Personalized training method, device and program product for weight-bearing rehabilitation of lower limbs

Abstract

The invention discloses a lower limb weight-bearing rehabilitation personalized training method and device and a program product, and the method comprises the steps: initializing a training environment and obtaining an initial state, then building a sole stress migration path model comprising three stages of rear foot bearing, middle foot transition and front foot propulsion, setting path control parameters corresponding to a rehabilitation stage, and binding the model; recording process data when the patient executes weight training, and performing conformity judgment based on the data and the bound model and parameters; and executing a control strategy according to a judgment result, updating the load parameter if the judgment result is continuously consistent, and keeping the load unchanged and specifically adjusting the training rhythm parameter of the next cycle if the judgment result is not consistent. According to the method, the rehabilitation shoe structure does not need to be changed, wrong gaits can be intervened in advance, knee and hip compensation is reduced, and personalized and precise rehabilitation training is achieved.

Description

Technical Field

[0001] This application relates to the field of sports rehabilitation technology, specifically to a personalized training method, device, and program product for lower limb weight-bearing rehabilitation. Background Technology

[0002] Following lower limb fractures, tibial and ankle surgeries, and other foot procedures, patients often require partial or full weight-bearing rehabilitation. Wearing rehabilitation shoes for weight-bearing exercises such as standing and walking is a common clinical rehabilitation method. While rehabilitation shoes can improve training stability and help patients gradually regain their weight-bearing capacity, existing lower limb weight-bearing rehabilitation training methods have significant limitations.

[0003] Current training methods often use load size, training duration, or number of repetitions as core control indicators, focusing solely on whether the patient can "bear weight," while neglecting the crucial issue of whether the force transmission path within the rehabilitation shoe conforms to the normal biomechanical sequence. In actual rehabilitation, many patients, after wearing rehabilitation shoes for several weeks, tend to develop stable but incorrect plantar force transfer patterns, specifically manifested as premature forefoot loading, long-term hindfoot dependence, and fixed medial and lateral force shifts.

[0004] These incorrect force paths can lead to compensatory injuries to the knee and hip joints, and once the incorrect gait pattern becomes ingrained, it is extremely difficult to correct later. Current technology lacks an effective method to systematically control the force transfer process of the foot without changing the structure of rehabilitation shoes or reducing the total load, making it difficult to balance the safety and functionality of rehabilitation training and failing to meet the personalized and precise rehabilitation needs of patients. Summary of the Invention

[0005] In view of the above-mentioned defects or deficiencies in the prior art, it is desirable to provide a personalized training method, device and program product for lower limb weight-bearing rehabilitation.

[0006] The first aspect provides a personalized weight-bearing rehabilitation training method for the lower limbs, the method comprising:

[0007] Initialize the training environment and obtain the initial state and triggering conditions before training starts. The initial state includes the patient's status of wearing rehabilitation shoes and the current weight-bearing parameters.

[0008] A stage model of the plantar force transfer path is established, wherein the stage model divides the plantar force process within a single support period into a hindfoot bearing stage, a midfoot transition stage, and a forefoot propulsion stage arranged in a preset order.

[0009] Set path control parameters corresponding to the current rehabilitation stage, the path control parameters including the minimum duration ratio of each stage in the stage model, and bind the path control parameters to the stage model;

[0010] Perform weight-bearing training while wearing rehabilitation shoes and record training data;

[0011] Based on the training process data and the bound stage model and path control parameters, the conformity of the plantar force transfer path is determined, and a determination result is generated; the conformity determination includes at least determining whether each stage appears in the preset order and whether the duration of each stage meets the corresponding minimum duration ratio requirement.

[0012] The control strategy is executed based on the judgment result: when the judgment result of multiple consecutive training cycles is compliant, the weight parameter is updated; if the judgment result is non-compliant, the current weight parameter remains unchanged, and the training rhythm parameter of the next training cycle is adjusted based on the path anomaly type indicated by the judgment result.

[0013] Preferably, establishing a stage model of the plantar force transfer path includes storing stage identifiers of the hindfoot bearing stage, midfoot transition stage, and forefoot propulsion stage in a fixed order to form a stage sequence data structure.

[0014] Preferably, the path control parameters further include: a sequence constraint condition that allows the stage order to be advanced or delayed, and a missing constraint condition that allows the stage to be missing.

[0015] Preferably, the conformity determination of the foot force migration path further includes: based on the sequence constraint, determining whether there is an unacceptable advance or delay in the actual occurrence order of each stage; and based on the missing constraint, determining whether there is an unacceptable missing stage.

[0016] Preferably, adjusting the training rhythm parameters for the next training cycle specifically includes: for the path anomaly type, extending or shortening the training duration of at least one stage, or adjusting the duration ratio of each stage in the training action.

[0017] Preferably, when the path anomaly type is premature loading of the forefoot propulsion phase, adjusting the training rhythm parameters includes: extending the training duration of the hindfoot bearing phase and / or the midfoot transition phase, and / or delaying the initiation timing of forefoot propulsion-related actions.

[0018] Preferably, the magnitude of the updated load parameters is related to the stability of the foot force transfer path over multiple consecutive training cycles.

[0019] This application provides a personalized weight-bearing rehabilitation training method for the lower limbs. This method establishes a phased model of the plantar force transfer path, sets path control parameters corresponding to different rehabilitation stages, performs multi-dimensional conformity assessments, and executes differentiated control strategies based on the assessment results. Without altering the rehabilitation shoe structure or relying on special sensors, it achieves personalized and precise control of lower limb weight-bearing rehabilitation training. This method uses the correctness of the plantar force transfer path as the core constraint for increasing weight-bearing, solving the problem of erroneous gait fixation caused by "heavy load, light force distribution" in existing technologies. By adjusting the training rhythm rather than reducing the total load when path abnormalities occur, it intervenes in erroneous gait such as premature forefoot loading and insufficient midfoot transition while ensuring rehabilitation intensity, significantly reducing the risk of knee and hip compensation due to incorrect plantar force. Simultaneously, this method can dynamically adjust training parameters according to the patient's rehabilitation progress, adapting to the personalized needs of different rehabilitation stages, ensuring the safety and effectiveness of the training process. It is particularly suitable for lower limb fracture and postoperative patients with long rehabilitation shoe usage cycles, providing them with a scientific and systematic weight-bearing rehabilitation training program.

[0020] The second aspect provides a personalized weight-bearing rehabilitation training device for the lower limbs, the device comprising:

[0021] An initialization module is used to initialize the training environment and obtain the initial state and triggering conditions before training starts. The initial state includes the patient's status of wearing rehabilitation shoes and the current weight-bearing parameters.

[0022] The stage model building module is used to build a stage model of the foot force transfer path. The stage model divides the foot force process within a single support period into the hindfoot bearing stage, midfoot transition stage and forefoot propulsion stage arranged in a preset order.

[0023] The control parameter setting module is used to set path control parameters corresponding to the current rehabilitation stage. The path control parameters include the minimum duration ratio of each stage in the stage model, and the path control parameters are bound to the stage model.

[0024] The training recording module is used to perform weight-bearing training while wearing rehabilitation shoes and to record training process data.

[0025] The conformity determination module is used to determine the conformity of the plantar force transfer path based on the training process data and the bound stage model and path control parameters, and generate a determination result; the conformity determination includes at least determining whether each stage appears in the preset order and whether the duration of each stage meets the corresponding minimum duration ratio requirement.

[0026] The execution control module is used to execute control strategies based on the judgment results: when the judgment results of multiple consecutive training cycles are all in compliance, the weight parameters are updated; if the judgment results are not in compliance, the current weight parameters are kept unchanged, and the training rhythm parameters of the next training cycle are adjusted based on the path anomaly type indicated by the judgment results.

