Six-minute walk training rehabilitation system and control method thereof

Abstract

The six-minute walk test training rehabilitation system and the control method thereof, by acquiring the motion posture information of the angular velocity and acceleration of the foot surface and lower leg, the data processing unit obtains the walking distance and gait information of the tester at each moment through data processing and displays the information to the user through the operation display unit, and the clock system sends the clock information to the data processing unit and automatically counts and prompts the test time. Through the technical scheme provided by the application, the human walking data and gait information can be automatically acquired, and the test time can be automatically counted, so that the walking distance and gait information of the tester can be automatically counted and viewed in real time without relying on additional markers or manual measurement.

Description

Technical Field

[0001] This invention belongs to the field of medical and health care, and in particular relates to a six-minute walking training and rehabilitation system and its control method. Background Technology

[0002] In the current medical and health field, health analysis based on human data collection has high requirements for venues, instruments, and testing environments, especially when analytical reports are required, including the six-minute walk test and the ten-meter walk test. The six-minute walk test is a method for evaluating a patient's exercise tolerance, clinically commonly used to evaluate the treatment effects of patients with moderate to severe cardiopulmonary diseases, and also frequently used to evaluate the exercise and cardiopulmonary function rehabilitation of patients with movement dysfunction. Typically, the six-minute walk test involves the subject walking back and forth continuously for six minutes on a straight, flat surface approximately 30 meters long, with the walking distance within the specified six minutes being the primary evaluation indicator.

[0003] Patent CN201510772350.4 discloses a six-minute walking training and rehabilitation system and its distance calculation method. However, the distance calculation of this system relies on a mobile phone with Bluetooth function and multiple Bluetooth beacons placed at intervals of 2-5 meters, which makes the operation complicated and the cost high.

[0004] Patent CN201410010361.4 discloses a multi-dimensional real-time monitoring system for a six-minute walk test. It monitors the subject's heart rate, blood oxygen saturation, respiratory rate, and other physical indicators in real time during the walk test through a patient terminal, a doctor terminal, and a cloud server. However, the walking distance calculation of this system still relies on manual measurement, which has the disadvantages of wasting manpower and low accuracy.

[0005] Patent CN201210213030.1 discloses a patient rehabilitation training walking status analysis system and method, which can provide the spatiotemporal parameters required for gait analysis through gait images collected by a gait acquisition device and calculations by a PC. However, this system cannot measure walking distance and therefore cannot be used for the six-minute walk test.

[0006] Traditional technical solutions have the following problems: 1) Markings need to be added to the ground. Fixed markings limit the choice of testing site, while non-fixed markings make the testing operation cumbersome and prone to errors; 2) Testing time depends on the tester (medical staff) manually timing the subject with a stopwatch when the subject passes through the marked point. It is also necessary to monitor the patient's heart rate, blood pressure, blood oxygen content and other indicators as well as the patient's physical condition to ensure the safety of the test. This requires a lot of manpower and is prone to errors; 3) The test only measures walking speed or distance. Other physical indicators are only used as safety assurance and auxiliary indicators. It does not evaluate the subject's gait. For patients in the rehabilitation period of motor function, gait analysis needs to be carried out through other additional tests. Summary of the Invention

[0007] To address the aforementioned problems, this invention proposes a six-minute walking training and rehabilitation system and its control method.

[0008] The six-minute walking test training rehabilitation system of the present invention includes a sensor for acquiring foot posture information, a data processing unit, an operation display unit, a communication module, and a clock system;

[0009] The sensor that acquires foot posture information acquires the user's foot posture information, including foot angular velocity and acceleration, and sends the corresponding posture information to the data processing unit.

[0010] The data processing unit processes the received posture information to obtain the user's walking distance and gait index information, and displays it through the operation display unit;

[0011] Users control the start and end of the six-minute test training by operating the display unit, and view the test data and the entire test result report in real time.

[0012] The communication module establishes information data transmission between the data processing unit and the operation display unit;

[0013] The clock system sends clock information to the data processing unit and keeps track of the test time and provides prompts.

