Sole force information sensing pad, pedal fixing device and rehabilitation training instrument

Abstract

The invention relates to the technical field of rehabilitation instruments, in particular to a sole force information sensing pad, a pedal fixing device and a rehabilitation training instrument. The sole force information sensing pad comprises a pad base, an air cushion layer and a hardware acquisition unit; the cushion base is made of a flexible material; the air cushion layer is arranged on the cushion base, and the air cushion layer is at least divided into a half sole outer side air cushion area, a half sole inner side air cushion area and a heel air cushion area; the boundary of the half sole outer side air cushion area and the half sole inner side air cushion area is close to or coincides with the center line of the heel air cushion area in the longitudinal direction. The hardware acquisition unit comprises a controller, a circuit board and a plurality of air pressure sensors which are respectively used for acquiring air pressure in the half sole outer side air cushion area, the half sole inner side air cushion area and the heel air cushion area; the air pressure sensors and the controller are electrically connected with the circuit board; the sole force information sensing pad is good in comfort and high in stress distinguishing precision.

Description

Technical Field

[0001] The present invention relates to the technical field of health care devices, and particularly to a plantar force information sensing pad, a foot pedal fixing device and a rehabilitation training device. Background Art

[0002] In the fields of foot health monitoring and sports science, the accurate measurement of plantar pressure distribution is a core technology for evaluating gait, diagnosing foot diseases, and optimizing sports postures. Most traditional plantar pressure measurement devices use rigid sensor arrays or piezoelectric films, which can provide basic pressure data but have the following problems:

[0003] Poor comfort: Long-term contact with the sole by rigid materials is likely to cause discomfort, especially difficult to popularize during rehabilitation or long-term exercise; Low zoning accuracy: Most devices can only roughly divide the plantar area (such as the forefoot and heel), and cannot subdivide key stress areas such as the outer and inner sides of the forefoot, resulting in insufficient data granularity; Difficult to integrate into sports equipment; Unable to evaluate the rationality of foot force of people with different foot lengths, and difficult to meet the need for mirror evaluation of foot force between the healthy side and the affected side. Summary of the Invention

[0004] In view of the above disadvantages of the prior art, the purpose of the present invention is to provide a plantar force information sensing pad, a foot pedal fixing device and a rehabilitation training device, and the plantar force information sensing pad has good comfort and high stress area division accuracy.

[0005] To achieve the above object and other related objects, the present invention provides a plantar force information sensing pad, including:

[0006] A mat base made of a flexible material;

[0007] An air cushion layer disposed on the mat base, and the air cushion layer is at least divided into a forefoot outer side air cushion area, a forefoot inner side air cushion area and a heel air cushion area; the dividing line between the forefoot outer side air cushion area and the forefoot inner side air cushion area is close to or coincides with the longitudinal center line of the heel air cushion area;

[0008] A hardware acquisition unit, including a controller, a circuit board and a plurality of pressure sensors respectively used for collecting the air pressures in the forefoot outer side air cushion area, the forefoot inner side air cushion area and the heel air cushion area, and the pressure sensors and the controller are both electrically connected to the circuit board.

[0009] In an embodiment of the present invention, the air cushion layer includes air cushion units arranged in an array;

[0010] The air cushion units in the forefoot outer side air cushion area are interconnected, the air cushion units in the forefoot inner side air cushion area are interconnected, and the air cushion units in the heel air cushion area are interconnected.

[0011] In an embodiment of the present invention, the distance between the outer forefoot air cushion area, the inner forefoot air cushion area and the heel air cushion area is adjustable.

[0012] In an embodiment of the present invention, the heel air cushion area is integrally connected to the mat base, and the distance between the outer forefoot air cushion area, the inner forefoot air cushion area and the heel air cushion area is adjustable.

[0013] In an embodiment of the present invention, the outer forefoot air cushion area, the inner forefoot air cushion area, and the heel air cushion area are all integrally connected to the mat base. The center position of the junction of the outer forefoot air cushion area, the inner forefoot air cushion area and the heel air cushion area coincides with the longitudinal center position of the foot, and the outer forefoot air cushion area and the inner forefoot air cushion area are symmetrically arranged left and right.

[0014] In an embodiment of the present invention, the circuit board includes a power supply circuit, a preconditioning circuit, an analog-to-digital conversion circuit and a signal transmission module electrically connected;

[0015] Each of the air pressure sensors collects the air pressure signals in the outer forefoot air cushion area, the inner forefoot air cushion area, and the heel air cushion area, and after being processed by the circuit board, is transmitted to the display end by the signal transmission module.

[0016] In an embodiment of the present invention, the outer forefoot air cushion area, the inner forefoot air cushion area, and the heel air cushion area are respectively connected to the corresponding air pressure sensors through flexible tubes.

[0017] In an embodiment of the present invention, the air cushion unit has a hemispherical shell structure.

[0018] To achieve the above and other related purposes, the present invention provides a footrest fixing device, including the sole force information sensing mat described above.

