Walking hanging bracket device and gait adjusting method

Abstract

The invention relates to a walking hanging bracket device and a gait adjusting method, and relates to the technical field of walking assistance. The walking hanging bracket device comprises a bottom plate, a three-dimensional frame structure and suspender clothes used for being arranged on the body of a user in a sleeving mode. The bottom plate is located below the three-dimensional frame structure, and a pressure feedback assembly is arranged on the bottom plate; a plurality of groups of traction structures are arranged around the top of the three-dimensional frame structure; the traction structure comprises a mounting seat mounted on the three-dimensional frame structure and a traction rope of which one end is connected to the mounting seat; a tension sensor for detecting the traction force of the traction rope is arranged on the mounting seat, and the other end of the traction rope is connected to the suspender clothes. The invention further discloses a method for adjusting the gait through the walking hanging bracket device. According to the walking hanger device and the gait adjusting method, data monitoring is accurate and reliable, and the application range is wide.

Description

Technical Field

[0001] This application relates to the technical field of walking assistance, and particularly to a walking hanger device. Background Art

[0002] In the fields of medical rehabilitation, gait correction, sports training, etc., auxiliary devices are usually used for auxiliary practice. For example, for the rehabilitation training of hemiplegic patients caused by stroke, for the biomechanical correction of patients with foot diseases or abnormal walking postures, for the gait training of models, honor guard soldiers, athletes, etc. The walking hanger device can simulate the gait movement environment, monitor the gait movement data, provide scientific and effective training and evaluation means for users, and promote the development of rehabilitation medicine and sports science.

[0003] Traditional gait research methods and device functions are single, with poor adjustability and adaptability, and unable to provide real-time feedback of multi-dimensional data, resulting in a lack of accurate data support in actual use, being unscientific, and affecting the use effect; or relying on large laboratory equipment, which is huge in volume, has limited use scenarios, and is costly.

[0004] Chinese Patent (Publication No.: CN106267773A; Publication Date: January 4, 2017) discloses an intelligent suspension system with gait analysis function. The entire system is linked to the skeleton of a motion device or exercise machine; a transmission mechanism is provided on the skeleton, and the transmission mechanism is connected to a carrier for restraining the user. A sensing component is provided on the skeleton of the motion device or exercise machine at the position area where the change in the user's weight and gait can be detected and presented, so as to detect and analyze the user's gait in a fixed-point and real-time manner, and provide real-time visual feedback, enabling the user to know the gait status of the exercise or rehabilitation through the visual feedback, and then making appropriate gait adjustments.

[0005] The intelligent suspension system in the above patent application document only monitors the single-point force through the steel cable above, and the data collection and feedback are relatively single; and because the activity space provided by the entire device for the user is small, the user's movements are restricted during use, seriously affecting the use effect and having a risk of strain. Summary of the Invention

[0006] In order to improve the accuracy and reliability of data monitoring of the walking hanger device and expand its applicable scenarios, this application provides a walking hanger device.

[0007] In a first aspect, the walking hanger device provided by this application adopts the following technical solution: A walking hanger device includes a bottom plate, a three-dimensional frame structure, and a harness suit for covering the user's body. The bottom plate is located below the three-dimensional frame structure, and a pressure feedback component is provided on the bottom plate. A number of sets of traction structures are arranged around the top of the three-dimensional frame structure; the traction structure includes a mounting seat mounted on the three-dimensional frame structure and a traction rope with one end connected to the mounting seat; A tension sensor for detecting the magnitude of the traction force of the traction rope is arranged on the mounting seat, and the other end of the traction rope is connected to the harness.

[0008] By adopting the above technical solution, users can use this device for rehabilitation treatment or walking training. When in use, the user is located at the middle position of the bottom plate, wears the harness, and connects each traction rope to the corresponding position of the harness; in this way, the traction rope can provide a lifting force for the user, which can not only maintain the standing state of the user, but also collect the specific positions and force data of multiple different parts of the user's body. In addition, the pressure feedback component arranged on the bottom plate can also monitor the foot position and force condition of the user. Through the integration of these data, the accuracy of multi-dimensional data monitoring is improved, so as to efficiently and reliably judge the gait condition of the user; and an evaluation result and an improvement suggestion plan are given to improve the use effect.

