A rehabilitation training system for establishing a predictive rehabilitation model through motion capture

Abstract

This invention relates to the field of rehabilitation training technology, specifically to a rehabilitation training system that establishes a predictive rehabilitation model through motion capture. The system includes a fixed base, an adjustment component, a detection component, a protective component, and a control component. The adjustment component is fixedly installed on both sides of the fixed base. The detection component is fixedly installed on the adjustment component. The protective component is fixedly installed on any side of the fixed base. The adjustment component, detection component, and protective component are electrically connected to the control component. This invention solves the problem in existing rehabilitation training systems where patients need to manually adjust various parameters each time they perform rehabilitation training, and the system cannot automatically adjust based on the patient's lower limb movement. Furthermore, the rehabilitation training system cannot automatically adjust based on the patient's leg length. This invention achieves automatic adjustment based on the patient's lower limb movement and leg length.

Description

Technical Field

[0001] This invention relates to the field of rehabilitation training technology, and more specifically to a rehabilitation training system that establishes a predictive rehabilitation model through motion capture. Background Technology

[0002] With the increase in the elderly population, the number of age-related diseases is also gradually increasing. Some diseases may cause patients to lose their ability to walk. At this time, a rehabilitation system is needed to help patients with lower limb rehabilitation training. For rehabilitation training, mechanical equipment is usually used to assist patients in lower limb rehabilitation training, and corresponding training plans, training content and training difficulty are formulated according to the specific conditions of the patients.

[0003] For some patients with lower limb movement disorders, such as those caused by stroke, severe cases may lead to hemiplegia. Lower limb rehabilitation training can help these patients with lower limb movement disorders to train and recover, and the rehabilitation training system plays an important role in their recovery.

[0004] In existing rehabilitation training systems, patients need to hold a handle and crank it to move the mechanical structures of their lower limbs, thereby inducing leg movement. Alternatively, a motor can be used to rotate the lower limbs and move the legs. For different patients, doctors first need to manually adjust the rehabilitation training system to rotate the motor at different speeds to move the patient's legs. Each time the patient trains, various parameters need to be readjusted, which is quite cumbersome. Furthermore, the system cannot automatically adjust according to the patient's lower limb movement. At the same time, because the rehabilitation training system requires manual adjustment or cannot be adjusted at all, it cannot automatically adjust according to the length of the patient's leg. This may cause discomfort in the legs of some patients during rehabilitation training, preventing them from achieving the best training effect.

[0005] In view of this, and to address the aforementioned shortcomings, this invention develops a rehabilitation training system that establishes a predictive rehabilitation model through motion capture. Summary of the Invention

[0006] The technical problem to be solved by the present invention is that in the existing rehabilitation training system, patients need to manually adjust various parameters each time they perform rehabilitation training. The system cannot automatically adjust according to the movement of the patient's lower limbs. At the same time, the rehabilitation training system cannot automatically adjust according to the length of the patient's legs.

[0007] This invention provides the following technical solution: a rehabilitation training system for establishing a predictive rehabilitation model through motion capture, comprising a fixed base, an adjustment component, a detection component, a protective component, and a control component; the adjustment component is fixedly installed on the left and right sides inside the fixed base, and the adjustment component adjusts the movement and bending of the patient's leg based on the amplitude of the patient's leg movements, and the specific installation method can be bolted or welded; the detection component is fixedly installed on the adjustment component, and the detection component detects the amplitude and speed of the patient's leg movement, as well as the bending angle between the thigh and the calf, and the specific installation method can be bolted or welded; the protective component is fixedly installed on any side of the fixed base, and the protective component rotates based on the pressure of the patient's back, providing protective support to the patient, and the specific installation method can be bolted or welded; the adjustment component, detection component, and protective component are electrically connected to the control component.

[0008] To assist patients in rehabilitation training, a detection component can capture the patient's leg length, movement, and speed in real time. Then, an adjustment component can be used to adjust the leg length to suit the patient. Based on the patient's leg movements and speed, the system can autonomously simulate and adjust to assist the patient in walking and increase walking speed. Patients can perform rehabilitation training without using much force in their legs. After training, a protective component can adjust the pressure on the patient's back to allow the patient to sit down and rest, ensuring that the patient will not fall due to body tilting during training while also helping the patient to rest.

[0009] The adjustment assembly includes a power motor, a drive gear, an arc-shaped block, a connecting rod, a driven gear, a rotating shaft, a rotary motor, a connecting rod, and a foot pedal. The bottom of the power motor is fixedly mounted on the top inner side of the fixed base. The drive gear is rotatably mounted on the top of the power motor, and the arc-shaped block is rotatably mounted on the top of the power motor, located between the power motor and the drive gear. The length of the arc-shaped block is 50-70cm. A connecting rod is fixedly mounted on the inner side of the arc-shaped block, and a driven gear is fixedly mounted on the top of the connecting rod. The driven gear and the drive gear mesh with each other, and the connection can be made by bolting or welding. A connecting rod is rotatably mounted on the bottom of the connecting rod, and the length of the connecting rod is 50-70cm. A rotary motor is fixedly mounted on the outer bottom of the arc-shaped block, and a rotating shaft is fixedly mounted on the rotary motor. The rotating shaft is fixedly mounted to the top of the connecting rod, and the connecting rod is located between the connecting rod and the arc-shaped block. The rotating shaft can rotate between the bottom of the connecting rod and the bottom of the arc-shaped block. A foot pedal is movably mounted on the bottom of the connecting rod, and the length of the connecting rod is 40-70cm.

