Stroke gait guiding assistive device based on laser ranging technology

Abstract

The utility model discloses a stroke gait guiding assistive device based on a laser ranging technology, which comprises a left foot assistive device and a right foot assistive device, and the left foot assistive device and the right foot assistive device are respectively provided with a laser ranging module, a pressure sensor, a control module, a posture detection projection module and a communication module; and the control module of the left foot assistive device communicates with the control module of the right foot assistive device through respective communication modules. The relative position between the swinging leg and the supporting leg is obtained through the laser radar sensor, and the posture of the universal rotating LED lamp is obtained through the six-axis posture sensor, so that the universal rotating LED lamp rotates in place according to an instruction of the processor, and a next footprint is projected. The left foot assistive device and the right foot assistive device carry out information intercommunication through Bluetooth, alternate projection is used for helping a stroke patient to carry out gait training, the training process is stimulated through sound, and the device has the advantages of being simple, convenient to use, attractive, economical and portable.

Description

Technical Field

[0001] The utility model belongs to the technical field of stroke rehabilitation, and in particular relates to a gait guiding aid for stroke based on laser ranging technology. Background Art

[0002] The hemiplegia of post-stroke patients often becomes the focus of clinical research. Hemiplegia will directly lead to a decline in the patient's ability to perform activities, which will seriously affect the patient's quality of life. Although many stroke patients can recover a certain degree of walking ability after rehabilitation training, they still have major gait problems, which will greatly increase the risk of falling and cause secondary damage to the patient. Therefore, gait training for stroke patients in the late stage of rehabilitation is also a major issue that needs to be paid attention to during the rehabilitation process. Utility Model Content

[0003] The utility model provides a gait guiding aid for stroke based on laser distance measurement technology. The left and right feet project footprints to each other, and the stroke patient performs rehabilitation training according to the projected footprints.

[0004] The technical solution adopted by the utility model is:

[0005] A gait guidance aid for stroke based on laser ranging technology, including a left foot aid and a right foot aid, both of which are equipped with a laser ranging module, a pressure sensor, a control module, a posture detection projection module and a communication module; and the control module of the left foot aid communicates with the control module of the right foot aid through their respective communication modules. The left foot aid and the right foot aid communicate with each other through the communication module, and the laser ranging module obtains the relative position distance between the swing leg and the supporting leg; when the heel of the swing leg lands, the pressure sensor can detect a signal, and the posture detection projection module projects footprints to guide the gait training of stroke patients.

[0006] As a preferred embodiment of the utility model, the left foot assistive device comprises a left foot assistive device base, the left foot assistive device base is provided with a left ankle fixing part and a left sole fixing part, and the left foot assistive device base is provided with a left foot pressure sensor at the left heel position; a left laser ranging module is provided on the outside of the left foot assistive device base, and the left laser ranging module is located below the left ankle fixing part; a left development board and a left projection module are provided on the left ankle fixing part, and a left processor, a left memory, a left communication module and a left power supply module are provided on the left development board; the left projection module comprises a left universal rotating LED lamp and a left projection posture detection module; the left foot pressure sensor, the left laser ranging module, the left projection posture detection module, the left universal rotating LED lamp, the left memory and the left communication module are respectively connected to the left processor, and the left power supply module supplies power to each module. The left foot assistive device base is confined on the left foot by the left ankle fixing part and the left sole fixing part. When the left leg is used as a swinging leg, the left foot pressure sensor detects a signal after the left heel lands on the ground, and the left laser ranging module, the left projection posture detection module and the left universal rotating LED light are started by the left processor; the left laser ranging module measures the relative position information between the left leg and the right leg, and the left processor obtains the relative position information; the left projection posture detection module obtains the posture information of the left universal rotating LED light, and the left processor controls the left universal rotating LED light to rotate and projects the footprints that the right foot is going to take.

[0007] As a preferred solution of the utility model, a left sound device is provided on the left development board, and the left sound device is connected to the left processor. The left sound device uses a dynamic sound unit and uses the structure in the prior art. The sound device emits sound to give a sound response to the stroke patient.

