Intelligent ankle joint balance trainer

Abstract

The invention relates to an intelligent ankle joint balance training device, and belongs to the technical field of medical instruments. Comprising a base, a supporting stand column, a bionic ankle joint connecting assembly and an induction type pedal are sequentially arranged above the base, a muscle electric signal collecting module is arranged above the pedal, and a mainframe box is further arranged on the base. The bionic ankle joint connecting assembly comprises a main flexion and extension joint shaft, an inclined joint shaft and a rotary joint shaft and simulates different motions of the ankle joint. The induction type pedal senses the foot state through a pressure sensor and the like, and the muscle electric signal collecting module collects calf muscle electric signals. And a microprocessor in the mainframe box combines the data and controls the joint shaft to move through an algorithm. And meanwhile, remote monitoring is realized by means of the wireless communication module, and interaction is assisted by the voice prompt and feedback function module. The trainer can accurately regulate and control training parameters, customize personalized rehabilitation schemes, improve the rehabilitation training effect and assist ankle joint function recovery and improvement of the life quality of a patient.

Description

Technical Field

[0001] The invention relates to the technical field of medical devices, and in particular to an intelligent ankle joint balance trainer. Background Art

[0002] The ankle joint is an important joint in the lower limbs of the human body. It is responsible for supporting the body's weight, walking, running, jumping and other sports functions. Its health is crucial to people's daily activities and sports ability. Ankle rehabilitation therapy plays an important role in restoring ankle function, alleviating pain, improving the quality of life of patients and promoting patients to return to normal life and sports. Effective rehabilitation therapy can help patients with ankle injuries restore joint mobility, increase muscle strength, improve joint stability and coordination, thereby reducing the risk of re-injury and enabling patients to freely carry out various activities again. Whether it is simple walking, going up and down stairs, or participating in sports, they all rely on the support of healthy ankle function.

[0003] However, in the field of ankle rehabilitation treatment in the prior art, traditional rehabilitation trainers have obvious shortcomings. The human ankle joint movement is complex and involves multi-degree-of-freedom coordination, but the traditional rehabilitation device is often limited by the mechanical structure, and its movement axis is difficult to accurately match the physiological movement axis of the human ankle joint, and it is impossible to simulate natural movement truthfully, resulting in limited rehabilitation effect. The range of motion of the ankle joint of different patients varies significantly due to individual differences, such as age, gender, physical condition, and injury type and degree. Factors such as age, gender, physical condition, and injury type and degree will have an impact. Most existing rehabilitation devices have a fixed range of motion, which is difficult to adapt to individual differences, and can easily cause improper training intensity, which may cause secondary injuries due to excessive intensity, or slow rehabilitation progress due to insufficient intensity. In addition, most traditional rehabilitation devices can only passively train according to preset programs, and lack effective perception and feedback interaction mechanisms for patients' active movement intentions, muscle strength changes, and real-time physical conditions. This makes it impossible to flexibly adjust the training process according to the actual situation of the patient, it is difficult to fully mobilize the enthusiasm of the patient, limit the improvement of rehabilitation effects, and cannot meet the needs of modern rehabilitation medicine for personalized and precise treatment. Summary of the invention

[0004] In view of the above, the purpose of the present invention is to propose an intelligent ankle balance trainer, which solves the problems in the prior art such as poor matching between the motion axis of ankle rehabilitation trainers and the physiological motion axis of the human ankle joint, lack of personalized adaptability of the motion range, inability to perceive the patient's active motion intention and muscle strength changes and provide real-time feedback interaction, single training mode and lack of intelligent control by providing an intelligent ankle balance trainer with a bionic ankle connection component, an intelligent motion range adjustment system, an active intention perception and feedback interaction system, diversified training modes and intelligent control system, and a foot fixation structure.

[0005] The present invention is achieved through the following technical solutions:

[0006] An intelligent ankle balance trainer comprises a base, a supporting column is fixedly arranged on the top of the base, a bionic ankle joint connection component is fixedly arranged on the top of the supporting column, an inductive pedal is fixedly arranged on the top of the bionic ankle joint connection component, a muscle electrical signal acquisition module is arranged above the inductive pedal, a main box is fixedly arranged on the top of the base, and the main box is connected to the bionic ankle joint connection component and the inductive pedal through lines.