[0009] In this application, through the bottom plate and the three-dimensional frame structure, the overall stability of the entire walking suspension device can be realized, avoiding deformation of the device during use, resulting in inaccurate data or potential safety hazards. Through the traction structure, a maximum tensile force of 800N can be transmitted in each of multiple directions, and the tensile force can be adjusted in real time. According to the different weights and use states of users, the tensile force of the traction rope with the best effect can be adjusted to meet the personalized needs of different users.

[0010] Optionally, the walking suspension device further includes a controller; the pressure feedback component is a pressure sensor arrayed on the bottom plate; a display screen is also arranged on the bottom plate; the pressure sensor, the tension sensor and the display screen are all electrically connected to the controller.

[0011] By adopting the above technical solution, comprehensive acquisition and real-time feedback of the user's gait data are realized. The pressure sensor array can accurately detect the foot pressure distribution and changes of the user, providing basic data for gait analysis; the display screen is used to present the calculated gait data, facilitating the user or the instructor to intuitively understand the training status; the controller, as the core processing unit, integrates and processes the data collected by the pressure sensor and the tension sensor, and controls the display screen to display relevant information, so as to realize real-time monitoring and feedback of the data. At the same time, the display screen can also simulate and display different environmental states, such as showing different characteristics such as asphalt roads, gravel roads, and winding paths, thereby improving the functionality of the entire device.

[0012] Optionally, the three-dimensional frame structure includes a bottom frame fixedly arranged around the bottom plate, four columns fixedly arranged at four corners of the bottom frame, and a top frame fixedly connected to the tops of the four columns; there are at least four groups of the traction structures and they are respectively arranged on the surrounding connecting rods of the top frame or at the four corners.

[0013] By adopting the above technical solution, the three-dimensional frame structure is composed of a bottom frame, four columns and a top frame, forming a stable support structure to ensure the overall stability of the device, avoid deformation during use, thereby ensuring data accuracy and eliminating potential safety hazards. There are at least four groups of the traction structures, which are respectively located on the surrounding connecting rods or at the four corners of the top frame, enabling the transmission of traction force in multiple directions to the user. The maximum tensile force can reach 800N in each of the four directions, and the tensile force can be adjusted according to the user's weight and usage status, improving the training effect and safety.

[0014] Optionally, monitoring cameras are arranged on the four columns; the monitoring cameras face the middle of the bottom plate; the monitoring cameras are connected to the image processing module in the controller.

[0015] By adopting the above technical solution, the arrangement of the monitoring cameras can capture the walking posture of the user on the bottom plate in real time, specifically including the flexion and extension angle changes of the hip, knee and ankle joints, the movement path of the foot during the swing phase, and the rotation, tilt and lateral displacement amplitudes of the pelvis. Combined with the image processing module, the captured posture data can be analyzed to provide a visual basis for gait assessment, further improving the accuracy and safety of gait adjustment training.

[0016] Optionally, the mounting seat includes a mounting plate and a swing arm. The mounting plate is fixedly connected to the corner of the top frame. The tension sensor is a three-dimensional force sensor; the tension sensor is arranged vertically. The lower end of the tension sensor is fixedly connected to the mounting plate, and the upper end of the tension sensor is connected to the swing arm. One end of the swing arm faces the middle of the bottom plate, and a first driving member for winding the traction rope is arranged at the other end of the swing arm.

[0017] By adopting the above technical solution, the arrangement of the first driving member realizes the automatic winding of the traction rope, and the tension can be adjusted in real time according to the user's weight, state, etc., ensuring the dynamic adaptability during the training process. The arrangement of the swing arm enables the angle of the traction rope to be adjustable, and further makes the traction of the traction rope more flexible and accurate.

[0018] Optionally, as another solution, the mounting seat includes a sliding block slidably sleeved on the four-week connecting rods of the top frame and a mounting plate fixedly connected to the sliding block. The top frame is further provided with a lead screw and a guide rod that are parallel and spaced apart from the connecting rods of the top frame. One side of the sliding block has a threaded sleeve screwed onto the lead screw, and the other side of the sliding block is slidably sleeved on the guide rod; a servo motor for driving the threaded sleeve to rotate forward and backward is arranged on the sliding block; The tension sensor is a three-dimensional force sensor; the tension sensor is vertically arranged, the lower end of the tension sensor is fixedly connected to the mounting plate, and a swing arm is arranged at the upper end of the tension sensor. One end of the swing arm faces the middle of the bottom plate, and a first driving member for winding the traction rope is arranged at the other end of the swing arm.