[0008] As a preferred embodiment of the utility model, the right foot assistive device comprises a right foot assistive device base, the right foot assistive device base is provided with a right ankle fixing part and a right sole fixing part, and the right foot assistive device base is provided with a right foot pressure sensor at the right heel position; a right laser ranging module is provided on the outside of the right foot assistive device base, and the right laser ranging module is located below the right ankle fixing part; a right development board and a right projection module are provided on the right ankle fixing part, and a right processor, a right memory, a right communication module, a right touch screen and a right power supply module are provided on the right development board; the right projection module comprises a right universal rotating LED lamp and a right projection posture detection module; the right foot pressure sensor, the right laser ranging module, the right touch screen, the right projection posture detection module, the right universal rotating LED lamp, the right memory and the right communication module are respectively connected to the right processor, and the right power supply module supplies power to each module; the right processor and the left processor communicate with the left communication module through the right communication module. At the beginning of training, the right touch screen is used to enter the user's body parameters, the right processor obtains the corresponding gait information from the right memory, the right processor controls the right universal rotating LED light to rotate and project the left foot footprint, and the right projection posture detection module detects the posture of the right universal rotating LED light during the rotation process. The right laser ranging module detects the relative position between the right leg and the left leg when the right leg is used as a swinging leg.

[0009] As a preferred embodiment of the present invention, the right development board is provided with a right sounding device, which is connected to the right processor. When the right leg is used as a swinging leg for training, the right sounding device responds to the stroke patient with sound.

[0010] As a preferred solution of the utility model, the left foot pressure sensor and the right foot pressure sensor are piezoresistive pressure sensors, and PVDF piezoelectric film vibration sensors can be used; the left laser ranging module and the right laser ranging module are laser radar sensors, and YDLIDAR X3 laser radar sensors can be used; the left projection posture detection module and the right projection posture detection module are six-axis posture sensors, and MPU-6000 (6050) six-axis inertial measurement units can be used; the left communication module and the right communication module are Bluetooth modules, and ZX-D30 dual-mode Bluetooth modules can be used; the right touch screen is a TFT touch screen.

[0011] As a preferred solution of the utility model, the infrared laser wavelength of the laser radar sensor is 980nm; the light wavelength of the left universal rotating LED lamp and the right universal rotating LED lamp is 650nm, and the projection light will not affect the infrared laser.

[0012] As a preferred solution of the utility model, the left ankle fixing part and / or the left sole fixing part are provided with an opening, and Velcro is provided at the opening; and / or the right ankle fixing part and / or the right sole fixing part are provided with an opening, and Velcro is provided at the opening. Velcro can make the utility model suitable for different foot shapes.

[0013] As a preferred solution of the utility model, the left foot assistive device base and the right foot assistive device base both include an outer nylon layer, a polyethylene plate layer and an inner nylon layer. The polyethylene plate has a certain hardness and can be used as a support body. Each module is installed on the polyethylene plate, and the wires between the modules are arranged between the polyethylene plate layer and the outer nylon layer or the inner nylon layer.

[0014] The utility model sets two assistive devices. When the pressure sensor receives a signal as an assistive device for the swinging leg, the relative position between the swinging leg and the supporting leg is obtained by the laser radar sensor, and the posture of the universal rotating LED light is obtained by the six-axis posture sensor, so that the universal rotating LED light rotates into place according to the instruction of the processor and projects the next footprint. The left and right foot assistive devices communicate with each other through Bluetooth, and alternate projections are used to help stroke patients with gait training. The training process is also stimulated by sound. The utility model is also simple and beautiful, and is easy to use, economical and portable. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0016] Figure 1 This is a schematic structural diagram of the right foot assistive device from the first perspective of the present invention.

[0017] Figure 2 This is a schematic structural diagram of the right foot assistive device from a second viewing angle of the present invention.

[0018] Figure 3 This is a schematic structural diagram of the left foot assistive device from the first perspective of the present invention.

[0019] Figure 4 This is a schematic structural diagram of the left foot assistive device from a second viewing angle of the present invention.

[0020] Figure 5 This is a schematic diagram of the utility model in use.

[0021] Figure 6 This is a control principle block diagram of the utility model. DETAILED DESCRIPTION

[0022] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0023] Example:

[0024] A gait guidance aid for stroke patients based on laser ranging technology, such as Figure 5 As shown, it includes a left foot assistive device 1 and a right foot assistive device 2.

[0025] like Figure 3 and 4 As shown, the left foot assistive device 1 comprises a left foot assistive device base 100, and the left foot assistive device base 100 is provided with a left ankle fixing portion 101 and a left sole fixing portion 102. In order to be suitable for different foot shapes, the left ankle fixing portion 101 and the left sole fixing portion 102 are provided with openings, and Velcro is provided at the openings; and the opening of the left ankle fixing portion is on the inner side, that is, toward the direction of the right ankle.

