Intelligent pneumatic foot drop correction device and method based on multi-modal perception

Abstract

The device comprises a box body, the box body is of a three-dimensional trapezoidal structure, a supporting plate is arranged on the inclined face of the box body, the supporting plate and the box body are connected in a telescopic and elastic mode, a foot fixing device is arranged above the supporting plate, and the foot fixing device is connected with the box body in a telescopic and elastic mode. An air bag, a movable plate, a limiting baffle, an inflation main machine and a control system are arranged in the box body. The air bags are placed in the corresponding circular rings, and the corresponding movable plates are pushed through inflation expansion. The moving angle of the movable plate is limited through the limiting baffle, the inflation main machine is arranged below the inclined face of the box body, the inflation main machine penetrates through the cavity through a pipeline to be connected with all the air bags, and the microcontroller receives signals of the pressure sensor to control the inflation main machine to inflate or control the electromagnetic valve to release redundant air pressure in the air bags. The system can realize multi-directional dynamic support and intelligent feedback control, flexibly adapt to the foot state of a patient, perform early intervention on foot drop, and provide effective support required by early rehabilitation of the patient.

Description

Technical Field

[0001] The present invention relates to the technical field of foot drop correction, and particularly relates to an intelligent pneumatic foot drop correction device and method based on multi-modal perception. Background Art

[0002] Foot drop is a common neuromuscular dysfunction, manifested as partial or complete loss of ankle dorsiflexion function, resulting in the inability of patients to normally lift their toes when walking, thus causing foot drop. This disease usually occurs in patients with stroke, multiple sclerosis, cerebral palsy, and nerve injury, seriously affecting their motor ability and daily life.

[0003] In recent years, certain progress has been made in the research on foot drop rehabilitation devices at home and abroad, but the research directions and focuses are different. In China, the development of foot drop rehabilitation devices mainly focuses on static support and functional correction devices, such as foot function position fixators, multi-functional nursing shoes, etc. These devices can relieve the foot drop symptoms of patients to a certain extent, but due to problems such as strong fixity and limited support range, it is difficult to meet the personalized and dynamic rehabilitation needs of patients. In contrast, foreign research on foot drop rehabilitation devices pays more attention to the combination of dynamic support and intelligent functions, and devices based on pneumatic drive and exoskeleton technology have also become research hotspots. These devices can not only significantly improve the gait function of patients by simulating natural gait movements, but also help them gradually restore normal movement patterns.

[0004] Although domestic and foreign scholars have made certain progress in the research on rehabilitation devices, the following problems still need to be solved urgently: 1. There is a common problem of excessive fixity in rehabilitation devices. For example, ankle-foot orthoses are difficult to adjust dynamically according to the gait of patients, and patients are prone to discomfort when using them.

[0005] 2. Most devices lack real-time intelligent feedback functions and cannot perform dynamic support and adjustment according to different gait stages of patients, thus limiting the rehabilitation effect.

[0006] 3. Due to the poor comfort of the device design, the compliance of patients is generally low, further affecting the overall rehabilitation effect. Summary of the Invention

[0007] The purpose of the present invention is to solve the above-mentioned prior art problems, and provide an intelligent pneumatic foot drop correction device and method based on multi-modal perception. This device combines pneumatic adjustment and intelligent feedback technology, and can not only adjust the support strength and direction in real time according to the gait of patients, but also significantly improve comfort and compliance. It provides a more efficient and personalized rehabilitation solution for foot drop patients to further improve the gait function and quality of life of patients. The specific technical solutions are as follows: An intelligent pneumatic foot drop correction device based on multi-modal perception, comprising a box body. The box body is a three-dimensional trapezoidal structure. A support plate is arranged on the inclined surface of the box body. The support plate is elastically connected to the box body in a telescopic manner. A foot fixing device is arranged above the support plate. The foot fixing device is detachably connected to the support plate. Inside the box body, there are an airbag, a movable plate, a limit baffle, an inflation host, and a control system. The airbag is placed in a corresponding circular ring. The airbag is inflated to push the corresponding movable plate. The movable plate is restricted by the limit baffle to limit the angle of movement. The inflation host is arranged below the inclined surface of the box body. The box body is provided with a reserved hole. The inflation host is connected to each airbag through a pipeline passing through the hole. The control system includes a microcontroller and a pressure sensor. The microcontroller receives the signal of the pressure sensor to control the inflation of the inflation host or control the solenoid valve to release the excess air pressure in the airbag.

