Walking weight reduction device based on multi-drive-by-wire driving and gait adjusting method

Abstract

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

Description

Technical Field

[0001] This application relates to the field of walking assistance technology, and in particular to a walking weight reduction device and gait adjustment method based on multi-linear drive.

[0002] This application claims domestic priority, with the earlier application number being 2025105676822, entitled "A Walking Suspension Device and Gait Adjustment Method", priority date being April 30, 2025. Background Technology

[0003] In fields such as medical rehabilitation, gait correction, and sports training, assistive devices are often used to aid in practice. Examples include rehabilitation training for stroke-induced hemiplegia, biomechanical correction for patients with foot disorders or abnormal gait postures, and gait training for models, honor guards, and athletes. Walking weight-reduction devices can provide external force to reduce the user's load, simulate gait motion environments, monitor gait data, and provide users with scientifically effective training and assessment methods, thus promoting the development of rehabilitation medicine and sports science.

[0004] Traditional gait research methods and devices are limited in function, have poor adjustability and adaptability, and cannot provide real-time feedback of multi-dimensional data. This results in a lack of accurate data support in practical use, making them unscientific and affecting the effectiveness of the research. Alternatively, they rely on large laboratory equipment, which is bulky, greatly limiting the application scenarios and incurring high costs.

[0005] Chinese Patent (Publication No.: CN106267773A; Publication Date: 2017-01-04) discloses an intelligent suspension system with gait analysis function. The entire system is connected to the frame of a sports device or exercise machine. The frame is equipped with a transmission mechanism, which is connected to a carrier for restraining the user. Sensing components are installed on the frame of the sports device or exercise machine. The system can detect and display changes in the user's weight and gait in a fixed-point, real-time manner, and analyze the user's gait. It also provides real-time visual feedback, allowing the user to understand the gait status of exercise or rehabilitation through visual feedback and make appropriate gait adjustments.

[0006] The intelligent suspension system in the aforementioned patent application only monitors the force at a single point through the steel cable above, resulting in relatively simple data collection and feedback. Furthermore, because the entire device provides little space for the user to move around, the user's movements are restricted, which seriously affects the effectiveness of use and poses a risk of injury. Summary of the Invention

[0007] To improve the accuracy and reliability of data monitoring in walking weight reduction devices and expand their applicability, this application provides a walking weight reduction device and gait adjustment method based on multi-wire drive.

[0008] Firstly, the walking weight reduction device based on multi-wire drive provided in this application adopts the following technical solution: A walking weight reduction device based on multi-wire drive includes a base plate, a three-dimensional frame structure, and a harness suit for wearing on the user's body. The base plate is located below the three-dimensional frame structure, and a pressure feedback component is provided on the base plate; The top four sides of the three-dimensional frame structure are provided with several sets of traction structures; the traction structure includes a mounting base installed on the three-dimensional frame structure and a traction rope with one end connected to the mounting base. The mounting base is equipped with a tension sensor for detecting the magnitude of the traction force of the traction rope, and the other end of the traction rope is connected to the harness garment.

[0009] By employing the above technical solution, users can utilize this device for rehabilitation therapy or gait training. During use, the user stands in the center of the base plate, wears the harness, and connects the various traction ropes to the corresponding positions on the harness. This provides a lifting force to the user, maintaining their standing position while simultaneously collecting data on the specific location and force distribution of multiple body parts. Additionally, pressure feedback components on the base plate monitor the user's foot position and force distribution. By integrating this data, the accuracy of multi-dimensional data monitoring is improved, enabling efficient and reliable assessment of the user's gait. Evaluation results and improvement suggestions are then provided to enhance the overall effectiveness of the device.

[0010] This application utilizes a base plate and a three-dimensional frame structure to achieve overall stability of the entire walking weight reduction device, preventing deformation during use that could lead to inaccurate data or safety hazards. The traction structure enables the transmission of a maximum tensile force of 800N in multiple directions, with real-time adjustment of the force. The optimal traction rope tension can be adjusted based on the user's weight and usage status, meeting the personalized needs of different users.

[0011] Optionally, the walking weight reduction device further includes a controller; the pressure feedback component is a pressure sensor arrayed on the base plate; a display screen is also provided on the base plate; the pressure sensor, tension sensor and display screen are all electrically connected to the controller.