[0019] In an embodiment of the present invention, the footrest fixing device further includes:

[0020] A footrest main body for supporting the user's foot;

[0021] A limit adjustment assembly is provided on the footrest main body. The limit adjustment assembly is configured to adjust the position of the foot on the footrest main body so that the center position of the junction of the outer forefoot air cushion area, the inner forefoot air cushion area and the heel air cushion area coincides with the longitudinal center position of the foot on the footrest main body; wherein, the longitudinal direction of the foot is from the front sole to the heel.

[0022] To achieve the above and other related purposes, the present invention provides a rehabilitation training apparatus, including the footrest fixing device described above.

[0023] In an embodiment of the present invention, the rehabilitation training device further includes a mirror training module, and the mirror training module includes:

[0024] A data comparison sub-module, which is data-connected to the two hardware acquisition units, and is used to receive and compare the air pressure signals of the user's left and right feet in the outer lateral forefoot air cushion area, the inner medial forefoot air cushion area, and the heel air cushion area;

[0025] A feedback signal generation sub-module, which is electrically connected to the data comparison sub-module, and is used to generate a left and right foot pressure distribution difference signal according to the comparison result;

[0026] A display interface, which is electrically connected to the feedback signal generation sub-module, and is used to output the difference signal to an external display device to visually display the left and right foot pressure heat maps and / or difference threshold prompts.

[0027] In summary, the present invention forms a plantar force information sensing pad through the connection of the pad base, the air cushion layer, and the hardware acquisition unit. The cushion base made of flexible material and the buffer setting of the air cushion layer reduce foot fatigue and are suitable for rehabilitation and long-term exercise scenarios; at least three areas such as the outer lateral forefoot air cushion area, the inner medial forefoot air cushion area, and the heel air cushion area are independently monitored to identify abnormal postures such as varus and valgus, toe drop, etc., providing detailed data for clinical diagnosis or rehabilitation training, thereby solving the problems of poor comfort and low zoning accuracy of traditional devices. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention, and those of ordinary skill in the art can also obtain other drawings based on these drawings without creative efforts.

[0029] Figure 1 It is a three-dimensional structure schematic diagram of the plantar force information sensing pad in an embodiment of the present invention;

[0030] Figure 2 It is a side structure schematic diagram of the plantar force information sensing pad in an embodiment of the present invention;

[0031] Figure 3 It is a top view structure schematic diagram of the plantar force information sensing pad in an embodiment of the present invention;

[0032] Figure 4 It is a structure schematic diagram in which each air cushion unit in the outer lateral forefoot air cushion area, the inner medial forefoot air cushion area, and the heel air cushion area of the present invention is respectively communicated;

[0033] Figure 5 It is a structure schematic diagram of the controller in an embodiment of the present invention;

[0034] Figure 6 A schematic structural diagram of the plantar force information sensing pad installed on the footrest fixing device in an embodiment of the present invention;

[0035] Element number description: mat base 1, air cushion layer 2, outer forefoot air cushion area 21, inner forefoot air cushion area 22, heel air cushion area 23, hardware acquisition unit 3, pressure sensor, air cushion unit 201, flexible tube 24, footrest main body 1001, limit adjustment assembly 2001, forefoot limit part 20011, heel limit part 20012, length adjustment mechanism 20013. Specific implementation manners

[0036] The following uses specific specific examples to illustrate the implementation manners of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific implementation manners. Various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that, without conflict, the following embodiments and the features in the embodiments can be combined with each other. It should also be understood that the terms used in the embodiments of the present invention are for the purpose of describing specific specific implementation manners, rather than for limiting the protection scope of the present invention. The test methods without specific conditions noted in the following embodiments are usually carried out under conventional conditions or according to the conditions recommended by each manufacturer.

[0037] Please refer to Figures 1 to 6 . It should be noted that the structures, ratios, sizes, etc. shown in the drawings of this specification are only used to cooperate with the content disclosed in the specification for those skilled in this technology to understand and read, and are not used to limit the limited conditions under which the present invention can be implemented. Therefore, they do not have technical substance significance. Any modification of the structure, change of the proportional relationship, or adjustment of the size, without affecting the effects that the present invention can produce and the purposes that can be achieved, should still fall within the scope covered by the technical content disclosed in the present invention. At the same time, the terms such as "upper", "lower", "left", "right", "middle", and "one" cited in this specification are only for the convenience of clear description and are not used to limit the scope under which the present invention can be implemented. The change or adjustment of their relative relationships, without substantial change in the technical content, should also be regarded as the scope under which the present invention can be implemented.

[0038] When numerical ranges are given in the embodiments, it should be understood that, unless otherwise specified in the present invention, both endpoints of each numerical range and any value between the two endpoints can be selected. Unless otherwise defined, all technical and scientific terms used in the present invention, based on the understanding of those skilled in the art of the prior art and the description of the present invention, any method, device, and material of the prior art similar or equivalent to those described in the embodiments of the present invention can also be used to implement the present invention.