[0019] By adopting the above technical solution, the design of the mounting seat realizes the flexible adjustment and precise control of the traction structure. The cooperation between the sliding block, the lead screw, and the guide rod enables the mounting seat to move smoothly on the connecting rods of the top frame, thereby adjusting the position of the traction rope according to the needs of the user. The servo motor drives the threaded sleeve to rotate forward and backward, further improving the accuracy of position adjustment. The setting of the swing arm enables the winding and unwinding direction of the traction rope to be flexibly adjusted, ensuring that the traction force can accurately act on different parts of the user's body. The first driving member is used to wind the traction rope, which can dynamically adjust the magnitude of the traction force, enabling the device to better adapt to the gait changes and rehabilitation needs of the user. This design significantly improves the flexibility and adaptability of the device, providing more precise and personalized traction assistance for the user.

[0020] Optionally, a second driving member for driving the swing arm to swing up and down is arranged on the mounting plate.

[0021] By adopting the above technical solution, the setting of the second driving member on the mounting plate enables the swing arm to automatically adjust its swing in the up and down directions, which is used to autonomously adjust the height and angle of the traction rope, enhancing the flexibility and accuracy during the gait training of the user.

[0022] Optionally, a human body detector for detecting the heart rate and breathing rate of the user is further arranged on the harness. The human body detector is wirelessly connected to the controller.

[0023] By adopting the above technical solution, the setting of the human body detector on the harness can real-time monitor the heart rate and breathing rate of the user, providing comprehensive physiological data support for gait training. Combining with the wireless connection method of the controller ensures the real-time and stability of data transmission, which helps to comprehensively evaluate the physical state of the user, thereby improving the safety and effectiveness of gait training.

[0024] In a second aspect, a gait adjustment method provided by the present application adopts the following technical solution: A gait adjustment method uses the above-mentioned walking hanger device for gait adjustment training; the pressure feedback components distributed on the bottom plate are used to detect the horizontal distance between the consecutive landing points of the same side foot to obtain the step length data L; the pressure feedback components distributed on the bottom plate are used to detect the horizontal distance between the consecutive landing points of the same foot to obtain the step width data D; the pressure feedback components distributed on the bottom plate are used to detect the number of steps per minute to obtain the step frequency data S; the walking speed V is obtained through the formula V = SL; The pressure feedback components distributed on the bottom plate are used to detect the proportion of the time when a single foot touches the ground to obtain the single support phase; the pressure feedback components distributed on the bottom plate are used to detect the proportion of the time from when a single foot leaves the ground to when it touches the ground again to obtain the swing phase; the pressure feedback components distributed on the bottom plate are used to detect the proportion of the time when both feet touch the ground simultaneously to obtain the double support phase; The monitoring camera set on the column is used to detect the flexion and extension angle changes of the user's hip, knee, and ankle joints during walking, the movement path of the foot during the swing period, and the rotation, tilt, and lateral shift amplitudes of the pelvis; Several groups of traction structures on the top of the three-dimensional frame structure are used to detect the tilt angle of the vertical axis of the user's body trunk; Then, multi-modal data fusion is performed, compared with the normal standard data, risk prompts and warnings are given through the display screen, and assistance is provided by automatically adjusting the tightness of the traction ropes of each traction structure.

[0025] By adopting the above technical solution, the gait adjustment method can comprehensively collect the user's gait data, including key parameters such as step length, step width, step frequency, walking speed, single support phase, swing phase, and double support phase, and accurately detect them through the pressure feedback components. At the same time, the monitoring camera is used to capture the joint movement trajectory and pelvic posture changes of the user, and the traction structure is combined to detect the body tilt angle to achieve multi-modal data fusion. The method compares the collected data with the normal standard data, and gives risk prompts and warnings in a timely manner through the display screen to ensure that the user understands their own gait problems. In addition, personalized assistance is provided by automatically adjusting the tightness of the traction ropes, effectively improving the accuracy and safety of gait adjustment training, reducing the risk of injury to the user, and being applicable to various scenarios such as medical rehabilitation and sports training.