[0012] By adopting the above technical solution, comprehensive collection and real-time feedback of user gait data are achieved. The pressure sensor array accurately detects the distribution and changes in pressure on the user's feet, providing basic data for gait analysis. The display screen presents the calculated gait data, allowing users or instructors to intuitively understand the training status. The controller, as the core processing unit, integrates and processes the data collected by the pressure and tension sensors and controls the display screen to show relevant information, thereby achieving real-time data monitoring and feedback. Simultaneously, the display screen can also simulate different environmental conditions, such as asphalt roads, gravel roads, and winding paths, thus improving the functionality of the entire device.

[0013] Optionally, the three-dimensional frame structure includes a bottom frame fixed around the base plate, four columns fixed at the four corners of the bottom frame, and a top frame fixed to the top of the four columns; the traction structure has at least four sets and is respectively set on the connecting rods around the top frame or at the four corners.

[0014] By adopting the above technical solution, the three-dimensional frame structure consists of a base frame, four columns, and a top frame, forming a stable support structure that ensures the overall stability of the device, prevents deformation during use, and thus guarantees data accuracy and eliminates safety hazards. At least four traction structures are provided, located on the four connecting rods around the top frame or at the four corners, enabling multi-directional traction force transmission to the user. The maximum pulling force can reach 800N in each of the four directions, and the pulling force can be adjusted according to the user's weight and usage status, improving training effectiveness and safety.

[0015] Optionally, a monitoring camera is installed on each of the four columns; the monitoring camera faces the center of the base plate; the monitoring camera is connected to the image processing module in the controller.

[0016] By adopting the above technical solution, the monitoring camera can capture the user's walking posture on the platform in real time, specifically including changes in the flexion and extension angles of the hip, knee, and ankle joints, the movement path of the foot during the swing phase, and the rotation, tilt, and lateral displacement of the pelvis. Combined with the image processing module, the captured posture data can be analyzed to provide a visual basis for gait assessment, further improving the accuracy and safety of gait adjustment training.

[0017] Optionally, the mounting base includes a mounting plate and a swing arm. The mounting plate is fixedly connected to the corner of the top frame. The tension sensor is a three-dimensional force sensor. The tension sensor is vertically arranged, with its lower end fixedly connected to the mounting plate and its upper end connected to the swing arm. One end of the swing arm faces the center of the base plate, and the other end of the swing arm is provided with a first drive member for winding the traction rope.

[0018] By adopting the above technical solution, the first drive component enables automatic winding of the traction rope, and the tension can be adjusted in real time according to the user's weight, condition, etc., ensuring dynamic adaptability during training. The swing arm design allows for adjustable angle of the traction rope, making the traction more flexible and precise.

[0019] Optionally, as another solution, the mounting base includes a sliding block slidably fitted onto the connecting rods around the top frame and a mounting plate fixedly connected to the sliding block. The top frame is also provided with a lead screw and a guide rod that are parallel and spaced apart from the connecting rods of the top frame. One side of the sliding block has a threaded sleeve screwed onto the lead screw, and the other side of the sliding block is slidably fitted onto the guide rod. A servo motor for driving the threaded sleeve to rotate forward and backward is provided on the sliding block. The tension sensor is a three-dimensional force sensor; the tension sensor is vertically arranged, the lower end of the tension sensor is fixed to the mounting plate, the upper end of the tension sensor is provided with a swing arm, one end of the swing arm faces the middle of the base plate, and the other end of the swing arm is provided with a first drive member for winding the traction rope.

[0020] By adopting the above technical solutions, the design of the mounting base enables flexible adjustment and precise control of the traction structure. The cooperation between the sliding block, lead screw, and guide rod allows the mounting base to move smoothly on the connecting rod of the top frame, thereby adjusting the position of the traction rope according to the user's needs. The servo motor drives the threaded sleeve to rotate forward and backward, further improving the accuracy of position adjustment. The swing arm allows for flexible adjustment of the traction rope's winding and unwinding direction, ensuring that the traction force is accurately applied to different parts of the user's body. The first drive component is used to wind up the traction rope, dynamically adjusting the magnitude of the traction force so that the device better adapts to the user's gait changes and rehabilitation needs. This design significantly improves the flexibility and adaptability of the device, providing users with more precise and personalized traction assistance.

