Diabetic foot gait training system based on tactile sense direction guidance

Abstract

The invention belongs to the technical field of diabetic foot ulcer early-stage active protection, and particularly relates to a diabetic foot gait training system based on tactile sense direction guidance. The system comprises an intelligent insole system, a cloud platform, a flexible tactile feedback interface and mobile terminal software. The intelligent insole system collects plantar pressure data in the gait process of a user and sends the pressure data to the cloud platform and the mobile terminal software through wireless communication; the cloud platform calculates sole accumulated pressure distribution in a specified time period, and when the accumulated partial pressure distribution is abnormal, control data is sent to the flexible tactile feedback interface through Wi-Fi; the flexible tactile feedback interface receives data of the cloud platform to generate tactile direction guidance, and gait training is achieved; and mobile terminal software can check a plantar pressure cloud picture and a pressure curve in real time. The training system generates direction prompts through tactile codes, guides a patient to actively adjust abnormal gaits, changes plantar pressure distribution and reduces the morbidity of diabetic foot ulcers.

Description

Technical Field

[0001] The present invention belongs to the technical field of early active protection of diabetic foot ulcers, and in particular relates to a gait training system for diabetic patients based on tactile direction guidance. Background Art

[0002] Diabetic foot ulcer (DFU) is one of the most common and serious complications of diabetic patients and one of the main causes of amputation. There are about 500 million diabetic patients in the world, and the incidence of ulcers is about 30%. The probability of amputation after ulcers is as high as 20%, which seriously affects the daily life and physical and mental health of patients. Studies have shown that peripheral neuropathy caused by diabetes can weaken the patient's plantar force perception ability, causing numbness of the soles of the feet, and making it impossible to adaptively adjust the gait through force feedback mechanisms such as pain when the gait is abnormal, resulting in an imbalance in the distribution of plantar pressure during gait, and local areas are subjected to cyclic and repetitive high pressure, resulting in foot ulcers. The accumulation of high pressure in the local area of ​​the sole is one of the most important mechanical factors leading to ulcers in this area. How to help patients correct abnormal gait and reduce the duration of high pressure in the local area (decompression treatment) is of great clinical significance for the early prevention of DFU.

[0003] Gait training is an effective means to correct abnormal gait. It mainly uses biofeedback technology (visual, tactile, auditory, etc.) to warn of abnormal plantar mechanics, assist patients in changing their gait and achieve local decompression treatment of the plantar area. For example, the Chinese patent (CN208144550U) monitors plantar pressure information through smart shoes and reminds the wearer to actively decompress through a smart terminal (visual feedback); with the development of technology, tactile biofeedback plays an increasingly important role in gait correction and rehabilitation applications. For example, the Chinese patent (CN104998381A) conveys command prompt information through binary-coded vibration tactile to assist the wearer in correcting gait. However, this type of tactile feedback is not intuitive and carries less warning information, which may reduce the effect of gait training. In the international technological frontier research of tactile feedback, a wireless tactile interface based on direction coding has been reported, which can provide rich warning information and play an important role in navigation, VR and other fields.

[0004] In view of the current problem of insufficient early intervention methods for diabetic foot, the present invention provides a vibration tactile feedback system based on direction and timing coding, which is used to assist in the correction training of abnormal gait of diabetic foot and achieve decompression treatment of high-pressure areas on the sole of the foot. The system monitors the abnormal plantar accumulated mechanical information during gait, conveys abnormal gait warning information to the wearer through tactile means and prompts the gait movement direction, guides the wearer to correct the abnormal gait through the established gait direction adjustment strategy, and achieves the purpose of relieving (decompressing) the accumulated high pressure on the sole of the foot. Compared with the prior art, the present invention has the advantages of high concealment, intuitive feeling, high biocompatibility, and the ability to enhance the gait training effect, providing new technical support for the field of DFU active protection. Summary of the invention

[0005] The purpose of the present invention is to provide a gait training system for diabetic patients based on tactile direction guidance, which is used to monitor abnormal plantar mechanical characteristics in gait, give abnormal gait warning to the wearer, and guide the correction of abnormal gait to achieve gait training.