[0027] A third aspect provides a computer device including a memory and a processor, the memory storing a computer program, the processor executing the computer program to implement the steps of the method of the first aspect.

[0028] The fourth aspect provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the method of the first aspect. Attached Figure Description

[0029] Other features, objects, and advantages of this application will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0030] Figure 1 A flowchart illustrating the steps of a personalized weight-bearing rehabilitation training method for the lower limbs provided in this application;

[0031] Figure 2 This is a schematic diagram of the model establishment phase provided in an embodiment of this application;

[0032] Figure 3 This is a schematic diagram of the path control parameter setting process provided in the embodiments of this application;

[0033] Figure 4 This is a schematic diagram of the compliance judgment process provided in the embodiments of this application;

[0034] Figure 5 A structural block diagram of a personalized weight-bearing rehabilitation training device for the lower limbs provided in this application;

[0035] Figure 6 This is a schematic diagram of the structure of a computer device provided in this application. Detailed Implementation

[0036] It should be noted that the user information involved in all embodiments of this application includes, but is not limited to, user device information, user personal information, object information corresponding to device usage data, etc., and the data includes, but is not limited to, data used for analysis, stored data, displayed data, device usage data, etc., all of which are information and data authorized by the user or fully authorized by all parties.

[0037] This method is applicable to patients with lower limb fractures or those who have undergone lower limb surgery, such as tibial, ankle, or foot surgeries, and are entering the partial or full weight-bearing rehabilitation phase. It is suitable for patients wearing rehabilitation shoes, including but not limited to immobile, limited-motion, or semi-rigid rehabilitation shoes, and conducting standing or walking training. The implementation of this method typically meets the following conditions: It has an execution entity, which can be a processing module in a rehabilitation training terminal or a server node for managing rehabilitation training parameters; the execution entity has the ability to store, process, and update basic patient information data, rehabilitation shoe usage status data, and initial weight-bearing parameter data; training process data can be recorded at preset intervals during training, generally without relying on additional sensors; the execution entity can perform compliance judgments, control strategy execution, and parameter updates based on training process data and preset rules, forming a training control process.

[0038] The present application will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, only the parts relevant to the invention are shown in the accompanying drawings.

[0039] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0040] Please refer to Figure 1 , Figure 1 This application provides a personalized weight-bearing rehabilitation training method for the lower limbs, the method comprising:

[0041] S1: Initialize the training environment and obtain the initial state and triggering conditions before training starts. The initial state includes the patient's status of wearing rehabilitation shoes and the current weight-bearing parameters.

[0042] S2: Establish a stage model of the foot force transfer path. The stage model divides the foot force process during a single support period into a hindfoot bearing stage, a midfoot transition stage, and a forefoot propulsion stage arranged in a preset order.

[0043] S3: Set path control parameters corresponding to the current rehabilitation stage. The path control parameters include the minimum duration ratio of each stage in the stage model, and bind the path control parameters to the stage model.

[0044] S4: Perform weight-bearing training while wearing rehabilitation shoes and record training data;

[0045] S5: Based on the training process data and the bound stage model and path control parameters, perform a conformity determination on the plantar force transfer path and generate a determination result; the conformity determination includes at least determining whether each stage appears in the preset order and whether the duration of each stage meets the corresponding minimum duration ratio requirement.

[0046] S6: Execute the control strategy according to the judgment result: when the judgment result of multiple consecutive training cycles is compliant, update the weight parameter; if the judgment result is non-compliant, keep the current weight parameter unchanged, and adjust the training rhythm parameter of the next training cycle based on the path anomaly type indicated by the judgment result.

[0047] In some embodiments, for step S1, the training environment is initialized and the initial state and triggering conditions are obtained.

[0048] According to the embodiments of this application, the executing entity first initiates the personalized lower limb weight-bearing rehabilitation training method. After initiation, the executing entity needs to complete the initialization of the training environment, specifically including storing patient basic information data, rehabilitation shoe usage status data, and initial weight-bearing parameter data. Patient basic information data includes information on the affected side and rehabilitation stage identifiers. This type of data can be entered by medical staff through the input interface of the rehabilitation training system or obtained through communication with the hospital's patient information system. Rehabilitation shoe usage status data includes an identifier indicating whether the patient is wearing rehabilitation shoes and an identifier indicating the type of rehabilitation shoes. This can be confirmed and entered by the patient through a terminal device or automatically obtained through the status detection unit associated with the rehabilitation shoes. Initial weight-bearing parameter data is stored in the form of body weight ratio or predetermined weight-bearing level, and is set by medical staff in combination with the patient's surgical type, recovery status, and conventional rehabilitation medicine standards. After initialization, the execution entity obtains the initial state before training starts. The initial state includes the patient's wearing of rehabilitation shoes and the current load parameters. The execution entity verifies the initial state. If the patient is wearing rehabilitation shoes and the current load parameters are within the preset executable training range, the trigger condition is met and the subsequent steps are entered. If the patient is not wearing rehabilitation shoes or the current load parameters exceed the executable training range, the subsequent training process is not started, and a prompt message can be sent to the patient or medical staff.

[0049] In some embodiments, for step S2, a phased model of the plantar force transfer path is established. The plantar force transfer path refers to the temporal transfer process of ground reaction force between different anatomical regions of the foot during a single support phase; this is a conventional research object in gait biomechanics. Existing lower limb weight-bearing rehabilitation training focuses primarily on the magnitude of the load, neglecting the correctness of the plantar force transfer path, leading to patients developing stable but incorrect foot force paths that are difficult to correct later. This application establishes a phased model, dividing the plantar force process during a single support phase into a hindfoot bearing phase, a midfoot transition phase, and a forefoot propulsion phase. This division completely corresponds to the biomechanical phases of the standard gait support phase. Through this phased model, the temporal transfer requirements of plantar force can be clearly defined, providing a basic framework for subsequent path control and compliance determination, solving the problem of the lack of systematic control over the plantar force transfer path in existing technologies, and enabling early intervention for incorrect gait.

[0050] Please see Figure 2 , Figure 2 This is a schematic diagram of the model establishment process provided in the embodiments of this application. Specifically, in S201, the anatomical basis for the stage division is clarified. The executing entity defines the anatomical range of the hindfoot, midfoot, and forefoot. The hindfoot corresponds to the heel region of the sole, the midfoot corresponds to the middle region of the sole, and the forefoot corresponds to the toes and the forefoot region. This definition conforms to the general standards in the field of rehabilitation medicine, ensuring the uniformity and accuracy of the stage division, so that those skilled in the art can clearly identify the plantar region corresponding to each stage.

[0051] In S202, the core biomechanical characteristics of each stage are defined. The core biomechanical characteristic of the hindfoot bearing stage is that the ground reaction force initially acts on the hindfoot region, making the hindfoot the primary load-bearing area, while the midfoot and forefoot experience less or no force. The core function of this stage is to achieve stable initial weight-bearing. The core biomechanical characteristic of the midfoot transition stage is that the ground reaction force gradually shifts from the hindfoot to the midfoot, with the force on the hindfoot gradually decreasing and the force on the midfoot gradually increasing, while the force on the forefoot remains at a low level. This stage is crucial for achieving a smooth transition of force. The core biomechanical characteristic of the forefoot propulsion stage is that the ground reaction force further shifts and concentrates on the forefoot region, making the forefoot the primary load-bearing area, providing power support for the patient's standing stability or walking propulsion, while the force on the hindfoot and midfoot gradually decreases to zero. By clearly defining the core biomechanical characteristics of each stage, the stage model has clear criteria for judgment, avoiding ambiguity in stage division.

