Walking frame system and mechanical data analysis method

Abstract

The invention relates to a walking frame system and a mechanical data analysis method. The walking aid frame system comprises a frame body, four force sensors, four second supporting legs and four switching assemblies. The counter-acting force of the force sensor from the ground is also transmitted to the force sensor through the first adapter plate of the second adapter frame, so that the force sensor can stably receive the counter-acting force and the counter-acting force, and the accuracy of the force sensor is improved. The four force sensors on the four first supporting legs can detect mechanical data of the walking frame system in a multi-site mode, so that the detection stability and accuracy of the mechanical data of the walking frame system are further improved, and meanwhile follow-up data analysis is facilitated. Meanwhile, the data accuracy can be improved by performing data analysis through the mechanical data analysis method of the walking aid frame system.

Description

Technical Field

[0001] The present application relates to the technical field of medical rehabilitation auxiliary equipment, and in particular to a walking frame system and a mechanical data analysis method. Background Art

[0002] In the medical field today, rehabilitation exercise training is an effective means to help patients with functional impairment of their limbs recover, but the monitoring of mechanical data during rehabilitation training is very scarce. On the one hand, mechanical data can help researchers further analyze the patient's current recovery status, formulate targeted training plans for patients, and help patients recover faster. On the other hand, for patients with sensory function loss, mechanical data is needed to support human body dynamics analysis to prevent overload and ensure the safety of patients during recovery.

[0003] The walkers currently available on the market can help patients improve their walking ability and rehabilitation efficiency by using upper limb strength during rehabilitation training. However, existing walkers do not have the function of mechanical data collection and feedback, and there is a gap in the market.

[0004] One type of walker system combines a walker and a plantar pressure sensing device into a force-measuring walking aid to obtain weight-bearing and mechanical data during rehabilitation. However, the device was designed with the main application scenario being weight-bearing detection for fracture patients. It is difficult to put on and take off for people with lower limb injuries, and has low accuracy. Another type of walker system adds a force sensor to the elbow support of the walker, but relatively few people use elbow-support walkers, and the location where this type of force sensor is added is the separation point of the device structure, so the device can be directly disassembled and added. However, when adding a mechanical force sensor, it is necessary to consider the impact of mechanical distribution on acquisition accuracy, which can easily lead to distortion of the collected data. Summary of the invention

[0005] Based on this, it is necessary to provide a walking frame system and a mechanical data analysis method to address the problems of the existing walking aid system, such as difficulty in putting on and taking off, low accuracy, and data distortion during use.

[0006] A walking frame system, comprising: a frame body, four force sensors, four second supporting legs and four adapter components.

[0007] The frame body comprises two parallel and spaced handrails, four first supporting legs and two groups of connecting rods, wherein the extending direction of the handrails is along the forward direction of the walking frame system, the two ends of the handrails are respectively connected to one of the first supporting legs, and one end of the first supporting leg away from the handrails faces the ground, wherein the two ends of one group of connecting rods are respectively connected to the two handrails, and the two ends of the other group of connecting rods are respectively connected to the two first supporting legs;

[0008] The four force sensors, the four second supporting legs, the four adapter assemblies and the four first supporting legs correspond one to one; the adapter assembly includes a first adapter frame and a second adapter frame, the first adapter frame and the second adapter frame both include an adapter tube and a first adapter plate, one end of the adapter tube is connected to one side of the first adapter plate, the adapter tube of the first adapter frame is sleeved on the end of the first supporting leg away from the handrail, the first adapter plate of the first adapter frame is connected to one end of the force sensor, the adapter tube of the second adapter frame is sleeved on the end of the second supporting leg close to the first supporting leg, and the first adapter plate of the second adapter frame is connected to the end of the force sensor away from the first adapter frame.

