Lower limb training method and system

Abstract

The invention discloses a lower limb training method and system. The lower limb training method comprises the steps that when a lower limb training user uses a training carpet to execute a current training game, a training instruction corresponding to the current training game is provided for the lower limb training user through a training module, and foot position information and leg posture information when the lower limb training user executes the current training game based on the training instruction are obtained; training game information after the lower limb training user completes the current training game is generated through the training module, and the training game information, the foot position information and the leg posture information are fed back to the training terminal; a lower limb training report of the lower limb training user is determined through the training terminal according to the training game information, the foot position information and the leg posture information, wherein the lower limb training report comprises whether the current training game is adjusted or not and lower limb joint information. According to the invention, targeted training games are provided for lower limb training.

Description

Technical Field

[0001] The present invention relates to the technical field of training and rehabilitation, and in particular to a lower limb training method and system. Background Art

[0002] The strength of lower limb muscles plays an important role in human movement, health and disease prevention. Therefore, we should pay attention to lower limb muscle strength training to enhance body stability and athletic ability, avoid sports injuries, and benefit health, improve metabolism and reduce weight.

[0003] At present, for users who need lower limb training, especially children, it is impossible to provide them with suitable training venues and training methods, and to provide targeted training plans, and thus it is impossible to ensure that the rehabilitation of users who need lower limb training achieves the best effect. Summary of the invention

[0004] The present invention provides a lower limb training method and system to solve the problem that it is currently impossible to provide customized training rehabilitation plans for users who need lower limb training.

[0005] According to one aspect of the present invention, a lower limb training method is provided, wherein the lower limb training system comprises a training carpet, a training module and a training terminal, wherein the training carpet is connected to the training module, and the training module is connected to the training terminal, and the lower limb training method comprises:

[0006] When a lower limb training user uses the training carpet to execute a current training game, the training module provides the lower limb training user with a training instruction corresponding to the current training game, and obtains foot position information and leg posture information of the lower limb training user when executing the current training game based on the training instruction;

[0007] Generate training game information after the lower limb training user completes the current training game through the training module, and feed back the training game information, the foot position information and the leg posture information to the training terminal;

[0008] The training terminal determines a lower limb training report of the lower limb training user according to the training game information, the foot position information and the leg posture information, and the lower limb training report includes whether to adjust the current training game and lower limb joint information.

[0009] Optionally, the training carpet includes an LED light ring layer, and the LED light ring layer includes a plurality of LED lights;

[0010] The lower limb training user uses the training carpet to perform the current training game, including:

[0011] The LED lights on the training carpet are lit up in sequence based on the current training game, and the lower limb training user uses the training carpet to traverse and step on the lit LED lights on the training carpet.

[0012] Optionally, the current training game includes a first training game, a second training game and a third training game;

[0013] Lighting up the LED lights on the training carpet in sequence based on the current training game includes:

[0014] Based on the first training game, randomly lighting up different LED lights on the training carpet at least multiple times;

[0015] Lighting up the LED lights on the training carpet in a fixed line mode based on the second training game;

[0016] The LED lights on the training carpet are lit up in a simulated competition mode based on the third training game.

[0017] Optionally, obtaining the foot position information and leg posture information of the lower limb training user when executing the current training game based on the training instruction includes:

[0018] When the lower limb training user executes the current training game based on the training instruction, a real-time game image is collected, and foot position information and leg posture information are obtained according to the real-time game image.

[0019] Optionally, determining a lower limb training report of the lower limb training user according to the foot position information and the leg posture information by the training terminal includes:

[0020] Determining, by the training terminal, the opening and closing angles of the knee joints of the current left and right legs in the sagittal plane, the opening and closing angles of the ankle joints of the current left and right legs in the sagittal plane, and the opening and closing angles of the ankle joints of the current left and right legs in the coronal plane of the lower limb training user according to the foot position information and the leg posture information;

[0021] The current left and right leg sagittal plane knee joint opening and closing angles, the current left and right leg sagittal plane ankle joint opening and closing angles and the current left and right leg coronal plane ankle joint opening and closing angles are compared with the theoretical left and right leg sagittal plane knee joint opening and closing angles, the theoretical left and right leg sagittal plane ankle joint opening and closing angles and the theoretical left and right leg coronal plane ankle joint opening and closing angles respectively to determine the lower limb joint information of the lower limb training user.