[0006] The gait training system for diabetic patients based on tactile direction guidance proposed by the present invention comprises an intelligent insole system, a cloud platform, a flexible tactile feedback interface and mobile terminal software; the intelligent insole system is used to collect plantar pressure data of the user during gait, and send the pressure data to the cloud platform and the mobile terminal software through wireless communication; the cloud platform is used to calculate the cumulative pressure distribution of the plantar within a specified time period, and store the qualified data in a database, and send the control data to the flexible tactile feedback interface through Wi-Fi when the cumulative partial pressure distribution is abnormal; the flexible tactile feedback interface receives the cloud platform data to generate tactile direction guidance, guides the user to actively correct the abnormal gait, and realizes gait training; wherein:

[0007] (1) The intelligent insole system comprises a flexible film pressure sensor and a plantar pressure data acquisition system; wherein:

[0008] The flexible film pressure sensor is used to convert the plantar pressure value into a resistance value; a pressure sensitive resistor (FSR) based on the piezoresistive effect is used as the minimum unit for detecting pressure, and the greater the pressure, the smaller the resistance value. A large number of FSRs are arranged on a horizontal plane in a matrix manner and adhered between two insulating film layers to form a large-area flexible film pressure sensor that can be placed in shoes of corresponding sizes. The resistance value output by the flexible film pressure sensor is converted into a voltage value by a plantar pressure data acquisition system;

[0009] The plantar pressure data acquisition system includes a resistance conversion module, a power management module, a single-chip computer module, and a wireless communication module; wherein:

[0010] The resistance conversion module uses an analog switch chip combined with a voltage divider circuit to convert the FSR resistance value into a voltage value and output an analog voltage signal;

[0011] The single-chip microcomputer module is used to realize analog-to-digital conversion of analog voltage signals. The ADC controller inside the single-chip microcomputer can output voltage data. At the same time, the single-chip microcomputer CPU also performs calculations on the voltage data to convert the voltage data into actual plantar pressure data, and sends the plantar pressure data to the wireless communication module through a related communication protocol (such as UART);

[0012] The wireless communication module includes a Bluetooth module and a Wi-Fi module, which are used to send the plantar pressure data sent by the single-chip computer module to the cloud platform and the mobile terminal software;

[0013] The power management module includes a charging circuit module, a boost circuit module, a power supply switching circuit module and a lithium battery; the charging circuit module outputs a suitable current to charge the lithium battery, and the boost circuit module is used to stably raise the output voltage of the lithium battery to a specified voltage to ensure stable operation of the system; the power supply switching module is used to switch to external power supply of the system during charging of the lithium battery and disconnect the lithium battery power supply path; the lithium battery is installed inside the plantar pressure data acquisition system, and the number of lithium batteries can be dynamically added to increase the system endurance.

[0014] (2) The cloud platform is used to calculate the plantar cumulative pressure distribution within a specified time period, and store the qualified data in a database, and send the control data to the flexible tactile feedback interface via Wi-Fi when the cumulative partial pressure distribution is abnormal; specifically, it includes a plantar cumulative pressure algorithm module and a database algorithm module; wherein:

[0015] The plantar cumulative pressure algorithm module is used to filter out the plantar pressure data when the foot lands during gait, and calculate the effective plantar pressure data integral (time-pressure integral) within a specified time period, and judge whether the cumulative pressure distribution integral is within a preset range. When the integral value exceeds the range, the control data will be sent to the flexible tactile feedback interface via Wi-Fi;

[0016] The database algorithm module is used to store effective plantar pressure data and plantar cumulative pressure distribution data in a database, so as to facilitate subsequent access via the Internet and data statistical analysis.

