A dual-track rehabilitation system and a control method thereof

Abstract

The application discloses a double-track rehabilitation system and a control method thereof, relates to the technical field of gait analysis, and respectively acquires pressure distribution data detected by a pressure sensing array of a left track and a right track at the current moment and calculates total contact forces on the left side and the right side, combines pressure values acquired when a heel touches the ground, a full foot support stage and when a toe leaves the ground, respectively calculates left and right gait phases and obtains a phase difference, adjusts the running speed of the left track and / or the right track according to the phase difference, realizes dynamic adaptive adjustment according to the gait state of a patient, and forms dynamic closed-loop adjustment based on physiological feedback. The pressure values corresponding to the heel touching the ground, the full foot support and the toe leaving the ground are used together with the total contact force to calculate the gait phase, the phase difference objectively quantifies the deviation degree of bilateral gait, speed adjustment is carried out according to the quantitative index, the bilateral gait difference evaluation is based on objective pressure data instead of subjective judgment of a therapist, and the quantitative precision of the bilateral gait difference is improved.

Description

Technical Field

[0001] This application relates to the field of gait analysis technology, and in particular to a dual-running belt rehabilitation system and its control method. Background Technology

[0002] Gait asymmetry is a typical motor disorder in patients with neurological injuries. Its core manifestation is phase misalignment and inconsistent power output in the gait cycle of both lower limbs, which is especially common in hemiplegic patients with stroke.

[0003] Currently, dual-treadmill rehabilitation equipment is commonly used for gait asymmetry rehabilitation training. Existing dual-treadmill rehabilitation equipment typically employs a fixed speed difference or manual adjustment by the therapist. The fixed speed difference approach is an open-loop control strategy, lacking the ability to adjust based on physiological feedback in a closed-loop manner. The speed difference is set before treatment begins and cannot be dynamically adjusted according to the patient's gait status. Manual adjustment by the therapist heavily relies on the therapist's personal experience and subjective judgment, resulting in inconsistent adjustment standards that are difficult to quantify precisely the bilateral gait differences.

[0004] Therefore, how to dynamically adjust according to the patient's gait status to achieve dynamic closed-loop regulation, and how to improve the quantitative accuracy of bilateral gait differences, have become problems that need to be solved by those skilled in the art. Summary of the Invention

[0005] The purpose of this application is to provide a dual-running belt rehabilitation system and its control method to solve the following problems: the inability to dynamically adjust according to the patient's gait status; the adjustment standards vary from person to person, making it difficult to accurately quantify the bilateral gait differences.

[0006] To solve the above-mentioned technical problems, this application provides a control method for a dual-treadmill rehabilitation system, comprising: Acquire the first pressure distribution data detected by the pressure sensor array of the left running belt at the current moment and the second pressure distribution data detected by the pressure sensor array of the right running belt at the current moment; The total contact force on the left side at the current moment is determined based on the first pressure distribution data, and the total contact force on the right side at the current moment is determined based on the second pressure distribution data. Acquire the first pressure value on the left and the first pressure value on the right at the moment of heel contact with the ground, the second pressure value on the left and the second pressure value on the right during the full foot support phase, and the third pressure value on the left and the third pressure value on the right at the moment of toe lift off the ground; The left gait phase is calculated based on the first pressure value on the left, the second pressure value on the left, the third pressure value on the left, and the total contact force on the left; the right gait phase is calculated based on the first pressure value on the right, the second pressure value on the right, the third pressure value on the right, and the total contact force on the right. The phase difference is calculated based on the left gait phase and the right gait phase, and the running speed of the left running belt and / or the right running belt is adjusted according to the phase difference.

[0007] In one optional embodiment, calculating the left gait phase based on the left first pressure value, the left second pressure value, the left third pressure value, and the left total contact force includes: If the current moment is within the support phase, the left gait phase of the support phase is calculated based on the first pressure value on the left, the second pressure value on the left, and the total contact force on the left, combined with the first preset formula; The first preset formula is: ; in, The left gait phase during the support period, The total contact force on the left side, The first pressure value on the left side, This refers to the second pressure value on the left side; If the current moment is within the swing phase, the left gait phase during the swing phase is calculated based on the second pressure value on the left, the third pressure value on the left, and the total contact force on the left, combined with the second preset formula. The second preset formula is: ; in, The left gait phase during the swing period, The total contact force on the left side, This refers to the third pressure value on the left side. This refers to the second pressure value on the left side.

[0008] In one optional embodiment, calculating the phase difference based on the left gait phase and the right gait phase, and adjusting the running speed of the left running belt and / or the right running belt according to the phase difference, includes: The difference between the left gait phase and the right gait phase is the phase difference; If the absolute value of the phase difference is greater than the set phase difference threshold, the first target running speed of the left running belt is calculated according to the third preset formula, and the second target running speed of the right running belt is calculated according to the fourth preset formula. The third preset formula is: ; in, The primary target operating speed is... The initial running speed of the left running belt. This is the proportional compensation coefficient. The phase difference; The fourth preset formula is: ; in, For the second target running speed, The initial running speed of the right running belt. This is the proportional compensation coefficient. The phase difference; Adjust the running speed of the left running belt to the first target running speed, and adjust the running speed of the right running belt to the second target running speed.

[0009] In an optional embodiment, after calculating the phase difference based on the left gait phase and the right gait phase, the method further includes: A phase stability model is established based on the phase difference; The phase stability model is as follows: ; in, The overall stability throughout the gait cycle. For gait period, The phase difference, For time; The overall stability level is written into a report and stored.

[0010] In an optional embodiment, after acquiring the first pressure distribution data detected by the pressure sensor array of the left running belt at the current moment and the second pressure distribution data detected by the pressure sensor array of the right running belt at the current moment, the method further includes: The plantar pressure center is calculated based on the pressure distribution data at the current moment; wherein, the pressure distribution data includes the first pressure distribution data and the second pressure distribution data; Construct the plantar pressure center trajectory of the gait cycle based on the plantar pressure center at different times; The pressure peak, peak occurrence time, pressure rise time, pressure fall time, and contact duration are extracted based on the plantar pressure center trajectory. The pressure peak, the peak occurrence time, the pressure rise time, the pressure fall time, and the contact duration are written into a report and stored.