[0007] Furthermore, the bionic ankle joint connection assembly includes a main flexion and extension joint axis for ankle lifting training, an inclined joint axis for tilting the ankle left and right, front and back, and a rotating joint axis for rotating the ankle around the Z axis, the inclined joint axis is composed of an X-axis rotation axis and a Y-axis rotation axis, the main flexion and extension joint axis is an electric lifting column, and the rotating joint axis is fixedly arranged on the top of the main flexion and extension joint axis.

[0008] Furthermore, a gyroscope for measuring the rotation angle and angular velocity change of the ankle joint and a limit sensor for real-time monitoring of the position information of the joint axis are fixedly arranged on the outside of the rotation joint axis.

[0009] Furthermore, the inductive pedal is fixedly installed on the top of the rotating joint shaft, and the inductive pedal includes a pedal, a pressure sensor is fixedly installed on the surface of the pedal, and an accelerometer for measuring the acceleration changes of the ankle joint in the vertical and horizontal directions is fixedly installed below the pedal near the toes and heels.

[0010] Furthermore, a heel support baffle is fixedly provided on the rear side of the pedal, and adjustable straps are fixedly provided on both sides of the pedal, and the adjustable straps are fixedly provided on the pedal via fixing buckles.

[0011] Furthermore, the muscle electrical signal acquisition module is configured as an electrode sheet.

[0012] Furthermore, a microprocessor, a wireless communication module, a control circuit board and a voice prompt and feedback function module are fixedly arranged inside the main chassis.

[0013] Furthermore, the tilt joint shaft is connected with a harmonic reducer and a torque motor.

[0014] The beneficial effects of the present invention are:

[0015] The present invention is conducive to achieving significant technical effects in many aspects through the structural combination of the main flexion and extension joint axis, the tilt joint axis and the rotation joint axis in the bionic ankle joint connection component, and the structural coordinated use of the inductive pedal and the muscle electrical signal acquisition module.

[0016] Based on the accurate simulation of ankle flexion and extension by the main flexion and extension joint axis, the flexible left and right front and back tilting by the tilt joint axis, and the accurate rotation around the Z axis by the rotation joint axis, combined with the accurate perception of foot pressure and ankle acceleration by the pressure sensor and accelerometer of the inductive pedal, and the keen capture of calf muscle electrical signals by the muscle electrical signal acquisition module, the microprocessor can fully control the real-time status information of the ankle joint and related muscles. This is conducive to the realization of precise rehabilitation training, and the precise control of the motion parameters of each joint axis according to the different injury degrees and rehabilitation stages of patients, to avoid over- or under-training and accelerate the rehabilitation process.

[0017] The comprehensive use of multiple structures is also conducive to the customization of personalized rehabilitation plans. The fully collected data is analyzed and processed by the microprocessor. Combined with the operation interface of the intelligent terminal device, an exclusive training plan can be tailored according to factors such as the patient's age, injury type, and rehabilitation stage, thereby improving the targetedness and effectiveness of rehabilitation.

[0018] At the same time, the coordination of voice prompts and feedback function modules with the visual interface structure of the intelligent terminal is conducive to enhancing patients' training experience and compliance, providing real-time action guidance, progress feedback and abnormal warnings, and displaying training information with intuitive charts and data, which can stimulate patients' enthusiasm and ensure the smooth implementation of training.

[0019] Furthermore, the connection structure constructed by the wireless communication module is conducive to convenient remote rehabilitation monitoring and guidance. Medical staff can break through the limitations of time and space, view data at any time and provide accurate guidance, improve the utilization efficiency of rehabilitation medical resources, and provide patients with continuous professional rehabilitation support. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is the overall structure diagram;

[0021] Figure 2 This is the front view of the overall structure;

[0022] Figure 3 It is the side view of the overall structure;

[0023] Figure 4 It is a top view of the overall structure;

[0024] Figure 5 This is the internal structure diagram of the main chassis.

[0025] Description of reference numerals:

[0026] 1. Base; 2. Support column; 3. Bionic ankle joint connection component; 31. Main flexion and extension joint axis; 32. Tilt joint axis; 33. Rotation joint axis; 331. Gyroscope; 332. Limit sensor; 4. Inductive pedal; 41. Pedal; 411. Pressure sensor; 412. Accelerometer; 42. Heel support baffle; 43. Adjustable strap; 431. Fixing buckle; 5. Muscle electrical signal acquisition module; 51. Electrode sheet; 8. Main chassis; 81. Microprocessor; 82. Wireless communication module; 83. Control circuit board; 84. Voice prompt and feedback function module. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions 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 part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0028] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0029] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0030] In the above description of the present invention, it should be noted that the terms "one side", "the other side", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of the invention is usually placed when in use, which is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0031] In addition, the term "same" does not mean that the parts must be absolutely the same, but slight differences are allowed. The term "vertical" only means that the positional relationship between the parts is more vertical than "parallel", and does not mean that the structure must be completely vertical, but can be slightly tilted.

