Knee joint rehabilitation exerciser for children

Abstract

The child knee joint rehabilitation exerciser comprises a bottom plate, a rehabilitation assembly is arranged on the surface of the bottom plate, and a monitoring mechanism is arranged at the top of the rehabilitation assembly; the rehabilitation assembly comprises a seat and a fixing seat, a supporting frame is fixedly connected to the top end of the fixing seat, a rotating shaft rod is rotatably arranged on the surface of the supporting frame, rocker arms are fixedly arranged at the two ends of the rotating shaft rod, a linkage shaft is rotatably connected to the inner side of the fixing seat, and a driving synchronous wheel is fixedly connected to the surface of the linkage shaft; a rectangular mounting hole is formed in the surface of a backrest of the seat. The device integrates knee joint rehabilitation training, real-time health monitoring and back posture feedback functions. When a trainee uses the rocker arm to perform rehabilitation exercise driven by lower limbs, the monitoring mechanism can synchronously monitor key physiological parameters such as heart rate and blood pressure of the trainee, posture feedback is provided through the back supporting piece, and a use scene of seamless connection of exercise and monitoring is formed.

Description

Technical Field

[0001] This invention relates to the field of children's knee joint rehabilitation training technology, and in particular to a children's knee joint rehabilitation exercise device. Background Technology

[0002] Knee rehabilitation in children is a crucial part of postoperative or post-injury recovery. Currently, most children's knee rehabilitation devices on the market use a fixed structure, have limited functions, lack fun and adaptability, and are difficult to maintain children's enthusiasm for training.

[0003] Existing equipment typically does not support multiple training modes and is inconvenient to adjust, failing to meet the needs of children of different sizes and at different stages of rehabilitation. Furthermore, many devices are heavy and poorly portable, increasing the difficulty of home use.

[0004] Therefore, there is a need for an adjustable, safe, and effective pediatric knee joint rehabilitation exercise device that integrates passive and active training to improve rehabilitation outcomes and children's participation. Summary of the Invention

[0005] This invention discloses a children's knee joint rehabilitation exercise device. To achieve the above objectives, this invention adopts the following technical solution: A children's knee joint rehabilitation exercise device includes a base plate, on the surface of which a rehabilitation component is disposed, and on the top of which a monitoring mechanism is disposed; The rehabilitation assembly includes a seat and a fixed base. A support frame is fixedly connected to the top of the fixed base. A rotating shaft is rotatably mounted on the surface of the support frame. Rocker arms are fixedly mounted at both ends of the rotating shaft. A linkage shaft is rotatably connected to the inner side of the fixed base. A drive synchronous pulley is fixedly connected to the surface of the linkage shaft. A rectangular mounting hole is opened on the surface of the seat back. A support shaft is rotatably connected to the inner wall of the rectangular mounting hole. A back support is fixedly connected to the surface of the support shaft. A first transmission synchronous pulley is fixedly connected to both ends of the support shaft. A transmission shaft is rotatably mounted at the bottom of the seat. A second transmission synchronous pulley is fixedly connected to both ends of the transmission shaft. A transmission belt is installed between the first and second transmission synchronous pulleys. A driven synchronous pulley is fixedly mounted on the surface of the transmission shaft. The drive synchronous pulley and the driven synchronous pulley are connected by a synchronous belt. The back support is used to provide smooth damping force for the swing of the rocker arm in active training mode and to provide back posture feedback during the trainee's movements.

[0006] In a preferred embodiment, a first linkage bevel gear is fixedly connected to the surface of the linkage shaft, a drive bevel gear is fixedly provided on the surface of the rotating shaft, a strip-shaped mounting groove is provided inside the support frame, two partitions are fixedly provided on the inner wall of the strip-shaped mounting groove, and a drive rod is rotatably connected to the surface of the partition.

[0007] In a preferred embodiment, a driven bevel gear is fixedly connected to the top end of the drive rod, and a second linkage bevel gear is fixedly connected to the bottom end of the drive rod. The position of the driven bevel gear corresponds to the position of the drive bevel gear, and the position of the second linkage bevel gear corresponds to the position of the first linkage bevel gear. The drive bevel gear meshes with the driven bevel gear, and the first linkage bevel gear meshes with the second linkage bevel gear.