[0052] In S203, a phase sequence data structure is constructed. The execution entity stores phase identifiers for the hindfoot bearing phase, midfoot transition phase, and forefoot propulsion phase in a fixed, preset order. These phase identifiers can be configured as numerical codes, text identifiers, or other recognizable symbols, for example, "1" representing the hindfoot bearing phase, "2" representing the midfoot transition phase, and "3" representing the forefoot propulsion phase. The construction of this phase sequence data structure ensures the sequential constraints of each phase, providing a data basis for subsequent determinations of whether each phase occurs in the preset order. This data structure is stored in a readable form in the execution entity's storage unit, facilitating rapid retrieval and use during training.

[0053] In S204, the valid path model is marked. The executing entity marks the completed stage model as the valid path model for the current training cycle. This marking operation ensures that the executing entity clearly uses this stage model as the benchmark for path control and compliance judgment in subsequent processes of the current training cycle, avoiding model confusion or misuse. When entering the next training cycle, the executing entity can rebuild or update the stage model according to the patient's rehabilitation progress or training needs, ensuring that the stage model always adapts to the patient's actual rehabilitation status.

[0054] In some embodiments, for step S3, path control parameters corresponding to the current rehabilitation stage are set. Setting path control parameters is crucial for implementing path priority constraints. Its core logic is to formulate personalized foot force transfer path standards based on the patient's current rehabilitation stage, making path control targeted and adaptable. Existing technologies lack personalized path control standards corresponding to rehabilitation stages, leading to the application of uniform training control requirements to patients at different rehabilitation stages. This makes it difficult to meet personalized rehabilitation needs and easily reinforces incorrect gait. This application sets path control parameters and binds them to a stage model to form control rules for the current training cycle. This provides a clear basis for compliance judgment and control strategy execution, ensuring that patients can perform weight-bearing training in a biomechanically compliant manner at different rehabilitation stages, intervening in incorrect gait in advance, and reducing knee and hip compensation. Its technical value lies in achieving personalized and precise training control, avoiding a one-size-fits-all training model.

[0055] According to embodiments of this application, path control parameters include the minimum duration ratio of each stage, and may also include sequence constraints on whether the stage order can be advanced or delayed, and missing constraints on whether stage absence is allowed. Please refer to [link to relevant documentation]. Figure 3 , Figure 3 This is a schematic diagram illustrating the path control parameter setting process provided in an embodiment of this application. The setting process for each parameter is described in detail below:

[0056] In S301, the minimum duration ratio for each stage is set. The minimum duration ratio for each stage refers to the minimum time percentage that must be achieved in each stage within a single support period. The setting of this parameter is directly related to the patient's current rehabilitation stage. Patients at different rehabilitation stages have differences in foot function, stability, and force-bearing capacity, and the corresponding minimum duration ratios for each stage are also different.

[0057] When the executing entity sets this parameter, it first obtains the patient's current rehabilitation stage identifier, which has been stored in the executing entity during the initialization phase of the training environment. For example, the patient is currently in the early rehabilitation stage 1-4 weeks after surgery, the mid-term rehabilitation stage 4-8 weeks after surgery, or the late rehabilitation stage more than 8 weeks after surgery. Then, the implementing entity retrieves the reference range of the minimum sustained proportion for each stage corresponding to the rehabilitation stage from the pre-stored rehabilitation stage parameter table. The rehabilitation stage parameter table is formulated based on a large amount of clinical data in rehabilitation medicine, normal gait biomechanical data, and expert experience. The parameter table is stored according to the rehabilitation stage, and each rehabilitation stage corresponds to a set of reference ranges for the minimum sustained proportion of each stage. For example, the reference range for the early rehabilitation stage is 35%-50% for the hindfoot bearing stage, 30%-40% for the midfoot transition stage, and 20%-30% for the forefoot propulsion stage; the reference range for the intermediate rehabilitation stage is 30%-40% for the hindfoot bearing stage, 30%-40% for the midfoot transition stage, and 25%-35% for the forefoot propulsion stage; and the reference range for the late rehabilitation stage is 25%-35% for the hindfoot bearing stage, 30%-40% for the midfoot transition stage, and 30%-40% for the forefoot propulsion stage.

[0058] After retrieving the reference range, the implementing entity can fine-tune the parameters based on the patient's historical training records. If the patient's historical training records show that their hindfoot bearing capacity is strong and there are no hindfoot-related pain or stability problems, the minimum duration of the hindfoot bearing phase can be appropriately reduced within the reference range, while the minimum duration of the midfoot transition phase or the forefoot propulsion phase can be increased. If the patient's historical training records show that they have difficulty with forefoot propulsion, the minimum duration of the forefoot propulsion phase can be appropriately reduced within the reference range to ensure that the parameter settings are adapted to the patient's individual situation.

[0059] For example, for patients in the early rehabilitation stage, the execution entity can set the minimum duration of the hindfoot bearing phase to 40%, the midfoot transition phase to 35%, and the forefoot propulsion phase to 25%; for patients in the later rehabilitation stage, the minimum duration of the hindfoot bearing phase can be set to 30%, the midfoot transition phase to 35%, and the forefoot propulsion phase to 35%. After these parameters are set, they are stored in the execution entity in numerical form and associated with the stage model.

[0060] In S302, set the sequence constraints. The sequence constraints are used to specify whether the phase sequence is allowed to be advanced or delayed, that is, whether the actual start time of each phase can deviate from the preset start time. The setting of this parameter is also based on the patient's current rehabilitation phase. The core purpose is to avoid the solidification of incorrect gait due to abnormal phase sequence.

[0061] For patients in the early rehabilitation stage, due to the incomplete recovery of foot function and insufficient stability, there is a high risk of premature forefoot loading or skipping the midfoot transition stage. Therefore, the implementing body usually sets the sequence constraint condition as "stages are not allowed to be advanced or delayed". That is, each stage must be started in the preset order of "hindfoot bearing stage, midfoot transition stage, forefoot propulsion stage" and the preset start time. If the forefoot propulsion stage starts before the midfoot transition stage, the midfoot transition stage starts before the hindfoot bearing stage, or the start time of any stage deviates from the preset start time, it is judged as a path abnormality.

[0062] For patients in the mid-stage of rehabilitation, foot function gradually recovers and they have a certain ability to adjust force. The implementing entity can set the sequence constraints to "allow slight delays, but not advances". For example, the midfoot transition phase can be delayed by up to 5% of the single support period based on the preset start time, and the forefoot propulsion phase can be delayed by up to 5% of the preset end time of the midfoot transition phase. However, the forefoot propulsion phase cannot be started before the midfoot transition phase, so as to avoid the error mode of premature forefoot loading.

[0063] For patients in the later rehabilitation stage, whose foot function is close to normal and whose gait patterns tend to be stable, the implementing body can set the sequence constraints to "allow slight advances or delays". For example, the start time of each stage can be allowed to fluctuate within ±3% of the single support period based on the preset time, so as to adapt to individual gait differences of patients and ensure that the normal biomechanical sequence is not deviated from.

[0064] If a patient has special circumstances, such as functional recovery at a certain stage being significantly faster than that of a normal patient at the same rehabilitation stage, the implementing body may appropriately relax the sequence constraints based on the doctor's assessment. If a patient has repeatedly shown abnormalities in the sequence of stages during historical training, and such abnormalities may lead to the solidification of incorrect gait, the sequence constraints need to be tightened and set to "not allow advancing or delaying".

[0065] In S203, certain constraints are set. Missing constraints specify whether it is permissible for a particular phase among the hindfoot bearing phase, midfoot transition phase, and forefoot propulsion phase to be absent, i.e., the duration of that phase is zero. The setting of this parameter is closely related to the patient's current rehabilitation stage and pathological state, and the core is to avoid abnormal force patterns caused by the absence of a phase.