[0021] Optionally, the mounting plate is provided with a second driving component for driving the swing arm to swing up and down.

[0022] By adopting the above technical solution, a second drive component is set on the mounting plate, which enables the swing arm to automatically adjust its swing in the vertical direction, thereby autonomously adjusting the height and angle of the traction rope and enhancing the flexibility and accuracy of the user's gait training.

[0023] Optionally, the harness may also be equipped with a human body detector for detecting the user's heart rate and respiratory rate, and the human body detector is wirelessly connected to the controller.

[0024] By adopting the above technical solution, a human body detector is installed on the harness to monitor the user's heart rate and respiratory rate in real time, providing comprehensive physiological data support for gait training. Combined with the controller's wireless connection, the real-time and stable data transmission is ensured, facilitating a comprehensive assessment of the user's physical condition and thus improving the safety and effectiveness of gait training.

[0025] Secondly, the gait adjustment method provided in this application adopts the following technical solution: A gait adjustment method employs the aforementioned multi-linear drive-based walking weight reduction device for gait adjustment training; it uses pressure feedback components distributed on the base plate to detect the horizontal distance between two consecutive foot strike points on the same side to obtain stride length data L; it uses pressure feedback components distributed on the base plate to detect the horizontal distance between two consecutive foot strike points on the same side to obtain stride length data D; it uses pressure feedback components distributed on the base plate to detect the number of steps per minute to obtain cadence data S; and it obtains the gait speed V=SL using the formula. The single support phase is obtained by detecting the proportion of time a single foot contacts the ground using pressure feedback components distributed on the base plate; the swing phase is obtained by detecting the proportion of time a single foot leaves the ground and touches it again using pressure feedback components distributed on the base plate; and the double support phase is obtained by detecting the proportion of time both feet contact the ground simultaneously using pressure feedback components distributed on the base plate. The monitoring camera installed on the column is used to detect changes in the flexion and extension angles of the user's hip, knee and ankle joints during walking, the movement path of the foot during the swing phase, and the rotation, tilt and lateral displacement of the pelvis. The tilt angle of the user's torso vertical axis is detected by using several sets of traction structures at the top of the three-dimensional frame structure. Then, the multimodal data is fused and compared with normal standard data. Risk warnings and alerts are displayed on the screen, and assistance is provided by automatically adjusting the tension of the traction rope for each traction structure.

[0026] By employing the aforementioned technical solutions, the gait adjustment method can comprehensively collect the user's gait data, including key parameters such as stride length, stride width, cadence, gait speed, single support phase, swing phase, and double support phase, and accurately detect these parameters through a pressure feedback component. Simultaneously, a monitoring camera captures the user's joint movement trajectory and pelvic posture changes, combined with a traction structure to detect body tilt angles, achieving multimodal data fusion. This method compares the collected data with normal standard data, providing timely risk alerts and warnings on a display screen to ensure the user understands their gait problems. Furthermore, by automatically adjusting the tension of the traction rope, personalized assistance is provided, effectively improving the accuracy and safety of gait adjustment training, reducing the risk of user injury, and making it suitable for various scenarios such as medical rehabilitation and sports training.

[0027] Optionally, the gait adjustment method further includes establishing a public gait dataset, learning the optimal coordination ratio of each gait parameter through a higher-level controller AI, and promoting the verification of algorithm fairness.

[0028] By adopting the above technical solutions, establishing a public gait dataset, and utilizing the AI ​​of the upper-level controller to learn the optimal coordination ratios of various gait parameters, the gait adjustment method can be optimized. Specific effects include: first, improving the accuracy of gait analysis by ensuring that the coordination ratios of gait parameters more closely reflect actual needs through big data support and AI learning; second, enhancing the algorithm's fairness verification capabilities, making gait adjustment training for different users more personalized and scientific; and third, promoting the development of gait adjustment technology and providing more reliable technical support for fields such as medical rehabilitation and sports training.

