Intelligent dynamic stability auxiliary system

Abstract

The invention discloses an intelligent dynamic stability auxiliary system which comprises a movable supporting platform, a pressure feedback module, a side position supporting assembly, a wearable load bearing monitoring assembly and a data display control module. The movable supporting platform comprises a base, a height-adjustable lifting column vertically installed on the base and a hip supporting table connected to the top end of the lifting column through an inclination adjusting mechanism, and universal wheels with a brake function are arranged at the bottom of the base; the pressure feedback module comprises a pressure sensor arranged in an affected side contact area on the upper surface of the hip supporting table, a control unit and an alarm module, and the control unit monitors pressure data in real time and triggers alarm; the side supporting assembly comprises a stand column support fixed to the side of the movable supporting platform and a handrail arranged on the top of the stand column support. Therefore, through the height-adjustable movable supporting platform, the precise pressure feedback technology and the dynamic posture simulation mechanism, real-time stable control over the supporting force of the limb on the affected side is achieved, and the safety and effectiveness of rehabilitation training are improved.

Description

Technical Field

[0001] The present application relates to the technical field of medical rehabilitation equipment, and in particular to an intelligent dynamic stabilization assistance system. Background Art

[0002] In the field of neurological rehabilitation, standing training and joint stability training for patients with unilateral support dysfunction (such as stroke and spinal cord injury patients) are important rehabilitation links. Existing auxiliary training equipment generally has the following technical defects:

[0003] 1. Delayed adjustment of support force: Traditional support devices are mostly fixed-height or manually adjustable structures, which cannot respond to changes in patient limb pressure in real time, easily causing abnormal loads on the affected limb and increasing the risk of secondary injury.

[0004] 2. Single posture simulation: The support plane of existing equipment is usually in a fixed horizontal state, which makes it difficult to simulate the dynamic tilting posture of the human body when standing (such as the center of gravity transfer process). This leads to differences between the training scene and the real physiological state, affecting the rehabilitation effect.

[0005] 3. Lack of pressure monitoring: Existing equipment generally does not have a pressure monitoring component, and cannot obtain the support force data of the affected limb in real time. As a result, it is impossible to determine whether the load on the affected side exceeds the limit during training. It is difficult to achieve dynamic adjustment of the support force and cannot provide data support for personalized rehabilitation assessment.

[0006] Therefore, there is an urgent need for an intelligent auxiliary system with real-time pressure feedback, dynamic posture simulation and automatic adjustment functions to solve the technical problems of delayed support force adjustment, single posture simulation and lack of pressure monitoring in the existing technology. Summary of the Invention

[0007] The present application aims to solve one of the technical problems in the related art at least to a certain extent.

[0008] To this end, one purpose of this application is to provide an intelligent dynamic stabilization assistance system, which can achieve real-time stable control of the support force of the affected limb through a highly adjustable mobile support platform, precise pressure feedback technology and dynamic posture simulation mechanism, thereby improving the safety and effectiveness of rehabilitation training.

[0009] To achieve the above-mentioned objectives, the first embodiment of the present application proposes an intelligent dynamic stability assistance system, including a mobile support platform, a pressure feedback module, a lateral support component, a wearable load monitoring component and a data display control module, wherein the mobile support platform includes a base, a height-adjustable lifting column vertically installed on the base, and a hip support platform connected to the top of the lifting column through a tilt adjustment mechanism, and a universal wheel with a braking function is provided at the bottom of the base; the pressure feedback module includes a pressure sensor, a control unit and an alarm module provided in the contact area of the affected side of the upper surface of the hip support platform, and the control unit monitors the pressure data in real time and triggers an alarm; the lateral support component includes A column bracket is fixed on the side of the mobile support platform and an armrest is arranged on the top of the column bracket. A rotatable hand plate is provided on the outside of the mobile support platform. The hand plate is installed on the mobile support platform through a rotating shaft and can be rotated toward the affected side and locked for auxiliary support of the healthy hand; the wearable weight monitoring component includes two wearable shoe covers arranged on the base, and a load-bearing sensor is embedded in the shoe covers. The load-bearing sensor is electrically connected to the control unit for collecting single-leg load data; the data display control module includes a PLC controller and a display screen. The PLC controller is communicatively connected to the control unit, and the display screen is installed on the outside of the mobile support platform for real-time display of parameters such as pressure, load and tilt angle.

[0010] The intelligent dynamic stabilization assistance system of the embodiment of the present application realizes real-time stable control of the support force of the affected limb through a highly adjustable mobile support platform, precise pressure feedback technology and a dynamic posture simulation mechanism, thereby improving the safety and effectiveness of rehabilitation training.