[0032] like Figure 1-5As shown, an embodiment of the present invention provides: an intelligent ankle joint balance trainer, comprising the following components;

[0033] Base 1: As the basic bearing component of the entire trainer, it is firmly fixed to the ground by anchor bolts. Its top is fixedly connected to the support column 2 by welding or high-strength bolt connection, ensuring the stability of the entire trainer during use and providing a solid support foundation for the structure above.

[0034] Support column 2: It stands vertically on the base 1 and is responsible for supporting the bionic ankle joint connection component 3 to a suitable height. It has sufficient structural strength and verticality to ensure that the bionic ankle joint connection component 3 can operate normally and will not deform or tilt due to uneven force during long-term use.

[0035] Bionic ankle joint connection component 3:

[0036] Main flexion and extension joint axis 31: Designed in the form of an electric lifting column, its main function is to simulate the flexion and extension movement of the ankle joint, thereby realizing the lifting and lowering training action of the ankle. One end is tightly fixed to the top of the support column 2 through a specific connection structure, and the other end is connected to the inductive pedal 4. At the same time, it establishes an electrical connection with the drive and control circuit in the main box 8, receives the control signal from the microprocessor 81, and accurately adjusts the flexion and extension angle and strength to meet different training scenarios and patient needs.

[0037] Tilt joint axis 32: It is composed of an X-axis rotation axis and a Y-axis rotation axis. This structural design enables it to flexibly realize the left and right front and back tilting movements of the ankle, accurately simulating the tilting movement of the ankle joint in different directions. It is connected to the harmonic reducer and torque motor, and uses the power transmission system to achieve precise control of the joint axis angle. Relevant sensors are installed on its outside to monitor the movement status in real time and provide key data support for movement control and safety protection.

[0038] Rotating joint axis 33: It is fixedly installed on the top of the main flexion and extension joint axis 31, and is mainly responsible for realizing the rotation training function of the ankle around the Z axis. A gyroscope 331 and a limit sensor 332 are fixed on its outside. The gyroscope 331 can accurately measure the rotation angle and angular velocity changes of the ankle joint, and the limit sensor 332 monitors the position information of the joint axis at all times. Once the joint axis moves close to the preset safety range boundary, it will immediately send a signal to the microprocessor 81 to ensure the safety of the training process.

[0039] Sensitive pedal 4:

[0040] Pedal 41: As a platform for the patient's feet, pressure sensors 411 are evenly distributed and fixed on its surface. These pressure sensors 411 can keenly sense the pressure distribution and size changes of the foot on the pedal 41. By analyzing these data, we can deeply understand the force of the ankle joint under different movements. Under the pedal 41, near the toes and heels, an accelerometer 412 is also carefully fixed. Its main function is to measure the acceleration changes of the ankle joint in the vertical and horizontal directions. Combined with the data of the pressure sensor 411, it can fully and accurately reflect the movement state of the ankle joint.

[0041] Heel support baffle 42: Located at the rear side of the pedal 41, its shape and position are carefully designed to provide stable and reliable support for the patient's heel, while effectively limiting excessive movement of the heel in the front and rear directions, ensuring that the foot always maintains the correct position on the pedal 41, which is of great significance for improving the accuracy and safety of training.

[0042] Adjustable straps 43: fixedly arranged on both sides of the pedal 41, and adjustably connected to the pedal 41 through fixed buckles 431. This design can be flexibly adjusted according to the different foot shapes and sizes of patients, ensuring that the feet can be firmly fixed on the pedal 41 during training, avoiding the influence of training effect due to foot sliding, or even causing accidents.

[0043] Muscle electrical signal acquisition module 5: The electrode sheet 51 is used as the key component for signal acquisition. The electrode sheet 51 is attached to specific parts of the patient's calf muscles, such as the tibialis anterior muscle and the gastrocnemius muscle. Its main function is to collect weak electrical signals generated by the muscles during contraction and relaxation. These electrical signals can accurately reflect the patient's movement intention and muscle strength changes, and provide an extremely important basis for the intelligent control of the trainer. The electrode sheet 51 establishes a connection with the signal conditioning circuit in the main box 8 through a flexible wire, and stably transmits the collected electrical signals to the signal conditioning circuit for subsequent processing.