[0022] Optionally, the current left and right leg sagittal plane knee joint opening and closing angles, the current left and right leg sagittal plane ankle joint opening and closing angles, and the current left and right leg coronal plane ankle joint opening and closing angles are compared with the theoretical left and right leg sagittal plane knee joint opening and closing angles, the theoretical left and right leg sagittal plane ankle joint opening and closing angles, and the theoretical left and right leg coronal plane ankle joint opening and closing angles, respectively, to determine the lower limb joint information of the lower limb training user, including:

[0023] Compare the current sagittal plane knee joint opening and closing angles of the left and right legs, the current sagittal plane ankle joint opening and closing angles of the left and right legs, and the current coronal plane ankle joint opening and closing angles of the left and right legs with the theoretical sagittal plane knee joint opening and closing angles of the left and right legs, the theoretical sagittal plane ankle joint opening and closing angles of the left and right legs, and the theoretical coronal plane ankle joint opening and closing angles of the left and right legs, respectively, to obtain the normal opening and closing angle proportion time, motion range, and stability corresponding to the current sagittal plane knee joint opening and closing angles of the left and right legs, the current sagittal plane ankle joint opening and closing angles of the left and right legs, and the current coronal plane ankle joint opening and closing angles of the left and right legs;

[0024] The lower limb joint information of the lower limb training user is determined according to the normal opening and closing angle proportion time, the motion range and the stability.

[0025] Optionally, determining, by the training terminal, a lower limb training report of the lower limb training user according to the training game information includes:

[0026] The training terminal determines the game completion time, game completion accuracy and game difficulty of the current training game based on the training game information, and determines whether the lower limb training user needs to adjust the current training game based on the game completion time, the game completion accuracy and the game difficulty.

[0027] According to another aspect of the present invention, there is provided a lower limb training system, the lower limb training system comprising a training carpet, a training module and a training terminal, the training carpet is connected to the training module, and the training module is connected to the training terminal;

[0028] The training module is used to provide the lower limb training user with training instructions corresponding to the current training game when the lower limb training user uses the training carpet to execute the current training game, and obtain the foot position information and leg posture information of the lower limb training user when executing the current training game based on the training instructions; it is also used to generate training game information after the lower limb training user completes the current training game, and feed back the training game information, the foot position information and the leg posture information to the training terminal;

[0029] The training terminal is used to determine a lower limb training report of the lower limb training user according to the training game information, the foot position information and the leg posture information, and the lower limb training report includes whether to adjust the current training game and lower limb joint information.

[0030] Optionally, the training carpet includes an upper carpet layer, a circuit array layer, an LED light ring layer and a lower carpet layer.

[0031] Optionally, the training module includes a voice unit, a camera unit, a control mainboard and a communication unit.

[0032] The technical solution of the embodiment of the present invention is that when a lower limb training user uses the training carpet to execute the current training game, the training module provides the lower limb training user with training instructions corresponding to the current training game, and obtains the foot position information and leg posture information of the lower limb training user when executing the current training game based on the training instructions; the training module generates training game information after the lower limb training user completes the current training game, and feeds back the training game information, the foot position information and the leg posture information to the training terminal; the training terminal determines the lower limb training report of the lower limb training user according to the training game information, the foot position information and the leg posture information, and the lower limb training report includes whether to adjust the current training game and the lower limb joint information. The present invention solves the problem that it is currently impossible to provide customized training rehabilitation plans for users who need lower limb training, and realizes the provision of targeted training games for lower limb training, and can reasonably adjust subsequent training according to the current training situation, so as to provide targeted personalized training customization for lower limb training users.