[0010] To ensure coordinated movement of the thigh and calf during walking, the speed and rotation angle of the power motor and rotary motor are controlled, allowing patients to gradually train from slow walking to fast walking. The arc-shaped block (50-70cm), connecting rod (50-70cm), and link (40-70cm) are designed to accommodate both shorter and taller patients, enabling more coordinated training on the rehabilitation system. When the arc-shaped block and connecting rod are less than 50cm, and the link is less than 40cm, it indicates that children with thigh lengths less than 50cm and calf lengths less than 40cm cannot use the rehabilitation system, as insufficient leg length hinders rehabilitation training. Conversely, when the arc-shaped block, connecting rod, and link are greater than 70cm, patients with thigh and calf lengths greater than 70cm cannot use the system. Patients within these ranges can use the rehabilitation system.

[0011] The arc-shaped block includes an inner arc block and an outer arc block; the inner arc block is slidably installed on the bottom of the outer arc block, the inner arc block can slide on the outer arc block, and the sliding length of the inner arc block is 10-30cm, and the width of the arc block is 2-3 times the diameter of the connecting rod.

[0012] The inner arc block can slide on the outer arc block for a distance of 10-30cm to adjust according to the patient's height and leg length, so that the patient can comfortably carry out rehabilitation training. The width of the arc block is 2-3 times the diameter of the connecting rod, which can increase the overall mechanical strength of the rehabilitation training system. At the same time, multiple sensors can be installed at different positions on the arc block.

[0013] The connecting rod is a hollow structure, and an electric telescopic rod is fixedly installed inside the connecting rod. The telescopic length of the electric telescopic rod inside the connecting rod is 10-30cm. The specific installation method can be bolt connection or welding. The connecting rod is a hollow structure, and an electric rod is fixedly installed inside the connecting rod. The telescopic length of the electric rod inside the connecting rod is 10-40cm. The maximum tensile force of the electric telescopic rod and the electric rod is 3000N.

[0014] The electric telescopic rod and electric pole are designed to be adjustable according to the patient's height and leg length. The telescopic rod has an extension length of 10-30cm, while the electric pole has an extension length of 10-40cm. This is because the thigh is generally slightly longer than the calf, allowing the connecting rod and link to be adjusted to match the leg length, making it easier for patients to perform rehabilitation training and more efficiently helping their legs recover. The maximum tensile force of the electric telescopic rod and electric pole is 3000N, which is to accommodate people of different weights, allowing people of different weights to perform rehabilitation training.

[0015] The bottom of the connecting rod is provided with two limiting blocks, and the top of the connecting rod is provided with a rectangular protrusion, which is located between the two limiting blocks. The rotation angle between the connecting rod and the connecting rod is 0-120°.

[0016] The limiting block and rectangular protrusion limit the rotation angle of the connecting rod and the link. During rehabilitation, the range of motion between the thigh and lower leg is small. As the leg recovers through rehabilitation training, the range of motion between the thigh and lower leg will increase. Therefore, the rotation angle between the connecting rod and the link is 0-120°, which is to adjust the angle between the connecting rod and the link according to the patient's rehabilitation situation.

[0017] The detection assembly includes fixed rings, pressure sensors, angle sensors, and cameras. The four fixed rings are fixedly mounted in pairs on the connecting rod and the link. Multiple pressure sensors are fixedly mounted on the fixed rings, and the number of pressure sensors is 4-8. Two angle sensors are fixedly mounted on the top and bottom of the arc-shaped block, respectively. The camera is fixedly mounted on the left and right sides inside the fixed base, and the camera can rotate 0-45° in the vertical direction. The specific installation method can be bolt connection or welding.

[0018] During rehabilitation training, patients often experience difficulty walking due to poor leg flexibility. Pressure sensors, angle sensors, and a camera capture leg movements, including angles and speeds, and transmit this data to a control component. By simulating normal walking, the data is fed back to an adjustment component, which assists the patient's training and adjusts its motion and speed in real time based on their rehabilitation progress. A fixing ring secures the patient's leg to connecting rods and links, allowing the movement of the legs to be amplified by the rods and links. When the fixing ring has four pressure sensors, it is suitable for patients with better leg rehabilitation, as these patients tend to move their legs faster during exercise. For patients with poor rehabilitation progress, eight pressure sensors need to be installed on the fixation ring. This way, the pressure sensors on the fixation ring can quickly detect the patient's leg movement with just a little effort. When the patient raises their leg, the pressure sensor at the top of the leg experiences greater pressure than the one at the bottom, which will control the adjustment component to assist the patient in raising their leg. Conversely, it will assist the patient in lowering their leg. The camera captures the patient's leg movement speed and adjusts the speed of raising and lowering the leg accordingly. Angle sensors detect the range of motion of the patient's leg raising and lowering, thereby adjusting the rotation angle of the connecting rod and the linkage. This self-adjustment makes rehabilitation training more efficient for patients. The camera can rotate 0-45° vertically, and the detection angle can be adjusted to comprehensively target patients with different leg lengths, ensuring that the entire leg of the patient can be detected by the camera.

[0019] The fixing ring is an adjustable fixing ring with an adjustable length range of 20-70cm. The width of the fixing ring is 5cm. The fixing ring has multiple rectangular through holes, and the multiple rectangular through holes are inclined at 30° along the vertical direction of the fixing ring. The distance between two adjacent rectangular through holes is the width of the rectangular through hole.

[0020] Each patient's leg thickness is different, so the fixation ring is an adjustable fixation ring with an adjustable length range of 20-70cm to accommodate patients with different leg thicknesses. The rectangular through-holes on the fixation ring and their 30° inclination are designed to better fix the leg without causing excessive tightness.

