Gait correction and lower limb muscle force balance rehabilitation training instrument

Abstract

This invention discloses a gait correction and lower limb muscle strength balance rehabilitation training device, comprising a frame, a dual running belt module, a front upright plate, a visual positioning module, and a main control module. The dual running belt module includes a left running belt assembly and a right running belt assembly, which are symmetrically arranged on the frame. The operating speeds of the left and right running belt assemblies can be independently adjusted. The front upright plate is located on the front side of the frame and has a display module. The visual positioning module is used to acquire images of the patient's feet to obtain the position information of the patient's feet on the left and right running belts. The main control module is connected to the left drive device, the right drive device, the display module, and the visual positioning module. This invention adopts a dual running belt design, which can provide differentiated training for unilateral limb dysfunction and provide real-time visual feedback guidance for gait correction training, thereby improving training accuracy and rehabilitation training effects.

Description

Technical Field

[0001] This invention belongs to the field of medical device technology, specifically relating to a gait correction and lower limb muscle strength balance rehabilitation training device. Background Technology

[0002] In the field of gait correction and lower limb muscle strength rehabilitation training, some patients often experience impaired lower limb balance and normal gait due to osteoarthritis and other reasons. They typically require specialized rehabilitation equipment for gait relearning and lower limb muscle strength training. Currently, in clinical practice, most patients undergoing gait training perform simple walking exercises with the assistance of medical staff to help their bodies adapt to normal movement rhythms and lay the foundation for independent walking later. Some patients utilize basic training equipment for gait rehabilitation training. Existing gait rehabilitation equipment, such as treadmills, often uses a single running belt structure, where the patient's feet step on the same belt at the same speed. While this type of equipment is simple and inexpensive, it has the following drawbacks: the patient's left and right lower limbs are forced to move at the same speed, making it impossible to provide differentiated training for unilateral limb dysfunction; furthermore, the training process relies on verbal guidance and observation from the therapist, lacking real-time tracking of foot position and intuitive visual guidance, making it difficult for patients to quickly establish correct gait patterns. Over time, this may solidify incorrect gait patterns, affecting the correction effect. Therefore, it is necessary to provide a balanced rehabilitation training device that can correct gait and provide targeted muscle strength training for patients. Summary of the Invention

[0003] The purpose of this invention is to provide a gait correction and lower limb muscle strength balance rehabilitation training device to solve the above-mentioned problems existing in the prior art.

[0004] To achieve the above objectives, the present invention adopts the following technical solution: a gait correction and lower limb muscle strength balance rehabilitation training device, comprising: frame; The dual-runway module includes a left runway assembly and a right runway assembly, which are symmetrically arranged on the frame. The operating speeds of the left and right runway assemblies can be adjusted independently. The left runway assembly includes a left runway and a left drive device, which drives the left runway to circulate. The right runway assembly includes a right runway and a right drive device, which drives the right runway to circulate. The surfaces of the left and right runways are respectively provided with an inner runway area, a middle runway area, and an outer runway area, and each of the inner, middle, and outer runway areas has a visually identifiable boundary. The front panel is located on the front side of the frame and has a display module. The visual positioning module is used to acquire images of the patient's feet to obtain positional information of the patient's feet on the left and right running belts; and The main control module is connected to the left drive device, the right drive device, the display module, and the visual positioning module. The main control module is used to determine the actual track area to which the patient's foot belongs based on the position information of the patient's foot, calculate the lateral deviation Δd between the actual track area and the target track area, and display the lateral deviation Δd graphically through the display module, as well as indicate the target foot landing point through a dynamic guide line.

[0005] As an optional implementation of the above technical solution, handles are provided on both sides of the frame, and speed adjustment buttons connected to the main control module are provided on both handles. The two speed adjustment buttons are used to adjust the running speed of the left and right running belts respectively, so as to switch between synchronous constant speed mode, asynchronous differential speed mode and reverse resistance mode training.