[0033] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0035] Figure 1 is a flow chart of a lower limb training method provided according to an embodiment of the present invention;

[0036] Figure 2is a schematic diagram of an interface of a whack-a-mole game displayed on a training carpet provided according to an embodiment of the present invention;

[0037] Figure 3 is a schematic diagram of an interface of a Little Painter Connect game displayed on a training carpet provided by an embodiment of the present invention;

[0038] Figure 4 is a schematic diagram of an interface showing a lawn passing game on a training carpet provided by an embodiment of the present invention;

[0039] Figure 5 is a schematic diagram of collecting real-time game images when a lower limb training user executes a current training game based on a training instruction according to an embodiment of the present invention;

[0040] Figure 6 is a structural schematic diagram of a lower limb training system provided according to an embodiment of the present invention;

[0041] Figure 7 is a schematic diagram of a lower limb training system provided according to an embodiment of the present invention;

[0042] Figure 8 is a schematic diagram of the structure of a training carpet provided according to an embodiment of the present invention;

[0043] Fig. 9 It is a scene diagram of a lower limb training system for implementing a lower limb training method provided according to an embodiment of the present invention. DETAILED DESCRIPTION

[0044] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0045] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0046] Figure 1 A flowchart of a lower limb training method is provided for an embodiment of the present invention. This embodiment can be applied to the case where a customized training carpet is used to carry out special lower limb training rehabilitation for users who need lower limb training. The lower limb training method can be performed by a lower limb training system. The lower limb training system includes a training carpet, a training module and a training terminal. The training carpet is connected to the training module, and the training module is connected to the training terminal. Figure 1 As shown, the lower limb training method includes:

[0047] S110. When a lower limb training user uses a training carpet to execute a current training game, the training module provides the lower limb training user with training instructions corresponding to the current training game, and obtains foot position information and leg posture information of the lower limb training user when executing the current training game based on the training instructions.

[0048] The lower limb training users are adults or children who need lower limb training rehabilitation, and this embodiment does not impose any special restrictions on this.

[0049] The training carpet can be used to switch between different game scenes. When the current training game is played on the training carpet, the training carpet can provide light display and sound prompts for the lower limb training user to help the lower limb training user successfully complete the training game. The training carpet includes an LED light ring layer, and the LED light ring layer includes multiple LED lights. The LED lights on the training carpet are lit up in sequence based on the current training game. The lower limb training user uses the training carpet to traverse and step on the lit LED lights on the training carpet.

[0050] The current training game can provide a variety of training games according to different game modes and game difficulties. The implementation of the current training game can be updated in the training carpet in advance, or it can be downloaded in real time according to the training and rehabilitation needs of the lower limb training user, so as to update the training game in real time through the training carpet. This embodiment does not impose any special restrictions on this.

[0051] Optionally, the current training game includes a first training game, a second training game and a third training game. The first training game, the second training game and the third training game can be set according to different training game difficulties while paying attention to intuitiveness, entertainment, challenge, reward mechanism and safety.

[0052] For example, the first training game may be the simplest training game relative to the second training game and the third training game, and the lower limb training user may randomly light up the LED lights on different training carpets at least multiple times through the first training game. Figure 2 As shown, the first training game can be a whack-a-mole game, which enables the lower limb training user to step on more moles in the shortest possible time. Specifically, the whack-a-mole game mechanism can be explained through the voice module in the training module, and the randomly lit LED lights will guide the lower limb training user to the location of the mole, and can be accompanied by simulated sounds of rodents. At the same time, sound feedback is provided after the lower limb training user accurately steps on the location of the mole. In addition, completing the first training game once may include stepping on the glowing LED ring approximately six times, and other times may also be set, and this embodiment does not impose any restrictions on this. Furthermore, the performance evaluation of the lower limb training user is based on indicators such as the accuracy of stepping and the overall completion time.

[0053] It should be noted that, in order to ensure the effective progress of the first training game, the lower limb training user needs to reach the endpoint within the specified time range, and the single-step accuracy rate must be no less than 60%, otherwise the training carpet will be determined to be faulty.