[0021] The protective assembly includes a connecting block, an electric push rod, an arc-shaped seat cushion, a backrest, a trigger module, and a self-locking module. The connecting block is a hollow, telescopic structure. An electric push rod is fixedly installed inside the connecting block. One end of the connecting block is fixedly mounted on one side of a fixed base, and the other end is fixedly mounted on an arc-shaped seat cushion. The angle between the connecting block and the arc-shaped seat cushion is 90°. A backrest is rotatably mounted on the top of the arc-shaped seat cushion, and a trigger module is fixedly installed inside the backrest. A self-locking module is fixedly installed inside the arc-shaped seat cushion. The installation method can be bolted or welded. The telescopic range of the electric push rod is between 10 and 60 cm.

[0022] To prevent patients from falling backward during training, an electric push rod controls the movement of the connecting block, moving the curved seat cushion and backrest behind the patient. The angle between the connecting block and the curved seat cushion is 90° to ensure the backrest is perpendicular and close to the patient's back. The electric push rod's extension range is 10-60cm, which can be adjusted according to the patient's size.

[0023] The trigger module includes a trigger block, a conical block, a compression spring, a cylinder, a rotating shaft, and a torsion spring. The trigger block is slidably mounted on one side of the backrest. A conical block is fixedly mounted on the trigger block. The area of ​​the trigger block is 2 / 3 of the area of ​​the backrest. A cylinder is slidably mounted on the bottom of the conical block. One end of the compression spring is fixedly mounted on the bottom of the cylinder, and the other end of the compression spring is fixedly mounted on the bottom of the backrest. The specific installation method can be bolt connection or welding. An elastic plate is provided along the axis at the bottom of the cylinder. The length ratio of the cylinder to the length of the backrest is 1:2. The rotating shaft is horizontally rotatably mounted inside the arc-shaped seat cushion. A torsion spring is rotatably mounted on the rotating shaft. A conical protrusion is provided on one end of the rotating shaft, and the conical protrusion cooperates with the elastic plate. The length ratio of the torsion spring to the length of the rotating shaft is 3:4.

[0024] To allow patients to rest during rehabilitation training, the trigger block is compressed based on the pressure of the patient's back against the backrest, causing the curved seat cushion to rotate 90°. This allows the patient to sit on the curved seat cushion and rest. The torsion spring provides the power for the rotation of the curved seat cushion. When the trigger block is not under pressure, the elastic plate on the cylinder restricts the rotation of the torsion spring and the rotating shaft. The area of ​​the trigger block is 2 / 3 of the area of ​​the backrest to help the trigger block quickly transmit the pressure to the cylinder. The length of the cylinder is 1 / 2 of the length of the backrest to reduce the force transmission distance and make the cylinder move more sensitively under force. The length of the torsion spring is 3 / 4 of the length of the rotating shaft to increase the rotational force of the curved seat cushion, allowing the curved seat cushion to quickly rotate 90° to provide support for the patient.

[0025] The self-locking module includes a pressure block, a pressure spring, and a limiting rod. The pressure block is slidably installed on the top of the curved seat cushion, and its area is 2 / 3 of the area of ​​the curved seat cushion. The bottom of the pressure block is fixedly installed to one end of the pressure spring, and the other end of the pressure spring is fixedly installed to the bottom of the curved seat cushion. The limiting rod is horizontally slidably installed on the bottom of the curved seat cushion, and the length of the limiting rod is in a 1:2 ratio to the length of the curved seat cushion. One end of the limiting rod is slidably installed to one end of the pressure block, and the other end of the limiting rod is provided with a conical locking block, which cooperates with a conical protrusion. The specific installation method can be bolted or welded. The ratio of the diameter of the limiting rod to the thickness of the curved seat cushion is 1:4.

[0026] It should be noted that when a patient sits on the curved seat cushion, the backrest may not be under pressure. To prevent the curved seat cushion from returning to its original position due to the patient's weight, the pressure block on the curved seat cushion moves under pressure, causing the conical locking block and conical protrusion on the limiting rod to cooperate and lock the rotating shaft, preventing the curved seat cushion from returning to its original position and causing the patient to fall. The area of ​​the pressure block is 2 / 3 of the area of ​​the curved seat cushion to ensure that the pressure block is also under pressure when some patients sit on the edge of the curved seat, thus ensuring that the conical locking block locks the rotating shaft. The length of the limiting rod is 1 / 2 of the curved seat cushion to reduce the force transmission distance. The diameter of the limiting rod is 1 / 4 of the thickness of the curved seat cushion to ensure that the limiting rod can move freely inside the curved seat cushion without being affected by the movement of the pressure block.

[0027] The beneficial effects of this invention are as follows:

[0028] 1. This invention, by setting an adjustment component and a detection component on a fixed base, allows the patient to undergo rehabilitation training. During the rehabilitation training process, the detection component captures and detects the patient's lower limb movements, controls the movement of the adjustment component, and adjusts the speed and range of the patient's leg movements according to the patient's leg movements. No manual adjustment is required, making the operation simple and greatly improving the patient's rehabilitation training effect.

[0029] 2. This invention provides an adjustment component and a detection component on a fixed base. Through the cooperation of the adjustment component and the detection component, the length of the patient's leg is detected by the detection component, so that the adjustment component matches the patient's leg, ensuring the patient's leg comfort during rehabilitation training and improving the effectiveness of rehabilitation training.

