Ankle rehabilitation system for gait training

Abstract

The invention discloses an ankle rehabilitation system for gait training, and the system comprises a pressure sensor which detects the pressure value of a foot; the inertial sensor is used for detecting inertial data in gait training; the myoelectricity acquisition unit is used for acquiring myoelectricity signals of the target muscle group; the main control unit receives the pressure value, the inertial data and the electromyographic signal, identifies a gait event, a training mode and a target muscle group state according to the pressure value, the inertial data and the electromyographic signal, and controls the electrical stimulation unit, the pneumatic muscle unit and the biological feedback unit; the electrical stimulation unit applies self-adaptive electrical stimulation intensity to a target muscle group of the patient; the pneumatic muscle unit and the biological feedback unit respectively provide mechanical external force assistance and biological prompts for a patient through the muscle-bone combination unit. According to the invention, by detecting the gait event, the training mode and the state of the target muscle group, the self-adaptive continuous adjustable electrical stimulation intensity, mechanical external force assistance and biological prompt are provided for the patient, the problems of foot drop and strephenopodia are corrected, and meanwhile, the coordination rehabilitation training of the lower limb muscle group is promoted.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of medical rehabilitation training system, and particularly relates to an ankle rehabilitation system for gait training. BACKGROUND

[0002] With the progress of medical technology, the rehabilitation treatment methods for patients with lower limb motor function impairment are increasing, especially for patients with hemiplegia caused by stroke, the gait disability such as bilateral imbalance, foot drop and foot inversion not only increases the risk of falling, but also causes great trouble to their daily life and rehabilitation process. However, the traditional passive lower limb rehabilitation system, such as ankle orthosis, although can prevent foot drop and foot inversion to some extent, but cannot effectively exercise the ankle joint muscles of the affected side, and even may cause muscle atrophy and ankle instability. In recent years, active lower limb rehabilitation robots as a new treatment method have received widespread attention, which can drive the patient's bioelectric signal to provide mechanical external force assistance for the patient to help the patient to carry out gait rehabilitation training. However, there are some problems in the use of active lower limb rehabilitation robots, first, they cannot guide the patient to use the target muscle to complete the corresponding action, and cannot effectively correct the compensatory movement of the patient; second, in the dynamic walking process, these robots cannot effectively solve the problems of foot drop and foot inversion caused by muscle atrophy and muscle compensation movement. Therefore, how to design a rehabilitation training system to correct the foot drop and foot inversion of the patient and promote the effective coordination of the lower limb muscle group is a problem to be solved. SUMMARY

[0003] The main purpose of the present application is to overcome the shortcomings and deficiencies of the prior art, and provide an ankle rehabilitation system for gait training, which can detect the gait event, training mode and state of the target muscle group of the patient in real time, provide adaptive electric stimulation intensity, mechanical external force assistance and biological prompt for the patient, correct the foot drop and foot inversion problem, and promote the coordination of the lower limb muscle group.

[0004] In order to achieve the above purpose, the following technical scheme is adopted in the present application:

[0005] In a first aspect, the present application provides an ankle rehabilitation system for gait training, which comprises: a master control unit, the master control unit is connected with a pressure sensor, an inertial sensor, an electromyographic acquisition unit, a biological feedback unit and an electric stimulation unit respectively; the master control unit is further connected with a muscle-bone joint unit through a pneumatic muscle unit;

[0006] The pressure sensor is distributed at the foot bottom heel, the first metatarsal head and the fifth metatarsal head, and is used for detecting the pressure value of the foot;

[0007] The inertial sensor is used for detecting the inertial data in gait training.

[0008] The myoelectric collection unit is used to collect myoelectric signals of a target muscle group, and the myoelectric signals of the target muscle group are transmitted in real time to the master control unit through an electrode array;

[0009] The master control unit receives the pressure value, the inertial data of the inertial sensor and the myoelectric signals, and identifies gait events, training modes and the state of the target muscle group according to the pressure value, the inertial data of the inertial sensor and the myoelectric signals, and is used to control the electric stimulation unit, the pneumatic muscle unit and the biofeedback unit in real time;

[0010] The electric stimulation unit applies adaptive electric stimulation intensity to the target muscle group of the patient through an electrode array; wherein the target muscle group includes lower limb flexor and lower limb extensor;

[0011] The pneumatic muscle unit provides mechanical external force assistance to the patient through the muscle-bone joint unit;

[0012] The biofeedback unit provides biological cues to the patient through the muscle-bone joint unit.

