Gait feedback guided lower limb rehabilitation nursing training assembly and nursing walking aid device and method
By designing gait feedback-guided lower limb rehabilitation training components and nursing assistance devices, the problems of limited training and insufficient safety of existing equipment have been solved, enabling diversified training and safety protection, and improving rehabilitation effects and patient safety.
Patent Information
- Application Number
- CN202511486437.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-10-17
- Publication Date
- 2026-01-02
AI Technical Summary
Existing lower limb rehabilitation training equipment has limited functionality and cannot be adjusted to suit the patient's rehabilitation stage and specific needs. It also lacks effective gait feedback mechanisms and safety protection measures, increasing the risk of falls for patients.
A gait feedback-guided lower limb rehabilitation nursing training component was designed, including a protective bracket, foot pedals, side support plates, a pushing structure, and a braking structure. Multi-directional training is achieved through a rotating plate and rolling steel balls, and gait feedback is provided by combining an infrared imaging camera and VR glasses. In the nursing walking aid device, a flexible connecting belt and a protective structure are used to provide protection when the patient falls, and a flip-up movable plate and a pressure sensing sensor provide early warning of obstacles.
It enables the adjustment of training methods according to patient needs, provides safe and effective gait feedback, reduces the risk of falls, improves training efficiency, and enhances patient safety and rehabilitation outcomes.
Smart Images
Figure CN121243728A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of rehabilitation nursing technology, and in particular to a gait feedback-guided lower limb rehabilitation nursing training component, nursing walking aid device, and method. Background Technology
[0002] In the field of medical rehabilitation, lower limb rehabilitation training is crucial for patient recovery. Traditional lower limb rehabilitation training equipment has relatively limited functionality, often only providing simple walking exercises and failing to offer diversified training adjustments based on the patient's rehabilitation stage and specific needs. For example, some equipment only allows patients to perform simple walking movements on a flat surface, lacking targeted training for leg muscle strength and joint range of motion, resulting in limited rehabilitation effects.
[0003] Meanwhile, the lack of an effective gait feedback mechanism during training makes it difficult for medical staff to accurately assess patients' motor abilities and monitor rehabilitation progress, hindering timely adjustments to the training plan. Furthermore, patients face the risk of falls during training, and most existing equipment lacks adequate protective measures, posing a safety hazard.
[0004] In addition, patients with mobility impairments also face many problems during the process of assisting with walking. Existing walking aids have simple structures and limited functions. They cannot provide timely and effective protection when patients fall, nor can they provide warnings of obstacles ahead, increasing the risks for patients walking. Summary of the Invention
[0005] The purpose of this invention is to address the shortcomings of existing training equipment, such as high site requirements, monotonous training, difficulty in accurately assessing patients' motor abilities and monitoring rehabilitation progress, and lack of protection. The invention proposes a gait feedback-guided lower limb rehabilitation nursing training component, nursing assistance device, and method.
[0006] To achieve the above objectives, the present invention adopts the following technical solution: A gait feedback-guided lower limb rehabilitation nursing training component includes: The protective bracket is C-shaped and has multiple swivel casters at its bottom; The foot pedal is rotatably connected to the protective bracket via a pivot. Multiple rolling steel balls are rolled and embedded on the top of the foot pedal to keep the patient moving in place while walking on the foot pedal. Two side support plates are fixed inside the protective bracket and located on both sides of the foot pedal; A pushing structure, set inside the side support plate, is used to increase the intensity of leg training for patients. The pushing structure includes a movable guide groove opened on the side of the side support plate near the foot pedal, a U-shaped bracket slidably connected in the movable guide groove, a fixed rotating shaft that rotatably passes through the U-shaped bracket, and a rotating plate fixedly sleeved on the outer wall of the fixed rotating shaft. A braking structure is used to brake the plurality of rolling steel balls when the rotating plate rotates out of the moving guide groove, so that the patient can stand stably on the foot pedal and push the rotating plate to move; the braking structure includes a hydraulic chamber II disposed in the side support plate and located below the moving guide groove, and a hydraulic chamber I disposed in the foot pedal; The rotating plate can be operably flipped 90° and rotated out of the movable guide groove. The patient pushes the rotating plate with his / her legs to move the U-shaped support along the movable guide groove for training. At the same time, the flipping of the rotating plate causes the fixed rotating shaft to rotate, thereby triggering the braking structure to brake the rolling steel ball.
[0007] In one possible design, the actuation structure further includes: A positioning slot is provided at one end of the rotating plate; The positioning pin slides through the U-shaped bracket and engages with the positioning slot, with one end extending to one side of the side support plate; Tension spring I is sleeved on the outer wall of the positioning pin, and its two ends are fixedly connected to one side of the U-shaped bracket and the outer wall of the positioning pin respectively through spring seats. It is used to limit the rotation plate by the cooperation of the positioning slot and the positioning pin when the rotation plate rotates out of the moving guide groove. Connect the base plate and fix it on the U-shaped bracket; The tension spring II has its two ends fixedly connected to one side of the connecting base plate and the inner wall of one side of the moving guide groove respectively through spring seats. It is used to provide resistance to the movement of the U-shaped bracket when the patient pushes the rotating plate with his / her leg.
