Walking training machine

Abstract

This system assists users with walking disabilities in performing exercise training that is equivalent to the walking ability of healthy individuals. [Solution] The simulated biostep training robot mainly includes an outer shell, handrail mechanism, X-direction cam mechanism, step mechanism, Y-direction cam mechanism, and base mechanism. By appropriately designing the mounting position of each transmission link, stroke amplification of the drive end is achieved, and the external dimensions of the X-direction cam and Y-direction cam are effectively reduced by a factor of six. In addition, by engaging and disengaging the ratchet plate and the pawl receiving plate, the sole cam is driven in conjunction clockwise throughout the entire motion cycle, achieving the effect of linked drive of six terminal degrees of freedom by a single motor. Based on the principles of simulated biokinematics, the mechanical structure is designed as an appropriate constraint system, and by driving the position of both of the user's feet and the angle of the ankle joint in conjunction, the step mechanisms of the left and right feet can realize a simulated human gait biomotion trajectory and changes in forward and backward tilt posture.

Description

Technical Field

[0001] The present invention belongs to the field of exercise training robot equipment, and relates to a mechatronic simulated biological step training robot capable of performing step motion training on patients with lower limb motor function disorders.

Background Art

[0002] One of the most important behaviors in human movement is step walking. In the clinical practice of rehabilitation medicine, it has been demonstrated that performing passive step training on non-permanent paralysis patients can effectively arouse the vitality of their neuromuscular system and is expected to lead to a good recovery direction. For patients with lower limb motor function disorders, it is difficult to perform completely autonomous step training during the rehabilitation process, and passive step training requires the assistance of an effective power device.

[0003] Currently, simple-structured step training equipment at home and abroad is commonly seen in the field of fitness power equipment, such as a cross-trainer. However, it is difficult to enable patients to perform step motion training along the simulated biological motion trajectory of foot movement. However, non-simulated biological step motion training can bring different degrees of deformity recovery tendencies to the patient's musculoskeletal system, etc. Currently, dedicated simulated biological step training power equipment at home and abroad is basically a multi-degree-of-freedom mechanical system. The movement assistance mechanisms for the left and right legs are driven and operated by multiple power sources, and further, the movement of the hip joint, knee joint, thigh, and lower leg is coordinated by a control system to form a step effect by simulated biological movement. Its mechanical structure and control system are complex, with high costs and high prices, making it difficult to popularize in hospitals and rehabilitation facilities, and even more difficult to apply and popularize for home use.

[0004] Therefore, designing a simulated bio-exercise step training robot with a simple mechanical structure, low manufacturing cost, ease of use, and lightweight design, based on the degrees of freedom of movement of the hip, knee, and ankle joints in a healthy person's step walking state, and based on the principles of simulated bio-engineering and ergonomics, has significant importance in the research field and market demand for simulated bio-rehabilitation equipment. [Overview of the Initiative] [Problems that the invention aims to solve]

[0005] The objective of the present invention is to solve the above-mentioned problems and provide a simulated biostep training robot. This simulated biostep training robot simplifies the mechanism to facilitate widespread use in home and clinical settings, is designed based on simulated biomechanical principles relating to human stepping movements, provides a good human-machine interaction experience when users perform step walking training, reduces the number of motors used and lightens the structure, provides fall prevention assistance through handrails and underarm support rods, prevents users from falling during step training through a mechanical structure design based on dynamic stability assessment of human stepping movements, and furthermore, the movement trajectory of the step board is designed based on simulated biomechanical movement data of healthy human stepping based on sufficient experimental statistics, allowing patients to perform simulated biomechanical rehabilitation training that matches the stepping characteristics of healthy human bodies. Pressure sensors are installed in the underarm support rods to detect and analyze the pressure the user's upper body applies to their lower limbs in real time. This provides real-time feedback on human-machine interaction forces, controls the output load of the linear servo motor, and provides weight support to the patient via the support rods. By sharing the weight of the patient's upper body with the load on their lower limbs, a load reduction effect is achieved. Depending on the patient's condition of lower limb motor dysfunction and current walking ability, a customized step gait training plan tailored to each patient with lower limb motor dysfunction is provided, realizing individualized step exercise rehabilitation training. [Means for solving the problem]