[0011] In addition, the intelligent dynamic stability assistance system proposed in the present application may also have the following additional technical features:

[0012] In one embodiment of the present application, the lifting column is a multi-stage telescopic structure, comprising an electric drive device and a locking buckle that are communicatively connected to the control unit.

[0013] In one embodiment of the present application, the tilt adjustment mechanism is a pneumatic push rod assembly, the two ends of which are respectively hinged to the top of the lifting column and the bottom surface of the hip support platform. The control unit adjusts the stroke of the pneumatic push rod to control the tilt angle, so that the hip support platform can be tilted within the range of 0°-30°.

[0014] In one embodiment of the present application, the pressure sensors are distributed in an array in the contact area of the affected side of the hip support platform and are aligned with the projection area of the center of gravity of the affected limb. The load-bearing sensors are distributed in the contact area of the sole of the foot wearing the shoe cover, and both are electrically coupled to the control unit.

[0015] In one embodiment of the present application, the PLC controller has a built-in data processing module that can convert the real-time data of the pressure sensor and the load-bearing sensor into visual parameters and display them on a display screen.

[0016] The advantages of this application compared with the existing technology are:

[0017] (1) Through the linkage of the array pressure sensor and the control unit, millisecond-level monitoring and feedback of the supporting force of the affected limb can be achieved. When the threshold is exceeded, an automatic alarm is given to avoid excessive load. A wearable shoe cover load sensor is added to form a linkage with the hip pressure sensor to accurately quantify the load on one leg, filling the gap in lower limb load monitoring.

[0018] (2) The electric lifting column and pneumatic tilting mechanism can automatically adjust the support height and tilt angle according to the preset program or real-time pressure data to adapt to patients of different heights and various training scenarios. The pressure, load, and tilt angle data are integrated through the PLC controller to display quantitative indicators in real time. Automatic alarms are issued in case of abnormalities, thereby improving training safety and data interaction efficiency.

[0019] (3) The tilt range of 0°-30° covers the typical posture of the human body from the initial standing stage to the balance stage, helping patients rebuild their proprioception and center of gravity control ability. The side support board can be rotated and locked toward the affected side to provide auxiliary support for the healthy hand of hemiplegic patients, solving the problem that traditional equipment cannot guide the center of gravity transfer and is easy to tip over.

[0020] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0022] Figure 1 is a perspective diagram of an intelligent dynamic stability assistance system according to one embodiment of the present application;

[0023] Figure 2 is a perspective view of an intelligent dynamic stability assistance system according to another embodiment of the present application;

[0024] Figure 3 Schematic diagram of a wearable load monitoring component of an intelligent dynamic stability assistance system according to one embodiment of the present application;

[0025] Figure 4 Schematic diagram of control connections of an intelligent dynamic stability assistance system according to one embodiment of the present application.

[0026] As shown in the figure: 1. Mobile support platform; 2. Pressure feedback module; 3. Side support assembly;

[0027] 101. Base; 102. Lifting column; 103. Tilt adjustment mechanism; 104. Hip support platform;

[0028] 201, pressure sensor; 202, control unit; 203, alarm module;

[0029] 301, column bracket; 302, handrail; 303, support plate;

[0030] 4. Wearable load monitoring component; 401. Shoe cover; 402. Load sensor;

[0031] 5. Data display control module; 501. PLC controller; 502. Display screen. DETAILED DESCRIPTION

[0032] The embodiments of the present application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application and are not to be construed as limiting the present application. On the contrary, the embodiments of the present application include all variations, modifications, and equivalents that fall within the spirit and scope of the appended claims.

[0033] The intelligent dynamic stability assistance system of an embodiment of the present application is described below with reference to the accompanying drawings.

[0034] like Figure 1-Figure 4 As shown, the intelligent dynamic stability assistance system of the embodiment of the present application has a core structure consisting of a mobile support platform 1, a pressure feedback module 2, a lateral support component 3, a wearable load monitoring component 4, and a data display control module 5. Each component works in coordination through mechanical connection and electrical control. The specific working process is as follows:

[0035] It is understandable that, first, the overall system architecture and component association

[0036] Mobile support platform 1: The position movement is achieved through the universal wheels with brakes at the bottom of the base 101, and the lifting column 102 is connected to the hip support platform 104 through the tilt adjustment mechanism 103 to achieve height and tilt angle adjustment.

[0037] Lateral support assembly 3: The top armrest 302 of the column bracket 301 cooperates with the rotatable support plate 303 to provide lateral support for the patient, wherein the support plate 303 is installed on the outside of the mobile support platform 1 through a rotating axis and can be rotated toward the affected side and locked.