[0008] Preferably, the control system further includes a signal acquisition module and a wireless communication module. The signal acquisition module cooperates with the pressure sensor to sample the internal pressure of the airbag and transmits the acquired data to the microcontroller in real time. The wireless communication module sends the key operation data of the pressure sensor and the microcontroller to the mobile terminal.

[0009] Preferably, the number of the airbag, the circular ring, and the movable plate is 3.

[0010] Preferably, the foot fixing device is a shoe composed of a buckle and a silicone-coated fabric strap. The sole of the shoe is detachably connected to the support plate through a U-shaped buckle. The heel is U-shaped wrapped with a memory foam material.

[0011] Preferably, the movable plate is made of a lightweight material, and the surface of the movable plate is covered with a buffer pad, where the buffer pad is selected from any one of full-line fabric, cotton cloth, and sponge.

[0012] Preferably, the support plate can be adjusted up and down by 0-45 degrees and left and right by 0-45 degrees.

[0013] An intelligent pneumatic foot drop correction method based on multi-modal perception, comprising the following steps: Step 1: Place the patient's foot in the foot fixing device composed of a buckle and a silicone-coated fabric strap. The sole of the foot fixing device is detachably connected to the support plate through a U-shaped buckle to ensure that the patient's foot is in a proper position in the shoe. Step 2: Set the original pressure threshold range through the control system, start the inflation host. The inflation host inflates each airbag through a pipeline passing through the reserved hole on the box body. After the airbag is inflated and expanded, it pushes the corresponding movable plate. The movable plate is restricted by the limit baffle and moves within the set angle range, thereby generating a corrective force on the patient's foot. Step 3: Perform adaptive adjustment. The pressure sensor and the signal acquisition module collect the internal pressure of the airbag and transmit the collected data to the microcontroller in real time, forming a closed-loop feedback system. The microcontroller collects the data from the pressure sensor and compares it with the original pressure threshold range. If it detects that the airbag pressure exceeds the original pressure threshold range, the microcontroller controls the solenoid valve to adjust the inflation and deflation of the airbag, so that the internal pressure of the airbag is within the original set threshold range. Step 4: When the predetermined correction time is reached or the patient needs to pause the correction, stop the inflation host from working through the control system, and control the solenoid valve to release the gas in the airbag, so that the movable plate returns to the initial position. Unfasten the buckle of the silicone-coated fabric strap and take the patient's foot out of the foot fixing device.

[0014] Preferably, the adaptive adjustment is through the PID control algorithm combined with the dynamic threshold correction method. The specific steps are as follows: S1: Input the real-time data of the pressure sensor, that is, the PID parameters , and preset the pressure threshold range according to the PID parameters; S2: Perform dynamic threshold correction on the PID parameters, and process them through the following formula: , ; S3: Output the control signals of the inflation host and the solenoid valve, such as the inflation rate and the pressure relief duration; S4: Compare and process the collected data with the original pressure threshold range to detect foot spasms, and process them through the following formula: S5: When the acceleration limit is exceeded, immediately trigger the solenoid valve to fully open for pressure relief, bypassing the PID calculation to ensure a millisecond-level response.

[0015] Preferably, the sampling value range is 50Hz–100Hz, the pressure threshold range is 0-120 N; the response time of the closed-loop feedback system <50ms.