[0008] In one possible design, the braking structure further includes: Piston plate II is slidably and sealed within the hydraulic chamber II; A cylindrical tube is slidably fitted with a guide portion located at the top of the piston plate II; Multiple sliding guide blocks are fixed to the inner wall of the cylindrical tube; Multiple spiral guide grooves are provided on the outer wall of the fixed rotating shaft and slide in cooperation with the sliding guide block. When the fixed rotating shaft rotates, the spiral guide grooves and the sliding guide block drive the cylindrical tube and the piston plate II to move downward. Multiple elastic elements I are disposed between the bottom of the piston plate II and the bottom inner wall of the hydraulic chamber II; Piston plate I is slidably connected to the hydraulic chamber I and contacts the bottom of the rolling steel ball for braking the rolling steel ball; A hydraulic rubber hose is fixed to one side of the side support plate, and its two ends are respectively connected to the hydraulic chamber II and the hydraulic chamber I; The bottom end of the fixed rotating shaft extends sequentially into the hydraulic chamber II and the cylindrical tube; when the piston plate II moves downward, the hydraulic oil in the hydraulic chamber II is pressed into the hydraulic chamber I through the hydraulic rubber hose, and the piston plate I is driven to move upward to closely adhere to the rolling steel ball.
[0009] One possible design also includes: An accordion-style protective cover, one end of which is fixedly connected to the side of the connecting base plate away from the rotating plate, and the other end of which is fixedly connected to the inner wall of one side of the moving guide groove, is used to protect the tension spring II when the U-shaped bracket moves. A protective pad, fixed to one side of the rotating plate, is used to protect the legs when the patient pushes the rotating plate with their legs.
[0010] One possible design also includes: Multiple infrared imaging cameras are fixed to the inner wall of the protective bracket facing the patient to capture joint angles, gait and posture data of the patient during training. The control chassis is fixed to the inner wall of one side of the protective bracket, and a microcontroller and VR glasses are installed inside it; The microcontroller is electrically connected to the infrared imaging camera and the VR glasses. The VR glasses are used to simulate walking scenarios, and the microcontroller is used to transmit the data captured by the infrared imaging camera to an external medical data sharing platform.
[0011] One possible design also includes: Multiple permanent magnets are fixed to the inner wall of one side of the protective bracket; A magnetic conductive layer is embedded in the top of the foot pedal and is used to attract and engage with the permanent magnet when the foot pedal is placed vertically. Multiple limiting blocks are fixed to the inner walls of the protective bracket on both sides, which are far apart from each other, to support the horizontally placed foot pedal.
[0012] A nursing walking aid device, comprising the above-mentioned gait feedback-guided lower limb rehabilitation nursing training component, further comprising: Two vertical support plates are fixed to the top of the protective bracket; A horizontal rod is fixed between the two vertical support plates and has an internal cavity inside. A rotating shaft is rotatably connected to the internal cavity. Two flexible connecting straps are wrapped around the outer wall of the rotating shaft, and their bottom ends extend to the bottom of the transverse bar and are fixed with locking buckles. The locking buckles are used to fasten with the safety harness worn by the user. A protective structure, located within the internal cavity, is used to brake the rotating shaft to provide protection in the event of a patient falling.
[0013] In one possible design, the protective structure includes: Two fixed rings are fixed to the outer wall of the rotating shaft; Two coiled springs are sleeved on the outer wall of the rotating shaft. One end of each spring is fixedly connected to one side of the fixed ring through a connecting seat, and the other end is fixedly connected to one side of the inner wall of the internal cavity through a connecting seat. Two sets of brake plates are fixed to the inner wall of the internal cavity and correspond to the positions of the two fixed rings respectively. Each set of brake plates consists of multiple fixed blocking blocks. Multiple centrifugal components are respectively located on the side of the two fixed rings that are close to each other, and cooperate with the blocking block; The centrifugal component includes a fixed base, a sliding guide rod, a limiting stop, and an elastic element II. The fixed base is fixed to one side of the fixed ring. The sliding guide rod slides through the fixed base. The limiting stop is fixed to the end of the sliding guide rod away from the rotation axis and cooperates with the blocking block. The elastic element II is sleeved on the outer wall of the sliding guide rod, with one end fixedly connected to one side of the fixed base through a spring seat, and the other end fixedly connected to the outer wall of the sliding guide rod through a spring seat. When the patient falls, the flexible connecting belt drives the rotating shaft and the fixed ring to rotate rapidly. The centrifugal force generated by the limiting stop head is greater than the elastic force of the elastic element II and moves outward to cooperate with the blocking block, thereby braking the rotating shaft.
[0014] One possible design also includes: The flip-up movable plate is rotatably connected to the bottom of the protective bracket via a rotating shaft; A pressure sensor is embedded in the top of the flip-up movable plate; A fixed support platform is fixed to the inner wall of one side of the protective bracket; The elastic element III has its two ends fixedly connected to the bottom of the fixed support platform and the pressure sensor respectively via spring seats; An audible and visual alarm is fixed to the top of the protective bracket and electrically connected to the pressure sensor. When the flip-up movable plate encounters an obstacle and rotates, squeezing the elastic element III, the pressure sensor senses the pressure signal and triggers the audible and visual alarm when the pressure reaches a preset threshold.