[0006] To achieve the above objectives, the present invention is realized by the following technical solution. The simulated biological step training robot includes an outer shell 1, a handrail mechanism 2, an X-direction cam mechanism 3, a step mechanism 4, a Y-direction cam mechanism 5, and a base mechanism 6. The handrail mechanism 2 is fixed downwards at the central position inside the outer shell 1. Two sets of step mechanisms 4 are fixed to both sides of the handrail mechanism 2 inside the outer shell 1, with their front ends connected upwards to the handrail mechanism 2 by hinge transmission. Two sets of base mechanisms 6 are hinged to the outer axis of the step plate of the step mechanism 4 of the same group, and their spatial position changes. The design method is characterized in that the two sets of X-direction cam mechanisms 3 and two sets of Y-direction cam mechanisms 5 are driven to bring about the following, and are fixed to the front end of the base mechanism 6 of the same group, and are hinged to the corresponding output shafts at the front end of the step mechanism 4 of the same group, and are used to move along the bio-movement trajectory of human gait simulation, and at the same time to drive the corresponding base mechanism 6 to form a combined horizontal and vertical movement by linking the corresponding step mechanism 4, and the design method includes the following two steps.

[0007] As the first step, based on walking experiments of 50 healthy individuals with varying heights, weights, ages, and genders, the positional trajectory of the plantar reference point and the ankle's anterior-posterior tilt angle in the sagittal plane are collected during the movement process. Subsequently, the data is post-processed to obtain the movement trajectory of the standardized plantar position during stepping and the trajectory of the change in the height difference Δ between the toes and heels during changes in plantar posture—that is, two simulated human gait bio-movement trajectories that serve as the basis for mechanical structural design.

[0008] First, a 7-link human step gait model is constructed within the sagittal plane of the human body. The left and right hip joint points are assumed to coincide within the sagittal plane of the human body, and the upper limbs are assumed to maintain a vertical position during stepping, i.e., upper body sway during the gait process of a rehabilitation patient is ignored. In the calculation process, the right foot contact is taken as the start of one step cycle, and the expected average forward speed during the patient's gait training is set as the training step forward speed. By subtracting the average step forward speed from the real-time forward speed during training, the sagittal plane motion trajectory of the designated reference point on the sole of the foot within one step cycle is calculated. This trajectory is a closed curve, i.e., the trajectory of the position of the sole of the foot within one step cycle. To use the standardized plantar position trajectory obtained through calculations during steps in the design of a mechanical structure capable of performing simulated biological movements, the plantar position trajectory of the reference point during movement and the anterior-posterior tilt angle of the ankle in the sagittal plane were collected based on walking experiments of 50 healthy subjects with different heights, weights, ages, and sexes. The data was then standardized and subjected to detailed analysis.

[0009] First, in order for the patient's feet to move according to the set trajectory during step exercise training, the horizontal coordinate of the foot sole reference point movement trajectory for each subject is divided by the step length s and the vertical coordinate by the height h, according to the relationship between stride length s and subject height h, h = 0.54s + 1.321, to obtain one standardized foot sole position movement trajectory during stepping, i.e., the first simulated human gait movement trajectory that will serve as the basis for the mechanical structure design. The approximate calculation formula is as follows. JPEG2026111544000002.jpg74166 Here, x and y represent approximate formulas for the standardized horizontal and vertical step motion trajectories of the plantar reference point in the sagittal plane of the human body. t represents the time percentage within one complete step cycle.

[0010] Next, in order for the patient's foot to move along a set positional movement trajectory during step exercise training, and for the ankle's anterior-posterior tilt angle to also follow a set change in plantar posture, if the vertical height of the heel is set as y, the height of the toes is expressed as hJ = y - Δ, and one second bio-movement trajectory simulating human gait is obtained, which is the trajectory of the change in the height difference Δ between the toes and heel during standardized plantar posture changes in step, that is, the basis for the mechanical structure design. The approximate calculation formula is as follows. JPEG2026111544000003.jpg43164

[0011] As the second step, we design the sizes of the core transmission components in the mechanical structure of the simulated biological step training robot, and the contour shapes of the three core transmission cams.