[0014] Preferably, the six-minute walking test training and rehabilitation system also includes a sensor for acquiring lower leg posture information. The sensor acquires motion posture information of the user's lower leg, including acceleration and angular velocity, and sends the corresponding posture information to the data processing unit.

[0015] The data processing unit includes an attitude calculation processing unit, a reference coordinate transformation unit, a gait determination unit, a gait phase detection unit, a velocity calculation unit, and a distance calculation unit.

[0016] The attitude calculation and processing unit performs attitude calculation on the received data, calculates the motion attitude of the foot and lower leg, and sends the calculated attitude data to the operation display unit for display in real time.

[0017] The reference coordinate transformation unit obtains the foot acceleration data from the attitude data sent by the calculation and processing unit, and converts the foot accelerometer readings into reference coordinate data; the gait determination unit combines the lower leg and foot postures with sensor readings to determine the user's current gait.

[0018] The gait phase detection unit detects and judges the gait information sent by the gait unit, detects whether the current user's gait is a standing phase or a swinging phase, and sends the detection result to the speed calculation unit;

[0019] When the speed calculation unit receives the swing phase result sent by the gait phase detection unit, it calculates the foot acceleration in the swing phase sent by the reference coordinate transformation unit at the same time to obtain the current foot speed.

[0020] The distance calculation unit processes the speed data sent by the speed calculation unit by integrating the speed to obtain the distance in the reference coordinate system. In other words, the integrated data of the speed calculation unit is transformed into the real-world movement distance, which is the user's current walking distance.

[0021] The data processing unit further includes a data acquisition unit and a data preprocessing unit;

[0022] The data acquisition unit reads the raw sensor data, including the attitude information of the foot sensor and the lower leg sensor, including the raw attitude information such as foot acceleration and angular velocity.

[0023] The data preprocessing unit preprocesses the attitude information from the data reading unit to obtain optimized raw attitude data.

[0024] Furthermore, the data processing unit also includes a zero-speed detection unit, which optimizes the speed obtained by the speed calculation unit. By using the signals before the foot leaves the ground and after landing as signals to compensate for accelerometer noise, the unit obtains the speed in the user's current reference coordinate system and thus obtains the optimized user walking speed.

[0025] Preferably, the six-minute walking test training and rehabilitation system further includes a wearable exoskeleton device for the lower limbs of the human body, wherein the sensors for acquiring foot posture information and the sensors for acquiring lower leg posture information are located on the exoskeleton device, and the sensors are IMU sensors;

[0026] The data processing unit includes a microprocessor on the exoskeleton device that performs a data reading unit, a main processor that performs a data preprocessing unit, and a terminal processor located on the smart terminal. The terminal processor performs the functions of a posture calculation processing unit, a reference coordinate transformation unit, a gait judgment unit, a gait phase detection unit, a speed calculation unit, a zero speed detection unit, and a distance calculation unit to obtain the user's walking distance and gait index information.

[0027] The clock system includes a clock unit located in the smart terminal. The clock system sends its time information to the data processing unit. The data processing unit fuses the gait information and clock information obtained from the sensors to establish a correspondence between time and gait information, and obtains and displays the user's gait information and walking distance at each time point in real time. At the same time, after the smart terminal receives the user's command to start a six-minute test training, the clock unit starts the timing function and sends a message to the data processing unit that the time has expired and the test is over when six minutes have elapsed. The operation display unit also displays that the test is over to remind the user.

[0028] After receiving the message that the six-minute test time has expired, the data processing unit processes the user's data within the six minutes, generates a test report, including the walking distance and gait indicators, and displays it to the user through the smart terminal.

[0029] The control method for the six-minute walking test training system provided by this invention includes a smart terminal, a wearable exoskeleton device, and a foot IMU sensor mounted on the exoskeleton device; the control method for the six-minute walking test training includes:

[0030] After the experimenter and equipment are ready, the experimenter enters "Start Experiment" on the smart terminal's operating interface and gives the command to start the six-minute walking test training.

[0031] The clock unit on the smart terminal automatically starts timing;

[0032] The IMU in the wearable exoskeleton device collects motion data of the foot, including acceleration and angular velocity motion data, and processes, packages, and sends the data to the terminal processor in the smart terminal in real time.