[0026] Optionally, the gait adjustment method further includes establishing a public gait data set, and the upper controller uses AI to learn the optimal coordination ratio values of each gait parameter to promote algorithm fairness verification.

[0027] By adopting the above technical solutions, a public gait dataset is established and the upper controller uses AI to learn the optimal coordination ratio values of various gait parameters, enabling the optimization of the gait adjustment method. The specific effects include: First, it improves the accuracy of gait analysis. With the support of big data and AI learning, it ensures that the coordination ratio values of gait parameters are closer to the actual needs. Second, it enhances the algorithm fairness verification ability, making the gait adjustment training for different users more personalized and scientific. Third, it promotes the development of gait adjustment technology, providing more reliable technical support for fields such as medical rehabilitation and sports training.

[0028] In summary, the present application includes at least one of the following beneficial technical effects: 1. In the present application, through the cooperation of the three-dimensional frame structure and the traction structure, multi-directional stable support for the user's body can be achieved, and the traction force can be adjusted in real time according to the user's weight and usage status, avoiding the risk of movement limitation and strain, and improving the safety and comfort of training.

[0029] 2. In the present application, the power is output to the user through the pulling of the traction rope, and the user can correctly feel the change of the device's pulling force, so as to carry out the traction work on the user; and it avoids causing harm or discomfort to the user.

[0030] 3. In the present application, the pressure feedback component combined with the display screen can collect and display the user's gait data in real time, including information such as pressure distribution, step length, stride, and step frequency, providing intuitive data feedback for the user, facilitating timely adjustment of movements, and improving the training effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 is a schematic diagram of the practical state structure of the walking hanger device in Embodiment 1 of the present application.

[0032] Figure 2 is a schematic diagram of the partial structure of the walking hanger device in Embodiment 1 of the present application.

[0033] Figure 3 is Figure 2 a schematic diagram of the partial enlarged structure at A in

[0034] Figure 4 is a schematic diagram of the control structure in the present application.

[0035] Figure 5 is a schematic diagram of the partial structure of the walking hanger device in Embodiment 2 of the present application.

[0036] In the figure: 10. Bottom plate; 20. Three-dimensional frame structure; 21. Bottom frame; 22. Column; 23. Top frame; 231. Connecting rod; 30. Harness; 31. Human detector; 40. Pressure feedback component; 41. Pressure sensor; 50. Traction structure; 51. Mounting base; 511. Mounting plate; 512. Swing arm; 52. Traction rope; 53. Tensile sensor; 54. Sliding block; 55. Lead screw; 56. Guide rod; 57. Threaded sleeve; 58. Servo motor; 60. Controller; 70. Display screen; 80. Monitoring camera. Specific implementation manner

[0037] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the attached Figure 1 - attached Figure 5 , and the described embodiments are only possible technical implementations of the present invention, not all possible implementations. Those skilled in the art can completely combine the embodiments of the present invention to obtain other embodiments without creative labor, and these embodiments are also within the protection scope of the present invention.

[0038] Embodiment 1 Users can use the walking hanger device in this application for rehabilitation treatment or walking training. Referring to Figure 1 and Figure 2 as shown, the walking hanger device provided by the embodiment of this application includes a bottom plate 10, a three-dimensional frame structure 20, and a harness 30 for covering the user's body; the three-dimensional frame structure 20 is assembled by splicing profile frames and profile corner pieces made of aluminum alloy or stainless steel; specifically, the three-dimensional frame structure 20 includes a bottom frame 21 fixed around the bottom plate 10, four columns 22 fixed at the four corners of the bottom frame 21, and a top frame 23 fixedly connected to the tops of the four columns 22; the bottom frame 21 and the top frame 23 are rectangular, and the profile corner pieces are located at the connecting columns between the columns 22 and the bottom frame 21 and between the columns 22 and the top frame 23, and both ends of the profile corner pieces are detachably connected to the bottom frame 21, the columns 22, and the top frame 23 by bolts, so as to combine the entire three-dimensional frame structure 20 into a complete three-dimensional structure, forming a stable support structure, ensuring the overall stability of the device, avoiding deformation during use, thereby ensuring data accuracy and eliminating potential safety hazards.

