A treadmill based on gait analysis and an adaptive slope adjusting method thereof

Abstract

This invention relates to the field of treadmill technology, and more particularly to a treadmill based on gait analysis and its adaptive incline adjustment method. The treadmill includes a raised seat frame, which comprises a seat shell. Rail openings are provided on both the left and right sides of the seat shell. Support arms are fixedly connected to both sides of the rear portion of the seat shell. Guide grooves are provided on the lower, facing sides of each pair of support arms. Handrails are fixedly connected to the upper front side of each support arm. A control panel is fixedly connected between the upper parts of the pair of support arms. Adapters are fixedly connected to both the left and right sides of the lower inner wall of the seat shell. Electric push rods are rotatably connected to the outer sides of each adapter. In this invention, the structure, including the raised seat frame, running platform, pressure testing plate, linkage, and data acquisition module, enables the treadmill to automatically adjust the incline according to the user's real-time gait status, and maintains the synchronous acquisition and accuracy of multi-source data (visual, radar, and pressure) during the incline adjustment process.

Description

Technical Field

[0001] This invention relates to the field of treadmill technology, specifically to a treadmill based on gait analysis and its adaptive incline adjustment method. Background Technology

[0002] A treadmill is a fitness machine that uses a motor to drive a running belt to rotate in a cycle, allowing users to run or walk in a fixed position. Its main structure usually includes a frame, running platform, running belt, drive motor, and incline adjustment mechanism. The incline adjustment mechanism changes the angle between the running belt and the horizontal plane by raising or lowering the front or back of the running platform to simulate uphill or downhill terrain, increase training intensity, or target different muscle groups.

[0003] However, existing treadmills have the following technical shortcomings in practical applications: First, the incline adjustment of existing treadmills mostly relies on manual settings by the user through the control panel or automatic adjustments by the system according to preset programs. However, these are all based on fixed time intervals or subjective user input, rather than adaptive adjustments based on the user's real-time exercise status. This means that when the user experiences gait fatigue or abnormal posture, the system cannot automatically adjust the incline to help correct posture or reduce training intensity, resulting in insufficient intelligence. Second, even if some treadmills are equipped with gait analysis functions and adaptive adjustment capabilities, their visual or radar sensors are usually fixedly mounted on the frame. When incline adjustment causes the running platform to tilt, the sensor's field of view and the running belt... Changes in the relative position of the surface make it impossible to continuously align with the foot area, causing interruptions or distortions in monitoring data, which in turn affects the accuracy of gait analysis and the reliability of adaptive incline adjustment. In addition, existing treadmills also have shortcomings in the ease of maintenance of pressure sensors. If the sensor is fixed to the running board, since the running board is inside the area covered by the running belt, maintenance work requires first removing the running belt and surrounding protective components, which is cumbersome and time-consuming, making it easy for staff to neglect maintenance. Long-term lack of maintenance will cause zero-point drift or decreased sensitivity of the sensor, thus affecting the accuracy of gait analysis. Therefore, based on the above problems, a treadmill based on gait analysis and its adaptive incline adjustment method are proposed. Summary of the Invention

[0004] The purpose of this invention is to provide a treadmill based on gait analysis and its adaptive incline adjustment method, so as to solve the problems that existing treadmills are difficult to adaptively adjust the incline based on gait analysis, and that the visual sensor and millimeter-wave radar perspective shift after incline adjustment affects the accuracy of gait analysis.

[0005] To achieve the above objectives, the present invention provides the following technical solution: A treadmill based on gait analysis includes a raised seat frame, the raised seat frame including a seat shell, rail openings on both the left and right sides of the seat shell, support arms fixedly connected to both sides of the rear portion of the seat shell, guide grooves on the lower facing sides of each pair of support arms, handrails fixedly connected to the upper front side of each support arm, a control panel fixedly connected between the upper parts of the pair of support arms, adapters fixedly connected to both the left and right sides of the lower inner wall of the seat shell, electric push rods rotatably connected to the outer sides of each adapter, a first adapter seat fixedly connected to the rear end of each pair of electric push rods, a second adapter seat rotatably connected to the rear side of the first adapter seat, and a running platform mounted on the upper side of the seat shell. The inner side of the platform is equipped with a drive unit, a running belt, and a pressure testing plate. Magnetic heads are fixedly connected to both sides of the base shell. A linkage unit is installed on the outer side of the running belt. The linkage unit includes a pair of metal rail plates installed inside the magnetic heads on the left and right sides. A column is fixedly connected to the side of the metal rail plate away from the base shell. A support plate is rotatably connected to the upper notch of each column. A guide sleeve is fixedly connected to the side of each column near the base shell. A top rod is slidably connected to the inner side of each guide sleeve. A center plate located inside the rail opening is installed on the lower side of the pair of top rods. A linkage wheel frame located on the upper side of the pressure testing plate is fixedly connected to the outer side of the left top rod. A data acquisition module is installed on the upper side of each support plate.

[0006] Preferably, the acquisition module includes a housing fixed to the upper side of the tray, a vision sensor and a millimeter-wave radar are installed on the inner side of the housing, the trays are all inclined towards the direction of the running belt, and the top rods are all located on the lower side of the acquisition module.