[0011] In an optional embodiment, after calculating the plantar pressure center based on the pressure distribution data at the current moment, the method further includes: Determine the lateral offset of the plantar pressure center relative to the midline of the foot; Determine the migration speed of the plantar pressure center from the heel area to the forefoot area; Write the lateral offset and the migration speed into a report and store it.

[0012] In an optional embodiment, after determining the total left contact force at the current moment based on the first pressure distribution data, and after determining the total right contact force at the current moment based on the first pressure distribution data, the method further includes: The pressure change rate is calculated based on the total contact force and the fifth preset formula; wherein, the total contact force includes the total contact force on the left side and the total contact force on the right side; The fifth preset formula is: ; in, The rate of change of pressure, For the total contact force, For time; Write the pressure change rate into a report and store it.

[0013] In an optional embodiment, after determining the total left contact force at the current moment based on the first pressure distribution data, and after determining the total right contact force at the current moment based on the first pressure distribution data, the method further includes: The pressure acceleration is calculated based on the total contact force and the sixth preset formula; wherein, the total contact force includes the total contact force on the left side and the total contact force on the right side; The sixth preset formula is: ; in, For pressure acceleration, For the total contact force, For time; The pressure acceleration is written into a report and stored.

[0014] In an optional embodiment, after acquiring the first pressure distribution data detected by the pressure sensor array of the left running belt at the current moment and the second pressure distribution data detected by the pressure sensor array of the right running belt at the current moment, the method further includes: A target pressure value greater than a set value is determined from the pressure distribution data, and a target pressure unit in the pressure sensing array corresponding to the target pressure value is determined; wherein, the pressure distribution data includes the first pressure distribution data and the second pressure distribution data; The dynamic contact area between the foot and the running belt at the current moment is obtained by summing the running belt areas corresponding to each target pressure unit. Write the dynamic contact area into a report and store it.

[0015] This application also provides a dual-running belt rehabilitation system, including: a left running belt, a right running belt, a left servo motor, a right servo motor, a left encoder, a right encoder, a left motor brake, a right motor brake, a pressure sensor array, and a control device; The pressure sensor array is installed in both the left and right running belts. The output shaft of the left servo motor is connected to the left running belt. The left encoder and the left motor brake are both integrated into the left servo motor. The output shaft of the right servo motor is connected to the right running belt. The right encoder and the right motor brake are both integrated into the right servo motor. The control device is connected to the pressure sensor array, the left encoder, the right encoder, the left servo motor, the right servo motor, the left motor brake, and the right motor brake, respectively. The control device is used in the steps of the control method of the dual-running belt rehabilitation system.

[0016] This application provides a control method for a dual-running belt rehabilitation system. It acquires first and second pressure distribution data detected by pressure sensor arrays of the left and right running belts at the current moment. Based on the first pressure distribution data, it calculates the total contact force on the left side and the total contact force on the right side based on the second pressure distribution data. Combining the pressure values ​​acquired at heel strike, full foot support, and toe-off moments, it calculates the left and right gait phases respectively, obtaining the phase difference between the left and right gait phases. Based on this phase difference, it adjusts the running speed of the left and / or right running belts, replacing the open-loop strategy of a fixed speed difference. This achieves dynamic adaptive adjustment based on the patient's gait state, forming a dynamic closed-loop regulation based on physiological feedback. By using the pressure values ​​corresponding to heel strike, full foot support, and toe-off moments, along with the total contact force, to calculate the gait phase, the phase difference objectively quantifies the degree of gait deviation on both sides. Speed ​​adjustment is based on this quantified index, ensuring that the assessment of bilateral gait differences is based on objective pressure data rather than the therapist's subjective judgment, thereby improving the quantification accuracy and adjustment consistency of bilateral gait differences.

[0017] The beneficial effects and methods of the dual-running belt rehabilitation system provided in this application are as described above. Attached Figure Description

[0018] To more clearly illustrate the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 A flowchart illustrating a control method for a dual-treadmill rehabilitation system provided in this application embodiment; Figure 2 A structural diagram of a control device for a dual-running belt rehabilitation system provided in an embodiment of this application; Figure 3 This is a structural diagram of the control device for another dual-running belt rehabilitation system provided in an embodiment of this application. Detailed Implementation

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

[0021] The core of this application is to provide a dual-running belt rehabilitation system and its control method, which is used to dynamically adjust according to the patient's gait status to achieve dynamic closed-loop regulation and improve the quantitative accuracy of bilateral gait differences.

[0022] To enable those skilled in the art to better understand the present application, the present application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0023] Figure 1 A flowchart of a control method for a dual-treadmill rehabilitation system provided in this application embodiment is shown below. Figure 1 As shown, a control method for a dual-treadmill rehabilitation system includes: S10: Obtain the first pressure distribution data detected by the pressure sensor array of the left running belt at the current moment and the second pressure distribution data detected by the pressure sensor array of the right running belt at the current moment.

[0024] S11: Determine the total contact force on the left side at the current moment based on the first pressure distribution data, and determine the total contact force on the right side at the current moment based on the second pressure distribution data.

[0025] S12: Obtain the first pressure value on the left and the first pressure value on the right at the moment of heel contact with the ground, the second pressure value on the left and the second pressure value on the right during the full foot support phase, and the third pressure value on the left and the third pressure value on the right at the moment of toe lift off the ground.

[0026] S13: Calculate the left gait phase based on the first pressure value, second pressure value, third pressure value and total contact force on the left side; calculate the right gait phase based on the first pressure value, second pressure value and third pressure value on the right side and total contact force on the right side.

[0027] S14: Calculate the phase difference based on the left and right gait phases, and adjust the running speed of the left and / or right running belts according to the phase difference.

[0028] In step S10, the terms "left running belt" and "right running belt" are used to distinguish between two running belts, which can also be referred to as the first running belt and the second running belt. Specifically, the first pressure distribution data consists of the pressure values ​​detected by each pressure unit in the pressure sensor array of the left running belt at the current moment, along with the position information of each pressure unit; the second pressure distribution data consists of the pressure values ​​detected by each pressure unit in the pressure sensor array of the right running belt at the current moment, along with the position information of each pressure unit.