[0008] In a preferred embodiment, the monitoring mechanism includes a limiting groove formed at the top of the support frame, a positioning adjustment block rotatably connected to the inner wall of the limiting groove, a monitoring plate fixedly connected to the top of the positioning adjustment block, and a millimeter-wave radar sensor and an infrared sensor disposed on the side surface of the monitoring plate near the seat, the millimeter-wave radar sensor and the infrared sensor being used to monitor the trainee's heart rate and blood pressure, respectively.

[0009] In a preferred embodiment, a limiting hole is formed in the inner bottom wall of the limiting groove, and a positioning block is slidably arranged in the inner wall of the limiting hole. A rectangular hole matching the positioning block is formed inside the support frame. A reset spring is fixedly arranged in the inner bottom wall of the rectangular hole. A pressing plate is fixedly arranged in the front of the positioning block, and the front end of the pressing plate extends to the outside of the rectangular hole.

[0010] In a preferred embodiment, the top end of the reset spring is fixedly connected to the lower surface of the positioning block, the positioning adjustment block is arc-shaped, and the surface of the positioning adjustment block is provided with a plurality of positioning anti-slip grooves, the positions of the positioning anti-slip grooves corresponding to the positioning block.

[0011] In a preferred embodiment, a handle is fixedly provided on the surface of the rocker arm, and the surface of the handle is covered with a sponge anti-slip sleeve.

[0012] In a preferred embodiment, the resistance adjustment mechanism includes a conductor disk that rotates synchronously with the linkage shaft or transmission shaft, and an electromagnetic force member disposed opposite to the conductor disk. The magnitude of the magnetic force of the electromagnetic force member is adjustable to change the magnetic torque experienced by the shaft during rotation.

[0013] In a preferred embodiment, a control system is also included, the control system comprising: The central processing unit (CPU) is used to process data and issue control commands. The drive module is electrically connected to the electromagnetic force component and is used to adjust the current output to the electromagnetic force component according to the instructions of the central processing unit, thereby controlling the resistance. The data acquisition module is electrically connected to the millimeter-wave radar sensor, the infrared sensor, and the motion sensor mounted on the rotating shaft or rocker arm, and is used to collect the physiological and motion parameters of the trainee. The central processing unit is configured to perform the following operations: In passive training mode, the drive module is controlled to reduce the current applied to the electromagnetic force component to a minimum, and a motor connected to the linkage shaft or transmission shaft is controlled to operate in a preset mode to drive the rocker arm to perform passive reciprocating motion. In active training mode, based on real-time motion data fed back by the motion sensor, the output current of the drive module is dynamically adjusted through an intelligent control algorithm so that the resistance provided by the electromagnetic force component matches the preset rehabilitation training curve.

[0014] As can be seen from the above, the children's knee joint rehabilitation exercise device provided by the present invention has the following technical effects.

[0015] 1. This device integrates knee joint rehabilitation training, real-time health monitoring, and back posture feedback functions. When trainees use the swing arm for lower limb-driven rehabilitation exercises, the monitoring institution can simultaneously monitor key physiological parameters such as heart rate and blood pressure, and provide posture feedback through the back support, forming a seamless user experience that combines exercise and monitoring, effectively saving space and equipment costs.

[0016] 2. By introducing an intelligent control system based on fuzzy PID control algorithm, this device can sense the trainee's movement performance (such as force exertion, movement angle, and stability) in real time and dynamically and smoothly adjust the output torque of the electromagnetic resistance mechanism. This allows the training load to accurately match the preset personalized rehabilitation curve, simulating real-time guidance from a professional therapist, and significantly improving the pertinence, safety, and effectiveness of rehabilitation training.

[0017] 3. The system supports both active and passive core training modes. In active training mode, adaptive resistance is provided to enhance muscle strength; in passive training mode, a motor-driven system performs standardized joint range of motion training, with resistance adjustable to a minimum. This flexible adaptability allows it to meet the diverse needs of children's knee joint rehabilitation at different stages. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of a children's knee joint rehabilitation exercise device proposed in this invention.

[0019] Figure 2 This is a side view of a children's knee joint rehabilitation exercise device proposed in this invention.

[0020] Figure 3 This is a partial structural diagram of the rehabilitation components of a children's knee joint rehabilitation exercise device proposed in this invention.

[0021] Figure 4 This is a schematic diagram of the monitoring mechanism of a children's knee joint rehabilitation exercise device proposed in this invention.