[0054] For example, the second training game may be a more difficult training game than the first training game, and the lower limb training user may light up the LED lights on the training carpet in a fixed line mode through the second training game. Figure 3 As shown, the second training game can be a little painter connect the dots game, the design goal of which is to train the lower limb training user to accurately step on the corresponding nodes, logical thinking ability and communication and comprehension ability. Specifically, at the beginning of the second training game, a random pattern array is illuminated to indicate the starting and ending positions of this round. After that, each time the lower limb training user steps on a lit node, a new node will light up. The lower limb training user needs to derive a suitable path based on this information, and ensure that no node is traversed twice while traversing all the illuminated nodes. It can be seen that in order to complete the second training game, the lower limb training user needs to traverse the specified endpoint within the allocated time; otherwise, it will be judged as a failure. Since the second training game has a certain degree of difficulty, when the lower limb training user is a child, the parents can allow some guidance to them, and the children's performance can be evaluated based on indicators such as the time required to complete the second training game and the frequency of off-site reminders.

[0055] For example, the third training game may be a more difficult training game than the second training game, and the lower limb training user may light up the LED lights on the training carpet by playing the third training game in a simulated competition mode. Figure 4 As shown, the third training game can be a lawn passing game. The design goal of this game is to simulate a football game, help lower limb training users feel the charm of competitive sports, and exercise their ability to chase moving objects. In the third training game, the white LED lights that light up one by one symbolize a moving football, which will bounce when it hits the edge. When the football stops, a single LED light will continue to light up and turn green and pulse rhythmically. When the lower limb training users are children, the goal of the children is to skillfully step on the stationary green LED light while tracking the trajectory of the white LED light, so as to identify the expected position of the next green LED light. The third training game evaluates the performance of children in the third training game by evaluating the speed at which children understand the rules and the accuracy of their predictions about the subsequent position of the green LED light.

[0056] On the basis of the above, when the lower limb training user executes the current training game based on the training instructions, the real-time game image is collected, and the foot position information and leg posture information are obtained according to the real-time game image.

[0057] This embodiment considers the change in joint angle of the lower limb training user when executing the current training game, and takes this as the information for training rehabilitation evaluation. Figure 5 For example, the real-time game images of the lower limb training user when performing the current training game are captured by the shooting unit in the training module, and then the deep learning algorithm is used for real-time calculation and analysis. The three-dimensional plane where the game carpet is located is used as the reference to generate three-dimensional coordinates. The points marked in the figure have corresponding three-dimensional coordinates to obtain the foot position information and leg posture information. Furthermore, the Euclidean distance formula and angle calculation method can be used to analyze the changes in the opening and closing angles of the knee joint in the game.

[0058] S120. Generate training game information for lower limb training after the user completes the current training game through the training module, and feed back the training game information, foot position information, and leg posture information to the training terminal.

[0059] Among them, the training game information can be collected throughout the process from the start of the current training game until the completion of the current training game by the lower limb training user. The training game information includes information such as the game completion time, game completion accuracy, and game difficulty of the current training game. This embodiment does not impose any restrictions on this.

[0060] Specifically, after the training module generates training game information for the lower limb training user after completing the current training game, the training game information, foot position information and leg posture information are fed back to the training terminal through the communication module in the training module.

[0061] S130. Determine a lower limb training report for the lower limb training user according to the training game information, the foot position information, and the leg posture information through the training terminal. The lower limb training report includes whether to adjust the current training game and the lower limb joint information.

[0062] Among them, the lower limb training report includes lower limb joint information, which mainly includes lower limb joint information, the changes in specific angles of key joints in lower limb rehabilitation during training games, and the range of motion and stability of joints in dynamic activities. By comparing the changes in joint angles during training games and actual rehabilitation training, we can understand whether the training games effectively promote the improvement of joint function.