[0029] In step S11, determining the total left-side contact force at the current moment based on the first pressure distribution data specifically includes: determining the pressure value of each pressure unit in the pressure sensor array of the left running belt based on the first pressure distribution data, and calculating the total left-side contact force based on the pressure value and the first calculation formula; the first calculation formula is: ;in, The total contact force on the left side, For the left running belt Each pressure unit at the current moment Pressure value, This represents the total number of pressure cells in the pressure sensor array of the left running belt. Determining the total right-side contact force at the current moment based on the second pressure distribution data specifically includes: determining the pressure value of each pressure cell in the right running belt's pressure sensor array based on the second pressure distribution data, and calculating the total right-side contact force based on the pressure values ​​and the second calculation formula; the second calculation formula is: ;in, The total contact force on the right side, For the right running belt Each pressure unit at the current moment Pressure value, This represents the total number of pressure cells in the pressure sensor array of the right running belt. The total contact force on the left and right sides can be used to determine the weight-bearing ratio on both sides and the support phase. Regarding the support phase, if the total contact force on the left is greater than or equal to a threshold, the left foot is currently in the support phase; if the total contact force on the right is greater than or equal to a threshold, the right foot is currently in the support phase. Regarding the swing phase, if the total contact force on the left is less than a threshold, the left foot is currently in the swing phase; if the total contact force on the right is less than a threshold, the right foot is currently in the swing phase. Typically, the total contact force corresponds to zero during the swing phase.

[0030] In step S12, the first pressure value on the left, the first pressure value on the right, the second pressure value on the left, the second pressure value on the right, the third pressure value on the left, and the third pressure value on the right can be preset.

[0031] Taking the left side as an example, pressure distribution data detected by the pressure sensor array at each moment of the entire gait cycle (the time from heel strike to the second strike of the same side foot) is obtained. The total pressure of each pressure unit at the heel strike moment is recorded as the first pressure value on the left side, the total pressure of each pressure unit during the full foot support phase is recorded as the second pressure value on the left side, and the total pressure of each pressure unit at the toe lift moment is recorded as the third pressure value on the left side. The same applies to the first, second, and third pressure values ​​on the right side. Among them, the heel strike moment (HS) corresponds to the starting point where the average pressure in the heel area rises from zero; the full foot support phase (FF) corresponds to the stage where the average pressure reaches the set value; the toe lift moment (TO) corresponds to the moment when the average pressure in the toe area drops to near zero; and the heel lift moment (HO) corresponds to the moment when the average pressure in the heel area begins to decrease.

[0032] Based on the anatomical structure of the foot, the sole is divided into four functional areas. The heel area corresponds to the heel contact and initial support phase; the arch area corresponds to the arch-bearing phase in the middle of the support phase; the forefoot area corresponds to the propulsion phase in the late support phase; and the toe area corresponds to the propulsion and extension phase before liftoff.

[0033] In step S13, the left gait phase is calculated based on the first left pressure value, the second left pressure value, the third left pressure value, and the total left contact force. This includes: if the current moment is within the support phase, calculating the left gait phase during the support phase based on the first left pressure value, the second left pressure value, and the total left contact force, combined with a first preset formula; the first preset formula is: ;in, For the left gait phase during the support phase, The total contact force on the left side at the current moment, The first pressure value on the left side at the moment of heel strike. This represents the second left-side pressure value during the full-foot support phase. If the current moment is within the swing phase, the left-side gait phase during the swing phase is calculated based on the second left-side pressure value, the third left-side pressure value during the full-foot support phase, and the total left-side contact force, combined with the second preset formula. The second preset formula is: ;in, The left gait phase during the swing phase, The total contact force on the left side at the current moment, This represents the third pressure value on the left side at the moment of toe liftoff. This is the second pressure value on the left side during the full foot support phase.

[0034] The system uses an event-driven approach to switch between the above states, rather than based on fixed time windows, thus adapting to the personalized gait rhythms of different patients. During the support phase, continuous phase generation is performed using a first preset formula, which maps the support phase to the [0,1] interval, with the phase value monotonically increasing with increasing pressure. During the swing phase, continuous phase generation is performed using a second preset formula, which maps the swing phase to the [0,1] interval, with the phase value monotonically decreasing to zero as pressure decreases.

[0035] The method for calculating the right-side gait phase based on the first, second, and third right-side pressure values ​​and the total right-side contact force is the same as above. If the current moment is within the support phase, the right-side gait phase during the support phase is calculated based on the first, second, and total right-side pressure values ​​and the total right-side contact force: the ratio of the difference between the total right-side contact force and the first right-side pressure value to the difference between the second and first right-side pressure values ​​is the right-side gait phase during the support phase. If the current moment is within the swing phase, the right-side gait phase during the swing phase is calculated based on the second, third, and total right-side pressure values ​​and the total right-side contact force: the ratio of the difference between the total right-side contact force and the third right-side pressure value to the difference between the second and third right-side pressure values ​​is calculated, and 1 minus this ratio is the right-side gait phase during the swing phase.

[0036] In step S14, adjusting the running speed of the left and / or right running belts according to the phase difference can be done by adjusting the speed of only one running belt or by adjusting the speed of both running belts simultaneously.

[0037] Calculating the phase difference based on the left and right gait phases, and adjusting the running speed of the left and / or right running belts according to the phase difference, specifically includes: the difference between the left and right gait phases is the phase difference; if the absolute value of the phase difference is greater than a set phase difference threshold, the first target running speed of the left running belt is calculated according to a third preset formula, and the second target running speed of the right running belt is calculated according to a fourth preset formula; the third preset formula is: ;in, The primary target operating speed is... The initial running speed of the left running belt. This is the proportional compensation coefficient. The phase difference; the fourth preset formula is: ;in, For the second target running speed, The initial running speed of the right running belt. This is the proportional compensation coefficient. The phase difference is used to adjust the running speed of the left running belt to the first target running speed and the running speed of the right running belt to the second target running speed.