[0009] When the operator walks using the above-mentioned walking frame system, since both ends of each handrail are supported by a first support leg respectively, the connecting rod connects the two handrails and the two groups of first support legs together, thus forming a four-legged frame, so that the operator is more stable when walking while holding the handrails. The adapter tube of the first adapter frame is sleeved on the end of the first support leg away from the handrail, the first adapter plate of the first adapter frame is connected to one end of the force sensor, the adapter tube of the second adapter frame is sleeved on the end of the second support leg close to the first support leg, and the first adapter plate of the second adapter frame is connected to the end of the force sensor away from the first adapter frame. Thus, the first supporting leg, the first adapter frame, the force sensor, the second adapter frame and the second supporting leg are connected in sequence, so that the force from the handrail is transmitted to the force sensor through the first adapter plate of the first adapter frame, so that the reaction force from the ground on the second supporting leg is also transmitted to the force sensor through the first adapter plate of the second adapter frame. The first adapter plate and the force sensor, and the second adapter plate and the force sensor are in surface contact, so that the force sensor can stably receive the action force and reaction force, thereby improving the accuracy of the force sensor. The four force sensors on the four first supporting legs can detect the mechanical data of the walking frame system at multiple points, thereby further improving the detection stability and accuracy of the mechanical data of the walking frame system, and facilitating subsequent data analysis. Placing the force sensor at a statically determinate position of the structure can avoid the non-static situation of force conduction, thereby accurately measuring the force distribution in the front and back and left and right sides.

[0010] In one embodiment, the adapter assembly also includes two second adapter plates, one side of one of the second adapter plates is connected to the first adapter plate of the first adapter frame, and the other end is connected to the force sensor, and one side of the other second adapter plate is connected to the first adapter plate of the second adapter frame, and the other end is connected to an end of the force sensor facing away from the first adapter frame.

[0011] In one embodiment, the adapter assembly further includes a first fastener and a second fastener, a first connecting hole is formed on a side wall of the first supporting leg, a second connecting hole is formed on the adapter tube of the first adapter frame, and the first fastener is passed through the first connecting hole and the second connecting hole;

[0012] A third connection hole is formed on the side wall of the first supporting leg, a fourth connection hole is formed on the adapter tube of the second adapter frame, and the second fastener is passed through the third connection hole and the fourth connection hole.

[0013] In one embodiment, the second adapter plate is bolted to the force sensor.

[0014] In one embodiment, the first adapter plate is connected to the second adapter plate by bolts.

[0015] In one embodiment, the walking frame system further includes a signal collector, a transmitter and a display;

[0016] The display is connected to one of the connecting rods;

[0017] The signal collector is connected to the force sensor to collect the force detected by the force sensor;

[0018] The transmitter is connected to the signal collector and the display at the same time, so as to transmit the data collected by the signal collector to the display for display.

[0019] In one embodiment, the walking frame system further comprises a host computer, and the host computer is connected to the display or the transmitter signal to remotely monitor the force detected by the force sensor.

[0020] In one embodiment, the force sensor has a vertical range of 100 kg and a sampling rate of 50-100 Hz;

[0021] The sampling data bit width of the display is 8 bits, and the display displays to 1 decimal place.

[0022] The present application also provides a mechanical data analysis method for a walking frame system, which is used to analyze the force detected by the force sensor of the walking frame system. The mechanical data analysis method for the walking frame system comprises the following steps:

[0023] collecting forces detected by four force sensors when an operator uses the walking frame system;

[0024] Decomposing the forces detected by the four force sensors into component forces along a first direction, a second direction, and a third direction, wherein the first direction is the forward direction, the third direction is a vertical direction, and the first direction, the second direction, and the third direction are perpendicular to each other;

[0025] Calculate the reaction force of the ground on the walking frame system and the reaction force of the ground on the operator according to the decomposed forces in the first direction, the second direction and the third direction and the weight of the operator;

[0026] The reaction force of the ground on the walking frame system along the first direction is: ;

[0027] The reaction force of the ground on the walking frame system along the second direction is: ;

[0028] The reaction force of the ground on the walking frame system along the third direction is: ;

[0029] The reaction force of the ground on the operator along the first direction is: ;

[0030] The reaction force of the ground on the operator along the second direction is: ;

[0031] The reaction force of the ground on the operator along the third direction is: ;

[0032] in, is the component of the force detected by the i-th force sensor along the first direction, is the component of the force detected by the i-th force sensor along the second direction, is the component of the force detected by the i-th force sensor along the third direction, is the operator's weight, g is the acceleration due to gravity;

[0033] The reaction force of the ground on the operator along the third direction is corrected using the following formula: ,

[0034] in is the correction factor: ,

[0035]

[0036] is a piecewise function related to the gait cycle, where the time from the left foot starting to exert force to the next time the left foot starts to exert force is a gait cycle, and the amplitude is ,in is the absolute value of the maximum difference between the error value and the fitting function at each gait cycle percentage; The gait cycle percentages obtained are t1, t2 in the first stage and t5, t6 in the third stage. The gait cycle percentages obtained at this time are t3 and t4 in the first stage and t7 and t8 in the third stage. The period of each segmented sine signal is equal to the end point minus the starting point of the sine function, that is, , , , .