[0033] The terminal processor acquires time information and motion data sent by the processor of the wearable exoskeleton device to calculate the movements, and accurately calculates the walking distance and gait indicators at each moment within the six-minute test, and displays the real-time data through the smart terminal;

[0034] When the test duration reaches six minutes, the clock unit indicates to the tester that the test has ended;

[0035] After receiving the end-of-test time information from the clock unit, the terminal processor processes the motion data within six minutes, generates a report, and displays the test result report on the interface.

[0036] Preferably, the control method of the six-minute walking test training system further includes a calf IMU sensor installed on the exoskeleton device. The calf IMU sensor acquires calf motion data, including acceleration and angular velocity, and processes and packages the data through its internal processor before sending it in real time to the terminal processor in the smart terminal for processing.

[0037] The report produced includes walking distance and statistical analysis results of gait spatiotemporal parameters; the gait indicators include walking distance and gait spatiotemporal parameters such as stride length, stride length, stride frequency, percentage of support phase swing phase, and gait cycle; the values ​​of the above parameters are displayed in real time on the smart terminal.

[0038] Compared with the prior art, the technical solution protected by the present invention has the following advantages: the present invention provides a six-minute walking training rehabilitation system and its control method, which can automatically calculate the walking distance of the subject without relying on additional markers or manual measurement. The tester can view the subject's walking distance, time taken, and gait data in real time through a smart terminal, and can quickly obtain the test result report including walking distance and gait analysis at the end of the test. Attached Figure Description

[0039] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the 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 based on these drawings without creative effort.

[0040] Figure 1 This is a schematic diagram of the functional modules of the six-minute walking training and rehabilitation system according to an embodiment of the present invention.

[0041] Figure 2 This is a schematic diagram of the functional modules of the data processing unit in an embodiment of the present invention.

[0042] Figure 3 This is a schematic diagram of the functional modules of the six-minute walking training and rehabilitation system in another embodiment of the present invention.

[0043] Figure 4 This is a control flowchart of a six-minute walking training and rehabilitation system according to an embodiment of the present invention. Detailed Implementation

[0044] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0045] The six-minute walking training rehabilitation system and its control method proposed in this invention, such as Figure 1 The system block diagram described is an embodiment of the present invention, including a sensor 11 for acquiring foot posture information, a sensor 12 for acquiring lower leg posture information, a data processing unit 30, an operation display unit 40, a communication module 301, and a clock system 302. The sensor 11 and sensor 12 acquire foot posture information, including foot angular velocity and acceleration, and lower leg angular velocity and acceleration, respectively, and send the corresponding posture information to the data processing unit 30. The data processing unit 30 processes the received posture information to obtain the user's walking distance and gait index information, which is then displayed through the operation display unit 40. The user controls the start and end of the six-minute training session through the operation display unit 40, and the system displays the test data and the entire test result report in real time. The communication module 301 establishes information data transmission between the processor and the operation display unit; the clock system 302 sends clock information to the data processing unit 30 and keeps track of the test time. In this invention, the six-minute walking distance can be calculated by acquiring foot posture information, and acquiring lower leg posture information is to improve the accuracy of the calculation, making the test more accurate.

[0046] A further preferred option is, such as Figure 2 As shown, the data processing unit 30 includes: a data acquisition unit 31, a data preprocessing unit 32, an attitude calculation and processing unit 33, a reference system coordinate transformation unit 34, a gait judgment unit 35, a gait phase detection unit 36, a velocity calculation unit 37, a zero velocity detection unit 38, and a distance calculation unit 39.

