portion of the sensing ball 122 located at the opening 1211 is a pressure release area 1222. The sensing ball 122 contacts the patient's body surface through the opening 1211, so that the pressure changes in the pressure release area 1222 can be sensed by the patient.

[0062] Optionally, a Velcro can be provided on the cuff 121 , and the sensor 120 is fastened to the patient's body surface via the Velcro, and the tightness of the fastening of the sensor 120 can be freely adjusted via the Velcro.

[0063] In addition, the sensory ball 122 can also be held in the palm of a human body for use. The hands, especially the fingertips, have rich nerves and are sensitive to touch.

[0064] Furthermore, a belt-shaped telescopic component is provided on the cuff 121 along the circumferential coupling of the opening 1211. The belt-shaped telescopic component can be an elastic rope, a telescopic rubber band, etc. The belt-shaped telescopic component is passed through or wrapped around the opening 1211. When the belt-shaped telescopic component is manually pulled to extend or tighten, the size of the opening 1211 increases or decreases accordingly, thereby adjusting the size of the opening 1211, that is, adjusting the size of the pressure release area 1222, that is, adjusting the contact area between the pressure release area 1222 and the patient's body surface, so that the patient can feel the pressure changes in the pressure release area 1222.

[0065] Continue to refer Figure 2 Optionally, the cuff 121 includes a shell 1212 and a cushioning material 1213. The sensing ball 122 is located within the shell 1212. The cushioning material 1213 is disposed between the sensing ball 122 and the inner wall of the shell 1212. The shell 1212 is provided with an opening 1211. The cushioning material 1213 disposed between the shell 1212 and the sensing ball 122 facilitates expansion and contraction of the sensing ball 122 within the cuff 121.

[0066] In addition, the shell 1212 is made of non-stretching material, ensuring that the shell 1212 can not only protect the sensing ball 122, but also will not affect the pressure changes of the sensing ball 122. In this way, only the pressure release area 1222 can clearly make the human body feel the pressure changes, thereby improving the sensitivity of the pressure release area 1222.

[0067] Continue to refer Figure 2 In some embodiments of the present application, optionally, a regulating valve 123 connected to the cavity 1221 is provided on the sensing member 120 to facilitate the connection of the sensing ball 122 with the pressure calibration regulating member to realize the monitoring and adjustment of the pressure of the sensing ball 122.

[0068] Of course, in other embodiments, a regulating valve 123 may also be provided in the bladder area 112 to monitor and regulate the internal pressure of the bladder area 112 .

[0069] In some embodiments of the present application, optionally, a skin-friendly material layer is provided on the side of the support area 111 of the plantar pressure pad 110 facing the human foot, and the skin-friendly material layer may correspond to the position of the sac area 112 .

[0070] In this embodiment, a skin-friendly layer is provided in the support area 111 , and the skin-friendly layer is in direct contact with the sole of the human foot, so as to improve the comfort of the patient after wearing the gait feedback assistive device 100 .

[0071] In some embodiments of the present application, optionally, the conduit 130 extends along the tuberosity of the fifth metatarsal bone 240 of the human foot toward the proximal end of the human limb, and the conduit 130 is fixedly arranged on the surface of the human body to facilitate the connection between the sensor 120 and the sac area 112, and a movable length is reserved at the hip joint so as not to affect the patient's normal walking.

[0072] In order to enable the human body surface to fully sense the pressure changes of the sensing ball 122, it is necessary to set the radius of the sensing ball 122. Here, the fluid filled in the sac area 112 is gas for illustration, as follows:

[0073] The human skin is constantly under pressure in the following situations: ordinary clothing pressure is usually below 1.96kPa, swimsuit pressure is usually 1kPa to 2kPa, waist pressure is 2kPa to 3.5kPa, medical elastic stockings are 3kPa to 6kPa, and the average blood pressure of capillaries on the surface of human skin is 7.85kPa. When the skin surface pressure exceeds this average, blood flow will be obstructed.

[0074] Therefore, the overall pressure of the gait feedback assistive device 100 (the sum of the first pressure pad 1121, the second pressure pad 1122, the pipeline 130 and the sensing ball 122) is set to change within a range of 0kPa to 10kPa, and the effective working range is within 1kPa to 6kPa, that is, the maximum pressure change is 6 times.

[0075] Boyle's law states that for a given mass of gas, at a constant temperature, its pressure P is inversely proportional to its volume V. When a patient swings one leg, the combined pressure of first pressure pad 1121, second pressure pad 1122, tubing 130, and sensor bulb 122 is P1, and the combined volume is V1. When the leg enters stance and the foot flattens, the combined pressure is P2, and the combined volume is V2.

[0076] From Boyle's law, we can obtain: P1*V1=P2*V2, because P2 / P1=6, we can conclude that V1 / V2=6.

[0077] like Figure 4 As shown, for example, the patient's foot length is 240 mm. The heel center length L1 = 240 * 16% mm = 38.4 mm, the heel center width L1 is 55 mm to 60 mm, the flank length L3 = 240 * 39% mm = 93.6 mm, and the flank width L4 is 38 mm to 40 mm. The radius of the first pressure pad 1121 is 25 mm. The second pressure pad 1122 is located medially to the fifth metatarsal bone 240 and lateral to the plantar centerline H. The elliptical shape of the second pressure pad 1122 has a major axis of 25 mm and a minor axis of 18 mm.