[0013] As a preferred technical solution, the master control unit identifies gait events according to the pressure value; the gait events include foot contact, heel off and foot off.

[0014] As a preferred technical solution, the master control unit identifies training modes according to the inertial data of the inertial sensor; the training modes include flat ground walking mode and stair training mode, in particular:

[0015] G = flat ground training mode M(t) ≤ M th

[0016] G = stair training mode M(t) > M th

[0017] Wherein, G represents the identified training mode, M(t) is the real-time data of the inertial sensor in the vertical direction during dynamic training; M th is the identification threshold of the inertial sensor, which is fine-tuned according to the gait habit of the user.

[0018] As a preferred technical solution, when the master control unit identifies the gait event as the heel off, it includes:

[0019] The electric stimulation unit applies electric stimulation to the lower limb extensor of the target muscle group through the motor array to cause the contraction of the lower limb extensor and complete the plantar flexion action.

[0020] As a preferred technical solution, when the master control unit identifies the gait event as the foot off, it includes:

[0021] The electrical stimulation unit turns off the upper electrical stimulation of the lower limb extensor muscle of the target muscle group through the motor array; meanwhile, the electrical stimulation unit turns on the upper electrical stimulation of the lower limb flexor muscle of the target muscle group through the motor array to cause the contraction of the lower limb flexor muscle and complete the dorsiflexion action; and the pneumatic muscle unit is in a deflated state.

[0022] As a preferred technical solution, the main control unit identifies that the gait event is the foot touching the ground, and the main control unit comprises:

[0023] The electrical stimulation unit turns off the upper electrical stimulation of the lower limb flexor muscle of the target muscle group through the motor array; meanwhile, the pneumatic muscle unit is in an inflated state, and the patient is provided with a mechanical external force auxiliary support for the target joint through the muscle-bone joint unit.

[0024] As a preferred technical solution, the electrical stimulation unit applies adaptive electrical stimulation intensity to the target muscle group of the patient through the electrode array, and the electrical stimulation unit comprises:

[0025] The electrical stimulation intensity adaptively modulates the bandwidth of the electrical stimulation unit according to preset parameters of the patient and weight values of the lower limb extensor muscle or the lower limb flexor muscle calculated in real time by the electromyography acquisition unit, wherein the preset parameters comprise a basic bandwidth.

[0026] The formula for adaptively modulating the bandwidth of the electrical stimulation unit is:

[0027] B=B0×α

[0028] Wherein, B0 is the basic bandwidth, and α is the weight value of the lower limb extensor muscle or the lower limb flexor muscle.

[0029] As a preferred technical solution, the pneumatic muscle unit comprises a gas pump, a gas valve and a gas pressure sensor.

[0030] Wherein, when the pneumatic muscle unit is in the inflated state, the gas pump is opened and the gas valve is closed; when the pneumatic muscle unit is in the deflated state, the gas pump is closed and the gas valve is opened.

[0031] As a preferred technical solution, it further comprises:

[0032] When the main control unit identifies that the gait event is the foot touching the ground, the main control unit detects the gas pressure inside the pneumatic muscle in real time through the gas pressure sensor, and when the gas pressure is greater than a preset gas pressure threshold, the pneumatic muscle unit is in a maintenance state to continuously provide a mechanical external force to assist in correcting the foot inversion; wherein, when the pneumatic muscle unit is in the maintenance state, the gas pump is closed and the gas valve is closed.

[0033] As a preferred technical solution, the biofeedback unit provides a biological prompt to the patient through the muscle-bone joint unit, and the biofeedback unit comprises:

[0034] When the master control unit identifies that the gait event is foot off the ground, if the maximum pressure of the pressure sensor at the fifth metatarsal head multiplied by the preset balance threshold is still greater than or equal to the maximum pressure of the pressure sensor at the first metatarsal head, at this time, the master control unit identifies that the gait of the patient is unbalanced gait, and provides biological feedback by starting the vibration motor to remind the patient to actively adjust the plantar balance after the foot touches the ground;

[0035] When the master control unit identifies that the event gait is foot off the ground, biological feedback is stopped by turning off the vibration motor, and the patient self-corrects the plantar balance;

[0036] If the maximum pressure of the pressure sensor at the fifth metatarsal head multiplied by the preset balance threshold is less than the maximum pressure of the pressure sensor at the first metatarsal head, at this time, the master control unit identifies that the gait of the patient is balanced gait, and keeps the vibration motor off, without providing vibration biological feedback.