[0038] The absolute value of the phase difference | This reflects the difference in gait cycle position between the left and right legs at the same moment, and a phase difference threshold θ (empirical value) is set. If the absolute value of the phase difference is greater than the set phase difference threshold and the phase difference is negative, it indicates that the gait phase of the left side is less than that of the right side, and the left side is determined to be the lagging side and the right side to be the leading side. If the absolute value of the phase difference is greater than the set phase difference threshold and the phase difference is positive, it indicates that the gait phase of the left side is greater than that of the right side, and the right side is determined to be the lagging side and the left side to be the leading side.

[0039] When the absolute value of the phase difference is greater than the set phase difference threshold and the phase difference is negative (left side lagging), the first target running speed calculated according to the third preset formula is greater than the initial running speed of the left running belt, that is, the left running belt accelerates; the second target running speed calculated according to the fourth preset formula is less than the initial running speed of the right running belt, that is, the right running belt decelerates.

[0040] When the absolute value of the phase difference is greater than the set phase difference threshold, and when the phase difference is positive (right side lagging), the first target running speed calculated according to the third preset formula is less than the initial running speed of the left running belt, that is, the left running belt decelerates; the second target running speed calculated according to the fourth preset formula is greater than the initial running speed of the right running belt, that is, the right running belt accelerates.

[0041] When the absolute value of the phase difference is less than or equal to the set phase difference threshold or close to zero, the speeds of the left and right running belts remain unchanged and maintain synchronous operation, that is, the initial running speed of the left running belt is equal to the initial running speed of the right running belt.

[0042] Based on the above embodiments, after calculating the phase difference based on the left gait phase and the right gait phase, this application further includes: establishing a phase stability model based on the phase difference; the phase stability model is: ;in, The overall stability throughout the gait cycle. For gait period, For phase difference, For time; the overall stability is written into a report and stored. The model integral value. It reflects the overall stability of the left and right rhythms throughout the entire gait cycle: A smaller value indicates more synchronized and stable gait on both sides. A larger value indicates a more asymmetrical gait.

[0043] Based on the above embodiments, after obtaining the first pressure distribution data detected by the pressure sensor array of the left running belt at the current moment and the second pressure distribution data detected by the pressure sensor array of the right running belt at the current moment, this application embodiment further includes: calculating the plantar pressure center based on the pressure distribution data at the current moment; wherein, the pressure distribution data includes the first pressure distribution data and the second pressure distribution data; constructing the plantar pressure center trajectory of the gait cycle based on the plantar pressure center at different moments; extracting the pressure peak, peak occurrence time, pressure rise time, pressure fall time, and contact duration based on the plantar pressure center trajectory; and writing the pressure peak, peak occurrence time, pressure rise time, pressure fall time, and contact duration into a report and storing them.

[0044] Current plantar pressure center =( , The plantar pressure center trajectory of the gait cycle is constructed based on the plantar pressure center at different times.

[0045] The calculation formula is: ; The calculation formula is: ; For a moment Lateral coordinates of the plantar pressure center For a moment Longitudinal coordinate of the plantar pressure center For a moment No. The pressure value output by each pressure unit. For the first The lateral coordinate of each pressure unit For the first The longitudinal coordinate of each pressure unit, This represents the total number of pressure cells in the pressure sensor array. It should be noted that the pressure center of the left foot is calculated based on the first pressure distribution data at the current moment, while the pressure center of the right foot is calculated based on the second pressure distribution data at the current moment.

[0046] The plantar pressure center trajectory can be used to subsequently assess the smoothness of weight transfer; support stability; gait coordination; and body balance. Smoothness of weight transfer: calculated... COP exist Y Velocity and acceleration in the axial direction. Support stability: Calculation of single support period. COP exist X Maximum offset and standard deviation in the axial direction. Gait coordination: Extract the left gait separately. COP trajectory Y Shaft length and right side COP trajectoryY Shaft length, calculated on both sides Y The ratio of axis length. Body balance ability: calculated within a complete gait cycle (or multiple consecutive cycles). COP Total path length of movement COP The area of ​​the ellipse formed by the scattered points. The smoothness of weight transfer, support stability, gait coordination, and body balance are existing technologies and will not be elaborated upon here.

[0047] The following time-domain feature parameters were extracted from the plantar pressure center trajectory: pressure peak (maximum value); peak occurrence time (normalized time relative to the start of the gait cycle); pressure rise time (time from ground contact to pressure peak); pressure fall time (time from peak to liftoff); and contact duration (total duration from ground contact to liftoff).

[0048] Based on the above embodiments, after calculating the plantar pressure center according to the pressure distribution data at the current moment, this application embodiment further includes: determining the lateral offset of the plantar pressure center relative to the midline of the foot; determining the migration speed of the plantar pressure center from the heel area to the forefoot area; and writing the lateral offset and migration speed into a report and storing them.

[0049] Spatial domain characteristic parameters include pressure center trajectory, lateral offset, and movement speed; the lateral direction is the width of the foot, and the longitudinal direction is the length of the foot.

[0050] Lateral offset is the lateral displacement of the plantar pressure center relative to the midline of the foot. Lateral offset reflects the lateral displacement of the plantar pressure center ( COP )exist X The degree of deviation from the geometric midline of the foot in the axial direction (lateral direction) is used to assess whether the patient has foot inversion, foot eversion, or lateral center of gravity shift. Migration speed is the speed at which the center of pressure on the foot moves from the heel to the forefoot.

[0051] It can also calculate the weight-bearing ratio of each foot area based on pressure distribution data. Foot area weight-bearing ratio = total contact force of a certain foot area / total contact force of the whole foot × 100%.

[0052] Based on the above embodiments, after determining the total left contact force at the current moment based on the first pressure distribution data and the total right contact force at the current moment based on the first pressure distribution data, this application further includes: calculating the pressure change rate based on the total contact force and a fifth preset formula; wherein, the total contact force includes the total left contact force and the total right contact force; the fifth preset formula is: ;in, The rate of change of pressure, For the total contact force, For time; write the rate of pressure change into a report and store it.

[0053] Based on the above embodiments, after determining the total left contact force at the current moment based on the first pressure distribution data and the total right contact force at the current moment based on the first pressure distribution data, this application further includes: calculating the pressure acceleration based on the total contact force and a sixth preset formula; wherein, the total contact force includes the total left contact force and the total right contact force; the sixth preset formula is: ;in, For pressure acceleration, For the total contact force, For time; write the pressure acceleration into a report and store it.