[0037] The curve comparing the final force after correction with the data collected by the reference force plate is shown in Figure 5, and the error is reduced from 5.96% to 1.56%.

[0038] In one embodiment, the real-time center of mass position of the operator is calculated based on the forces detected by the four force sensors and the center of mass position of each force sensor relative to the operator at the beginning of the gait cycle:

[0039] The position of the operator's real-time center of mass along the second direction: ,

[0040] The position of the operator's real-time center of mass along the first direction: ,

[0041] is the force detected by the i-th force sensor, the four force sensors form a rectangle in the horizontal plane, with the center point of the rectangle as the origin, is the distance of the i-th force sensor relative to the origin along the first direction, is the distance of the i-th force sensor relative to the origin along the second direction.

[0042] Compared with pressure insoles limited to the feet, this application can provide pressure distribution assessment at multiple points throughout the body, providing more comprehensive data support for rehabilitation training. Based on the pressure of the four force sensors, the center of gravity distribution of the patient's hand when exerting force can be calculated according to the pressure of the four force sensors, thereby obtaining the center of gravity of the patient when walking. The force detected by each force sensor can be obtained separately, and different indicators can be calculated according to needs during post-processing. The pressure center calculated from the data collected by the walker has good usability and can accurately determine the current center of mass position of the patient.

[0043] It is also possible to calculate the COP spatiotemporal distribution within the gait cycle as needed, and to determine the center of gravity trend of the patient during walking by calculating the pressure center of gravity distribution through weighted average. The multi-body dynamics model is then used to perform a mechanical analysis of the patient's entire body, and the calculated mechanical data is used to optimize the rehabilitation training arrangements.

[0044] Through data analysis, it is also possible to monitor the patient's abnormal state and protect against falls. It can monitor the patient's abnormal force state and falls, and when abnormal conditions are discovered in real time, the patient's current task can be suspended in time to protect the patient from injury, that is, abnormal support data can be monitored.

[0045] The integrated design of this product allows patients to complete the measurement without wearing additional equipment, which greatly increases the comfort and convenience of patients and simplifies the way of data acquisition. Researchers can install different mechanical or even other force sensors according to needs to obtain more targeted data. Through detailed pressure distribution records and evaluation results, patients can see their own mechanical parameters during the rehabilitation process and adjust them by themselves, which also helps doctors and rehabilitation therapists to better formulate or adjust rehabilitation plans. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] FIG. 1 is a schematic diagram of a walking frame system according to an embodiment.

[0047] FIG. 2 is an exploded view of the adapter assembly in FIG. 1 .

[0048] FIG3 is a comparison diagram of the monitoring data of the walking frame system and the data collected by the reference force plate during the gait cycle.

[0049] FIG4 is a comparison diagram of the error value of the walking frame system monitoring data relative to the reference stand collection data after being fitted with a sine function and the error value of the walking frame system monitoring data relative to the reference stand collection data.

[0050] FIG5 is a comparison diagram of the monitoring correction data of the walking frame system and the data collected by the reference force plate during the gait cycle.

[0051] FIG. 6 is a top view of the force sensor in FIG. 1 .

[0052] FIG. 7 is a comparison diagram of the center of mass displacement curve monitored by the walker system during the gait cycle and the center of mass displacement curve measured by the benchmark motion capture.

[0053] FIG8 is a comparison chart of the support force data monitored by the walking frame system and body weight during the gait cycle.