[0030] 3. This invention provides a protective component on the fixed base. Through the cooperation of the protective component and the detection component, the patient's body shape is detected by the detection component, so that the protective component can protect the patient and prevent the patient from falling backward during training. At the same time, after the patient has trained for a period of time, it can provide support so that the patient can sit down and rest. Attached Figure Description

[0031] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0032] Figure 1 This is a three-dimensional structural diagram of a preferred embodiment of the present invention;

[0033] Figure 2 This is a three-dimensional structural schematic diagram from another perspective of a preferred embodiment of the present invention;

[0034] Figure 3 This is a three-dimensional structural diagram of the fixing base and protective assembly according to a preferred embodiment of the present invention;

[0035] Figure 4 This is a three-dimensional structural diagram of the adjustment component according to a preferred embodiment of the present invention;

[0036] Figure 5 This is a three-dimensional structural diagram of the internal structure of the connecting block according to a preferred embodiment of the present invention;

[0037] Figure 6 This is a three-dimensional structural diagram of the internal structure of the connecting rod according to a preferred embodiment of the present invention;

[0038] Figure 7 This is a three-dimensional structural diagram of the internal structure of the connecting rod according to a preferred embodiment of the present invention;

[0039] Figure 8 This is a three-dimensional structural diagram of the connecting rod and angle sensor according to a preferred embodiment of the present invention;

[0040] Figure 9 This is a three-dimensional structural diagram of the arc-shaped block according to a preferred embodiment of the present invention;

[0041] Figure 10 This is a three-dimensional structural diagram of the fixing ring according to a preferred embodiment of the present invention;

[0042] Figure 11This is a three-dimensional structural diagram of the rotating shaft, torsion spring, and conical protrusion according to a preferred embodiment of the present invention;

[0043] Figure 12 This is a cross-sectional view of the protective component according to a preferred embodiment of the present invention.

[0044] In the diagram: 1. Fixed base; 2. Adjustment assembly; 21. Power motor; 22. Drive gear; 23. Arc block; 231. Inner arc block; 232. Outer arc block; 24. Connecting rod; 241. Electric telescopic rod; 25. Driven gear; 26. Rotating shaft; 27. Rotating motor; 28. Connecting rod; 281. Electric rod; 242. Limiting block; 282. Rectangular protrusion; 29. ​​Foot pedal; 3. Detection assembly; 31. Fixing ring; 311. Rectangular through hole; 32. Pressure sensor; 3. Angle sensor; 34. Camera; 4. Protective components; 41. Connecting block; 42. Electric push rod; 43. Curved seat cushion; 44. Backrest; 45. Trigger module; 451. Trigger block; 452. Conical block; 453. Compression spring; 454. Cylinder; 456. Rotating shaft; 457. Torsion spring; 458. Elastic sheet; 459. Conical protrusion; 46. Self-locking module; 461. Pressure block; 462. Pressure spring; 463. Limiting rod; 464. Conical locking block. Detailed Implementation

[0045] To better understand the above technical solutions, the following will provide a detailed explanation of the technical solutions in conjunction with the accompanying drawings and specific implementation methods.

[0046] like Figure 1 As shown, a rehabilitation training system that establishes a predictive rehabilitation model through motion capture includes a fixed base 1, an adjustment component 2, a detection component 3, a protective component 4, and a control component. The adjustment component 2 is fixedly installed on both the left and right sides inside the fixed base 1. The adjustment component 2 adjusts the movement and bending of the patient's leg based on the amplitude of the leg's movement, and is specifically installed using bolt connections. The detection component 3 is fixedly installed on the adjustment component 2. The detection component 3 detects the amplitude and speed of the patient's leg movement, as well as the bending angle between the thigh and calf, and is specifically installed using bolt connections. The protective component 4 is fixedly installed on any side of the fixed base 1. The protective component 4 rotates based on the pressure from the patient's back, providing protective support to the patient, and is specifically installed using bolt connections. The adjustment component 2, detection component 3, and protective component 4 are electrically connected to the control component.

[0047] When a patient is undergoing rehabilitation training, they need to stand on a fixed seat 1. The control component activates the detection component 3 and the adjustment component 2. The detection component 3 detects the length of the patient's thigh and lower leg and controls the adjustment component 2 accordingly. When the patient raises their leg to prepare for walking, the detection component 3 detects the height of the raised thigh and, through motion capture and the pressure on the adjustment component 2, activates the adjustment component 2 to assist the patient in slowly raising their leg and walking. As the patient's leg raising speed increases, the pressure on the adjustment component 2 also increases, simultaneously controlling the adjustment component 2 to help the patient increase their walking speed. The patient can walk without exerting too much effort, thus aiding in leg rehabilitation training. During rehabilitation training, a protective component 4 is positioned behind the patient to prevent them from tilting backward and falling. When the patient gets tired and wants to sit down to rest, they simply lean back. The protective component 4, under pressure, activates, providing a seat for the patient to sit and rest. Once the detection component 3 no longer detects any leg movement, the adjustment component 2 will stop moving.

[0048] like Figure 2 and Figure 4 As shown, the adjustment assembly 2 includes a power motor 21, a drive gear 22, an arc-shaped block 23, a connecting rod 24, a driven gear 25, a rotating shaft 26, a rotating motor 27, a connecting rod 28, and a foot pedal 29. The bottom of the power motor 21 is fixedly mounted on the top inner side of the fixed base 1. The drive gear 22 is rotatably mounted on the top of the power motor 21. The arc-shaped block 23 is rotatably mounted on the top of the power motor 21, and the arc-shaped block 23 is located between the power motor 21 and the drive gear 22. The length of the arc-shaped block 23 is 50-70cm. The connecting rod 24 is fixedly mounted on the inner side of the arc-shaped block 23, and the driven gear 25 is fixedly mounted on the top of the connecting rod 24. The driven gear 25 and the driving gear 22 mesh with each other, and are specifically installed by bolt connection; a connecting rod 28 is rotatably mounted on the bottom of the connecting rod 24, and the length of the connecting rod 24 is 50-70cm; a rotating motor 27 is fixedly mounted on the outer side of the bottom of the arc-shaped block 23, and a rotating shaft 26 is fixedly mounted on the rotating motor 27; the rotating shaft 26 is fixedly mounted on the top of the connecting rod 28; the connecting rod 28 is located between the connecting rod 24 and the arc-shaped block 23, and the rotating shaft 26 can rotate at the bottom of the connecting rod 24 and the bottom of the arc-shaped block 23; a foot pedal 29 is movably mounted on the bottom of the connecting rod 28, and the length of the connecting rod 28 is 40-70cm.

