A non-powered exoskeleton bionic multi-segment foot walking assistive structure and rehabilitation monitoring system

Abstract

This invention discloses a non-powered exoskeleton bionic multi-segment foot walking assistance structure and rehabilitation monitoring system, belonging to the field of exoskeleton rehabilitation physiotherapy equipment technology. The device includes a ground contact unit, a foot support unit, a connecting unit, and a monitoring module. The device uses a torsion spring located at the corresponding position of the metatarsophalangeal joint, in conjunction with a lever system composed of a front lever and a rear lever, to convert the gravitational potential energy of the human body into the elastic potential energy of the torsion spring in the early to mid-stage of the gait support phase and store it. During the push-off phase of the support phase, it releases the energy as a dorsiflexion torque of the metatarsophalangeal joint, realizing passive assistance synchronized with the gait cycle. In addition, it is equipped with torque and pressure sensors to directly acquire torque and pressure signals. Based on the long-term collected torque and pressure characteristic data, it defines gait parameters such as force efficiency, left-right symmetry, and gait stability, constructs the trajectory of the user's walking posture changes, generates phased rehabilitation assessment information, and realizes the visual tracking of the rehabilitation process.

Description

Technical Field

[0001] This invention relates to the field of exoskeleton rehabilitation and physiotherapy equipment technology, and in particular to a non-powered exoskeleton bionic multi-segment foot walking assistance structure and rehabilitation monitoring system. Background Technology

[0002] Exoskeleton robots, as wearable mechanical systems, provide assistance, walking aids, and rehabilitation through coordinated movements between the wearer and the exoskeleton. For individuals with injuries to the major motor joints of the lower limbs, such as the hip, knee, and ankle joints, normal walking posture is somewhat restricted, generally requiring additional effort to maintain walking stability. Current lower limb exoskeleton devices mainly function around human joints, including both actively driven and passively assisted types. Traditional actively driven exoskeleton devices have a large added weight and rely on batteries for power, making it difficult to maintain the original walking posture. Although passively assisted exoskeleton devices do not require an external power source, existing designs still have many shortcomings.

[0003] Existing passive assistive exoskeletons primarily concentrate energy storage units at the ankle joint, achieving passive energy storage for dorsiflexion and plantarflexion by arranging springs around the ankle joint. However, the above design fails to fully utilize the elastic energy storage potential within the human foot. Current technologies generally treat the foot as a single rigid segment, neglecting the mechanical contributions of the foot's joints and elastic tissues. Studies have shown that treating the foot as a rigid body leads to a significant overestimation of ankle joint power. Exoskeletons using rigid foot frames restrict the natural deformation of the arch of the foot, inhibiting the energy storage and rebound of the foot's elastic structures, including the medial longitudinal arch and plantar fascia. Furthermore, existing passive energy storage devices mostly rely on ratchet, clutch, or external electronic signals to control the timing of energy storage and release, resulting in complex structures and increased risks of mechanical failure.

[0004] Secondly, existing exoskeleton devices generally lack systematic gait monitoring and rehabilitation assessment functions. Although some lower limb rehabilitation exoskeletons have begun to integrate joint torque sensors, plantar pressure sensors, etc. to collect gait data, an effective closed loop has not yet been formed between sensor data and the adaptive adjustment of mechanical structures. Existing systems are unable to dynamically adjust equipment parameters according to the user's rehabilitation progress and cannot realize personalized rehabilitation training programs. Therefore, a non-powered exoskeleton bionic multi-segment foot walking assistance structure and rehabilitation monitoring system is provided. Summary of the Invention

[0005] The purpose of this invention is to provide a non-powered exoskeleton bionic multi-segment foot walking assistance structure and rehabilitation monitoring system to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a non-powered exoskeleton bionic multi-segment foot walking assistance structure and rehabilitation monitoring system, comprising: Ground contact unit, which is used to contact the ground to provide support for the human body; Foot support unit, which is designed to contact the foot and move with the foot; A connecting unit is connected between the foot support unit and the ground contact unit. The connecting unit at least partially constitutes an elastic energy storage mechanism located at the corresponding position of the metatarsophalangeal joint of the foot. The elastic energy storage mechanism can store elastic potential energy in response to load changes in the human gait cycle and release the elastic potential energy at a predetermined stage of the gait cycle to generate walking assistance torque. The foot support unit and the connecting unit, as well as the ground contact unit and the connecting unit, are all movable connections to allow relative movement between the foot support unit and the ground contact unit during the gait cycle, thereby simulating the degrees of freedom of the human foot joints. A monitoring module is disposed between the ground contact unit and the foot support unit to monitor the torque and pressure parameters of the connecting unit during the gait cycle, thereby determining the gait phase based on the torque and pressure parameters, and assessing the user's rehabilitation status through long-term monitoring of gait parameters.