[0022] Figure 5 for Figure 3 Enlarged structural diagram at point A in the middle; Figure 6 Schematic diagram of the resistance adjustment mechanism Figure 7 This is a block diagram of the control system principle. Figure 8 This is a flowchart of an intelligent control algorithm (active training mode).

[0023] In the attached diagram: 1. Base plate; 2. Rehabilitation components; 3. Monitoring device; 201. Seat; 202. Fixed base; 203. Support frame; 204. Rocker arm; 205. Linkage shaft; 206. Drive synchronous pulley; 207. Rectangular mounting hole; 208. Back support; 209. First transmission synchronous pulley; 210. Transmission shaft; 211. Second transmission synchronous pulley; 212. Transmission belt; 213. Driven synchronous pulley; 214. First linkage bevel gear; 215. Drive bevel gear; 216. Strip mounting slot; 217. Drive rod; 218. Driven bevel gear; 219. Second linkage bevel gear; 220. Handle; 221. Rotating shaft; 222. Synchronous belt; 301. Limiting groove; 302. Positioning adjustment block; 303. Monitoring board; 304. Millimeter-wave radar sensor; 305. Infrared sensor; 306. Positioning block; 307. Rectangular hole; 308. Reset spring; 309. Pressing plate; 310. Positioning anti-slip groove. Detailed Implementation

[0024] 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.

[0025] Reference Figures 1-5A children's knee joint rehabilitation exercise device includes a base plate 1, on the surface of which rehabilitation components 2 and a monitoring mechanism 3 are integrated to realize real-time health monitoring and daily rehabilitation exercise functions for trainees living alone.

[0026] The rehabilitation component 2 is fixedly installed on the surface of the base plate 1, providing the trainee with sitting support and exercise space; the top of the rehabilitation component 2 is equipped with a monitoring device 3, which can simultaneously monitor health parameters when the trainee uses the rehabilitation component 2, forming an integrated exercise monitoring usage scenario, without the need for additional equipment switching, greatly improving the convenience of use for trainees living alone.

[0027] It is worth noting that rehabilitation component 2 is the core part for realizing the trainee's daily rehabilitation exercises and back massage. It mainly consists of a seat 201, a fixed base 202, and a series of transmission structures. The fixed base 202 is fixed to the surface of the base plate 1, and its top is fixedly connected to the support frame 203. The support frame 203 extends upward perpendicularly to the fixed base 202, providing both installation support for the rotating shaft 221 and a load-bearing foundation for the monitoring mechanism 3. The seat 201 is located on one side of the fixed base 202 and is fixedly connected to the base plate 1. Its height and angle are adapted to the trainee's sitting posture requirements to ensure the trainee's comfort during use.

[0028] A rotating shaft 221 extends laterally through and is rotatably connected to the surface of the support frame 203. Its two ends are fixedly connected to rocker arms 204, which are symmetrically distributed. A handle 220 is fixedly mounted on the end furthest from the rotating shaft 221, and the surface of the handle 220 is covered with a sponge anti-slip sleeve. In this structure, the sponge anti-slip sleeve increases the friction between the hand and the handle 220, preventing slippage due to sweaty hands or uneven force during exercise, thus improving safety.

[0029] A linkage shaft 205 is rotatably connected to the inner side of the fixed seat 202 (the side closest to the seat 201). The linkage shaft 205 is arranged in a horizontal direction, and a drive synchronous wheel 206 and a first linkage bevel gear 214 are fixedly connected to its surface from left to right. The two rotate synchronously with the rotation of the linkage shaft 205 to realize power transmission.

[0030] The backrest surface of the seat 201 has rectangular mounting holes 207, which are distributed along the height direction of the backrest. A horizontal support shaft is rotatably connected to the inner wall of the support shaft. Multiple back support members 208 are fixedly sleeved on the outer surface of the support shaft (the back support members 208 are embedded in the rectangular mounting holes 207 and partially protrude from the backrest surface), so that they can maintain contact with the back of the trainee in a seated position. Both ends of the support shaft extend to the outer side of the backrest of the seat 201 and are respectively fixedly connected to the first transmission synchronous pulley 209.

[0031] The back support 208 is used to provide a smooth damping force for the swing of the rocker arm 204 in active training mode and to provide back posture feedback when the trainee moves.

[0032] It should be noted that a drive shaft 210 is rotatably connected to the bottom of the seat 201 (near the seat surface). The drive shaft 210 is parallel to the support shaft, and a second drive synchronous pulley 211 is fixedly connected to both ends of the shaft. The second drive synchronous pulley 211 and the first drive synchronous pulley 209 on the same side are connected by a drive belt 212.

