Walking frame system and mechanical data analysis method

Abstract

The present application relates to a walking frame system and a mechanical data analysis method. The walking frame system includes: a frame body, four force sensors, four second support legs, and four adapter assemblies. The reaction 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 action force and reaction force, thereby improving the accuracy of the force sensor. The four force sensors on the four first support legs can detect the mechanical data of the walking frame system at multiple locations, thereby further improving the detection stability and accuracy of the mechanical data of the walking frame system, while facilitating subsequent data analysis. At the same time, data analysis using the mechanical data analysis method of the walking frame system can improve data accuracy.

Description

Technical Field

[0001] The present application relates to the technical field of medical rehabilitation assistive devices, 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 of helping patients with functional impairments in their limbs recover, but 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, develop targeted training plans for the patient, and help the patient recover faster. On the other hand, for patients with sensory impairments, mechanical data is needed to support human body dynamics analysis to prevent overload and ensure the patient's safety during recovery.

[0003] Currently available walkers on the market can help patients improve their walking ability and recovery efficiency by leveraging upper limb strength during rehabilitation training. However, these walkers lack the ability to collect and provide feedback on mechanical data, creating a market gap.

[0004] One type of walker system combines a walker and a plantar pressure sensing device into a force-measuring walker device to obtain weight-bearing and mechanical data during rehabilitation. However, the device was designed for weight-bearing detection of fracture patients. For people with lower limb injuries, it is difficult to put on and take off, and the accuracy is low. 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. The device can be directly disassembled and added, but 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 existing walking aid systems 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 support legs, and four adapter assemblies.

[0007] The frame body includes two parallel and spaced handrails, four first support legs, and two groups of connecting rods. The handrails extend in the forward direction of the walker system. Both ends of the handrails are connected to one of the first support legs. One end of the first support leg is away from the handrails and faces the ground. Both ends of one group of connecting rods are connected to two of the handrails, and both ends of the other group of connecting rods are connected to two of the first support legs.

[0008] The four force sensors, the four second support legs, the four adapter assemblies and the four first support 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 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.

[0009] When an operator walks using the aforementioned walker system, each handrail is supported at both ends by a first support leg. The connecting rod connects the two handrails and the two sets of first support legs, forming a four-legged structure. This provides greater stability for the operator while holding onto the handrails and walking. The adapter tube of the first adapter frame is mounted on the end of the first support leg facing 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 mounted on the end of the second support leg closer to the first support leg. The first adapter plate of the second adapter frame is connected to the end of the force sensor facing away from the first adapter frame. The first support leg, the first adapter frame, the force sensor, the second adapter frame, and the second support 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 support 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, as well as 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 support legs can detect the mechanical data of the walker system at multiple locations, thereby further improving the detection stability and accuracy of the mechanical data of the walker system, and facilitating subsequent data analysis. Placing the force sensor at a statically determinate position of the structure can avoid statically indeterminate force transmission, thereby accurately measuring the force distribution in the front, back, left, and right directions.

[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 defined on a side wall of the first support leg, a second connecting hole is defined 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 connecting hole is formed on the side wall of the first supporting leg, a fourth connecting hole is formed on the adapter tube of the second adapter frame, and the second fastener is passed through the third connecting hole and the fourth connecting hole.

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

[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 walker 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.

[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, for analyzing 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] Calculating a reaction force of the ground on the walker system and a reaction force of the ground on the operator based on the decomposed forces in the first direction, the second direction, and the third direction and the operator's weight;

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

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

[0028] The reaction force of the ground on the walker 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 starts 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 when t1 and t2 are the first stage and t5 and t6 are the third stage. The gait cycle percentages obtained when t is t3 and t4 in the first stage and t7 and t8 in the third stage are respectively. 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 corrected final force with the data collected by the reference force plate is as follows: Figure 5 As shown in the figure, 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 real-time center of mass position of the operator 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, and the four force sensors 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 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 that are limited to the feet, this application can provide pressure distribution assessments 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 spatiotemporal distribution of COP within the gait cycle as needed, and also to calculate the pressure center of gravity distribution through weighted average to determine the center of gravity trend of the patient during walking. Then, through the multi-body dynamics model, the patient's whole body mechanical analysis is performed, and the calculated mechanical data is used to optimize the arrangement of rehabilitation training.