[0038] Wearable weight-bearing monitoring component 4: The wearable shoe cover 401 on the base 101 has a built-in load-bearing sensor 402, which is electrically connected to the control unit 202 to collect single-leg weight-bearing data in real time.

[0039] Data display control module 5: The PLC controller 501 communicates with the control unit 202 and visualizes data such as pressure, load, and tilt angle through the display screen 502.

[0040] 2. Detailed Workflow

[0041] (1) Initialization phase: equipment debugging and patient preparation

[0042] 1. Mobile support platform positioning:

[0043] The trainer pushes the device and moves it to a suitable position via the universal wheels with brakes at the bottom of the base 101, then steps on the brakes to lock the universal wheels to ensure that the base 101 is stable.

[0044] 2. Initial settings of height and posture:

[0045] The control unit 202 sends a command to the tilt adjustment mechanism 103 to adjust the buttocks support platform 104 to a horizontal state (0° tilt).

[0046] The control unit 202 drives the electric drive device of the lifting column 102 to adjust the hip support platform 104 to a target height (eg, 90 cm from the ground) and fixes it by locking the buckle.

[0047] 3. Wearable weight monitoring component starts:

[0048] The patient puts both feet into the shoe covers 401 on the base 101, and the load-bearing sensor 402 inside the shoe cover 401 establishes an electrical connection with the control unit 202, and starts initialization calibration to ensure the accuracy of collecting single-leg load data (such as 30 kg for each foot under a body weight of 60 kg).

[0049] 4. Data display control module initialization:

[0050] The PLC controller 501 communicates with the control unit 202, receives initial data from the pressure sensor 201 and the load sensor 402, and the display screen 502 displays "system ready" and default parameters (such as tilt angle 0°, load 0kg).

[0051] (2) Training phase: multiple components working together

[0052] 1. Dynamic posture simulation and load monitoring:

[0053] Tilt adjustment: The control unit 202 drives the pneumatic push rod assembly of the tilt adjustment mechanism 103 to tilt the hip support platform 104 within the range of 0°-30° (such as the initial setting of 5°), simulating the shift of the center of gravity of a standing human body.

[0054] Weight data collection: The weight sensor 402 of the shoe cover 401 collects the single leg weight data in real time (such as the affected leg weight is 25 kg) and transmits it to the control unit 202 through an electrical connection.

[0055] 2. Visualization and feedback of pressure and load data:

[0056] The control unit 202 sends the data from the hip pressure sensor 201 and the load-bearing sensor 402 to the PLC controller 501, which is converted into visual parameters (such as "left lower limb weight 28 kg" and "tilt angle 15°") through the data processing module and displayed in real time on the display screen 502.

[0057] If the load-bearing sensor 402 detects that the weight on a single leg exceeds a preset threshold (such as 30 kg), the PLC controller 501 can trigger the display screen 502 to highlight the alarm area, prompting the trainer to make adjustments.

[0058] 3. Auxiliary support for rotatable support plate:

[0059] When the hip support platform 104 tilts or the patient falls to the affected side, the trainer can manually rotate the rotatable support plate 303 on the outside of the mobile support platform 1 around the rotation axis toward the affected side (rotation angle 0°-90°), and fix it through the electromagnetic locking mechanism to provide support for the patient's healthy hand and assist in completing the center of gravity transfer.

[0060] (3) Ending stage: device reset and data storage

[0061] 1. Attitude and altitude reset:

[0062] The control unit 202 sends a command to the tilt adjustment mechanism 103 to adjust the hip support platform 104 back to a horizontal state (0°), and the pneumatic push rod assembly locks the stroke.

[0063] The control unit 202 drives the lifting column 102 to descend, lowering the hip support platform 104 to a low position to facilitate the patient to stand up.

[0064] 2. Data recording and equipment standby:

[0065] The PLC controller 501 stores the pressure, weight and tilt angle data during the training process, the display screen 502 displays "Training Ended", the device enters the standby mode, and the universal wheel brake is released for easy movement and storage.

[0066] In one embodiment of the present application, Figure 1-Figure 4As shown, the lifting column 102 is a multi-stage telescopic structure, including an electric drive device and a locking buckle that are communicatively connected to the control unit 202.

[0067] It is understood that the lifting column 102 is mounted vertically above the base 101 and is composed of at least two levels of nestable cylindrical components (e.g., an inner column and an outer column). Each column is connected by a linear guide rail or sliding sleeve to ensure smooth extension and retraction. For example, when a patient needs to transition from a sitting position to a standing training position, the multi-level columns can be deployed layer by layer, raising the hip support platform 104 to the target height (e.g., 90 cm from the ground), meeting the support height adaptation for patients of different heights (e.g., children to adults). After the training is completed, the columns are retracted layer by layer, lowering the overall height of the device for storage.