[0006] As an optional implementation of the above technical solution, the frame is equipped with a ring-shaped belt, and both sides of the ring-shaped belt are connected to suspension ropes, which are respectively connected to the handles on both sides.

[0007] As an optional implementation of the above technical solution, the display module is located at the top of the front upright plate. The display module is used to display a top view of the left and right running belts in real time, and to display the left and right foot positions identified by the visual positioning module as icons, while highlighting the target foot landing point.

[0008] As an optional implementation of the above technical solution, the main control module is connected to an alarm module. The main control module controls the alarm module to issue an alarm based on the lateral deviation Δd between the actual runway area and the target runway area. When the lateral deviation Δd exceeds the first threshold, the alarm module issues a mild deviation alarm. When the lateral deviation Δd exceeds the second threshold, the alarm module issues a severe deviation alarm.

[0009] As an optional implementation of the above technical solution, a front projection device is provided on the front plate. The front projection device is connected to the main control module and is used to project the target landing point onto the corresponding track areas of the left and right running belts.

[0010] As an optional implementation of the above technical solution, the visual positioning module includes a first camera, a second camera, and an image processing unit. The first camera and the second camera are both connected to the image processing unit, and the image processing unit is connected to the main control module. The first camera and the second camera are both mounted on the front panel, and the first camera and the second camera are used to synchronously acquire images of the patient's feet.

[0011] As an optional implementation of the above technical solution, the image processing unit is used to obtain the three-dimensional spatial coordinates of the feature points on the foot surface through stereo matching algorithm and three-dimensional reconstruction, and to segment the left foot region and the right foot region using a deep learning object detection algorithm, extract the toe point and the heel point, and obtain the position information of the left foot and the right foot.

[0012] As an optional implementation of the above technical solution, the left drive device includes a left drive motor, a left pulley assembly, a left front roller and a left rear roller. The left drive motor is connected to the left front roller via the left pulley assembly, and the left running belt is arranged around the left front roller and the left rear roller.

[0013] As an optional implementation of the above technical solution, the left pulley assembly includes a left driving pulley, a left transmission belt, and a left driven pulley. The output shaft of the left drive motor is connected to the left driving pulley, and the left driving pulley and the left driven pulley are connected by the left transmission belt.

[0014] As an optional implementation of the above technical solution, the right drive device includes a right drive motor, a right pulley assembly, a right front roller and a right rear roller. The right drive motor is connected to the right front roller via the right pulley assembly, and the right running belt is arranged around the right front roller and the right rear roller.

[0015] As an optional implementation of the above technical solution, the right pulley assembly includes a right driving pulley, a right transmission belt, and a right driven pulley. The output shaft of the right drive motor is connected to the right driving pulley, and the right driving pulley and the right driven pulley are connected by the right transmission belt.

[0016] The beneficial effects of this invention are as follows: 1. This invention utilizes a visual positioning module to acquire images of the patient's feet to obtain the foot's position information on the running belt. The main control module determines the actual running track area to which the foot belongs based on this position information and calculates the lateral deviation between the actual running track area and the target running track area. Then, the display module graphically displays the lateral deviation and dynamic guide lines, enabling the patient to obtain the lateral deviation between their own foot landing point and the target foot landing point in real time and intuitively during training. This provides quantitative visual feedback for gait correction and helps improve the accuracy and effectiveness of gait training.

[0017] 2. This invention, by setting up a dual-running belt module, with the left and right running belts driven by independent left and right drive devices respectively, allows the operating speed of the left and right running belts to be adjusted independently. This enables free switching between various training modes such as synchronous constant speed mode, asynchronous differential speed mode, and reverse resistance mode. It can also personalize speed allocation and resistance settings according to the differences in muscle strength between the left and right lower limbs of the patient, effectively promoting the balanced recovery of lower limb muscle strength.

[0018] 3. Handles and speed adjustment buttons are located on both sides of the frame, allowing patients to easily adjust the treadmill speed at any time. The loop waist belt and suspension ropes connected to both sides of the frame provide effective suspension protection when the patient's gait is unstable, preventing falls and injuries, and improving the safety of training.