[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 product's integrated design allows patients to complete measurements without wearing additional equipment, significantly increasing patient comfort and convenience while simplifying data acquisition. Researchers can install different mechanical or even other force sensors as needed to obtain more targeted data. Detailed pressure distribution recording and assessment results allow patients to visualize their mechanical parameters and adjust them during rehabilitation, helping doctors and rehabilitation therapists better formulate or adjust rehabilitation plans. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0047] Figure 2 for Figure 1 Exploded view of the transfer assembly.

[0048] Figure 3 A comparison chart of the data monitored by the walker system and collected by the reference force plate during the gait cycle.

[0049] Figure 4 This is a comparison chart of the error value of the walking frame system monitoring data relative to the data collected by the reference stand after being fitted with a sine function and the error value of the walking frame system monitoring data relative to the data collected by the reference stand.

[0050] Figure 5 A comparison chart of the corrected data monitored by the walker system during the gait cycle and the data collected by the reference force plate.

[0051] Figure 6 for Figure 1 Top view of the force sensor.

[0052] Figure 7 A comparison 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 baseline motion capture.

[0053] Figure 8 This is a graph comparing the support force data monitored by the walker 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 support leg; 113 - connecting rod;

[0057] 120-force sensor;

[0058] 130- second supporting leg;

[0059] 140- adapter assembly; 141- first adapter frame; 142- second adapter frame; 143- adapter tube; 144- first adapter plate; 145- second adapter 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 vertical plate acquisition data; N-value after sinusoidal function fitting of the error value of walking frame system monitoring data relative to the reference vertical 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-weight; S4-hand support force curve; K-abnormal data. DETAILED DESCRIPTION

[0062] To make the above-mentioned objects, features, and advantages of the present application more clearly understood, the specific embodiments of the present application are described in detail below with reference to the accompanying drawings. The following description sets forth many specific details to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways than those described herein, and those skilled in the art can make similar improvements without violating the scope of the present application. Therefore, the present application is not limited to the specific embodiments disclosed below.

[0063] In the description of this 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 this 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 this application.

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

[0065] In this application, unless otherwise specified or limited, the terms "mounted," "connected," "connected," "fixed," etc., should be interpreted broadly. For example, these terms may refer to fixed connections, removable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediary; and internal communication between two components or interaction between two components, unless otherwise specified. Those skilled in the art will understand the specific meanings of these terms in this application based on the specific circumstances.

[0066] In this application, unless otherwise expressly specified or limited, if a first feature is described as being "above" or "below" a second feature, or similar descriptions, this 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. Furthermore, when a first feature is described as being "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is described as being "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower 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 an intermediate 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 an intermediate element. 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 embodiment.

[0068] See Figure 1 , Figure 1 A structural schematic diagram of a walking frame system 100 in an embodiment of the present application is shown. 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 assemblies 140.

[0069] See Figure 1 and Figure 2 In the above-mentioned walker system 100, the frame 110 includes two parallel and spaced handrails 111, four first support legs 112, and two groups of connecting rods 113. The handrails 111 extend in the forward direction of the walker system 100. The two ends of the handrails 111 are respectively connected to a first support leg 112, and the ends of the first support legs 112 away from the handrails 111 face the ground. The two ends of one group of connecting rods 113 are respectively connected to the two handrails 111, and the two ends of the other group of connecting rods 113 are respectively connected to the two first support legs 112. The four force sensors 120, the four second support legs 130, the four adapter assemblies 140 and the four first support 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 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. 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.