[0054] Description of Figure Numbers:

[0055] 100-Walking frame system;

[0056] 110-frame; 111-handrail; 112-first supporting leg; 113-connecting rod;

[0057] 120-Force sensor;

[0058] 130 - second supporting leg;

[0059] 140-adapter assembly; 141-first adaptor frame; 142-second adaptor frame; 143-adapter tube; 144-first adaptor plate; 145-second adaptor plate;

[0060] 150-display;

[0061] OY-first direction; OX-second direction; OZ-third direction; L-left leg; R-right leg; Q-reference force plate acquisition data; S1-walking frame system monitoring data; M-error value of walking frame system monitoring data relative to the reference stand plate acquisition data; N-value after sinusoidal function fitting of the error value of walking frame system monitoring data relative to the reference stand plate acquisition data; S2-walking frame system monitoring correction data; P-reference motion capture measurement center of mass displacement curve; S3-walking frame system monitoring center of mass displacement curve; O-body weight; S4-hand support force curve; K-abnormal data. DETAILED DESCRIPTION

[0062] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0063] In the description of the present application, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present application 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 a limitation on the present application.

[0064] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, if the term "plurality" appears, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0065] In this application, unless otherwise clearly specified and limited, if the terms "installed", "connected", "connected", "fixed" and the like appear, these terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0066] In the present application, unless otherwise clearly specified and limited, if there is a description that a first feature is "above" or "below" a second feature, etc., or similar descriptions appear, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0067] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. If an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only implementation method.

[0068] Please refer to Figure 1, which shows a structural schematic diagram of a walking frame system 100 in an embodiment of the present application. The walking frame system 100 provided in an embodiment of the present application includes: a frame body 110, four force sensors 120, four second support legs 130 and four adapter components 140.

[0069] 1 and 2 , in the above-mentioned walking frame system 100, the frame body 110 includes two parallel and spaced handrails 111, four first supporting legs 112 and two groups of connecting rods 113. The extending direction of the handrails 111 is along the forward direction of the walking frame system 100. Two ends of the handrails 111 are respectively connected to a first supporting leg 112, and one end of the first supporting leg 112 away from the handrails 111 faces the ground. Two ends of one group of connecting rods 113 are respectively connected to the two handrails 111, and two ends of the other group of connecting rods 113 are respectively connected to the two first supporting legs 112. The four force sensors 120, the four second supporting legs 130, the four adapter assemblies 140 and the four first supporting legs 112 correspond one to one. The adapter assembly 140 includes a first adapter frame 141 and a second adapter frame 142. The first adapter frame 141 and the second adapter frame 142 both include an adapter tube 143 and a first adapter plate 144. One end of the adapter tube 143 is connected to one side of the first adapter plate 144. The adapter tube 143 of the first adapter frame 141 is sleeved on the end of the first supporting leg 112 away from the handrail 111. The first adapter plate 144 of the first adapter frame 141 is connected to one end of the force sensor 120. The adapter tube 143 of the second adapter frame 142 is sleeved on the end of the second supporting leg 130 close to the first supporting leg 112. The first adapter plate 144 of the second adapter frame 142 is connected to one end of the force sensor 120 away from the first adapter frame 141.

[0070] When the operator is walking using the above-mentioned walking frame system 100, since both ends of each handrail 111 are supported by a first support leg 112 respectively, the connecting rod 113 connects the two handrails 111 and the two groups of first support legs 112 together, thus forming a four-legged frame 110, so that the operator is more stable when walking while holding the handrails 111. The adapter tube 143 of the first adapter frame 141 is sleeved on the end of the first support leg 112 away from the handrail 111, the first adapter plate 144 of the first adapter frame 141 is connected to one end of the force sensor 120, the adapter tube 143 of the second adapter frame 142 is sleeved on the end of the second support leg 130 close to the first support leg 112, and the first adapter plate 144 of the second adapter frame 142 is connected to the end of the force sensor 120 away from the first adapter frame 141. Thus, the first supporting leg 112, the first adapter frame 141, the force sensor 120, the second adapter frame 142 and the second supporting leg 130 are connected in sequence, so that the force from the handrail 111 is transmitted to the force sensor 120 through the first adapter plate 144 of the first adapter frame 141, so that the reaction force from the ground received by the second supporting leg 130 is also transmitted to the force sensor 120 through the first adapter plate 144 of the second adapter frame 142. The first adapter plate 144 and the force sensor 120, and the second adapter plate 145 and the force sensor 120 are all in surface contact, so that the force sensor 120 can stably receive the action force and the reaction force, thereby improving the accuracy of the force sensor 120. The four force sensors 120 on the four first supporting legs 112 can detect the mechanical data of the walking frame system 100 at multiple locations, thereby further improving the detection stability and accuracy of the mechanical data of the walking frame system 100, and facilitating subsequent data analysis. Placing the force sensor 120 at a static location of the structure can avoid the instability of force conduction, thereby accurately measuring the force distribution in the front and back and left and right sides. The walking frame system 100 of the present application can be used as a clinical application device for patients who are unable to walk or stand independently, such as patients with spinal cord injuries or lower limb injuries.