[0054] Pressure change rate and pressure acceleration are used to identify the following gait events: support initiation (pressure rises from zero); liftoff (pressure drops rapidly to zero); and swing transition (the phase where pressure is zero).

[0055] Based on the above embodiments, after obtaining the first pressure distribution data detected by the pressure sensor array of the left running belt at the current moment and the second pressure distribution data detected by the pressure sensor array of the right running belt at the current moment, this application embodiment further includes: determining a target pressure value in the pressure distribution data that is greater than a set value, and determining the target pressure unit in the pressure sensor array corresponding to the target pressure value; wherein, the pressure distribution data includes the first pressure distribution data and the second pressure distribution data; summing the running belt areas corresponding to each target pressure unit to calculate the dynamic contact area between the sole of the foot and the running belt at the current moment; and writing the dynamic contact area into a report and storing it.

[0056] Specifically, the dynamic contact area between the foot and the running belt at the current moment is calculated based on the running belt area corresponding to each target pressure unit and the seventh preset formula; the seventh preset formula is: ;in, Let be the area of ​​the running belt corresponding to each target pressure unit. This represents the contact area between the sole of the foot and the running belt at the current moment. The dynamic contact area is used to further assess the following indicators: single-leg support level and support stability.

[0057] The contact area on the support side can be calculated based on the above formula. Asupport and the contact area of ​​the swing side Aswing The support side contact area indicates the effective contact area between the foot on the current weight-bearing side and the running belt; the swing side contact area indicates the effective contact area between the opposite foot and the running belt (should be close to zero). Area percentage Rarea = Asupport / Asupport_max , Asupport For the contact area on the support side, Asupport_max This represents the proportion of the largest historical area on the supporting side.

[0058] The condition is the contact area on the swing side. Aswing Less than the threshold and the area ratio of the support side Rarea A score of 80% or higher is considered a complete single-leg support, clinically signifying that the patient can fully transfer their weight to the supporting side and that their foot makes full contact with the running belt. The condition is the contact area on the swinging side. Aswing Less than the threshold and the area ratio of the support side Rarea When the percentage is greater than or equal to 40% but less than 80%, and the result is considered partial single-leg support (insufficient weight-bearing), the clinical significance is that although the patient lifts the opposite foot, they dare not put all their weight on the supporting side, exhibiting a tendency to avoid weight-bearing. The condition is the contact area of ​​the swinging side. Aswing When the threshold (simultaneous contact on both sides) is greater than or equal to the threshold, and the result is a lack of single-leg support, the clinical significance is that the patient is unable to stand on one leg and depends on simultaneous weight-bearing on both sides.

[0059] The control method of a dual-running belt rehabilitation system provided in this application includes: acquiring first pressure distribution data detected by the pressure sensor array of the left running belt at the current moment and second pressure distribution data detected by the pressure sensor array of the right running belt at the current moment; determining the total contact force on the left side at the current moment based on the first pressure distribution data, and determining the total contact force on the right side at the current moment based on the second pressure distribution data; acquiring the first pressure value on the left side and the first pressure value on the right side at the moment of heel contact, the second pressure value on the left side and the second pressure value on the right side during the full foot support phase, and the third pressure value on the left side and the third pressure value on the right side at the moment of toe lift-off; calculating the left gait phase based on the first pressure value on the left side, the second pressure value on the left side, the third pressure value on the left side and the total contact force on the left side, and calculating the right gait phase based on the first pressure value on the right side, the second pressure value on the right side, the third pressure value on the right side and the total contact force on the right side; calculating the phase difference based on the left gait phase and the right gait phase, and adjusting the running speed of the left running belt and / or the right running belt according to the phase difference. The system acquires first and second pressure distribution data from the pressure sensor arrays of the left and right running belts at the current moment. Based on the first pressure distribution data, the total contact force on the left side is calculated, and based on the second pressure distribution data, the total contact force on the right side is calculated. Combining the pressure values ​​acquired at heel strike, full foot support, and toe-off moments, the system calculates the left and right gait phases, respectively, and obtains the phase difference between the left and right gait phases. The running speed of the left and / or right running belts is adjusted according to this phase difference, replacing the open-loop strategy of a fixed speed difference. This achieves dynamic adaptive adjustment based on the patient's gait state, forming a dynamic closed-loop regulation based on physiological feedback. The gait phase is calculated using the pressure values ​​corresponding to heel strike, full foot support, and toe-off moments, along with the total contact force. This objectively quantifies the degree of gait deviation between the two sides. Speed ​​adjustment is based on this quantified index, ensuring that the assessment of bilateral gait differences is based on objective pressure data rather than the therapist's subjective judgment, thereby improving the quantitative accuracy and adjustment consistency of bilateral gait differences.

[0060] For ease of understanding, a dual-treadmill rehabilitation system is described below. A dual-treadmill rehabilitation system includes: a left treadmill belt, a right treadmill belt, a left servo motor, a right servo motor, a left encoder, a right encoder, a left motor brake, a right motor brake, a pressure sensor array, and a control device. Pressure sensor arrays are installed in both the left and right treadmill belts. The output shaft of the left servo motor is connected to the left treadmill belt. The left encoder and left motor brake are both integrated into the left servo motor. The output shaft of the right servo motor is connected to the right treadmill belt. The right encoder and right motor brake are both integrated into the right servo motor. The control device is connected to the pressure sensor array, the left encoder, the right encoder, the left servo motor, the right servo motor, the left motor brake, and the right motor brake. The control device is used to execute the steps of the control method of the above-described dual-treadmill rehabilitation system.

[0061] The control modes include symmetrical, asymmetrical, and phase-induced modes. Symmetrical mode: The left and right running belts operate synchronously. Asymmetrical mode: The speed and acceleration of the left and right running belts are controlled independently to achieve differential speed operation. Phase-induced mode: The system dynamically adjusts the running belt speed based on the detected phase difference in gait between the left and right legs. The pressure sensor array can be a high-density flexible thin-film pressure array used to collect the dynamic pressure distribution of the sole of the foot in real time during the patient's walking process. The specifications of the pressure sensor array are as follows: array size is 64×64 dots; pressure unit size is 2mm×2mm; sampling frequency is 500Hz; each pressure unit independently collects the pressure value at its location, and the data from all pressure units together form a complete two-dimensional pressure distribution map of the sole of the foot.