[0017] (3) The flexible tactile feedback interface generates tactile direction guidance by receiving cloud platform data, guiding the user to actively correct abnormal gait and achieve gait training; specifically includes a feedback control system and a feedback trigger system; wherein:

[0018] The feedback control system includes a wireless communication module, a single-chip computer module, a feedback control module and a power management module; the wireless communication module is used to receive control data sent by the cloud platform, and parse and output the control data to the single-chip computer module; the single-chip computer module is used to process the cloud platform control data, and control the corresponding pin to output a high (low) level to the feedback control module; the feedback control module uses a transistor as a switching device, and the control end of the transistor is connected to the single-chip computer pin. When the transistor is turned on, it will form a closed loop with the feedback trigger system, thereby controlling the feedback trigger system to work; the power management module includes a charging circuit module, a boost circuit module, a power supply switching circuit module and a lithium battery; the charging circuit module outputs a suitable current to charge the lithium battery, and the boost circuit module is used to stably raise the output voltage of the lithium battery to a specified voltage to ensure stable operation of the system;

[0019] The power supply switching module is used to switch to external power supply of the system during the charging of the lithium battery and disconnect the power supply path of the lithium battery; the lithium battery is installed inside the plantar pressure data acquisition system, and the number of lithium batteries can be dynamically added to increase the system endurance; the feedback trigger system is an interface-based biofeedback device, including a silicone layer, a vibration motor array and a flexible printed circuit board (FPCB) module. The silicone layer uses customizable flexible silicone to adapt to the entire feedback interface volume and make the interface flexible; the vibration motor array integrates multiple vibration motors inside, the number of vibration motors is determined according to demand, and the motors are cross-arranged to form a large-area micro-vibration array. When the horse When vibration is achieved, the vibration signal is converted into a tactile signal by fitting the human skin to achieve intuitive tactile feedback. By controlling the vibration sequence and vibration time of the specified motor, tactile feedback (direction encoding) with direction prompts can be output to guide the user to correct abnormal gait and achieve gait training. The FPCB module adopts a serpentine structure design and connects different units through curved serpentine wiring, so that the entire interface system has a stretchable feature. At the same time, copper wires are laid inside the FPCB to provide current to the vibration motor. A corresponding LED light is provided on the back of the FPCB. When the motor vibrates to generate tactile information, the LED emits light to generate visual information, which is used to assist in enhancing the user's sense of directional guidance.

[0020] (4) The mobile terminal software is used to view the plantar pressure cloud map and pressure curve in real time, and can access the cloud platform database to obtain the plantar cumulative pressure distribution; specifically, it includes a plantar pressure data real-time visualization module and a cumulative pressure distribution data visualization module; wherein:

[0021] The plantar pressure data real-time visualization module is used to receive the plantar pressure data sent by the intelligent insole system in real time, render the pressure data into a pressure cloud map, and display the pressure curves of different partitions of the plantar;

[0022] The cumulative pressure distribution data visualization module is used to obtain the cumulative pressure data of the sole of the foot from the cloud platform database, render the cumulative pressure distribution of the sole of the foot within a specified time period, and make corresponding prompt strategies.

[0023] The diabetic foot gait training system based on tactile direction guidance provided by the present invention assists the user to actively correct the abnormal gait through gait adjustment strategy through gait training, thereby improving the plantar pressure distribution; wherein, the gait adjustment strategy mainly determines which direction guidance corresponds to which gait landing mode according to the established mapping relationship between direction prompts and gait adjustments; when the landing mode changes, the plantar pressure will also be redistributed to achieve foot pressure redistribution; the direction prompts include but are not limited to horizontal, vertical and oblique directions, and the gait landing mode includes but is not limited to dorsiflexion, plantar flexion, inversion, eversion, internal rotation and external rotation; the user senses the direction guidance and uses the gait adjustment strategy to scientifically correct the abnormal gait, thereby improving the correctness and effectiveness of gait retraining, which plays an important role in preventing the occurrence of ulcers.

[0024] The gait adjustment strategy of the present invention is not fixed, so the gait retraining method is also not fixed, but the ultimate goal is to optimize the plantar pressure distribution.

[0025] Compared with the prior art, the present invention has the following beneficial effects:

[0026] (1) The intelligent insole system continuously collects plantar pressure data during gait over a period of time, calculates the plantar cumulative pressure with the help of cloud platform technology, and then obtains the pressure-time integral value of different plantar partitions; this method better reflects the continuous high pressure accumulation effect of the local plantar area, which is the most important mechanical factor indicating the occurrence of diabetic foot ulcers.