[0015] This application discloses a method of using a nursing mobility aid device, comprising the following steps: S1. When walking training is required, flip the foot pedal to place it horizontally, with the limit block supporting it. The patient stands on the foot pedal and holds the protective bracket with both hands. The VR glasses stored in the control box are put on the head. Various walking scenarios are simulated according to the display on the VR glasses. The patient moves back and forth on the foot pedal. The rolling steel ball setting can keep the patient in place when the foot moves, so that the patient can carry out rehabilitation training at home. S2. When it is necessary to increase the difficulty of leg training, the rotating plate is rotated 90° and removed from the moving guide groove. When the rotating plate drives the fixed rotating shaft to rotate, the fixed rotating shaft drives the cylindrical cylinder and piston plate II to move downward and squeeze the elastic element I through the cooperation of the sliding guide block and the spiral guide groove. The piston plate II injects the hydraulic oil in the hydraulic chamber II into the hydraulic chamber I through the hydraulic rubber hose, driving the piston plate I to press against multiple rolling steel balls and brake the multiple rolling steel balls, so that the patient can perform leg training on the foot pedal later. After the rotating plate rotates 90°, the positioning pin is locked into the positioning slot under the tension of the tension spring I to limit the rotating plate. Then the patient pushes the rotating plate with his legs to move. The tension spring II applies a tension force to the U-shaped bracket to increase the resistance of the legs pushing the rotating plate, thereby completing the purpose of leg training. S3. Before training, protective belts with fluorescent markers are put on the patient's calves, thighs and knees. Therefore, during the patient's training, multiple infrared imaging cameras in the protective frame can track the patient's lower limb movements in real time, including data such as joint angles, gait and posture. These data are then transmitted to the medical data sharing platform through a microcontroller, providing key information for assessing the patient's motor ability and monitoring rehabilitation progress. S4. When the patient needs to walk outdoors, the rotating plate is reset and stored in the movable guide groove. The foot pedal is flipped vertically and placed vertically by the magnetic attraction of the permanent magnet. Then the patient puts on the safety harness and the flexible connecting strap is connected to the safety harness on the patient by locking the buckle. After that, the patient can walk outdoors while holding onto the protective frame. If the patient accidentally falls, the safety harness on the patient pulls the flexible connecting strap. The flexible connecting strap drives the rotating shaft and the fixed ring to rotate quickly. The fixed ring drives the limit stop to rotate. The limit stop moves outward under the action of centrifugal force. The centrifugal force of the limit stop is greater than the elastic force of elastic element II. The blocking block blocks the limit stop, thereby braking the rotating shaft and preventing the patient from falling to the ground, thus protecting the patient. S5. When the patient pushes the protective support forward, the flip-up movable plate can detect obstacles ahead. When encountering an obstacle, the flip-up movable plate rotates under the action of the obstacle and squeezes the elastic element III. The pressure sensor receives the pressure signal under the reaction force of the elastic element III. When the obstacle is large, the rotation amplitude of the flip-up movable plate increases, and the pressure on the pressure sensor also increases. When the pressure on the pressure sensor reaches the threshold, it indicates that the obstacle has reached the size that hinders the patient's progress. At this time, the audible and visual alarm sounds, reminding the patient to pay attention to the obstacle under their feet to avoid tripping during the walk. When encountering obstacles such as plastic waste, the flip-up movable plate can squeeze these wastes.
[0016] Beneficial effects: In this invention, the rotating plate is fixedly sleeved on the outer wall of the fixed rotating shaft, and a connecting base plate is fixed inside the U-shaped bracket. A tension spring II is fixed between one side of the connecting base plate and the inner wall of one side of the moving guide groove through a spring seat. When the patient pushes the rotating plate with their leg, the rotating plate is rotated 90° and moves away from the moving guide groove. The positioning pin is engaged in the positioning slot under the tension of the tension spring I to limit the rotation plate. Then, the patient pushes the rotating plate with their leg. The tension applied to the U-shaped bracket by the tension spring II increases the resistance of the leg pushing the rotating plate, thereby achieving the purpose of leg training.
[0017] In this invention, multiple rolling steel balls are rolled and embedded at the top of the foot pedal. A piston plate II is sealed inside the hydraulic chamber II. A cylindrical tube is slidably connected to the top of the piston plate II. Multiple sliding guide blocks are fixed on the inner wall of the cylindrical tube. Multiple spiral guide grooves are provided on the outer wall of the fixed rotating shaft. The hydraulic chamber II and hydraulic chamber I are fixedly connected by a hydraulic rubber hose. The piston plate I is slidably connected inside the hydraulic chamber I. The multiple rolling steel balls enable patients to perform in-place walking training in different directions on the foot pedal, reducing the space requirements for patient training. In addition, when the rotating plate is rotated 90°, the piston plate II is driven to move down and the piston plate I is driven to move up through the cooperation of the sliding guide blocks and the spiral guide grooves, closely contacting the multiple rolling steel balls and braking them, which facilitates leg training for patients on the foot pedal later. In this invention, multiple blocking blocks are fixed to the inner wall of the internal cavity, and multiple fixed bases are fixed to one side of the fixed ring. A sliding guide rod slides through the fixed base, and a limit stop is fixed to the end of the sliding guide rod away from the rotation axis. When the patient accidentally falls, the safety strap on the patient pulls the flexible connecting belt, which drives the rotation axis and the fixed ring to rotate rapidly. The fixed ring drives the limit stop to rotate, and the limit stop moves outward under the action of centrifugal force. The centrifugal force of the limit stop is greater than the elastic force of the elastic element II. The blocking blocks block the limit stop, thereby braking the rotation axis and preventing the patient from falling to the ground, thus providing protection for the patient.