[0044] Main chassis 8: It integrates multiple core components to work together to realize the intelligent control and data processing functions of the trainer:

[0045] Microprocessor 81: As the "brain" of the entire trainer, it undertakes the important task of receiving and processing data information from various sensors (pressure sensor 411, accelerometer 412, gyroscope 331, limit sensor 332, muscle electrical signal acquisition module 5, etc.). Through the built-in complex algorithm, it performs real-time analysis and calculation, generates precise control instructions based on the analysis results, and accurately controls the movement of each joint axis of the bionic ankle joint connection component 3. At the same time, it coordinates the work of other modules in the main box 8 to ensure that the trainer can run stably according to the preset program and parameters, and realize the intelligent rehabilitation training process.

[0046] Wireless communication module 82: responsible for establishing a wireless data transmission channel between the trainer and external intelligent terminal devices (such as tablet computers, smart phones, etc.). On the one hand, various data during the training process (such as ankle joint movement data, sensor collection data, training records, etc.) are sent to the intelligent terminal device in real time, which is convenient for medical staff and patients to view and analyze in depth at any time; on the other hand, control instructions (such as training mode selection, parameter adjustment, etc.) from the intelligent terminal device are received and transmitted to the microprocessor 81 for execution in a timely manner, thereby realizing remote monitoring and operation of the trainer, greatly improving the convenience and flexibility of training.

[0047] Control circuit board 83: A key platform that provides electrical connection and physical support for the microprocessor 81, wireless communication module 82 and other electronic components. Various circuits and interfaces are carefully integrated on it. Through reasonable circuit layout and optimized circuit design, it ensures stable and reliable signal transmission between components, sufficient power supply and no interference, providing a solid hardware foundation for the normal operation of the entire trainer.

[0048] Voice prompt and feedback function module 84: It is composed of components such as a voice synthesis chip, an audio circuit board and a speaker. The voice synthesis chip converts the pre-stored or real-time generated text information into a clear and natural voice signal according to the instructions of the microprocessor 81. The audio circuit board amplifies and filters the voice signal so that it can meet the driving requirements of the speaker. The speaker plays the processed voice signal and provides personalized voice prompts to the patient according to different situations during the training process, such as action guidance, training progress feedback, abnormal situation warning, etc., which effectively enhances the interactivity and communication effect between the patient and the trainer, and improves the patient's participation and training compliance.

[0049] When implementing this embodiment, the following sequence is followed:

[0050] Preparation before training:

[0051] Place the trainer in a stable and appropriate position, and carefully check whether the connection between the base 1 and the ground through the anchor bolts is firm to ensure that there is no looseness. Use a level to check the levelness of the entire trainer. If it is found that the connection between the support column 2 and the base 1 is not firm enough or the trainer has a horizontal deviation, make timely adjustments and reinforcements to ensure that the trainer runs in a horizontal and stable state.

[0052] The patient sits comfortably in a chair and relaxes the whole body, especially focusing on relaxing the ankle and calf muscles. The medical staff gently cleans the patient's calf muscles and the surface of the foot skin with a medical alcohol cotton ball, thoroughly removing grease, dirt and stratum corneum, ensuring that the electrode sheet 51 of the muscle electrical signal acquisition module 5 can fit tightly and well with the skin, thereby maximizing the accuracy and reliability of electrical signal acquisition.

[0053] Medical staff or patients carefully adjust the adjustable straps 43 on the inductive pedal 4 according to their own foot shape and size. First, place the patient's foot steadily on the pedal 41, so that the heel is tightly against the heel support baffle 42. Then carefully loosen the fixed buckle 431 of the adjustable strap 43, and carefully adjust the position of the transverse strap and the ring strap so that they can perfectly fit the instep and ankle. When tightening the strap, be careful not to tighten it too much, so that a finger can be inserted. After the adjustment is completed, firmly fasten the fixed buckle 431 to ensure that the foot is fixed on the pedal 41 stably and comfortably, providing a good basic guarantee for subsequent training.