[0029] In summary, this application includes at least one of the following beneficial technical effects: 1. This application achieves multi-directional stable support for the user's body through the combination of a three-dimensional frame structure and a traction structure. The traction force can be adjusted in real time according to the user's weight and usage status, avoiding movement restrictions and the risk of strain, and improving the safety and comfort of training.

[0030] 2. In this application, power is delivered to the user by pulling on the traction rope, and the user can correctly feel the change in the tension of the device, thereby pulling the user; and avoiding injury or discomfort to the user.

[0031] 3. The pressure feedback component in this application, combined with the display screen, can collect and display the user's gait data in real time, including pressure distribution, stride length, stride length, stride frequency, and other information, providing the user with intuitive data feedback, facilitating timely adjustment of movements, and improving training effectiveness. Attached Figure Description

[0032] Figure 1 This is a schematic diagram of the practical state structure of the walking weight reduction device based on multi-wire drive in Embodiment 1 of this application.

[0033] Figure 2 This is a partial structural schematic diagram of the walking weight reduction device based on multi-wire drive in Embodiment 1 of this application.

[0034] Figure 3 yes Figure 2 A magnified schematic diagram of the structure at point A in the middle.

[0035] Figure 4 This is a schematic diagram of the control structure in this application.

[0036] Figure 5 This is a partial structural schematic diagram of the walking weight reduction device based on multi-wire drive in Embodiment 2 of this application.

[0037] In the picture: 10. Base plate; 20. Three-dimensional frame structure; 21. Base frame; 22. Column; 23. Top frame; 231. Connecting rod; 30. Suspender suit; 31. Human body detector; 40. Pressure feedback component; 41. Pressure sensor; 50. Traction structure; 51. Mounting base; 511. Mounting plate; 512. Swing arm; 52. Traction rope; 53. Tension sensor; 54. Sliding block; 55. Lead screw; 56. Guide rod; 57. Threaded sleeve; 58. Servo motor; 60. Controller; 70. Display screen; 80. Surveillance cameras. Detailed Implementation

[0038] The following will be combined with the appendix Figure 1 - Appendix Figure 5 The technical solutions in the embodiments of the present invention are clearly and completely described herein. The described embodiments are only possible technical implementations of the present invention and not all possible implementations. Those skilled in the art can obtain other embodiments in conjunction with the embodiments of the present invention without creative effort, and these embodiments are also within the protection scope of the present invention.

[0039] Example 1 Users can utilize the multi-linear drive-based gait weight reduction device described in this application for rehabilitation therapy or gait training. (See reference...) Figure 1 and Figure 2 As shown, the walking weight reduction device based on multi-wire drive provided in this application embodiment includes a base plate 10, a three-dimensional frame structure 20, and a back strap suit 30 for wearing on the user's body. The three-dimensional frame structure 20 is assembled from aluminum alloy or stainless steel profile frames and profile corner pieces. Specifically, the three-dimensional frame structure 20 includes a base frame 21 fixed around the base plate 10, four columns 22 fixed at the four corners of the base frame 21, and a top frame 23 fixed to the top of the four columns 22. The base frame 21 and the top frame 23 are rectangular. The profile corner pieces are located at the connecting columns between the columns 22 and the base frame 21, and between the columns 22 and the top frame 23. The two ends of the profile corner pieces are detachably connected to the base frame 21, the columns 22, and the top frame 23 by bolts, thereby combining the entire three-dimensional frame structure 20 into a complete three-dimensional structure, forming a stable support structure, ensuring the overall stability of the device, avoiding deformation during use, thereby ensuring data accuracy and eliminating safety hazards.