[0071] Specifically, each group of connecting rods 113 has at least one connecting rod 113, and there is one connecting rod 113 connecting the handrail 111, or there may be two or more connecting rods 113 connecting the handrail 111, and the connecting rod 113 connecting the handrail 111 is perpendicular to the handrail 111. There are three connecting rods 113 connecting the first supporting legs 112, and all of them connect two first supporting legs 112 spaced apart along the first direction OY or the second direction OX, as shown in FIG1 .

[0072] Specifically, the force sensor 120 is a pressure sensor 120. The force sensor 120 between the first adapter frame 141 and the second adapter frame 142 is two sensors for measuring forces in the horizontal direction and the vertical direction respectively. The force sensor 120 can also be a six-axis force sensor 120 for measuring three-axis forces and three-axis moments.

[0073] There is no limit to the number of force sensors 120 , which can be installed on the frame 110 as needed according to the above structure.

[0074] Preferably, in order to reduce the pressure on the patient, the weight of a single adapter frame should be controlled within 100g as much as possible. In one embodiment, the adapter assembly 140 also includes two second adapter plates 145, one side of one second adapter plate 145 is connected to the first adapter plate 144 of the first adapter frame 141, and the other end is connected to the force sensor 120, and one side of the other second adapter plate 145 is connected to the first adapter plate 144 of the second adapter frame 142, and the other end is connected to the end of the force sensor 120 away from the first adapter frame 141, so that the first adapter plate 144 can be connected to the force sensor 120 first, and then the second adapter plate 145 can be connected to the first adapter plate 144, so as to facilitate the connection of the force sensor 120 between the first adapter frame 141 and the second adapter frame 142, forming a stable sensing structure for mechanical data monitoring.

[0075] Referring to Figure 2, in one embodiment, the adapter assembly 140 also includes a first fastener (not shown) and a second fastener (not shown), the side wall of the first support leg 112 is provided with a first connecting hole (not shown), the adapter tube 143 of the first adapter frame 141 is provided with a second connecting hole (not shown), the first fastener is passed through the first connecting hole and the second connecting hole, the side wall of the first support leg 112 is provided with a third connecting hole, the adapter tube 143 of the second adapter frame 142 is provided with a fourth connecting hole, and the second fastener is passed through the third connecting hole and the fourth connecting hole, so that the first support leg 112 and the second support leg 130 inserted into the adapter tube 143 are more stably connected to the adapter assembly 140, thereby preventing the first support leg 112 or the second support leg 130 from being detached or loosened relative to the adapter assembly 140, which may cause distortion in mechanical data monitoring.

[0076] In one embodiment, the second adapter plate 145 is bolted to the force sensor 120, and the first adapter plate 144 is bolted to the second adapter plate 145, so that the connection between the force sensor 120 and the adapter assembly 140 is more stable through the bolt connection, and it is convenient for disassembly and maintenance. It can also be connected by riveting or welding, and the connection method of each connection point of the adapter assembly 140 is not limited here.

[0077] In one embodiment, the walking frame system 100 further includes a signal collector, a transmitter, and a display 150. The display 150 is connected to one of the connecting rods 113. The signal collector is connected to the force sensor 120 to collect the force detected by the force sensor 120. The transmitter is connected to the signal collector and the display 150 at the same time to transmit the data collected by the signal collector to the display 150 for display. Thus, the operator can view the mechanical monitoring data of the operator during walking in real time through the display 150.

[0078] In one embodiment, the walking frame system 100 further includes a host computer, which is connected to the display 150 or the transmitter signal to remotely monitor the force detected by the force sensor 120. The host computer can be a tablet or computer or other device or instrument.