[0062] This application provides a dual-running belt rehabilitation system, comprising: a left running belt, a right running belt, a left servo motor, a right servo motor, a left encoder, a right encoder, a left motor brake, a right motor brake, a pressure sensor array, and a control device. The control device is used in the control method of the dual-running belt rehabilitation system described above. It acquires first pressure distribution data and second pressure distribution data detected by the pressure sensor arrays of the left and right running belts at the current moment. Based on the first pressure distribution data, it calculates the total contact force on the left side and the total contact force on the right side. It calculates the left gait phase and the right gait phase by combining the pressure values ​​acquired at the heel contact moment, the full foot support phase, and the toe lift-off moment, and obtains the phase difference between the left and right gait phases. Based on the phase difference, it adjusts the running speed of the left and / or right running belts, replacing the open-loop strategy of a fixed speed difference, and realizes dynamic adaptive adjustment according to the patient's gait state, forming a dynamic closed-loop regulation based on physiological feedback. The gait phase is calculated by combining the pressure values ​​corresponding to heel strike, full foot support, and toe lift with the total contact force. This objectively quantifies the degree of gait deviation between the two sides. Speed ​​adjustment is then made based on this quantitative index, so that the assessment of gait differences between the two sides is based on objective pressure data rather than the therapist's subjective judgment, thereby improving the quantitative accuracy and adjustment consistency of gait differences between the two sides.

[0063] Furthermore, the control mechanism based on time phase difference enables bilateral dynamic closed-loop adjustment, correcting the lag problem on the affected side in real time. It boasts a fast response speed, superior to vision systems, strong anti-interference capabilities, and is independent of the visual environment. Its control logic is more aligned with biological gait mechanisms, closely mimicking the natural walking rhythm of the human body. The encoder provides real-time feedback of the actual operating speed, forming a high-speed closed-loop control.

[0064] In the above embodiments, the control method of the dual-treadmill rehabilitation system has been described in detail. This application also provides embodiments corresponding to the control device of the dual-treadmill rehabilitation system. It should be noted that this application describes the embodiments of the device part from two perspectives: one is based on the functional module, and the other is based on the hardware.

[0065] Figure 2 A structural diagram of a control device for a dual-treadmill rehabilitation system provided in this application embodiment is shown below. Figure 2 As shown, a control device for a dual-treadmill rehabilitation system includes: The first acquisition module 10 is used to acquire the first pressure distribution data detected by the pressure sensor array of the left running belt at the current time and the second pressure distribution data detected by the pressure sensor array of the right running belt at the current time. The first determining module 11 is used to determine the total left contact force at the current moment based on the first pressure distribution data, and to determine the total right contact force at the current moment based on the second pressure distribution data. The second acquisition module 12 is used to acquire the first pressure value on the left and the first pressure value on the right at the time of heel contact with the ground, the second pressure value on the left and the second pressure value on the right during the full foot support phase, and the third pressure value on the left and the third pressure value on the right at the time of toe lift off the ground. The first calculation module 13 is used to calculate the left gait phase based on the left first pressure value, the left second pressure value, the left third pressure value and the left total contact force, and to calculate the right gait phase based on the right first pressure value, the right second pressure value, the right third pressure value and the right total contact force; The control module 14 is used to calculate the phase difference based on the left gait phase and the right gait phase, and to control the running speed of the left running belt and / or the right running belt according to the phase difference.

[0066] Based on the above embodiments, in an optional embodiment, the first computing module includes: The first calculation unit is used to calculate the left gait phase during the support period, based on the first pressure value on the left side, the second pressure value on the left side, and the total contact force on the left side, combined with a first preset formula, if the current moment is within the support period; the first preset formula is: ;in, For the left gait phase during the support phase, Total contact force on the left side, The first pressure value on the left. This is the second pressure value on the left. The second calculation unit is used to calculate the left gait phase during the swing period, based on the second pressure value on the left side, the third pressure value on the left side, and the total contact force on the left side, combined with a second preset formula, if the current moment is within the swing period; the second preset formula is: ;in, The left gait phase during the swing phase, Total contact force on the left side, This is the third pressure value on the left. This is the second pressure value on the left.

[0067] Based on the above embodiments, in one optional embodiment, the control module includes: The third calculation unit is used to calculate the phase difference by subtracting the right gait phase from the left gait phase. The fourth calculation unit is used to calculate the first target running speed of the left running belt according to the third preset formula and the second target running speed of the right running belt according to the fourth preset formula if the absolute value of the phase difference is greater than a set phase difference threshold; the third preset formula is: ;in, The primary target operating speed is... The initial running speed of the left running belt. This is the proportional compensation coefficient. The phase difference; the fourth preset formula is: ;in, For the second target running speed, The initial running speed of the right running belt. This is the proportional compensation coefficient. Phase difference; The control unit is used to adjust the running speed of the left running belt to the first target running speed and the running speed of the right running belt to the second target running speed.

[0068] Based on the above embodiments, in an optional embodiment, it further includes: A module is established to build a phase stability model based on the phase difference; the phase stability model is as follows: ;in, The overall stability throughout the gait cycle. For gait period, For phase difference, For time; The first storage module is used to write the overall stability level into a report and store it.

[0069] Based on the above embodiments, in an optional embodiment, it further includes: The second calculation module is used to calculate the plantar pressure center based on the pressure distribution data at the current moment; wherein, the pressure distribution data includes first pressure distribution data and second pressure distribution data; The module is used to construct the plantar pressure center trajectory of the gait cycle based on the plantar pressure center at different times; The extraction module is used to extract the pressure peak, peak occurrence time, pressure rise time, pressure fall time, and contact duration based on the center trajectory of the plantar pressure. The second storage module is used to write and store the pressure peak, peak occurrence time, pressure rise time, pressure fall time, and contact duration into a report.