[0040] Reference Figure 2 , Figure 3 and Figure 4As shown, the base plate 10 is located below the three-dimensional frame structure 20, and a pressure feedback component 40 is installed on the base plate 10; several sets of traction structures 50 are arranged around the top of the three-dimensional frame structure 20; there are at least four sets of traction structures 50, which are respectively installed on the connecting rods 231 around the top frame 23 or at the four corners. Combined with... Figure 1 As shown, the traction structure 50 includes a mounting base 51 mounted on the three-dimensional frame structure 20 and a traction rope 52 with one end connected to the mounting base 51. The traction rope 52 is made of high-strength nylon rope or high-molecular-weight polyethylene material. A tension sensor 53 is installed on the mounting base 51 to detect the magnitude of the traction force of the traction rope 52. The other end of the traction rope 52 is connected to the carrying suit 30. The carrying suit 30 is made of breathable fabric and has a human body detector 31 inside to detect the user's heart rate and respiratory rate. The human body detector 31 is connected to the controller 60 via a wireless communication module to achieve real-time data transmission. The connection point between the carrying suit 30 and the traction rope 52 can be adjusted according to the user's body part, such as the waist, shoulder, or chest, to ensure even distribution of traction force and avoid discomfort to the user. This embodiment of the walking weight reduction device based on multi-wire drive also includes a controller 60; the pressure feedback component 40 consists of pressure sensors 41 arranged in an array on the base plate 10; the pressure sensor array 41 is used to detect the pressure distribution of the user's feet, and can use circular or square pressure sensing sheets made of flexible silicone or polyurethane to ensure the sensitivity and durability of the sensors. For example, the pressure sensing sheet can be a circular silicone sheet with a diameter of 30mm or a square polyurethane sheet with a side length of 20mm, and can be fixed to the base plate 10 by adhesive or clips during installation. A display screen 70 is also provided on the base plate 10; it can be an LCD screen or an OLED screen, and the size can be adjusted according to actual needs. The pressure sensors 41, tension sensors 53, and display screen 70 are all electrically connected to the controller 60. This application can realize comprehensive collection and real-time feedback of the user's gait data. The array of pressure sensors 41 can accurately detect the distribution and changes in pressure on the user's feet, providing basic data for gait analysis. The display screen 70 is used to present the calculated gait data, allowing users or instructors to intuitively understand the training status. The controller 60, as the core processing unit, integrates and processes the data collected by the pressure sensors 41 and tension sensors 53, and controls the display screen 70 to display relevant information, thereby achieving real-time data monitoring and feedback. Simultaneously, the display screen 70 can also simulate different environmental conditions, such as asphalt roads, gravel roads, and winding paths, thus improving the functionality of the entire device.

[0041] In this embodiment, multiple traction structures 50 at different positions can transmit traction force to the user in multiple directions, with a maximum pulling force of 800N in each of the four directions. The pulling force can be adjusted according to the user's weight and usage status, improving training effectiveness and safety. Combined with... Figure 3As shown, the mounting base 51 includes a mounting plate 511 and a swing arm 512. The mounting plate 511 is fixed to the corner of the top frame 23. The tension sensor 53 is a three-dimensional force sensor. The tension sensor 53 is vertically arranged, with its lower end fixed to the mounting plate 511 and its upper end connected to the swing arm 512. One end of the swing arm 512 faces the middle of the base plate 10, and the other end of the swing arm 512 is provided with a first driving component for winding the traction rope 52. In this embodiment, the first driving component can be a motor, with a roller connected to the output shaft of the motor for winding and releasing the traction rope 52. The first driving component enables automatic winding of the traction rope 52 and can adjust the tension in real time according to the user's weight, condition, etc., ensuring dynamic adaptability during training. The swing arm 513 makes the angle of the traction rope 52 adjustable, thereby making the traction of the traction rope 52 more flexible and precise.

[0042] In this embodiment, the mounting plate 511 is provided with a second driving component for driving the swing arm 513 to swing up and down. The second driving component can be a motor or a hydraulic drive. The second driving component on the mounting plate 511 enables the swing arm 513 to automatically adjust its swing in the vertical direction, thereby adjusting the height and angle of the traction rope 52 and enhancing the flexibility and accuracy of gait training for the user.

[0043] Furthermore, in this embodiment, monitoring cameras 80 are installed on the four pillars 22; the monitoring cameras 80 face the center of the base plate 10; and the monitoring cameras 80 are connected to the image processing module in the controller 60. The monitoring cameras 80 can capture the user's walking posture on the base plate 10 in real time, specifically including changes in the flexion and extension angles of the hip, knee, and ankle joints, the movement path of the foot during the swing phase, and the rotation, tilt, and lateral displacement of the pelvis. Combined with the image processing module, the captured posture data can be analyzed to provide a visual basis for gait assessment, further improving the accuracy and safety of gait adjustment training.