[0012] First, the movement position of the step plate is designed to move according to the first simulated human gait biomotion trajectory. That is, the design is such that the step plate attached to the slide rod moves according to a standardized plantar position motion trajectory as the slide rod slides within the inclined slot. The motion trajectory of the right end of the slide rod in the sagittal plane of the human body is decomposed into displacement-time functions in two directions, horizontal and vertical, and then the contour shape of the corresponding motion drive cam is designed based on the displacement-time functions in those directions. The rotation of this cam drives the motion trajectory of the step plate to match the simulated biomotion trajectory of a human step. The calculation process is as follows: Assuming the length of the slide rod AB is 60 cm and the inclination angle of the inclined slot EC is 10°, point D, 15 cm from the left end B of the slide rod, is set as the fixed axis position of the step plate, and its motion trajectory (Dx, Dy) is set to the plantar motion trajectory in a standardized stepping process. When rod AB is in a horizontal position, the absolute position of point D relative to the ground is taken as the coordinate origin O(0,0), and a ground coordinate system Oxy is established. With horizontal forward being the positive x-axis and vertical upward being the positive y-axis, the equation for inclined slot EC in the ground coordinate system Oxy is 0.176x + y + 2.55 = 0. That is, the length of DE lDE, the length of BE lBE, and the two angles θ1 and θ2 can be calculated, and the formulas for these calculations are as follows. JPEG2026111544000004.jpg50165

[0013] The real-time trajectory coordinates of the right end A of the slide rod in the ground coordinate system are (Dx + 45cosθ², Dy - 45sinθ²). Since its horizontal and vertical motion trajectories can be driven by the rotation of the X-direction cam and the Y-direction cam, respectively, the contour curves of the X-direction cam and the Y-direction cam can be obtained by calculation based on the motion trajectory of the right end A of the slide rod. To reduce the size of the overall mechanism, the trajectories are reduced by a factor of six overall. Setting the minimum radius of the cam to 5 cm, the approximate calculation formulas for the contour curves of these two cams are obtained as follows. JPEG2026111544000005.jpg62167JPEG2026111544000006.jpg63166

[0014] Next, the step plate is designed to rotate according to the second simulated human gait biomotion trajectory. That is, a mechanism for driving the forward and backward tilt angle of the step plate is designed, and the forward and backward tilting motion of the step plate is driven by the rotation of the sole cam, referencing the already obtained standardized trajectory of the height difference Δ change between the toe and heel during changes in sole posture during stepping. The approximate formula for calculating the contour curve of the sole cam is as follows. JPEG2026111544000007.jpg51166

[0015] In the aforementioned simulated biological step training robot, the handrail mechanism 2 includes a central control column 201, a bearing 202, a handrail pin shaft 203, a handrail 204, an underarm support rod 205, a hinge 206, a bottom rod 207, and a step plate 208. The underarm support rod 205 is fastened to a corresponding opening in the central control column 201, the outer diameter of the bearing 202 is fastened to a circular hole opened in the central control column 201, the handrail pin shaft 203 is fastened to a circular hole opened at a corresponding position in the handrail 204 to the right, and then fastened to the inner diameter of the bearing 202 to the left, forming a bearing constraint, the front end of the bottom rod 207 is hinged to the lower end of the handrail 204 via the hinge 206, allowing rotation, and the rear end of the bottom rod 207 is connected to a protruding shaft on the outside of the step plate 208.

[0016] In the aforementioned simulated biological step training robot, the X-direction cam mechanism 3 comprises a first rail 301, a first connecting piece 302, a first slider 303, an intermediate rod 304, a second rail 305, a second slider 306, a first hinge block 307, a second bevel gear 308, a first bevel gear 309, a first coupling 310, a first bearing seat 311, a first spacer block 312, an X-direction cam 313, a first push rod 314, a first pin 315, a first scissor rod 316, a second hinge block 317, a third slider 318, a second pin 319, and a third rail The first connecting piece 302 is welded to the left side of the first slider 303 toward the right, and the first slider 303 is fitted onto the first rail 301 and is slidable up and down along the rail, and the first rail 301 and the second rail 305 are welded to the left and right surfaces of the intermediate rod 304 respectively, and two sets of the first hinge blocks 307 are welded to the right side of the second slider 306 toward the left, and then fitted onto the upper and lower ends of the second rail 305 respectively, relative The first hinge blocks 317 are slidable up and down along the second rail 305, and similarly, the two sets of the second hinge blocks 317 are each welded to the rightward side of the left surface of the third slider 318 corresponding to the set, and then fitted to the upper and lower ends of the third rail 320, which is welded vertically to the corresponding positions on the inner side of the outer shell 1, thereby enabling sliding along the third rail 320 in the relative or opposite direction, and the two first hinge blocks 307, the two second hinge blocks 317, and the six first scissor rods 316 are slidable up and down along the first rail 305, and similarly, the two sets of the second hinge blocks 317 are each welded to the rightward side of the left surface of the third slider 318 corresponding to the set, and then fitted to the upper and lower ends of the third rail 320, respectively, which is welded to the upper and lower ends of the third rail 320, and similarly, the two sets of the first hinge blocks 307, the two second hinge blocks 317, and the six first scissor rods 316 The two corresponding through holes are hinged together by the corresponding second pin 319 to form a parallelogram scissor component, enabling a transmission function of deformable left-right extension and contraction; the right end of the first pin 315 is fitted into the rightmost through hole of the three cross-intersection portions of the six first scissor rods 316, its left end is fitted into a circular hole opened at the right end of the first push rod 314, the left end of the first push rod 314 rolls into mesh with the outer edge of the X-direction cam 313, and the first bevel gear 309 and the second bevel gear 308 mesh with each other.The third bevel gear 321 and the fourth bevel gear 323 mesh with each other, the second bevel gear 308 and the third bevel gear 321 are fixed coaxially via the first coupling 310, the center of the X-direction cam 313 is coaxially fixed to the first bevel gear 309 via the first coupling 310, and the four sets of first bearing seats 311 support and restrain the axis of the X-direction cam 313, the first bevel gear 309, the second bevel gear 308, the third bevel gear 321, and the fourth bevel gear 323, and are welded and fixed coplane at corresponding positions via the first spacer block 312 to enable coplane axial transmission.