[0068] The electric drive unit, integrated within the lifting column 102, comprises a DC servo motor and a screw-nut mechanism. The control unit 202 sends commands to the electric drive unit via wired communication, such as "raise 15 cm" or "lower 8 cm." For example, with a screw drive, the motor rotates the screw, which in turn moves the nut along the shaft. The nut is fixedly connected to the inner column, enabling vertical extension and retraction of the column. During this process, an encoder mounted on the motor shaft provides real-time displacement data to the control unit 202, forming a closed-loop control system to ensure precise height adjustment.

[0069] The locking clips, located at the interface between adjacent columns, utilize an electromagnetic locking mechanism. When the lifting column 102 is adjusted to the target height, the control unit 202 issues a locking command, energizing the electromagnetic coil to magnetically attach the latches to the slots, locking the multi-stage column into a rigid, integrated unit. Even if the electric drive loses power, the locking clips mechanically maintain the height, preventing the patient from losing balance due to an unexpected power outage and meeting safety standards for medical devices.

[0070] It should be noted that the multi-stage telescopic structure, electric drive device and locking buckle of the lifting column 102 are all prior art in this field. In the prior art, this type of lifting column is widely used in scenarios such as medical care beds and industrial lifting platforms. Its typical components include:

[0071] Multi-stage telescopic column: Made of steel, it has a nested design to achieve a large range of height adjustment;

[0072] Electric drive assembly: includes motor, reducer, and transmission screw, which realizes automatic lifting through the electronic control system;

[0073] Mechanical locking devices: such as ball catches, latch locks, or hydraulic locking mechanisms, used to secure the column position.

[0074] In one embodiment of the present application, Figure 1-Figure 4As shown, the tilt adjustment mechanism 103 is a pneumatic push rod assembly, whose two ends are respectively hinged to the top of the lifting column 102 and the bottom surface of the hip support platform 104. The control unit 202 adjusts the pneumatic push rod stroke to control the tilt angle, so that the hip support platform 104 can be tilted within the range of 0°-30°.

[0075] It is understood that 1. The mechanical connection of the pneumatic push rod assembly

[0076] The two ends of the pneumatic push rod assembly of the tilt adjustment mechanism 103 are respectively connected to the top of the lifting column 102 and the bottom surface of the buttocks support platform 104 through a hinge structure:

[0077] The lower hinge point is located on the side of the top of the lifting column 102, connected to the cylinder of the pneumatic push rod through a pin, allowing the cylinder to swing in the vertical plane;

[0078] The upper hinge point is located at a preset position on the bottom surface of the buttocks support platform 104 (such as the center of the affected area), and is connected to the piston rod end of the push rod through a pin to ensure that the push rod can drive the support platform to rotate around the top of the lifting column 102 when it is extended or retracted.

[0079] 2. Instruction-driven logic of control unit 202

[0080] Angle setting: The trainer inputs the target tilt angle (such as 15°) through the human-machine interface of the control unit 202. The control unit 202 calculates the required telescopic stroke of the pneumatic push rod based on the built-in geometric model (the mapping relationship between the push rod stroke and the tilt angle) (for example, when the support platform length is 40 cm, the push rod stroke corresponding to a 15° tilt is 10.4 cm).

[0081] Air circuit control: The control unit 202 sends an electrical signal to the solenoid valve of the pneumatic push rod, turning on the air source (compressed air tank) to supply air to the cylinder:

[0082] Tilt forward (lower the affected side): the piston rod extends, pushing the front end of the hip support platform 104 down, and the rear end rises around the top of the lifting column 102 to form a tilt angle;

[0083] Backward tilt (affected side raised): the piston rod retracts, pulling the front end of the buttocks support platform 104 up and the rear end down, forming a backward tilt angle.

[0084] Closed-loop feedback: The pneumatic push rod has a built-in displacement sensor (magnetostrictive displacement meter), which feeds back the stroke data to the control unit 202 in real time. When the measured stroke reaches the target value, the control unit 202 sends a signal to close the solenoid valve and lock the current tilt angle.

[0085] 3. Angle adjustment scenes in dynamic training

[0086] Progressive training: In the initial stage of balance training, the control unit 202 increases the tilt angle by 2° every 10 minutes according to a preset program, gradually improving the patient's center of gravity control ability;

[0087] Pressure linkage response: If the pressure feedback module 2 detects that the pressure on the affected side exceeds the limit, the control unit 202 immediately sends a zeroing command to the pneumatic push rod, quickly adjusts the support table back to the horizontal state (0°), and locks the push rod stroke to prevent the patient from secondary injury due to posture imbalance.