[0037] In summary, compared with the prior art, the technical scheme provided by the present application brings at least the following effective effects:

[0038] The present application provides an ankle rehabilitation system for gait training, and the master control unit can identify the gait event, training mode and state of the target muscle group in real time through the integrated pressure sensor, inertial sensor and electromyographic acquisition unit, and can control the electrical stimulation unit, pneumatic muscle unit and biological feedback unit in real time. The rehabilitation training system can accurately identify fine gait events in gait rehabilitation training, improve the gait abnormalities of patients such as foot drop and foot inversion according to the gait events, effectively reduce the occurrence of muscle compensatory movement, promote the coordinated rehabilitation training of the lower limb muscle group of the patient, and improve the rehabilitation effect of the patient. BRIEF DESCRIPTION OF DRAWINGS

[0039] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0040] Figure 1 A structural block diagram of an ankle rehabilitation system for gait training is provided for an embodiment of the present application. DETAILED DESCRIPTION

[0041] In the interest of a better understanding of the present application, reference will be made to the accompanying drawings comprising examples of embodiments of the application. It is to be understood that the application is not limited to the examples described and that any other examples falling within the scope of the present application are intended to be embraced thereby. Any features, structures, characteristics, and / or properties described in relation to an example can be combined in any suitable manner in any other example.

[0042] Reference to an "example" in this application means that a particular feature, structure, or characteristic described in connection with the example can be included in at least one example of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same example, nor are they necessarily mutually exclusive or alternative examples to one another. It is explicitly understood that the examples described in this application can be combined with each other in any suitable manner.

[0043] Example:

[0044] Reference will now be made to the drawings in which: Figure 1 In one embodiment of the application, a foot and ankle rehabilitation system for gait training is provided, the system comprising: a master control unit 106 connected with a pressure sensor 102, an inertial sensor 103, an electromyography acquisition unit 104, a biofeedback unit 108, an electrical stimulation unit 109, respectively, and the master control unit 106 is further connected with a muscle and bone joint unit 110 through a pneumatic muscle unit 107 or the biofeedback unit 108;

[0045] The pressure sensor 102 is distributed at the foot bottom heel, the first metatarsal head and the fifth metatarsal head, for detecting the pressure value of the foot;

[0046] The inertial sensor 103 is used for detecting the inertial data in gait training;

[0047] The electromyography acquisition unit 104 is used for acquiring the electromyography signal of the target muscle group, and the electromyography signal of the target muscle group is transmitted to the master control unit 106 in real time through an electrode array 111;

[0048] The master control unit 106 receives the pressure value, the inertial data of the inertial sensor and the electromyography signal, and identifies the gait event, the training mode and the state of the target muscle group according to the pressure value, the inertial data of the inertial sensor and the electromyography signal, and is used for real-time control of the electrical stimulation unit 109, the pneumatic muscle unit 107 and the biofeedback unit 108;

[0049] The electrical stimulation unit 109 applies adaptive electrical stimulation intensity to the target muscle group of the patient through the electrode array 111; wherein the target muscle group includes lower limb flexor muscles (such as tibialis anterior muscle) and lower limb extensor muscles (such as gastrocnemius muscle);

[0050] The pneumatic muscle unit 107 provides mechanical external force assistance to the patient 101 through the muscle-bone joint unit 110;

[0051] The biofeedback unit 108 provides biological cues to the patient 101 through the muscle-bone joint unit 110.

[0052] Among them, the pressure sensor 102 and the inertial sensor 103 are connected with the main control unit 106 through the digital-to-analog conversion unit 105; the main control unit 106 also interacts with the intelligent terminal through wireless transmission.

[0053] As one of the embodiments, the pressure sensor in the embodiment is embedded in the integrated design of the socks, including a plurality of pressure sensors, such as being distributed at the foot heel, the first metatarsal head and the fifth metatarsal head; the main control unit can identify the gait events according to the pressure values of the pressure sensors; the gait events include: foot landing, heel leaving the ground and foot leaving the ground, in particular:

[0054]

[0055] Among them, GE represents the identified gait event, F1(t), F2(t), F3(t) are the real-time data of the pressure sensors at the heel, the first metatarsal head and the fifth metatarsal head, respectively; F 1th ,F 2th ,F 3th are the pressure threshold values of the pressure sensors at the heel, the first metatarsal head and the fifth metatarsal head, respectively, which are usually preset as 50% of the maximum pressure values of the corresponding pressure sensors.