[0063] Specifically, the training terminal determines the opening and closing angles of the knee joints of the current left and right legs in the sagittal plane, the opening and closing angles of the ankle joints of the current left and right legs in the sagittal plane, and the opening and closing angles of the ankle joints of the current left and right legs in the coronal plane according to the foot position information and the leg posture information of the lower limb training user, specifically: Figure 5 As shown, the angle of the left leg sagittal knee joint can be obtained by calculating the vector M<1,2> ​​and the vector N<1,3>, and the angle of the right leg sagittal knee joint can be obtained by calculating the vector H<3,4> and the vector F<4,5>. The specific calculation formula is as follows:

[0064]

[0065]

[0066] On the basis of the above, the current left and right leg sagittal plane knee joint opening and closing angles, the current left and right leg sagittal plane ankle joint opening and closing angles and the current left and right leg coronal plane ankle joint opening and closing angles are compared with the theoretical left and right leg sagittal plane knee joint opening and closing angles, the theoretical left and right leg sagittal plane ankle joint opening and closing angles and the theoretical left and right leg coronal plane ankle joint opening and closing angles respectively, and the normal opening and closing angle proportion time, motion range and stability corresponding to the current left and right leg sagittal plane knee joint opening and closing angles, the current left and right leg sagittal plane ankle joint opening and closing angles and the current left and right leg coronal plane ankle joint opening and closing angles are obtained respectively; the lower limb joint information of the lower limb training user is determined according to the normal opening and closing angle proportion time, motion range and stability.

[0067] Specifically, the opening and closing angles of the ankle joints in the sagittal plane and the ankle joints in the coronal plane of the left and right legs can also be calculated using the coordinates of the relevant points. Further, after obtaining the opening and closing angles of the left and right leg joints, it is necessary to compare them with the joint opening and closing conditions of healthy users (such as the theoretical opening and closing angles of the knee joints in the sagittal plane of the left and right legs, the theoretical opening and closing angles of the ankle joints in the sagittal plane of the left and right legs, and the theoretical opening and closing angles of the ankle joints in the coronal plane of the left and right legs), and record the time proportion of the opening and closing angles of the left and right leg joints of the lower limb training users that belong to the opening and closing angle range of healthy users during the entire training game. It is also possible to capture the specific action proportions of the lower limb training users in performing different actions (stepping down, turning), etc., to strengthen the action training with a slightly weaker proportion in a targeted manner. The specific opening and closing angles of the left and right leg joints of healthy users are shown in Table 1:

[0068]

[0069]

[0070] In addition to evaluating the percentage of time that the joint angles of lower limb training users are normal during the game, the range of motion R and stability σ can also be calculated to provide more data for rehabilitation therapists to analyze the lower limb rehabilitation of lower limb training users. The range of motion is calculated to guide the maximum and minimum opening and closing angles during the game to quantify the range of motion, while the stability is calculated to determine whether the game mode and difficulty can help children with effective rehabilitation.

[0071] R=θ is the largest and θ is the smallest

[0072]

[0073] It can be seen that through the comprehensive analysis of these data, rehabilitation therapists can better evaluate the actual effect of the game on the lower limb rehabilitation of lower limb training users. For example, if the normal time proportion of the joint angle during the training game is high, the range of motion is wide and the stability is low, it means that the training game may perform well in promoting the recovery of lower limb joint function. Conversely, the design or difficulty of the training game may need to be adjusted to better meet the needs of lower limb rehabilitation. The above quantitative indicators and data will help rehabilitation therapists develop personalized rehabilitation plans for lower limb training users, optimize the subsequent rehabilitation game settings for lower limb training users, ensure that lower limb training users achieve the best results during the rehabilitation process, and achieve continuous functional improvement.

[0074] On the other hand, the training terminal determines the game completion time, game completion accuracy and game difficulty of the current training game based on the training game information, and determines whether the lower limb training user needs to adjust the current training game based on the game completion time, game completion accuracy and game difficulty.

[0075] It can be seen that the data of the game completion time, game completion accuracy and game difficulty of the current training game can assist the rehabilitation therapist in judging which training game modes or difficulty levels are most suitable for the current rehabilitation stage of the lower limb training users for the subsequent rehabilitation of the lower limb training users, and whether the game content needs to be adjusted to better meet individual needs.