[0088] It should be noted that the pneumatic push rod assembly belongs to the existing technology in this field, and its typical structure includes:

[0089] Cylinder body: It consists of a cylinder, a piston, and a sealing ring. It forms a closed air chamber inside and drives the piston to move through the air pressure difference;

[0090] Piston rod: fixedly connected to the piston, extending out of the cylinder to achieve linear push and pull force output;

[0091] Air path control components: including solenoid valves, pressure reducing valves, one-way valves, etc., used to control air flow direction, pressure and flow;

[0092] Buffer device: Some models are equipped with hydraulic buffer to avoid impact at the end of the push rod stroke.

[0093] In the existing technology, pneumatic push rods are widely used in industrial automation equipment, medical equipment (such as operating table posture adjustment), car seat adjustment and other scenarios.

[0094] In one embodiment of the present application, Figure 1-Figure 4 As shown, the pressure sensors 201 are distributed in an array in the contact area of the affected side of the hip support platform 104 and are aligned with the projection area of the center of gravity of the affected limb. The load-bearing sensors 402 are distributed in the contact area of the sole of the foot wearing the shoe cover 401. Both are electrically coupled to the control unit 202.

[0095] It is understandable that, first, the array distribution of the pressure sensor 201 is designed to be aligned with the center of gravity.

[0096] 1. Pressure sensors 201 are distributed in a matrix (e.g., an 8×8 array) across the affected-side contact area of the hip support platform 104 (demarcated by the patient's midline, with the affected side occupying 50% of the platform surface area). This area is determined clinically. For example, in a patient with right hemiplegia, the sensor array covers the right side of the support platform, with its geometric center precisely aligned with the projected center of gravity of the affected limb (2-3 cm lateral to the ischial tuberosity).

[0097] 2. Each sensor node (such as a micro-piezoresistor) is spaced 1cm x 1cm apart, forming a flexible sensing surface that matches the contour of the affected hip. This allows for real-time collection of pressure distribution data (such as pressure value and center of gravity offset trajectory). For example, when a patient stands, the pressure exerted on the affected hip is converted into an electrical signal through the array, covering key support points such as the ischial tuberosity and greater trochanter, thus avoiding the errors of single-point sensing.

[0098] 2. Foot Distribution Logic of Load-Bearing Sensor 402

[0099] 1. Wearable shoe covers and sensor integration

[0100] Wearing shoe cover 401 is fixed to base 101, and load-bearing sensors 402 are embedded in the inner foot contact area. The sensors are distributed, covering the forefoot, arch, heel and other areas, with 2-3 sensor nodes set in each area to ensure comprehensive collection of single-leg load data (such as pressure distribution and total load).

[0101] 2. Clinical significance of weight-bearing data

[0102] When the patient stands, wearing shoe covers 401 on both feet, the load sensor 402 monitors the weight ratio of each leg in real time. For example, a patient weighing 60 kg can theoretically support 30 kg on each foot. If the affected leg only supports 20 kg (40 kg on the healthy side), it indicates that the affected leg's support capacity is insufficient and needs to be strengthened through training.

[0103] 3. Electrical Coupling Mechanism between Sensor and Control Unit 202

[0104] 1. Signal transmission path

[0105] Pressure sensor 201: Each array node is connected to the analog input port of the control unit 202 via a shielded wire. The wire adopts a differential routing design to reduce electromagnetic interference.

[0106] Load-bearing sensor 402: The sole sensor is connected to the signal conditioning module in the base 101 via a flat cable, and is transmitted to the A / D conversion channel of the control unit 202 after amplification and filtering.

[0107] 2. Data processing and linkage logic

[0108] The control unit 202 synchronously collects data from the pressure sensor 201 and the load-bearing sensor 402 at a frequency of 100 Hz to calculate the total pressure value of the affected limb and the weight-bearing ratio of a single leg.

[0109] When the data of both are abnormal (such as the pressure on the affected side of the buttock exceeds the limit and the single leg weight is lower than the threshold), the control unit 202 triggers the alarm module 203 and can link the tilt adjustment mechanism 103 to adjust the buttock support platform 104 back to a horizontal state to prevent the patient from losing balance.

[0110] 4. Workflow:

[0111] (1) Initialization and calibration phase

[0112] The patient sits on the hip support platform 104 and puts both feet into shoe covers 401 .

[0113] The control unit 202 sends a calibration instruction:

[0114] The patient is asked to briefly lift the healthy limb, and the pressure sensor 201 collects the full load data of the affected hip to determine the baseline value of the center of gravity projection area;

[0115] The load-bearing sensor 402 detects the static load of the affected leg and establishes a "hip pressure-lower limb load" linkage model (e.g., for every 10N increase in hip pressure, the corresponding lower limb load increases by 5kg).