[0049] During rehabilitation training, the detection component 3 detects the patient's leg movements. When the patient raises their thigh, the power motor 21 slowly rotates at a certain angle, driving the drive gear 22 to rotate. The drive gear 22 drives the driven gear 25 to rotate, which in turn drives the connecting rod 24 to rotate, simultaneously causing the arc block 23 to rotate. During this process, the rotation motor 27 rotates at a certain angle, driving the rotating shaft 26 to rotate. The rotating shaft 26 drives the connecting rod 28 to rotate, and at the same time, the pressure on the foot pedal 29 decreases, causing the foot pedal 29 to rotate. As the patient raises their thigh and moves their lower leg forward, and lowers their thigh and moves their lower leg backward, the power motor 21 and the rotation motor 27 will rotate forward and backward according to the patient's movements, assisting the patient in walking. Furthermore, the rotation speed of the power motor 21 and the rotation motor 27 will change according to the speed of the patient's leg movement, and their rotation angle will also change with the range of leg movement.

[0050] like Figure 2 , Figure 4 and Figure 9 As shown, the arc-shaped block 23 includes an inner arc block 231 and an outer arc block 232; the inner arc block 231 is slidably mounted on the bottom of the outer arc block 232, and the inner arc block 231 can slide on the outer arc block 232, with a sliding length of 10-30cm. The width of the arc block 23 is 2-3 times the diameter of the connecting rod 24.

[0051] When the patient stands on the foot pedal 29 on the adjustment component 2, the detection component 3 detects the length of the patient's thigh. The inner arc block 231 on the arc block 23 will slide within the outer arc block 232 according to the length of the patient's thigh, matching the thigh length.

[0052] like Figure 6 and Figure 7 As shown, the connecting rod 24 is a hollow structure, and an electric telescopic rod 241 is fixedly installed inside the connecting rod 24. The telescopic length of the electric telescopic rod 241 inside the connecting rod 24 is 10-30cm, and the specific installation method is bolt connection; the connecting rod 28 is a hollow structure, and an electric rod 281 is fixedly installed inside the connecting rod 28. The telescopic length of the electric rod 281 inside the connecting rod 28 is 10-40cm, and the maximum tensile force of the electric telescopic rod 241 and the electric rod 281 is 3000N.

[0053] When the patient stands on the foot pedal 29 on the adjustment component 2, the detection component 3 detects the length of the patient's thigh and controls the electric telescopic rod 241 inside the connecting rod 24 to extend and retract to match the length of the thigh. At the same time, the detection component 3 also detects the length of the patient's lower leg and controls the electric rod 281 inside the connecting rod 28 to extend and retract to match the length of the lower leg.

[0054] like Figure 6 and Figure 7 As shown, the bottom of the connecting rod 24 is provided with two limiting blocks 242, the top of the connecting rod 28 is provided with a rectangular protrusion 282, and the rectangular protrusion 282 is located between the two limiting blocks 242, and the rotation angle between the connecting rod 24 and the connecting rod 28 is 0-120°.

[0055] When the patient is performing rehabilitation exercises, the angle between the connecting rod 24 and the connecting rod 28 changes. When a certain angle is reached, in order to prevent injury to the patient, the limiting block 242 on the connecting rod 24 will restrict the movement of the rectangular protrusion 282 at the top of the connecting rod 28.

[0056] like Figure 2 , Figure 3 , Figure 4 , Figure 8 and Figure 10 As shown, the detection component 3 includes a fixing ring 31, a pressure sensor 32, an angle sensor 33, and a camera 34. The four fixing rings 31 are fixedly installed in pairs on the connecting rod 24 and the connecting rod 28. Multiple pressure sensors 32 are fixedly installed on the fixing rings 31, and the number of pressure sensors 32 is 4-8. Two angle sensors 33 are fixedly installed on the top and bottom of the arc-shaped block 23, respectively. The camera 34 is fixedly installed on the left and right sides inside the fixing base 1. The camera 34 rotates 0-45° in the vertical direction, and the specific installation method is bolt connection.

[0057] When the patient stands on the adjustment component 2, the camera 34 on the detection component 3 detects the length of the patient's thigh and calf, and then controls the adjustment component 2 to adjust its height. The fixing rings 31 are then fixed to the patient's thigh and calf respectively. As the patient raises their leg, the pressure sensor 32 on the fixing ring 31 receives pressure and transmits a signal to the control component. The control component then controls the rotation of the power motor 21 and the rotation motor 27 on the adjustment component 2. Simultaneously, the angle sensor 33 detects the angle between the patient's thigh and calf and transmits a signal to the control component. The control component then controls the rotation angle of the power motor 21 and the rotation motor 27 on the adjustment component 2. At the same time, the camera 34 detects the speed at which the patient raises their leg in real time. By controlling the rotation speed of the power motor 21 and the rotation motor 27 on the adjustment component 2 through the control component, the patient can walk without exerting too much force on their legs, thus assisting in rehabilitation training.

[0058] like Figure 10As shown, the fixing ring 31 is an adjustable fixing ring 31, and the adjustable length range is 20-70cm. The width of the fixing ring 31 is 5cm. The fixing ring 31 has multiple rectangular through holes 311, and the multiple rectangular through holes 311 are inclined at 30° along the vertical direction of the fixing ring. The distance between two adjacent rectangular through holes 311 is the width of the rectangular through hole 311.

[0059] When the patient stands on the adjustment component 2, the patient's thighs and calves are fixed to the adjustment component 2 by the fixing ring 31. The fixing ring 31 can be adjusted according to the thickness of the patient's legs to accommodate different patients.