[0016] Compared with the closest prior art, the technical solution provided by the present invention has the following beneficial effects: 1. The present invention combines a pneumatic system with a microcontroller to achieve multi-directional dynamic adjustment of foot support through automatic inflation and deflation. The device can flexibly adjust the support force at multiple angles in the front, back, left, and right according to the patient's real-time foot state. This design effectively overcomes the limitations of the fixed bracket of the traditional device, enables the patient to obtain a more natural foot mobility during rehabilitation training, and more effectively improves the rehabilitation effect of the patient's functional exercise. The heel part uses a U-shaped fully wrapped foam material, which can effectively buffer and decompress, significantly reducing the risk of local pressure sores for the patient. 2. The pressure sensor of the present invention is linked with the microcontroller to achieve intelligent feedback control. The sensor can detect the pressure change of the airbag in real time, feedback the signal to the control system, and the control system automatically adjusts the air pressure according to the airbag pressure data to achieve precise control of the supporting force, avoiding muscle strain or discomfort caused by improper supporting force. This real-time adjustment mechanism effectively enhances the supporting effect and can flexibly meet the foot needs of different patients.

[0017] 3. The present invention adopts a multi-directional support system with independent zone control. Three independent airbag drive systems are used to achieve multi-directional dynamic support for the foot. The supporting force can be precisely adjusted within the range of 0 - 120 N. Through the closed-loop feedback system constructed by the microcontroller and the pressure sensor, real-time monitoring and intelligent adjustment of the supporting force are achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a schematic diagram of the overall external structure of the present invention; Figure 2 is a schematic diagram of the internal structure of the box body of the present invention; Figure 3 is a schematic diagram of the structure under the support plate of the present invention; Figure 4 is a flow chart of the foot drop correction method of the present invention.

[0019] Wherein: 1. Box body, 2. Support plate, 3. Foot fixing device, 4. Hole, 5. Ring, 6. Limit baffle, 7. Buckle, 8. Silicone-coated fabric strap, 9. Movable plate a, 10. Movable plate b, 11. Movable plate c, 51. Ring a, 52. Ring b, 53. Ring c, 62 Limit baffle b, 63 Limit baffle c. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0020] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention. Please refer to Figures 1-4 .

[0021] An intelligent multi-directional dynamic anti-foot-drop correction device based on pneumatic control, comprising a box body 1. The box body 1 is a three-dimensional trapezoidal structure. A support plate 2 is arranged on the inclined surface of the box body 1. The support plate 2 is telescopically and elastically connected to the box body 1. Above the support plate 2, a foot fixing device 3 is arranged. The foot fixing device is detachably connected to the support plate 2. Inside the box body 1, there are an airbag, a movable plate, a circular ring 5, a limit baffle 6, an inflation host, and a control system. The airbag is placed inside the corresponding circular ring 5. The airbag pushes the corresponding movable plate through inflation. The movable plate is restricted by the limit baffle 6 for the angle of its movement. The inflation host is arranged below the inclined surface of the box body 1. The box body 1 is provided with a reserved hole 4. The inflation host is connected to each airbag through a pipeline passing through the hole 4. The control system includes a microcontroller and a pressure sensor. The microcontroller receives the signal of the pressure sensor to control the inflation of the inflation host or controls the solenoid valve to release the excess air pressure in the airbag. The above settings can support the foot in multiple directions dynamically, meet the needs of different rehabilitation stages. Through the linkage of the pneumatic system and the support plate, the flexible adjustment of the support plate in multiple directions such as front, back, left, and right is realized, providing all-round support for the foot. Compared with the traditional fixed bracket, this dynamic support design meets the different activity needs of patients in each rehabilitation stage, effectively prevents muscle stiffness and poor blood circulation caused by fixed postures, and solves the problem of foot drop. In addition, based on the real-time feedback of the pressure sensor and the intelligent adjustment of the microcontroller, the support force control system can automatically and accurately adjust the support force to ensure that the support force is always within the safe and effective range, avoiding discomfort or injury caused by insufficient or excessive support force in the traditional device. This feedback adjustment mechanism significantly improves the accuracy of the support force and the safety of patients during the rehabilitation process.

[0022] Further, the control system further includes a signal acquisition module and a wireless communication module. The signal acquisition module cooperates with the pressure sensor to sample the internal pressure of the airbag. The sampling frequency is usually 50Hz–100Hz, and the acquired data is transmitted to the microcontroller in real time. For multi-directional support, each group of airbags is equipped with an independent pressure sensor to complete the separate monitoring and feedback of the support forces in different directions. The wireless communication module sends the key operation data of the pressure sensor and the microcontroller to the mobile terminal, so that clinical medical staff or patient families can remotely monitor the working state of the device. For environments with higher data security or remote collaboration requirements, Wi-Fi or other communication methods can also be selected.