[0039] Referring to Figure 2 , Figure 3 and Figure 4 as shown, the bottom plate 10 is located below the three-dimensional frame structure 20, and a pressure feedback component 40 is provided on the bottom plate 10; several groups of traction structures 50 are provided in the circumferential direction at the top of the three-dimensional frame structure 20; there are at least four groups of traction structures 50 and they are respectively arranged on the circumferential connecting rods 231 of the top frame 23 or at the four corners. Combining Figure 1As shown, the traction structure 50 includes a mounting seat 51 installed on the three-dimensional frame structure 20 and a traction rope 52 with one end connected to the mounting seat 51. The traction rope 52 is made of high-strength nylon rope or high-molecular polyethylene material; a tension sensor 53 for detecting the magnitude of the traction force of the traction rope 52 is provided on the mounting seat 51, and the other end of the traction rope 52 is connected to the harness 30. The harness 30 is made of a fabric with good air permeability and is internally provided with a human detector 31 for detecting the heart rate and breathing frequency of the user. The human detector 31 is connected to the controller 60 through a wireless communication module to achieve real-time data transmission. The connection point between the harness 30 and the traction rope 52 can be adjusted according to the user's body part, such as the waist, shoulder or chest, to ensure uniform distribution of the traction force and avoid discomfort to the user. The walking hanger device further includes a controller 60; the pressure feedback assembly 40 is pressure sensors 41 arranged in an array on the bottom plate 10; the pressure sensor 41 array is used to detect the pressure distribution of the user's footsteps, and circular or square pressure sensing sheets can be used, and the material is flexible silicone or polyurethane to ensure the sensitivity and durability of the sensor. For example, the pressure sensing sheet can be a circular silicone sheet with a diameter of 30 mm or a square polyurethane sheet with a side length of 20 mm, and can be fixed to the bottom plate 10 by bonding or snap-fastening during installation. A display screen 70 is also provided on the bottom plate 10; it can be a liquid crystal screen or an OLED screen, and the size can be adjusted according to actual needs. The pressure sensors 41, the tension sensor 53 and the display screen 70 are all electrically connected to the controller 60. In this application, comprehensive acquisition and real-time feedback of the user's gait data can be realized. The pressure sensor 41 array can accurately detect the pressure distribution and change of the user's feet, providing basic data for gait analysis; the display screen 70 is used to present the calculated gait data, facilitating the user or the instructor to intuitively understand the training status; the controller 60, as the core processing unit, integrates and processes the data collected by the pressure sensors 41 and the tension sensor 53, and controls the display screen 70 to display relevant information, thereby realizing real-time monitoring and feedback of the data. At the same time, the display screen 70 can also simulate and display different environmental states, such as showing different characteristics such as asphalt roads, gravel roads, and winding paths, thereby improving the functionality of the entire device.

[0040] In this embodiment, multiple traction structures 50 at different positions can achieve multi-directional traction force transmission to the user, and the maximum traction force can reach 800 N in each of the four directions. At the same time, the traction force can be adjusted according to the user's weight and usage status, improving the training effect and safety. Combined with Figure 3As shown, the mounting base 51 includes a mounting plate 511 and a swing arm 512. The mounting plate 511 is fixedly connected to the corner of the top frame 23. The tension sensor 53 is a three-dimensional force sensor. The tension sensor 53 is vertically arranged. The lower end of the tension sensor 53 is fixedly connected to the mounting plate 511, and the upper end of the tension sensor 53 is connected to the swing arm 512. One end of the swing arm 512 faces the middle of the bottom plate 10, and a first driving member for winding the towing rope 52 is arranged at the other end of the swing arm 512. In this embodiment, the first driving member can be a motor, and a roller is connected to the output shaft of the motor for winding and unwinding the towing rope 52. The setting of the first driving member realizes the automatic winding of the towing rope 52, and can adjust the tension size in real time according to the user's weight, state, etc., ensuring the dynamic adaptability during the training process. The setting of the swing arm 513 makes the angle of the towing rope 52 adjustable, and further makes the towing of the towing rope 52 more flexible and accurate.