[0007] Preferably, the connection unit includes: The rear lever has one end movably connected to the foot support unit; The front lever, one end of which is hinged to the foot support unit; A roller connects the other end of the front lever to the other end of the rear lever, allowing the front lever and the rear lever to rotate relative to each other around the roller. A torsion spring is disposed between the front lever and the rear lever and located at the roller. The torsion spring stores or releases elastic potential energy when the front lever and the rear lever rotate relative to each other.

[0008] Preferably, the foot support unit includes a top plate, a guide rail groove disposed on the bottom surface of the top plate, and a slider slidably disposed on the guide rail groove. The rear lever and the slider are rotatably connected by a hinge, so that the movement of the rear lever during the gait cycle drives the slider to slide back and forth in the guide rail groove.

[0009] Preferably, the ground contact unit includes a base plate and a limiting block disposed on the base plate, the limiting block being fixedly connected to the base plate; during the load response period of the gait cycle, as the load increases and the top plate is compressed downward to a predetermined height, the top end of the limiting block contacts the top plate to limit the energy storage peak position of the torsion spring, thereby allowing the torsion spring to reach its maximum energy storage state.

[0010] Preferably, the bottom of the middle section of the rear lever is integrally formed with a rotating part, and the top of the base plate is integrally formed with a first hinge seat. The rotating part is bearing connected to the first hinge seat so that the rear lever rotates around the first hinge seat when moving during the gait cycle.

[0011] Preferably, the top plate and the bottom plate are each integrally formed with a second hinge seat on the opposite side of their front ends, and the front end of the front lever is integrally formed with a hinge joint, and the hinge joint and the two sets of second hinge seats are movably hinged together.

[0012] Preferably, both the bottom plate and the top plate are made of flexible material, and both have hollowed-out grooves at the metatarsophalangeal joint of the foot to form flexible hinges, so that the bottom plate and the top plate can deform and rotate through the flexible hinges; the top plate has an installation station for installing the shoe upper.

[0013] A rehabilitation monitoring system includes the monitoring module, the monitoring module comprising: A torque sensor is installed at the torsion spring to detect the torque signal of the torsion spring in real time. A pressure sensor, disposed inside the limiting block, is used to detect pressure signals when the limiting block contacts the foot support unit; An intelligent analysis module, configured in the cloud and communicatively connected to the torque sensor and the pressure sensor, is configured as follows: Gait phase is identified based on the torque signal and the pressure signal, wherein when the pressure signal indicates that the limiting block is in contact with the foot support unit and the torque signal reaches its peak value, it is determined to be the peak energy storage period; Gait parameters are extracted based on the temporal variations of the torque and pressure signals. Rehabilitation assessment information is generated based on the long-term trend of the gait parameters.

[0014] Preferably, the intelligent analysis module is further configured as follows: The peak torque attenuation rate of the torsion spring is calculated based on the torque signal. The peak torque attenuation rate is the percentage decrease in the current peak torque relative to the initial reference peak torque. When the peak torque attenuation rate exceeds a first predetermined threshold, a torsion spring check prompt message is generated; When the peak torque attenuation rate exceeds a second predetermined threshold, a torsion spring replacement prompt is generated. The second predetermined threshold is greater than the first predetermined threshold, and the torsion spring is a replaceable component.

[0015] Preferably, the intelligent analysis module is further configured as follows: Based on the gait parameters extracted from multiple consecutive gait cycles, a multidimensional rehabilitation evaluation index system is constructed, which includes a force exertion capacity index, a gait symmetry index, and a gait stability index. The intelligent analysis module comprehensively evaluates the user's rehabilitation process based on the multidimensional rehabilitation evaluation index system, and divides the user's current state into the corresponding rehabilitation stage according to the preset rehabilitation stage division rules. The intelligent analysis module is also used to generate a rehabilitation trend graph showing the changes in the rehabilitation stage over time. The rehabilitation trend graph is used to characterize the trajectory of the user's rehabilitation process at different time points.