[0079] In one embodiment, the vertical range of the force sensor 120 is 100 kg, and the sampling rate of the force sensor 120 is 50-100 Hz. The sampling data bit width of the display 150 is 8 bits, and the display 150 displays to 1 decimal place, thereby further improving the monitoring accuracy of the mechanical data of the force sensor 120.

[0080] The present application also provides a mechanical data analysis method of a walking frame system 100, which is used to analyze the force detected by the force sensor 120 of the walking frame system 100. The mechanical data analysis method of the walking frame system 100 includes the following steps:

[0081] The forces detected by the four force sensors 120 when the operator uses the walking frame system 100 are collected.

[0082] The forces detected by the four force sensors 120 are decomposed into forces along a first direction OY, a second direction OX and a third direction OZ, wherein the first direction OY is a forward direction, the third direction OZ is a vertical direction, and the first direction OY, the second direction OX and the third direction OZ are perpendicular to each other.

[0083] The reaction force of the ground on the walking frame system 100 is calculated according to the decomposed forces in the first direction OY, the second direction OX and the third direction OZ and the weight of the operator.

[0084] The reaction force of the ground on the walking frame system 100 along the third direction OZ is corrected.

[0085] The reaction force of the ground on the walking frame system along the first direction OY is: ;

[0086] The reaction force of the ground on the walker system along the second direction OX is: ;

[0087] The reaction force of the ground on the walker system along the third direction OZ is: ;

[0088] The reaction force of the ground on the operator along the first direction OY is: ;

[0089] The reaction force of the ground on the operator along the second direction OX is: ;

[0090] The reaction force of the ground on the operator along the third direction OZ is: ;

[0091] in, is the component of the force detected by the i-th force sensor 120 along the first direction OY, is the component of the force detected by the i-th force sensor 120 along the second direction OX, is the component of the force detected by the i-th force sensor 120 along the third direction OZ, is the operator's weight O, and g is the acceleration of gravity. Referring to FIG3 , it can be seen that the curve of the data Q collected by the reference force plate in a gait cycle from the start of the left leg L to the next start of the left leg L to exert force and the data S1 obtained after the force calculated by the force sensor 120. Among them, the comparison curve of the error value M of the data obtained after the force calculated by the force sensor 120 relative to the data collected by the reference force plate and the fitting function N is shown in FIG4 .

[0092] In actual use, although the ground reaction force directly calculated using data and gravity is close to the value collected by the actual force plate, there are still certain errors in the process of center of gravity transfer and early swing in the patient's gait cycle, while the errors are smaller in the double support state (when both the left leg L and the right leg R are supported on the ground) and the middle of the swing state. Therefore, the calculation error is reduced by differential fitting to improve the accuracy of the ground reaction force. In the actual fitting process, there are four stages in a gait cycle where correction factors need to be added to further fit the data. There are also certain accelerations in these four stages, which lead to errors in the results calculated by quasi-static calculation. The four stages account for about 5%-20%, 30%-45%, 55%-70% and 80%-95% of the gait cycle, respectively. There may be some deviations in the start and end positions during actual walking. Therefore, fitting the actual difference using a segmented sine function within the cycle can meet the calibration requirements to a certain extent. Specifically, multiple sensors can be set, so the sum of multiple sensors in the formula is not limited to 4 sensors, but can be n sensors.

[0093] Taking the Z axis as an example, the actual calculation error can be reduced by adding a correction factor, which is composed of a function related to body weight and is related to the gait cycle stage. The following formula is used to correct the reaction force of the ground on the operator in the third direction: ,

[0094] in is the correction factor for the third direction OZ: ,

[0095]

[0096] is a piecewise function related to the gait cycle, where the time from the left foot starting to exert force to the next time the left foot starts to exert force is a gait cycle, and the amplitude is ,in is the absolute value of the maximum difference between the error value and the fitting function at each gait cycle percentage; The gait cycle percentages obtained are t1, t2 in the first stage and t5, t6 in the third stage. The gait cycle percentages obtained at this time are t3 and t4 in the first stage and t7 and t8 in the third stage. The period of each segmented sine signal is equal to the end point minus the starting point of the sine function, that is, , , , .

[0097] The curve comparing the corrected data S2 monitored by the walking frame system and the data Q collected by the reference force plate is shown in Figure 5. The error is reduced from 5.96% to 1.56%.