[0060] like Figure 2 , Figure 3 and Figure 12 As shown, the protective component 4 includes a connecting block 41, an electric push rod 42, an arc-shaped seat cushion 43, a backrest 44, a trigger module 45, and a self-locking module 46. The connecting block 41 is a hollow, telescopic structure. The electric push rod 42 is fixedly installed inside the connecting block 41. One end of the connecting block 41 is fixedly installed on one side of the fixed base 1, and the arc-shaped seat cushion 43 is fixedly installed on the other end of the connecting block 41. The angle between the connecting block 41 and the arc-shaped seat cushion 43 is 90°. The backrest 44 is rotatably installed on the top of the arc-shaped seat cushion 43. The trigger module 45 is fixedly installed inside the backrest 44. The self-locking module 46 is fixedly installed inside the arc-shaped seat cushion 43, and the specific installation method is bolt connection. The telescopic range of the electric push rod 42 is between 10 and 60 cm.

[0061] When the patient stands on the adjustment component 2, the distance to the patient's back is detected by the detection component 3. The control component controls the electric push rod 42 inside the connecting block 41 to move, which drives the curved seat cushion 43 and the backrest 44 to adjust to a certain distance. The backrest 44 and the curved seat cushion 43 are moved to the patient's back, and the curved seat cushion 43 and the backrest 44 are on the same plane to prevent the patient from tilting backward and falling.

[0062] like Figure 11 and Figure 12As shown, the trigger module 45 includes a trigger block 451, a conical block 452, a compression spring 453, a cylinder 454, a rotating shaft 456, and a torsion spring 457. The trigger block 451 is slidably mounted on one side of the backrest 44. The conical block 452 is fixedly mounted on the trigger block 451. The area of ​​the trigger block 451 is 2 / 3 of the area of ​​the backrest 44. The cylinder 454 is slidably mounted on the bottom of the conical block 452. One end of the compression spring 453 is fixedly mounted on the bottom of the cylinder 454, and the other end of the compression spring 453 is fixedly mounted on the bottom of the backrest 44. The components are fixedly installed, and the specific installation method is to connect them by welding; an elastic sheet 458 is provided on the bottom of the cylinder 454 along the axis; the length ratio of the cylinder 454 to the backrest 44 is 1:2; the rotating shaft 456 is horizontally rotatably installed inside the arc-shaped seat cushion 43; a torsion spring 457 is rotatably installed on the rotating shaft 456; a conical protrusion 459 is provided on one end of the rotating shaft 456, and the conical protrusion 459 cooperates with the elastic sheet 458; the length ratio of the torsion spring 457 to the length of the rotating shaft 456 is 3:4.

[0063] When a patient needs to rest after rehabilitation training, when the patient's back is close to the backrest 44, the trigger module 45 on the backrest 44 will be under pressure. After the trigger block 451 is under pressure, it moves backward and drives the cone block 452 to move. The cone block 452 pushes the cylinder 454 downward, and the compression spring 453 at the bottom of the cylinder 454 will be compressed. The elastic plate 458 at the bottom of the cylinder 454 disengages from the cone protrusion 459 on the rotating shaft 456. The elastic potential energy of the torsion spring 457 drives the rotating shaft 456 to rotate, thereby driving the arc-shaped seat cushion 43 to rotate and slowly rotate 90°, so that the patient can sit on the arc-shaped seat cushion 43 to rest.

[0064] like Figure 12 As shown, the self-locking module 46 includes a pressure block 461, a pressure spring 462, and a limiting rod 463. The pressure block 461 is slidably installed on the top of the arc-shaped cushion 43, and the area of ​​the pressure block 461 is 2 / 3 of the area of ​​the arc-shaped cushion 43. The bottom of the pressure block 461 is fixedly installed to one end of the pressure spring 462, and the other end of the pressure spring 462 is fixedly installed to the bottom of the arc-shaped cushion 43. The limiting rod 463 is horizontally slidably installed on the bottom of the arc-shaped cushion 43, and the length of the limiting rod 463 is in a ratio of 1:2 to the length of the arc-shaped cushion 43. One end of the limiting rod 463 is slidably installed to one end of the pressure block 461, and a conical locking block 464 is provided on the other end of the limiting rod 463. The conical locking block 464 and the conical protrusion 459 cooperate with each other. The specific installation method is to connect them by welding. The ratio of the diameter of the limiting rod 463 to the thickness of the arc-shaped cushion 43 is 1:4.

[0065] When the curved seat cushion 43 rotates 90°, the patient will sit on it. The pressure block 461 on the curved seat cushion 43 will be under pressure, causing the pressure block 461 to move downward and compress the pressure spring 462. The pressure block 461 pushes the limiting rod 463 to move. The conical locking block 464 on the limiting rod 463 will engage with the conical protrusion 459 on the rotating shaft 456 to prevent the rotating shaft 456 from rotating in the opposite direction, thereby preventing the curved seat cushion 43 from moving and avoiding the patient from falling.

[0066] During operation, when the patient is undergoing rehabilitation training, the patient needs to stand on the foot pedal 29 on the adjustment component 2. The camera 34 on the detection component 3 will detect the length of the patient's thigh and calf, and then control the electric telescopic rod 241 inside the connecting rod 24 on the adjustment component 2 to extend and retract to match the length of the thigh. The inner arc block 231 on the arc block 23 will also slide and move a distance within the outer arc block 232 as the connecting rod 24 extends and retracts. At the same time, the detection component 3 will also detect the length of the patient's calf, and control the electric rod 281 inside the connecting rod 28 to extend and retract to match the length of the calf. The patient's thigh and calf are fixed to the connecting rod 24 and the connecting rod 28 by the fixing ring 31. The fixing ring 31 can be adjusted according to the thickness of the patient's leg. The camera 34 on the detection component 3 detects the distance to the patient's back, and the control component controls the electric push rod 42 inside the connecting block 41 to move, driving the arc cushion 43 and the backrest 44 to a certain distance, and moving the backrest 44 and the arc cushion 43 to the patient's back.