[0041] In this embodiment, a second driving member for driving the swing arm 513 to swing up and down is arranged on the mounting plate 511. The second driving member can be a motor or a hydraulic driving member. The setting of the second driving member on the mounting plate 511 enables the swing arm 513 to automatically adjust the swing in the up and down directions, thereby adjusting the height and angle of the towing rope 52, enhancing the flexibility and accuracy during the gait training of the user.

[0042] Furthermore, in this embodiment, monitoring cameras 80 are arranged on the four columns 22. The monitoring cameras 80 face the middle of the bottom plate 10. The monitoring cameras 80 are connected to the image processing module in the controller 60. The setting of the monitoring cameras 80 can capture the walking posture of the user on the bottom plate 10 in real time, specifically including the flexion and extension angle changes of the hip, knee, and ankle joints, the movement path of the foot during the swing phase, and the rotation, tilt, and lateral displacement amplitudes of the pelvis. Combined with the image processing module, the captured posture data can be analyzed to provide a visual basis for gait evaluation, further improving the accuracy and safety of gait adjustment training.

[0043] The implementation principle is as follows: When in use, the user is located at the middle position of the bottom plate 10, wears the harness 30, and connects each towing rope 52 to the corresponding position of the harness 30. In this way, the towing rope 52 can provide a lifting force for the user, which can not only maintain the standing state of the user, but also collect the specific positions and force data of multiple different parts of the user's body. In addition, the pressure feedback component 40 arranged on the bottom plate 10 can also monitor the foot position and force of the user. Through the integration of these data, the accuracy of multi-dimensional data monitoring is improved, so as to efficiently and reliably judge the gait situation of the user; and give an evaluation result and an improvement suggestion plan to improve the use effect.

[0044] In this application, through the bottom plate 10 and the three-dimensional frame structure 20, the overall stability of the entire walking hanger device can be achieved, avoiding deformation of the device during use, which may cause inaccurate data or potential safety hazards. Through the traction structure 50, the maximum tensile force transmission of 800N in multiple directions can be realized, and the tensile force can be adjusted in real time. According to the different weights and usage states of users, the tensile force of the traction rope 52 with the best effect can be adjusted to meet the personalized needs of different users.

[0045] Embodiment 2 Refer to Figure 5 As shown, this embodiment is substantially the same as Embodiment 1, except that in this embodiment, the mounting seat 51 includes a sliding block 54 slidably sleeved on the peripheral connecting rod 231 of the top frame 23 and a mounting plate 511 fixedly connected to the sliding block 54. The top frame 23 is also respectively provided with a lead screw 55 and a guide rod 56 that are parallel and spaced apart from the connecting rod 231 of the top frame 23. One side of the sliding block 54 has a threaded sleeve 57 screwed onto the lead screw 55, and the other side of the sliding block 54 is slidably sleeved on the guide rod 56; a servo motor 58 for driving the threaded sleeve 57 to rotate forward and backward is provided on the sliding block 54; the tension sensor 53 is a three-dimensional force sensor; the tension sensor 53 is vertically arranged, the lower end of the tension sensor 53 is fixedly connected to the mounting plate 511, and the upper end of the tension sensor 53 is provided with a swing arm 512. One end of the swing arm 512 faces the middle of the bottom plate 10, and the other end of the swing arm 512 is provided with a first driving member for winding the traction rope 52.

[0046] The implementation principle is as follows: The design of the mounting seat 51 realizes the flexible adjustment and precise control of the traction structure 50. The cooperation between the sliding block 54 and the lead screw 55 and the guide rod 56 enables the mounting seat 51 to move smoothly on the connecting rod 231 of the top frame 23, so as to adjust the position of the traction rope 52 according to the needs of the user. The servo motor 58 drives the threaded sleeve 57 to rotate forward and backward, further improving the accuracy of position adjustment. The setting of the swing arm 513 enables the winding and unwinding direction of the traction rope 52 to be flexibly adjusted, ensuring that the traction force can accurately act on different parts of the user's body. The first driving member is used to wind the traction rope 52, which can dynamically adjust the magnitude of the traction force, enabling the device to better adapt to the gait changes and rehabilitation needs of the user. This design significantly improves the flexibility and adaptability of the device, providing more accurate and personalized traction assistance for the user.