[0027] (2) The flexible tactile feedback interface conveys tactile information in the form of an interface. Compared with visual feedback, it is more concealed, responds quickly, and feels intuitive, which greatly reduces the cognitive burden of the wearer.

[0028] (3) The flexible tactile feedback interface integrates multiple vibration motors to form a large-area micro-vibration array. Through directional encoding, the spatiotemporal parameters of the vibration motors inside the interface are adjusted to generate a sense of directional traction, intuitively and directionally guiding the user to actively correct abnormal gait and enhance the gait training effect.

[0029] (4) The plantar pressure distribution is evaluated through the intelligent insole system and cloud platform, and the tactile feedback interface generates directional prompts to guide the user to correct abnormal gait, thereby intervening in the plantar pressure distribution. If the pressure distribution improvement effect is not obvious, the system will automatically continue to evaluate and intervene, thus realizing the integration of plantar pressure distribution evaluation and intervention. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a block diagram of the diabetic foot gait training system based on tactile direction guidance of the present invention.

[0031] Figure 2 It is a working flow chart of the intelligent insole system of the present invention.

[0032] Figure 3 It is a schematic diagram of the intelligent insole system of the present invention.

[0033] Figure 4 It is a working flow chart of the flexible tactile feedback interface of the present invention.

[0034] Figure 5 It is a schematic diagram of the flexible tactile feedback interface of the present invention.

[0035] Figure 6 It is a schematic diagram of an application of the present invention.

[0036] Figure 7 It is a comparison diagram of the effects before and after the gait training of the present invention. DETAILED DESCRIPTION

[0037] The present invention will be further described in detail below in conjunction with the accompanying drawings.

[0038] The embodiment of the present invention is a diabetic foot gait training system based on tactile direction guidance, and its structure is as follows Figure 1 , as shown in 6, including: an intelligent insole system, a cloud platform, a flexible tactile feedback interface and mobile terminal software.

[0039] like Figure 1As shown in Figures 2 and 3, the intelligent insole system includes a flexible film pressure sensor and a plantar pressure data acquisition system. The flexible film pressure sensor is used to convert the plantar pressure value into a resistance value, and a pressure sensitive resistor (FSR) based on the piezoresistive effect is used as the minimum unit for detecting pressure. The greater the pressure, the smaller the resistance value. A large number of FSRs are arranged on a horizontal plane in a matrix manner and are pasted between two layers of insulating film layers to form a large-area flexible film pressure sensor that can be placed in shoes of corresponding sizes. The resistance value output by the flexible film pressure sensor is converted into a voltage value by the plantar pressure data acquisition system. The flexible film pressure sensor is placed inside the shoe and contacts the sole of the user's foot. When the user walks or stands, the plantar pressure information of the user is collected. The plantar pressure data acquisition system includes a resistance conversion module, a power management module, a single-chip microcomputer module, and a wireless communication module. The resistance conversion module uses an analog switch chip combined with a voltage divider circuit to convert the FSR resistance value into a voltage value and output an analog voltage signal; the single-chip microcomputer module is used to realize the analog-to-digital conversion of the analog voltage signal, and can use the ADC controller inside the single-chip microcomputer to output voltage data. At the same time, the single-chip microcomputer CPU also performs calculation processing on the voltage data, converts the voltage data into actual plantar pressure data, and sends the plantar pressure data to the wireless communication module through a related communication protocol (such as UART); the wireless communication module includes a Bluetooth module and The Wi-Fi module is used to send the plantar pressure data sent by the single-chip module to the cloud platform and mobile terminal software; the power management module includes a charging circuit module, a boost circuit module, a power supply switching circuit module and a lithium battery. The charging circuit module outputs a suitable current to charge the lithium battery. The boost circuit module is used to stably raise the output voltage of the lithium battery to a specified voltage to ensure stable operation of the system; the power supply switching module is used to switch to external power supply of the system during the charging of the lithium battery and disconnect the lithium battery power supply path; the lithium battery is installed inside the plantar pressure data acquisition system, and the number of lithium batteries can be dynamically added to increase the system endurance. The plantar pressure data acquisition system is encapsulated in a 3D printed box, and a certain space is left inside the box to dynamically add lithium batteries. The 3D printed box is placed above the shoes to avoid affecting the system operation during the user's walking process.