[0007] Preferably, the running platform includes a platform shell located on the upper side of the base shell and fixedly connected to the adapter seat. Guide blocks that are slidably connected to guide grooves are fixedly connected to the left and right sides of the rear part of the platform shell. Mounting openings are provided on the left and right sides of the platform shell. Pressure testing plates are installed inside the mounting openings. A slot is provided on the upper side of the platform shell. Rollers that fit against the lower inner wall of the base shell are installed on the lower sides of the platform shell.

[0008] Preferably, the drive unit includes a pair of belt rollers rotatably connected to the inner wall of the platform shell, a running belt aligned with the belt opening is sleeved on the outer side of the pair of belt rollers, a motor is fixedly connected to the rear inner wall of the platform shell, a first synchronous pulley is fixedly connected to the outer side of the output shaft of the motor, a second synchronous pulley is fixedly connected to the left side of the rear belt rollers, and a synchronous belt is sleeved on the outer side of the first synchronous pulley and the second synchronous pulley.

[0009] Preferably, the intermediate plate consists of a base plate and threaded sleeves rotatably connected to both ends of the base plate, and the lower ends of the push rods are all provided with threads, and the lower ends of the push rods are all detachably connected to the threaded sleeves of the intermediate plate.

[0010] Preferably, the pressure testing plate includes a running plate fixedly connected to the mounting ports on both sides. A notch is provided on the upper right side of the running plate, and a plurality of rail grooves arranged at equal intervals are provided on the left side of the notch. A magnetic strip is fixedly connected to the inner side of the notch. A thin pad is fixedly connected to the upper side of the running plate. Metal rail plates are slidably fitted to the inner side of each rail groove. A plurality of recessed grooves with upward openings are provided on the inner side of each metal rail plate. Pressure sensors are installed on the inner side of each recessed groove. Push-pull strips are fixedly connected to the left ends of the plurality of metal rail plates.

[0011] Preferably, the pressure testing plate is installed on the inner side of the running belt, the magnetic suction head consists of a rail mounting shell and a magnetic suction block fixed inside the rail mounting shell, the metal rail connecting plates are all installed inside the rail mounting shell of the magnetic suction head and magnetically connected to the magnetic suction block, the push-pull strip is located on the left side of the mounting opening, and the roller of the linkage wheel frame is located on the upper side of the push-pull strip.

[0012] Preferably, an adaptive slope adjustment method includes the following steps: S1. Operation and Running Implementation: The motor of the drive unit is started through the control panel. The rotation of the motor output shaft drives the belt roller to rotate through synchronous pulley one, synchronous belt and synchronous pulley two, thereby driving the running belt to circulate in the belt opening. The user stands on the upper surface of the running belt and runs on the running belt with periodic gait movements. The gait movements include the landing phase, the support phase, the push-off phase and the swing phase. During the landing phase, the user's feet impact the upper surface of the running belt. During the support phase, the user's center of gravity is transferred to the running belt through the feet. During the push-off phase, the user's feet push off the running belt backward and downward to generate forward propulsion. During the swing phase, the user's lower limbs swing forward to prepare for the next landing. The running belt runs continuously at a constant or preset speed to help the user complete the continuous running movements. S2. Multimodal gait data acquisition: The acquisition module captures user gait information in real time. The visual sensor captures a sequence of side images of the user's lower limbs at a fixed frame rate to obtain the knee joint angle, ankle joint angle, and spatial coordinates of the foot trajectory. The millimeter-wave radar emits electromagnetic waves and receives echo signals to obtain the micro-Doppler features of the lower limbs and foot landing displacement data. At the same time, the pressure sensors of the pressure testing plate detect the vertical pressure values ​​of different areas of the running belt in real time to obtain the trajectory of the plantar pressure center and the pressure distribution ratio of the left and right feet. During the process, the data acquisition of the visual sensor, millimeter-wave radar, and pressure sensor is synchronized through timestamps to form a multi-source gait dataset at the same time. S3. Gait Feature Analysis and Risk Assessment: The processor built into the control panel receives multi-source gait datasets and extracts key gait parameters, including cadence, stride length, impact rate, stance phase duration, left and right stride symmetry index, and vertical amplitude. It compares the key gait parameters with preset normal gait benchmark values ​​and calculates the degree of deviation. When the cadence variation coefficient exceeds the threshold, the left and right stride length difference is greater than the preset ratio, the impact rate is continuously higher than the safe value, or the stance phase duration is abnormally prolonged, it is determined that the user is currently in a state of fatigue accumulation or has a high-risk running posture, and a corresponding risk level signal is generated. S4. Adaptive slope adjustment strategy generation: Based on the risk level signal and the current slope value, a slope adjustment command is generated. When it is determined that posture correction is needed, a command to gradually increase the treadmill slope is generated. By increasing the slope, an uphill state is simulated to force the user to shorten the stride, increase the cadence, and adjust the landing method. When it is determined that fatigue protection is needed, a command to gradually decrease the treadmill slope and reduce the running belt speed is generated. By reducing the exercise intensity, the load on the lower limbs is reduced. The slope adjustment command includes the target slope value and the adjustment rate. S5. Mechanical linkage-based slope adjustment and synchronous angle compensation: The control panel outputs a drive signal to the electric actuator. When a correction is required, the electric actuator extends, its body swings upward via an adapter, and pushes the rear of the running track shell upward through the hinged adapter seats one and two. This causes the guide block at the rear of the shell to slide upward along the guide groove of the support arm, while the front of the shell slides backward via pulleys, causing the running track to form an angle with the horizontal plane. This changes the tilt angle of the running belt and pressure plate, simulating an uphill state to force the user to shorten their stride. Stride length, increase stride frequency, and adjust landing pattern; during treadmill incline adjustment, the push-pull bar of the pressure testing plate moves upward synchronously with the treadmill, thereby pushing the linkage wheel frame located on the upper side of the push-pull bar to move upward; the upward movement of the linkage wheel frame will drive the left top rod to move upward. Since the left and right top rods are connected by a middle connecting plate, the left and right top rods can move upward synchronously under the guidance of the guide sleeve, thereby pushing the two side support plates to rotate upward, causing the acquisition module to produce a pitch rotation in the same direction and with the same angle as the treadmill incline change; specifically, when running When the rear end of the platform is raised to increase the incline angle α, the support plate drives the acquisition module to tilt upwards by angle α, ensuring that the optical axis of the vision sensor is always perpendicular to the running belt surface, and the beam center of the millimeter-wave radar always covers the foot contact area. Simultaneously, the pressure testing plate tilts synchronously with the running platform, and the pressure sensor, fixed in the groove of the running plate, maintains its relative position to the running belt, continuously collecting foot pressure feedback data during the incline change process. Conversely, when fatigue protection is required, the control panel outputs a retraction signal to the electric actuator, which shortens and drives the adapter. The first and second adapters move downwards, causing the rear of the platform shell and the guide block to slide downwards along the guide groove. The front of the platform shell slides forward through the pulleys, causing the rear end of the running platform to descend to reduce the slope. During this process, the push-pull bar moves downwards synchronously with the running platform, causing the connecting wheel frame and the top rod to move downwards. The downward movement of the top rod causes the lifted support plate to rotate downwards on its own, causing the acquisition module to tilt downwards, keeping the optical axis of the vision sensor always perpendicular to the running belt surface. At the same time, the control panel reduces the motor speed of the drive unit to reduce the running belt speed, reduce the exercise intensity, and protect the user from fatigue. S6. Closed-loop feedback and adaptive learning: After slope adjustment is completed, the control panel continuously receives real-time gait data from the acquisition module and pressure testing plate, dynamically monitoring the user's stride frequency, stride length, impact rate, and left-right symmetry parameters to evaluate the slope adjustment effect. If the monitoring data shows that the gait parameters have not recovered to the preset safe range, the control panel recalculates the deviation and generates a new slope adjustment command, driving the electric push rod to perform a secondary adjustment. Steps S2 to S5 are repeated to form iterative adjustment until the gait parameters return to normal or the user actively issues a stop command through the control panel. If the monitoring data shows that the gait parameters have recovered to the safe range, the current slope and speed are maintained, and the gait analysis in step S2 continues to be performed at fixed time intervals, forming an adaptive closed-loop control based on real-time biomechanical feedback.