[0098] In one embodiment, the real-time center of mass position of the operator is calculated based on the forces detected by the four force sensors 120 and the center of mass position of each force sensor 120 relative to the operator at the beginning of the gait cycle:

[0099] The position of the operator's real-time center of mass along the second direction OX: ,

[0100] The position of the operator's real-time center of mass along the first direction OX: ,

[0101] As shown in Figure 6, is the force detected by the i-th force sensor 120. The four force sensors 120 form a rectangle on the horizontal plane, with the center point of the rectangle as the origin. is the distance of the i-th force sensor 120 relative to the origin along the first direction OY, is the distance of the i-th force sensor 120 relative to the origin along the second direction OX.

[0102] Specifically, in the present application, four sensors can be used for long-term monitoring, and the sum of the forces monitored by the four sensors is used as the support force of the operator's hands. The calculated reaction force of the ground on the operator is used as the support force of the operator's legs, which are used to evaluate the strength and fatigue state of the operator's arm and leg muscles during standing or walking, thereby analyzing mechanical data to prevent abnormal situations such as overload and tipping.

[0103] Compared with pressure insoles limited to the feet, the present application can provide pressure distribution assessment at multiple points throughout the body, providing more comprehensive data support for rehabilitation training. Based on the pressures of the four force sensors 120, the center of gravity distribution of the patient's hand when exerting force can be calculated according to the pressures of the four force sensors 120, thereby obtaining the center of gravity of the patient when walking. The force detected by each force sensor 120 can be obtained separately, and different indicators can be calculated according to needs during post-processing. Figure 7 is a comparison of the center of mass displacement curve S3 monitored by the walking frame system during the gait cycle and the center of mass displacement curve P measured by the baseline motion capture. The pressure center calculated from the data collected by the walking frame has good usability and can accurately determine the current center of mass position of the patient.

[0104] It is also possible to calculate the COP spatiotemporal distribution within the gait cycle as needed, and to determine the center of gravity trend of the patient during walking by calculating the pressure center of gravity distribution through weighted average. The multi-body dynamics model is then used to perform a mechanical analysis of the patient's entire body, and the calculated mechanical data is used to optimize the rehabilitation training arrangements.

[0105] Through data analysis, it is also possible to monitor the patient's abnormal state and protect against falls. It can monitor the patient's abnormal force state and falls, and suspend the patient's current task in time after discovering the abnormal situation in real time, thereby protecting the patient from injury. As shown in Figure 8, which is a comparison chart of the hand support force curve S4 and the curve of body weight 0, abnormal data K can be monitored.

[0106] The integrated design of this product allows patients to complete measurements without wearing additional equipment, greatly increasing the comfort and convenience of patients while simplifying the way of data acquisition. Researchers can install different mechanical or even other force sensors 120 according to needs to obtain more targeted data. Through detailed pressure distribution records and evaluation results, patients can see their own mechanical parameters during the rehabilitation process and adjust them by themselves, which also helps doctors and rehabilitation therapists to better formulate or adjust rehabilitation plans.

[0107] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0108] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

Claims

1. A walking frame system, characterized in that: The walking frame system comprises: a frame body, four force sensors, four second supporting legs and four adapter components. The frame body comprises two parallel and spaced handrails, four first supporting legs and two groups of connecting rods, wherein the extending direction of the handrails is along the forward direction of the walking frame system, the two ends of the handrails are respectively connected to one of the first supporting legs, and one end of the first supporting leg away from the handrails faces the ground, wherein the two ends of one group of connecting rods are respectively connected to the two handrails, and the two ends of the other group of connecting rods are respectively connected to the two first supporting legs; The four force sensors, the four second supporting legs, the four adapter assemblies and the four first supporting legs correspond one to one; the adapter assembly includes a first adapter frame and a second adapter frame, the first adapter frame and the second adapter frame both include an adapter tube and a first adapter plate, one end of the adapter tube is connected to one side of the first adapter plate, the adapter tube of the first adapter frame is sleeved on the end of the first supporting leg away from the handrail, the first adapter plate of the first adapter frame is connected to one end of the force sensor, the adapter tube of the second adapter frame is sleeved on the end of the second supporting leg close to the first supporting leg, and the first adapter plate of the second adapter frame is connected to the end of the force sensor away from the first adapter frame.