[0070] Based on the above embodiments, in an optional embodiment, it further includes: The second determining module is used to determine the lateral offset of the plantar pressure center relative to the midline of the foot. The third determining module is used to determine the migration speed of the plantar pressure center from the heel area to the forefoot area; The third storage module is used to write and store the lateral offset and migration speed into a report.

[0071] Based on the above embodiments, in an optional embodiment, it further includes: The third calculation module is used to calculate the pressure change rate based on the total contact force and the fifth preset formula; wherein, the total contact force includes the total contact force on the left side and the total contact force on the right side; the fifth preset formula is: ;in, The rate of change of pressure, For the total contact force, For time; The fourth storage module is used to write and store the pressure change rate in a report.

[0072] Based on the above embodiments, in an optional embodiment, it further includes: The fourth calculation module is used to calculate the pressure acceleration based on the total contact force and the sixth preset formula; wherein, the total contact force includes the total contact force on the left side and the total contact force on the right side; the sixth preset formula is: ;in, For pressure acceleration, For the total contact force, For time; The fifth storage module is used to write and store the pressure acceleration data in a report.

[0073] Based on the above embodiments, in an optional embodiment, it further includes: The fourth determining module is used to determine the target pressure value in the pressure distribution data that is greater than a set value, and to determine the target pressure unit in the pressure sensing array corresponding to the target pressure value; wherein, the pressure distribution data includes first pressure distribution data and second pressure distribution data; The fifth calculation module is used to sum up the running belt areas corresponding to each target pressure unit to obtain the dynamic contact area between the sole of the foot and the running belt at the current moment. The sixth storage module is used to write the dynamic contact area into a report and store it.

[0074] Since the embodiments of the apparatus and the embodiments of the method correspond to each other, please refer to the description of the embodiments of the method for the embodiments of the apparatus, which will not be repeated here.

[0075] Figure 3 A structural diagram of the control device for another dual-treadmill rehabilitation system provided in this application embodiment is shown below. Figure 3 As shown, the control device of the dual-running belt rehabilitation system includes: a memory 20 for storing computer programs; The processor 21 is used to execute a computer program to implement the steps of the control method for the dual-running belt rehabilitation system as described in the above embodiment.

[0076] The control device for the dual-running belt rehabilitation system provided in this embodiment may include, but is not limited to, smartphones, tablets, laptops, or desktop computers.

[0077] The processor 21 may include one or more processing cores, such as a quad-core processor or an octa-core processor. The processor 21 may be implemented using at least one of the following hardware forms: Digital Signal Processor (DSP), Field-Programmable Gate Array (FPGA), or Programmable Logic Array (PLA). The processor 21 may also include a main processor and a coprocessor. The main processor, also known as the Central Processing Unit (CPU), is used to process data in the wake-up state; the coprocessor is a low-power processor used to process data in the standby state. In some embodiments, the processor 21 may integrate a Graphics Processing Unit (GPU), which is responsible for rendering and drawing the content to be displayed on the screen. In some embodiments, the processor 21 may also include an Artificial Intelligence (AI) processor, which handles computational operations related to machine learning.

[0078] The memory 20 may include one or more computer-readable storage media, which may be non-transitory. The memory 20 may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices or flash memory devices. In this embodiment, the memory 20 is used to store at least the following computer program 201, which, after being loaded and executed by the processor 21, is capable of implementing the relevant steps of the control method of the dual-running belt rehabilitation system disclosed in any of the foregoing embodiments. In addition, the resources stored in the memory 20 may also include an operating system 202 and data 203, and the storage method may be temporary or permanent storage. The operating system 202 may include Windows, Unix, Linux, etc. The data 203 may include, but is not limited to, pressure distribution data.

[0079] In some embodiments, the control device of the dual-running belt rehabilitation system may further include a display screen 22, an input / output interface 23, a communication interface 24, a power supply 25, and a communication bus 26.

[0080] Those skilled in the art will understand that Figure 3 The structure shown does not constitute a limitation on the control device of the dual-running belt rehabilitation system and may include more or fewer components than shown.

[0081] The control device for the dual-running belt rehabilitation system provided in this application includes a memory and a processor. When the processor executes the program stored in the memory, it can implement the following method: acquiring first pressure distribution data detected by the pressure sensor array of the left running belt at the current moment and second pressure distribution data detected by the pressure sensor array of the right running belt at the current moment; determining the total contact force on the left side at the current moment based on the first pressure distribution data, and determining the total contact force on the right side at the current moment based on the second pressure distribution data; acquiring the first pressure value on the left side and the first pressure value on the right side at the moment of heel contact, the second pressure value on the left side and the second pressure value on the right side during the full foot support phase, and the third pressure value on the left side and the third pressure value on the right side at the moment of toe lift-off; calculating the left gait phase based on the first pressure value on the left side, the second pressure value on the left side, the third pressure value on the left side and the total contact force on the left side, and calculating the right gait phase based on the first pressure value on the right side, the second pressure value on the right side, the third pressure value on the right side and the total contact force on the right side; calculating the phase difference based on the left gait phase and the right gait phase, and adjusting the running speed of the left running belt and / or the right running belt according to the phase difference.

[0082] Finally, this application also provides an embodiment corresponding to a computer-readable storage medium. The computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps described in the control method of the dual-running belt rehabilitation system of the above-described method embodiment.

[0083] It is understood that if the methods in the above embodiments are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and executes all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0084] The foregoing has provided a detailed description of a dual-treadmill rehabilitation system and its control method provided in this application. The various embodiments in the specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to in the method section. It should be noted that those skilled in the art can make several improvements and modifications to this application without departing from the principles of this application, and these improvements and modifications also fall within the protection scope of the claims of this application.

[0085] It should also be noted that, in this specification, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

Claims

1. A control method for a dual-running belt rehabilitation system, characterized in that, include: Acquire the first pressure distribution data detected by the pressure sensor array of the left running belt at the current moment and the second pressure distribution data detected by the pressure sensor array of the right running belt at the current moment; The total contact force on the left side at the current moment is determined based on the first pressure distribution data, and the total contact force on the right side at the current moment is determined based on the second pressure distribution data. Acquire the first pressure value on the left and the first pressure value on the right at the moment of heel contact with the ground, the second pressure value on the left and the second pressure value on the right during the full foot support phase, and the third pressure value on the left and the third pressure value on the right at the moment of toe lift off the ground; The left gait phase is calculated based on the first pressure value on the left, the second pressure value on the left, the third pressure value on the left, and the total contact force on the left; the right gait phase is calculated based on the first pressure value on the right, the second pressure value on the right, the third pressure value on the right, and the total contact force on the right. The phase difference is calculated based on the left gait phase and the right gait phase, and the running speed of the left running belt and / or the right running belt is adjusted according to the phase difference.