[0016] The technical effects and advantages of this invention are as follows: 1. This non-powered exoskeleton biomimetic multi-segment foot walking assistance structure uses a torsion spring located at the corresponding position of the metatarsophalangeal joint, in conjunction with a lever system consisting of a front lever and a rear lever, to convert the gravitational potential energy of the human body into the elastic potential energy of the torsion spring in the early to mid-stage of the gait support phase, and release it as the dorsiflexion torque of the metatarsophalangeal joint during the push-off phase of the support phase. This achieves passive assistance synchronized with the gait cycle, reducing the push-off force required by people with limited walking ability without relying on an external power source. At the same time, the limiting block limits the maximum energy storage state of the torsion spring by the contact time between its top and the bottom surface of the top plate, so that the energy storage and release phases are automatically switched mechanically according to the center of gravity position, without the need for a clutch, ratchet or external electronic control components, reducing structural complexity and potential failure points.

[0017] 2. This rehabilitation monitoring system, by installing a torque sensor at the torsion spring and a pressure sensor inside the limiting block, can directly acquire torque signals characterizing the energy storage state of the torsion spring and pressure signals characterizing the moment the limiting block touches the top. Utilizing this unique physical event of the limiting block touching the top as a time marker, it achieves gait phase recognition deeply integrated with the device's working principle, improving the accuracy of gait segmentation. Through long-term tracking of peak torque over multiple consecutive gait cycles, it calculates the peak torque decay rate and assesses the fatigue level of the torsion spring accordingly. When the decay rate exceeds a threshold, it prompts for inspection or replacement, solving the problem of difficulty in quantifying and assessing the performance degradation of the core elastic components of a passive exoskeleton. Furthermore, based on long-term collected torque and pressure characteristic data, it defines gait parameters such as force exertion efficiency, left-right symmetry, and gait stability, constructing a trajectory of the user's walking posture changes and generating phased rehabilitation assessment information. This provides data support for clinical judgment of the user's rehabilitation stage, enabling visualized tracking of the rehabilitation process. Attached Figure Description

[0018] Figure 1 This is a side view of the overall walking assistance structure of the present invention; Figure 2 This is a schematic diagram of the foot support unit and connecting unit structure of the present invention; Figure 3 This is a schematic diagram of the bottom of the foot support unit of the present invention; Figure 4 This is a schematic diagram of the top structure of the ground contact unit of the present invention; Figure 5 This is a schematic diagram of the outer surface structure of the connecting unit of the present invention; Figure 6 This is a schematic diagram of the overall functional architecture of the rehabilitation monitoring system of the present invention; Figure 7 This is a flowchart of the peak torque attenuation rate detection process for the torsion spring of the present invention. Figure 8 This is a flowchart of the multidimensional rehabilitation evaluation index system of the present invention.

[0019] In the diagram: 1. Base plate; 12. Limiting block; 13. First hinge seat; 2. Top plate; 22. Guide rail groove; 23. Slider; 24. Installation station; 3. Connecting unit; 31. Rear lever; 32. Front lever; 33. Roller; 34. Torsion spring; 35. Rotating part; 36. Hinge joint; 4. Hollowed-out groove; 5. Second hinge seat; 6. Torque sensor; 7. Pressure sensor. Detailed Implementation

[0020] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] Example 1: This embodiment of the invention provides the following... Figures 1-5 The diagram shows a non-powered exoskeleton bionic multi-segment foot walking assistance structure, including a ground contact unit, a foot support unit, a connecting unit 3, and a monitoring module. The ground contact unit is used to contact the ground to form support for the human body; the foot support unit is used to contact the foot and move with the foot; the connecting unit 3 is connected between the foot support unit and the ground contact unit, and the connecting unit 3 at least partially constitutes an elastic energy storage mechanism located at the corresponding position of the metatarsophalangeal joint of the foot. The elastic energy storage mechanism can store elastic potential energy in response to load changes in the human gait cycle, and release the elastic potential energy in a predetermined stage of the gait cycle to generate walking assistance torque. The foot support unit and the connecting unit 3, as well as the ground contact unit and the connecting unit 3, are all movable connections to allow relative movement between the foot support unit and the ground contact unit during the gait cycle, thereby simulating the degrees of freedom of the human foot joints. The monitoring module is set between the ground contact unit and the foot support unit to monitor the torque and pressure parameters of the connecting unit 3 during the gait cycle, thereby making gait phase judgment based on the torque and pressure parameters, and judging the user's rehabilitation status by long-term monitoring of gait parameters.