[0076] T=T 结束 -T 开始

[0077]

[0078] The technical solution of the embodiment of the present invention is that when the lower limb training user uses the training carpet to perform the current training game, the lower limb training user walks independently and steps on the corresponding detection points with his feet to complete the specified tasks of different games. During the current training game, the audio-visual feedback based on the LED light and the voice unit will be used to encourage the modification of actions and correct rehabilitation training. At the same time, the training module generates the training game information after the lower limb training user completes the current training game, and the training game information, foot position information and leg posture information are fed back to the training terminal. After that, the training terminal generates a lower limb training report of the lower limb training user including the time required for the user to complete the entire rehabilitation training, the success rate of multiple attempts, and the timeout time in the game. The final lower limb training report of the lower limb training user will include the overall time of the lower limb training user in the training game, the accuracy of completing the game, and the real-time image of the angle change of the relevant lower limb joints during the overall training game of the lower limb training user. Further, the rehabilitation therapist can analyze the rehabilitation performance of the lower limb training user based on these indicators, and can effectively change the exercise method according to the performance and condition of the lower limb training user.

[0079] Figure 6 A schematic diagram of the structure of a lower limb training system provided by an embodiment of the present invention. Figure 7 A schematic diagram of a lower limb training system provided by an embodiment of the present invention is shown in FIG. Figure 6 and Figure 7 As shown, the lower limb training system includes a training carpet 210, a training module 220 and a training terminal 230, wherein the training carpet 210 is connected to the training module 220, and the training module 220 is connected to the training terminal 230;

[0080] The training module 220 is used to provide the lower limb training user with training instructions corresponding to the current training game when the lower limb training user uses the training carpet to execute the current training game, and obtain the foot position information and leg posture information of the lower limb training user when executing the current training game based on the training instructions; it is also used to generate training game information after the lower limb training user completes the current training game, and feed back the training game information, foot position information and leg posture information to the training terminal;

[0081] The training terminal 230 is used to determine a lower limb training report of a lower limb training user according to the training game information, foot position information and leg posture information. The lower limb training report includes whether to adjust the current training game and lower limb joint information.

[0082] Based on the above embodiments, see Figure 8 As shown, at the physical structure level, the training carpet includes an upper carpet layer 211 , a circuit array layer 212 , an LED light ring layer 213 and a lower carpet layer 214 .

[0083] The upper carpet layer 211 uses the same type of 4 cm thick PE foam carpet as hospital rehabilitation.

[0084] The circuit array layer 212 uses the following keyboard switches to locate the foot position of the lower limb training user in the training game. Circular gaps with a diameter of 3.2 cm are dug out at positions 20 cm apart on the upper carpet layer (the distance between the gap and the edge is 10 cm, and there are 9 gaps in a single carpet) as detection points, and copper conductors leading out of the internal wires are pasted around the gaps in the upper carpet layer.

[0085] The LED light ring layer 213 is an 8-bit WS2812S5050 LED light ring embedded in the gaps of the training carpet.

[0086] The lower carpet layer 214 also uses a 4 cm thick PE foam carpet to fully protect the safety of lower limb training users, has waterproof and dustproof functions, and can also reduce wire wear.

[0087] It can be seen that wires are fixed between the upper and lower layers of foam carpets, and the upper and lower layers of carpets are connected by nylon buckles to facilitate subsequent circuit optimization.

[0088] On the basis of the above, the training carpet can be composed of the above four parts. In order to obtain a larger training carpet, multiple pieces of the above training carpets can be combined. The mechanical structures between different carpet units are connected by the concave and convex blocks of the foam carpet itself. The circuit is composed of the male and female ports of the four unit wires connected in pairs, and the output port of one unit is connected to the input port of another.