2. The control method for the dual-treadmill rehabilitation system according to claim 1, characterized in that, The left gait phase is calculated based on the first pressure value, the second pressure value, the third pressure value, and the total contact force on the left side, including: If the current moment is within the support phase, the left gait phase of the support phase is calculated based on the first pressure value on the left, the second pressure value on the left, and the total contact force on the left, combined with the first preset formula; The first preset formula is: ; in, The left gait phase during the support period, The total contact force on the left side, The first pressure value on the left side, This refers to the second pressure value on the left side; If the current moment is within the swing phase, the left gait phase during the swing phase is calculated based on the second pressure value on the left, the third pressure value on the left, and the total contact force on the left, combined with the second preset formula. The second preset formula is: ; in, The left gait phase during the swing period, The total contact force on the left side, This refers to the third pressure value on the left side. This refers to the second pressure value on the left side.

3. The control method for the dual-treadmill rehabilitation system according to claim 1, characterized in that, Calculating the phase difference based on the left gait phase and the right gait phase, and adjusting the running speed of the left running belt and / or the right running belt according to the phase difference, including: The difference between the left gait phase and the right gait phase is the phase difference; If the absolute value of the phase difference is greater than the set phase difference threshold, the first target running speed of the left running belt is calculated according to the third preset formula, and the second target running speed of the right running belt is calculated according to the fourth preset formula. The third preset formula is: ; in, The primary target operating speed is... The initial running speed of the left running belt. This is the proportional compensation coefficient. The phase difference; The fourth preset formula is: ; in, For the second target running speed, The initial running speed of the right running belt. This is the proportional compensation coefficient. The phase difference; Adjust the running speed of the left running belt to the first target running speed, and adjust the running speed of the right running belt to the second target running speed.

4. The control method for the dual-treadmill rehabilitation system according to claim 1, characterized in that, After calculating the phase difference based on the left gait phase and the right gait phase, the method further includes: A phase stability model is established based on the phase difference; The phase stability model is as follows: ; in, The overall stability throughout the gait cycle. For gait period, The phase difference, For time; The overall stability level is written into a report and stored.

5. The control method for the dual-treadmill rehabilitation system according to claim 1, characterized in that, After acquiring the first pressure distribution data detected by the pressure sensor array of the left running belt at the current moment and the second pressure distribution data detected by the pressure sensor array of the right running belt at the current moment, the following is also included: The plantar pressure center is calculated based on the pressure distribution data at the current moment; wherein, the pressure distribution data includes the first pressure distribution data and the second pressure distribution data; Construct the plantar pressure center trajectory of the gait cycle based on the plantar pressure center at different times; The pressure peak, peak occurrence time, pressure rise time, pressure fall time, and contact duration are extracted based on the plantar pressure center trajectory. The pressure peak, the peak occurrence time, the pressure rise time, the pressure fall time, and the contact duration are written into a report and stored.

6. The control method for the dual-treadmill rehabilitation system according to claim 5, characterized in that, After calculating the plantar pressure center based on the current pressure distribution data, the following is also included: Determine the lateral offset of the plantar pressure center relative to the midline of the foot; Determine the migration speed of the plantar pressure center from the heel area to the forefoot area; Write the lateral offset and the migration speed into a report and store it.

7. The control method for the dual-treadmill rehabilitation system according to claim 1, characterized in that, After determining the total left contact force at the current moment based on the first pressure distribution data, and after determining the total right contact force at the current moment based on the first pressure distribution data, the method further includes: The pressure change rate is calculated based on the total contact force and the fifth preset formula; wherein, the total contact force includes the total contact force on the left side and the total contact force on the right side; The fifth preset formula is: ; in, The rate of change of pressure, For the total contact force, For time; Write the pressure change rate into a report and store it.

8. The control method for the dual-treadmill rehabilitation system according to claim 1, characterized in that, After determining the total left contact force at the current moment based on the first pressure distribution data, and after determining the total right contact force at the current moment based on the first pressure distribution data, the method further includes: The pressure acceleration is calculated based on the total contact force and the sixth preset formula; wherein, the total contact force includes the total contact force on the left side and the total contact force on the right side; The sixth preset formula is: ; in, For pressure acceleration, For the total contact force, For time; The pressure acceleration is written into a report and stored.

9. The control method for the dual-treadmill rehabilitation system according to claim 1, characterized in that, After acquiring the first pressure distribution data detected by the pressure sensor array of the left running belt at the current moment and the second pressure distribution data detected by the pressure sensor array of the right running belt at the current moment, the following is also included: A target pressure value greater than a set value is determined from the pressure distribution data, and a target pressure unit in the pressure sensing array corresponding to the target pressure value is determined; wherein, the pressure distribution data includes the first pressure distribution data and the second pressure distribution data; The dynamic contact area between the foot and the running belt at the current moment is obtained by summing the running belt areas corresponding to each target pressure unit. Write the dynamic contact area into a report and store it.

10. A dual-treadmill rehabilitation system, characterized in that, Includes: left running belt, right running belt, left servo motor, right servo motor, left encoder, right encoder, left motor brake, right motor brake, pressure sensor array, and control device; The pressure sensor array is provided in both the left and right running belts. The output shaft of the left servo motor is connected to the left running belt. The left encoder and the left motor brake are both integrated into the left servo motor. The output shaft of the right servo motor is connected to the right running belt. The right encoder and the right motor brake are both integrated into the right servo motor. The control device is connected to the pressure sensor array, the left encoder, the right encoder, the left servo motor, the right servo motor, the left motor brake, and the right motor brake, respectively. The control device is used to execute the steps of the control method of the dual-running belt rehabilitation system according to any one of claims 1 to 9.

Images