[0056] As one of the embodiments, the inertial sensor is built into the equipment host of the ankle rehabilitation system, and the main control unit identifies the training mode according to the values of the inertial sensor, the training mode includes: flat ground walking mode and stair training mode, in particular:

[0057] G=flat ground training mode M(t)≤M th

[0058] G=stair training mode M(t)>M th

[0059] Among them, G represents the identified training mode, M(t) is the real-time data of the inertial sensor in the vertical direction in the dynamic training process; M th is the identification threshold value of the inertial sensor, the intensity of which is fine-tuned according to the gait habits of the user, and is usually set to 50% of the maximum value of M(t).

[0060] As one of the embodiments, when the main control unit identifies that the gait event is GE=heel leaving the ground, it includes:

[0061] The electrical stimulation unit applies electrical stimulation to the lower limb extensor muscle (e.g. gastrocnemius) of the target muscle group through the motor array to cause the lower limb extensor muscle (e.g. gastrocnemius) to contract, thereby completing the plantar flexion action.

[0062] When the gait event identified by the main control unit is GE = foot off the ground, the main control unit controls the electrical stimulation unit to:

[0063] The electrical stimulation unit applies electrical stimulation to the lower limb flexor muscle (e.g. tibialis anterior) of the target muscle group through the motor array to cause the lower limb flexor muscle (e.g. tibialis anterior) to contract, thereby completing the dorsiflexion action; and controls the pneumatic muscle unit to be in the deflated state.

[0064] Further, the electrical stimulation unit applies adaptive electrical stimulation intensity to the target muscle group of the patient through the electrode array, including:

[0065] The electrical stimulation intensity is determined according to the parameters preset according to the patient's condition, such as a symmetric square wave with an amplitude of 100 V, a frequency of 40 Hz, and a bandwidth of 30 μs, and the weight value α of the lower limb extensor muscle or the lower limb flexor muscle calculated in real time by the electromyography acquisition unit, i.e. multiplying the parameters preset according to the patient's condition by the weight value α of the lower limb extensor muscle or the lower limb flexor muscle to obtain the bandwidth of the electrical stimulation unit, such as bandwidth = 30*α μs. By using adaptive intensity electrical stimulation, the embodiment adapts to the dynamic changes in muscle activity during the gait training process of the patient, and improves the muscle strength and coordination of the lower limb muscle group of the patient. Specifically, the formula for adaptively modulating the bandwidth of the electrical stimulation unit is:

[0066] B = B0 x α

[0067] Where B0 is the basic bandwidth, and α is the weight value of the lower limb extensor muscle or the lower limb flexor muscle.

[0068] As one of the embodiments, the pneumatic muscle unit includes a gas pump, a gas valve, and a gas pressure sensor; when the pneumatic muscle unit is in the inflated state, the gas pump is turned on and the gas valve is closed to provide mechanical external force to support the target joint (ankle); when the pneumatic muscle unit is in the deflated state, the gas pump is turned off and the gas valve is opened to realize the freedom of movement of the ankle joint during the swing phase.

[0069] Further, the main control unit controls the pneumatic muscle unit to:

[0070] When the gait event identified by the main control unit is GE = foot touch the ground, the main control unit detects the gas pressure inside the pneumatic muscle in real time through the gas pressure sensor, and once the gas pressure is greater than the preset gas pressure threshold (which is a fixed value, such as 45 kPa, according to the patient's condition), the pneumatic muscle unit is in the maintenance state, i.e. the gas pump is turned off and the gas valve is closed to continuously provide mechanical external force to assist in correcting the foot pronation.

[0071] As one of the embodiments, the biofeedback unit is embedded in the integrated design of the sock, located between the first and second toes of the foot, providing biofeedback (such as vibration) to remind the patient to actively correct the plantar balance, and then to actively improve the problem of foot inversion in a controlled manner:

[0072]

[0073] wherein V represents the control state of the vibration motor, FSR 2max and FSR 3max is the maximum value of the pressure of the pressure sensor at the first metatarsal head and the fifth metatarsal head in the last gait cycle (foot off the ground-the next foot off the ground), and b is a preset balance threshold, such as 50%.