[0033] A driven synchronous pulley 213 is fixedly mounted on the middle surface of the drive shaft 210. The driven synchronous pulley 213 and the drive synchronous pulley 206 are connected by a synchronous belt 222, forming a power transmission path of drive shaft 205-drive synchronous pulley 206-synchronous belt 222-driven synchronous pulley 213-drive shaft 210. The diameter of the driven synchronous pulley 213 is much larger than that of the drive synchronous pulley 206, achieving a deceleration effect and keeping the back support 208 rotating at a low speed. This transmission system (including synchronous pulleys, transmission belts, etc.) has a certain amount of transmission friction and inertia during operation. In active training mode, when the child actively rocks the rocker arm 204, he must overcome the resistance brought about by the rotation of this transmission system and the back support 208, thereby providing a stable and controllable damping force for the muscle strength training of the knee joint and lower limbs, and enhancing the intensity of rehabilitation. Meanwhile, the gentle rotation of the back support 208 under transmission provides continuous tactile feedback to the trainee's back, helping them to perceive the rhythm and range of their own movements, assisting in maintaining the correct training posture, and improving the accuracy of movements and training effects.

[0034] It should be noted that, in order to achieve the power linkage between the rotating shaft 221 and the linkage shaft 205, the device changes the transmission direction through a bevel gear set. A drive bevel gear 215 is fixedly installed on the middle surface of the rotating shaft 221, with its tooth surface facing the inside of the support frame 203. A strip-shaped mounting groove 216 is opened inside the support frame 203. The strip-shaped mounting groove 216 extends vertically, and two parallel partitions are fixedly installed on its inner wall. A drive rod 217 (which passes through the two partitions vertically) is rotatably connected to the surface of the partitions.

[0035] It should be noted that the top end of the drive rod 217 is fixedly connected to a driven bevel gear 218, which corresponds to the position of the drive bevel gear 215, and the two teeth mesh to realize the conversion of horizontal power to vertical power; the bottom end of the drive rod 217 is fixedly connected to a second linkage bevel gear 219, which corresponds to the position of the first linkage bevel gear 214 on the surface of the linkage shaft 205, and the two teeth mesh to convert the vertical power back to the horizontal direction, ultimately driving the linkage shaft 205 to rotate.

[0036] It is worth noting that this bevel gear transmission structure ensures that when the trainee shakes the rocker arm 204, the power can be efficiently transmitted to the back support 208 through two direction conversions, realizing the synchronous linkage between the rocker arm 204 and the back support 208 and reducing power loss.

[0037] The monitoring device 3 is mounted on top of the rehabilitation component 2 and is used to monitor the trainee's key health parameters in real time. The top surface of the support frame 203 is provided with an arc-shaped limiting groove 301. The inner wall of the limiting groove 301 is rotatably connected to a positioning adjustment block 302. The positioning adjustment block 302 can rotate along the arc direction of the limiting groove 301. The top of the positioning adjustment block 302 is fixedly connected to the monitoring plate 303, so that the monitoring plate 303 can rotate synchronously with the positioning adjustment block 302 to adjust the monitoring angle.

[0038] It should be noted that a millimeter-wave radar sensor 304 and an infrared sensor 305 are fixedly installed on the side of the monitoring panel 303 closest to the seat 201 (i.e., the side facing the trainee). The millimeter-wave radar sensor 304 emits high-frequency electromagnetic waves and receives the echo signals reflected by the human body, and extracts information such as heart rate and respiratory rate through signal processing. The infrared sensor 305 uses infrared light to irradiate the skin surface and detects changes in light absorption caused by blood flow to achieve non-contact monitoring of blood pressure parameters, comprehensively capturing the trainee's basic health data during exercise, promptly detecting abnormalities, and ensuring the safety of trainees living alone.

[0039] It should be further explained that, in order to accommodate trainees of different heights and sitting postures and to ensure the accuracy of sensor monitoring, the monitoring mechanism 3 is designed with a flexible angle adjustment structure. A vertical limiting hole is opened on the inner bottom wall of the limiting groove 301. A positioning block 306 is slidably connected to the inner wall of the limiting hole. The positioning block 306 can move up and down along the limiting hole.