[0066] In the early rehabilitation phase, the focus is on establishing stable load-bearing capacity in the hindfoot, while the functions of the midfoot and forefoot are not yet fully activated. At this stage, the implementing body can set the missing constraint condition as "only the forefoot propulsion phase is temporarily absent; the hindfoot load-bearing phase and midfoot transition phase are not allowed to be absent." For example, some patients in the early postoperative period may be temporarily unable to complete the forefoot propulsion movement, resulting in a missing forefoot propulsion phase. This situation can be considered temporarily compliant, but the implementing body needs to gradually guide the forefoot to participate in load-bearing during subsequent training. If the initial hindfoot load-bearing phase is absent (directly using the midfoot or forefoot for load-bearing) or the midfoot transition phase is absent (directly transitioning from the hindfoot to the forefoot), it is considered a path abnormality, because such situations lead to insufficient hindfoot stability training or inability to exercise midfoot function, exacerbating gait errors.

[0067] In the mid-term rehabilitation phase, as the patient's midfoot function gradually recovers, a complete force transfer path needs to be established. Therefore, the implementing body sets the missing constraint condition as "no missing stage is allowed". The hindfoot bearing stage, midfoot transition stage, and forefoot propulsion stage must all appear in a single support phase and reach their respective minimum duration proportions. If any stage is missing, it is judged as a path abnormality, ensuring that the patient can gradually form a complete force transfer pattern.

[0068] In the later rehabilitation stage, when the patient's gait is close to normal, the implementing body sets the missing constraint condition to "no missing stage is allowed" and has higher requirements for the integrity of the stage to avoid gait incoherence or abnormal force due to missing stages, thus ensuring the stability of the rehabilitation effect.

[0069] If the patient has special pathological conditions, such as forefoot injury that has not fully healed, the implementing body may temporarily set the missing constraint to "allow missing forefoot propulsion phase" after the doctor's assessment. However, this special setting must be noted in the training record, and the patient's forefoot function recovery should be assessed regularly and the missing constraint adjusted in a timely manner.

[0070] In step S303, the path control parameters are bound to the stage model. After setting each path control parameter, the execution entity binds this parameter combination to the stage model established in step S2, forming the control rules for the current training cycle. The binding operation is implemented through an internal association algorithm of the execution entity, specifically by establishing a mapping relationship between the identifiers of the path control parameters and the identifiers of the stage model. This allows the execution entity to quickly retrieve the corresponding path control parameters based on the stage model during subsequent compliance determination, avoiding mismatches between parameters and the model.

[0071] Optionally, the bound control rules are stored in the execution entity's storage unit in the form of a data structure. The storage format must ensure that the execution entity can quickly read and parse the data. During the execution of the current training cycle, if the patient's rehabilitation stage changes or the training requirements are adjusted, the execution entity can reset the path control parameters and rebind them with the stage model to generate new control rules to adapt to the dynamic changes during the training process.

[0072] In some embodiments, for step S4, weight-bearing training is performed and training process data is recorded. After the triggering condition is met, the patient, wearing rehabilitation shoes, performs standing or walking training according to the guidance of the rehabilitation training system. During the training process, the executing entity records training process data at preset intervals, which can be configured to be after each complete training movement or at fixed time intervals. The training process data includes the start and end times of each training movement, the completion status of a single training movement, and training rhythm data, which includes gait rhythm, movement intervals, etc. This part of the data comes from the execution record of the training process itself and generally does not rely on additional sensors. The executing entity continuously writes the training process data into the data storage unit of the current training cycle to provide data support for subsequent compliance determination.

[0073] In some embodiments, step S5 involves determining the conformity of the plantar force transfer path. The core logic of this determination is based on training data, comparing it with the bound stage model and path control parameters to judge whether the plantar force transfer process within a single support phase meets preset requirements. Existing technologies only judge whether to increase weight-bearing based on whether the patient can complete the training movements or the magnitude of the load, ignoring the correctness of the plantar force transfer path. This leads to patients being able to bear weight but with incorrect weight-bearing methods, and the incorrect gait becoming ingrained through repeated training. The conformity determination step in this application accurately identifies path abnormalities through multi-dimensional judgment logic, providing a scientific basis for the execution of subsequent control strategies. Its function is to use path correctness as the core evaluation indicator for training control, rather than only focusing on the completion of training movements or the magnitude of the load, ensuring that the training process is always guided by the correct force transfer path, intervening in incorrect gait in advance, reducing knee and hip compensation, and solving the shortcomings of existing technologies.

[0074] According to the embodiments of this application, the prerequisite for compliance determination is that the current training cycle has completed the preset training task. The preset training task can be configured to complete the training for a preset duration, such as 10 minutes of standing training or 15 minutes of walking training, or the training actions of a preset number, such as 20 standing actions or 30 walking actions, or to reach a preset judgment node, such as making a judgment every 5 training actions.

[0075] Optionally, before making a compliance determination, the executing entity may preprocess the training process data recorded in step S4 to ensure the accuracy and validity of the data and avoid distortion of the determination results due to data anomalies. Data preprocessing includes the following steps:

[0076] First, outlier data points are removed. Outlier data points include invalid data caused by patient interruption, temporary equipment malfunction, or data acquisition errors. Examples include data with training movements that are too short (less than 0.5 seconds) or too long (more than 10 seconds), and extreme values ​​in training rhythm data that exceed the normal range. The implementing entity filters out outlier data points by setting data thresholds. The thresholds can be determined based on the type of training movement (standing or walking), the patient's rehabilitation stage, and historical training data. For example, for standing training in the early rehabilitation stage, a normal threshold range for the duration of training movements can be set to 1-5 seconds; data exceeding this range is considered outlier and removed.

[0077] Secondly, the valid data is standardized. Since the duration of a single support phase may vary for different training movements, to facilitate the calculation and comparison of the duration ratios of each phase, the execution entity uniformly converts the duration of a single support phase for each training movement into a relative time. That is, the duration of a single support phase is set as 100%, and the actual duration of each phase is proportionally converted into a relative duration. For example, if the duration of a single support phase for a training movement is 1.2 seconds, and the actual duration of the hindfoot bearing phase is 0.48 seconds, the standardized relative duration of this phase is 40%; the actual duration of the midfoot transition phase is 0.42 seconds, and the standardized relative duration is 35%; and the actual duration of the forefoot propulsion phase is 0.3 seconds, and the standardized relative duration is 25%.

[0078] Finally, statistical analysis is performed on training data from multiple exercises within the same training cycle. The execution entity calculates statistical measures such as the mean and standard deviation of the relative duration of each phase; for example, it calculates the mean of the relative duration of the hindfoot bearing phase. Average value of the mid-foot transition phase Average value during the forefoot propulsion phase and the standard deviation of the relative duration of each stage. , , The statistics include the percentage of times each stage appears in a preset order and the percentage of times a stage is missing, providing more reliable data support for subsequent multi-dimensional judgments.

[0079] According to embodiments of this application, compliance determination includes at least determining whether each stage appears in a preset order and whether the duration of each stage meets the corresponding minimum duration ratio requirement. If the path control parameters include sequence constraints and missing constraints, compliance determination also includes determining whether the actual occurrence order of each stage has any unacceptable advance or delay, and whether there are any unacceptable stage omissions. Please refer to [link to relevant documentation]. Figure 4 , Figure 4 This is a schematic diagram of the compliance determination process provided for embodiments of this application. The implementation steps for each determination are described in detail below:

[0080] In S401, the stage sequence conformity is checked. The purpose of the stage sequence conformity check is to verify whether the actual force transfer process follows the preset sequence of "hindfoot bearing stage, midfoot transition stage, and forefoot propulsion stage" in the stage model. The check steps are as follows:

[0081] First, the execution entity extracts the start and end times of each training action phase from the preprocessed training data. The start time is the point at which force begins to be applied in that phase, which can be identified by changes in force-related indicators in the training process data. For example, when the force value in the hindfoot area increases from zero to a preset force threshold, it is the start time of the hindfoot bearing phase. The end time is the point at which force ceases to be applied in that phase or when the force drops below the preset threshold. The preset force threshold can be configured as 10% of the maximum force value in that phase or other reasonable proportions.