[0074] Further, the biofeedback unit provides biofeedback to the patient through the myo-skeletal unit, specifically:

[0075] When the main control unit identifies that the gait event is foot off the ground, if the product of the maximum value of the pressure of the pressure sensor at the fifth metatarsal head and the preset balance threshold is still greater than or equal to the maximum value of the pressure of the pressure sensor at the first metatarsal head, the main control unit identifies that the patient's gait is a non-balanced gait, and provides biofeedback by turning on the vibration motor to remind the patient to actively adjust the plantar balance after the foot touches the ground;

[0076] When the main control unit identifies that the event gait is foot touch, the biofeedback is stopped by turning off the vibration motor, and the patient self-corrects the plantar balance;

[0077] If the product of the maximum value of the pressure of the pressure sensor at the fifth metatarsal head and the preset balance threshold is less than the maximum value of the pressure of the pressure sensor at the first metatarsal head, the main control unit identifies that the patient's gait is a balanced gait, and keeps the vibration motor off, without providing vibration biofeedback.

[0078] The intensity of the vibration motor in this embodiment is a factory-preset fixed value, such as 1.8G amplitude.

[0079] The pressure sensor, inertial sensor and biofeedback unit in this embodiment are highly integrated in the compactly designed sock-shaped myo-skeletal unit, and the highly integrated sock design is externally nervous myo-skeletal, making it convenient and comfortable for the patient to wear. The above-mentioned main control unit, digital-to-analog conversion unit, electrical stimulation unit and pneumatic muscle unit (air pump, air valve and air pressure sensor) are concentrated in the device host, which is located above the compactly designed sock-shaped myo-skeletal unit; the above-mentioned electrode array is shared by the electromyographic acquisition unit and the electrical stimulation unit, and is attached to the target muscle group of the lower limb to realize real-time acquisition of electromyographic signals and adaptive electrical stimulation intensity of neuromuscular electrical stimulation.

[0080] Those skilled in the art can understand that all or part of the processes in the above embodiments can be completed by instructing the relevant hardware through a computer program. The program can be stored in a non-volatile computer readable storage medium, and when the program is executed, the processes of the above embodiments can be included. Any reference to memory, storage, database or other medium used in the embodiments provided in the present application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration but not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0081] Any combination of the technical features of the above embodiments can be made. In order to make the description simple, all possible combinations of the technical features in the above embodiments are not described, however, as long as the combination of the technical features does not exist, it should be considered as the scope of the present application.

[0082] The above embodiments are the preferred embodiments of the present application, but the embodiments of the present application are not limited to the above embodiments, and any changes, modifications, substitutions, combinations and simplifications made without departing from the spirit and principles of the present application shall be equivalent replacement methods and shall be within the scope of protection of the present application.

Claims

1. An ankle rehabilitation system for gait training, characterized by, The system comprises a master control unit connected with a pressure sensor, an inertial sensor, an electromyography acquisition unit, a biofeedback unit and an electrical stimulation unit respectively; the master control unit is also connected with a pneumatic muscle unit; The pressure sensor is distributed at the heel, the first metatarsal head and the fifth metatarsal head of the foot for detecting the pressure value of the foot; The inertial sensor is used for detecting the inertial data in gait training; The electromyography acquisition unit is used for acquiring the electromyography signal of the target muscle group and transmitting the electromyography signal of the target muscle group to the master control unit in real time through an electrode array; The master control unit receives the pressure value, the inertial data of the inertial sensor and the electromyography signal, and identifies the gait event, the training mode and the state of the target muscle group according to the pressure value, the inertial data of the inertial sensor and the electromyography signal, and is used for continuously and modulatablely controlling the electrical stimulation unit, the pneumatic muscle unit and the biofeedback unit in real time; The electrical stimulation unit applies adaptive electrical stimulation intensity to the target muscle group of the patient through an electrode array; wherein the target muscle group comprises lower limb flexor and lower limb extensor; The pneumatic muscle unit provides mechanical external force assistance to the patient through a muscle-bone joint unit; The biofeedback unit provides biological cues to the patient through a muscle-bone joint unit.

2. The ankle rehabilitation system for gait training as claimed in claim 1 wherein, The master control unit identifies the gait event according to the pressure value; the gait event comprises foot contact, heel off ground and foot off ground.