[0040] The support frame 203 has a rectangular hole 307 that communicates with the limiting hole. A return spring 308 is fixedly installed on the inner bottom wall of the rectangular hole 307. The top of the return spring 308 is fixedly connected to the lower surface of the positioning block 306, providing upward elastic support for the positioning block 306.

[0041] A pressing plate 309 is fixedly connected to the front of the positioning block 306. The front end of the pressing plate 309 extends through the rectangular hole 307 to the outside of the support frame 203, which is convenient for trainees or caregivers to operate manually.

[0042] It should be noted that the positioning adjustment block 302 is an arc shape that matches the limiting groove 301. Several positioning anti-slip grooves 310 are evenly provided on its outer surface. The position of the positioning anti-slip grooves 310 corresponds to the positioning block 306. When the positioning block 306 moves upward under the action of the return spring 308, its top end can be inserted into the positioning anti-slip groove 310 to fix the angle of the positioning adjustment block 302. If the angle needs to be adjusted, simply press down on the pressing plate 309 to drive the positioning block 306 to compress the return spring 308 and disengage from the positioning anti-slip groove 310. Then, the positioning adjustment block 302 can be rotated to the appropriate angle. After releasing the pressing plate 309, the positioning block 306 automatically resets and locks itself.

[0043] This adjustment mechanism is simple to operate and requires no complicated tools. Solo trainees can independently adjust the angle to ensure that the millimeter-wave radar sensor 304 and the infrared sensor 305 are always aligned with the trainee's monitoring area, thereby improving the accuracy of data monitoring.

[0044] It should be further explained that a display screen (electrically connected to the monitoring board 303) is fixedly installed on the surface of the support frame 203. The display screen has built-in monitoring system software and is connected to the millimeter-wave radar sensor 304 and infrared sensor 305 via Bluetooth wireless communication. It can receive and display data such as the trainee's heart rate and blood pressure in real time. Trainees can intuitively check their own health status without bending down or getting up when exercising or resting, which improves the convenience of use.

[0045] As a supplement, such as Figure 6 As shown, the resistance adjustment mechanism includes a conductor disk 220 that rotates synchronously with the linkage shaft 205 or the transmission shaft 210, and an electromagnetic force member 223 that is disposed opposite to the conductor disk 220. The magnetic force of the electromagnetic force member 223 is adjustable to change the magnetic torque experienced by the shaft when it rotates.

[0046] The electromagnetic force component 223 is electrically connected to a control system. When the trainee drives the rocker arm 204 to rotate, thereby causing the conductor disk 220 to cut magnetic field lines in the magnetic field generated by the electromagnetic force component 223, eddy currents are generated in the conductor disk 220, which in turn generates a resistance torque, i.e., a magnetic resistance torque, in the opposite direction to the rotation. By adjusting the current input to the electromagnetic force component 223 through the control system, the magnetic field strength can be changed linearly, thereby achieving precise, smooth, and stepless adjustment of the resistance torque.

[0047] This allows the exerciser to easily adapt to the needs of children at different rehabilitation stages: in active training mode, it provides appropriate damping to enhance muscle strength training; in passive training mode, the system can be driven by a drive mechanism (such as a motor) to train joint range of motion, at which time the resistance adjustment mechanism can be set to low resistance or zero resistance.

[0048] like Figure 7As shown, the pediatric knee joint rehabilitation exercise device of the present invention also includes a control system, the control system comprising: The central processing unit (CPU) is used to process data and issue control commands. The drive module is electrically connected to the electromagnetic force element 223 and is used to adjust the current output to the electromagnetic force element 223 according to the instructions of the central processing unit, thereby controlling the resistance. The data acquisition module is electrically connected to the millimeter-wave radar sensor 304, the infrared sensor 305, and the motion sensor 224 mounted on the rotating shaft 221 or the rocker arm 204, and is used to collect the physiological and motion parameters of the trainee. The central processing unit is configured to perform the following operations: In passive training mode, the drive module is controlled to reduce the current applied to the electromagnetic force member 223 to a minimum, and a motor 225 connected to the linkage shaft 205 or the transmission shaft 210 is controlled to operate in a preset mode to drive the rocker arm 204 to perform passive reciprocating motion. In active training mode, based on the real-time motion data fed back by the motion sensor 224, the output current of the drive module is dynamically adjusted through an intelligent control algorithm so that the resistance provided by the electromagnetic force component 223 matches the preset rehabilitation training curve.