[0040] like Figure 1, 4, 5, the flexible tactile feedback interface includes a feedback control system and a feedback trigger system, the feedback control system includes a wireless communication module, a single-chip computer module, a feedback control module and a power management module, the wireless communication module is used to receive the control data sent by the cloud platform, and parse the control data and output it to the single-chip computer module; the single-chip computer module is used to process the cloud platform control data, and control the corresponding pin to output a high (low) level to the feedback control module; the feedback control module uses a transistor as a switching device, and the control end of the transistor is connected to the single-chip computer pin. When the transistor is turned on, it will form a closed loop with the feedback trigger system, thereby controlling the feedback trigger system to work; the power management module includes a charging circuit module, A boost circuit module, a power supply switching circuit module and a lithium battery, wherein the charging circuit module outputs a suitable current to charge the lithium battery, and the boost circuit module is used to stably raise the output voltage of the lithium battery to a specified voltage to ensure stable operation of the system; the power supply switching module is used to switch to external power supply of the system during charging of the lithium battery and disconnect the power supply path of the lithium battery; the lithium battery is installed inside the plantar pressure data acquisition system, and the number of lithium batteries can be dynamically added to increase the system endurance; the feedback trigger system is an interface-type biofeedback device, including a silicone layer, a vibration motor array and a flexible printed circuit board (FPCB) module, wherein the silicone layer uses customizable flexible silicone to adapt to the entire feedback interface volume, and the interface has The vibration motor array has the characteristics of flexibility; the vibration motor array integrates multiple vibration motors inside, the number of vibration motors is determined according to demand, and the motors are cross-arranged to form a large-area micro-vibration array. When the motor vibrates, the vibration signal is converted into a tactile signal by fitting the human skin to achieve intuitive tactile feedback. By controlling the vibration sequence and vibration time of the specified motor, tactile feedback (direction encoding) with direction prompts can be output to guide the user to correct abnormal gait and achieve gait training; the FPCB module adopts a serpentine structure design, and different units are connected by curved serpentine wiring, so that the entire interface system has the characteristics of stretchability. At the same time, copper wires are laid inside the FPCB to provide current to the vibration motor, and there is a Corresponding LED lights, when the motor vibrates to generate tactile information, the LED lights up to generate visual information, which is used to assist in enhancing the user's sense of direction guidance; the vibration motor array is composed of 17 vibration motors, and the specific number of motors is customized according to actual needs. The motors are fixed on the FPBC, and the copper wires in the FPCB provide energy for the motors. At the same time, the vibration motor array and the FPCB are packaged in flexible silicone to form a tactile feedback interface with flexible and stretchable characteristics. The interface is attached to the skin of the tibialis anterior muscle of the human body. This is only an embodiment of the present invention. The interface can also be attached to other large areas of human skin, such as the chest, back or arms, etc., by generating tactile direction guidance on the skin of the tibialis anterior muscle to assist the user in adjusting the gait direction.

[0041] like Figure 6 As shown, it is a schematic diagram of an application example of a diabetic foot gait training system based on tactile direction guidance of the present invention. The user places the intelligent insole system in the shoe and fits the tactile feedback interface to the tibialis anterior muscle, turns on all system power supplies, and during walking, the intelligent insole system first collects plantar pressure data, and sends the pressure data to the cloud platform and mobile terminal software; the mobile terminal software renders the plantar pressure cloud map and pressure curve in real time; the cloud platform receives the pressure data and calculates the plantar cumulative pressure within a specified time period according to the plantar cumulative pressure algorithm, and saves the qualified data (valid plantar pressure data, cumulative pressure data, etc.) into the database according to the database algorithm, which is convenient for subsequent processing The cloud platform determines whether the cumulative pressure distribution integral is within the preset range through rational and statistical analysis. When the integral value exceeds the range, the control data will be sent to the flexible tactile feedback interface via Wi-Fi. The feedback control system in the flexible tactile feedback interface receives the cloud platform data and controls the feedback trigger system to generate tactile direction guidance. The user perceives the direction through touch and actively makes corresponding gait adjustments, thereby changing the plantar pressure distribution, alleviating the duration of local high pressure on the plantar, and reducing the incidence of diabetic foot ulcers. The mobile terminal software can not only view the plantar pressure distribution in real time, but also access the cloud platform database via Wi-Fi to help users observe the cumulative plantar pressure distribution over a period of time.