3. The ankle rehabilitation system for gait training as claimed in claim 1 wherein, The master control unit identifies the training mode according to the inertial data of the inertial sensor; the training mode comprises flat ground walking mode and stair training mode, and specifically: G = flat ground training mode M(t) < M th G = Staircase training pattern M(t) > M th Wherein, G represents the identified training mode, M(t) is the real-time data of the vertical direction of the inertial sensor in the dynamic training process; M th is the identification threshold of the inertial sensor, which is fine-tuned according to the gait habit of the user.

4. The ankle rehabilitation system for gait training as claimed in claim 2 wherein, When the master control unit identifies the gait event as the heel off ground, it comprises: The electrical stimulation unit applies electrical stimulation to the lower limb extensor of the target muscle group through the motor array to cause the contraction of the lower limb extensor and complete the plantar flexion action.

5. The ankle rehabilitation system for gait training as claimed in claim 2 wherein, When the master control unit identifies the gait event as the foot off ground, it comprises: The electrical stimulation unit closes the electrical stimulation to the lower limb extensor of the target muscle group through the motor array; at the same time, the electrical stimulation unit applies electrical stimulation to the lower limb flexor of the target muscle group through the motor array to cause the contraction of the lower limb flexor and complete the dorsiflexion action; and controls the pneumatic muscle unit to be in the deflated state.

6. The ankle rehabilitation system for gait training as claimed in claim 2 wherein, When the master control unit identifies the gait event as the foot contact, it comprises: The electrical stimulation unit closes the electrical stimulation to the lower limb flexor of the target muscle group through the motor array; at the same time, the electrical stimulation unit controls the pneumatic muscle unit to be in the inflated state, and provides mechanical external force assistance to the patient through the muscle-bone joint unit to support the target joint.

7. The ankle rehabilitation system for gait training as claimed in claim 1 wherein, The electrical stimulation unit applies adaptive electrical stimulation intensity to the target muscle group of the patient through an electrode array, comprising: The electrical stimulation intensity adaptively modulates the bandwidth of the electrical stimulation unit according to the preset parameters of the patient and the weight value of the lower limb extensor or the lower limb flexor calculated in real time by the electromyography acquisition unit; wherein the preset parameters comprise a basic bandwidth; The formula for adaptively modulating the bandwidth of the electrical stimulation unit is: B=B0×α Wherein, B0 is the basic bandwidth, and α is the weight value of the lower limb extensor or the lower limb flexor.

8. The ankle rehabilitation system for gait training as claimed in claim 6 wherein, The pneumatic muscle unit comprises a gas pump, a gas valve and a gas pressure sensor; When the pneumatic muscle unit is in the inflated state, the air pump is opened and the air valve is closed; when the pneumatic muscle unit is in the deflated state, the air pump is closed and the air valve is opened.

9. The ankle rehabilitation system for gait training as claimed in claim 8 wherein, Further comprising: When the main control unit identifies that the gait event is foot landing, the main control unit detects the air pressure inside the pneumatic muscle in real time through the air pressure sensor, and when the air pressure is greater than the preset air pressure threshold, the pneumatic muscle unit is in the maintenance state, continuously providing mechanical external force to assist in correcting the foot inversion; wherein, when the pneumatic muscle unit is in the maintenance state, the air pump is closed and the air valve is closed.

10. The ankle rehabilitation system for gait training of claim 1, wherein, The biofeedback unit provides biofeedback to the patient through the muscle-bone joint unit, including: When the main control unit identifies that the gait event is foot landing, if the maximum pressure of the fifth metatarsal head pressure sensor multiplied by the preset balance threshold is still greater than or equal to the maximum pressure of the first metatarsal head pressure sensor, the main control unit identifies that the patient's gait is unbalanced gait, and provides biofeedback by turning on the vibration motor to remind the patient to actively adjust the foot balance after the foot landing; When the main control unit identifies that the event gait is foot landing, stop the biofeedback by turning off the vibration motor, and the patient corrects the foot balance independently; If the maximum pressure of the fifth metatarsal head pressure sensor multiplied by the preset balance threshold is less than the maximum pressure of the first metatarsal head pressure sensor, the main control unit identifies that the patient's gait is balanced gait, and keeps the vibration motor off without providing vibration biofeedback.

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