[0023] Further, the number of the airbag, the circular ring, and the movable plate is 3 each. Such a setting can achieve independent control of each zone. Under the control of an independent pressure sensor and a solenoid valve for each group of airbags, the air pressure can be changed separately and the support force can be adjusted, or the linkage of multiple groups of airbags can be realized through the microcontroller, so as to form a consistent response with the movement or posture change of the patient's foot.

[0024] Airbag a: Placed inside the ring a51. When airbag a inflates and expands, it will push the movable plate a9, generating a forward thrust to provide forward support for the foot.

[0025] Airbag b: Placed inside the ring b52. When airbag b inflates and expands, it will push the movable plate b10, generating a leftward thrust. However, the maximum movement of the movable plate to the left is restricted by the limit baffle b62 to prevent excessive displacement.

[0026] Airbag c: Placed inside the ring c53. When airbag c inflates and expands, it will push the movable plate c11, generating a rightward thrust. However, the maximum movement of the movable plate to the right is restricted by the limit baffle c63 to prevent the movable plate from exceeding the safe range.

[0027] Furthermore, the foot fixing device is a shoe composed of a buckle 7 and a silicone-coated fabric strap 8. The sole of the shoe is detachably connected to the support plate 2 through a U-shaped lock. This setting allows the shoes to be replaced according to actual needs to adapt to various ages and sizes. The silicone-coated fabric strap has high flexibility and anti-slip performance, combined with the buckle to ensure that the device does not slip off during use.

[0028] Furthermore, the heel is wrapped in a U-shaped memory foam material. This setting can protect the heel and ankle in all directions, buffer local pressure, and reduce the risk of pressure sores. It increases the comfort and stability of wearing.

[0029] Furthermore, the movable plate 2 is made of a lightweight material, and the surface of the movable plate is covered with a buffer pad, where the buffer pad is selected from any one of full-line fabric, cotton cloth, and sponge. The setting of the buffer pad provides comfort protection for the foot and effectively reduces the pressure sensation during long-term wearing. The strap is made of silicone-coated fabric to further enhance comfort, avoid skin friction or compression pain caused by traditional devices, and is suitable for long-term wearing by patients and meets the needs of rehabilitation training.

[0030] Furthermore, through the linkage of the pneumatic system and the support plate, the support plate 2 can be flexibly adjusted in multiple directions such as front, back, left, and right to provide all-round support for the foot. The support plate 2 can be adjusted up and down by 0 - 45 degrees and left and right by 0 - 45 degrees. Compared with traditional fixed brackets, this dynamic support design meets the different activity needs of patients at various rehabilitation stages, effectively prevents muscle stiffness and poor blood circulation caused by fixed postures, and promotes the recovery of foot function.

[0031] An intelligent pneumatic foot drop correction method based on multi-modal perception includes the following steps: Step 1: Place the patient's foot in the foot fixing device composed of a buckle and a silicone-coated fabric strap. The sole of the foot fixing device is detachably connected to the support plate through a U-shaped lock to ensure that the patient's foot is properly positioned in the shoe. Step 2: Set the original pressure threshold range through the control system, start the inflation host, and the inflation host inflates each airbag through a pipeline passing through the reserved hole on the box body; after the airbag inflates and expands, it pushes the corresponding movable plate, and the movable plate moves within the set angle range under the restriction of the limit baffle, so as to generate a corrective force on the patient's foot. Step 3: Perform adaptive adjustment. The pressure sensor and the signal acquisition module collect the internal pressure of the airbag and transmit the collected data to the microcontroller in real time to form a closed-loop feedback system; the microcontroller collects the data of the pressure sensor and compares it with the original pressure threshold range. If it is detected that the airbag pressure exceeds the original pressure threshold range, the microcontroller controls the solenoid valve to adjust the inflation and deflation of the airbag, so that the internal pressure of the airbag is within the original set threshold range. Step 4: When the predetermined correction time is reached or the patient needs to pause the correction, stop the inflation host through the control system and control the solenoid valve to release the gas in the airbag, so that the movable plate returns to the initial position; unfasten the buckle of the silicone-coated fabric strap and take the patient's foot out of the foot fixing device.