[0018] In this invention, regarding the training components, the rolling steel ball allows patients to walk in place in multiple directions within a limited space, reducing space requirements; the pushing structure can flexibly adjust the leg training method to meet the needs of different rehabilitation levels; the braking structure can brake the rolling steel ball during leg training to ensure training stability; in the nursing walking aid device, the protective structure can brake in time when the patient falls to avoid injury; the flipping movable plate, in conjunction with the pressure sensing sensor, can promptly alarm when encountering obstacles to prevent the patient from tripping, i.e., the feedback and protection are designed in a coordinated manner, greatly improving training efficiency; overall, it provides a safer, more effective, and personalized training solution for lower limb rehabilitation patients. Attached Figure Description
[0019] Figure 1 This is a first-view three-dimensional structural diagram of a gait feedback-guided lower limb rehabilitation nursing training component provided by the present invention; Figure 2 This is a second-view three-dimensional structural diagram of a gait feedback-guided lower limb rehabilitation nursing training component provided by the present invention; Figure 3 This is a three-dimensional exploded structural diagram of the foot pedal and the limiting block of a gait feedback-guided lower limb rehabilitation nursing training component provided by the present invention. Figure 4 A three-dimensional cross-sectional view of the foot pedal and piston plate I of a gait feedback-guided lower limb rehabilitation nursing training component provided by the present invention; Figure 5 A partial three-dimensional cross-sectional view of the side support plate of a gait feedback-guided lower limb rehabilitation nursing training component provided by the present invention; Figure 6 This is a three-dimensional exploded structural diagram of the rotating plate, U-shaped bracket, and tension spring II of a gait feedback-guided lower limb rehabilitation nursing training component provided by the present invention. Figure 7 A three-dimensional exploded view of the cylindrical tube, sliding guide block, and fixed rotating shaft of a gait feedback-guided lower limb rehabilitation nursing training component provided by the present invention; Figure 8 This is a three-dimensional structural diagram of a nursing mobility aid provided by the present invention; Figure 9 A three-dimensional structural diagram of the vertical support plate, horizontal rod, and locking buckle of a nursing walking aid device provided by the present invention; Figure 10 A three-dimensional exploded view of the internal cavity, coiled spring, and blocking block of a nursing walking aid device provided by the present invention; Figure 11 A three-dimensional cross-sectional view of the control box and rotating shaft of a nursing mobility aid device provided by the present invention; Figure 12 A three-dimensional structural diagram of the limiting stop and elastic element II of a nursing walking aid device provided by the present invention; Figure 13 This is a three-dimensional exploded view of the flipping movable plate and elastic element III of a nursing walking aid device provided by the present invention.
[0020] In the diagram: 1. Protective bracket; 2. Universal caster; 3. Foot pedal; 4. Limit stop; 5. Rolling steel ball; 6. Hydraulic chamber I; 7. Piston plate I; 8. Hydraulic rubber hose; 9. Side support plate; 10. Moving guide groove; 11. U-shaped bracket; 12. Fixed pivot; 13. Rotating plate; 14. Hydraulic chamber II; 15. Piston plate II; 16. Elastic element I; 17. Cylindrical tube; 18. Sliding guide block; 19. Spiral guide groove; 20. Positioning slot; 21. Positioning pin; 22. Tension spring I; 23. Connecting base plate; 24. Tension spring II; 25. Bellows-style protective cover; 26. Infrared imaging camera; 27. Control box; 28. Permanent magnet; 29. Rotating shaft; 30. Internal cavity; 31. Flexible connecting belt; 32. Locking buckle; 33. Coiled spring; 34. Blocking block; 35. Fixed base; 36. Sliding guide rod; 37. Limit stop; 38. Elastic element II; 39. Flipping movable plate; 40. Fixed support platform; 41. Elastic element III; 42. Pressure sensor; 43. Audible and visual alarm; 44. Fixed ring; 45. Vertical support plate; 46. Horizontal bar. Detailed Implementation
[0021] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.
[0022] In one embodiment: Refer to Figure 1 and Figure 2A gait feedback-guided lower limb rehabilitation training component mainly includes a C-shaped protective bracket 1 with multiple omnidirectional casters 2 at the bottom for easy movement and positioning. Multiple infrared imaging cameras 26 are fixed to the inner walls of three sides of the protective bracket 1 to capture data such as joint angles, gait, and posture during patient training. A control box 27 is fixed to one inner wall, housing VR glasses and a microcontroller. The microcontroller is electrically connected to the infrared imaging cameras 26 and the VR glasses, transmitting data captured by the infrared imaging cameras 26 to a medical data sharing platform to provide crucial information for assessing patient mobility and monitoring rehabilitation progress. The VR glasses simulate various walking scenarios for patient training, increasing the fun and realism of the training.
[0023] Reference Figure 2 and Figure 3 The protective bracket 1 contains a foot pedal 3 rotatably connected via a pivot. Multiple rolling steel balls 5 are embedded in the top of the foot pedal 3, allowing the patient to maintain stationary movement while walking on it. A sheet metal layer (magnetic layer) is fixedly embedded in the top of the foot pedal 3. Multiple permanent magnets 28 are fixed to one inner wall of the protective bracket 1, generating magnetic attraction between the sheet metal layer and the permanent magnets 28 to ensure the foot pedal 3 is placed stably when vertically. Multiple limiting blocks 4 are fixed to the inner walls of the two opposite sides of the protective bracket 1 to support the horizontally placed foot pedal 3, facilitating training while the patient stands on it.
[0024] Reference Figure 2 , Figure 5 and Figure 6The protective bracket 1 contains two side support plates 9 fixed on both sides of the foot pedal 3, and each side support plate 9 has a rotating plate 13. To increase the intensity of the patient's leg training, a pushing structure is provided in the side support plate 9. The pushing structure includes a movable guide groove 10 located on the side of the side support plate 9 near the foot pedal 3, and a U-shaped bracket 11 sliding within the movable guide groove 10. A fixed rotating shaft 12 rotatably passes through the U-shaped bracket 11, and the rotating plate 13 is fixedly sleeved on the outer wall of the fixed rotating shaft 12. One end of the rotating plate 13 has a positioning slot 20, and a positioning pin 21 that slides through the U-shaped bracket 11 and engages with the positioning slot 20 is inserted into it, with one end of the positioning pin 21 extending to one side of the side support plate 9. A tension spring I 22 is sleeved on the outer wall of the positioning pin 21, with a spring constant ranging from 50 to 100 N / m, and its two ends are fixedly connected to one side of the U-shaped bracket 11 and the outer wall of the positioning pin 21 respectively through spring seats. The positioning slot 20 and positioning pin 21 are used to limit the rotation plate 13 when it rotates out of the moving guide groove 10. A connecting base plate 23 is fixed inside the U-shaped bracket 11. A tension spring II 24 is fixed between one side of the connecting base plate 23 and the inner wall of one side of the moving guide groove 10 through a spring seat. The tension spring II 24 has a stiffness coefficient ranging from 80 to 150 N / m and is used to increase the resistance to the movement of the rotation plate 13 when the patient pushes it with their leg. An accordion-style protective cover 25 is fixed to the side of the connecting base plate 23 away from the rotation plate 13. The end of the accordion-style protective cover 25 away from the connecting base plate 23 is fixedly connected to the inner wall of one side of the moving guide groove 10 and is used to protect the tension spring II 24 at all times when the U-shaped bracket 11 moves. A cotton pad is fixed to one side of the rotation plate 13 to protect the patient's leg when the patient pushes the rotation plate 13 with their leg.