[0116] (2) Dynamic training data collection

[0117] When the hip support platform 104 is tilted (e.g., 15°), the patient performs weight transfer training:

[0118] The pressure sensor 201 array monitors the changes in pressure distribution on the affected side of the buttocks in real time. For example, when the center of gravity shifts to the affected side, the pressure value in the ischial tuberosity area increases from 20N to 35N.

[0119] The load-bearing sensor 402 synchronously collects the weight-bearing data of the affected leg, such as an increase from 25 kg to 28 kg, and the two data are transmitted to the control unit 202 through electrical coupling.

[0120] (3) Data feedback and security control

[0121] The control unit 202 compares the preset threshold (such as hip pressure ≥ 40N or single leg load ≥ 30kg):

[0122] If the data is normal, continue training;

[0123] If the data exceeds the limit, the alarm module 203 is immediately triggered through the electrical coupling path, and a reset instruction is sent to the tilt adjustment mechanism 103 to ensure the safety of the patient.

[0124] In one embodiment of the present application, Figure 1-Figure 4 As shown, the PLC controller 501 has a built-in data processing module, which can convert the real-time data of the pressure sensor 201 and the load-bearing sensor 402 into visual parameters and display them through the display screen 502.

[0125] It can be understood that the PLC controller 501 has a built-in data processing module, establishes two-way communication with the control unit 202 via an RS-485 communication cable, and receives the original data of the pressure sensor 201 and the load-bearing sensor 402 in real time.

[0126] Display screen 502: connected to the PLC controller 501 via HDMI and installed on the outside of the mobile support platform 1 for easy viewing by patients and trainers.

[0127] The control unit 202 packages the real-time data of the pressure sensor 201 and the load-bearing sensor 402 using the Modbus protocol (eg, 100 frames per second) and sends it to the PLC controller 501 through the serial port.

[0128] The PLC controller 501 parses the data packet, verifies the data integrity and stores it in the buffer area, waiting for the processing module to call.

[0129] 1. Core functions of the data processing module

[0130] 1. Raw data preprocessing

[0131] Filtering and noise reduction: Kalman filtering is performed on the array data of the pressure sensor 201 (such as 8×8 pressure values) to eliminate high-frequency noise generated by the patient's limb shaking; sliding average filtering is performed on the load data of the load-bearing sensor 402 to smooth the instantaneous impact value.

[0132] Unit conversion: Convert the voltage signal (0-5V) of the pressure sensor 201 into a pressure value (N), and convert the resistance change of the load-bearing sensor 402 into a weight value (kg). For example:

[0133] Pressure sensor 201: 1V corresponds to 10N pressure;

[0134] Load sensor 402: A resistance change of 0.1Ω corresponds to a load of 1kg.

[0135] 2. Parameter calculation and visualization conversion

[0136] Key parameter generation:

[0137] Total pressure value of the affected hip: Calculate the weighted sum of the pressure sensor 201 array, where the weight is related to the alignment of the center of gravity projection area;

[0138] Single leg weight value: reads the left and right foot data of the load-bearing sensor 402, such as "left lower limb weight 28kg" and "right lower limb weight 32kg";

[0139] Weight-bearing ratio: Calculate the percentage of weight borne on one leg as a percentage of body weight (e.g., 50% weight-bearing on the affected leg).

[0140] Visual format conversion: convert numerical parameters into graphical interface elements, for example:

[0141] Numerical box: displays pressure value and load value in real time;

[0142] Progress bar: displays the load ratio (0-100%);

[0143] Curve chart: Draws a trend chart of pressure / load changes over time (the time axis is scalable).

[0144] 3. Threshold judgment and alarm logic

[0145] The data processing module has built-in preset thresholds (such as single-leg load ≥ 30kg, hip pressure ≥ 40N). When real-time data exceeds the threshold:

[0146] Generate an alarm indicator (such as the value box turns red and the progress bar flashes);

[0147] An alarm signal is sent to the control unit 202, triggering the alarm module 203 to sound and light an alarm.

[0148] 2. Visual display workflow

[0149] (1) System startup and interface initialization

[0150] After the PLC controller 501 is powered on, the data processing module loads the default configuration:

[0151] Display screen 502 displays a welcome interface, prompting "System initialization...";

[0152] Establish communication with the control unit 202 and receive sensor calibration data (such as the zero offset value of the pressure sensor and the range of the load-bearing sensor).

[0153] (2) Real-time data display during training

[0154] 1. Data collection and transmission:

[0155] The pressure sensor 201 collects the pressure of the affected hip in real time (e.g., 35N), and the load sensor 402 collects the weight of a single leg (e.g., 25kg on the affected leg);

[0156] The control unit 202 packages the data and sends it to the PLC controller 501, with a transmission delay of ≤20ms.