[0044] The implementation principle is as follows: During use, the user is positioned in the middle of the base plate 10, wearing the harness 30, and connecting each traction rope 52 to the corresponding position on the harness 30. This allows the traction ropes 52 to provide a lifting force to the user, maintaining their standing position while simultaneously collecting data on the specific position and force distribution of multiple body parts. Additionally, the pressure feedback component 40 on the base plate 10 monitors the user's foot position and force distribution. By integrating this data, the accuracy of multi-dimensional data monitoring is improved, enabling efficient and reliable assessment of the user's gait. Furthermore, evaluation results and improvement suggestions are provided to enhance the overall effectiveness of the system.

[0045] In this application, the base plate 10 and the three-dimensional frame structure 20 ensure the overall stability of the entire walking weight reduction device, preventing deformation during use that could lead to inaccurate data or safety hazards. The traction structure 50 enables the transmission of a maximum tensile force of 800N in multiple directions, and the tensile force can be adjusted in real time. The optimal tension of the traction rope 52 can be adjusted according to the user's weight and usage status to meet the personalized needs of different users.

[0046] Example 2 Reference Figure 5 As shown, this embodiment is largely the same as embodiment 1, except that in this embodiment, the mounting base 51 includes a sliding block 54 slidably sleeved on the connecting rods 231 around the top frame 23 and a mounting plate 511 fixedly connected to the sliding block 54. The top frame 23 is also provided with a lead screw 55 and a guide rod 56 that are parallel and spaced apart from the connecting rods 231 of the top frame 23. One side of the sliding block 54 has a threaded sleeve 57 screwed onto the lead screw 55, and the other side of the sliding block 54 is slidably sleeved on the guide rod 56. The sliding block 54 is provided with a servo motor 58 for driving the threaded sleeve 57 to rotate forward and backward. The tension sensor 53 is a three-dimensional force sensor. The tension sensor 53 is vertically arranged, and the lower end of the tension sensor 53 is fixedly connected to the mounting plate 511. The upper end of the tension sensor 53 is provided with a swing arm 512. One end of the swing arm 512 faces the middle of the base plate 10, and the other end of the swing arm 512 is provided with a first driving member for winding the traction rope 52.

[0047] The implementation principle is as follows: The design of the mounting base 51 enables flexible adjustment and precise control of the traction structure 50. The cooperation between the sliding block 54, the lead screw 55, and the guide rod 56 allows the mounting base 51 to move smoothly on the connecting rod 231 of the top frame 23, thereby adjusting the position of the traction rope 52 according to the user's needs. The servo motor 58 drives the threaded sleeve 57 to rotate forward and backward, further improving the accuracy of position adjustment. The swing arm 513 allows for flexible adjustment of the winding and unwinding direction of the traction rope 52, ensuring that the traction force can be accurately applied to different parts of the user's body. The first drive component is used to wind up the traction rope 52, which can dynamically adjust the magnitude of the traction force, allowing the device to better adapt to the user's gait changes and rehabilitation needs. This design significantly improves the flexibility and adaptability of the device, providing users with more precise and personalized traction assistance.

[0048] In this embodiment, the first driving component can be a motor, with a roller connected to the motor's output shaft for winding and unwinding the traction rope 52. In this embodiment, the mounting plate 511 is equipped with a second driving component for driving the swing arm 513 to swing up and down. The second driving component can be a motor or a hydraulic drive. The second driving component on the mounting plate 511 allows the swing arm 513 to automatically adjust its swing in the vertical direction, thereby adjusting the height and angle of the traction rope 52 and enhancing the flexibility and accuracy of gait training for the user.