[0025] Reference Figures 3-7It also includes a braking structure for braking multiple rolling steel balls 5 when the rotating plate 13 rotates out of the moving guide groove 10, so that the patient can stand stably on the foot pedal 3 to push the rotating plate 13 to move. The braking structure includes a hydraulic chamber II 14 located below the moving guide groove 10 in the side support plate 9 and a hydraulic chamber I 6 located in the foot pedal 3. A piston plate II 15 is sealed and slidably installed in the hydraulic chamber II 14, and the top of the piston plate II 15 is slidably connected to a cylindrical cylinder 17 via a slide rail. The bottom end of the fixed rotating shaft 12 extends into the hydraulic chamber II 14 and further into the cylindrical cylinder 17. Multiple sliding guide blocks 18 are fixed on the inner wall of the cylindrical cylinder 17, and multiple spiral guide grooves 19 are provided on the outer wall of the fixed rotating shaft 12. The spiral guide grooves 19 slide in cooperation with the sliding guide blocks 18, so as to drive the piston plate II 15 to move downward through the cooperation of the spiral guide grooves 19 and the sliding guide blocks 18 when the fixed rotating shaft 12 rotates. Multiple elastic elements I16 are fixed between the bottom of piston plate II15 and the bottom inner wall of hydraulic chamber II14 via spring seats. Elastic elements I16 are compression springs with a stiffness coefficient ranging from 30-80 N / m. A piston plate I7 is slidably connected within hydraulic chamber I6, and piston plate I7 contacts the bottom of the rolling steel ball 5. The contact surface between piston plate I7 and the rolling steel ball 5 is provided with a polyurethane wear-resistant layer for braking the rolling steel ball 5. A hydraulic rubber hose 8, communicating with hydraulic chamber II14, is fixed to one side of side support plate 9. One end of the hydraulic rubber hose 8 extends into hydraulic chamber I6, used to inject hydraulic oil from hydraulic chamber II14 into hydraulic chamber I6 when piston plate II15 moves downwards, driving piston plate I7 upwards.
[0026] Reference Figures 8-11 A nursing assistance device, relating to the field of rehabilitation nursing technology, includes the aforementioned gait feedback-guided lower limb rehabilitation nursing training component, and further includes two vertical support plates 45 fixed to the top of a protective bracket 1, with a common horizontal rod 46 fixed between the two vertical support plates 45. The horizontal rod 46 has an internal cavity 30, within which a rotating shaft 29 is rotatably connected. Two flexible connecting straps 31 are wound around the outer wall of the rotating shaft 29, with the bottom ends of both flexible connecting straps 31 extending below the horizontal rod 46 and each fixed with a locking buckle 32, which engages with a safety harness worn by the user.
[0027] Reference Figures 10-12The system also includes a protective structure to protect the patient from falling and prevent them from hitting the ground. The protective structure includes two fixed rings 44 fixed to the outer wall of the internal cavity 30, and two coiled springs 33 with a stiffness coefficient ranging from 100-200 N / m fitted onto the outer wall of the rotating shaft 29. One end of each coiled spring 33 is fixedly connected to one side of the fixed ring 44 via a connecting seat, and the other end is fixedly connected to one side of the inner wall of the internal cavity 30 via a connecting seat. Two sets of braking plates are fixed to the inner wall of the internal cavity 30, and the two sets of braking plates correspond to the positions of the two fixed rings 44. Each braking plate consists of multiple blocking blocks 34, all fixed to the inner wall of the internal cavity 30. Multiple sets of centrifugal components are provided on the side of each of the two fixed rings 44 that are close to each other, and these centrifugal components cooperate with the blocking blocks 34 to brake the rotating shaft 29.
[0028] Reference Figure 11 and Figure 12 The centrifugal component includes a fixed base 35 fixed to one side of a fixed ring 44. A sliding guide rod 36 slides through the fixed base 35. A limit stop 37 is fixed to one end of the sliding guide rod 36 away from the rotation axis 29, and the limit stop 37 cooperates with a blocking block 34. An elastic element II 38 is sleeved on the outer wall of the sliding guide rod 36. The elastic element II 38 is a compression spring with a spring constant ranging from 40 to 90 N / m. One end of the elastic element II 38 is fixedly connected to one side of the fixed base 35 through a spring seat, and the other end of the fixed base 35 is fixedly connected to the outer wall of the sliding guide rod 36 through a spring seat.
[0029] In another embodiment: Refer to Figure 9 and Figure 13 The bottom of the protective bracket 1 is rotatably connected to a rotating hinge plate 39, and a pressure sensor 42 is fixedly embedded in the top of the rotating hinge plate 39. A fixed support platform 40 is fixed to one inner wall of the protective bracket 1. An elastic element III 41, a compression spring with a stiffness coefficient ranging from 60 to 120 N / m, is fixedly attached to the bottom of the fixed support platform 40 via a spring seat. An audible and visual alarm 43 is fixed to the top of the protective bracket 1, and the pressure sensor 42 is electrically connected to the audible and visual alarm 43.