[0157] 2. Data processing and interface update:

[0158] The data processing module analyzes the data and calculates "pressure on the affected hip is 35N" and "weight on the left lower limb is 25kg";

[0159] Generate visualization parameters:

[0160] Numerical display: "Buttocks pressure: 35N" and "Left lower limb weight: 25kg" are displayed in the center of the display screen 502;

[0161] Graphical display: A pressure-time curve is drawn below the numerical value, with the horizontal axis representing the training time (0-30 minutes) and the vertical axis representing the pressure value (0-50N). The plot is updated in real time.

[0162] 3. Visual feedback of abnormal situations:

[0163] If the load sensor 402 detects that the weight on one leg reaches 30 kg (threshold):

[0164] The data processing module marks the "left lower limb weight bearing" value in red, with a flashing border;

[0165] An alarm pop-up window pops up in the upper right corner of the display screen 502, displaying "Weight exceeds limit, please adjust posture", and triggers the alarm module 203 to sound.

[0166] (3) Training completion and data storage

[0167] At the end of training, the data processing module:

[0168] The pressure and weight data of the entire training process are packaged (in CSV format) and stored in the built-in memory of the PLC controller 501;

[0169] Display screen 502 displays a training summary interface, including statistical parameters such as average pressure, maximum load, and training duration;

[0170] Supports exporting data via USB interface to facilitate subsequent rehabilitation evaluation.

[0171] It should be noted that the control method of the present application can be automatically controlled by a controller, and the control method of the controller can be implemented by simple programming by technicians in this field, which is common knowledge in this field. In addition, the present application is mainly used to protect mechanical structures, so the control method and circuit connection are no longer explained in detail in this application.

[0172] Specifically, taking a 60kg hemiplegic patient as an example, the complete usage process of the intelligent dynamic stability assistance system is as follows:

[0173] 1. Initialization phase: equipment debugging and patient placement

[0174] 1. Equipment positioning and attitude zeroing

[0175] The trainer pushes the braked universal wheels at the bottom of the base 101 to move the device to the rehabilitation training area and then steps on the brake to lock the base 101. The control unit 202 sends a command to the tilt adjustment mechanism 103, which adjusts the hip support platform 104 to a horizontal state (0° tilt) through the pneumatic push rod assembly.

[0176] 2. Highly adaptive adjustment

[0177] When the patient is in a sitting position, the control unit 202 drives the electric drive device of the lifting column 102 to lift the hip support platform 104 to a height of 90 cm from the ground (achieved by a multi-stage telescopic column) and fixes it with a locking buckle to ensure the rigid support of the lifting column 102.

[0178] 3. Load monitoring component starts

[0179] The patient puts both feet into the shoe covers 401 on the base 101. The load sensor 402 inside the shoe covers is electrically connected to the control unit 202. The control unit 202 guides the patient to briefly lift the unaffected limb to calibrate the static weight of the affected leg (e.g., the initial test weight is 20 kg on the affected leg and 40 kg on the unaffected leg).

[0180] 4. Data display module initialization

[0181] PLC controller 501 communicates with control unit 202 and receives initial data from pressure sensor 201 and load sensor 402. Display screen 502 displays "System Ready" and updates the following parameters in real time: tilt angle 0°, left lower limb weight 20 kg, right lower limb weight 40 kg.

[0182] 2. Training phase: dynamic balance training implementation

[0183] 1. Progressive tilt posture simulation

[0184] The trainer sets the initial tilt angle to 5° through the control unit 202. The control unit 202 drives the pneumatic push rod assembly of the tilt adjustment mechanism 103 to extend 1.5 cm, so that the hip support platform 104 tilts forward 5°, simulating a slight center of gravity shift.

[0185] 2. Real-time monitoring and feedback of load data

[0186] When the patient tries to shift the center of gravity to the affected side, the load-bearing sensor 402 wearing the shoe cover 401 collects data in real time: the weight on the affected leg gradually increases from 20 kg to 25 kg, and the weight on the healthy leg decreases to 35 kg. The data is transmitted to the control unit 202 through an electrical connection.

[0187] The control unit 202 sends the data to the PLC controller 501, which displays the data on the display screen 502 after processing: "Left lower limb weight 25 kg" and "Tilt angle 5°", and draws a weight-time curve.

[0188] 3. Rotatable support plate auxiliary support

[0189] When the hip support platform 104 is tilted to 15°, the patient tends to fall to the affected side. The trainer manually rotates the rotatable support plate 303 60° around the rotation axis toward the affected side. After fixing, the patient supports the support plate 303 with his healthy hand to assist in completing the center of gravity control.