[0049] Example 3 This embodiment provides a gait adjustment method, using the multi-linear drive-based walking weight reduction device from Embodiment 1 or Embodiment 2 for gait adjustment training; it utilizes pressure feedback components 40 distributed on the base plate 10 to detect the horizontal distance between two consecutive foot landing points on the same side to obtain stride length data L; it utilizes pressure feedback components 40 distributed on the base plate 10 to detect the horizontal distance between two consecutive foot landing points on the same side to obtain stride length data D; it utilizes pressure feedback components 40 distributed on the base plate 10 to detect the number of steps per minute to obtain cadence data S; it obtains gait speed V=SL using the formula; it utilizes pressure feedback components 40 distributed on the base plate 10 to detect the percentage of time a single foot contacts the ground to obtain a single support phase; and it utilizes pressure feedback components 40 distributed on the base plate 10 to detect the percentage of time a single foot contacts the ground to obtain a single support phase; and it utilizes pressure feedback components 40 distributed on the base plate 10 to detect the horizontal distance between two consecutive foot landing points on the same side to obtain stride length data D; it utilizes pressure feedback components 40 distributed on the base plate 10 to detect the number of steps per minute to obtain cadence data S; it obtains gait speed V=SL using the formula; it utilizes pressure feedback components 40 distributed on the base plate 10 to detect the percentage of time a single foot contacts the ground to obtain a single support phase; and it utilizes pressure feedback components 40 distributed on the base plate 10 to detect the horizontal distance between two consecutive foot landing points on the same side to obtain stride length data D; ... S; and it utilizes pressure feedback components 40 distributed on the base plate 10 to detect the horizontal distance between two consecutive foot landing points The feedback component 40 detects the proportion of time from when a single foot leaves the ground to when it touches the ground again to obtain the swing phase; the pressure feedback component 40 distributed on the base plate 10 detects the proportion of time when both feet are in contact with the ground simultaneously to obtain the dual support phase; the monitoring camera 80 set on the column 22 detects the changes in the flexion and extension angles of the user's hip, knee, and ankle joints during walking, the movement path of the foot during the swing phase, and the rotation, tilt, and lateral displacement of the pelvis; the several sets of traction structures 50 at the top of the three-dimensional frame structure 20 detect the tilt angle of the user's torso's vertical axis; then, the multimodal data is fused and compared with normal standard data, and risk prompts and warnings are given through the display screen 70, and assistance is provided by automatically adjusting the tension of the traction rope 52 of each traction structure 50.

[0050] Furthermore, the gait adjustment method in this embodiment also includes establishing a public gait dataset, learning the optimal coordination ratio of each gait parameter through the upper-level controller AI, and promoting the verification of algorithm fairness.

[0051] The implementation principle of this embodiment is as follows: by combining hardware devices with data analysis algorithms, the entire process of gait adjustment training is automated. This method not only improves training efficiency but also reduces errors caused by human intervention, making gait adjustment more scientific and reasonable. Simultaneously, by establishing a public gait dataset and introducing AI learning technology, the accuracy and fairness of the algorithm are further improved, providing a solid foundation for the development of personalized gait adjustment schemes. The embodiments described in this specific implementation are preferred embodiments of this application and are not intended to limit the scope of protection of this application. Identical components are represented by the same reference numerals. Therefore, all equivalent changes made to the structure, shape, and principle of this application should be covered within the scope of protection of this application.

Claims

1. A walking weight reduction device based on multi-drive linear actuator, characterized in that, The walking weight reduction device includes a base plate (10), a three-dimensional frame structure (20), and a suspender suit (30) for wearing on the user's body; The base plate (10) is located below the three-dimensional frame structure (20), and a pressure feedback component (40) is provided on the base plate (10); The top of the three-dimensional frame structure (20) is provided with several sets of traction structures (50); the traction structure (50) includes a mounting base (51) installed on the three-dimensional frame structure (20) and a traction rope (52) with one end connected to the mounting base (51); The mounting base (51) is provided with a tension sensor (53) for detecting the magnitude of the traction force of the traction rope (52), and the other end of the traction rope (52) is connected to the harness (30).

2. The walking weight reduction device based on multi-drive linear control according to claim 1, characterized in that, The walking weight reduction device also includes a controller (60); the pressure feedback component (40) is a pressure sensor (41) arranged in an array on the base plate (10); the base plate (10) is also provided with a display screen (70); the pressure sensor (41), the tension sensor (53) and the display screen (70) are all electrically connected to the controller (60).

3. The walking weight reduction device based on multi-drive linear control according to claim 2, characterized in that, The three-dimensional frame structure (20) includes a bottom frame (21) fixed around the base plate (10), four columns (22) fixed at the four corners of the bottom frame (21), and a top frame (23) fixed to the top of the four columns (22); the traction structure (50) has at least four sets and is respectively set on the connecting rods (231) around the top frame (23) or at the four corners.