[0032] Preferably, the adaptive adjustment is through the PID control algorithm combined with the dynamic threshold correction method, and the specific steps are as follows: S1: Input the real-time data of the pressure sensor, that is, the PID parameters , and preset the pressure threshold range according to the PID parameters; S2: Perform dynamic threshold correction on the PID parameters, and process them through the following formula: , ; Among them, u(t) (control output): the output signal of the PID algorithm, which is used to control the inflation speed of the inflation host or the pressure relief action duration of the solenoid valve to achieve the target pressure.

[0033] e(t) (error): represents the deviation between the current actual pressure value and the target pressure value.

[0034] Kp: represents the instantaneous response intensity of the system to the error; increasing Kp: the system response speeds up, but may cause an increase in pressure fluctuations (the system is more sensitive and more likely to overshoot or oscillate); decreasing Kp: the system response is slow, but the control is more stable, and there may be a steady-state error.

[0035] Integral coefficient Ki: represents the cumulative correction effect of the system on historical errors and can eliminate steady-state errors (deviations that cannot be eliminated for a long time); increasing Ki: quickly eliminates long-term stable errors, but may cause integral saturation (excessive control actions, resulting in oscillations or overshoots); decreasing Ki: avoids overshoots, but the steady-state error may persist for a long time.

[0036] Differential coefficient Kd: It represents the response of the system to the change trend of the error, has a predictive effect, and corrects the system control output in advance; increasing Kd: effectively suppresses overshoot and oscillation, and enhances the system stability, but may cause the output signal to be sensitive to noise; decreasing or canceling Kd: avoids being overly sensitive to noise, but the system response may become sluggish and obvious overshoot may occur.

[0037] S3: Output the control signals of the inflation host and the solenoid valve, such as the inflation rate and the pressure relief duration. S4: Compare and process the collected data with the original pressure threshold range to detect foot spasms, and process through the following formula: S5: When the acceleration exceeds the limit, immediately trigger the solenoid valve to fully open for pressure relief, bypass the PID calculation, and ensure a millisecond-level response.

[0038] Preferably, the sampling numerical range is 50Hz–100Hz, and the pressure threshold range is 0 - 120 N; the response time of the closed-loop feedback system < 50ms. The original pressure threshold range is 0 - 120 N; for high-risk patients such as those with diabetic feet or severe edema, the maximum pressure threshold can be appropriately reduced, and certain direction airbags can also be manually locked when necessary to avoid accidental injuries. The response time of the closed-loop feedback system < 50ms. The closed-loop pressure regulation mechanism ensures the intelligent level of the system. The device realizes intelligent adjustment through the millisecond-level response of the pressure sensor. When the patient suddenly has a foot spasm (acceleration > 0.8g), the sensor can quickly trigger the airbag pressure compensation, avoiding the damage to soft tissues caused by traditional rigid support devices.

[0039] The above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to the above embodiments, those of ordinary skill in the art can still modify the specific implementation manners of the present invention or make equivalent replacements. Any such modifications or equivalent replacements that do not depart from the spirit and scope of the present invention are within the scope of the claims of the present invention awaiting approval.

Claims

1. An intelligent pneumatic foot drop correction device based on multi-modal perception, comprising a box body, characterized in that, The box body is a three-dimensional trapezoidal structure, and a support plate is provided on the inclined surface of the box body, and the support plate is elastically connected to the box body in a telescopic manner. A foot fixing device is provided above the support plate, and the foot fixing device is detachably connected to the support plate; the box body includes airbags, movable plates, limit baffles, inflation host, and control system; the airbags are placed in corresponding circular rings, and the airbags push the corresponding movable plates by inflation; the movable plates limit the angle of movement by limit baffles; the inflation host is arranged below the inclined surface of the box body, and the box body is provided with reserved holes, and the inflation host is connected to each airbag through a pipe passing through the hole; the control system includes a microcontroller and a pressure sensor, and the microcontroller receives the signal from the pressure sensor to control the inflation of the inflation host or control the solenoid valve to release excess air pressure in the airbag.