[0047] The data acquisition unit 31 reads raw sensor data, including foot and lower leg posture information such as foot acceleration and angular velocity from sensors 11 and 12. The data preprocessing unit 32 preprocesses the posture information from the data acquisition unit 31, such as by processing gyroscope zeroing and temperature drift, to obtain more accurate raw posture data. The posture calculation and processing unit 33 performs posture calculation on the data sent by the data preprocessing unit 32, calculating the motion posture of the foot and lower leg, and sends the calculated posture data to the operation display unit 40 for display in real time. The reference coordinate transformation unit 34 acquires the foot acceleration data from the posture data sent by the calculation and processing unit 33 and converts the foot accelerometer readings into reference coordinate system data. The gait determination unit 35 combines the lower leg and foot postures with sensor readings to determine the user's current gait. The gait phase detection unit 36 ​​detects the gait information sent by the gait determination unit 35, determines whether the current user's gait is a standing or swinging phase, and sends the detection result to the speed calculation unit 37. When the speed calculation unit 37 receives the swing phase result from the gait phase detection unit 35, it calculates the foot acceleration simultaneously sent by the reference coordinate transformation unit 34, such as integrating the foot acceleration confirmed to be in the swing phase, to obtain the foot speed. Furthermore, to obtain a more accurate foot speed, the zero-speed detection unit 38 optimizes the speed obtained by the speed calculation unit 37 by compensating for accelerometer noise signals at the start and end points of the swing phase. The start and end points of the swing phase correspond to the state before and after the foot leaves the ground; that is, the signals before and after the foot leaves the ground are used as compensation signals for accelerometer noise to obtain the user's current reference coordinate system speed, which is a more accurate walking speed. The distance calculation unit 39 processes and calculates the reference coordinate system distance based on the speed data sent by the zero-speed detection unit 38 or the speed calculation unit 37, such as by integrating the speed, to obtain the user's current walking distance.

[0048] The communication module 301 establishes communication between the data processing unit 30 and the operation display unit 40, and sends the user's real-time gait information obtained by the data processing unit 30, including walking speed, walking distance, gait, stride length, etc., to the operation display unit 40 for display; at the same time, it transmits the user's operation instructions through the operation display unit 40, including the instruction to start a six-minute test, to the data processing unit 30.

[0049] The clock system 302 sends its time information to the data processing unit 30. The data processing unit 30 fuses the gait information and clock information obtained from the sensors, establishing a correspondence between time and gait information. This allows for the real-time display of the user's gait information and walking distance at each time point, enabling the user to know the output gait information and walking distance at each time point. Simultaneously, after receiving the user's command to start a six-minute test, the clock system 302 activates the timing function and sends a message to the data processing unit 30 indicating that the time has elapsed and the test has ended when six minutes have elapsed. The system also displays "Test complete" on the operation display unit to remind the user.

[0050] When the six-minute test period ends, the data processing unit 30 processes the user's data within the six minutes, generates a test report including walking distance and gait indicators, and displays it to the user through the operation display unit 40.

[0051] Further preferred implementation plans, such as Figure 3 As shown, the operation display unit 40 is a smart terminal including an operation interface unit 41, a display unit 42, an operation software system APP 43, a terminal processor 44, a clock unit 45, and a communication unit 46. The operation interface unit 41 accepts user inputs such as starting a six-minute test and other operation inputs. The display unit 42 displays real-time user motion data and test reports, including gait information: acceleration, angular velocity, walking distance, stride length, stride length, cadence, percentage of support phase swing, gait cycle, etc., and displays the test results to the user in graphical form after the test. The clock unit 45 performs timekeeping; in this embodiment, it times the six-minute test and sends the corresponding clock information to the terminal processor 44. The operation software system APP 43 is the operating system for the six-minute test software, executing the start and end commands, data display, and report generation for the user's six-minute test on the corresponding unit modules.

[0052] In this embodiment, the clock system 302 includes a clock unit 45. The communication module 301 includes a communication unit 46.

[0053] A further preferred embodiment of the present invention is that the data processing unit 30 includes a microprocessor 303 and a main processor 304, as shown below. Figure 3 As shown, the sensor 11 for acquiring foot posture information, the sensor 12 for acquiring lower leg posture information, and the microprocessor 303 are configured as wearable devices for convenient user operation during testing. The sensor 11 for acquiring foot posture information is an IMU sensor installed on the instep of the human body, and the sensor 12 for acquiring lower leg posture information is an IMU sensor installed on the lower leg of the human body.