[0022] The connecting unit 3 includes a rear lever 31, a front lever 32, a roller 33, and a torsion spring 34. One end of the rear lever 31 is movably connected to the foot support unit; one end of the front lever 32 is hinged to the foot support unit; the roller 33 connects the other end of the front lever 32 to the other end of the rear lever 31, so that the front lever 32 and the rear lever 31 rotate relative to each other around the roller 33; the torsion spring 34 is disposed between the front lever 32 and the rear lever 31 and is located at the roller 33; the torsion spring 34 stores or releases elastic potential energy when the front lever 32 and the rear lever 31 rotate relative to each other.

[0023] The foot support unit includes a top plate 2, a guide rail groove 22 disposed on the bottom surface of the top plate 2, and a slider 23 slidably disposed on the guide rail groove 22. The rear lever 31 and the slider 23 are connected by a hinge, so that the movement of the rear lever 31 in the gait cycle drives the slider 23 to slide back and forth in the guide rail groove 22.

[0024] The ground contact unit includes a base plate 1 and a limiting block 12 disposed on the base plate 1. The limiting block 12 is fixedly connected to the base plate 1. During the load response period of the gait cycle, as the load increases and the top plate 2 is compressed downward to a predetermined height, the top of the limiting block 12 contacts the top plate 2 to limit the energy storage peak position of the torsion spring 34, thereby enabling the torsion spring 34 to reach the maximum energy storage state.

[0025] The bottom of the middle section of the rear lever 31 is integrally formed with a rotating part 35, and the top of the base plate 1 is integrally formed with a first hinge seat 13. The rotating part 35 is connected to the first hinge seat 13 by a bearing so that the rear lever 31 rotates around the first hinge seat 13 when it moves during the gait cycle.

[0026] The top plate 2 and the bottom plate 1 are respectively integrally formed with a second hinge seat 5 on the opposite side of their front ends. The front end of the front lever 32 is integrally formed with a hinge joint 36. The hinge joint 36 and the two sets of second hinge seats 5 are movably hinged.

[0027] Both the bottom plate 1 and the top plate 2 are made of flexible material, and both have hollowed-out grooves 4 at the metatarsophalangeal joint of the foot to form flexible hinges, so that the bottom plate 1 and the top plate 2 can deform and rotate through the flexible hinges; the top plate 2 has an installation station 24 for installing the shoe upper.

[0028] Working principle: When in use, the device is worn on the foot, with the top plate 2 located on the sole of the foot and the bottom plate 1 facing the ground. During normal walking, the device follows the foot through the periodic alternation of the support phase and the swing phase, assisting walking through the energy storage and release of the mechanical structure. During walking, the entire gait cycle includes the following four stages: Phase 1, Load Response Period: During this phase, the heel touches the ground and the center of gravity shifts forward. When the heel touches the ground, the rear end of the base plate 1 first bears the ground reaction force. At this time, the torsion spring 34 is in a free state, and the overall height of the device is relatively high. As the center of gravity gradually shifts forward, the body weight is transmitted downward through the top plate 2. The front lever 32 is hinged to the second hinge seat 5 at the front end of the top plate 2, and the rear lever 31 is slidably connected to the guide rail groove 22 on the bottom surface of the top plate 2 through the slider 23. At the same time, the rotating part 35 of the rear lever 31 is connected to the bearing of the first hinge seat 13 on the base plate 1, forming a lever system with the first hinge seat 13 as the fulcrum. At this time, the load is applied to the front lever 32 and the rear lever 31 through the top plate 2. Since the front end of the front lever 32 is fixedly hinged to the top plate 2, the rear end of the rear lever 31 can slide backward in the guide groove 22 with the slider 23. The two rotate relative to each other around the roller 33. At this time, the angle between the front lever 32 and the rear lever 31 gradually increases. This angle change drives the torsion spring 34 set at the roller 33 to deform, converting the gravitational potential energy of the human body into the elastic potential energy of the torsion spring 34. In this process, the lever system composed of the front lever 32 and the rear lever 31 produces a torque amplification effect on the input load, improving the energy storage efficiency of the torsion spring 34.