2. The intelligent pneumatic foot drop correction device based on multi-modal perception according to claim 1, characterized in that, The number of the airbags, the rings and the movable plates is 3.

3. The intelligent pneumatic foot drop correction device based on multi-modal perception according to claim 1, wherein The foot fixing device is a shoe composed of a buckle and a silicone coated fabric strap. The sole and the support plate are detachably connected through a U-shaped lock, and the heel is wrapped in a U-shape with a memory foam material.

4. The intelligent pneumatic foot drop correction device based on multi-modal perception according to claim 1, characterized in that The movable plate is made of light material, and the surface of the movable plate is covered with a buffer pad, wherein the buffer pad is selected from any one of full-line fabric, cotton cloth, and sponge.

5. The intelligent pneumatic foot drop correction device based on multi-modal perception according to claim 1, characterized in that, The support plate can be adjusted up and down by 0-45 degrees and left and right by 0-45 degrees.

6. The intelligent pneumatic foot drop correction device based on multi-modal perception according to claim 1, wherein, The control system also includes a signal acquisition module and a wireless communication module; the signal acquisition module cooperates with the pressure sensor to sample the internal pressure of the airbag and transmits the collected data to the microcontroller in real time; the wireless communication module sends key operating data of the pressure sensor and microcontroller to the mobile terminal.

7. An intelligent pneumatic foot drop correction method based on multimodal perception, characterized in that, The following steps are involved: Step 1: Place the patient's foot in a foot fixation device consisting of a buckle and silicone-coated fabric strap. The sole of the foot fixation device is detachably connected to the support plate via a U-shaped lock to ensure the patient's foot is properly positioned in the shoe. Step 2: The control system sets the initial pressure threshold range and starts the inflation main unit, which inflates each airbag through a pipe through the reserved hole on the box. After the airbag is inflated, it pushes the corresponding movable plate. The movable plate moves within the set angle range under the restriction of the limit baffle, thereby exerting a corrective force on the patient's foot. Step 3: Adaptive adjustment is performed. The pressure sensor and signal acquisition module collect the internal pressure of the airbag and transmit the collected data to the microcontroller in real time, forming a closed-loop feedback system. The microcontroller collects the data from the pressure sensor and compares it with the original pressure threshold range. If it detects that the airbag pressure exceeds the original pressure threshold range, the microcontroller controls the solenoid valve to adjust the airbag inflation and deflation, so that the internal pressure of the airbag is within the original set threshold range. Step 4: When the predetermined correction time is reached or the patient needs to suspend correction, the control system stops the inflation host and controls the solenoid valve to release the gas in the airbag to restore the movable plate to its initial position; unfasten the buckle of the silicone-coated fabric strap and remove the patient's foot from the foot fixation device.

8. The intelligent pneumatic foot drop correction method based on multi-modal perception according to claim 1, wherein, The adaptive adjustment is achieved by combining a PID control algorithm with a dynamic threshold correction method. The specific steps are as follows: S1: Input the real-time data of the pressure sensor, i.e., the PID parameters , and preset the pressure threshold range according to the PID parameters; S2: Dynamically correct the PID parameters through the following formula: ， ; S3: Output control signals for the inflation main unit and the solenoid valve, such as the inflation rate and the pressure relief duration; S4: Compare the collected data with the original pressure threshold range to detect foot spasms through the following formula: S5: When the acceleration limit is exceeded, immediately trigger the solenoid valve to fully open for pressure relief, bypassing the PID calculation to ensure a millisecond-level response.

9. A smart pneumatic foot drop correction method based on multi-modal perception according to claim 1, characterized in that The numerical range of the sampling is 50Hz–100Hz, the pressure threshold range is 0 - 120 N; the response time of the closed-loop feedback system < 50ms.

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