[0042] like Figure 7 The figure shows the comparison of the improvement effect of plantar pressure distribution of the user wearing the gait training system of the present invention before and after gait training.

[0043] The above-mentioned implementation mode is only a clear description of the technical scheme, working principle and purpose effect of the present invention, but is not limited to such technical principle. Any equivalence or modification made according to the technical principle of the present invention shall fall within the protection scope of the present invention.

Claims

1. A gait training system for diabetic patients based on tactile direction guidance, characterized in that: It includes an intelligent insole system, a cloud platform, a flexible tactile feedback interface and mobile terminal software; the intelligent insole system is used to collect the plantar pressure data of the user during gait, and send the pressure data to the cloud platform and mobile terminal software through wireless communication; the cloud platform is used to calculate the cumulative plantar pressure distribution within a specified time period, and store the qualified data in a database, and send the control data to the flexible tactile feedback interface through Wi-Fi when the cumulative partial pressure distribution is abnormal; The flexible tactile feedback interface receives data from the cloud platform to generate tactile direction guidance, guiding the user to actively correct abnormal gait and achieve gait training; wherein: (1) The intelligent insole system comprises a flexible film pressure sensor and a plantar pressure data acquisition system; wherein: The flexible film pressure sensor is used to convert the plantar pressure value into a resistance value. Specifically, a pressure sensitive resistor (FSR) based on the piezoresistive effect is used as the minimum unit for detecting pressure. The greater the pressure, the smaller the resistance value. A large number of FSRs are arranged in a matrix on a horizontal plane and adhered between two insulating film layers to form a flexible film pressure sensor, which can be placed in shoes of corresponding size. The resistance value output by the flexible film pressure sensor is converted into a voltage value through a plantar pressure data acquisition system. The plantar pressure data acquisition system includes a resistance conversion module, a power management module, a single-chip computer module, and a wireless communication module; wherein: The resistance conversion module uses an analog switch chip combined with a voltage divider circuit to convert the FSR resistance value into a voltage value and output an analog voltage signal; The single-chip microcomputer module is used to realize analog-to-digital conversion of analog voltage signals. The ADC controller inside the single-chip microcomputer can output voltage data. At the same time, the single-chip microcomputer CPU also performs calculations on the voltage data to convert the voltage data into actual plantar pressure data, and sends the plantar pressure data to the wireless communication module through relevant communication protocols; The wireless communication module includes a Bluetooth module and a Wi-Fi module, which are used to send the plantar pressure data sent by the single-chip computer module to the cloud platform and the mobile terminal software; The power management module includes a charging circuit module, a boost circuit module, a power supply switching circuit module and a lithium battery; the charging circuit module outputs a suitable current to charge the lithium battery, and the boost circuit module is used to stably raise the output voltage of the lithium battery to a specified voltage to ensure stable operation of the system; the power supply switching module is used to switch to external power supply of the system during charging of the lithium battery and disconnect the power supply path of the lithium battery; the lithium battery is installed inside the plantar pressure data acquisition system, and the number of lithium batteries can be dynamically added to increase the system endurance; (2) The cloud platform is used to calculate the plantar cumulative pressure distribution within a specified time period and store the qualified data in a database. When the cumulative partial pressure distribution is abnormal, the control data is sent to the flexible tactile feedback interface via Wi-Fi. It specifically includes a plantar cumulative pressure algorithm module and a database algorithm module. The plantar cumulative pressure algorithm module is used to filter out the plantar pressure data when the foot lands during gait, and calculate the effective plantar pressure data integral within a specified time period, that is, the time-pressure integral, by judging whether the cumulative pressure distribution integral is within a preset range. When the integral value exceeds the preset range, the control data is sent to the flexible tactile feedback interface via Wi-Fi; The database algorithm module is used to store effective plantar pressure data and plantar cumulative pressure distribution data in a database, so as to facilitate subsequent access via the Internet and data statistical