[0054] Specifically, it refers to wearable devices for the lower limbs with one or more IMUs and real-time communication capabilities. Smart terminals include, but are not limited to, tablets, computers, and mobile phones; the software operating system (APP) refers to software applicable to the smart terminal, whose operations can run on the smart terminal's processor or through a cloud-based processor; the communication module includes, but is not limited to, Bluetooth, wireless networks, and wired networks.

[0055] The posture information refers to human motion posture data, including human motion acceleration, angular velocity, walking distance, walking stride length, walking stride length, walking cadence, percentage of the support phase swing phase, gait cycle, etc.

[0056] Please participate again. Figure 3 The specific implementation of this embodiment is as follows: the wearable device is an ankle joint walking assistance training exoskeleton device, the smart terminal is a tablet computer, and the operating software system APP is a mobile software operating system. The exoskeleton device and the tablet computer each include a Bluetooth communication module, enabling them to communicate in real time. The exoskeleton device includes a main processor, a motor drive unit on each side, a power supply, and a foot support on each side. Each foot support includes an IMU fixed to the instep and an IMU fixed to the lower leg. The two IMUs are connected to the distributed microprocessor 303 on that side via a circuit, and then connected to the main processor 304 via another circuit. The tablet computer runs the mobile software operating system APP. The operating interface of the software operating system provides buttons for starting and stopping the experiment, and can display real-time data and a result report after training.

[0057] The IMUs fixed to the foot and the IMUs fixed to the lower leg perform the functions of sensors 11 and 12 in the above-described implementation scheme. The microprocessor 303 reads the raw data from the foot IMU and the lower leg IMU, packages the data, and sends it to the main processor 304 via CAN communication. The main processor 304 preprocesses the raw IMU data to obtain processed IMU information and acquires information from the clock system 302. It then repackages the IMU information and clock information and sends it to the smart terminal. After receiving the data information sent by the main processor 304 of the exoskeleton device, the terminal processor 41 of the smart terminal executes the functions of the posture calculation processing unit 33, the reference coordinate transformation unit 34, the gait judgment unit 35, the gait phase detection unit 36, the speed calculation unit 37, the zero speed detection unit 38, and the distance calculation unit 39 in the data processing unit 30 to obtain the user's walking distance and gait index information.

[0058] like Figure 4The diagram shows a flowchart of a six-minute operation test in another preferred embodiment of the present invention. In this embodiment, after the subject and other equipment are ready, the test subject inputs "start test" on the operation interface of the smart terminal, giving a six-minute walking test start command. The clock unit starts timing. The IMU on the wearable exoskeleton device collects motion data of the foot and lower leg, including acceleration, angular velocity, and other motion data, and processes and packages it through its processor before sending it to the terminal processor of the smart terminal in real time. The terminal processor obtains the time information and the motion data sent by the processor of the wearable exoskeleton device, performs calculations, and accurately calculates the walking distance and gait indicators at each moment within the six-minute test. The real-time data is displayed on the smart terminal. When the test duration reaches six minutes, the operation interface unit and / or display unit prompt the user that the test is over. After receiving the end test time from the clock unit, the terminal processor processes the motion data within the six minutes, generates a report, and displays the test result report on the interface. The report includes walking distance and gait spatiotemporal parameter statistical analysis results. The gait indicators include walking distance and stride length, stride length, stride frequency, support phase swing phase percentage, gait cycle, and other gait spatiotemporal parameters. The values ​​of the above parameters are displayed in real time on the smart terminal.

[0059] Specifically, a start command is generated, and the software on the smart terminal begins timing. At the same time, the IMU device on the exoskeleton collects data and transmits it to the smart terminal. The processor on the smart terminal accurately calculates the walking distance and gait indicators by solving the foot acceleration and angular velocity data. The software on the smart terminal displays the data and calculation results in real time and determines whether the time has reached six minutes. If the time has reached six minutes, the smart terminal prompts that the test has ended and generates a report. If the time has not reached six minutes, data collection and calculation continue.