[0013] Compared with the prior art, the beneficial effects of the present invention are: 1. In this invention, the lifting frame, running platform, pressure testing plate, linkage unit, and data acquisition module are designed to support the running platform and adjust the incline. The linkage unit moves the data acquisition module in a pitching motion in sync with the running platform and pressure testing plate, ensuring accurate tracking of the foot contact area throughout the incline changes. Simultaneously, the pressure testing plate collects foot pressure data, enabling the treadmill to automatically adjust the incline based on the user's real-time gait status. This maintains the synchronous and accurate acquisition of multi-source data (visual, radar, and pressure) during incline adjustment, solving the problems of existing treadmills struggling to adaptively adjust incline based on gait analysis and the impact of visual sensor and millimeter-wave radar perspective shifts on the accuracy of gait analysis after incline adjustment. 2. In this invention, the left mechanism of the linkage unit can be detached by setting pressure testing plates and linkage components, thereby releasing the leftward movement limit of the push-pull bar of the pressure testing plate and each metal rail plate. The operator can pull the push-pull bar to move each metal rail plate to the left along the rail groove and separate it from the magnetic strip, so that each metal rail plate can be completely pulled out of the rail groove, so that the sink and the pressure sensor installed therein are fully exposed. This avoids the cumbersome operation of disassembling the running belt and surrounding protective components required by traditional maintenance, and makes the cleaning, calibration or replacement maintenance of the pressure sensor convenient and quick. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the lifting frame structure of the present invention; Figure 3 This is a schematic diagram of the split structure at the running platform of the present invention; Figure 4 This is a schematic diagram of the structure of the drive unit of the present invention; Figure 5 This is a schematic diagram of the disassembled structure of the pressure testing plate of the present invention; Figure 6 This is a schematic diagram of the structure of the magnetic suction head of the present invention; Figure 7 This is a schematic diagram of the linkage mechanism of the present invention; Figure 8 This is a schematic diagram of the acquisition module of the present invention.