[0047] In this embodiment, the first driving member may be a motor, and a roller is connected to the output shaft of the motor for winding and unwinding the towing rope 52. In this embodiment, a second driving member for driving the swing arm 513 to swing up and down is provided on the mounting plate 511. The second driving member may be a motor or a hydraulic driving member. The provision of the second driving member on the mounting plate 511 enables the swing arm 513 to automatically adjust its swing in the up and down directions, thereby adjusting the height and angle of the towing rope 52 and enhancing the flexibility and accuracy during the gait training of the user.

[0048] Embodiment 3 This embodiment provides a gait adjustment method, which uses the walking hanger device in the above Embodiment 1 or Embodiment 2 for gait adjustment training; it uses the pressure feedback components 40 distributed on the bottom plate 10 to detect the horizontal distance between the consecutive touchdown points of the same side foot to obtain the step length data L; uses the pressure feedback components 40 distributed on the bottom plate 10 to detect the horizontal distance between the consecutive touchdown points of the same foot to obtain the step width data D; uses the pressure feedback components 40 distributed on the bottom plate 10 to detect the number of steps per minute to obtain the step frequency data S; obtains the walking speed V = SL through the formula; uses the pressure feedback components 40 distributed on the bottom plate 10 to detect the time ratio of a single foot in contact with the ground to obtain the single support phase; uses the pressure feedback components 40 distributed on the bottom plate 10 to detect the time ratio from a single foot leaving the ground to touching the ground again to obtain the swing phase; uses the pressure feedback components 40 distributed on the bottom plate 10 to detect the time ratio of both feet in contact with the ground to obtain the double support phase; uses the monitoring camera 80 provided on the column 22 to detect the flexion and extension angle changes of the user's hip, knee, and ankle joints during walking, the movement path of the foot during the swing period, and the rotation, tilt, and lateral displacement amplitudes of the pelvis; uses several groups of traction structures 50 at the top of the three-dimensional frame structure 20 to detect the tilt angle of the vertical axis of the user's body trunk; then performs multi-modal data fusion, compares with the normal standard data, gives risk warnings and alerts through the display screen 70, and provides assistance by automatically adjusting the tightness of the towing ropes 52 of each traction structure 50.

[0049] Furthermore, the gait adjustment method in this embodiment further includes establishing a public gait data set, and through the upper controller 60, AI learns the optimal coordination ratio values of each gait parameter to promote the fairness verification of the algorithm.

[0050] The implementation principle of this embodiment is as follows: By combining hardware devices with data analysis algorithms, the entire process of gait adjustment training is automated. This method not only improves the training efficiency but also reduces the errors caused by human intervention, making gait adjustment more scientific and reasonable. At the same time, by establishing a public gait dataset and introducing AI learning technology, the accuracy and fairness of the algorithm are further improved, providing a solid foundation for the formulation of personalized gait adjustment plans. The embodiments of this specific implementation manner are all preferred embodiments of this application, and do not limit the protection scope of this application accordingly. The same components are denoted by the same reference numerals. Therefore, all equivalent changes made according to the structure, shape, and principle of this application shall be covered within the protection scope of this application.

Claims

1. A walking hanger device, characterized in that: The walking hanger device comprises a base plate (10), a three-dimensional frame structure (20) and a brace suit (30) for being put on the user's body; The bottom plate (10) is located below the three-dimensional frame structure (20), and a pressure feedback component (40) is arranged on the bottom plate (10); A plurality of groups of traction structures (50) are arranged around the top of the three-dimensional frame structure (20); the traction structure (50) comprises a mounting seat (51) mounted on the three-dimensional frame structure (20) and a traction rope (52) with one end connected to the mounting seat (51); The mounting seat (51) is provided with a tension sensor (53) for detecting the traction force of the traction rope (52), and the other end of the traction rope (52) is connected to the harness suit (30).

2. The walking hanger device according to claim 1, characterized in that: The walking hanger device also includes a controller (60); the pressure feedback component (40) is a pressure sensor (41) distributed in an array on the base plate (10); a display screen (70) is also provided on the base plate (10); the pressure sensor (41), the tension sensor (53) and the display screen (70) are all electrically connected to the controller (60).

3. The walking hanger device according to claim 2, characterized in that: The three-dimensional frame structure (20) comprises a bottom frame (21) fixedly arranged around the bottom plate (10), four upright posts (22) fixedly arranged at four corners of the bottom frame (21), and a top frame (23) fixedly connected to the top ends of the four upright posts (22); the traction structure (50) has at least four groups and is respectively arranged on connecting rods (231) around the top frame (23) or at four corners.