[0039] Please refer to Figure 1 , the present invention provides a plantar force information sensing pad, including a pad base 1, an air cushion layer 2, and a hardware acquisition unit 3;

[0040] The pad base 1 is made of a flexible material; the air cushion layer 2 is disposed on the pad base 1, and the air cushion layer 2 is at least divided into a lateral forefoot air cushion area 21, a medial forefoot air cushion area 22, and a heel air cushion area 23; the dividing line between the lateral forefoot air cushion area 21 and the medial forefoot air cushion area 22 is close to or coincides with the longitudinal center line of the heel air cushion area 23; the hardware acquisition unit 3 includes a controller, a circuit board, and a plurality of pressure sensors respectively used to collect the air pressures in the lateral forefoot air cushion area 21, the medial forefoot air cushion area 22, and the heel air cushion area 23, and the pressure sensors and the controller are both electrically connected to the circuit board.

[0041] It should be noted that the pad base 1 can be made of a flexible material. Further, it is made of a flexible polymer material. For example, the material of the pad base 1 is made of silicone material, thermoplastic elastomer TPE, or thermoplastic polyurethane TPU, etc., which has both flexibility and durability. Silicone provides high resilience and biocompatibility, while TPE / TPU enhances the tear resistance. The flexible pad base 1 can fit the plantar curve, disperse local pressure, avoid the compressive feeling of hard materials on the foot, and is suitable for long-term use.

[0042] The air cushion layer 2 is designed with partitions, at least divided into three independent air cushion areas: the lateral forefoot, the medial forefoot, and the heel, and each area corresponds to a key plantar stress point; the air cushions in each area reflect the plantar pressure distribution through internal air pressure changes, and at the same time buffer the impact force and improve comfort; it should be understood that the lateral forefoot air cushion area 21, the medial forefoot air cushion area 22, and the heel air cushion area 23 can also be further refined into more sub-areas, or the air cushion layer 2 can be increased with more sub-areas. For example, the air cushion layer 2 can also be divided into independent air cushion areas such as a toe area, an arch area, a lateral heel area, and a medial heel area, etc., to achieve more refined partitioning and improve the stress discrimination accuracy. It should be understood that after the air cushion layer 2 is inflated to a predetermined air pressure and continues to be inflated, the volume of the air cushion layer 2 will not increase significantly with the increase of the inflation amount. Although the volume may change, it can be ignored.

[0043] The longitudinal direction of the heel air cushion area 23 is the direction from the heel air cushion area 23 towards the lateral forefoot air cushion area 21 and the medial forefoot air cushion area 22, that is, the front-back direction of the foot after the foot is placed on the plantar force information sensing pad. The demarcation line between the lateral forefoot air cushion area 21 and the medial forefoot air cushion area 22 is close to or coincides with the center line of the longitudinal direction of the heel air cushion area 23. For example, the demarcation line between the lateral forefoot air cushion area 21 and the medial forefoot air cushion area 22 is within one centimeter of the center line of the longitudinal direction of the heel air cushion area 23, or the demarcation line between the lateral forefoot air cushion area 21 and the medial forefoot air cushion area 21 coincides exactly with the center line of the longitudinal direction of the heel air cushion area 23. Because the air cushion partitions of traditional plantar pressure pads may not be aligned with the natural anatomical structure of the foot, resulting in the corresponding sensors being unable to accurately capture the true distribution of the key force-bearing areas; if the demarcation line between the inner and outer sides of the forefoot is misaligned with the heel center line, when the user's foot is slightly misaligned, it may cause the air cushion area to be misaligned with the actual force-bearing area, resulting in errors; at the same time, the reliability of rehabilitation training and gait analysis is limited, and inaccurate partition design may affect the recognition of abnormal postures such as varus / valgus and foot drop, thus limiting the reliability of rehabilitation training and gait analysis. Therefore, in this case, by making the demarcation line between the lateral forefoot air cushion area 21 and the medial forefoot air cushion area 22 close to or coincide with the center line of the longitudinal direction of the heel air cushion area 23, in terms of improving the detection accuracy of pressure distribution, after the demarcation line is aligned with the heel center line, the air cushion area fits better with the natural force-bearing areas of the sole (such as metatarsals, arches, heels), ensuring that the force detection covers key biomechanical points; in terms of enhancing measurement consistency, it reduces the pressure data deviation caused by the deviation of foot placement, and improves the comparability of measurement results for different users or the same user multiple times; in terms of optimizing the ability to recognize abnormal postures, the precise partition layout can more sensitively capture the subtle pressure changes of actions such as varus / valgus and foot drop, providing reliable data for clinical diagnosis.

[0044] The number of the air pressure sensors is the same as the number of the regions divided by the air cushion layer 2, and each partition of the air cushion layer 2 corresponds to a high-precision air pressure sensor, so as to monitor the air pressure change of each partition in real time; the hardware acquisition unit 3 integrates a microcontroller (such as the STM32 series) and a customized PCB board to realize signal amplification, filtering and analog-to-digital conversion; after the sensor data is processed by the circuit board, it is wirelessly transmitted to a PC or a mobile terminal through a signal transmission module (such as Bluetooth or wireless network) to generate a visual pressure distribution map.

[0045] Specific air pressure sensing principle: The pressure exerted on the sole causes a change in the internal volume of the air cushion. The air pressure sensor detects the relative pressure (relative to the ambient atmospheric pressure), and converts the pressure value into an electrical signal through a linear relationship (for example, P = K·F, where K is the proportionality coefficient, F is the pressure exerted by the foot, and P is the relative pressure value). The flexible material allows the air cushion layer 2 to dynamically adjust with the deformation of the foot, ensuring full contact between the air cushion layer 2 and the sole of the foot, improving the accuracy of the air pressure sensor in detecting the air pressure inside the air cushion layer 2, and avoiding data distortion.