[0017] In the aforementioned simulated biological step training robot, the step mechanism 4 includes a third pin 401, a first crank rod 402, a second crank rod 403, a slot housing 404, a rack 405, a gear 406, a ratchet plate 407, a pawl receiving plate 408, a sole cam 409, and a second push rod 410, with the four third pins 401 each being connected to the first crank rod 402. The first crank rod 402 is crimped into a total of four through holes at both ends and at both ends of the second crank rod 403, the third pin 401 at the left end of the first crank rod 402 is crimped into a circular through hole at the top of the slot housing 404, and the third pin 401 at the right end of the first crank rod 402 is crimped into the leftmost through hole at three cross-intersection positions of the six first scissor rods 316, and is fitted in a clearance fit, The third pin 401 at the left end of the second crank rod 403 first passes through a slot opened on the horizontal line of the slot housing 404, then is inserted into the axial hole of the gear 406 and fitted in a clearance fit, the third pin 401 at the right end of the second crank rod 403 is driven into a through hole opened at the lower end of the intermediate rod 304 in the X-direction cam mechanism 3 and tightened and fixed, the two left and right pawl receiving plates 408 are each coaxially fitted inside the two left and right pairs of the ratchet plates 407, and then together are coaxially assembled to the protruding shafts on both sides of the sole cam 409, the two left and right pawl receiving plates 408 are each coaxially welded and fixed to both sides of the sole cam 409, and the two left and right ratchet plates 407 are each coaxially welded and fixed to the two left and right pairs of the gear 406.

[0018] In the aforementioned simulated biological step training robot, the Y-direction cam mechanism 5 includes a second connecting piece 501, a fourth slider 502, a fourth rail 503, an intermediate rod 504, a fifth slider 505, a fifth rail 506, a third hinge block 507, a second scissor rod 508, a fourth pin 509, a fourth hinge block 510, a fifth bevel gear 511, a sixth bevel gear 512, a second bearing seat 513, a second coupling 514, a second spacer block 515, a seventh bevel gear 516, an eighth bevel gear 517, a sixth slider 518, and a Y-direction cam 519. The second connecting piece 501 is welded downward to the fourth slider 502, the fourth slider 502 is fitted onto the fourth rail 503 and is slidable left and right along the fourth rail 503, the fourth rail 503 and the fifth rail 506 are welded to the upper and lower surfaces of the intermediate rod 504, and two sets of the third hinge blocks 507 are welded upward to the lower surface of the fifth slider 505 corresponding to the set, and then fitted to the left and right ends of the fifth rail 506, respectively. , enabling sliding in a relative or opposite direction along the fifth rail 506, and similarly, two sets of the fourth hinge blocks 510 are each welded downward to the upper surface of the sixth slider 518 corresponding to the set, and then fitted to the left and right ends of the sixth rail 522 which is welded horizontally to the corresponding positions on the inner bottom surface of the outer shell 1, enabling sliding in a relative or opposite direction along the sixth rail 522, and two of the third hinge blocks 507, two of the fourth hinge blocks 510, and six of the second scissor rods 508, respectively, corresponding to 2 The two through holes are hinged together by the corresponding fourth pin 509 to form a parallelogram scissor component, enabling a transmission function of deformable vertical extension and contraction; the left end of the fifth pin 521 is fitted into the lowest through hole of the three cross-intersection portions of the six second scissor rods 508; the right end of the fifth pin 521 is fitted into a circular hole opened at the lower end of the third push rod 520; the upper end of the third push rod 520 rolls into the outer edge of the Y-direction cam 519; the fifth bevel gear 511 and the sixth bevel gear 512 mesh with each other.The seventh bevel gear 516 and the eighth bevel gear 517 mesh with each other, and the three sets of second bearing seats 513 and second spacer blocks 515 are welded and fixed vertically to their corresponding positions. They are used to horizontally support the sixth bevel gear 512 and the seventh bevel gear 516, which are then coaxially opposed and fixed together by the second coupling 514. They are also used to support the output shaft of the eighth bevel gear 517 and to be interlocked into the central shaft hole of the Y-direction cam 519 to drive its rotation.