[0082] Then, the executing entity arranges the start times of each stage in chronological order, determining whether the start time of the hindfoot bearing stage is earlier than the start time of the midfoot transition stage, and whether the start time of the midfoot transition stage is earlier than the start time of the forefoot propulsion stage. If the start times of each stage of a training exercise satisfy the above sequential relationship, the stage sequence of the training exercise is determined to meet the preset requirements; if the start time of the hindfoot bearing stage is later than the midfoot transition stage or the forefoot propulsion stage, or the start time of the midfoot transition stage is later than the forefoot propulsion stage, the stage sequence of the training exercise is determined to not meet the preset requirements.

[0083] If the path control parameters include sequence constraints, the executing entity needs to make further judgments based on these constraints. For example, if the sequence constraint is "allowing the mid-foot transition phase to be delayed by no more than 5%", the executing entity calculates the deviation ratio between the actual start time of the mid-foot transition phase and the preset start time. The formula for calculating the deviation ratio is:

[0084]

[0085] in, This represents the deviation ratio of the starting time during the transition phase for the Chinese national football team. This refers to the actual start time of the transition phase for the Chinese national football team. The preset start time for the transition phase of the Chinese national football team. This represents the total duration of a single support period.

[0086] If the calculated deviation ratio If the deviation is within the allowable range (e.g., ≤5%), the sequence of training phases is considered to meet the requirements; if the deviation ratio exceeds the allowable range, it is considered not to meet the requirements. If the sequence constraint is "phases are not allowed to be advanced or delayed", then regardless of whether the deviation ratio is positive (delayed) or negative (advanced), as long as the absolute value of the deviation ratio is greater than 0, it is considered not to meet the requirements.

[0087] Finally, the implementing entity statistically analyzes the results of the phase sequence judgments for multiple training movements within the same training cycle and calculates the percentage of training movements whose phase sequence meets the requirements. , The calculation formula is:

[0088]

[0089] in, The number of training movements required to meet the phase sequence. This represents the total number of training movements in the current training cycle.

[0090] like If the preset qualified percentage threshold (e.g., 80%) is reached, the overall sequence of stages in that training cycle is deemed to meet the requirements; if If the percentage of qualified participants is below the threshold, the overall stage sequence is deemed to be non-compliant.

[0091] In S402, the stage duration ratio compliance is assessed. The purpose of this assessment is to verify whether the actual duration ratio of each stage meets the minimum duration ratio requirement set in the path control parameters. The assessment steps are as follows:

[0092] First, based on the preprocessed standardized data, the execution entity obtains the relative duration ratios of the hindfoot bearing phase, midfoot transition phase, and forefoot propulsion phase in each training movement, i.e., the standardized duration of each phase.

[0093] Then, the implementing entity compares the relative duration ratio of each stage with the corresponding minimum duration ratio. For example, the minimum duration ratio of the hindfoot bearing stage is... The relative duration of this phase in a certain training exercise is . ,like If the proportion of the hindfoot bearing phase in the training movement meets the requirements, then the training movement is deemed to have met the requirements. If not, it is determined to be non-compliant. Similarly, the relative duration ratio of the midfoot transition phase is determined separately. With minimum duration ratio In comparison, the forefoot propulsion phase (relative duration ratio) With minimum duration ratio (Compare) whether the continuous proportion meets the requirements.

[0094] The implementing entity statistically analyzes the compliance of the duration of each phase of multiple training movements within the same training cycle, and calculates the percentage of training movements that meet the requirements during the hindfoot bearing phase. The percentage of training movements that meet the requirements during the transition phase of mid-foot development. The percentage of training movements that meet the requirements during the forefoot propulsion phase. The formula for calculating the proportion is the same as Consistency means the ratio of the number of training movements that meet the requirements to the total number of training movements multiplied by 100%.

[0095] like , , If all percentages reach the preset acceptable percentage threshold (e.g., 80%), the overall duration of the training period is deemed to meet the requirements; if the acceptable percentage of any stage is lower than the acceptable percentage threshold, the overall duration of the stage is deemed to not meet the requirements.

[0096] In S403, the compliance judgment for stage advancement or delay is performed. If the path control parameters include sequence constraints, the compliance judgment for stage advancement or delay needs to be further determined based on the stage sequence compliance judgment, to determine whether there are any unacceptable advances or delays in the actual occurrence order of each stage. The judgment steps are as follows:

[0097] For each training movement, the executing entity calculates the deviation ratio between the actual start time and the preset start time for the hindfoot bearing phase, midfoot transition phase, and forefoot propulsion phase. The formula for calculating the deviation ratio is the same as described above. The calculation formula is consistent.

[0098] Depending on the different sequence constraints, the executing entity makes targeted judgments: If the sequence constraint is "stages are not allowed to be advanced or delayed", then regardless of whether the deviation ratio is positive or negative, as long as the absolute value of the deviation ratio is greater than 0, it is determined that there is an unacceptable advance or delay for that stage; if the sequence constraint is "slight delay is allowed, advance is not allowed", then when the deviation ratio is negative (advance) or the deviation ratio is positive and exceeds the allowable delay range, it is determined that there is an unacceptable advance or delay; if the sequence constraint is "small advance or delay is allowed", then when the absolute value of the deviation ratio exceeds the allowable fluctuation range, it is determined that there is an unacceptable advance or delay.

[0099] The executing entity will determine the percentage of training actions that are not permitted to be performed earlier or later during the current training cycle. ,like If the percentage is lower than the preset allowable threshold, such as 20%, then the advance or delay of the training cycle is considered to meet the requirements; if If the percentage exceeds the allowable threshold, it is deemed not to meet the requirements.

[0100] In S404, stage missing compliance is checked. If the path control parameters include missing constraints, the purpose of stage missing compliance is to verify whether there are any unacceptable stage missing conditions. The check steps are as follows:

[0101] For each training action, the executing entity checks whether the relative duration ratio of each stage is less than a preset missing threshold, such as 5%. If the relative duration ratio of a certain stage is less than the missing threshold, then that stage is determined to be missing in the training action.

[0102] Based on the missing constraints, the executing entity makes a targeted judgment: If the missing constraint is "only the forefoot propulsion phase is allowed to be temporarily missing, and the hindfoot load-bearing phase and midfoot transition phase are not allowed to be missing," then when the hindfoot load-bearing phase or midfoot transition phase is missing, it is determined that there is an unacceptable missing phase; when the forefoot propulsion phase is missing, it is determined that the requirements are met. If the missing constraint is "no missing phase is allowed," then regardless of which phase is missing, it is determined that there is an unacceptable missing phase.

[0103] The executing entity calculates the percentage of training actions that are missing during the current training cycle due to unacceptable phases. ,like If the percentage is lower than the preset allowable threshold, such as 20%, then the stage missing situation of this training cycle is considered to meet the requirements; if If the percentage exceeds the allowable threshold, it is deemed not to meet the requirements.

[0104] After the executing entity completes the above-mentioned judgments, it generates the final judgment result by combining the results of each judgment. If the overall sequence of stages meets the requirements, the overall duration ratio of stages meets the requirements, and if there are judgments on the compliance of stages being advanced or delayed, or judgments on the compliance of stages being missing, then both of these judgment results also meet the requirements, and the judgment result is marked as "compliant"; if any of the above-mentioned judgments is judged as non-compliant, then the judgment result is marked as "non-compliant".

[0105] After the judgment result is generated, the executing entity will associate and store it with the relevant data of the current training cycle (including training process data, path control parameters, stage models, etc.) to provide a direct basis for the execution of subsequent control strategies. At the same time, the judgment result will also serve as an important reference data for assessing the patient's rehabilitation progress.