[0054] Turn on the power of the trainer, open the dedicated application of the trainer through the smart terminal device (such as a tablet or a smart phone), and perform the pairing connection operation between the trainer and the smart terminal. If a failure occurs during the connection process, check whether the settings of the wireless communication module 82 are correct, whether the Bluetooth or Wi-Fi function of the smart terminal device is normally turned on, and whether the distance between the two is within the effective communication range. After gradually eliminating the fault, re-test the connection until it is ensured that stable and efficient wireless data transmission can be achieved between the trainer and the smart terminal device. At the same time, carefully check whether each component in the main box 8 is working properly, check whether the indicator light status is normal, and whether there are abnormal conditions such as abnormal heating, smoking or odor. Carefully check whether each sensor (pressure sensor 411, accelerometer 412, gyroscope 331, limit sensor 332, etc.) is connected normally and has no signs of damage to ensure that the trainer can accurately and reliably collect and transmit data.

[0055] Training process:

[0056] Medical staff carefully select the training mode suitable for patients on the application interface of the smart terminal device according to the specific situation of the patient, such as basic rehabilitation training mode, advanced training mode, special functional training mode, etc. The selection of training mode needs to comprehensively consider the patient's ankle injury type, rehabilitation stage, physical condition and other factors. For example, for patients in the early stage of ankle sprain, the basic rehabilitation training mode should be given priority. This mode mainly focuses on simple flexion and extension, inversion and eversion, and internal and external rotation of the ankle joint. The range of motion and speed are relatively slow, aiming to help patients gradually restore the basic mobility of the ankle joint; for patients with good rehabilitation progress and physical condition, advanced training mode can be selected. This mode increases the complexity and difficulty of the movement, such as performing a combination of multiple movements at different angles and speeds to further improve the flexibility and strength of the ankle joint; for athletes or patients with special occupational needs, special functional training modes can be selected according to their sports or work characteristics. For example, basketball players can focus on training the ankle joint's rapid take-off and change of direction ability to meet their specific rehabilitation and training needs. After selecting the training mode, the intelligent terminal device quickly sends the training mode information to the microprocessor 81 in the main box 8 through the wireless communication module 82. The microprocessor 81 quickly calls the corresponding training program and parameter settings based on the received information, and accurately controls the joint axes of the bionic ankle joint connection component 3 to start orderly movement according to the predetermined movement mode and parameters.

[0057] During the training process, the pressure sensor 411 on the inductive pedal 4 collects the pressure data applied by the patient's foot to the pedal 41 in real time. When the patient's foot contacts the pedal 41 and generates pressure, the pressure sensor 411 can quickly convert the pressure signal into an electrical signal, and stably transmit it to the microprocessor 81 in the main box 8 through the pre-laid line. After receiving the pressure data, the microprocessor 81 immediately uses the built-in advanced algorithm to conduct in-depth analysis and processing of the data, accurately calculate the force of the ankle joint under different motion states, such as accurately judging the changes in the patient's foot force point when standing, walking simulation movements and other different states, and analyzing in detail the size and distribution of the pressure on the ankle joint, as well as the curve of pressure changes over time and other important information. These data are of key value for medical staff to have a deep understanding of the stability and load of the patient's ankle joint, and can provide a scientific and accurate basis for evaluating the rehabilitation effect and reasonably adjusting the training parameters.

[0058] At the same time, the electrode sheet 51 of the muscle electrical signal acquisition module 5 continuously and keenly captures the weak electrophysiological changes produced during the contraction and relaxation of the patient's calf muscles. The electrical signals collected by the electrode sheet 51 are transmitted to the signal conditioning circuit in the main box 8 through a flexible wire. The signal conditioning circuit performs a series of pre-processing operations such as amplification and filtering on these weak signals, and stably transmits the processed signals to the microprocessor 81. The microprocessor 81 accurately judges the patient's active movement intention through a detailed analysis of these muscle electrical signals. For example, when the patient attempts to flex and extend the ankle joint, the tibialis anterior and gastrocnemius muscles will produce electrical activity signals with obvious characteristics. The microprocessor 81 can accurately identify the patient's movement intention based on these signal characteristics, and adjust the movement of the bionic ankle joint connection component 3 in time accordingly, so as to achieve a high degree of synergistic interaction between the trainer and the patient's active movement. In addition, through long-term and in-depth analysis of muscle electrical signals, the fatigue degree and strength changes of the patient's muscles can be fully understood, which further provides a powerful reference for the optimization of personalized training programs.