[0046] In this case, the setting of the cushion base 1 made of flexible material and the air cushion layer 2 for buffering reduces foot fatigue and is suitable for rehabilitation and long-term exercise scenarios; at least three regions such as the lateral forefoot air cushion region 21, the medial forefoot air cushion region 22, and the heel air cushion region 23 are independently monitored to identify abnormal postures such as varus / valgus and foot drop, providing detailed data for clinical or rehabilitation training diagnosis, thus solving the problems of poor comfort and low zoning accuracy of traditional devices.

[0047] Please refer to Figures 1-4 , as an optional embodiment of the present invention, the air cushion layer 2 includes air cushion units 201 arranged in an array;

[0048] The air cushion units 201 within the lateral forefoot air cushion region 21 communicate with each other, the air cushion units 201 within the medial forefoot air cushion region 22 communicate with each other, and the air cushion units 201 within the heel air cushion region 23 communicate with each other.

[0049] It should be noted that when the sole steps on the sensing pad, the air cushion units 201 arranged in an array can better adapt to the complex shape and pressure distribution of the sole. For example, during walking or standing, the pressures borne by areas such as the outer side, inner side of the forefoot, and the heel are different. The air cushion units 201 within the same area are interconnected, which can cause the pressure to be transmitted and dispersed among the air cushion units 201. Taking walking as an example, at the moment the foot touches the ground, the outer side of the forefoot touches the ground first and bears a large impact force. If the air cushion units 201 are not interconnected, a single air cushion unit 201 may be overly compressed, resulting in excessive local pressure and affecting comfort. However, the interconnected air cushion units 201 can disperse the impact force to the surrounding air cushion units 201, enabling the entire outer side of the forefoot to bear pressure evenly and avoiding excessive local pressure. The inflated air cushion units 201 are elastic and can form a buffer between the sole and the ground or the footrest fixing device; when the foot steps down, the air cushion units 201 are compressed and then quickly rebound, just like stepping on a spring, reducing the impact of the ground reaction force on the sole and joints, and effectively reducing foot fatigue; since the air cushion units 201 are arranged in an array and partitionally interconnected, they can better conform to the natural contour of the sole; the sole of a person has different arcs such as the arch, forefoot, and heel, and the interconnected air cushion units 201 can deform according to the shape of the sole, making the contact between the sole and the sensing pad closer and more comfortable. In addition, the interconnected design of the air cushion units 201 can also indirectly affect the friction force; under the action of pressure, tiny wrinkles or deformation areas will form at the connection parts of the air cushion units 201, increasing the contact area with the sole and, to a certain extent, increasing the friction force to prevent slipping. For the sensing of sole force information, the interconnected air cushion units 201 contribute to more accurately detecting the pressure distribution. The air cushion units 201 within each area are interconnected, enabling the pressure to be evenly conducted among the air cushion units 201, and the signals detected by the air pressure sensors can better represent the pressure situation of the entire area rather than the local pressure of a single air cushion unit 201.

[0050] Please refer to Figures 1-3 , as an optional embodiment of the present invention, the distance between the outer forefoot air cushion area 21, the inner forefoot air cushion area 22 and the heel air cushion area 23 is adjustable.

[0051] It should be noted that most existing sole pressure pads have fixed partition sizes and cannot adapt to users with different foot lengths or arch heights, resulting in measurement errors (such as misalignment between the heel and the forefoot area); in this case, through the adjustable distance design, the positions of the outer side, inner side of the forefoot and the heel air cushion area 23 are adapted to different foot shapes, ensuring that the key force-bearing points can be accurately measured by the sensors and avoiding pressure misjudgment caused by partition misalignment.

[0052] As an optional embodiment of the present invention, the two air cushion layers 2 in the forefoot area can be fixed in position by means of a knob or a buckle or negative pressure adsorption to prevent displacement during movement.

[0053] Please refer to Figures 1-3, as an alternative embodiment of the present invention, the heel air cushion area 23 is integrally connected to the cushion base 1, and the distances between the outer forefoot air cushion area 21, the inner forefoot air cushion area 22 and the heel air cushion area 23 are adjustable;

[0054] And scale markings for adjusting the positions of the outer forefoot air cushion area 21 and the inner forefoot air cushion area 22 are provided on the cushion base 1.