analysis; (3) The flexible tactile feedback interface generates tactile direction guidance by receiving data from the cloud platform, guiding the user to actively correct abnormal gait and achieve gait training; specifically, it includes a feedback control system and a feedback trigger system; wherein: The feedback control system includes a wireless communication module, a single-chip computer module, a feedback control module and a power management module; the wireless communication module is used to receive control data sent from the cloud platform, and parse and output the control data to the single-chip computer module; the single-chip computer module is used to process the cloud platform control data, and control the corresponding pin to output a high or low level to the feedback control module; the feedback control module uses a transistor as a switching device, and the control end of the transistor is connected to the single-chip computer pin. When the transistor is turned on, it forms a closed loop with the feedback trigger system, thereby controlling the feedback trigger system to work; the power management module includes a charging circuit module, a boost circuit module, a power supply switching circuit module and a lithium battery; the charging circuit module outputs a suitable current to charge the lithium battery, and the boost circuit module is used to stably raise the output voltage of the lithium battery to a specified voltage to ensure stable operation of the system; the power supply switching module is used to switch to external power supply of the system during the charging of the lithium battery, and disconnect the lithium battery power supply path; the lithium battery is installed inside the plantar pressure data acquisition system, and the number of lithium batteries can be dynamically added to increase the system endurance; The feedback trigger system is a biofeedback device in the form of an interface, including a silicone layer, a vibration motor array, and a flexible printed circuit board (FPCB) module; the silicone layer uses customizable flexible silicone to adapt to the entire feedback interface volume and make the interface flexible; the vibration motor array integrates multiple vibration motors, the number of which is determined according to demand, and the motors are arranged in a cross-arrangement manner to form a large-area micro-vibration array. When the motor vibrates, the vibration signal is converted into a tactile signal by fitting the human skin to achieve intuitive tactile feedback, and the tactile feedback with direction prompts, i.e., direction coding, is output by controlling the vibration sequence and vibration time of the specified motor, which is used to guide the user to correct abnormal gait and achieve gait training; the FPCB module adopts a serpentine structure design, and connects different units through curved serpentine routing, so that the entire interface system has a stretchable characteristic, and copper wires are laid inside the FPCB to provide current to the vibration motor, and corresponding LED lights are provided on the back of the FPCB. When the motor vibrates to generate tactile information, the LED lights up to generate visual information, which is used to assist in enhancing the user's sense of direction guidance; (4) The mobile terminal software is used to view the plantar pressure cloud map and pressure curve in real time, and can access the cloud platform database to obtain the cumulative plantar pressure distribution; specifically, it includes a plantar pressure data real-time visualization module and a cumulative pressure distribution data visualization module; wherein: The plantar pressure data real-time visualization module is used to receive the plantar pressure data sent by the intelligent insole system in real time, render the pressure data into a pressure cloud map, and display the pressure curves of different areas of the plantar; The cumulative pressure distribution data visualization module is used to obtain the cumulative pressure data of the sole of the foot from the cloud platform database, render the cumulative pressure distribution of the sole of the foot within a specified time period, and make corresponding prompt strategies.

2. The diabetic foot gait training system based on tactile direction guidance according to claim 1, characterized in that: Through gait training, users are assisted to actively correct abnormal gait through gait adjustment strategies to improve plantar pressure distribution; among them, gait adjustment strategies mainly determine which directional guidance corresponds to which gait landing mode based on the mapping relationship between directional cues and gait adjustments; when the landing mode changes, plantar pressure will be redistributed to achieve foot pressure redistribution; specifically, directional cues include horizontal, vertical and oblique cues, and gait landing modes include dorsiflexion, plantar flexion, inversion, eversion, internal rotation and external rotation landing modes; users perceive directional guidance and use gait adjustment strategies to correct abnormal gait to improve the correctness and effectiveness of gait retraining.

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