[0078] The area S1 of the bladder region 112 is equal to the sum of the areas of the first pressure pad 1121 and the second pressure pad 1122 , that is, S1 = π*2.52 + π*2.5*1.8 cm 2 =33.76cm 2 , the thickness t of the first pressure pad 1121 and the second pressure pad 1122 are both preset to be 0.5 cm, the cross-sectional area of the pipe 130 is S2, the length is L5, the radius of the sensing ball 122 after expansion is R2, and the radius after contraction is R1, and the following relationship is obtained:

[0079] V1=S1*t+S2*L5+4πR13 / 3, V2=4πR23 / 3+S2*L5.

[0080] The volume of the pipeline 130 is S2*K>0. In order to make the overall pressure change of the gait feedback assistive device 100 obvious, the volume of the pipeline 130 is calculated as close to zero, that is, S2*K=0.

[0081] The radius R2 of the sensing ball 122 is greater than R1. In order to allow the skin to fully sense the pressure changes brought by the sensing ball 122, the calculation is performed according to R2=R1. The comprehensive calculation results are: R2=R1=9.2cm.

[0082] That is, when the foot length is 240 mm, by setting the radius of the sensing ball 122 to 9.2 cm, the patient's skin can fully sense the pressure changes brought by the sensing ball 122 .

[0083] Example 2

[0084] It should be understood that the configuration of the bladder region 112 and sensor 120 is not limited to that of the first embodiment. In other embodiments, the bladder region 112 may include one, two, three, four, five, or six pressure pads, and the shape of each pressure pad is not limited to circular or oval; it may also be square, heart-shaped, or other shapes. The specific shape can be configured based on design requirements. Furthermore, the sensor 120 may be placed on the body surface, such as by strapping it to the arm or holding it in the palm of the hand.

[0085] like Figure 5 As shown, exemplarily, the sac area 112 includes a first pressure pad sac 1121 and a second pressure pad sac 1122, wherein the first pressure pad sac 1121 corresponds to the heel position of the foot, and the second pressure pad sac 1122 corresponds to the lateral longitudinal arch position of the foot and is spaced apart from the first pressure pad sac 1121.

[0086] The sensor 120 includes a first sensor 120a and a second sensor 120b. The first sensor 120a is connected to the first pressure pad 1121 through a first pipe 130a, and the second sensor 120b is connected to the second pressure pad 1122 through a second pipe 130b.

[0087] It is understandable that this structure allows the patient to obtain more obvious and accurate pressure changes. For example, the dynamic changes of the heel landing can be sensed through the first sensor 120a, and the dynamic changes of the lateral longitudinal arch of the foot can be felt through the second sensor 120b.

[0088] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0089] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A gait feedback assistive device, characterized in that: include: A plantar pressure pad, the plantar pressure pad comprising a support area and a bladder area, the bladder area being fixed to the support area, the support area comprising a heel extension edge, a medial longitudinal arch, and a transverse arch, the bladder area being filled with a fluid; A sensor, comprising a shell, a cushioning material, and a sensing ball having a cavity, the sensing ball being located within the shell, the cushioning material being disposed between the sensing ball and an inner wall of the shell, the shell being provided with an opening, the portion of the sensing ball located within the opening being a pressure release zone capable of deformation, the cavity being connected to the sac zone via a pipeline, the sensor being attached to a human body surface, and the pressure release zone being attached to the human skin; When the heel of one side of the human body touches the ground, the sole of the foot on that side squeezes the sac area, and fluid flows from the sac area to the sensor, causing the pressure in the cavity to increase. As the pressure increases, the pressure release area deforms, and the human body senses that the leg on that side has entered the stance phase and controls the other leg to enter the push-off phase. Until the sole of the foot in the stance phase flattens, two pressure pulses with different peak values are sensed, and the entire body weight is transferred to the leg on that side. At this time, the human body controls the toe of the other side to lift off the ground. After the swing phase, the heel of the leg that has lifted off the ground touches the ground, completing a step. The leg bearing the weight then enters the push-off phase until the toe leaves the ground, at which time the sac area expands and releases, and the pressure release area contracts, so that the human body senses that the pressure in the pressure release area disappears. This is a gait cycle, which is completed two times before the heel touches the ground again.

2. The gait feedback assistive device according to claim 1, characterized in that: The sac area includes a first pressure pad sac and a second pressure pad sac, the first pressure pad sac corresponds to the heel position of the human foot, the second pressure pad sac corresponds to the lateral longitudinal arch position of the human foot, and the first pressure pad sac is connected to the second pressure pad sac, and the sensor is connected to the second pressure pad sac through the pipeline.

3. The gait feedback assistive device according to claim 1, characterized in that: A skin-friendly material layer is provided on the side of the plantar pressure pad facing the human foot.

4. The gait feedback assistive device according to claim 1, characterized in that: The pipeline extends along the tuberosity of the fifth metatarsal bone of the human foot toward the proximal end of the human limb, and the pipeline is fixedly arranged on the surface of the human body.

5. The gait feedback assistive device according to claim 1, characterized in that: The sensing member is provided with a regulating valve, one end of the regulating valve is connected to the cavity, and the other end is connected to the pressure calibration regulating member.

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