[0067] As the patient raises their leg, the pressure sensor 32 on the fixation ring 31 will experience pressure and transmit a signal to the control component. The control component will then control the motor 21 on the adjustment component 2 to slowly rotate at a certain angle, driving the drive gear 22 to rotate. The drive gear 22 drives the driven gear 25 to rotate, which in turn drives the connecting rod 24 to rotate, simultaneously causing the arc block 23 to rotate. During this process, the rotating motor 27 rotates at a certain angle, driving the rotating shaft 26 to rotate. The rotating shaft 26 drives the connecting rod 28 to rotate, and simultaneously the pressure on the foot pedal 29 decreases, causing the foot pedal 29 to rotate. As the patient raises their leg... As the patient moves forward and backward, and lowers their thigh and lower leg, the power motor 21 and the rotation motor 27 will rotate forward and backward in sync with the patient's movements, assisting the patient in walking. The camera 34 detects the speed at which the patient lifts their leg in real time through motion capture, and controls the rotation speed of the power motor 21 and rotation motor 27 on the adjustment component 2 through the control component. The angle sensor 33 will also detect the angle between the patient's thigh and lower leg and transmit the signal to the control component, which will then control the rotation angle of the power motor 21 and rotation motor 27 on the adjustment component 2.

[0068] When a patient needs to rest after rehabilitation training, when the patient's back is close to the backrest 44, the trigger module 45 on the backrest 44 will be under pressure. After the trigger block 451 is under pressure, it moves backward and drives the cone block 452 to move. The cone block 452 pushes the cylinder 454 downward, and the compression spring 453 at the bottom of the cylinder 454 will be compressed. The elastic plate 458 at the bottom of the cylinder 454 disengages from the cone protrusion 459 on the rotating shaft 456. The elastic potential energy of the torsion spring 457 drives the rotating shaft 456 to rotate, thereby driving the arc-shaped seat cushion 43 to rotate and slowly rotate 90°, so that the patient can sit on the arc-shaped seat cushion 43 to rest.

[0069] When the curved seat cushion 43 rotates 90°, the patient will sit on it. The pressure block 461 on the curved seat cushion 43 will be under pressure, causing the pressure block 461 to move downward and compress the pressure spring 462. The pressure block 461 pushes the limiting rod 463 to move. The conical locking block 464 on the limiting rod 463 will engage with the conical protrusion 459 on the rotating shaft 456 to prevent the rotating shaft 456 from rotating in the opposite direction, thereby preventing the curved seat cushion 43 from moving and avoiding the patient from falling.

[0070] When the patient does not need to perform training, after the patient stands up, the pressure block 461 on the curved seat cushion 43 will not be under pressure, the pressure spring 462 will push the pressure block 461 to move upward, the limit rod 463 will return to its original position, and the trigger block 451 on the backrest 44 will also not be under pressure. The compression spring 453 will drive the trigger block 451 and the cylinder 454 to return to their original positions through elastic potential energy. The curved seat cushion 43 can be rotated 90° manually to be horizontal with the backrest 44. During the rotation, the torsion spring 457 on the rotating shaft 456 will be under tension and in a taut state. The elastic plate 458 on the bottom of the cylinder 454 will be compressed and will limit the reverse rotation of the rotating shaft 456, preventing the curved seat cushion 43 from rotating in the opposite direction.

[0071] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A rehabilitation training system for establishing a predictive rehabilitation model through motion capture, comprising a fixed base (1), an adjustment component (2), a detection component (3), a protective component (4), and a control component; characterized in that: Adjustment components (2) are fixedly installed on the left and right sides inside the fixed base (1). The adjustment components (2) drive the patient's leg to move and bend according to the range of motion of the patient's leg. The detection component (3) is fixedly installed on the adjustment component (2). The detection component (3) detects the range of motion and speed of the patient's leg movement, as well as the bending angle between the thigh and the calf. The protective component (4) is fixedly installed on any side of the fixed base (1). The protective component (4) rotates according to the pressure of the patient's back, providing protective support to the patient. The adjustment component (2), detection component (3) and protective component (4) are electrically connected to the control component. The protective component (4) includes a connecting block (41), an electric push rod (42), an arc-shaped seat cushion (43), a backrest (44), a trigger module (45), and a self-locking module (46). The connecting block (41) is a hollow, telescopic structure. An electric push rod (42) is fixedly installed inside the connecting block (41). One end of the connecting block (41) is fixedly installed on one side of the fixed base (1), and the other end of the connecting block (41) is fixedly installed with an arc-shaped seat cushion (43). The angle between the connecting block (41) and the arc-shaped seat cushion (43) is 90°. A backrest (44) is rotatably installed on the top of the arc-shaped seat cushion (43). A trigger module (45) is fixedly installed inside the backrest (44). A self-locking module (46) is fixedly installed inside the arc-shaped seat cushion (43). The telescopic range of the electric push rod (42) is between 10 and 60 cm. The trigger module (45) includes a trigger block (451), a conical block (452), a compression spring (453), a cylinder (454), a rotating shaft (456), and a torsion spring (457). The trigger block (451) is slidably mounted on one side of the backrest (44). The conical block (452) is fixedly mounted on the trigger block (451). The area of ​​the trigger block (451) is 2 / 3 of the area of ​​the backrest (44). The cylinder (454) is slidably mounted on the bottom of the conical block (452). The bottom of the cylinder (454) is fixedly mounted to one end of the compression spring (453). The other end is fixedly installed at the bottom of the backrest (44). An elastic sheet (458) is provided on the bottom of the cylinder (454) along the axis. The length ratio of the cylinder (454) to the backrest (44) is 1:

2. The rotating shaft (456) is horizontally rotatably installed inside the arc-shaped cushion (43). A torsion spring (457) is rotatably installed on the rotating shaft (456). A conical protrusion (459) is provided on one end of the rotating shaft (456), and the conical protrusion (459) cooperates with the elastic sheet (458). The length ratio of the torsion spring (457) to the length of the rotating shaft (456) is 3:

4.