[0089] The detection method of the keyboard switch is as follows: In order to identify the foot press of the lower limb training user, the copper conductive tape is fixed to the sole of the foot during the use of the lower limb training user. When this material contacts the detection point, it will create a conductive path, change the high and low levels of the row and column nodes, so that the microcontroller can determine the activation of the point. Since there is no conductive material on other parts of the lower limb training user's body, activation will not occur even if it is accidentally touched. In addition, the LED light ring shares this circuit and is connected in parallel with the key to simplify the circuit structure.

[0090] On the other hand, in order to realize a training game that can be played by multiple people, a diode (IN4001) is added to the circuit in the training carpet to reduce the interference of the detection of one switch on other buttons and realize the simultaneous detection of multiple activation points.

[0091] It can be seen that the keyboard switch can be implemented using C language. By operating the input and output functions of the GPIO port, the activation status of the keyboard switch is determined, and the fluctuations of the levels of these 36 positions are stored in an array with a minimum length of 36 elements. When a specific keyboard switch is pressed, the level corresponding to its position is recorded as 1; conversely, when the key is released, the level is recorded as 0.

[0092] The training carpet heavy LED lights use a code base that takes the macro LED ring as the main entity for overall control, and distinguishes the inherent library around the operation of a single LED light. In addition, it also has special lighting effects, such as different shape patterns, to increase the entertainment in the game.

[0093] Based on the above embodiment, the training module includes a voice unit, a camera unit, a control mainboard and a communication unit.

[0094] Among them, the control main board can be an STM32F407ZET6 main board, the voice unit can be a 3-inch 8Ω 20W external magnet full-range speaker, the camera unit can be an OV2640 camera, and the communication unit can be an ESP8266 WIFI communication module.

[0095] See also Fig. 9 As shown, the lower limb training system interacts with the lower limb training user in the three sensory positions of vision, hearing and touch. The voice unit is responsible for capturing the posture image of the lower limb training user, and then passing it to the control mainboard and then to the training terminal in the form of a tensor through the communication unit. After that, the training terminal identifies the joint points of the lower limb training user in the real-time game image and calculates the joint angles of the lower limb training user. The voice unit emits corresponding sound effects according to the needs of different training games and works together with the LED lights in the training carpet to realize the training game guidance. The communication unit provides WIFI connection, which helps the training terminal retrieve data from the training carpet in addition to real-time game image information, including the time required for the lower limb training user to complete the entire rehabilitation training, the success rate of multiple attempts, and the timeout time in the training game. These data are processed by the algorithm and then transmitted to the cloud database for storage as a reference for rehabilitation therapists or doctors about the rehabilitation situation.

[0096] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0097] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A lower limb training method, characterized in that: The lower limb training system comprises a training carpet, a training module and a training terminal, wherein the training carpet is connected to the training module, and the training module is connected to the training terminal. The lower limb training method comprises: When a lower limb training user uses the training carpet to execute a current training game, the training module provides the lower limb training user with a training instruction corresponding to the current training game, and obtains foot position information and leg posture information of the lower limb training user when executing the current training game based on the training instruction; Generate training game information after the lower limb training user completes the current training game through the training module, and feed back the training game information, the foot position information and the leg posture information to the training terminal; The training terminal determines a lower limb training report of the lower limb training user according to the training game information, the foot position information and the leg posture information, and the lower limb training report includes whether to adjust the current training game and lower limb joint information.

2. The lower limb training method according to claim 1, characterized in that: The training carpet comprises an LED light ring layer, and the LED light ring layer comprises a plurality of LED lights; The lower limb training user uses the training carpet to perform the current training game, including: The LED lights on the training carpet are lit up in sequence based on the current training game, and the lower limb training user uses the training carpet to traverse and step on the lit LED lights on the training carpet.

3. The lower limb training method according to claim 2, characterized in that: The current training game includes a first training game, a second training game and a third training game; Lighting up the LED lights on the training carpet in sequence based on the current training game includes: Based on the first training game, randomly lighting up different LED lights on the training carpet at least multiple times; Lighting up the LED lights on the training carpet in a fixed line mode based on the second training game; The LED lights on the training carpet are lit up in a simulated competition mode based on the third training game.