[0015] In the diagram: 1. Lifting frame; 11. Seat housing; 12. Rail opening; 13. Support arm; 14. Guide groove; 15. Handrail; 16. Adapter; 17. Electric push rod; 18. Adapter seat one; 19. Adapter seat two; 2. Control panel; 3. Running platform; 31. Platform housing; 32. Guide block; 33. Belt opening; 34. Mounting opening; 35. Pulley; 4. Drive unit; 41. Belt roller; 42. Motor; 43. Synchronous pulley one; 44. Synchronous pulley two; 45. Synchronous belt; 5. Running belt 6. Pressure testing plate; 61. Running plate; 62. Groove; 63. Rail groove; 64. Magnetic strip; 65. Thin pad; 66. Metal rail plate; 67. Sink; 68. Pressure sensor; 69. Push-pull strip; 7. Magnetic head; 8. Linkage part; 81. Metal rail connecting plate; 82. Column; 83. Support plate; 84. Guide sleeve; 85. Top rod; 86. Intermediate connecting plate; 87. Linkage wheel frame; 9. Data acquisition module; 91. Housing; 92. Vision sensor; 93. Millimeter-wave radar. Detailed Implementation

[0016] Please see Figure 1-8 The present invention provides a technical solution: A treadmill based on gait analysis includes a raised seat frame 1, which includes a seat shell 11. Rail openings 12 are provided on both the left and right sides of the seat shell 11. Support arms 13 are fixedly connected to both sides of the rear portion of the seat shell 11. Guide grooves 14 are provided on the lower, facing sides of each pair of support arms 13. Handrails 15 are fixedly connected to the upper front side of each support arm 13. A control panel 2 is fixedly connected between the upper parts of the pair of support arms 13. Adapters 16 are fixedly connected to both the left and right sides of the lower inner wall of the seat shell 11. Electric push rods 17 are rotatably connected to the outer sides of each adapter 16. A first adapter seat 18 is fixedly connected to the rear end of each pair of electric push rods 17. A second adapter seat 18 is rotatably connected to the rear side of the first adapter seat 18. The adapter 19 has a running platform 3 mounted on the upper side of the housing 11. A drive unit 4, a running belt 5, and a pressure testing plate 6 are mounted on the inner side of the running platform 3. Magnetic heads 7 are fixedly connected to both sides of the housing 11. A linkage unit 8 is mounted on the outer side of the running belt 5. The linkage unit 8 includes a pair of metal rail plates 81 mounted inside the left and right magnetic heads 7. A column 82 is fixedly connected to the side of the metal rail plate 81 away from the housing 11. A support plate 83 is rotatably connected to the upper notch of each column 82. A guide sleeve 84 is fixedly connected to the side of the column 82 closest to the housing 11. A push rod 85 is slidably connected to the inner side of each guide sleeve 84. A center connector located inside the rail opening 12 is mounted on the lower side of the pair of push rods 85. The plate 86 has a connecting wheel frame 87 fixedly connected to the outer side of the left top rod 85, which is located on the upper side of the pressure testing plate 6. A data acquisition module 9 is installed on the upper side of each support plate 83. The data acquisition module 9 includes a housing 91 fixed to the upper side of the support plate 83. A vision sensor 92 and a millimeter-wave radar 93 are installed on the inner side of the housing 91. Each support plate 83 is tilted towards the direction of the running belt 5. This arrangement allows the data acquisition module 9 to collect gait information of the user's legs and feet on the running belt 5. The top rod 85 is located below the data acquisition module 9. This arrangement allows the vertical displacement of the top rod 85 to rotate the support plate 83, thereby adjusting the tilt angle of the data acquisition module 9. The running platform 3 includes... The platform shell 31 is located on the upper side of the base shell 11 and is fixedly connected to the adapter seat 19. The left and right sides of the rear part of the platform shell 31 are fixedly connected to guide blocks 32 that are slidably connected to guide grooves 14. The left and right sides of the platform shell 31 are provided with mounting openings 34. The pressure testing plate 6 is installed inside the mounting openings 34. The upper side of the platform shell 31 is provided with a slot 33. The lower sides of the platform shell 31 are provided with pulleys 35 that fit against the lower inner wall of the base shell 11. Through this arrangement, the running platform 3 can form a stable guide and support during the slope adjustment process through the sliding cooperation between the rear guide blocks 32 and the guide grooves 14 and the rolling contact between the front pulleys 35 and the base shell 11, which effectively improves the stability of the running platform 3 during the adjustment process.The drive unit 4 includes a pair of rollers 41 rotatably connected to the inner wall of the platform shell 31. A running belt 5, aligned with the belt opening 33, is fitted onto the outer side of the rollers 41. A motor 42 is fixedly connected to the rear inner wall of the platform shell 31. A first synchronous pulley 43 is fixedly connected to the outer side of the output shaft of the motor 42. A second synchronous pulley 44 is fixedly connected to the left side of the rear rollers 41. A synchronous belt 45 is fitted onto the outer side of the first synchronous pulley 43 and the second synchronous pulley 44. This arrangement allows the drive unit 4 to drive the running belt 5. The intermediate plate 86 consists of a base plate and threaded sleeves rotatably connected to both ends of the base plate. The lower ends of the push rods 85 are all threaded, and the lower ends of the push rods 85 are detachably threaded to the threaded sleeves of the intermediate plate 86. This arrangement allows the push rods 85 and the intermediate plate 86 to be separated.