[0060] The six-minute walk test can be conducted simultaneously with other sensors to collect data, measuring and monitoring vital signs such as heart rate and blood oxygen saturation, as well as emergency equipment such as oxygen sources and defibrillators. Preferably, the heart rate and blood oxygen measurement devices are portable finger-clip, ear-clip, or wrist-mounted pulse oximeters with data conversion and Bluetooth transmission capabilities, transmitting data to a smart terminal for display via Bluetooth. These detection devices include those mounted on an exoskeleton or directly on the human body. These devices can connect to the smart terminal via communication devices on the exoskeleton or directly to the smart terminal.

[0061] In this embodiment, the exoskeleton device with two IMUs on each side and a distributed processor is the preferred implementation. A wearable device with one foot IMU on each side connected to the processor can achieve the experimental effect of measuring distance and unilateral gait parameters. A wearable device with one foot IMU on each side connected to the main processor can achieve the experimental effect of measuring distance and bilateral gait parameters.

[0062] Understandably, a wearable device can be a passive device without a drive mechanism, requiring only sensors such as an IMU, a processor, and a power source.

[0063] This invention utilizes sensors (including an IMU) mounted on the human body or an exoskeleton to measure foot movement data. Simultaneously, it transmits the measured data in real-time via communication between the exoskeleton and a smart terminal. The terminal processor on the smart terminal calculates the movement data to obtain the subject's walking time, walking distance, and other gait indicators. This intelligent six-minute walk test system and method eliminates the need for ground markers in the testing area. Test subjects can quickly and easily view the six-minute walk test time and distance via the smart terminal, simplifying the testing process and allowing for greater focus on observing and communicating with the patient's physical indicators, making the testing process more accurate and safer. Furthermore, this system, which combines the six-minute walk test with gait analysis, provides gait indicators and analysis results during the test, simultaneously evaluating the patient's exercise tolerance and gait rehabilitation status, simplifying the patient's rehabilitation assessment process.

[0064] In summary, the six-minute walk test system and method in this embodiment of the invention provide gait spatiotemporal parameters and statistical analysis results such as stride length, stride length, percentage of the support phase swing phase, and gait cycle for the walk test, providing a reference for the gait assessment of patients.

[0065] Although specific embodiments of the present invention have been described in detail by way of examples, those skilled in the art should understand that the above examples are for illustrative purposes only and are not intended to limit the scope of the present invention. Those skilled in the art should understand that modifications to the technical solutions described in the above embodiments or equivalent substitutions of some technical features may be made without departing from the scope and spirit of the present invention, and all such modifications or substitutions are within the protection scope of the present invention.

Claims

1. A six-minute walk test training and rehabilitation system, characterized in that, The system includes a sensor for acquiring foot posture information, a data processing unit, an operation display unit, a communication module, and a clock system. The sensor acquires the user's foot posture information, including foot angular velocity and acceleration, and sends this information to the data processing unit. The data processing unit processes the received posture information to obtain the user's walking distance and gait indicators, which are then displayed on the operation display unit. The user controls the start and end of a six-minute test training session via the operation display unit, which displays the test data and the overall test result report in real time. The communication module establishes information transmission between the data processing unit and the operation display unit. The clock system sends clock information to the data processing unit and provides timing and prompts for the test time. It also includes a sensor for acquiring lower leg posture information. The sensor for acquiring lower leg posture information acquires motion posture information of the user's lower leg, including acceleration and angular velocity, and sends the corresponding posture information to the data processing unit. The data processing unit includes an attitude calculation unit, a reference coordinate transformation unit, a gait determination unit, a gait phase detection unit, a speed calculation unit, and a distance calculation unit. The attitude calculation unit performs attitude calculations on the received data, determining the movement posture of the foot and lower leg, and sends the calculated attitude data to the operation display unit in real time. The reference coordinate transformation unit obtains the foot acceleration data from the attitude data sent by the attitude calculation unit and converts the foot accelerometer readings into reference coordinate system data. The gait determination unit combines the lower leg and foot posture with sensor readings to determine the user's current gait. The gait phase detection unit detects the gait information sent by the gait determination unit, determining whether the current user's gait is in a standing or swinging phase, and sends the detection result to the speed calculation unit. When the speed calculation unit receives a swinging phase result from the gait phase detection unit, it calculates the foot acceleration in the swinging phase simultaneously sent by the reference coordinate transformation unit to obtain the current foot speed. The distance calculation unit processes and calculates the distance in the reference coordinate system by integrating the speed data sent by the speed calculation unit. In other words, the integrated data of the speed calculation unit is transformed into the real-world movement distance, which is the user's current walking distance. The data processing unit also includes a zero-speed detection unit, which optimizes the speed obtained by the speed calculation unit. It uses the signals before the foot leaves the ground and after landing as signals to compensate for accelerometer noise, and obtains the speed of the user's current reference coordinate system to obtain the optimized user walking speed.