[0026] The left foot assistive device base 100 is provided with a left foot pressure sensor 103 at the left heel position. The left foot pressure sensor 103 is a piezoresistive pressure sensor, and a PVDF piezoelectric film vibration sensor can be used. A left laser ranging module 104 is provided on the outside of the left foot assistive device base 100, and the left laser ranging module 104 is located below the left ankle fixing part 101. The left laser ranging module 104 is a laser radar sensor, and a YDLIDAR X3 laser radar sensor can be used, and the infrared laser wavelength is 980nm.

[0027] A left development board 105 and a left projection module 106 are provided on the left ankle fixing part 101, and a left processor, a left memory, a left communication module and a left power module are provided on the left development board; the left projection module comprises a left universal rotating LED lamp and a left projection attitude detection module; the left projection attitude detection module is a six-axis attitude sensor, which can adopt an MPU-6000 (6050) six-axis inertial measurement unit, and the left communication module is a Bluetooth module, which can adopt a ZX-D30 dual-mode Bluetooth module.

[0028] The left foot pressure sensor 103, the left laser ranging module 104, the left projection posture detection module, the left universal rotating LED light, the left memory and the left communication module are respectively connected to the left processor, and the left power supply module supplies power to each module.

[0029] The left foot support base is limited to the left foot by the left ankle fixing part 101 and the left sole fixing part 102. When the left leg is used as a swinging leg, the left foot pressure sensor detects a signal after the left heel lands, and the left laser ranging module 104, the left projection posture detection module and the left universal rotating LED light are started by the left processor; the left laser ranging module 104 measures the relative position information between the left leg and the right leg, and the left processor obtains the relative position information; the left projection posture detection module obtains the posture information of the left universal rotating LED light, and the left processor controls the left universal rotating LED light to rotate and project the footprints that the right foot is going to walk. The light wavelength of the left universal rotating LED light is 650nm.

[0030] In order to give a sound response to the stroke patient, a left sound device is provided on the left development board, and the left sound device is connected to the left processor. The left sound device uses a dynamic sound unit and uses the structure in the prior art. The sound device emits sound to give a sound response to the stroke patient.

[0031] like Figure 1 and 2 As shown, the right foot assistive device 2 comprises a right foot assistive device base 200, which is provided with a right ankle fixing portion 201 and a right sole fixing portion 202. Similarly, in order to adapt to different foot shapes, the right ankle fixing portion 201 and the right sole fixing portion 202 are provided with openings, and Velcro is provided at the openings. The opening of the right ankle fixing portion 201 faces the left ankle.

[0032] The right foot assistive device base 200 is provided with a right foot pressure sensor 203 at the right heel position. The right foot pressure sensor 203 is a piezoresistive pressure sensor, and a PVDF piezoelectric film vibration sensor can be used. A right laser ranging module 204 is provided on the outside of the right foot assistive device base 200, and the right laser ranging module 204 is located below the right ankle fixing part 201. The right laser ranging module 204 is a laser radar sensor, and a YDLIDAR X3 laser radar sensor can be used.

[0033] A right development board 205 and a right projection module 206 are provided on the right ankle fixing part 201, and a right processor, a right memory, a right communication module, a right touch screen and a right power module are provided on the right development board; the right projection module includes a right universal rotating LED light and a right projection attitude detection module; the right projection attitude detection module is a six-axis attitude sensor, which can adopt an MPU-6000 (6050) six-axis inertial measurement unit, and the right communication module is a Bluetooth module, which can adopt a ZX-D30 dual-mode Bluetooth module; the right touch screen is a TFT touch screen.

[0034] The right foot pressure sensor 203, the right laser ranging module 204, the right touch screen, the right projection posture detection module, the right universal rotating LED light, the right memory and the right communication module are respectively connected to the right processor, and the right power module supplies power to each module; the right processor and the left processor communicate with the left communication module through the right communication module. Figure 6 As shown, the light wavelength of the right universal rotating LED light is 650nm.

[0035] At the beginning of training, the right touch screen is used to input the user's body parameters, the right processor obtains the corresponding gait information from the right memory, the right processor controls the right universal rotating LED light to rotate and project the left foot print, and the right projection posture detection module detects the posture of the right universal rotating LED light during the rotation process. The right laser ranging module 204 detects the relative position between the right leg and the left leg when the right leg is used as a swinging leg.

[0036] A right sound device is provided on the right development board, and the right sound device is connected to the right processor. When the right leg is trained as a swinging leg, the right sound device responds to the stroke patient with sound. The right sound device uses a dynamic sound unit and a structure in the prior art, and the sound device emits sound to respond to the stroke patient with sound.