2. The walking frame system according to claim 1, characterized in that: The adapter assembly also includes two second adapter plates, one of which has one side connected to the first adapter plate of the first adapter frame, and the other end connected to the force sensor, and the other of which has one side connected to the first adapter plate of the second adapter frame, and the other end connected to an end of the force sensor facing away from the first adapter frame.

3. The walking frame system according to claim 1, characterized in that: The adapter assembly further includes a first fastener and a second fastener, the side wall of the first support leg is provided with a first connection hole, the adapter tube of the first adapter frame is provided with a second connection hole, and the first fastener is passed through the first connection hole and the second connection hole; A third connection hole is formed on the side wall of the first supporting leg, a fourth connection hole is formed on the adapter tube of the second adapter frame, and the second fastener is passed through the third connection hole and the fourth connection hole.

4. The walking frame system according to claim 2, characterized in that: The second adapter plate is bolted to the force sensor.

5. The walking frame system according to claim 2, characterized in that: The first adapter plate is connected to the second adapter plate by bolts.

6. The walking frame system according to claim 1, characterized in that: The walking frame system also includes a signal collector, a transmitter and a display; The display is connected to one of the connecting rods; The signal collector is connected to the force sensor to collect the force detected by the force sensor; The transmitter is connected to the signal collector and the display at the same time, so as to transmit the data collected by the signal collector to the display for display.

7. The walking frame system according to claim 6, characterized in that: The walking frame system further comprises a host computer, which is connected to the display or the transmitter signal to remotely monitor the force detected by the force sensor.

8. The walking frame system according to claim 6, characterized in that: The force sensor has a vertical range of 100 kg and a sampling rate of 50-100 Hz; The sampling data bit width of the display is 8 bits, and the display displays to 1 decimal place.

9. A mechanical data analysis method for a walking frame system, characterized in that: The method for analyzing the force detected by the force sensor of the walking frame system according to any one of claims 1 to 8, wherein the mechanical data analysis method of the walking frame system comprises the following steps: collecting forces detected by the four force sensors when an operator uses the walking frame system; Decomposing the forces detected by the four force sensors into component forces along a first direction, a second direction, and a third direction, wherein the first direction is the forward direction, the third direction is a vertical direction, and the first direction, the second direction, and the third direction are perpendicular to each other; Calculate the reaction force of the ground on the walking frame system and the reaction force of the ground on the operator according to the decomposed forces in the first direction, the second direction and the third direction and the weight of the operator; The reaction force of the ground on the walking frame system along the first direction is: ; The reaction force of the ground on the walking frame system along the second direction is: ; The reaction force of the ground on the walking frame system along the third direction is: ; The reaction force of the ground on the operator along the first direction is: ; The reaction force of the ground on the operator along the second direction is: ; The reaction force of the ground on the operator along the third direction is: ; in, is the component of the force detected by the i-th force sensor along the first direction, is the component of the force detected by the i-th force sensor along the second direction, is the component of the force detected by the i-th force sensor along the third direction, is the operator's weight, g is the acceleration due to gravity; The reaction force of the ground on the operator along the third direction is corrected using the following formula: , in is the correction factor: , is a piecewise function related to the gait cycle, where the time from the left foot starting to exert force to the next time the left foot starts to exert force is a gait cycle, and the amplitude is ,in is the absolute value of the maximum difference between the error value and the fitting function at each gait cycle percentage; The gait cycle percentages obtained are t1, t2 in the first stage and t5, t6 in the third stage. The gait cycle percentages obtained at this time are t3 and t4 in the first stage and t7 and t8 in the third stage. The period of each segmented sine signal is equal to the end point minus the starting point of the sine function, that is, , , , .

10. The mechanical data analysis method of a walking frame system according to claim 9, characterized in that: The real-time center of mass position of the operator is calculated according to the forces detected by the four force sensors and the center of mass position of each force sensor relative to the operator at the beginning of the gait cycle: The position of the operator's real-time center of mass along the second direction: , The position of the operator's real-time center of mass along the first direction: , is the force detected by the i-th force sensor, the four force sensors form a rectangle in the horizontal plane, with the center point of the rectangle as the origin, is the distance of the i-th force sensor relative to the origin along the first direction, is the distance of the i-th force sensor relative to the origin along the second direction.

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