[0070] When an operator walks using the above-mentioned walker system 100, each handrail 111 is supported at both ends by a first support leg 112, and the connecting rod 113 connects the two handrails 111 and the two sets of first support legs 112, thereby forming a four-legged frame 110. This allows the operator to walk more stably while holding the handrails 111. The adapter tube 143 of the first adapter frame 141 is mounted on the end of the first support leg 112 facing 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 mounted on the end of the second support leg 130 closer to the first support leg 112. The first adapter plate 144 of the second adapter frame 142 is connected to the end of the force sensor 120 facing away from the first adapter frame 141. The first support leg 112, first adapter frame 141, force sensor 120, second adapter frame 142, and second support leg 130 are sequentially connected, enabling the force from the handrail 111 to be transmitted to the force sensor 120 via the first adapter plate 144 of the first adapter frame 141. The reaction force from the ground on the second support leg 130 is also transmitted to the force sensor 120 via the first adapter plate 144 of the second adapter frame 142. The first adapter plate 144 and force sensor 120, as well as the second adapter plate 145 and force sensor 120, are in surface contact. This allows the force sensor 120 to stably receive both the applied and reactive forces, thereby improving the accuracy of the force sensor 120. The four force sensors 120 on the four first support legs 112 can detect mechanical data from the walker system 100 at multiple locations, further improving the stability and accuracy of the mechanical data detection of the walker system 100 and facilitating subsequent data analysis. Placing the force sensor 120 at a statically stable location in the structure can avoid statically unstable force transmission, thereby accurately measuring the front-to-back and left-to-right force distribution. The walker system 100 of the present application is a clinical application device that can be used by patients who are unable to walk or stand independently, such as those 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 support legs 112, each connecting the two first support legs 112 spaced apart along the first direction OY or the second direction OX. Figure 1 .

[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 and vertical directions 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 , and they 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 facing 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, thereby facilitating 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] See Figure 2 In one embodiment, the adapter assembly 140 further 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 connection hole (not shown), and the adapter tube 143 of the first adapter frame 141 is provided with a second connection hole (not shown). The first fastener is passed through the first connection hole and the second connection hole. The side wall of the first support leg 112 is provided with a third connection hole, and the adapter tube 143 of the second adapter frame 142 is provided with a fourth connection hole. The second fastener is passed through the third connection hole and the fourth connection hole, thereby more stably connecting the first support leg 112 and the second support leg 130 inserted into the adapter tube 143 to the adapter assembly 140, thereby preventing the first support leg 112 or the second support leg 130 from detaching or loosening relative to the adapter assembly 140, which may cause distortion in mechanical data monitoring.

[0076] In one embodiment, second adapter plate 145 is bolted to force sensor 120, and first adapter plate 144 is bolted to second adapter plate 145. This bolted connection provides a more stable connection between force sensor 120 and adapter assembly 140, while also facilitating disassembly and maintenance. Alternatively, riveting or welding may be used, and the connection method of each connection point of adapter assembly 140 is not limited herein.

[0077] In one embodiment, the walker 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 both the signal collector and the display 150 to transmit the data collected by the signal collector to the display 150 for display. This allows the operator to view real-time mechanical monitoring data during walking on the display 150.

[0078] In one embodiment, the walker system 100 further includes a host computer connected to the display 150 or transmitter signal for remotely monitoring 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 sampled data of the display 150 is 8 bits wide, and the display 150 displays to one decimal place, thereby further improving the monitoring accuracy of the mechanical data of the force sensor 120.

[0080] The present application further provides a mechanical data analysis method for a walker system 100, for analyzing the force detected by the force sensor 120 of the walker system 100. The mechanical data analysis method for the walker system 100 comprises 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 walker 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 operator's weight.

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

[0085] The reaction force of the ground on the walker 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 due to gravity. Figure 3 , we can get the curve of the data Q collected by the reference force plate and the data S1 obtained by calculating the force detected by the force sensor 120 in a gait cycle from the start of the left leg L to the next start of the left leg L. Among them, the error value M of the data obtained by calculating the force detected by the force sensor 120 relative to the data collected by the reference force plate and the comparison curve of the fitting function N are shown as follows: Figure 4 .