[0037] In order to provide good support, in this embodiment, the left foot assistive device base 100 and the right foot assistive device base 200 both include an outer nylon layer, a polyethylene plate layer and an inner nylon layer. The polyethylene plate has a certain hardness and can be used as a support body. Each module is installed on the polyethylene plate, and the wires between the modules are arranged between the polyethylene plate layer and the outer nylon layer or the inner nylon layer.

[0038] In the description of this specification, the description of reference terms such as "one embodiment", "example", "specific example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0039] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes within the technical scope disclosed by the present invention according to the technical scheme and the utility model concept of the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A gait guidance aid for stroke patients based on laser ranging technology, characterized in that: The device comprises a left foot assistive device (1) and a right foot assistive device (2), wherein a laser distance measuring module, a pressure sensor, a control module, a posture detection projection module and a communication module are installed on both the left foot assistive device (1) and the right foot assistive device (2); and the control module of the left foot assistive device (1) communicates with the control module of the right foot assistive device (2) via their respective communication modules.

2. The stroke gait guidance aid based on laser ranging technology according to claim 1, characterized in that: The left foot assistive device (1) comprises a left foot assistive device base (100), the left foot assistive device base (100) is provided with a left ankle fixing part (101) and a left sole fixing part (102), and the left foot assistive device base (100) is provided with a left foot pressure sensor (103) at the left heel position; a left laser ranging module (104) is provided on the outside of the left foot assistive device base (100), and the left laser ranging module (104) is located below the left ankle fixing part (101); a left development board and a left projection module are provided on the left ankle fixing part (101), and a left processor, a left memory, a left communication module and a left power module are provided on the left development board; the left projection module comprises a left universal rotating LED lamp and a left projection posture detection module; the left foot pressure sensor (103), the left laser ranging module (104), the left projection posture detection module, the left universal rotating LED lamp, the left memory and the left communication module are respectively connected to the left processor, and the left power module supplies power to each module.

3. The gait guidance aid for stroke patients based on laser ranging technology according to claim 2, characterized in that: A left sound device is arranged on the left development board, and the left sound device is connected to the left processor.

4. The gait guidance aid for stroke based on laser ranging technology according to claim 2 or 3, characterized in that: The right foot assistive device (2) comprises a right foot assistive device base (200), the right foot assistive device base (200) is provided with a right ankle fixing portion (201) and a right sole fixing portion (202), the right foot assistive device base (200) is provided with a right foot pressure sensor (203) at the right heel position; a right laser ranging module (204) is provided on the outside of the right foot assistive device base (200), and the right laser ranging module (204) is located below the right ankle fixing portion (201); a right development board and a right projection module are provided on the right ankle fixing portion (201), The right development board is provided with a right processor, a right memory, a right communication module, a right touch screen and a right power module; the right projection module comprises a right universal rotating LED lamp and a right projection posture detection module; the right foot pressure sensor (203), the right laser ranging module (204), the right touch screen, the right projection posture detection module, the right universal rotating LED lamp, the right memory and the right communication module are respectively connected to the right processor, and the right power module supplies power to each module; the right processor and the left processor communicate with the left communication module through the right communication module.

5. The gait guidance aid for stroke patients based on laser ranging technology according to claim 4, characterized in that: The right development board is provided with a right sound device, and the right sound device is connected to the right processor.

6. The gait guidance aid for stroke patients based on laser ranging technology according to claim 5, characterized in that: The left foot pressure sensor (103) and the right foot pressure sensor (203) are piezoresistive pressure sensors; the left laser ranging module (104) and the right laser ranging module (204) are laser radar sensors; the left projection posture detection module and the right projection posture detection module are six-axis posture sensors; the left communication module and the right communication module are Bluetooth modules; and the right touch screen is a TFT touch screen.

7. The gait guidance aid for stroke patients based on laser ranging technology according to claim 6, characterized in that: The infrared laser wavelength of the laser radar sensor is 980nm; the light wavelengths of the left universal rotating LED light and the right universal rotating LED light are 650nm.

8. The gait guidance aid for stroke patients based on laser ranging technology according to claim 6, characterized in that: The left ankle fixing part (101) and / or the left sole fixing part (102) are provided with an opening, and Velcro is provided at the opening; and / or the right ankle fixing part (201) and / or the right sole fixing part (202) are provided with an opening, and Velcro is provided at the opening.

9. The gait guidance aid for stroke patients based on laser ranging technology according to claim 8, characterized in that: The left foot assistive device base (100) and the right foot assistive device base (200) both comprise an outer nylon layer, a polyethylene sheet layer and an inner nylon layer.

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