[0019] 4. By installing a front projection device connected to the main control module on the front panel, the target landing point is projected onto the corresponding track areas of the left and right running belts, allowing patients to see the target landing position intuitively during walking, making visual guidance more intuitive.

[0020] 5. The visual positioning module uses a first camera, a second camera, and an image processing unit. It combines stereo matching algorithm and 3D reconstruction to obtain the 3D spatial coordinates of feature points on the foot surface, and uses deep learning object detection algorithm to segment the foot area and extract the toe point and heel point, thereby achieving high-precision positioning and stable tracking of the foot position and improving the accuracy of foot position information.

[0021] 6. By setting up an alarm module connected to the main control module, a mild deviation alarm is issued when the lateral deviation exceeds the first threshold, and a severe deviation alarm is issued when it exceeds the second threshold. This realizes graded prompts for the degree of gait deviation, enabling patients to judge the degree of their gait abnormality in a timely manner according to different alarm levels and take corresponding adjustment measures, thereby enhancing the feedback efficiency of training and self-correction ability. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the structure of a gait correction and lower limb muscle strength balancing rehabilitation training device according to one embodiment of the present invention; Figure 2 This is a schematic diagram of the structure of a dual-runway module in one embodiment of the present invention; Figure 3 This is a control block diagram of a gait correction and lower limb muscle strength balancing rehabilitation training device according to one embodiment of the present invention.

[0023] In the diagram: 1-Rack; 2-Dual running belt module; 3-Front panel; 4-Display module; 5-Vision positioning module; 6-Main control module; 7-Alarm module; 8-Front projection device; 11-Handle; 12-Speed ​​control button; 13-Ring belt; 14-Hanging rope; 21-Left running belt; 22-Left drive unit; 23-Right running belt; 24-Right drive unit; 211 - Inner runway area; 212 - Middle runway area; 213 - Outer runway area; 214 - Area boundary; 221 - Left drive motor; 222 - Left front roller; 223 - Left rear roller; 224 - Left drive pulley; 225 - Left transmission belt; 226 - Left driven pulley; 241 - Right drive motor; 242 - Right front roller; 243 - Right rear roller; 244 - Right drive pulley; 245 - Right transmission belt; 246 - Right driven pulley; 51 - First camera; 52 - Second camera. Detailed Implementation

[0024] like Figures 1-3 As shown, this embodiment provides a gait correction and lower limb muscle strength balance rehabilitation training device, including a frame 1, a double running belt module 2, a front upright plate 3, a visual positioning module 5, and a main control module 6. The frame 1 serves as the supporting foundation for the entire device, used to support and fix the various components. The front upright plate 3 is located on the front side of the frame 1, and a display module 4 is provided on the front upright plate 3. The display module 4 is used to present various visual information during the training process to the patient.

[0025] The dual-running belt module 2 includes a left running belt assembly and a right running belt assembly, which are symmetrically arranged on the frame 1, providing support and drive for the patient's left and right feet, respectively. Figure 1 As shown, specifically, the left running belt assembly includes a left running belt 21 and a left drive unit 22, which drives the left running belt 21 in cyclic movement. The right running belt assembly includes a right running belt 23 and a right drive unit 24, which drives the right running belt 23 in cyclic movement. The operating speeds of both the left and right running belts 21 and 23 can be adjusted independently, allowing the device to apply different movement speeds or training resistances to meet the different rehabilitation needs of the patient's left and right lower limbs. Figure 2 As shown, the surfaces of the left running belt 21 and the right running belt 23 are respectively provided with an inner running track area 211, a middle running track area 212, and an outer running track area 213, which are arranged along the transverse direction of the running belt. The inner running track area 211, the middle running track area 212, and the outer running track area 213 are all provided with visually identifiable area boundaries 214, which are distinguished, for example, by different colors, textures, or marking lines, so as to facilitate the visual positioning module 5 to identify the running track area where the patient's foot is located.