[0055] It should be noted that the cushion base 1 serves to improve the sealing performance of the heel air cushion area 23, while the outer forefoot air cushion area 21 and the inner forefoot air cushion area 22 have their own independent sealing bottoms; scale markings, such as longitudinal scale markings, are marked on the surface of the cushion base 1, starting from the heel area and extending forward to mark the recommended positions of the forefoot area (such as "35%-45% of the foot length" corresponding to the center of the arch); fluorescent or raised markings are used for easy operation in dim environments. In this case, by integrally connecting the heel air cushion area 23 to the cushion base 1, excessive heel shaking during exercise is avoided, reducing energy loss and fatigue; the adjustable distances between the outer and inner forefoot air cushion areas can adapt to different foot shapes of users; the scale markings on the cushion base 1 enable users to accurately adjust the positions of the air cushion areas. Combining with the adjustment of the distances, the length of the plantar force information sensing pad can be reasonably adjusted by referring to the plantar force information sensing pad length adjustment table according to the foot length and plantar force information. Combining the design of the fixed heel air cushion area 23 and the scale markings provides an intuitive adjustment guide, enabling the reasonable distribution of the outer forefoot air cushion area 21 and the inner forefoot air cushion area 22, ensuring that the longitudinal center of the foot aligns with the junction of the air cushion areas, achieving accurate measurement of the plantar pressure distribution by the pressure sensor, thereby improving the accuracy of pressure measurement; and users can quickly complete the adaptation according to the scale, reducing the time of repeated debugging and enhancing the usability of the device.

[0056] , as an alternative embodiment of the present invention, the outer forefoot air cushion area 21, the inner forefoot air cushion area 22 and the heel air cushion area 23 are all integrally connected to the cushion base 1, the central position of the junction between the outer forefoot air cushion area 21, the inner forefoot air cushion area 22 and the heel air cushion area 23 is consistent with the longitudinal center position of the foot, and the outer forefoot air cushion area 21 and the inner forefoot air cushion area 22 are symmetrically arranged left and right.

[0057] It should be noted that if the plantar force information sensing pad adopts an adjustable partition design, it will lead to a cumbersome adjustment process and is prone to partition misalignment due to improper user operation, thus affecting the measurement accuracy; especially in public places or rehabilitation institutions, frequent adjustment will increase the usage complexity and reduce the efficiency. Therefore, in this case, the air cushion area is designed according to the maximum foot length (covering more than 95% of the user's foot shapes), and the flexible material of the air cushion layer 2 naturally fits the plantar curve. Even if the foot shape is slightly smaller, the deformation of the flexible material can still ensure that the sensor effectively measures the plantar pressure, avoiding data omission caused by fixed spacing; thus, in terms of simplifying the operation process, the user does not need to manually adjust the position of the air cushion area, reducing human error and improving the usability of the device. In terms of improving measurement consistency, the fixed spacing ensures that the partition layout is unified for each measurement, enhancing data comparability (such as the comparative analysis of multiple training data), and in terms of reducing manufacturing costs, the adjustment mechanism (such as slide rails, buckles) is omitted, simplifying the structural design and improving the product reliability.

[0058] The deviation between the partition center line of the traditional device and the natural force center line of the foot is relatively large, resulting in the sensor being unable to accurately capture the true distribution of key pressure points (such as metatarsal bones, heels), affecting the accuracy of gait analysis and rehabilitation training; in this case, by making the intersection center position of the outer forefoot air cushion area 21, the inner forefoot air cushion area 22 and the heel air cushion area 23 coincide with the longitudinal center position of the foot, each air cushion area covers the main biomechanical load area, thus avoiding the misalignment between the air cushion area and the pressure point caused by the deviation of foot placement (such as slight internal or external rotation), and ensuring that the data reflects the true force condition.

[0059] Regarding the left-right symmetric setting of the outer forefoot air cushion area 21 and the inner forefoot air cushion area 22, the asymmetric partition design may lead to poor comparability of the pressure data of the left and right feet, especially it is difficult to accurately compare the force differences between the affected side and the healthy side in mirror training; therefore, in this case, by making the outer forefoot air cushion area 21 and the inner forefoot air cushion area 22 symmetrically arranged left and right, the symmetric layout can better capture the asymmetry of the force of the left and right feet (such as varus, valgus), providing a quantitative basis for rehabilitation training, and the pressure data of the left and right feet in the same symmetric partition can be directly compared, reducing misjudgment caused by partition differences.

[0060] As an optional embodiment of the present invention, the circuit board includes a power supply circuit, a preconditioning circuit, an analog-to-digital conversion circuit and a signal transmission module electrically connected;

[0061] Each of the air pressure sensors respectively collects the air pressure signals in the outer forefoot air cushion area 21, the inner forefoot air cushion area 22, and the heel air cushion area 23, and after being processed by the circuit board, is transmitted to the display end by the signal transmission module (such as Bluetooth or wireless network).

[0062] It should be noted that traditional pressure sensing systems mostly adopt wired transmission or complex data processing units, resulting in bulky devices with poor real-time performance and being difficult to meet the requirements of motion or rehabilitation scenarios. In this case, through integrated circuit design and a wireless transmission module, efficient signal processing and low-latency data transmission are achieved to meet the real-time monitoring requirements. In this case, a lithium battery is used for power supply, supporting fast charging and having a long battery life. The front-end conditioning circuit includes a low-pass filter (cutoff frequency 100Hz) and an operational amplifier to eliminate high-frequency noise and adapt to the output range of the sensor. The analog-to-digital conversion circuit can adopt a 16-bit ADC (such as ADS1115) with a sampling rate of 1kHz to ensure data accuracy. The signal transmission module can adopt the BLE 5.0 protocol with a transmission distance ≥10m, being compatible with devices such as Apple and Android. The specific signal transmission and processing direction is as follows: sensor signal, front-end conditioning circuit, analog-to-digital conversion circuit, microcontroller, Bluetooth transmission to the terminal display, and the display terminal is a display screen, mobile phone, or computer. The 16-bit ADC resolution of the analog-to-digital conversion circuit can detect pressure changes at the 0.1kPa level, with high accuracy, and the wireless design gets rid of the cable constraint, being suitable for dynamic scenarios.