[0029] Phase Two, Neutral Period: During this phase, the energy stored in the torsion spring 34 reaches its peak. As the center of gravity continues to move forward, the top plate 2 moves downward. When the device is compressed to a predetermined height, the top of the limiting block 12 fixed on the bottom plate 1 contacts the bottom surface of the top plate 2, forming a rigid limit. At this time, the angle between the front lever 32 and the rear lever 31 reaches its maximum, the elastic potential energy of the torsion spring 34 reaches its peak, and the slider 23 slides to the last position in the guide rail groove 22. The contact of the limiting block 12 with the top serves as the mechanical boundary condition for the end of the energy storage phase.

[0030] Phase 3, the push-off phase: At this time, the torsion spring 34 releases its stored energy for propulsion. When the forefoot touches the ground and the center of gravity passes the position of the roller 33 and is located at the front of the device, the contact pressure between the limiting block 12 and the top plate 2 is gradually released. The torsion spring 34 begins to release the stored elastic potential energy, driving the front lever 32 and the rear lever 31 to rotate in opposite directions around the roller 33. The angle between the two decreases. The reverse rotation of the rear lever 31 drives the slider 23 to slide forward in the guide rail groove 22. The front lever 32 then applies an upward and forward thrust to the rear of the top plate 2 through the second hinge seat 5, generating a dorsiflexion torque at the corresponding position of the metatarsophalangeal joint, assisting the user in completing the push-off propulsion action.

[0031] In the fourth stage, during the swinging phase, the bottom plate 1 and the top plate 2 are respectively provided with hollowed-out grooves 4 at the metatarsophalangeal joints, forming a flexible hinge structure. This allows the bottom plate 1 and the top plate 2 to undergo compliant deformation in the direction of rotation of the metatarsophalangeal joint, thereby preserving the dorsiflexion degree of freedom of the metatarsophalangeal joint during the push-off phase. At this time, the device returns to its initial height, the torsion spring 34 returns to its free state, the slider 23 resets, and it is ready to enter the next cycle.

[0032] Furthermore, in each of the above stages, the monitoring module uses the torque sensor 6 located at the torsion spring 34 and the pressure sensor 7 located inside the limit block 12 to collect the torque signal of the torsion spring 34 and the contact pressure signal of the limit block 12 in real time. Based on this, it identifies the gait phase of the user and extracts gait parameters, providing a data basis for subsequent rehabilitation status assessment.

[0033] Example 2, as Figure 6-8 As shown, this embodiment of the invention provides a rehabilitation monitoring system, including a monitoring module, which includes: Torque sensor 6 is located at torsion spring 34 and is used to detect the torque signal of torsion spring 34 in real time. Pressure sensor 7, which is disposed inside the limiting block 12, is used to detect pressure signals when the limiting block 12 contacts the foot support unit; The intelligent analysis module, configured in the cloud and communicating with torque sensor 6 and pressure sensor 7, is configured as follows: Gait phase is identified based on torque and pressure signals. When the pressure signal indicates that the limiting block 12 is in contact with the foot support unit and the torque signal reaches its peak value, it is determined to be the peak energy storage period. Gait parameters are extracted based on the temporal variations of torque and pressure signals. In the above process, a multidimensional rehabilitation evaluation index system is constructed based on the gait parameters extracted from multiple consecutive gait cycles. The multidimensional rehabilitation evaluation index system includes force exertion capacity index, gait symmetry index and gait stability index. First, set the single gait cycle as... The sampling frequency is 200Hz, and the instantaneous value of the torque sensor during the push-off period is... The unit is N·m; the pressure signal is The unit is N, taken from the pressure at the moment of contact of limit block 12; the gait cycle duration is... The time difference between the two contact times of the limit block 12 is determined by the time difference between the two contact times.