[0030] A method of using a nursing mobility aid includes the following steps: S1. When walking training is required, flip the foot pedal 3 to place it horizontally, with the limit block 4 supporting it. The patient stands on the foot pedal 3 and holds the protective bracket 1 with both hands. The VR glasses stored in the control box 27 are put on the head. Various walking scenarios are simulated according to the display on the VR glasses. The patient moves back and forth on the foot pedal 3. The setting of the rolling steel ball 5 can keep the patient in place when the foot moves, so that the patient can carry out rehabilitation training at home. S2. When it is necessary to increase the difficulty of leg training, the rotating plate 13 is rotated 90° and moves away from the moving guide groove 10. When the rotating plate 13 drives the fixed rotating shaft 12 to rotate, the fixed rotating shaft 12 drives the cylindrical cylinder 17 and piston plate II 15 to move downward and squeeze the elastic element I 16 through the cooperation of the sliding guide block 18 and the spiral guide groove 19. The piston plate II 15 injects the hydraulic oil in the hydraulic chamber II 14 into the hydraulic chamber I 6 through the hydraulic rubber hose 8, and drives the piston plate I 7 to stick to multiple rolling steel balls 5 and brake the multiple rolling steel balls 5, so that the patient can perform leg training on the foot pedal 3 later. After the rotating plate 13 rotates 90°, the positioning pin 21 is locked into the positioning slot 20 under the tension of the tension spring I 22 to limit the rotating plate 13. Then the patient pushes the rotating plate 13 with his legs to move. The tension spring II 24 applies a tension force to the U-shaped bracket 11 to increase the resistance of the legs pushing the rotating plate 13, thereby completing the purpose of leg training. S3. Before training, protective belts with fluorescent markings are put on the patient's calves, thighs and knees. Therefore, during the patient's training, multiple infrared imaging cameras 26 in the protective bracket 1 can track the patient's lower limb movements in real time, including data such as joint angles, gait and posture, and transmit this data to the medical data sharing platform through the microcontroller, providing key information for assessing the patient's motor ability and monitoring rehabilitation progress. S4. When the patient needs to walk outdoors, the rotating plate 13 is reset and stored in the moving guide groove 10, the foot pedal 3 is flipped vertically, and the permanent magnet 28 attracts it to stand vertically. Then the patient puts on the safety harness and the flexible connecting strap 31 is connected to the safety harness on the patient's body by locking buckle 32. After that, the patient can walk outdoors while holding the protective bracket 1. When the patient accidentally falls, the safety harness on the patient's body pulls the flexible connecting strap 31. The flexible connecting strap 31 drives the rotating shaft 29 and the fixed ring 44 to rotate quickly. The fixed ring 44 drives the limiting stop head 37 to rotate. The limiting stop head 37 moves outward under the action of centrifugal force. The centrifugal force of the limiting stop head 37 is greater than the elastic force of the elastic element II 38. The blocking block 34 blocks the limiting stop head 37, thereby braking the rotating shaft 29 and preventing the patient from falling to the ground, thus protecting the patient. S5. When the patient pushes the protective support 1 forward, the flip-up movable plate 39 can detect obstacles in front. When encountering an obstacle, the flip-up movable plate 39 rotates under the action of the obstacle and squeezes the elastic element III 41. The pressure sensor 42 receives the pressure signal under the reaction force of the elastic element III 41. When the obstacle is large, the rotation amplitude of the flip-up movable plate 39 increases, and the pressure on the pressure sensor 42 also increases. When the pressure on the pressure sensor 42 reaches the threshold, it indicates that the obstacle has reached the size that hinders the patient's progress. At this time, the audible and visual alarm 43 alarms to remind the patient to pay attention to the obstacle under their feet and avoid the patient tripping during walking. When encountering obstacles such as plastic waste, the flip-up movable plate 39 can squeeze these wastes.
[0031] However, as is well known to those skilled in the art, the working principles and wiring methods of the pressure sensor 42, the infrared imaging camera 26, and the audible and visual alarm 43 are commonplace and are all conventional methods or common knowledge. They will not be described in detail here. Those skilled in the art can make any selections according to their needs or convenience.
[0032] The accompanying drawings in this application are for illustrative purposes only. The dimensions and shapes of the components shown are not actual limitations but are merely schematic representations. In actual implementation, the components can be reasonably configured and adjusted according to specific needs and actual conditions.
[0033] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.
Claims
1. A gait feedback-guided lower limb rehabilitation nursing training component, characterized in that, include: The protective bracket (1) is C-shaped and has multiple omnidirectional casters (2) at its bottom. The foot pedal (3) is rotatably connected to the protective bracket (1) via a pivot. Multiple rolling steel balls (5) are rolled and embedded on the top of the foot pedal (3) to keep the patient moving in place when walking on the foot pedal (3). Two side support plates (9) are fixed inside the protective bracket (1) and located on both sides of the foot pedal (3); A push structure is provided in the side support plate (9) to increase the intensity of leg training for patients. The push structure includes a movable guide groove (10) opened on the side of the side support plate (9) near the foot pedal (3), a U-shaped bracket (11) slidably connected in the movable guide groove (10), a fixed rotating shaft (12) that rotatably passes through the U-shaped bracket (11), and a rotating plate (13) fixedly sleeved on the outer wall of the fixed rotating shaft (12). A braking structure is provided for braking the plurality of rolling steel balls (5) when the rotating plate (13) rotates out of the moving guide groove (10), so that the patient can stand stably on the foot pedal (3) and push the rotating plate (13) to move; the braking structure includes a hydraulic chamber II (14) disposed in the side support plate (9) and located below the moving guide groove (10) and a hydraulic chamber I (6) disposed in the foot pedal (3); The rotating plate (13) can be operably flipped 90° and rotated out of the moving guide groove (10). The patient pushes the rotating plate (13) with his / her legs to drive the U-shaped support (11) to move along the moving guide groove (10) for training. At the same time, the flipping of the rotating plate (13) drives the fixed rotating shaft (12) to rotate, thereby triggering the braking structure to brake the rolling steel ball (5).