[0049] The control system acquires physiological parameters such as trainee heart rate and blood pressure from millimeter-wave radar sensor 304 and infrared sensor 305 in real time through its data acquisition module, as well as motion parameters such as swing angle, speed and frequency of rocker arm 204 from motion sensor 224 (such as encoder or angle sensor).

[0050] The central processing unit has multiple training modes pre-stored for different rehabilitation stages. When the "passive training mode" is selected, the central processing unit first adjusts the resistance of the electromagnetic force component 223 to the minimum through the drive module, and then starts the servo motor 225 connected to the linkage shaft 205, so that it rotates forward and backward according to a preset, safe amplitude and frequency, thereby driving the patient's leg to perform regular flexion and extension movements, mainly for restoring joint mobility.

[0051] When the "Active Training Mode" is selected, the servo motor 225 is not in operation. At this time, the central processing unit runs a built-in intelligent control algorithm (e.g., a fuzzy PID-based control algorithm). This algorithm continuously receives data from the motion sensor 224, analyzes the trainee's real-time force exertion and movement stability, compares it with the ideal rehabilitation curve, and dynamically sends instructions to the drive module to finely adjust the current of the electromagnetic force component 223, thereby achieving real-time, smooth, and adaptive adjustment of resistance. For example, when the system detects insufficient force exertion, it appropriately reduces resistance to encourage completion of the movement; when the patient's ability improves, it increases resistance as planned to enhance the muscle strength training effect. This closed-loop control ensures that training is always personalized, efficient, and safe.

[0052] like Figure 8 As shown, when the "Active Training Mode" is selected, the servo motor 225 does not operate. At this time, the central processing unit runs the built-in intelligent control algorithm. This algorithm is an adaptive PID control algorithm based on fuzzy rules. Its core lies in solving the pain point of traditional PID control's difficulty in parameter tuning when dealing with nonlinear, time-varying systems like the human body, thereby achieving precise and smooth resistance control.

[0053] The control process of this algorithm specifically includes the following steps: Input variable fuzzification: The system defines two main input variables. The first is the motion angle error (e), which is the difference between the real-time swing angle collected by the motion sensor 224 and the target angle in the preset ideal rehabilitation curve; the second is the error change rate (ec), which is the change of angle error per unit time, reflecting the trainee's force exertion speed and stability.

[0054] Fuzzy reasoning: The system pre-defines a fuzzy rule base containing rich expert experience. The rule format is "IF e is [negative large] AND ec is [positive small] THEN ΔKp is [positive large], ΔKi is [negative small], ΔKd is [zero]". The central processing unit substitutes the fuzzified input variables (e, ec) into this rule base and calculates the required adjustment amounts (ΔKp, ΔKi, ΔKd) for the three parameters of the PID controller (proportional coefficient Kp, integral coefficient Ki, derivative coefficient Kd) in real time through fuzzy logic reasoning.

[0055] Parameter self-tuning and output defuzzification: Based on the inference results, the parameter values ​​(Kp, Ki, Kd) of the PID controller are dynamically adjusted online. The adjusted PID controller quickly calculates a preliminary current control quantity based on the current angle error (e). Subsequently, through "defuzzification" processing, this preliminary control quantity is converted into a precise current value command.

[0056] Resistance Output: This precise current value command is output to the electromagnetic force component 223 via the drive module, and is ultimately converted into a precise resistance torque applied to the transmission system. In addition, the control system communicates with the display screen on the surface of the support frame 203 to display training data, physiological parameters and training guidance in real time, and can issue warnings when physiological parameters are abnormal or movement posture is incorrect.

[0057] When the system detects that the patient's exertion is slow (ec is negative and small) and they are unable to reach the target angle (e is positive), the fuzzy inference engine may determine "muscle fatigue" and then output instructions to reduce the values ​​of Kp and Ki. This will cause the PID controller to reduce the output current and weaken the electromagnetic resistance, thereby "assisting" the patient to complete the movement more easily and avoiding giving up training due to excessive difficulty.

[0058] When the system detects that the patient can easily surpass the target angle (e is negative) and the movement speed is fast (ec is negative and large), the fuzzy inference engine may determine that "training intensity is insufficient" and then output an instruction to increase the Kp value. This will immediately increase the resistance, matching the training load with the patient's increased muscle strength and ensuring the effectiveness of the training.