[0034] Then, in the intelligent analysis module, a "walking posture model" is configured to map sensor data into biomechanical functional indicators, thereby determining the user's rehabilitation stage and generating rehabilitation assessment information. The entire "walking posture model" is analyzed by establishing three major indicator features, including: Power exertion capacity indicators;

[0035] in This is the power exertion efficiency index, with a value range of (0,1]. Indicates the first The duration of energy release during push-off in each gait cycle is used to time the process when the peak torque drops to zero. For the user Average rate of torque decrease during each gait cycle; This is an average reference value for the duration of energy release during a push-off in healthy individuals; This is a reference mean for the average rate of torque decrease in healthy individuals; under normal conditions, when the user's performance is completely consistent with that of a healthy person, both deviations in the numerator and denominator are 0. A value of 1 indicates an abnormal state. The shorter the duration of the user's push-off and the faster the descent rate, the larger the denominator. The closer the value is to 0, the more accurate the indicator is. This indicator is used to quantify the user's actual force exertion during the push-off phase. During the push-off phase, the elastic potential energy stored in the torsion spring is released, generating a dorsiflexion torque that assists in the push-off. In this process, the user's plantar flexor muscles of the ankle joint and the torque released by the torsion spring work together to propel the user forward. Users with stronger muscles can actively resist and control the release speed of the torsion spring during the push-off process, making the torque reduction process smoother and longer. On the other hand, users with weaker muscles lack sufficient muscle strength to dampen the release of the torsion spring, resulting in a rapid release of torsional potential energy and a more rapid and shorter torque reduction process.

[0036] Left-right symmetry index; let the peak pressures of the left and right feet during a certain bilateral comparison period be respectively... and Then define the pressure ratio , Based on this, the symmetry index is constructed in the following form; ,in This is the sensitivity adjustment coefficient, with a default value of 0.5. It is used to adjust the sensitivity of the symmetry score. The closer this value is to 1, the more symmetrical the load distribution on both sides. A lower value indicates that the user has obvious pain-avoidance gait or bilateral muscle imbalance. This indicator is used to quantify the balance of force exertion between the left and right lower limbs during walking. When a user has unilateral lower limb dysfunction during walking, due to the "pain avoidance" protection mechanism, the patient will actively reduce the supporting load, and the healthy foot will compensate by bearing a larger proportion of the body weight. This imbalance in load distribution is directly reflected in the peak pressure when the limit block touches the top. If the function of both lower limbs is normal, the body weight load borne by the left and right feet during alternating support is basically equal, and the pressure sensor values ​​on both sides tend to be similar. If there is pain avoidance behavior, the pressure value on the affected side is significantly lower than that on the healthy side.

[0037] Gait stability index; ,in Indicates the period duration of a single gait; Indicates continuity N The sample standard deviation of gait cycle duration; Indicates continuity N The arithmetic mean of the duration of each gait cycle; The gait stability index quantifies the regularity and consistency of a user's walking rhythm, reflecting neuromuscular control ability, and is based on continuous... N The coefficient of variation was calculated from the duration data of each gait cycle, and then mapped to the interval [0,1]. The coefficient of variation represents the relative fluctuation of the gait period, and its value ranges from [value missing]. The smaller the calculated value, the more stable the gait rhythm; final The closer the value is to 1, the more stable the gait; a lower value indicates that the user's gait rhythm fluctuates greatly, which may be due to insufficient balance control or poor muscle coordination.

[0038] Then, based on the long-term trend of gait parameters, rehabilitation assessment information is generated. The intelligent analysis module comprehensively assesses the user's rehabilitation progress according to the multidimensional rehabilitation evaluation index system, and divides the user's current state into the corresponding rehabilitation stage according to the preset rehabilitation stage division rules. Then, a multidimensional scoring model is constructed using a weighted geometric mean, thereby defining the comprehensive rehabilitation index, short for GaitPerformance Score, or simply GaitPerformance Score. , ,in;

[0039] in Indicates the weight of the power exertion capability indicator; Indicates the weight of the symmetry index; Indicates the weight of the stability index; Then, based on the GPS values, and combining linear interpolation and boundary control, four rehabilitation stages are set. To ensure a smooth transition, an S-shaped membership function is introduced to calculate the probability of each stage, and the maximum probability value is taken as the current stage. A reference baseline value for healthy adults is also set. Then, based on the user's recovery stage, corresponding The values ​​are shown in the table below;

[0040] The intelligent analysis module is also used to generate a rehabilitation trend map showing the changes in the rehabilitation stage over time. The rehabilitation trend map is used to characterize the trajectory of the user's rehabilitation process at different time points. In order to determine the future rehabilitation trend, this process collects the GPS values ​​of the most recent N times (e.g., N=10 days / gait data) and uses the least squares method to fit the rehabilitation trend line.