[0190] 4. Over-limit alarm and safety intervention

[0191] If the weight on the patient's affected leg suddenly increases to 32 kg (exceeding the preset threshold of 30 kg), PLC controller 501 triggers the "Left Lower Limb Weight" value on display screen 502 to flash red, and alarm module 203 simultaneously sounds an audible and visual alarm. Control unit 202 immediately sends a reset command to tilt adjustment mechanism 103, adjusting hip support platform 104 back to a horizontal position (0°) to prevent imbalance.

[0192] 3. Ending stage: device reset and data storage

[0193] 1. Attitude and altitude reset

[0194] After the training is finished, the control unit 202 drives the tilt adjustment mechanism 103 to keep the hip support platform 104 horizontal, and at the same time controls the lifting column 102 to descend to 60 cm from the ground to facilitate the patient to stand up.

[0195] 2. Data archiving and equipment standby

[0196] The PLC controller 501 stores the training data (e.g., maximum tilt angle of 15°, maximum weight on the affected leg of 32 kg, and training duration of 20 minutes) in the built-in memory, and the display screen 502 displays the training summary interface. The trainer releases the universal wheel brakes on the base 101, and the device enters standby mode for easy movement and storage.

[0197] In summary, the intelligent dynamic stabilization assistance system of the embodiment of the present application realizes real-time stable control of the support force of the affected limb through a highly adjustable mobile support platform, precise pressure feedback technology and a dynamic posture simulation mechanism, thereby improving the safety and effectiveness of rehabilitation training.

[0198] In the description of this specification, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of the technical features indicated. Therefore, a feature specified as "first" or "second" may explicitly or implicitly include at least one of such features. In the description of this application, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0199] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0200] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and deform the above embodiments within the scope of the present application.

Claims

1. Intelligent dynamic stability assistance system, characterized by: It comprises a mobile support platform (1), a pressure feedback module (2), a lateral support component (3), a wearable weight monitoring component (4) and a data display control module (5), wherein: The mobile support platform (1) comprises a base (101), a height-adjustable lifting column (102) vertically mounted on the base (101), and a buttocks support platform (104) connected to the top of the lifting column (102) via a tilt adjustment mechanism (103); a universal wheel with a brake function is provided at the bottom of the base (101); The pressure feedback module (2) comprises a pressure sensor (201) provided in the affected-side contact area on the upper surface of the buttocks support platform (104), a control unit (202) and an alarm module (203), wherein the control unit (202) monitors pressure data in real time and triggers an alarm; The lateral support assembly (3) comprises a column bracket (301) fixed to the side of the mobile support platform (1) and a handrail (302) arranged on the top of the column bracket (301); a rotatable support plate (303) is provided on the outer side of the mobile support platform (1); the support plate (303) is mounted on the mobile support platform (1) via a rotating shaft and can be rotated toward the affected side and locked for auxiliary support of the healthy hand; The wearable weight-bearing monitoring assembly (4) comprises two wearable shoe covers (401) arranged on a base (101), a load-bearing sensor (402) being embedded in the shoe covers (401), and the load-bearing sensor (402) being electrically connected to a control unit (202) for collecting single-leg weight-bearing data; The data display control module (5) comprises a PLC controller (501) and a display screen (502). The PLC controller (501) is in communication with the control unit (202). The display screen (502) is installed on the outside of the mobile support platform (1) and is used to display parameters such as pressure, load and tilt angle in real time.

2. The intelligent dynamic stability assistance system according to claim 1, characterized in that: The lifting column (102) is a multi-stage telescopic structure, comprising an electric drive device and a locking buckle that are communicatively connected to the control unit (202).

3. The intelligent dynamic stability assistance system according to claim 1, characterized in that: The tilt adjustment mechanism (103) is a pneumatic push rod assembly, the two ends of which are respectively hinged to the top of the lifting column (102) and the bottom surface of the buttocks support platform (104). The control unit (202) adjusts the stroke of the pneumatic push rod to control the tilt angle, so that the buttocks support platform (104) is tilted within the range of 0°-30°.

4. The intelligent dynamic stability assistance system according to claim 1, characterized in that: The pressure sensors (201) are distributed in an array in the contact area of the affected side of the hip support platform (104) and are aligned with the projection area of the center of gravity of the affected limb. The load-bearing sensors (402) are distributed in the contact area of the sole of the foot when the shoe cover (401) is worn. Both are electrically coupled to the control unit (202).

5. The intelligent dynamic stability assistance system according to claim 1, characterized in that: The PLC controller (501) has a built-in data processing module, which can convert the real-time data of the pressure sensor (201) and the load-bearing sensor (402) into visual parameters and display them on the display screen (502).

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