2. The gait feedback-guided lower limb rehabilitation nursing training component according to claim 1, characterized in that, The propulsion structure also includes: A positioning slot (20) is provided at one end of the rotating plate (13); The positioning pin (21) slides through the U-shaped bracket (11) and is inserted into the positioning slot (20), with one end extending to one side of the side support plate (9); Tension spring I (22) is sleeved on the outer wall of the positioning pin (21). Its two ends are fixedly connected to one side of the U-shaped bracket (11) and the outer wall of the positioning pin (21) respectively through spring seats. It is used to limit the rotation plate (13) by the cooperation of the positioning slot (20) and the positioning pin (21) when the rotation plate (13) rotates out of the moving guide groove (10). Connecting base plate (23) is fixed on the U-shaped bracket (11); The tension spring II (24) has its two ends fixedly connected to one side of the connecting base plate (23) and the inner wall of one side of the moving guide groove (10) respectively through spring seats. It is used to provide resistance to the movement of the U-shaped bracket (11) when the patient pushes the rotating plate (13) with his / her leg.
3. The gait feedback-guided lower limb rehabilitation nursing training component according to claim 2, characterized in that, The braking structure also includes: Piston plate II (15) is slidably connected to the hydraulic chamber II (14); The cylindrical tube (17) is slidably fitted with the guide portion located on the top of the piston plate II (15); Multiple sliding guide blocks (18) are fixed to the inner wall of the cylindrical tube (17); Multiple spiral guide grooves (19) are provided on the outer wall of the fixed rotating shaft (12) and slide in cooperation with the sliding guide block (18). When the fixed rotating shaft (12) rotates, the spiral guide grooves (19) and the sliding guide block (18) drive the cylindrical cylinder (17) and the piston plate II (15) to move downward. Multiple elastic elements I (16) are disposed between the bottom of the piston plate II (15) and the bottom inner wall of the hydraulic chamber II (14); Piston plate I (7) is slidably connected to the hydraulic chamber I (6) and contacts the bottom of the rolling steel ball (5) for braking the rolling steel ball (5); A hydraulic rubber hose (8) is fixed to one side of the side support plate (9), and its two ends are connected to the hydraulic chamber II (14) and the hydraulic chamber I (6) respectively. The bottom end of the fixed rotating shaft (12) extends sequentially into the hydraulic chamber II (14) and the cylindrical tube (17); when the piston plate II (15) moves down, the hydraulic oil in the hydraulic chamber II (14) is pressed into the hydraulic chamber I (6) through the hydraulic rubber hose (8), and the piston plate I (7) is driven to move up to closely adhere to the rolling steel ball (5).
4. The gait feedback-guided lower limb rehabilitation nursing training component according to claim 3, characterized in that, Also includes: The bellows-style protective cover (25) has one end fixedly connected to the side of the connecting base plate (23) away from the rotating plate (13), and the other end fixedly connected to the inner wall of the moving guide groove (10) to protect the tension spring II (24) when the U-shaped bracket (11) moves. A protective pad, fixed to one side of the rotating plate (13), is used to protect the legs when the patient pushes the rotating plate (13).
5. A gait feedback-guided lower limb rehabilitation nursing training component according to claim 4, characterized in that, Also includes: Multiple infrared imaging cameras (26) are fixed on the inner wall of the protective bracket (1) facing the patient to capture joint angles, gait and posture data of the patient during training; The control box (27) is fixed to the inner wall of one side of the protective bracket (1), and a microcontroller and VR glasses are installed inside it; The microcontroller is electrically connected to the infrared imaging camera (26) and the VR glasses. The VR glasses are used to simulate walking scenarios, and the microcontroller is used to transmit the data captured by the infrared imaging camera (26) to an external medical data sharing platform.
6. A gait feedback-guided lower limb rehabilitation nursing training component according to claim 5, characterized in that, Also includes: Multiple permanent magnets (28) are fixed to the inner wall of one side of the protective bracket (1); A magnetic conductive layer is embedded in the top of the foot pedal (3) and is used to attract and cooperate with the permanent magnet (28) when the foot pedal (3) is placed vertically; Multiple limiting blocks (4) are fixed to the inner walls of the protective bracket (1) on both sides away from each other, for supporting the horizontally placed foot pedal (3).
7. A nursing walking aid device, comprising the lower limb rehabilitation nursing training component with gait feedback guidance as described in claim 6, characterized in that, Also includes: Two vertical support plates (45) are fixed to the top of the protective bracket (1); A horizontal bar (46) is fixed between two vertical support plates (45) and has an internal cavity (30). A rotating shaft (29) is rotatably connected to the internal cavity (30); Two flexible connecting straps (31) are wrapped around the outer wall of the rotating shaft (29), and their bottom ends extend to the bottom of the transverse bar (46) and are fixed with locking buckles (32), which are used to fasten with the safety harness worn by the user; A protective structure, located within the internal cavity (30), is used to brake the rotating shaft (29) to provide protection in the event of a patient falling.