[0041] Where the slope The calculation formula is:

[0042] in Indicates the total number of data points; It is a time variable; Indicates the comprehensive rehabilitation index; This represents the cumulative sum of composite indices; This represents the cumulative sum over time. This represents the sum of squared times. This represents the cumulative sum of time multiplied by the exponent; This measures the difference between the "cumulative sum of the products of time and exponents" and the "product of the cumulative sum of time and the cumulative sum of exponents." The larger the difference, the stronger the effect. Follow The more pronounced the linear growth trend; For time variables The sum of squared deviations The factor is a normalization factor that is always positive and depends only on the value of time, ensuring that the slope calculation result is not affected by the time scale and the number of data points. final result slope The ratio of the two quantities mentioned above indicates that, after controlling for the dispersion of the time variable, The average rate of change over a unit of time.

[0043] According to the calculation results, if This indicates that the recovery process is progressing well; like If so, it indicates that there are obstacles in the rehabilitation process and no obvious rehabilitation progress indicators within the period; like This indicates that the user has a problem with functional indicators deterioration.

[0044] Secondly, the intelligent analysis module is also configured as follows: The peak torque decay rate of the torsion spring 34 is calculated based on the torque signal. The peak torque decay rate is the percentage decrease of the current peak torque relative to the initial reference peak torque. When the peak torque decay rate exceeds the first predetermined threshold, a check prompt message for torsion spring 34 is generated. When the peak torque attenuation rate exceeds the second predetermined threshold, a replacement prompt message for the torsion spring 34 is generated. The second predetermined threshold is greater than the first predetermined threshold, and the torsion spring 34 is a replaceable component.

[0045] This technology embeds an aging monitoring model for the elastic energy storage mechanism into an intelligent analysis module. This model quantifies the degree of fatigue decay of the torsion spring by tracking the relationship between torque and usage time.

[0046] In the Extract the current real-time peak torque within the next usage cycle. Then define the current health status of the torsion spring. ;

[0047] Then, an exponentially weighted moving average is used to smooth short-term fluctuations and extract long-term degradation trends. ;

[0048] in Then based on The calculated value is used to determine the state, and the determination rules are as follows; At that time, he was in a healthy state; This is in the middle of the decay phase and requires close monitoring and inspection. When the threshold value needs to be changed, a prompt will appear indicating that a change should be made.

[0049] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A non-powered exoskeleton-like multi-segmented foot walking aid structure, characterized in that, include: Ground contact unit, which is used to contact the ground to provide support for the human body; Foot support unit, which is designed to contact the foot and move with the foot; A connecting unit (3) is connected between the foot support unit and the ground contact unit. The connecting unit (3) at least partially constitutes an elastic energy storage mechanism located at the corresponding position of the metatarsophalangeal joint of the foot. The elastic energy storage mechanism can store elastic potential energy in response to load changes in the human gait cycle and release the elastic potential energy in a predetermined stage of the gait cycle to generate walking assist torque. The foot support unit and the connecting unit (3) are both movable connections, as are the ground contact unit and the connecting unit (3), to allow relative movement between the foot support unit and the ground contact unit during the gait cycle, thereby simulating the degrees of freedom of the human foot joint; The monitoring module is located between the ground contact unit and the foot support unit to monitor the torque and pressure parameters of the connecting unit (3) during the gait cycle, thereby making gait phase judgment based on the torque and pressure parameters, and judging the user's rehabilitation status by long-term monitoring of gait parameters.

2. The biomimetic multi-segmented foot walking assistance structure of a non-powered exoskeleton according to claim 1, characterized in that, The connection unit (3) includes: The rear lever (31) has one end movably connected to the foot support unit; The front lever (32) is hinged at one end to the foot support unit; A roller (33) connects the other end of the front lever (32) to the other end of the rear lever (31), so that the front lever (32) and the rear lever (31) rotate relative to each other around the roller (33); A torsion spring (34) is disposed between the front lever (32) and the rear lever (31) and located at the roller (33). The torsion spring (34) stores or releases elastic potential energy when the front lever (32) and the rear lever (31) rotate relative to each other.