[0026] The visual positioning module 5 is used to acquire images of the patient's feet and analyze and process the acquired images to obtain the position information of the patient's feet on the left running belt 21 and the right running belt 23. The main control module 6 is connected to the left drive device 22, the right drive device 24, the display module 4, and the visual positioning module 5, respectively. The main control module 6 is used to receive the position information of the patient's feet sent by the visual positioning module 5, determine the actual running track area to which the patient's feet belong on the left running belt 21 and the right running belt 23 based on the position information, calculate the lateral deviation Δd between the actual running track area and the target running track area, and display the lateral deviation Δd graphically through the display module 4, as well as indicate the target foot landing point through dynamic guide lines, thereby providing real-time visual feedback to the patient and guiding the patient to adjust their gait to approach the target foot landing position.

[0027] like Figure 1 As shown, in one specific embodiment, handles 11 are provided on both sides of the frame 1, located on the left and right sides respectively, to facilitate the patient's support and balance during training. Each handle 11 has a speed adjustment button 12, which is connected to the main control module 6. The two speed adjustment buttons 12 are used to adjust the operating speed of the left running belt 21 and the right running belt 23, respectively. By operating the speed adjustment button 12 on the left handle 11, the operating speed of the left running belt 21 can be adjusted independently; by operating the speed adjustment button 12 on the right handle 11, the operating speed of the right running belt 23 can be adjusted independently. Based on the independent speed adjustment function of the left and right running belts 21 and 23, the device can switch between multiple training modes, including synchronous constant speed mode, asynchronous differential speed mode, and reverse resistance mode. In asynchronous differential speed mode, the operating speeds of the left and right running belts 21 and 23 are different, forcing the patient's left and right lower limbs to walk at different paces, thereby exercising the weaker lower limb. In the reverse resistance mode, the treadmill on one side rotates backward, applying backward resistance to the patient's lower limb on that side, thus increasing the training intensity.

[0028] To further enhance patient safety during training, the frame 1 is equipped with a loop waist belt 13, with suspension ropes 14 connected to both sides of the loop waist belt 13. Each suspension rope 14 is connected to a corresponding handle 11. The loop waist belt 13 is secured around the patient's waist. One end of each suspension rope 14 is connected to the loop waist belt 13, and the other end is connected to the handle 11. The suspension ropes 14 provide flexible suspension protection in case of a fall, preventing injury, and also provide some weight-loss support during training.

[0029] like Figure 1As shown, display module 4 is located on top of the front upright plate 3. The display screen of display module 4 is oriented towards the patient's standing direction, making it easy for the patient to observe at eye level while walking. Display module 4 is used to display a top-down view of the left running belt 21 and the right running belt 23 in real time, and displays the left and right foot positions identified by visual positioning module 5 as icons superimposed on the corresponding positions in the top-down view, while highlighting the target foot landing point. Through display module 4, the patient can intuitively see the relative relationship between the actual landing point of their feet on the lateral side of the running belt and the target foot landing point, thereby adjusting their gait accordingly.

[0030] like Figure 3 As shown, to enhance training safety and timely feedback, the main control module 6 is connected to an alarm module 7. The main control module 6 controls the alarm module 7 to issue alarms based on the lateral deviation Δd between the actual track area and the target track area. When the lateral deviation Δd exceeds a first threshold, the alarm module 7 issues a mild deviation alarm to indicate that the patient's foot landing has deviated from the target area but is still within an acceptable range. When the lateral deviation Δd exceeds a second threshold, the alarm module 7 issues a severe deviation alarm to warn the patient that their foot landing has seriously deviated from the target area and requires immediate adjustment. Since the first threshold is less than the second threshold, this tiered alarm system allows patients to assess the severity of their gait deviation based on different alarm levels.

[0031] A front projection device 8 is provided on the front upright plate 3, and the front projection device 8 is connected to the main control module 6. The front projection device 8 is used to project the target foot landing point onto the corresponding track areas of the left running belt 21 and the right running belt 23 according to the control signal sent by the main control module 6. Specifically, the front projection device 8 can project the pattern of the target foot landing point onto the surface of the left running belt 21 and the right running belt 23, making it easier for patients to see the target foot landing position on the running belt during walking, thus improving the convenience of training.