[0017] like Figure 1 , Figure 3 , Figures 5-7 As shown, the pressure testing plate 6 includes a running plate 61 fixedly connected to the mounting ports 34 on both sides. A notch 62 is provided on the upper right side of the running plate 61. Several equally spaced rail grooves 63 are provided on the left side of the notch 62. A magnetic strip 64 is fixedly connected to the inner side of the notch 62. A thin pad 65 is fixedly connected to the upper side of the running plate 61. Metal rail plates 66 are slidably fitted to the inner sides of the rail grooves 63. Several upward-opening recesses 67 are provided on the inner sides of the metal rail plates 66. Pressure sensors 68 are installed inside the recesses 67. Push-pull strips 69 are fixedly connected to the left ends of the metal rail plates 66. This arrangement allows the push-pull strips 69 to pull each metal rail plate 66 out of the rail grooves 63 of the running plate 61, thereby quickly removing the pressure sensors 68 for convenient maintenance. The measuring plate 6 is installed inside the running belt 5. This setting allows the pressure sensors 68 of the measuring plate 6 to detect the vertical pressure values ​​of different areas of the running belt 5 in real time, obtain the center trajectory of the foot pressure and the pressure distribution ratio of the left and right feet. The magnetic head 7 consists of a rail-mounted shell and a magnetic block fixed inside the rail-mounted shell. The metal rail connecting plates 81 are all installed inside the rail-mounted shell of the magnetic head 7 and are magnetically connected to the magnetic block. This setting allows the metal rail connecting plates 81 and the magnetic head 7 to be quickly separated or quickly positioned. The push-pull strip 69 is located on the left side of the mounting port 34. This setting allows the user to pinch the push-pull strip 69 and move it to the left. The rollers of the linkage wheel frame 87 are located on the upper side of the push-pull strip 69. This setting allows the displacement of the push-pull strip 69 to drive the linkage wheel frame 87 to move synchronously.

[0018] Workflow: The adaptive incline adjustment method for treadmills based on gait analysis includes the following steps: S1, Operation and running implementation: The motor 42 of the drive unit 4 is started through the control panel 2. The rotation of the output shaft of the motor 42 drives the belt roller 41 to rotate through the first synchronous pulley 43, the synchronous belt 45, and the second synchronous pulley 44, thereby driving the running belt 5 to circulate within the belt opening 33. The user stands on the upper surface of the running belt 5 and performs running exercises on the running belt 5 with periodic gait movements. The gait movements include the landing phase, the support phase, the push-off phase, and the swing phase. During the landing phase, the user's feet impact the upper surface of the running belt 5. During the support phase, the user's center of gravity is transferred to the running belt 5 through the feet. During the push-off phase, the user's feet push off the running belt 5 backward and downward to generate forward propulsion. During the swing phase, the user... The limbs swing forward in preparation for the next landing, and the running belt 5 continues to operate at a constant or preset speed to assist the user in completing continuous running movements; S2, multimodal gait data acquisition, which captures the user's gait information in real time through the acquisition module 9. Among them, the visual sensor 92 captures a sequence of side images of the user's lower limbs at a fixed frame rate to obtain the knee joint angle, ankle joint angle, and spatial coordinates of the foot trajectory. The millimeter-wave radar 93 emits electromagnetic waves and receives echo signals to obtain the micro-Doppler features of the lower limbs and foot landing displacement data. At the same time, the pressure sensors 68 of the pressure testing plate 6 detect the vertical pressure values ​​of different areas of the running belt 5 in real time, and obtain the center trajectory of the plantar pressure and the pressure distribution ratio of the left and right feet. During the process, the data acquisition of the visual sensor 92, millimeter-wave radar 93, and pressure sensor 68 is processed through... Timestamp synchronization creates a multi-source gait dataset at the same time; S3, Gait feature analysis and risk assessment: The processor built into control panel 2 receives the multi-source gait dataset, extracts key gait parameters, including cadence, stride length, impact rate, stance phase duration, left and right stride symmetry index, and vertical amplitude. These key gait parameters are compared with preset normal gait benchmark values ​​to calculate the degree of deviation. When the cadence variation coefficient exceeds a threshold, the left and right stride length difference is greater than a preset ratio, the impact rate is consistently higher than a safe value, or the stance phase duration is abnormally prolonged, it is determined that the user is currently in a state of fatigue accumulation or has a high-risk running posture, generating a corresponding risk level signal; S4, Adaptive slope adjustment strategy generation: Based on the risk level signal and the current slope value, an adaptive slope adjustment strategy is generated. The slope adjustment command generates instructions to gradually increase the slope of the treadmill 3 when the need for posture correction is determined. By increasing the slope, the user is forced to shorten their stride, increase their cadence, and adjust their landing method to simulate an uphill state. When the need for fatigue protection is determined, instructions are generated to gradually decrease the slope of the treadmill 3 and reduce the speed of the running belt 5 to reduce the load on the lower limbs by reducing the intensity of exercise. The slope adjustment command includes the target slope value and the adjustment rate. S5, Mechanical linkage slope adjustment and viewpoint synchronous compensation: The control panel 2 outputs a drive signal to the electric push rod 17. When the need for correction is determined, the electric push rod 17 performs an extension action. Its body swings upward through the adapter 16 and pushes the rear part of the treadmill 3 shell 31 upward through the mutually hinged adapter 18 and adapter 2 19.The guide block 32 at the rear of the platform shell 31 slides upward along the guide groove 14 of the support arm 13, while the front of the platform shell 31 slides backward via the pulley 35, causing the running platform 3 to form an angle with the horizontal plane, thereby changing the tilt angle of the running belt 5 and the pressure testing plate 6, simulating an uphill state to force the user to shorten their stride, increase their cadence, and adjust their landing method; during the incline adjustment of the running platform 3, the push-pull bar 69 of the pressure testing plate 6 moves upward synchronously with the running platform 3, thereby pushing the linkage wheel frame 87 located on the upper side of the push-pull bar 69 to move upward; the upward movement of the linkage wheel frame 87 will drive the left top rod 85 to move upward. Since the left top rod 85 and the right top rod 85 are connected by the middle connecting plate 86, the left and right top rods 85 can move upward synchronously under the guidance of the guide sleeve 84, thereby pushing the two The side support plate 83 rotates upward, causing the acquisition module 9 to rotate in the same direction and at the same angle as the slope change of the running platform 3. Specifically, when the rear end of the running platform 3 is raised to increase the slope angle α, the support plate 83 drives the acquisition module 9 to rotate upward by angle α, so that the optical axis of the vision sensor 92 is always perpendicular to the surface of the running belt 5, and the beam center of the millimeter-wave radar 93 always covers the foot contact area. At the same time, the pressure testing plate 6 tilts synchronously with the running platform 3, and the pressure sensor 68, because it is fixed in the groove 67 of the running plate 61, maintains its relative position with the running belt 5, and continuously collects foot pressure feedback data during the slope change process. Conversely, when fatigue protection is required, the control panel 2 outputs a retraction signal to the electric push rod 17, and the electric push rod 17 shortens and drives the foot to rotate upward. The adapter 18 and adapter 2 19 move downwards, causing the rear of the platform shell 31 and the guide block 32 to slide downwards along the guide groove 14. The front of the platform shell 31 slides forward through the pulley 35, causing the rear end of the running platform 3 to descend to reduce the slope. During this process, the push-pull bar 69 moves downwards synchronously with the running platform 3, causing the connecting wheel frame 87 and the top rod 85 to move downwards. The downward movement of the top rod 85 causes the lifted support plate 83 to rotate downwards on its own, causing the acquisition module 9 to tilt downwards, keeping the optical axis of the vision sensor 92 perpendicular to the surface of the running belt 5. At the same time, the control panel 2 reduces the speed of the motor 42 of the drive unit 4 to reduce the speed of the running belt 5, reduce the exercise intensity, and protect the user from fatigue. S6, closed-loop feedback and adaptive learning: after the slope adjustment is completed, the control panel 2 continues to receive... The system collects real-time gait data from the acquisition module 9 and the pressure testing plate 6, dynamically monitors the user's stride frequency, stride length, impact rate, and left-right symmetry parameters, and evaluates the slope adjustment effect. If the monitoring data shows that the gait parameters have not recovered to the preset safe range, the control panel 2 recalculates the degree of deviation and generates a new slope adjustment command, driving the electric push rod 17 to perform a secondary adjustment. Steps S2 to S5 are repeated to form iterative adjustment until the gait parameters return to normal or the user actively issues a stop command through the control panel 2. If the monitoring data shows that the gait parameters have recovered to the safe range, the current slope and speed are maintained, and the gait analysis in step S2 is continued to be performed at fixed time intervals to form an adaptive closed-loop control based on real-time biomechanical feedback.S7. Pressure sensor 68 maintenance and removal: When pressure sensor 68 needs maintenance or replacement, first separate the left top rod 85 from the middle connecting plate 86, disconnecting the connection between the left top rod 85 and the middle connecting plate 86. Then separate the left metal rail connecting plate 81 from the left magnetic head 7, disconnecting the connection between the column 82 and the housing 11, allowing the left column 82 and its associated mechanism to be moved outward as a whole, no longer limiting the leftward movement of the push-pull strip 69 of the pressure measuring plate 6 and each metal rail plate 66. At this time, the operator holds and pulls the push-pull strip 69 to the left, causing each metal rail plate 66 to slide to the left along the rail groove 63, separating the right end of the metal rail plate 66 from the magnetic strip 64, and then completely pulling each metal rail plate 66 out of the rail groove 63. After the metal rail plate 66 is pulled out, the recessed groove 67 opened on its upper part and the pressure sensor 68 installed in the recessed groove 67 are fully exposed, making it easy for the operator to directly perform cleaning, calibration or replacement maintenance. ;