[0059] Through this intelligent control based on fuzzy PID, the system no longer provides fixed or simply graded resistance, but simulates a professional rehabilitation therapist who can perceive the patient's motor performance and state in real time and dynamically and smoothly adjust the training load, realizing truly personalized, adaptive closed-loop training, and significantly improving the quality and safety of rehabilitation training.

[0060] Working principle: Exercise process: The trainee sits on seat 201, with their legs secured to rocker arm 204 via a wearable leg stabilizer. When the trainee performs knee flexion and extension movements, rocker arm 204 drives rotating shaft 221 to rotate. Through the meshing of driving bevel gear 215 and driven bevel gear 218, the horizontal rotational motion is converted into vertical rotational motion of drive rod 217. Then, through the meshing of second linkage bevel gear 219 and first linkage bevel gear 214, it is converted back into horizontal rotational motion of linkage shaft 205.

[0061] Transmission system working process: The rotation of the linkage shaft 205 is transmitted to the driven synchronization pulley 213 through the drive synchronization pulley 206 and the synchronization belt 222, which in turn drives the transmission shaft 210 to rotate. The transmission shaft 210, through the cooperation of the second transmission synchronization pulley 211, the transmission belt 212 and the first transmission synchronization pulley 209, ultimately drives the support shaft and the back support member 208 on its surface to rotate slowly.

[0062] Training mode working mechanism: Active training mode: The trainee drives the rocker arm 204 autonomously. At this time, the back support 208 and its transmission system provide a stable basic damping force. Meanwhile, the electromagnetic resistance adjustment mechanism dynamically adjusts the current of the electromagnetic force component 223 based on the real-time data fed back by the motion sensor 224 through an intelligent control algorithm to achieve adaptive adjustment of resistance.

[0063] Passive training mode: The control system starts the servo motor 225, which drives the linkage shaft 205 to perform forward and reverse rotation according to the preset mode. At this time, the resistance of the electromagnetic force component 223 is reduced to the minimum, realizing passive training of joint mobility.

[0064] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. The substitutions may be replacements of some structures, devices, or method steps, or they may be complete technical solutions. Equivalent substitutions or modifications made to the technical solutions and inventive concepts of the present invention should all be covered within the scope of protection of the present invention.

Claims

1. A children's knee joint rehabilitation exercise device, comprising a base plate (1), characterized in that, The surface of the base plate (1) is provided with a rehabilitation component (2), and the top of the rehabilitation component (2) is provided with a monitoring mechanism (3). The rehabilitation component (2) includes a seat (201) and a fixed seat (202). A support frame (203) is fixedly connected to the top of the fixed seat (202). A rotating shaft (221) is rotatably provided on the surface of the support frame (203). A rocker arm (204) for leg drive is fixedly provided at both ends of the rotating shaft (221). A wearable leg fixation device is provided on the rocker arm (204). The inner side of the fixed base (202) is rotatably connected to the linkage shaft (205), and the surface of the linkage shaft (205) is fixedly connected to the drive synchronous wheel (206). The support frame (203) has a strip-shaped mounting groove (216) inside, which serves as a guide slide. A transmission mechanism passing through the strip-shaped mounting groove (216) is provided between the rotating shaft (221) and the linkage shaft (205), so that the reciprocating swing of the rocker arm (204) can drive the linkage shaft (205) to rotate in both directions. The seat (201) is provided with a resistance adjustment mechanism that is connected to the linkage shaft (205) for transmission, which provides adjustable resistance for the swing of the rocker arm (204) to support active training mode and passive training mode.

2. The children's knee joint rehabilitation exercise device according to claim 1, characterized in that, A drive synchronous wheel (206) is fixedly connected to the surface of the linkage shaft (205). A rectangular mounting hole (207) is provided on the back surface of the seat (201). A support shaft is rotatably connected to the inner wall of the rectangular mounting hole (207). A back support member (208) is fixedly connected to the surface of the support shaft. A first transmission synchronous wheel (209) is fixedly connected to both ends of the support shaft. A transmission shaft (210) is rotatably provided at the bottom of the seat (201). A second transmission synchronous wheel (211) is fixedly connected to both ends of the transmission shaft (210). A transmission belt (212) is installed between the first transmission synchronous wheel (209) and the second transmission synchronous wheel (211). A driven synchronous wheel (213) is fixedly provided on the surface of the transmission shaft (210). The drive synchronous wheel (206) and the driven synchronous wheel (213) are connected by a synchronous belt (222). The back support (208) is used to provide smooth damping force for the swing of the rocker arm (204) in active training mode and to provide back posture feedback when the trainee moves.