[0059] The gyroscope 331 installed on the outside of the rotating joint axis 33 and the accelerometer 412 under the pedal 41 work closely together to monitor the movement state of the ankle joint. The gyroscope 331 focuses on measuring the rotation angle and angular velocity changes of the ankle joint, and can accurately capture the subtle changes of the ankle joint in the rotational movement; the accelerometer 412 mainly measures the acceleration changes of the ankle joint in the vertical and horizontal directions. For example, when the patient performs ankle flexion and extension or rotation movements, the accelerometer 412 can quickly and accurately sense the changes in the magnitude and direction of the acceleration of the ankle joint, and transmit these data to the microprocessor 81 in real time. The microprocessor 81 deeply integrates the data of the gyroscope 331 and the accelerometer 412, and comprehensively and accurately restores the movement of the ankle joint in three-dimensional space, including detailed information such as speed, acceleration, and direction changes, so as to accurately control the training movements based on this information. For example, when conducting complex ankle joint motion simulation training, the microprocessor 81 can accurately calculate the real-time position and posture changes of the ankle joint based on the data from the motion sensor, ensuring that the joint axes of the bionic ankle joint connection component 3 can move strictly according to the predetermined trajectory and parameters, making the training effect more in line with the patient's rehabilitation needs, and effectively improving the scientificity and accuracy of rehabilitation training.

[0060] The microprocessor 81 uses advanced algorithms (such as wavelet transform, neural network algorithm, etc.) to perform real-time analysis and processing based on the data of the pressure sensor 411, the muscle electrical signal acquisition module 5 and the motion sensor (gyroscope 331 and accelerometer 412), accurately judges the patient's motion state and needs, generates precise control instructions and sends them to the motors of the bionic ankle joint connection component 3. For example, for the electric lifting column motor of the main flexion and extension joint axis 31, the microprocessor 81 accurately controls its output torque and speed according to the analysis results, driving the main flexion and extension joint axis 31 to perform precise movement within a specified angle range (such as -40 degrees to 40 degrees); for the torque motor of the tilt joint axis 32, the microprocessor 81 controls its output torque, and drives the tilt joint axis 32 to perform stable inversion and eversion movement within a specified angle range (such as -25 degrees to 25 degrees) through the harmonic reducer; for the motor of the rotating joint axis 33, the microprocessor 81 controls its output torque, so that the rotating joint axis 33 performs stable internal rotation and external rotation movement within a specified angle range (such as -18 degrees to 18 degrees). During the movement of the joint axis, the limit sensor 332 on the rotating joint axis 33 monitors the position, speed and other information of the joint axis in real time, and promptly feeds back to the microprocessor 81 to form a closed-loop control to ensure the accuracy and safety of the movement of the joint axis. For example, when the main flexion and extension joint axis 31 moves, the limit sensor 332 measures its rotation angle and speed in real time, and feeds back the data to the microprocessor 81. The microprocessor 81 compares the feedback data with the preset motion parameters. If there is a deviation, the output of the motor is quickly adjusted to make the joint axis move back to the predetermined trajectory. At the same time, the limit sensor 332 closely monitors whether the joint axis is close to the preset motion range boundary. Once it is close, it immediately sends a signal to the microprocessor 81. The microprocessor 81 takes corresponding measures according to the signal, such as deceleration, stopping or adjusting the direction of movement, effectively preventing the joint axis from exceeding the safety range and effectively ensuring the training safety of the patient.

[0061] The voice prompt and feedback function module 84 gives full play to the interactive advantages during the training process. When the microprocessor 81 detects a specific situation, such as the patient's movement deviation, reaching the training goal or the need to adjust the training intensity, it will quickly send instructions to the speech synthesis chip. The speech synthesis chip generates corresponding voice information according to the instructions, and plays it out by the speaker after processing through the audio circuit board. For example, when the patient is performing ankle flexion and extension movements, if the flexion and extension angle is too large, the voice prompt "The ankle flexion and extension range is too large, please reduce the range"; when the patient completes a set of training tasks, the voice prompt "Congratulations, you have completed a set of training, do you want to continue the next set?" Through these personalized and timely voice prompts, patients can be effectively guided to perform training correctly, and their participation and training compliance can be improved. At the same time, patients can also adjust their training movements in time according to the voice prompts to make the training process smoother and more efficient.

[0062] End of training:

[0063] When the training time reaches the preset time or the patient actively pauses the training, the patient can easily click the "stop training" button on the smart terminal device, and the smart terminal device will immediately send a stop command to the microprocessor 81 in the main box 8. After receiving the command, the microprocessor 81 quickly controls the motors of the bionic ankle joint connection component 3 to stop running, stops the joint axis from moving, and stops collecting and processing the data from each sensor, ensuring that the trainer stops working safely and smoothly.