3. The non-powered exoskeleton bionic multi-segment foot walking assistance structure according to claim 2, characterized in that, The foot support unit includes a top plate (2), a guide rail groove (22) disposed on the bottom surface of the top plate (2), and a slider (23) slidably disposed on the guide rail groove (22). The rear lever (31) and the slider (23) are rotatably connected by a hinge, so that the movement of the rear lever (31) in the gait cycle drives the slider (23) to slide back and forth in the guide rail groove (22).

4. The non-powered exoskeleton bionic multi-segment foot walking assistance structure according to claim 3, characterized in that, The ground contact unit includes a base plate (1) and a limiting block (12) disposed on the base plate (1). The limiting block (12) is fixedly connected to the base plate (1). During the load response period of the gait cycle, as the load increases and the top plate (2) is compressed downward to a predetermined height, the top of the limiting block (12) contacts the top plate (2) to limit the energy storage peak position of the torsion spring (34), thereby enabling the torsion spring (34) to reach the maximum energy storage state.

5. The non-powered exoskeleton bionic multi-segment foot walking assistance structure according to claim 4, characterized in that, The bottom of the middle section of the rear lever (31) is integrally formed with a rotating part (35), and the top of the base plate (1) is integrally formed with a first hinge seat (13). The rotating part (35) is bearing connected to the first hinge seat (13) so that the rear lever (31) rotates around the first hinge seat (13) when it moves within the gait cycle.

6. The non-powered exoskeleton bionic multi-segment foot walking assistance structure according to claim 5, characterized in that, The top plate (2) and the bottom plate (1) are respectively integrally formed with a second hinge seat (5) on the opposite side of the front end. The front lever (32) is integrally formed with a hinge joint (36). The hinge joint (36) and the two sets of second hinge seats (5) are movably hinged.

7. The non-powered exoskeleton bionic multi-segment foot walking assistance structure according to claim 6, characterized in that, The bottom plate (1) and the top plate (2) are both made of flexible material, and both are provided with hollow grooves (4) at the metatarsophalangeal joint of the foot to form a flexible hinge, so that the bottom plate (1) and the top plate (2) can deform and rotate through the flexible hinge; the top plate (2) is provided with an installation station (24) for installing the shoe upper.

8. A rehabilitation monitoring system, based on the non-powered exoskeleton bionic multi-segment foot walking assist structure described in claim 7, characterized in that, The monitoring module includes: A torque sensor (6) is disposed at the torsion spring (34) for real-time detection of the torque signal of the torsion spring (34); A pressure sensor (7) is disposed inside the limiting block (12) and is used to detect pressure signals when the limiting block (12) contacts the foot support unit; The intelligent analysis module, configured in the cloud and communicatively connected to the torque sensor (6) and the pressure sensor (7), is configured as follows: Gait phase is identified based on the torque signal and the pressure signal, wherein when the pressure signal indicates that the limiting block (12) is in contact with the foot support unit and the torque signal reaches its peak value, it is determined to be the peak energy storage period; Gait parameters are extracted based on the temporal variations of the torque and pressure signals. Rehabilitation assessment information is generated based on the long-term trend of the gait parameters.

9. A rehabilitation monitoring system according to claim 8, characterized in that, The intelligent analysis module is also configured to: The peak torque attenuation rate of the torsion spring (34) is calculated based on the torque signal. The peak torque attenuation rate is the percentage decrease of the current peak torque relative to the initial reference peak torque. When the peak torque attenuation rate exceeds a first predetermined threshold, a torsion spring (34) check prompt message is generated; When the peak torque attenuation rate exceeds the second predetermined threshold, a replacement prompt message for the torsion spring (34) is generated. The second predetermined threshold is greater than the first predetermined threshold, and the torsion spring (34) is a replaceable component.

10. A rehabilitation monitoring system according to claim 8, characterized in that, The intelligent analysis module is also configured to: Based on the gait parameters extracted from multiple consecutive gait cycles, a multidimensional rehabilitation evaluation index system is constructed, which includes a force exertion capacity index, a gait symmetry index, and a gait stability index. The intelligent analysis module comprehensively evaluates the user's rehabilitation process based on the multidimensional rehabilitation evaluation index system, and divides the user's current state into the corresponding rehabilitation stage according to the preset rehabilitation stage division rules. The intelligent analysis module is also used to generate a rehabilitation trend graph showing the changes in the rehabilitation stage over time. The rehabilitation trend graph is used to characterize the trajectory of the user's rehabilitation process at different time points.

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