3. The children's knee joint rehabilitation exercise device according to claim 2, characterized in that, The surface of the linkage shaft (205) is fixedly connected to the first linkage bevel gear (214), the surface of the rotating shaft (221) is fixedly provided with the driving bevel gear (215), the inside of the support frame (203) is provided with a strip-shaped mounting groove (216), the inner wall of the strip-shaped mounting groove (216) is fixedly provided with two partitions, and the surface of the partitions is rotatably connected to the driving rod (217).

4. The children's knee joint rehabilitation exercise device according to claim 3, characterized in that, The top end of the drive rod (217) is fixedly connected to a driven bevel gear (218), and the bottom end of the drive rod (217) is fixedly connected to a second linkage bevel gear (219). The position of the driven bevel gear (218) corresponds to the position of the drive bevel gear (215), and the position of the second linkage bevel gear (219) corresponds to the position of the first linkage bevel gear (214). The drive bevel gear (215) meshes with the driven bevel gear (218), and the first linkage bevel gear (214) meshes with the second linkage bevel gear (219).

5. A children's knee joint rehabilitation exercise device according to claim 4, characterized in that, The monitoring mechanism (3) includes a limiting groove (301) opened at the top of the support frame (203). The inner wall of the limiting groove (301) is rotatably connected to a positioning adjustment block (302). The top of the positioning adjustment block (302) is fixedly connected to a monitoring plate (303). A millimeter-wave radar sensor (304) and an infrared sensor (305) are provided on the side surface of the monitoring plate (303) near the seat (201). The millimeter-wave radar sensor (304) and the infrared sensor (305) are used to monitor the trainee's heart rate and blood pressure, respectively.

6. A children's knee joint rehabilitation exercise device according to claim 5, characterized in that, The inner bottom wall of the limiting groove (301) is provided with a limiting hole, and a positioning block (306) is slidably provided on the inner wall of the limiting hole. The support frame (203) is provided with a rectangular hole (307) that matches the positioning block (306). A reset spring (308) is fixedly provided on the inner bottom wall of the rectangular hole (307). A pressing plate (309) is fixedly provided on the front side of the positioning block (306), and the front end of the pressing plate (309) extends to the outside of the rectangular hole (307).

7. A children's knee joint rehabilitation exercise device according to claim 6, characterized in that, The top end of the reset spring (308) is fixedly connected to the lower surface of the positioning block (306). The positioning adjustment block (302) is arc-shaped, and the surface of the positioning adjustment block (302) is provided with a number of positioning anti-slip grooves (310). The position of the positioning anti-slip grooves (310) corresponds to that of the positioning block (306).

8. A children's knee joint rehabilitation exercise device according to claim 7, characterized in that, The resistance adjustment mechanism includes a conductor disk (220) that rotates synchronously with the linkage shaft (205) or the transmission shaft (210), and an electromagnetic force element (223) that is disposed opposite to the conductor disk (220). The magnitude of the magnetic force of the electromagnetic force element (223) is adjustable to change the magnetic torque experienced by the shaft when it rotates.

9. A children's knee joint rehabilitation exercise device according to claim 8, characterized in that, It also includes a control system, which includes: The central processing unit (CPU) is used to process data and issue control commands. The drive module is electrically connected to the electromagnetic force element (223) and is used to adjust the current output to the electromagnetic force element (223) according to the instructions of the central processing unit, thereby controlling the resistance. The data acquisition module is electrically connected to the millimeter-wave radar sensor (304), infrared sensor (305), and motion sensor (224) mounted on the rotating shaft (221) or rocker arm (204) to collect the physiological and motion parameters of the trainee. The central processing unit is configured to perform the following operations: In passive training mode, the drive module is controlled to reduce the current applied to the electromagnetic force member (223) to a minimum, and a motor (225) connected to the linkage shaft (205) or transmission shaft (210) is controlled to run in a preset mode to drive the rocker arm (204) to perform passive reciprocating motion. In active training mode, based on the real-time motion data fed back by the motion sensor (224), the output current of the drive module is dynamically adjusted by the intelligent control algorithm so that the resistance provided by the electromagnetic force component (223) matches the preset rehabilitation training curve.

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