[0064] After the components of the trainer stop running, the microprocessor 81 will comprehensively organize and store the relevant data of this training, and store it in the storage module (such as SD card storage module) in the main box 8. These data cover all sensor collection data, training mode, training time, motion parameter adjustment records and other rich information during the training process. The stored data can be used for detailed analysis by medical staff in the future. By reviewing the patient's rehabilitation process, the rehabilitation effect can be deeply evaluated to provide a scientific and accurate basis for formulating the next rehabilitation training plan. For example, medical staff can understand the force changes of the patient's ankle joint during the training process by analyzing the pressure sensor data, and accurately judge the degree of recovery of joint stability; evaluate the growth trend of the patient's muscle strength and fatigue recovery through muscle electrical signal data; observe the improvement of ankle joint movement flexibility and coordination according to the motion sensor data. According to these analysis results, medical staff can adjust the training intensity, mode or key training content in a targeted manner, further optimize the rehabilitation treatment plan, improve the effect and efficiency of rehabilitation treatment, enable patients to conduct rehabilitation training more scientifically and systematically, accelerate the rehabilitation process, restore the normal function and activity of the ankle joint as soon as possible, and improve the quality of life.

[0065] The specific technical effects and beneficial effects of this embodiment are as follows:

[0066] Precision rehabilitation training achieves:

[0067] With the help of the real-time acquisition and in-depth analysis of multi-sensor data such as the pressure sensor 411, the muscle electrical signal acquisition module 5, the gyroscope 331 and the accelerometer 412 by the microprocessor 81, the movement state, force and muscle activity information of the patient's ankle joint can be accurately grasped. Based on these accurate data feedback, the microprocessor 81 can finely control the movement of each joint axis of the bionic ankle joint connection component 3. For example, for patients with different degrees of injury and rehabilitation stages, the movement angle range of the main flexion and extension joint axis 31 can be accurately set (such as -20 degrees to 20 degrees in the initial stage of mild injury, gradually expanded to -40 degrees to 40 degrees as rehabilitation progresses), the inversion and eversion angle range of the tilt joint axis 32 and the internal rotation and external rotation angle range of the rotating joint axis 33, as well as the movement speed and strength of each joint axis. Parameters. This precise training parameter regulation effectively avoids the problem of overtraining or insufficient training caused by inaccurate parameters in traditional rehabilitation training, so that the rehabilitation training program is highly in line with the individual needs of patients, significantly improves the rehabilitation effect, and accelerates the patient's rehabilitation process.

[0068] Personalized rehabilitation program customization:

[0069] The multiple advanced sensors integrated in this trainer can comprehensively and meticulously collect rich information about the patient's ankle joint and related muscles. The microprocessor 81 performs complex calculations and deep mining on these large and diverse data, and combined with the convenient operation interface of the intelligent terminal device, it can realize highly personalized training mode selection and parameter adjustment. Medical staff can tailor a dedicated rehabilitation training plan for patients based on factors such as the patient's age, physical condition, ankle injury type (such as sprain, fracture, ligament tear, etc.), rehabilitation stage (early, middle, late), and occupational or sports needs. For example, for young athletes, in the late stage of rehabilitation, they can focus on the recovery training of special sports functions, and by setting specific sports modes and parameter combinations, focus on training the stability and flexibility of the ankle joint under actions such as rapid changes of direction and high-load jumping; while for elderly patients or patients in the early stages of rehabilitation, they focus on the recovery training of basic joint range of motion and muscle strength, using a relatively mild, simple training mode and smaller exercise parameters. This personalized rehabilitation program can meet the special needs of different patients at different stages of rehabilitation to the greatest extent, and improve the pertinence and effectiveness of rehabilitation treatment.

[0070] Enhance patient training experience and compliance:

[0071] The voice prompt and feedback function module 84 and the visual interface of the intelligent terminal device build a good human-computer interaction environment for the patient. During the training process, the voice prompt function timely gives the patient accurate and clear movement guidance, training progress feedback and abnormal situation warning according to the instructions of the microprocessor 81. For example, when the patient's ankle joint movement angle deviates from the preset safety range, the voice prompt "Please note that the ankle joint movement angle is abnormal, please adjust the movement"; when the patient completes a training section, the voice prompt "You have completed this section of training, and will enter the next section after a short rest." At the same time, the visual interface of the intelligent terminal device displays various information during the training process in the form of intuitive charts (such as motion trajectory diagrams, pressure distribution bar graphs, muscle electrical signal waveform diagrams, etc.) and data (such as motion angle values, pressure size values, muscle strength assessment values, etc.), so that patients can intuitively understand their training status and progress. This real-time, personalized feedback mechanism enables patients to clearly know their training performance, enhances the fun and autonomy of training, and stimulates the enthusiasm and self-confidence of patients. Patients can better understand and cooperate with rehabilitation training, thereby significantly improving training compliance and ensuring that the rehabilitation training plan can be implemented smoothly and achieve the expected results.