[0019] This article uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only for the purpose of helping to understand the method and core ideas of the present invention. The above descriptions are only preferred embodiments of the present invention. It should be noted that due to the limitations of textual expression, while there are objectively infinite specific structures, those skilled in the art can make several improvements, modifications, or changes without departing from the principles of the present invention, and can also combine the above technical features in an appropriate manner. These improvements, modifications, changes, or combinations, or the direct application of the inventive concept and technical solution to other situations without modification, should all be considered within the scope of protection of the present invention.

Claims

1. A treadmill based on gait analysis, comprising a raised seat frame (1), characterized in that: The lifting seat (1) includes a seat shell (11), with rail openings (12) on both the left and right sides of the seat shell (11). Support arms (13) are fixedly connected to both sides of the rear of the seat shell (11). Guide grooves (14) are opened on the lower facing sides of a pair of support arms (13). Handrails (15) are fixedly connected to the upper front side of the support arms (13). A control panel (2) is fixedly connected between the upper parts of a pair of support arms (13). Adapters (16) are fixedly connected to both the left and right sides of the lower inner wall of the seat shell (11). Electric push rods (17) are rotatably connected to the outer side of each adapter (16). Adapter seat one (18) is fixedly connected to the rear end of a pair of electric push rods (17). Adapter seat two (19) is rotatably connected to the rear side of adapter seat one (18). A running platform (3) is installed on the upper side of the seat shell (11). A drive unit (4) and a running belt (4) are installed on the inner side of the running platform (3). 5) and pressure testing plate (6), magnetic suction heads (7) are fixedly connected to both sides of the seat shell (11), and a linkage part (8) is installed on the outer side of the running belt (5). The linkage part (8) includes a pair of metal rail plates (81) installed inside the magnetic suction heads (7) on the left and right sides. A column (82) is fixedly connected to the side of the metal rail plate (81) away from the seat shell (11). A support plate (83) is rotatably connected to the upper notch of the column (82). Each of the columns (82) is fixedly connected to a guide sleeve (84) on the side near the base housing (11). Each of the guide sleeves (84) is slidably connected to a top rod (85). A middle connecting plate (86) located inside the rail opening (12) is installed on the lower side of a pair of top rods (85). A connecting wheel frame (87) located on the upper side of the pressure testing plate (6) is fixedly connected to the outer side of the left top rod (85). Each of the support plates (83) is equipped with a data acquisition module (9).