[0063] Please refer to Figures 1-3 , as an optional embodiment of the present invention, the outer lateral forefoot air cushion area 21, the inner medial forefoot air cushion area 22, and the heel air cushion area 23 are respectively connected to the corresponding air pressure sensors through flexible tubes 24.

[0064] It should be noted that the material of the flexible tube 24 can be the same as that of the mat base 1. The inner diameter of the flexible tube 24 can be designed according to the connection requirements of the air pressure sensor and the gas flow rate to ensure that the gas can flow smoothly therein. At the same time, the wall thickness should be appropriate, which not only ensures sufficient strength to withstand the internal gas pressure but also has a certain flexibility to adapt to different connection angles and position changes. The flexible tube 24 can be laid along the edge, bottom, or gap of the sensing mat and other positions that are not easily interfered by external forces. The flexible tube 24 is hermetically connected to the air pressure sensor and the air cushion layer 2, effectively preventing the interference of external air and gas leakage, and ensuring the stability of the air pressure signal during transmission. The stable air pressure signal helps the air pressure sensor generate accurate electrical signals, reducing the errors that may be caused by signal fluctuations and improving the reliability and accuracy of the entire system. The air pressure sensor is arranged outside the mat base 1 to avoid being damaged by being stepped on. The flexible tube 24 can be designed to be detachably connected to the air pressure sensor. For example, the flexible tube 24 is connected to the air pressure sensor through a quick plug-in joint or a threaded connection method, making the installation and maintenance more convenient and fast. When it is necessary to replace the air pressure sensor or check and maintain the system, only the flexible tube 24 needs to be simply disassembled and installed, without the need to perform complex disassembly on the entire sensing mat, saving time and labor costs.

[0065] Please refer to Figure 2, as an alternative embodiment of the present invention, the air cushion unit 201 has a hemispherical shell structure.

[0066] It should be noted that if the air cushion unit 201 has a cubic or cylindrical structure, local high-pressure points are likely to form at the corners, resulting in measurement errors and foot discomfort, and making it difficult for regular geometric bodies to adapt to the plantar surface, reducing the contact area and data accuracy. In this case, the hemispherical shell-shaped air cushion unit 201 is adopted to optimize the pressure distribution and deformation adaptability, improving the measurement accuracy and comfort. For example, the size of the hemispherical shell structure is 10 - 15 mm in diameter and 3 - 5 mm in height, taking into account both sensitivity and structural strength, arranged in an array, with the center spacing of the air cushion units 201 being 8 - 12 mm, covering the key areas of the plantar surface; the hemispherical surface disperses the pressure in all directions, avoiding local stress concentration. The top of the air cushion unit 201 can be vertically compressed, and the side wall can be laterally extended to adapt to the dynamic movement of the plantar surface. The air cushion unit 201 made of silicone material can be manufactured by an injection molding process to ensure the airtightness of the cavity. Micro-textures (such as honeycomb-shaped concavities and convexities) are added to the outer surface of the air cushion unit 201 to enhance the anti-slip performance.

[0067] Please refer to Figure 6 , the present invention also provides a footrest fixing device, including the plantar force information sensing pad described above.

[0068] It should be noted that in this case, the plantar force information sensing pad is integrated into the footrest fixing device, and magic tapes, card slots or bolt holes are reserved at the bottom of the sensing pad for quick connection with the footrest main body 1001. The built-in power supply of the footrest fixing device powers the plantar force information sensing pad, reducing cable redundancy. The footrest fixing device can integrate pressure data and motion parameters (such as cadence, power) to provide comprehensive training analysis.

[0069] Please refer to Figure 6 , as an alternative embodiment of the present invention, the footrest fixing device further includes a footrest main body 1001 and a limit adjustment assembly 2001;

[0070] The footrest main body 1001 is used to support the user's foot; the limit adjustment assembly 2001 is used to adjust the position of the foot on the footrest main body 1001 so that the central position of the intersection of the outer forefoot air cushion area 21, the inner forefoot air cushion area 22 and the heel air cushion area 23 coincides with the longitudinal central position of the foot on the footrest main body 1001; wherein, the longitudinal direction of the foot is from the forefoot to the heel direction.

[0071] It should be noted that the longitudinal and lateral precise positioning of the foot is achieved through the limit adjustment assembly 2001, ensuring the correspondence between the key areas of the sole and each area of the air cushion layer 2, and improving the measurement reliability. The user moves the foot to align the heel area with the heel air cushion area 23 of the sensing pad. The highest point of the arch (located at 35%-45% of the foot length) coincides with the center position of the junction of each air cushion area, so as to enable the user to quickly position according to the foot length.