[0032] like Figure 1 As shown, the visual positioning module 5 includes a first camera 51, a second camera 52, and an image processing unit. Both the first camera 51 and the second camera 52 are connected to the image processing unit, which is connected to the main control module 6. The first camera 51 and the second camera 52 are both mounted on the front upright plate 3, and are arranged horizontally at intervals to form a binocular stereoscopic vision system. The first camera 51 and the second camera 52 are used to simultaneously acquire images of the patient's foot and transmit them to the image processing unit. The image processing unit obtains depth information of the foot's surface feature points by performing stereo matching on the two images acquired at the same time.

[0033] Specifically, the image processing unit obtains the three-dimensional spatial coordinates of feature points on the foot surface through stereo matching algorithms and 3D reconstruction. It then uses a deep learning object detection algorithm to segment the left and right foot regions, extracting the toe and heel points to obtain the positional information of the left and right feet. Specifically, the image processing unit first preprocesses the two foot images simultaneously acquired by the first camera 51 and the second camera 52. Then, it calculates the disparity of corresponding pixels in the two images using a stereo matching algorithm, and performs 3D reconstruction using pre-calibrated camera parameters to obtain the three-dimensional coordinates of each feature point on the foot surface in space. Subsequently, the image processing unit uses a trained deep learning object detection model to segment the left and right foot regions from the image, extracting the toe and heel points of the left and right feet respectively. Based on the three-dimensional spatial coordinates of these feature points and the calibrated position of the running belt plane in space, the specific landing points of the patient's left and right feet on the left running belt 21 and right running belt 23 can be determined.

[0034] like Figure 2 As shown, in one specific embodiment, the left drive device 22 includes a left drive motor 221, a left pulley assembly, a left front roller 222, and a left rear roller 223. The left drive motor 221 is fixedly mounted on the frame 1, and the output shaft of the left drive motor 221 is connected to the left front roller 222 via the left pulley assembly. The left running belt 21 is arranged around the left front roller 222 and the left rear roller 223, which are rotatably mounted at the front and rear ends of the frame 1, respectively. When the left drive motor 221 operates, the rotational motion of its output shaft is transmitted to the left front roller 222 through the left pulley assembly, driving the left front roller 222 to rotate. The left front roller 222 drives the left running belt 21 around it to circulate through friction, and the left running belt 21 further drives the left rear roller 223 to rotate. Specifically, the left pulley assembly includes a left driving pulley 224, a left transmission belt 225, and a left driven pulley 226. The output shaft of the left drive motor 221 is fixedly connected to the left driving pulley 224. The left driving pulley 224 and the left driven pulley 226 are tensioned and connected by the left transmission belt 225. The left driven pulley 226 is fixedly connected to the left front roller 222, thereby realizing the power transmission from the left drive motor 221 to the left front roller 222.

[0035] Correspondingly, the right drive unit 24 includes a right drive motor 241, a right pulley assembly, a right front roller 242, and a right rear roller 243. The right drive motor 241 is fixedly mounted on the frame 1, and its output shaft is connected to the right front roller 242 via the right pulley assembly. The right running belt 23 surrounds the right front roller 242 and the right rear roller 243, which are rotatably supported at the front and rear ends of the frame 1, respectively. When the right drive motor 241 operates, the rotational motion of its output shaft is transmitted to the right front roller 242 via the right pulley assembly, driving the right front roller 242 to rotate. The right front roller 242, through friction, drives the right running belt 23 surrounding it to circulate, and the right running belt 23 further drives the right rear roller 243 to rotate. Specifically, the right pulley assembly includes a right drive pulley 244, a right transmission belt 245, and a right driven pulley 246. The output shaft of the right drive motor 241 is fixedly connected to the right drive pulley 244. The right drive pulley 244 and the right driven pulley 246 are tensioned together by the right transmission belt 245. The right driven pulley 246 is fixedly connected to the right front roller 242, thereby realizing the power transmission from the right drive motor 241 to the right front roller 242. An intermediate mounting plate is provided between the left running belt 21 and the right running belt 23. The left front roller 222, left rear roller 223, right front roller 242, and right rear roller 243 are all rotatably connected to the intermediate mounting plate.