2. The treadmill based on gait analysis according to claim 1, characterized in that: The acquisition module (9) includes a housing (91) fixed on the upper side of the tray (83). A visual sensor (92) and a millimeter-wave radar (93) are installed on the inner side of the housing (91). The trays (83) are all inclined towards the direction of the running belt (5). The top rods (85) are all located on the lower side of the acquisition module (9).

3. A treadmill based on gait analysis according to claim 2, characterized in that: The running platform (3) includes a platform shell (31) located on the upper side of the seat shell (11) and fixedly connected to the adapter seat (19). The left and right sides of the rear part of the platform shell (31) are fixedly connected to guide blocks (32) that are slidably connected to guide grooves (14). The left and right sides of the platform shell (31) are provided with mounting ports (34). The inner side of the mounting ports (34) is provided with pressure testing plates (6). The upper side of the platform shell (31) is provided with a slot (33). The lower sides of the platform shell (31) are provided with pulleys (35) that fit against the lower inner wall of the seat shell (11).

4. A treadmill based on gait analysis according to claim 3, characterized in that: The drive unit (4) includes a pair of rollers (41) rotatably connected to the inner wall of the platform shell (31). A running belt (5) aligned with the belt opening (33) is sleeved on the outer side of the pair of rollers (41). A motor (42) is fixedly connected to the rear inner wall of the platform shell (31). A synchronous pulley (43) is fixedly connected to the outer side of the output shaft of the motor (42). A synchronous pulley (44) is fixedly connected to the left side of the rear rollers (41). A synchronous belt (45) is sleeved on the outer side of the synchronous pulley (43) and the synchronous pulley (44).

5. A treadmill based on gait analysis according to claim 3, characterized in that: The intermediate plate (86) consists of a base plate and threaded sleeves that are rotatably connected to both ends of the base plate. The lower ends of the push rods (85) are all provided with threads, and the lower ends of the push rods (85) are detachably connected to the threaded sleeves of the intermediate plate (86).

6. A treadmill based on gait analysis according to claim 3, characterized in that: The pressure testing plate (6) includes a running plate (61) fixedly connected to the mounting ports (34) on both sides. A notch (62) is provided on the upper right side of the running plate (61). Several rail grooves (63) are arranged at equal intervals on the left side of the notch (62). A magnetic strip (64) is fixedly connected to the inner side of the notch (62). A thin pad (65) is fixedly connected to the upper side of the running plate (61). A metal rail plate (66) is slidably fitted to the inner side of each rail groove (63). Several recessed grooves (67) with upward openings are provided on the inner side of each metal rail plate (66). A pressure sensor (68) is installed on the inner side of each recessed groove (67). A push-pull strip (69) is fixedly connected to the left end of several metal rail plates (66).

7. A treadmill based on gait analysis according to claim 6, characterized in that: The pressure testing plate (6) is installed on the inner side of the running belt (5). The magnetic suction head (7) consists of a rail mounting shell and a magnetic suction block fixed inside the rail mounting shell. The metal rail connecting plate (81) is installed inside the rail mounting shell of the magnetic suction head (7) and magnetically connected to the magnetic suction block. The push-pull strip (69) is located on the left side of the mounting port (34). The roller of the linkage wheel frame (87) is located on the upper side of the push-pull strip (69).