[0072] As an optional embodiment of the present invention, the limit adjustment assembly 2001 includes a forefoot limit part 20011, a heel limit part 20012 and a length adjustment mechanism 20013; the forefoot limit part 20011 and the heel limit part 20012 are slidably connected to the pedal main body 1001 along a first direction, and the first direction is the front-back direction of the foot on the pedal main body 1001; the length adjustment mechanism 20013 connects the pedal main body 1001 with the forefoot limit part 20011 and connects the pedal main body 1001 with the heel limit part 20012; the length adjustment mechanism 20013 is configured to be able to adjust the positions of the forefoot limit part 20011 and the heel limit part 20012 relative to the pedal main body 1001, so that the central position of the junction of the outer forefoot air cushion area 21, the inner forefoot air cushion area 22 and the heel air cushion area 23 is consistent with the longitudinal central position of the foot on the pedal main body 1001; the length adjustment mechanism 20013 can realize the position adjustment of the forefoot limit part 20011 and the heel limit part 20012 through, for example, a gear-rack adjustment assembly, a hydraulic adjustment assembly, a screw adjustment assembly, etc.; for example, the forefoot limit part 20011 and the heel limit part 20012 can both realize the position adjustment through a screw or a telescopic driving part connected to the pedal main body 1001. Or for another example, the length adjustment mechanism 20013 includes a traction rope and a tightening mechanism, the traction rope passes through the pedal main body 1001 along the first direction and is connected to the forefoot limit part 20011; the tightening mechanism is arranged on the pedal main body 1001 and is connected to the traction rope, and the tightening mechanism is configured to be able to tighten or loosen the traction rope.

[0073] As an optional embodiment of the present invention, the plantar force information sensing pad is fixed to the pedal main body 1001 by means of Velcro, screws or bonding.

[0074] The present invention also provides a rehabilitation training device, including the pedal fixing device described above.

[0075] It should be noted that traditional rehabilitation devices (such as steppers, balance trainers, lower limb joint trainers, gait trainers, elliptical machines, spinning bikes or other devices that meet the usage requirements) lack the function of real-time plantar pressure monitoring and cannot provide quantitative training feedback for patients. In this case, by integrating the foot fixing device into the rehabilitation training device, real-time collection and analysis of plantar force data during training are achieved to support the formulation of personalized rehabilitation programs. For example, the hardware layer includes: plantar force information sensing pad, foot fixing device, main control terminal (such as a touch screen). The software layer can include built-in algorithms to analyze pressure symmetry, peak distribution and dynamic change trends; enabling multiple functions, such as real-time monitoring function: the screen displays the pressure curves and heat maps of three regions, supporting alarms for abnormal postures (such as varus). Such as data storage function: cloud synchronization of training records for doctors to remotely evaluate the rehabilitation progress. Such as interactive training function: a gamified interface guides the patient to adjust the force application mode, and the pressure data is used to guide the user to adjust the posture in real time, accelerating the rehabilitation of neuromuscular.

[0076] As an optional embodiment of the present invention, the rehabilitation training device further includes a mirror training module, and the mirror training module includes:

[0077] A data comparison sub-module, which is data-connected or electrically connected to the two hardware acquisition units, and is used to receive and compare the air pressure signals of the user's left and right feet in the outer forefoot air cushion area, the inner forefoot air cushion area and the heel air cushion area;

[0078] A feedback signal generation sub-module, which is electrically connected to the data comparison sub-module, and is used to generate a left and right foot pressure distribution difference signal according to the comparison result;

[0079] A display interface, which is electrically connected to the feedback signal generation sub-module, and is used to output the difference signal to an external display device to visually display the left and right foot pressure heat maps and / or difference threshold prompts.

[0080] It should be noted that traditional rehabilitation devices can only display the plantar pressure of a single foot of the patient separately during training and cannot compare the pressure differences between the left and right feet in real time, resulting in the following problems. First, the symmetry monitoring is missing, and the patient cannot know whether the forces of the two feet are balanced, which is easy to form incorrect gait habits. Second, the feedback is not intuitive, and the user needs to manually compare the data, making it difficult to correct the training actions in time. Third, the early warning function is lacking. When the unilateral pressure is too large, the device cannot actively prompt, presenting a safety hazard.

[0081] In the mirror training module described in this case, the data comparison sub-module is connected to the two hardware acquisition units 3 for data, and in real time receives the pressure values of the corresponding air cushion areas of the left and right feet, and calculates the difference at the same time point (such as 10 times per second); the feedback signal generation sub-module has a preset pressure difference threshold built-in (for example, it is triggered when the difference between the left and right feet exceeds 15%), and generates a prompt signal including levels such as "normal" and "warning" according to the comparison result; the display interface converts the difference signal into a graphic instruction, and sends it to the display screen through HDMI or wireless transmission to display the pressure distribution comparison chart of the left and right feet; in the visualization display solution, for example, through the generation of a heat map, the pressure magnitudes of the left and right foot air cushion areas are represented by different colors (such as red representing high pressure and blue representing low pressure), and the two images are displayed side by side; in terms of difference prompts, when the pressure difference in a certain area exceeds the threshold, a yellow border flashes at the corresponding position or a warning icon pops up.