[0036] During gait correction and lower limb muscle strength balance rehabilitation training, the patient stands on the dual running belt module 2, with the loop waist belt 13 fixed to the waist and connected to the handle 11 via the suspension rope 14 for protection. After starting the equipment, the main control module 6 controls the left drive motor 221 and the right drive motor 241 to operate according to the preset training mode, so that the left running belt 21 and the right running belt 23 move in a cycle.

[0037] During the cyclical movement of the left running belt 21 and the right running belt 23, the patient walks on the left running belt 21 and the right running belt 23 with a natural gait. The first camera 51 and the second camera 52 synchronously acquire images of the patient's feet in real time and transmit the image data to the image processing unit. The image processing unit calculates the disparity between the left and right images acquired by the first camera 51 and the second camera 52 using a stereo matching algorithm, and performs three-dimensional reconstruction by combining the pre-calibrated camera parameters to obtain the three-dimensional spatial coordinates of the feature points on the foot surface. The image processing unit further uses a deep learning object detection algorithm to segment the left foot region and the right foot region from the image, extracting the toe point and heel point, thereby determining the actual landing point position of the left and right feet on the running belt plane, that is, determining the actual running track area. Based on the obtained foot position information, the main control module 6 determines whether the patient's foot lands in the inner track area 211, the middle track area 212, or the outer track area 213, and calculates the lateral deviation Δd between the actual track area and the preset target track area. This lateral deviation Δd reflects the offset of the patient's actual foot landing point relative to the target foot landing point in the lateral direction of the running belt.

[0038] The main control module 6 presents the calculated lateral deviation Δd graphically to the patient through the display module 4. Specifically, this includes displaying a top-down view of the left running belt 21 and the right running belt 23 on the display module 4, overlaying the left and right foot positions as icons on the top-down view, and highlighting the target foot landing point and dynamic guide lines. Furthermore, the main control module 6 controls the front projection device 8 to project the pattern of the target foot landing point onto the corresponding track areas of the left and right running belts 21 and 23, allowing the patient to directly see the target foot landing position while walking. Simultaneously, the main control module 6 controls the operation of the alarm module 7 based on the magnitude of the lateral deviation Δd. When the lateral deviation Δd exceeds a first threshold, a mild deviation alarm is triggered; when the lateral deviation Δd exceeds a second threshold, a severe deviation alarm is triggered.

[0039] Based on the graphical prompts on the display module 4, the target foot landing pattern projected by the front projection device 8, and the alarm signals emitted by the alarm module 7, the patient adjusts their gait in real time, gradually bringing their foot landing closer to the target running track area, thereby achieving the training objective of gait correction. During training, the patient can also independently adjust the operating speed of the left running belt 21 and the right running belt 23 using the speed adjustment button 12 on the operating handle 11 to achieve different training modes such as synchronous constant speed mode, asynchronous differential speed mode, or reverse resistance mode, meeting the diverse training needs of lower limb muscle strength balance rehabilitation.

[0040] Compared with the prior art, the present invention has the following advantages: 1. This invention utilizes a visual positioning module 5 to acquire images of the patient's feet to obtain the foot's position information on the running belt. The main control module 6 determines the actual running track area to which the foot belongs based on this position information and calculates the lateral deviation between the actual running track area and the target running track area. The lateral deviation and dynamic guide line are then displayed graphically by the display module 4, enabling the patient to obtain the lateral deviation between their own foot landing point and the target foot landing point in real time and intuitively during training. This provides quantitative visual feedback for gait correction and helps improve the accuracy and effectiveness of gait training.