[0106] In some embodiments, for step S6, a control strategy is executed based on the judgment result. The core logic of the control strategy based on the judgment result is to take differentiated control measures according to the conformity judgment result of the foot force migration path: if the judgment result is conforming, and the judgment result of multiple consecutive training cycles is conforming, then the load parameter is updated and the training intensity is gradually increased; if the judgment result is not conforming, then the current load parameter is kept unchanged, and the training rhythm parameter of the next training cycle is adjusted according to the path abnormality type.

[0107] In existing technologies, when patients experience training abnormalities, the common approach is to reduce the total load. This overlooks the fact that many patients are not unable to bear the total load, but rather are bearing the load at the wrong time and in the wrong foot area. Reducing the total load sacrifices rehabilitation efficiency and fails to address the root cause of the gait error. This method's control strategy, through the logic of "gradually increasing the load when it is appropriate, and adjusting the pace rather than reducing the load when it is inappropriate," ensures both the gradual progression of rehabilitation training and targeted correction of gait errors. Its technical advantage lies in achieving a balance between training intensity and quality, preventing the entrenching of gait errors, and reducing the risk of knee and hip compensation. It is particularly suitable for patients with long rehabilitation shoe usage cycles and overcomes the shortcomings of existing technologies that focus on "heavy load, light force distribution."

[0108] When the determination result is "compliant", the executing entity performs the control strategy according to the following steps:

[0109] First, the executing entity marks the current training period as a valid training period. A valid training period is one that meets the path control requirements, and its data will serve as an important basis for updating the weight parameters. Invalid training periods (those with a judgment result of "do not meet") will not participate in the evaluation of weight parameter updates.

[0110] Then, the executing entity records the sequence number of the current effective training cycle and related data, including statistical data on the duration of each stage, training rhythm data, judgment results, etc., and also records the cumulative number of consecutive effective training cycles. In the initial state If the current training period is a valid training period, then If the current training cycle is an invalid training cycle, then Reset to 0.

[0111] Next, the executing entity determines the cumulative number of consecutive effective training cycles. Has the preset periodic threshold been reached? For example, three training sessions were conducted, and no training interruptions or abnormal records occurred within a continuous and effective training cycle, such as patients stopping training midway, equipment malfunctions, or data anomalies. , or although However, if there is a training interruption or abnormal record, the execution subject will not update the weight parameters, and the system will return to step S1 to enter the initial state acquisition and trigger condition judgment process of the next training cycle, keeping the current stage model and path control parameters unchanged.

[0112] like If no training interruption or abnormal record is found, the executing entity initiates the load parameter update process. Before updating the load parameters, the executing entity needs to assess the stability of the foot force transfer path within a continuous effective training cycle. The stability of the path is measured by the coefficient of variation of the duration ratio of each stage in the continuous effective training cycle. The formula for calculating the coefficient of variation is:

[0113]

[0114] in, For the first coefficient of variation at each stage ( Corresponding to the hindfoot bearing phase, Corresponding to the transitional phase of the middle foot, (corresponding to the foreleg propulsion phase) For the first continuous effective training cycle Standard deviation of the duration of each phase For the first continuous effective training cycle The average of the duration of each stage.

[0115] The implementing entity calculates the coefficient of variation for the three stages. , , And calculate the average coefficient of variation. The smaller the average coefficient of variation, the higher the path stability; the larger the average coefficient of variation, the lower the path stability.

[0116] Based on the stability of the pathway, the implementing entity updates the load parameters according to a preset progressive load rule. This preset progressive load rule is based on the principle of "gradual progression" in rehabilitation medicine; the update magnitude of the load parameters is positively correlated with the stability of the pathway—the higher the stability, the greater the update magnitude. For example, if the average coefficient of variation... The path stability is relatively high, and the current load parameter can be increased by 5%-10%; if The path stability is moderate; the current load parameter can be increased by 2%-5%. The path stability is low, so the current load parameter can be increased by 1%-2%.

[0117] After the load parameters are updated, the execution entity generates new load control parameters and stores them in the system. Then, the system returns to step S1 and enters the initial state acquisition and trigger condition judgment process for the next training cycle. In the new training cycle, the execution entity will perform training control based on the updated load parameters, the original stage model, and path control parameters (or parameters adjusted according to the patient's rehabilitation progress), forming a closed-loop training process.

[0118] When the judgment result is "not in compliance", the executing entity keeps the current total load parameter unchanged to avoid a decrease in rehabilitation efficiency due to reducing the load. At the same time, based on the path abnormality type indicated by the judgment result, the training rhythm parameter of the next training cycle is adjusted to correct the path abnormality in a targeted manner.

[0119] First, the execution entity analyzes the specific types of path anomalies. Combining the judgment results of step S5, it clarifies that the anomaly type is one or more of the following: stage sequence anomaly, stage duration ratio anomaly, stage advance or delay anomaly, and stage missing anomaly. At the same time, it further clarifies the specific manifestations of the anomalies by combining the training process data. For example, stage sequence anomaly is manifested as premature loading of the forefoot propulsion stage, stage duration ratio anomaly is manifested as insufficient duration ratio of the midfoot transition stage, and stage missing anomaly is manifested as missing midfoot transition stage, etc.

[0120] Then, the implementing entity formulates a targeted training rhythm adjustment plan based on the anomaly type. The adjustment of training rhythm parameters specifically includes extending or shortening the training duration of at least one phase, or adjusting the duration ratio of each phase within the training movement. The adjustment magnitude is determined based on the degree of path deviation; the more significant the deviation, the greater the adjustment. The degree of path deviation can be measured through the percentage data in various judgments (e.g., , A comprehensive evaluation is conducted using indicators such as (etc.) and coefficient of variation, for example... The lower the value, the more significant the deviation in the stage sequence, and the greater the adjustment range.

[0121] The following details how to adjust the training pacing parameters for common path anomaly types:

[0122] (1) Adjustment for premature loading anomaly in the forefoot propulsion phase. If the path anomaly type is premature loading in the forefoot propulsion phase, which is a type of phase sequence anomaly, it is manifested as the forefoot propulsion phase starting before the midfoot transition phase, or starting too early. The core of the adjustment plan is to extend the hindfoot-midfoot transition time and suppress premature loading of the forefoot. The specific adjustment steps are as follows:

[0123] Extend the training duration of the hindfoot load-bearing phase. The implementer increases the duration of the hindfoot load-bearing phase by adjusting the guiding rhythm of training instructions. For example, in standing training, verbal or visual instructions can guide patients to extend the stability time after the hindfoot lands, increasing it by a certain percentage from the original baseline time. In walking training, the support time after the hindfoot pushes off the ground can be extended, allowing the hindfoot to have a more complete load-bearing process, strengthening the force perception and stability of the hindfoot, and reducing the patient's premature dependence on the forefoot.

[0124] Extend the training duration of the midfoot transition phase. The instructor should adjust the guidance logic of the training movements, clearly prompting the patient in the training instructions to slow down the speed at which the center of gravity shifts from the hindfoot to the midfoot, giving the midfoot sufficient time to adapt to the force. For example, in walking training, the patient can be prompted to "land slowly with the midfoot and apply force evenly," thus extending the duration of the midfoot transition phase, making the force transfer process smoother, and avoiding skipping the midfoot transition and directly loading the midfoot.

[0125] The timing of forefoot propulsion movements should be delayed. The training system should clearly inform the patient of the optimal time for forefoot force exertion. For example, during gait training, the patient can be guided to initiate the forefoot propulsion movement only after the midfoot has fully landed and stabilized for a certain period. This explicit timing guidance helps prevent premature forefoot force exertion. Simultaneously, a delay mechanism for the initiation of forefoot propulsion movements can be set in the training system, meaning that commands for forefoot propulsion are only issued after the midfoot transition phase has reached a preset duration.