4. The lower limb training method according to claim 1, characterized in that: Acquiring the foot position information and leg posture information of the lower limb training user when executing the current training game based on the training instruction, including: When the lower limb training user executes the current training game based on the training instruction, a real-time game image is collected, and foot position information and leg posture information are obtained according to the real-time game image.

5. The lower limb training method according to claim 1, characterized in that: Determining a lower limb training report of the lower limb training user by the training terminal according to the foot position information and the leg posture information includes: Determining, by the training terminal, the opening and closing angles of the knee joints of the current left and right legs in the sagittal plane, the opening and closing angles of the ankle joints of the current left and right legs in the sagittal plane, and the opening and closing angles of the ankle joints of the current left and right legs in the coronal plane of the lower limb training user according to the foot position information and the leg posture information; The current left and right leg sagittal plane knee joint opening and closing angles, the current left and right leg sagittal plane ankle joint opening and closing angles and the current left and right leg coronal plane ankle joint opening and closing angles are compared with the theoretical left and right leg sagittal plane knee joint opening and closing angles, the theoretical left and right leg sagittal plane ankle joint opening and closing angles and the theoretical left and right leg coronal plane ankle joint opening and closing angles respectively to determine the lower limb joint information of the lower limb training user.

6. The lower limb training method according to claim 5, characterized in that: The current left and right leg sagittal plane knee joint opening and closing angles, the current left and right leg sagittal plane ankle joint opening and closing angles, and the current left and right leg coronal plane ankle joint opening and closing angles are compared with the theoretical left and right leg sagittal plane knee joint opening and closing angles, the theoretical left and right leg sagittal plane ankle joint opening and closing angles, and the theoretical left and right leg coronal plane ankle joint opening and closing angles, respectively, to determine the lower limb joint information of the lower limb training user, including: Compare the current sagittal plane knee joint opening and closing angles of the left and right legs, the current sagittal plane ankle joint opening and closing angles of the left and right legs, and the current coronal plane ankle joint opening and closing angles of the left and right legs with the theoretical sagittal plane knee joint opening and closing angles of the left and right legs, the theoretical sagittal plane ankle joint opening and closing angles of the left and right legs, and the theoretical coronal plane ankle joint opening and closing angles of the left and right legs, respectively, to obtain the normal opening and closing angle proportion time, motion range, and stability corresponding to the current sagittal plane knee joint opening and closing angles of the left and right legs, the current sagittal plane ankle joint opening and closing angles of the left and right legs, and the current coronal plane ankle joint opening and closing angles of the left and right legs; The lower limb joint information of the lower limb training user is determined according to the normal opening and closing angle proportion time, the motion range and the stability.

7. The lower limb training method according to claim 1, characterized in that: Determining, by the training terminal, a lower limb training report of the lower limb training user according to the training game information, comprises: The training terminal determines the game completion time, game completion accuracy and game difficulty of the current training game based on the training game information, and determines whether the lower limb training user needs to adjust the current training game based on the game completion time, the game completion accuracy and the game difficulty.

8. A lower limb training system, characterized in that: The lower limb training system comprises a training carpet, a training module and a training terminal, wherein the training carpet is connected to the training module, and the training module is connected to the training terminal; The training module is used to provide the lower limb training user with training instructions corresponding to the current training game when the lower limb training user uses the training carpet to execute the current training game, and obtain the foot position information and leg posture information of the lower limb training user when executing the current training game based on the training instructions; it is also used to generate training game information after the lower limb training user completes the current training game, and feed back the training game information, the foot position information and the leg posture information to the training terminal; The training terminal is used to determine a lower limb training report of the lower limb training user according to the training game information, the foot position information and the leg posture information, and the lower limb training report includes whether to adjust the current training game and lower limb joint information.

9. The lower limb training system according to claim 8, characterized in that: The training carpet comprises an upper carpet layer, a circuit array layer, an LED light ring layer and a lower carpet layer.

10. The lower limb training system according to claim 8, characterized in that: The training module includes a voice unit, a camera unit, a control mainboard and a communication unit.

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