2. The rehabilitation training system for establishing a predictive rehabilitation model through motion capture according to claim 1, characterized in that: The adjustment assembly (2) includes a power motor (21), a drive gear (22), an arc block (23), a connecting rod (24), a driven gear (25), a rotating shaft (26), a rotating motor (27), a connecting rod (28), and a foot pedal (29). The bottom of the power motor (21) is fixedly installed on the top of the inner side of the fixed base (1). The drive gear (22) is rotatably installed on the top of the power motor (21). The arc block (23) is rotatably installed on the top of the power motor (21), and the arc block (23) is located between the power motor (21) and the drive gear (22). The length of the arc block (23) is 50-70cm. The connecting rod (24) is fixedly installed on the inner side of the arc block (23), and the top of the connecting rod (24) is fixedly installed with... There is a driven gear (25), and the driven gear (25) and the driving gear (22) mesh with each other; a connecting rod (28) is rotatably installed at the bottom of the connecting rod (24), the length of the connecting rod (24) is 50-70cm, a rotating motor (27) is fixedly installed on the outer side of the bottom of the arc block (23), a rotating shaft (26) is fixedly installed on the rotating motor (27), the rotating shaft (26) is fixedly installed on the top of the connecting rod (28), the connecting rod (28) is located between the connecting rod (24) and the arc block (23), and the rotating shaft (26) can rotate at the bottom of the connecting rod (24) and the bottom of the arc block (23); a foot pedal (29) is movably installed at the bottom of the connecting rod (28), the length of the connecting rod (28) is 40-70cm.

3. The rehabilitation training system for establishing a predictive rehabilitation model through motion capture according to claim 2, characterized in that: The arc-shaped block (23) includes an inner arc block (231) and an outer arc block (232); the inner arc block (231) is slidably mounted on the bottom of the outer arc block (232), the inner arc block (231) can slide on the outer arc block (232), and the sliding length of the inner arc block (231) is 10-30cm. The width of the arc-shaped block (23) is 2-3 times the diameter of the connecting rod (24).

4. A rehabilitation training system for establishing a predictive rehabilitation model through motion capture according to claim 2, characterized in that: The connecting rod (24) is a hollow structure, and an electric telescopic rod (241) is fixedly installed inside the connecting rod (24). The telescopic length of the electric telescopic rod (241) inside the connecting rod (24) is 10-30cm. The connecting rod (28) is a hollow structure, and an electric rod (281) is fixedly installed inside the connecting rod (28). The telescopic length of the electric rod (281) inside the connecting rod (28) is 10-40cm. The maximum tensile force of the electric telescopic rod (241) and the electric rod (281) is 3000N.

5. A rehabilitation training system for establishing a predictive rehabilitation model through motion capture according to claim 2, characterized in that: The bottom of the connecting rod (24) is provided with two limiting blocks (242), the top of the connecting rod (28) is provided with a rectangular protrusion (282), and the rectangular protrusion (282) is located between the two limiting blocks (242), and the rotation angle between the connecting rod (24) and the connecting rod (28) is 0-120°.

6. A rehabilitation training system for establishing a predictive rehabilitation model through motion capture according to claim 1, characterized in that: The detection component (3) includes a fixing ring (31), a pressure sensor (32), an angle sensor (33), and a camera (34); the four fixing rings (31) are fixedly installed on the connecting rod (24) and the connecting rod (28) in pairs, and multiple pressure sensors (32) are fixedly installed on the fixing rings (31), with the number of pressure sensors (32) being 4 to 8. The two angle sensors (33) are fixedly installed on the top and bottom of the arc block (23) respectively; the camera (34) is hinged to the left and right sides inside the fixed base (1), and the camera (34) rotates at an angle of 0-45° in the vertical direction.

7. A rehabilitation training system for establishing a predictive rehabilitation model through motion capture according to claim 6, characterized in that: The fixing ring (31) is an adjustable fixing ring (31), and the adjustable length range is 20-70cm. The width of the fixing ring (31) is 5cm. The fixing ring (31) has multiple rectangular through holes (311), and the multiple rectangular through holes (311) are inclined at 30° along the vertical direction of the fixing ring. The distance between two adjacent rectangular through holes (311) is the width of the rectangular through hole (311).

8. A rehabilitation training system for establishing a predictive rehabilitation model through motion capture according to claim 1, characterized in that: The self-locking module (46) includes a pressure block (461), a pressure spring (462), and a limiting rod (463); the pressure block (461) is slidably mounted on the top of the arc-shaped cushion (43), the area of ​​the pressure block (461) is 2 / 3 of the area of ​​the arc-shaped cushion (43), the bottom of the pressure block (461) is fixedly mounted to one end of the pressure spring (462), the other end of the pressure spring (462) is fixedly mounted to the bottom of the arc-shaped cushion (43), and the limiting rod (463) is fixedly mounted to the bottom of the arc-shaped cushion (43). The limiting rod (463) is horizontally slidably installed at the bottom of the arc-shaped cushion (43). The length ratio of the limiting rod (463) to the length of the arc-shaped cushion (43) is 1:

2. One end of the limiting rod (463) is slidably installed with one end of the pressure block (461). A conical block (464) is provided on the other end of the limiting rod (463), and the conical block (464) cooperates with the conical protrusion (459). The ratio of the diameter of the limiting rod (463) to the thickness of the arc-shaped cushion (43) is 1:4.

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