[0126] Adjust the duration proportions of each phase. The implementing entity increases the target duration proportions of the hindfoot bearing phase and midfoot transition phase within a single support phase, while decreasing the initial target duration proportion of the forefoot propulsion phase. For example, the target proportion of the hindfoot bearing phase is adjusted from 35% to 40%, the midfoot transition phase from 30% to 35%, and the forefoot propulsion phase from 35% to 25%. By adjusting the proportions, the patient's force transfer sequence is guided, gradually correcting the erroneous pattern of premature forefoot loading.

[0127] (2) Adjustment for insufficient duration of the midfoot transition phase. If the path abnormality type is insufficient duration of the midfoot transition phase, which is a type of phase duration abnormality, the core of the adjustment plan is to strengthen the training guidance of the midfoot transition phase and increase the midfoot duration ratio. The specific adjustment steps are as follows:

[0128] Increase guidance and prompts during the midfoot transition phase. During training, the instructor reinforces the patient's perception of the midfoot transition phase through frequent verbal or visual instructions. For example, in each training movement, repeatedly prompt "Shift your weight to the midfoot and maintain stability" to guide the patient to consciously focus on the force application process in the midfoot and prolong the actual duration of the midfoot transition phase.

[0129] Adjust the overall rhythm of the training movements. The trainer should reduce the overall speed of the training movements, for example, by reducing the stride frequency of walking training from the original baseline stride frequency by a certain percentage. This allows more time for each stage to complete the force transfer, with a focus on providing sufficient time for the midfoot transition phase, and avoiding the midfoot transition phase being neglected due to an overall pace that is too fast.

[0130] Set a minimum duration threshold for the midfoot transition phase. The executing entity sets the minimum duration threshold for the midfoot transition phase in the training control logic. If the actual duration of this phase in the training data is lower than the threshold, the system will issue a prompt to guide the patient to complete the action again until the midfoot transition phase reaches the minimum duration threshold. The effective duration of the midfoot transition phase is ensured through mandatory constraints.

[0131] Add targeted midfoot training. Incorporate midfoot transition-specific training exercises into the current training cycle, such as midfoot support and balance training. Guide patients to concentrate their center of gravity on the midfoot area and maintain stability while standing. Each training session can be configured to last 1-2 minutes. Through specific training, strengthen the midfoot's load-bearing capacity and stability, and provide functional support for the continuous improvement of the midfoot's proportion during the transition phase.

[0132] (3) Adjustment for missing phase anomalies. If the path anomaly type is a missing phase, such as a missing midfoot transition phase or a missing forefoot advance phase, and this missing phase is not allowed, the core of the adjustment plan is to specifically guide the activation of the missing phase. The specific adjustment steps are as follows:

[0133] Adjustments for missing midfoot transition phase: The implementing entity explicitly sets mandatory guidance steps for the midfoot transition phase in the training instructions. For example, in standing training, the patient is guided to stabilize with the midfoot first, and then perform the hindfoot bearing and forefoot propulsion movements, thus activating the midfoot transition phase through reverse guidance. At the same time, in the training data evaluation, if the midfoot transition phase is detected to be missing, the training movement is determined to be invalid, and the patient is required to complete it again until the midfoot transition phase appears and reaches the preset duration.

[0134] Adjustments for missing forefoot propulsion phase (applicable to rehabilitation phases where missing forefoot propulsion phase is not permissible): The implementer strengthens the guidance of forefoot propulsion movement in training instructions. For example, in walking training, the patient is prompted to "push off the ground with the forefoot to complete the propulsion." At the same time, the resistance feedback mechanism of the training equipment can be used. When insufficient forefoot propulsion force or no forefoot propulsion movement is detected, the equipment provides appropriate resistance feedback to prompt the patient to strengthen forefoot force and gradually activate the forefoot propulsion phase.

[0135] (4) Adjustment for abnormal stage sequence. If the abnormal path type is abnormal stage sequence, such as the midfoot transition stage starting before the forefoot bearing stage, the core of the adjustment plan is to strengthen the guidance and constraints of the stage sequence. The specific adjustment steps are as follows:

[0136] Provide clear, sequential guidance instructions. During training, the instructor issues clear guidance instructions in a sequential manner, such as "hindfoot strike, midfoot transition, forefoot propulsion," guiding the patient to complete the force transfer in the correct order through step-by-step instructions, thus strengthening the patient's memory and execution of the sequence.

[0137] A mandatory constraint mechanism for the sequence of training stages is set. The executing entity sets a mandatory constraint on the sequence of stages in the training control logic. That is, the next stage is only allowed to start after the previous stage is detected to be completed (reaching the preset duration or force threshold). For example, the relevant instruction to start the midfoot transition stage is only allowed after the preset duration is detected in the hindfoot bearing stage. If the patient starts the next stage in advance, the system will issue an error message and require the patient to restart the training action.

[0138] Add phase sequence-specific training. Insert phase sequence-specific training into the training cycle, such as decomposed gait training, which breaks down the walking movement into three independent action segments: rearfoot bearing, midfoot transition, and forefoot propulsion. Train each segment separately and then gradually integrate them into a complete gait. Through decomposed training, strengthen the patient's muscle memory and movement habits for the correct phase sequence.

[0139] Once the training pacing parameter adjustment plan is finalized, the executing entity generates new training pacing parameters, including the target training duration for each stage, the timing of guiding training movements, and the proportion of target duration for each stage, and binds these parameters to the next training cycle. In the next training cycle, the executing entity controls the training process according to the new training pacing parameters, while continuously recording training data and performing compliance checks. If path anomalies are improved, the check result is "compliant," and the normal progressive overload process begins; if path anomalies are not improved, the training pacing parameters are adjusted until the path meets the requirements.

[0140] Therefore, this application achieves personalized and precise control of lower limb weight-bearing rehabilitation training by establishing a phased model of plantar force transfer path, setting path control parameters corresponding to different rehabilitation stages, conducting multi-dimensional conformity judgments, and implementing differentiated control strategies based on the judgment results, without changing the structure of the rehabilitation shoe or relying on special sensors. This method uses the correctness of the plantar force transfer path as the core constraint for increasing weight-bearing, solving the problem of erroneous gait fixation caused by "heavy load, light force distribution" in existing technologies. By adjusting the training rhythm rather than reducing the total load when path abnormalities occur, it intervenes in erroneous gait such as premature forefoot loading and insufficient midfoot transition while ensuring rehabilitation intensity, significantly reducing the risk of knee and hip compensation caused by incorrect plantar force. Simultaneously, this method can dynamically adjust training parameters according to the patient's rehabilitation progress, adapting to the personalized needs of different rehabilitation stages, ensuring the safety and effectiveness of the training process. It is particularly suitable for lower limb fracture and postoperative patients with long rehabilitation shoe usage cycles, providing them with a scientific and systematic weight-bearing rehabilitation training program.

[0141] It should be noted that although the operations of the method of this application are described in a specific order in the accompanying drawings, this does not require or imply that these operations must be performed in that specific order, or that all the operations shown must be performed to achieve the desired result. On the contrary, the steps depicted in the flowchart can be performed in a different order. Additionally or alternatively, certain steps may be omitted, multiple steps may be combined into one step, and / or one step may be broken down into multiple steps.

[0142] Further reference Figure 5 The diagram illustrates an exemplary structural block diagram of a personalized weight-bearing rehabilitation training device 500 for lower limbs according to an embodiment of this application. The device 500 includes:

[0143] Initialization module 501 is used to initialize the training environment and obtain the initial state and triggering conditions before training starts. The initial state includes the patient wearing rehabilitation shoes and the current weight-bearing parameters.

[0144] The stage model establishment module 502 is used to establish a stage model of the foot force transfer path. The stage model divides the foot force process within a single support period into a hindfoot bearing stage, a midfoot transition stage, and a forefoot propulsion stage arranged in a preset order.