[0072] Convenient remote rehabilitation monitoring and guidance:

[0073] The stable data transmission link established by the wireless communication module 82 realizes the seamless connection between the trainer and the intelligent terminal device, and provides strong support for remote rehabilitation monitoring. No matter where the medical staff is, as long as they connect to the network through an intelligent terminal device (such as a mobile phone, tablet computer, etc.), they can view the patient's training data in real time, including the real-time motion state data of the ankle joint (angle, speed, acceleration, etc. of each joint axis), sensor acquisition data (pressure sensor data, muscle electrical signal data, motion sensor data, etc.) and training record data (training mode, training time, number of training times, etc.). Based on these comprehensive and detailed data, medical staff can timely and accurately understand the patient's rehabilitation progress. Even if they are not with the patient, they can quickly find problems according to data changes and provide accurate guidance and suggestions to the patient. For example, if it is found that the patient's motion range of a joint axis is continuously abnormal or the muscle is overly fatigued during the training process, the medical staff can immediately send adjustment instructions to the trainer through the intelligent terminal device, modify the training parameters (such as reducing the speed of movement, reducing the range of movement, increasing the rest time, etc.), or directly communicate with the patient by voice or text to inform the patient of the correct training adjustment method and precautions. This remote monitoring and guidance function breaks the limitations of time and space, allowing patients to conveniently receive professional rehabilitation treatment at home or other places. It also facilitates medical staff to centrally manage and track multiple patients, improves the utilization efficiency of rehabilitation medical resources, and provides patients with more continuous and professional rehabilitation support.

[0074] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the purpose and scope of the technical solution of the present invention, which should be included in the scope of the claims of the present invention.

Claims

1. An intelligent ankle joint balance trainer, comprising a base, characterized in that: A supporting column is fixedly arranged on the top of the base, a bionic ankle joint connection component is fixedly arranged on the top of the supporting column, an inductive pedal is fixedly arranged on the top of the bionic ankle joint connection component, a muscle electrical signal acquisition module is arranged above the inductive pedal, a main box is fixedly arranged on the top of the base, and the main box is connected to the bionic ankle joint connection component and the inductive pedal through lines.

2. The intelligent ankle joint balance trainer according to claim 1, characterized in that: The bionic ankle joint connection assembly includes a main flexion and extension joint axis for ankle lifting training, an inclined joint axis for tilting the ankle left and right, front and back, and a rotating joint axis for rotating the ankle around the Z axis. The inclined joint axis is composed of an X-axis rotation axis and a Y-axis rotation axis. The main flexion and extension joint axis is an electric lifting column, and the rotating joint axis is fixedly arranged on the top of the main flexion and extension joint axis.

3. The intelligent ankle joint balance trainer according to claim 2, characterized in that: A gyroscope for measuring the rotation angle and angular velocity change of the ankle joint and a limit sensor for real-time monitoring of the position information of the joint shaft are fixedly arranged on the outside of the rotation joint shaft.

4. The intelligent ankle joint balance trainer according to claim 2, characterized in that: The inductive pedal is fixedly arranged on the top of the rotary joint shaft, and the inductive pedal includes a pedal, a pressure sensor is fixedly arranged on the surface of the pedal, and an accelerometer for measuring the acceleration changes of the ankle joint in the vertical and horizontal directions is fixedly arranged below the pedal near the toes and heels.

5. The intelligent ankle joint balance trainer according to claim 4, characterized in that: A heel support baffle is fixedly arranged on the rear side of the pedal, and adjustable straps are fixedly arranged on both sides of the pedal. The adjustable straps are fixedly arranged on the pedal through fixing buckles.

6. The intelligent ankle joint balance trainer according to claim 1, characterized in that: The muscle electrical signal acquisition module is configured as an electrode sheet.

7. The intelligent ankle joint balance trainer according to claim 1, characterized in that The main chassis is internally fixed with a microprocessor, a wireless communication module, a control circuit board and a voice prompt and feedback function module.

8. The intelligent ankle joint balance trainer according to claim 1, characterized in that :The tilt joint shaft is connected with a harmonic reducer and a torque motor.

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