[0041] 2. By setting up a dual running belt module 2, the left running belt 21 and the right running belt 23 are driven by independent left drive device 22 and right drive device 24 respectively, so that the running speed of the left and right running belts 23 can be adjusted independently. This enables free switching between multiple training modes such as synchronous constant speed mode, asynchronous differential speed mode and reverse resistance mode. It can perform personalized speed distribution and resistance settings according to the difference in muscle strength between the left and right lower limbs of the patient, effectively promoting the balanced recovery of lower limb muscle strength.

[0042] 3. Handles 11 and speed adjustment buttons 12 are provided on both sides of the frame 1, allowing patients to easily adjust the treadmill speed at any time. The loop waist belt 13 and the suspension ropes 14 connected to both sides of the frame 1 provide effective suspension protection when the patient's gait is unstable, preventing falls and injuries, and improving the safety of training.

[0043] 4. By setting a front projection device 8 connected to the main control module 6 on the front upright plate 3, the target landing point is projected onto the corresponding track areas of the left running belt 21 and the right running belt 23, so that the patient can see the target landing position intuitively during walking, making visual guidance more intuitive.

[0044] 5. The visual positioning module 5 uses a first camera 51, a second camera 52 and an image processing unit. It combines stereo matching algorithm and 3D reconstruction to obtain the 3D spatial coordinates of feature points on the foot surface, and uses deep learning target detection algorithm to segment the foot area and extract the toe point and heel point, thereby achieving high-precision positioning and stable tracking of the foot position and improving the accuracy of foot position information.

[0045] 6. By setting up an alarm module 7 connected to the main control module 6, a mild deviation alarm is issued when the lateral deviation exceeds the first threshold, and a severe deviation alarm is issued when it exceeds the second threshold. This realizes graded prompts for the degree of gait deviation, enabling patients to judge the degree of their gait abnormality in a timely manner according to different alarm levels and take corresponding adjustment measures, thereby enhancing the feedback efficiency of training and self-correction ability.

[0046] In the description of this invention, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. They can refer to fixed connections, detachable connections, or integral connections; they can be mechanical or electrical connections; they can be direct connections or indirect connections through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art will understand the specific meanings of these terms in this invention. Furthermore, the specific features and structures described in the embodiments are included in at least one implementation method. Those skilled in the art can combine features from different implementation methods without contradiction. The scope of protection of this invention is not limited to the specific implementation methods described above. Based on the basic technical concept of this invention, implementation methods that can be conceived by those skilled in the art without creative effort are all within the scope of protection of this invention.

Claims

1. A gait correction and lower limb muscle strength balancing rehabilitation training device, characterized in that, include: Rack (1); The dual-runway module (2) includes a left runway assembly and a right runway assembly, which are symmetrically arranged on the frame (1). The operating speeds of the left and right runway assemblies can be adjusted independently. The left runway assembly includes a left runway (21) and a left drive device (22), which is used to drive the left runway (21) to move in a cycle. The right runway assembly includes a right runway (23) and a right drive device (24), which is used to drive the right runway (23) to move in a cycle. The surfaces of the left runway (21) and the right runway (23) are respectively provided with an inner runway area (211), a middle runway area (212) and an outer runway area (213). The inner runway area (211), the middle runway area (212) and the outer runway area (213) are each provided with a visually identifiable area boundary (214). A front upright plate (3) is provided on the front side of the frame (1), and a display module (4) is provided on the front upright plate (3). The visual positioning module (5) is used to acquire images of the patient's feet to obtain position information of the patient's feet on the left running belt (21) and the right running belt (23); as well as The main control module (6) is connected to the left drive device (22), the right drive device (24), the display module (4), and the visual positioning module (5), respectively. The main control module (6) is used to determine the actual track area to which the patient's foot belongs based on the position information of the patient's foot, calculate the lateral deviation Δd between the actual track area and the target track area, and display the lateral deviation Δd graphically through the display module (4), and indicate the target foot landing point through a dynamic guide line.