4. The walking weight reduction device based on multi-drive linear control according to claim 2, characterized in that, A monitoring camera (80) is installed on each of the four columns (22); the monitoring camera (80) faces the center of the base plate (10); the monitoring camera (80) is connected to the image processing module in the controller (60).

5. The walking weight reduction device based on multi-drive linear motion according to claim 3, characterized in that, The mounting base (51) includes a mounting plate (511) and a swing arm (512). The mounting plate (511) is fixed to the corner of the top frame (23). The tension sensor (53) is a three-dimensional force sensor. The tension sensor (53) is vertically arranged. The lower end of the tension sensor (53) is fixed to the mounting plate (511). The upper end of the tension sensor (53) is connected to the swing arm (512). One end of the swing arm (512) faces the middle of the base plate (10). The other end of the swing arm (512) is provided with a first drive member for winding the traction rope (52).

6. The walking weight reduction device based on multi-drive linear motion according to claim 3, characterized in that, The mounting base (51) includes a sliding block (54) slidably sleeved on the connecting rods (231) around the top frame (23) and a mounting plate (511) fixedly connected to the sliding block (54). The top frame (23) is also provided with a lead screw (55) and a guide rod (56) that are parallel and spaced apart from the connecting rods (231) of the top frame (23). One side of the sliding block (54) has a threaded sleeve (57) screwed onto the lead screw (55), and the other side of the sliding block (54) is slidably sleeved on the guide rod (56). The sliding block (54) is provided with a servo motor (58) for driving the threaded sleeve (57) to rotate forward and backward. The tension sensor (53) is a three-dimensional force sensor; the tension sensor (53) is vertically arranged, the lower end of the tension sensor (53) is fixed to the mounting plate (511), the upper end of the tension sensor (53) is provided with a swing arm (512), one end of the swing arm (512) faces the middle of the base plate (10), and the other end of the swing arm (512) is provided with a first drive member for winding the traction rope (52).

7. The walking weight reduction device based on multi-drive linear control according to claim 5 or 6, characterized in that, The mounting plate (511) is provided with a second driving member for driving the swing arm (512) to swing up and down.

8. The walking weight reduction device based on multi-drive linear control according to claim 2, characterized in that, The harness (30) is also equipped with a human body detector (31) for detecting the user's heart rate and respiratory rate. The human body detector (31) is wirelessly connected to the controller (60).

9. A gait adjustment method, comprising using the multi-linear drive-based walking weight reduction device of claim 4 for gait adjustment training; characterized in that, The gait adjustment method uses pressure feedback components (40) distributed on the base plate (10) to detect the horizontal distance between two consecutive landing points of the same foot to obtain stride length data L; uses pressure feedback components (40) distributed on the base plate (10) to detect the horizontal distance between two consecutive landing points of the same foot to obtain stride length data D; uses pressure feedback components (40) distributed on the base plate (10) to detect the number of steps per minute to obtain step frequency data S; The walking speed V = SL is obtained from the formula; The single support phase is obtained by detecting the proportion of time a single foot contacts the ground using the pressure feedback components (40) distributed on the base plate (10); the swing phase is obtained by detecting the proportion of time a single foot leaves the ground and touches the ground again using the pressure feedback components (40) distributed on the base plate (10); and the double support phase is obtained by detecting the proportion of time both feet contact the ground simultaneously using the pressure feedback components (40) distributed on the base plate (10). The monitoring camera (80) installed on the column (22) is used to detect the changes in the flexion and extension angles of the user's hip, knee and ankle joints during walking, the movement path of the foot during the swing phase, and the rotation, tilt and lateral displacement of the pelvis. The tilt angle of the user's torso vertical axis is detected by using several sets of traction structures (50) at the top of the three-dimensional frame structure (20). Then, the multimodal data is fused and compared with normal standard data, and risk warnings are given through the display screen (70), and assistance is provided by automatically adjusting the tension of the traction rope (52) of each traction structure (50).

10. The gait adjustment method according to claim 9, characterized in that, The gait adjustment method also includes establishing a public gait dataset, learning the optimal coordination ratio of various gait parameters through a higher-level AI controller, and promoting the verification of algorithm fairness.

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