[0019] In the aforementioned simulated biological step training robot, the base mechanism 6 includes a hinge 601, a slide rod 602, a roller 603, and an inclined slot 604. The right end of the hinge 601 is simultaneously welded and fixed to the corresponding contact surfaces of the first connecting piece 302 in the X-direction cam mechanism 3 and the second connecting piece 501 in the Y-direction cam mechanism 5. The left end of the hinge 601 is hinged to the right end of the slide rod 602. The protruding shaft at the lower left end of the slide rod 602 is hinged to the roller 603. The roller 603 is fitted into a groove in the upper inclined surface of the inclined slot 604, supporting the reciprocating movement of the slide rod 602.

[0020] The beneficial effects of this invention are as follows: By rationally designing the drive mounting positions in the scissor-type quadrilateral mechanism of the first and third push rods, displacement amplification is achieved, effectively reducing the external dimensions of the X-direction cam and Y-direction cam by six times. Furthermore, the reciprocating drive displacement difference formed by the differential mounting of the neck ends of the first and second crank rods, combined with the cooperative action of the ratchet plate and the pawl receiving plate, allows the sole cam to be driven clockwise throughout the entire motion cycle, effectively realizing the beneficial effect of synchronized drive of six terminal degrees of freedom by a single motor. The mechanical structure was designed as an appropriate restraint system in accordance with the principles of simulated biology, taking into full consideration the spatial motion trajectory of the sole of the foot and the changes in anterior-posterior tilt posture of the ankle during the stepping process of a healthy human body. By effectively synchronizing the user's bilateral foot positions and corresponding ankle joint angles, it is possible to support users with stepping movement dysfunction in performing exercise training that targets the walking state of a healthy human body. Furthermore, building upon the foundation of effectively assisting human walking movements, the transmission mechanism uses only a single motor to enable the left and right foot stepping mechanisms to achieve a simulated human gait, bio-movement trajectory, and forward / backward tilt posture changes. In addition, a force sensor built into the underarm support rod detects the support force on the human body in real time, and by implementing closed-loop control of the servo motor, the patient can obtain real-time quantitative load reduction training. This invention can achieve effectiveness in various postures, such as simulated bio-stepping exercise training indoors and load reduction in a standing posture, and has clinical application value as well as being suitable for home use, filling a gap in this field and being advantageous for commercialization, production, dissemination, and promotion. [Brief explanation of the drawing]

[0021] The drawings described herein are provided to further enhance understanding of the present invention and constitute part of this application. Exemplary embodiments and descriptions of the present invention are for illustrative purposes only and do not unduly limit the invention. [Figure 1] This is an axial view of the simulated biological step training robot according to the present invention. [Figure 2]It is an exploded view of the internal mechanical structure according to the present invention. [Figure 3] It is the height difference between the heel and the toe in the human walking posture simulation biological movement trajectory and the walking process according to the present invention. [Figure 4] It is a design principle diagram of the sizes of the components within the base mechanism according to the present invention. [Figure 5] It is a diagram of the X - direction cam contour trajectory, Y - direction cam contour trajectory, and sole cam contour trajectory according to the present invention. [Figure 6] It is an exploded view of the handrail mechanism according to the present invention. [Figure 7] It is an exploded view of the X - direction cam mechanism according to the present invention. [Figure 8] It is an exploded view of the step mechanism according to the present invention. [Figure 9] It is an exploded view of the Y - direction cam mechanism according to the present invention. [Figure 10] It is an exploded view of the base mechanism according to the present invention.