[0092] In actual use, while the ground reaction force directly calculated using data and gravity is relatively close to the value collected by the actual force plate, it still contains some error during weight shift and the early swing phase of the patient's gait cycle. However, the error is smaller during double support (when both the left leg L and the right leg R are on the ground) and the mid-swing phase. Therefore, differential fitting is used to reduce the calculation error and improve the accuracy of the ground reaction force. In the actual fitting process, there are four phases within a gait cycle where correction factors need to be added to further fit the data. These four phases also experience certain accelerations, which can lead to errors in the quasi-static calculation results. These four phases account for approximately 5%-20%, 30%-45%, 55%-70%, and 80%-95% of the gait cycle, respectively. During actual walking, there may be some deviation between the start and end positions. Therefore, fitting the actual difference values ​​using a segmented sine function within the cycle can achieve a certain degree of calibration. Specifically, multiple sensors can be used, so the sum of multiple sensors in the equation is not limited to four sensors; it can be n sensors.

[0093] Taking the Z axis as an example, the actual calculation error can be reduced by adding a correction factor. The correction factor 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 starts 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 when t1 and t2 are the first stage and t5 and t6 are the third stage. The gait cycle percentages obtained when t is t3 and t4 in the first stage and t7 and t8 in the third stage are respectively. 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 as follows: Figure 5 As shown in the figure, 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] like Figure 6 As shown, 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 this application, four sensors can perform 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, so as to analyze mechanical data to prevent abnormal situations such as overload and tipping.

[0103] Compared to pressure insoles that are limited to the feet, this application can provide pressure distribution assessments 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 based on the pressures of the four force sensors 120, thereby determining the patient's center of gravity when walking. The force detected by each force sensor 120 can be obtained separately, and different indicators can be calculated as needed during post-processing. Figure 7 This chart compares the center of mass displacement curve S3 monitored by the walker system during the gait cycle with the center of mass displacement curve P measured by baseline motion capture. The center of pressure calculated from the data collected by the walker has excellent usability and can accurately determine the current center of mass position of the patient.

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

[0105] Through data analysis, it is also possible to monitor the patient's abnormal state and fall protection. It can monitor the patient's abnormal force state and fall, and when abnormal conditions are found in real time, the patient's current task can be suspended in time to protect the patient from injury. Figure 8 , that is, the comparison chart of the hand support force curve S4 and the curve of body weight 0, can monitor the abnormal data K.

[0106] The integrated design of this product allows patients to complete measurements without wearing additional equipment, greatly increasing patient comfort and convenience while simplifying data acquisition. Researchers can install different mechanical or even other force sensors 120 as needed to obtain more targeted data. The detailed pressure distribution recording and evaluation results allow patients to visualize their mechanical parameters and make adjustments during the rehabilitation process, which in turn helps doctors and rehabilitation therapists better formulate or adjust rehabilitation plans.

[0107] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned 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 merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. A walking frame system, characterized in that: The walking frame system includes: a frame body, four force sensors, four second support legs and four adapter components. The frame body includes two parallel and spaced handrails, four first support legs, and two groups of connecting rods. The handrails extend in the forward direction of the walker system. Both ends of the handrails are connected to one of the first support legs. One end of the first support leg is away from the handrails and faces the ground. Both ends of one group of connecting rods are connected to two of the handrails, and both ends of the other group of connecting rods are connected to two of the first support legs. The four force sensors, the four second support legs, the four adapter assemblies and the four first support 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 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.

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 end 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 end 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, a first connecting hole is formed on the side wall of the first support 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; A third connecting hole is formed on the side wall of the first supporting leg, a fourth connecting hole is formed on the adapter tube of the second adapter frame, and the second fastener is passed through the third connecting hole and the fourth connecting hole.

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

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 further 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 walker system further includes a host computer, which is connected to the display or the transmitter signal for remotely monitoring 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 comprises the following steps: collecting forces detected by the four force sensors when the 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; Calculating a reaction force of the ground on the walker system and a reaction force of the ground on the operator based on the decomposed forces in the first direction, the second direction, and the third direction and the operator's weight; The reaction force of the ground on the walker system along the first direction is: ; The reaction force of the ground on the walker system along the second direction is: ; The reaction force of the ground on the walker 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 starts 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 when t1 and t2 are the first stage and t5 and t6 are the third stage. The gait cycle percentages obtained when t is t3 and t4 in the first stage and t7 and t8 in the third stage are respectively. 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 real-time center of mass position of the operator 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, and the four force sensors 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 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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