8. An adaptive slope adjustment method for a treadmill based on gait analysis as described in claims 1-7, characterized in that, Includes the following steps: S1. Operation and running implementation: The motor (42) of the drive unit (4) is started through the control panel (2). The rotation of the output shaft of the motor (42) drives the belt roller (41) to rotate through the first synchronous pulley (43), the synchronous belt (45) and the second synchronous pulley (44), thereby driving the running belt (5) to circulate in the belt opening (33). The user stands on the upper surface of the running belt (5) and runs on the running belt (5) with periodic gait movements. The gait movements include the landing phase, the support phase, the push-off phase and the swing phase. During the landing phase, the user's feet impact the upper surface of the running belt (5). During the support phase, the user's center of gravity is transferred to the running belt (5) through the feet. During the push-off phase, the user's feet push off the running belt (5) backward and downward to generate forward propulsion. During the swing phase, the user's lower limbs swing forward to prepare for the next landing. The running belt (5) continues to run at a constant or preset speed to cooperate with the user to complete the continuous running action. S2. Multimodal gait data acquisition: The user's gait information is captured in real time through the acquisition module (9). The visual sensor (92) captures a sequence of side images of the user's lower limbs at a fixed frame rate to obtain the knee joint angle, ankle joint angle and foot trajectory spatial coordinates. The millimeter-wave radar (93) emits electromagnetic waves and receives echo signals to obtain the micro-Doppler features of the lower limbs and foot landing displacement data. At the same time, the pressure sensors (68) of the pressure test plate (6) detect the vertical pressure values ​​of different areas of the running belt (5) in real time to obtain the center trajectory of the plantar pressure and the pressure distribution ratio of the left and right feet. During the process, the data acquisition of the visual sensor (92), millimeter-wave radar (93) and pressure sensor (68) is synchronized through timestamps to form a multi-source gait dataset at the same time. S3. Gait feature analysis and risk assessment. The built-in processor of the control panel (2) receives multi-source gait datasets and extracts key gait parameters, including gait frequency, stride length, impact rate, support phase duration, left and right stride symmetry index and vertical amplitude. It compares the key gait parameters with the preset normal gait benchmark value and calculates the degree of deviation. When the gait frequency variation coefficient exceeds the threshold, the left and right stride difference is greater than the preset ratio, the impact rate is continuously higher than the safe value, or the support phase duration is abnormally prolonged, it determines that the user is currently in a state of fatigue accumulation or has a high-risk running posture and generates the corresponding risk level signal. S4. Adaptive slope adjustment strategy generation: Based on the risk level signal and the current slope value, a slope adjustment command is generated. When it is determined that the posture correction needs to be met, a command to gradually increase the slope of the treadmill (3) is generated. By increasing the slope, the uphill state is simulated to force the user to shorten the stride, increase the step frequency and adjust the landing method. When it is determined that the fatigue protection needs to be met, a command to gradually decrease the slope of the treadmill (3) and reduce the speed of the running belt (5) is generated. By reducing the exercise intensity, the load on the lower limbs is reduced. The slope adjustment command includes the target slope value and the adjustment rate. S5. Mechanical linkage slope adjustment and viewing angle synchronous compensation: The control panel (2) outputs a drive signal to the electric push rod (17). When the correction requirement is determined, the electric push rod (17) performs an extension action. Its body swings upward through the adapter (16) and pushes the rear part of the platform shell (31) of the running platform (3) upward through the hinged adapter seat one (18) and adapter seat two (19). This causes the guide block (32) at the rear of the platform shell (31) to slide upward along the guide groove (14) of the support arm (13), while the front part of the platform shell (31) slides backward through the pulley (35), causing the running platform (3) to form an angle with the horizontal plane, thereby changing the tilt angle of the running belt (5) and the pressure plate (6), simulating an uphill state to force the user to shorten the slope. Stride length, increase stride frequency and adjust landing method; during the slope adjustment of the running platform (3), the push-pull bar (69) of the pressure plate (6) moves upward synchronously with the running platform (3), thereby pushing the linkage wheel frame (87) on the upper side of the push-pull bar (69) to move upward; the upward movement of the linkage wheel frame (87) will drive the left top rod (85) to move upward. Since the left top rod (85) and the right top rod (85) are connected by the middle connecting plate (86), the left and right top rods (85) can move upward synchronously under the guidance of the guide sleeve (84), thereby pushing the two side support plates (83) to rotate upward, causing the acquisition module (9) to produce a pitch rotation with the same direction and angle as the slope change of the running platform (3); specifically, when the running platform (3) When the rear end is raised to increase the slope angle α, the support plate (83) drives the acquisition module (9) to tilt upwards by an angle α, so that the optical axis of the vision sensor (92) is always perpendicular to the surface of the running belt (5), and the beam center of the millimeter-wave radar (93) always covers the foot contact area; at the same time, the pressure plate (6) tilts synchronously with the running platform (3), and the pressure sensor (68) remains in a constant relative position with the running belt (5) because it is fixed in the groove (67) of the running plate (61), continuously collecting foot pressure feedback data during the slope change process; conversely, when it is determined that fatigue protection is required, the control panel (2) outputs a contraction signal to the electric push rod (17), the electric push rod (17) shortens and drives the adapter seat one (18) and adapter seat two (19). The downward displacement causes the rear part of the platform shell (31) and the guide block (32) to slide down along the guide groove (14), and the front part of the platform shell (31) slides forward through the pulley (35), causing the rear end of the running platform (3) to descend to reduce the slope; during this process, the push-pull bar (69) moves down synchronously with the running platform (3), causing the connecting wheel frame (87) and the top rod (85) to move down, and the downward movement of the top rod (85) causes the lifted support plate (83) to rotate downward on its own, causing the acquisition module (9) to tilt downward, keeping the optical axis of the vision sensor (92) always perpendicular to the surface of the running belt (5), while the control panel (2) reduces the speed of the motor (42) of the drive unit (4) to reduce the speed of the running belt (5), reduce the intensity of exercise, and protect the user from fatigue; S6. Closed-loop feedback and adaptive learning: After the slope adjustment is completed, the control panel (2) continuously receives real-time gait data transmitted from the acquisition module (9) and the pressure testing plate (6), dynamically monitors the user's step frequency, stride length, impact rate and left-right symmetry parameters, and evaluates the slope adjustment effect. If the monitoring data shows that the gait parameters have not recovered to the preset safe range, the control panel (2) recalculates the degree of deviation and generates a new slope adjustment command, drives the electric push rod (17) to perform secondary adjustment, repeats steps S2 to S5 to form iterative adjustment, until the gait parameters return to normal or the user actively issues a stop command through the control panel (2). If the monitoring data shows that the gait parameters have recovered to the safe range, the current slope and speed are maintained, and the gait analysis of step S2 is performed at fixed time intervals to form an adaptive closed-loop control based on real-time biomechanical feedback.

Images