2. The gait correction and lower limb muscle strength balancing rehabilitation training device according to claim 1, characterized in that, The frame (1) is provided with handles (11) on both sides. Each handle (11) is provided with a speed adjustment button (12) connected to the main control module (6). The two speed adjustment buttons (12) are used to adjust the running speed of the left running belt (21) and the right running belt (23) respectively, so as to realize the switching of synchronous constant speed mode, asynchronous differential speed mode and reverse resistance mode training.

3. The gait correction and lower limb muscle strength balancing rehabilitation training device according to claim 2, characterized in that, The frame (1) is equipped with a ring-shaped waist belt (13), and both sides of the ring-shaped waist belt (13) are connected to hanging ropes (14), and the hanging ropes (14) on both sides are respectively connected to the handles (11) on both sides.

4. The gait correction and lower limb muscle strength balancing rehabilitation training device according to claim 1, characterized in that, The display module (4) is located on the top of the front stand plate (3). The display module (4) is used to display the top view of the left running belt (21) and the right running belt (23) in real time, and to display the left foot position and right foot position identified by the visual positioning module (5) as icons superimposed, while highlighting the target foot landing point.

5. The gait correction and lower limb muscle strength balancing rehabilitation training device according to claim 1, characterized in that, The main control module (6) is connected to an alarm module (7). The main control module (6) controls the alarm module (7) to issue an alarm based on the lateral deviation Δd between the actual runway area and the target runway area. When the lateral deviation Δd exceeds the first threshold, the alarm module (7) issues a mild deviation alarm. When the lateral deviation Δd exceeds the second threshold, the alarm module (7) issues a severe deviation alarm.

6. The gait correction and lower limb muscle strength balancing rehabilitation training device according to claim 1, characterized in that, The front plate (3) is provided with a front projection device (8), which is connected to the main control module (6). The front projection device (8) is used to project the target landing point onto the corresponding track areas of the left running belt (21) and the right running belt (23).

7. The gait correction and lower limb muscle strength balancing rehabilitation training device according to claim 1, characterized in that, The visual positioning module (5) includes a first camera (51), a second camera (52) and an image processing unit. The first camera (51) and the second camera (52) are both connected to the image processing unit, which is connected to the main control module (6). The first camera (51) and the second camera (52) are both mounted on the front stand plate (3). The first camera (51) and the second camera (52) are used to synchronously acquire images of the patient's feet.

8. The gait correction and lower limb muscle strength balancing rehabilitation training device according to claim 7, characterized in that, The image processing unit is used to obtain the three-dimensional spatial coordinates of feature points on the foot surface through stereo matching algorithm and three-dimensional reconstruction, and to segment the left foot region and right foot region using deep learning object detection algorithm, extract the toe point and heel point, and obtain the position information of the left foot and right foot.

9. The gait correction and lower limb muscle strength balancing rehabilitation training device according to claim 1, characterized in that, The left drive device (22) includes a left drive motor (221), a left pulley assembly, a left front roller (222) and a left rear roller (223). The left drive motor (221) is connected to the left front roller (222) via the left pulley assembly. The left running belt (21) is arranged around the left front roller (222) and the left rear roller (223). The left pulley assembly includes a left driving pulley (224), a left transmission belt (225), and a left driven pulley (226). The output shaft of the left drive motor (221) is connected to the left driving pulley (224), and the left driving pulley (224) and the left driven pulley (226) are connected by the left transmission belt (225).

10. The gait correction and lower limb muscle strength balancing rehabilitation training device according to claim 1, characterized in that, The right drive device (24) includes a right drive motor (241), a right pulley assembly, a right front roller (242) and a right rear roller (243). The right drive motor (241) is connected to the right front roller (242) via the right pulley assembly. The right running belt (23) is arranged around the right front roller (242) and the right rear roller (243). The right pulley assembly includes a right driving pulley (244), a right transmission belt (245), and a right driven pulley (246). The output shaft of the right drive motor (241) is connected to the right driving pulley (244), and the right driving pulley (244) and the right driven pulley (246) are connected by the right transmission belt (245).

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