8. A nursing mobility aid device according to claim 7, characterized in that, The protective structure includes: Two fixed rings (44) are fixed to the outer wall of the rotating shaft (29); Two coiled springs (33) are sleeved on the outer wall of the rotating shaft (29). One end of the springs is fixedly connected to one side of the fixed ring (44) through a connecting seat, and the other end is fixedly connected to one side of the inner wall of the internal cavity (30) through a connecting seat. Two sets of brake plates are fixed to the inner wall of the internal cavity (30) and correspond to the positions of the two fixed rings (44) respectively. Each set of brake plates consists of multiple fixed blocking blocks (34). Multiple centrifugal components are respectively located on the side of the two fixed rings (44) that are close to each other, and cooperate with the blocking block (34); The centrifugal component includes a fixed base (35), a sliding guide rod (36), a limiting stop (37), and an elastic element II (38). The fixed base (35) is fixed to one side of the fixed ring (44). The sliding guide rod (36) slides through the fixed base (35). The limiting stop (37) is fixed to one end of the sliding guide rod (36) away from the rotation axis (29) and cooperates with the blocking block (34). The elastic element II (38) is sleeved on the outer wall of the sliding guide rod (36), with one end fixedly connected to one side of the fixed base (35) through a spring seat, and the other end fixedly connected to the outer wall of the sliding guide rod (36) through a spring seat. When the patient falls, the flexible connecting belt (31) drives the rotating shaft (29) and the fixed ring (44) to rotate rapidly. The centrifugal force generated by the limiting stop (37) is greater than the elastic force of the elastic element II (38) and moves outward and cooperates with the blocking block (34) to brake the rotating shaft (29).
9. A nursing mobility aid device according to claim 8, characterized in that, Also includes: The flip-up movable plate (39) is rotatably connected to the bottom of the protective bracket (1) via a rotating shaft; A pressure sensor (42) is embedded in the top of the flip-up movable plate (39); A fixed support platform (40) is fixed to the inner wall of one side of the protective bracket (1); The elastic element Ⅲ (41) has its two ends fixedly connected to the bottom of the fixed support platform (40) and the pressure sensor (42) respectively through spring seats; An audible and visual alarm (43) is fixed to the top of the protective bracket (1) and electrically connected to the pressure sensor (42); When the flipping movable plate (39) encounters an obstacle and rotates and squeezes the elastic element III (41), the pressure sensing sensor (42) senses the pressure signal and triggers the sound and light alarm (43) when the pressure reaches a preset threshold.
10. A method of using a nursing mobility aid device, applied to the nursing mobility aid device according to claim 9, characterized in that, Includes the following steps: S1. When walking training is required, flip the foot pedal (3) so that it is placed horizontally and the limit block (4) supports it. The patient stands on the foot pedal (3) and holds the protective bracket (1) with both hands. The VR glasses stored in the control box (27) are put on the head. According to the various walking scenarios displayed on the VR glasses, the patient moves back and forth on the foot pedal (3). The setting of the rolling steel ball (5) can keep the patient in place when the foot moves, so that the patient can carry out rehabilitation training at home. S2. When it is necessary to increase the difficulty of leg training, rotate the plate (13) 90° and move it away from the moving guide groove (10). When the rotating plate (13) drives the fixed rotating shaft (12) to rotate, the fixed rotating shaft (12) drives the cylindrical cylinder (17) and piston plate II (15) to move downward and squeeze the elastic element I (16) through the cooperation of the sliding guide block (18) and the spiral guide groove (19). The piston plate II (15) injects the hydraulic oil in the hydraulic chamber II (14) into the hydraulic chamber I (6) through the hydraulic rubber hose (8), driving the piston plate I (7) to tighten. Multiple rolling steel balls (5) are attached to brake the multiple rolling steel balls (5) so that the patient can perform leg training on the foot pedal (3) later. After the rotating plate (13) rotates 90°, the positioning pin (21) is inserted into the positioning slot (20) under the tension of the tension spring I (22) to limit the rotating plate (13). Then the patient moves the rotating plate (13) by pushing the rotating plate (13) with his / her legs. The tension spring II (24) applies a tension to the U-shaped bracket (11) to increase the resistance of the legs pushing the rotating plate (13) so as to complete the purpose of leg training. S3. Before training, protective belts with fluorescent markings are put on the patient's calves, thighs and knees. Therefore, during the patient's training, multiple infrared imaging cameras (26) in the protective bracket (1) can track the patient's lower limb movement in real time, including joint angle, gait, posture and other data, and transmit these data to the medical data sharing platform through the microcontroller, providing key information for assessing the patient's exercise ability and monitoring rehabilitation progress. S4. When the patient needs to walk outdoors, the rotating plate (13) is reset and stored in the moving guide groove (10). The foot pedal (3) is flipped vertically and placed vertically by the magnetic attraction of the permanent magnet (28). Then the patient wears a safety harness and completes the connection between the flexible connecting belt (31) and the safety harness on the patient's body by locking buckle (32). After that, the patient can walk outdoors while holding the protective bracket (1). When the patient accidentally falls, the safety harness on the patient's body pulls the flexible connecting belt (31). The flexible connecting belt (31) drives the rotating shaft (29) and the fixed ring (44) to rotate quickly. The fixed ring (44) drives the limit stop (37) to rotate. The limit stop (37) moves outward under the action of centrifugal force. The centrifugal force of the limit stop (37) is greater than the elastic force of the elastic element II (38). The blocking block (34) blocks the limit stop (37) and then brakes the rotating shaft (29). S5. When the patient pushes the protective bracket (1) forward, the flipping movable plate (39) can detect the road obstacle in front. When encountering the road obstacle, the flipping movable plate (39) rotates under the action of the road obstacle and squeezes the elastic element III (41). The pressure sensor (42) receives the pressure signal under the reaction force of the elastic element III (41). When the road obstacle is large, the rotation amplitude of the flipping movable plate (39) increases, and the pressure on the pressure sensor (42) also increases. When the pressure on the pressure sensor (42) reaches the threshold, it indicates that the road obstacle has reached the size that hinders the patient's progress. At this time, the sound and light alarm (43) alarms to remind the patient to pay attention to the road obstacle under their feet and avoid the patient from tripping during the walk. When encountering road obstacles such as plastic garbage, the flipping movable plate (39) can squeeze these garbage.