4. The walking hanger device according to claim 2, characterized in that: Monitoring cameras (80) are arranged on the four uprights (22); the monitoring cameras (80) face the middle of the base plate (10); and the monitoring cameras (80) are connected to an image processing module in the controller (60).

5. The walking hanger device according to claim 3, characterized in that: The mounting seat (51) comprises a mounting plate (511) and a swing arm (512); the mounting plate (511) is fixedly connected to the corner of the top frame (23); the tension sensor (53) is a three-dimensional force sensor; the tension sensor (53) is vertically arranged; the lower end of the tension sensor (53) is fixedly connected to the mounting plate (511); the upper end of the tension sensor (53) is connected to the swing arm (512); one end of the swing arm (512) faces the middle of the bottom plate (10); and the other end of the swing arm (512) is provided with a first driving member for winding up the traction rope (52).

6. The walking hanger device according to claim 3, characterized in that: The mounting seat (51) comprises a sliding block (54) slidably mounted on the connecting rods (231) around the top frame (23) and a mounting plate (511) fixedly connected to the sliding block (54); the top frame (23) is also provided with a screw rod (55) and a guide rod (56) which are parallel and spaced from the connecting rods (231) of the top frame (23); one side of the sliding block (54) has a threaded sleeve (57) screwed on the screw rod (55); the other side of the sliding block (54) is slidably mounted on the guide rod (56); the sliding block (54) is provided with a servo motor (58) for driving the threaded sleeve (57) to rotate forward and reverse; The tension sensor (53) is a three-dimensional force sensor; the tension sensor (53) is arranged vertically, the lower end of the tension sensor (53) is fixedly connected to the mounting plate (511), the upper end of the tension sensor (53) is provided with a swing arm (512), one end of the swing arm (512) faces the middle of the base plate (10), and the other end of the swing arm (512) is provided with a first driving member for winding up the traction rope (52).

7. The walking hanger device according to claim 5 or 6, characterized in that: The mounting plate (511) is provided with a second driving member for driving the swing arm (512) to swing up and down.

8. The walking hanger device according to claim 2, characterized in that: The harness suit (30) is also provided with a human body detector (31) for detecting the heart rate and breathing frequency of the user, and the human body detector (31) is connected to the controller (60) by radio.

9. A gait adjustment method, using the walking hanger device of claim 4 to perform gait adjustment training; characterized in that: The gait adjustment method uses a pressure feedback component (40) distributed on the bottom plate (10) to detect the horizontal distance between two consecutive landing points of the same foot to obtain step length data L; uses a pressure feedback component (40) distributed on the bottom plate (10) to detect the horizontal distance between two consecutive landing points of the same foot to obtain stride data D; uses a pressure feedback component (40) distributed on the bottom plate (10) to detect the number of steps per minute to obtain step frequency data S; The pace V=SL is obtained by the formula; The pressure feedback component (40) distributed on the bottom plate (10) is used to detect the time proportion of a single foot contacting the ground to obtain a single support phase; the pressure feedback component (40) distributed on the bottom plate (10) is used to detect the time proportion of a single foot leaving the ground to landing again to obtain a swing phase; the pressure feedback component (40) distributed on the bottom plate (10) is used to detect the time proportion of both feet contacting the ground simultaneously to obtain a double support phase; Using a monitoring camera (80) arranged on a column (22), the user's hip, knee and ankle joints are detected during walking, changes in flexion and extension angles, movement paths of the foot during the swing phase, and rotation, tilt and lateral displacement of the pelvis; Using a plurality of traction structures (50) on the top of the three-dimensional frame structure (20) to detect the tilt angle of the vertical axis of the user's body trunk; Then, the multimodal data is fused and compared with normal standard data, and risk prompts and warnings are given through the display screen (70), and assistance is provided by automatically adjusting the tightness of the traction rope (52) of each traction structure (50).

10. The gait adjustment method according to claim 9, characterized in that: The gait adjustment method also includes establishing a public gait data set, learning the optimal coordination ratio values ​​of various gait parameters through the upper controller AI, and promoting algorithm fairness verification.

Images