2. The six-minute walk test training and rehabilitation system as described in claim 1, characterized in that, The data processing unit further includes a data acquisition unit and a data preprocessing unit. The data acquisition unit reads the raw sensor data, including the attitude information of the foot sensor and the lower leg sensor, which includes the raw attitude information such as foot acceleration and angular velocity. The data preprocessing unit preprocesses the attitude information from the data reading unit to obtain optimized raw attitude data.

3. The six-minute walk test training and rehabilitation system as described in claim 2, characterized in that, It also includes a wearable exoskeleton device for the lower limbs of the human body. The sensors for acquiring foot posture information and the sensors for acquiring lower leg posture information are located on the exoskeleton device. The sensors are IMU sensors. The data processing unit includes a microprocessor on the exoskeleton device that performs a data reading unit and a main processor that performs a data preprocessing unit. It also includes a terminal processor located on a smart terminal. The terminal processor performs the functions of a posture calculation processing unit, a reference system coordinate transformation unit, a gait judgment unit, a gait phase detection unit, a speed calculation unit, a zero speed detection unit, and a distance calculation unit to obtain the user's walking distance and gait index information.

4. The six-minute walk test training and rehabilitation system as described in claim 3, characterized in that, The clock system includes a clock unit located in the smart terminal. The clock system sends its time information to the data processing unit. The data processing unit fuses the gait information and clock information obtained from the sensors to establish a correspondence between time and gait information, and obtains and displays the user's gait information and walking distance at each time point in real time. At the same time, after the smart terminal receives the user's command to start a six-minute test training, the clock unit starts the timing function and sends a message to the data processing unit that the time has expired and the test is over when six minutes have elapsed. The system also displays the test completion message on the operation display unit to remind the user. After receiving the message that the six-minute test time has expired, the data processing unit processes the user's data within the six minutes, generates a test report, including the walking distance and gait indicators, and displays it to the user through the smart terminal.

5. A control method for a six-minute walk test training system based on claims 1-4, characterized in that, This includes smart terminals, wearable exoskeleton devices, and foot IMU sensors mounted on exoskeleton devices; The control method for this six-minute walking test training includes: after the test subject and equipment are ready, the test subject enters "start test" on the smart terminal's operating interface, giving a six-minute walking test training start command; the clock unit on the smart terminal automatically starts timing; the IMU on the wearable exoskeleton device collects foot motion data, including acceleration and angular velocity motion data, and processes and packages it through its internal processor, sending it in real time to the terminal processor in the smart terminal; the terminal processor obtains the time information and the motion data sent by the processor of the wearable exoskeleton device, calculates the movement, and accurately calculates the walking distance and gait indicators at each moment within the six-minute test, and displays the real-time data through the smart terminal; when the test duration reaches six minutes, the clock unit prompts the test subject to end the test; after receiving the end test time information from the clock unit, the terminal processor processes the motion data within the six minutes, generates a report, and displays the test result report on the interface; it also includes a calf IMU sensor installed on the exoskeleton device, which acquires calf motion data, including acceleration and angular velocity, and processes and packages it through its internal processor, sending it in real time to the terminal processor in the smart terminal for processing.

6. The control method for the six-minute walk test training system as described in claim 5, characterized in that, The generated report includes walking distance and statistical analysis results of gait spatiotemporal parameters; the gait indicators include walking distance and gait spatiotemporal parameters such as stride length, stride length, stride frequency, percentage of support phase swing phase, and gait cycle; the values ​​of the above parameters are displayed in real time on the smart terminal.

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