[0082] The hardware of the data comparison sub-module may include, for example, a dual-core controller, a synchronous clock, and a signal isolation circuit that are electrically connected; the feedback signal generation sub-module may include, for example, a voltage comparator, a variable resistor, and a graphics processing chip that are electrically connected; the specific data signal transmission path is generally: a pressure sensor, a signal conditioning circuit, an analog-to-digital converter (ADC), a dual-core controller (data comparison), a threshold comparison unit (voltage comparator + variable resistor), a heat map generation unit (graphics chip + video memory), and then it is transmitted to the display interface and the audio-visual alarm (buzzer + LED) simultaneously.

[0083] In the above solution, it enables the user to simultaneously see the pressure distribution comparison of the left and right feet, quickly discover imbalance problems (such as excessive pressure on the front sole of the left foot), be able to distinguish the pressure magnitudes by colors, the patient can actively adjust the foot posture to make the colors on both sides of the heat map tend to be the same, improving the training accuracy. When the pressure in a certain area of a single foot continuously exceeds the set threshold, the device automatically emits a sound reminder or a vibration warning to prevent muscle strains. In addition, the difference data is directly displayed graphically without manual calculation, reducing the working intensity of the user.

[0084] In summary, the present invention effectively overcomes some practical problems in the prior art, and thus has high utilization value and practical significance.

[0085] The above embodiments are only illustrative of the principles and effects of the present invention, and are not used to limit the present invention. Any person familiar with this technology can modify or change the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or changes made by those with ordinary knowledge in the technical field without departing from the spirit and technical ideas disclosed by the present invention should still be covered by the claims of the present invention.

Claims

1. A plantar force information sensing pad, characterized in that, Comprising: A mat base made of a flexible material; An air cushion layer disposed on the mat base, the air cushion layer being at least divided into a lateral forefoot air cushion area, a medial forefoot air cushion area, and a heel air cushion area; a demarcation line between the lateral forefoot air cushion area and the medial forefoot air cushion area is adjacent to or coincides with a longitudinal center line of the heel air cushion area; A hardware acquisition unit including a controller, a circuit board, and a plurality of air pressure sensors respectively for acquiring air pressures in the lateral forefoot air cushion area, the medial forefoot air cushion area, and the heel air cushion area, the air pressure sensors and the controller being electrically connected to the circuit board.

2. The plantar force information sensing pad according to claim 1, wherein The air cushion layer includes air cushion units arranged in an array; The air cushion units in the lateral forefoot air cushion area communicate with each other, the air cushion units in the medial forefoot air cushion area communicate with each other, and the air cushion units in the heel air cushion area communicate with each other.

3. The plantar force information sensing pad according to claim 1, wherein The heel air cushion area is integrally connected to the mat base, and the distances between the lateral forefoot air cushion area, the medial forefoot air cushion area, and the heel air cushion area are adjustable.

4. The plantar force information sensing pad according to claim 1, wherein The lateral forefoot air cushion area, the medial forefoot air cushion area, and the heel air cushion area are all integrally connected to the mat base, a junction center position between the lateral forefoot air cushion area, the medial forefoot air cushion area, and the heel air cushion area is consistent with a longitudinal center position of the foot, and the lateral forefoot air cushion area and the medial forefoot air cushion area are symmetrically arranged left and right.

5. The plantar force information sensing pad according to claim 1, characterized in that The circuit board includes a power supply circuit, a preconditioning circuit, an analog-to-digital conversion circuit, and a signal transmission module electrically connected; Each of the air pressure sensors respectively acquires air pressure signals in the lateral forefoot air cushion area, the medial forefoot air cushion area, and the heel air cushion area, and after being processed by the circuit board, the signals are transmitted to a display end by the signal transmission module.

6. The plantar force information sensing mat according to claim 1, characterized in that The lateral forefoot air cushion area, the medial forefoot air cushion area, and the heel air cushion area are respectively connected to the corresponding air pressure sensors through flexible tubes.

7. A footrest fixing device, characterized in that, Including the plantar force information sensing mat according to any one of claims 1-6.

8. The footrest fixing device according to claim 7, characterized in that, The footrest fixing device further includes: A footrest main body for supporting a user's foot; A limit adjustment component disposed on the footrest main body, the limit adjustment component being configured to adjust the position of the foot on the footrest main body so that a junction center position between the lateral forefoot air cushion area, the medial forefoot air cushion area, and the heel air cushion area is consistent with a longitudinal center position of the foot on the footrest main body.

9. A rehabilitation training apparatus, characterized in that, Including the footrest fixing device according to any one of claims 7-8.

10. The rehabilitation training apparatus according to claim 9, wherein, Further including a mirror training module, the mirror training module including: A data comparison sub-module data-connected to the hardware acquisition unit of each plantar force information sensing mat, for receiving and comparing air pressure signals of the user's left and right feet in the lateral forefoot air cushion area, the medial forefoot air cushion area, and the heel air cushion area; A feedback signal generation sub-module electrically connected to the data comparison sub-module, for generating a left and right foot pressure distribution difference signal according to the comparison result; A display interface electrically connected to the feedback signal generation sub-module, for outputting the difference signal to an external display device to visually display a left and right foot pressure heat map and / or a difference threshold prompt.

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