[0145] The control parameter setting module 503 is used to set path control parameters corresponding to the current rehabilitation stage. The path control parameters include the minimum duration ratio of each stage in the stage model, and the path control parameters are bound to the stage model.

[0146] The training recording module 504 is used to perform weight-bearing training while wearing rehabilitation shoes and to record training process data.

[0147] The conformity determination module 505 is used to determine the conformity of the plantar force transfer path based on the training process data and the bound stage model and path control parameters, and generate a determination result; the conformity determination includes at least determining whether each stage appears in the preset order and whether the duration of each stage meets the corresponding minimum duration ratio requirement.

[0148] The execution control module 506 is used to execute a control strategy based on the judgment result: when the judgment result of multiple consecutive training cycles is compliant, the weight parameter is updated; if the judgment result is non-compliant, the current weight parameter is kept unchanged, and the training rhythm parameter of the next training cycle is adjusted based on the path anomaly type indicated by the judgment result.

[0149] It should be understood that the units or modules described in device 500 are related to the reference. Figure 1 The steps in the described method correspond to each other. Therefore, the operations and features described above for the method also apply to the device 500 and the units or modules contained therein, and will not be repeated here. The device 500 can be pre-implemented in the browser or other security applications of an electronic device, or it can be loaded into the browser or its security applications of an electronic device through downloading or other means. The corresponding units or modules in the device 500 can cooperate with the units in the electronic device to implement the solutions of the embodiments of this application.

[0150] The following is for reference. Figure 6 It shows a schematic diagram of the structure of a computer device 600 suitable for implementing the embodiments of this application.

[0151] like Figure 6 As shown, the computer device 600 includes a central processing unit (CPU) 601, which can perform various appropriate actions and processes based on programs stored in read-only memory (ROM) 602 or programs loaded from storage section 608 into random access memory (RAM) 603. The RAM 603 also stores various programs and data required for the operation of the device 600. The CPU 601, ROM 602, and RAM 603 are interconnected via a bus 604. An input / output (I / O) interface 605 is also connected to the bus 604.

[0152] The following components are connected to I / O interface 605: an input section 606 including a keyboard, mouse, etc.; an output section 607 including a cathode ray tube (CRT), liquid crystal display (LCD), etc., and speakers, etc.; a storage section 608 including a hard disk, etc.; and a communication section 609 including a network interface card such as a LAN card, modem, etc. The communication section 609 performs communication processing via a network such as the Internet. A drive 610 is also connected to I / O interface 605 as needed. A removable medium 611, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., is installed on drive 610 as needed so that computer programs read from it can be installed into storage section 608 as needed.

[0153] Specifically, according to embodiments of this application, the above references Figure 1-4 The described process can be implemented as a computer software program. For example, embodiments of this application include a computer program product comprising a computer program tangibly embodied on a machine-readable medium, the computer program containing instructions for performing... Figure 1-4 The program code for the method. In such an embodiment, the computer program can be downloaded and installed from a network via the communication section 609, and / or installed from the removable medium 611.

[0154] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0155] The units or modules described in the embodiments of this application can be implemented in software or hardware. The described units or modules can also be located in a processor; for example, a processor can be described as including XX unit, YY unit, and ZZ unit. The names of these units or modules do not necessarily limit the unit or module itself; for example, XX unit can also be described as "a unit for XX".

[0156] In another aspect, this application also provides a computer-readable storage medium, which may be the computer-readable storage medium included in the device described in the above embodiments; or it may be a standalone computer-readable storage medium not assembled into a device. The computer-readable storage medium stores one or more programs, which are used by one or more processors to execute the personalized lower limb weight-bearing rehabilitation training method described in this application.

[0157] The above description is merely a preferred embodiment of this application and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of the invention involved in this application is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the inventive concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features with similar functions disclosed in this application.

Claims

1. A personalized weight-bearing rehabilitation training method for the lower limbs, characterized in that, The method includes: Initialize the training environment and obtain the initial state and triggering conditions before training starts. The initial state includes the patient's status of wearing rehabilitation shoes and the current weight-bearing parameters. A stage model of the plantar force transfer path is established, wherein the stage model divides the plantar force process within a single support period into a hindfoot bearing stage, a midfoot transition stage, and a forefoot propulsion stage arranged in a preset order. Set path control parameters corresponding to the current rehabilitation stage, the path control parameters including the minimum duration ratio of each stage in the stage model, and bind the path control parameters to the stage model; Perform weight-bearing training while wearing rehabilitation shoes and record training data; Based on the training process data and the bound stage model and path control parameters, the conformity of the plantar force transfer path is determined, and a determination result is generated; the conformity determination includes at least determining whether each stage appears in the preset order and whether the duration of each stage meets the corresponding minimum duration ratio requirement. The control strategy is executed based on the judgment result: when the judgment result of multiple consecutive training cycles is compliant, the weight parameter is updated; if the judgment result is non-compliant, the current weight parameter remains unchanged, and the training rhythm parameter of the next training cycle is adjusted based on the path anomaly type indicated by the judgment result.

2. The method according to claim 1, characterized in that, Establishing a phased model of the plantar force transfer path includes storing the phase identifiers of the hindfoot bearing phase, midfoot transition phase, and forefoot propulsion phase in a fixed order to form a phase sequence data structure.

3. The method according to claim 1, characterized in that, The path control parameters also include: sequence constraints on whether the stage order can be advanced or delayed, and missing constraints on whether missing stages are allowed.

4. The method according to claim 1, characterized in that, The conformity assessment of the plantar force migration path also includes: Based on the sequence constraints, determine whether there are any unacceptable advances or delays in the actual occurrence order of each stage; based on the missing constraints, determine whether there are any unacceptable missing stages.

5. The method according to claim 1, characterized in that, Adjusting the training rhythm parameters for the next training cycle specifically includes: for the path anomaly type, extending or shortening the training duration of at least one stage, or adjusting the duration ratio of each stage in the training action.

6. The method according to claim 2, characterized in that, When the path anomaly type is premature loading of the forefoot propulsion phase, adjusting the training rhythm parameters includes: extending the training duration of the hindfoot bearing phase and / or the midfoot transition phase, and / or delaying the initiation timing of forefoot propulsion-related actions.

7. The method according to claim 1, characterized in that, The magnitude of the updated load parameters is related to the stability of the foot force transfer path over multiple consecutive training cycles.

8. A personalized weight-bearing rehabilitation training device for the lower limbs, characterized in that, The device includes: An initialization module is used to initialize the training environment and obtain the initial state and triggering conditions before training starts. The initial state includes the patient's status of wearing rehabilitation shoes and the current weight-bearing parameters. The stage model building module is used to build a stage model of the foot force transfer path. The stage model divides the foot force process within a single support period into the hindfoot bearing stage, midfoot transition stage and forefoot propulsion stage arranged in a preset order. The control parameter setting module is used to set path control parameters corresponding to the current rehabilitation stage. The path control parameters include the minimum duration ratio of each stage in the stage model, and the path control parameters are bound to the stage model. The training recording module is used to perform weight-bearing training while wearing rehabilitation shoes and to record training process data. The conformity determination module is used to determine the conformity of the plantar force transfer path based on the training process data and the bound stage model and path control parameters, and generate a determination result; the conformity determination includes at least determining whether each stage appears in the preset order and whether the duration of each stage meets the corresponding minimum duration ratio requirement. The execution control module is used to execute control strategies based on the judgment results: when the judgment results of multiple consecutive training cycles are all in compliance, the weight parameters are updated; if the judgment results are not in compliance, the current weight parameters are kept unchanged, and the training rhythm parameters of the next training cycle are adjusted based on the path anomaly type indicated by the judgment results.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 7.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 7.

Images