Mode for Carrying Out the Invention

[0022] Hereinafter, the system of the present invention will be further described while referring to the drawings. It is implemented on the premise of the technical solution of the present invention, presenting specific embodiments and detailed operation processes, but the protection scope of the present invention is not limited to these described embodiments. As shown in Figures 1 and 2, the simulated biological step training robot includes an outer shell 1, a handrail mechanism 2, an X-direction cam mechanism 3, a step mechanism 4, a Y-direction cam mechanism 5, and a base mechanism 6. The handrail mechanism 2 is fixed downwards at the central position inside the outer shell 1. Two sets of step mechanisms 4 are fixed to both sides of the handrail mechanism 2 inside the outer shell 1, with their front ends connected upwards to the handrail mechanism 2 by hinge transmission. Two sets of base mechanisms 6 are hinged to the outer axis of the step plate of the step mechanism 4 of the same group, and are driven to bring about a change in spatial position. Two sets of X-direction cam mechanisms 3 and two sets of Y-direction cam mechanisms 5 are fixed to the front ends of the base mechanism 6 of the same group, and are hinged to the corresponding output axes of the front ends of the step mechanism 4 of the same group. They are used to move along the simulated human gait trajectory and simultaneously drive the corresponding base mechanism 6 to synchronize the corresponding step mechanism 4 and form a combined horizontal and vertical movement. The design method involves the following two steps:

[0023] As shown in Figure 3, the first step involves collecting the positional trajectory of the plantar reference point and the anterior-posterior tilt angle of the ankle in the sagittal plane, based on walking experiments of 50 healthy individuals with different heights, weights, ages, and sexes. Subsequently, the data is post-processed to obtain the movement trajectory of the standardized plantar position during steps and the trajectory of the change in the height difference Δ between the toes and heels during changes in plantar posture, i.e., two simulated human gait bio-movement trajectories that serve as the basis for mechanical structural design.

[0024] First, a 7-link human step gait model is constructed within the sagittal plane of the human body. The left and right hip joint points are assumed to coincide within the sagittal plane of the human body, and the upper limbs are assumed to maintain a vertical position during stepping, i.e., upper body sway during the gait process of a rehabilitation patient is ignored. In the calculation process, the right foot contact is taken as the start of one step cycle, and the expected average forward speed during the patient's gait training is set as the training step forward speed. By subtracting the average step forward speed from the real-time forward speed during training, the sagittal plane motion trajectory of the designated reference point on the sole of the foot within one step cycle is calculated. This trajectory is a closed curve, i.e., the trajectory of the position of the sole of the foot within one step cycle. To use the standardized plantar position trajectory obtained through calculations during steps in the design of a mechanical structure capable of performing simulated biological movements, the plantar position trajectory of the reference point during movement and the anterior-posterior tilt angle of the ankle in the sagittal plane were collected based on walking experiments of 50 healthy subjects with different heights, weights, ages, and sexes. The data was then standardized and subjected to detailed analysis.

[0025] First, in order for the patient's feet to move according to the set trajectory during step exercise training, the horizontal coordinate of the foot sole reference point movement trajectory for each subject is divided by the step length s and the vertical coordinate by the height h, according to the relationship between stride length s and subject height h, h = 0.54s + 1.321, to obtain one standardized foot sole position movement trajectory during stepping, i.e., the first simulated human gait movement trajectory that will serve as the basis for the mechanical structure design. The approximate calculation formula is as follows. JPEG2026111544000008.jpg74166 Here, x and y represent approximate formulas for the standardized horizontal and vertical step motion trajectories of the plantar reference point in the sagittal plane of the human body. t represents the time percentage within one complete step cycle.

[0026] Next, in order for the patient's foot to move along a set positional movement trajectory during step exercise training, and for the ankle's anterior-posterior tilt angle to also follow a set change in plantar posture, if the vertical height of the heel is set as y, the height of the toes is expressed as hJ = y - Δ, and one second bio-movement trajectory simulating human gait is obtained, which is the trajectory of the change in the height difference Δ between the toes and heel during standardized plantar posture changes in step, that is, the basis for the mechanical structure design. The approximate calculation formula is as follows. JPEG2026111544000009.jpg43164

[0027] As shown in Figures 4 and 5, the second step is to design the sizes of the core transmission components in the mechanical structure of the simulated biological step training robot and the contour shapes of the three core transmission cams.

[0028] First, the movement position of the step plate is designed to move according to the first simulated human gait biomotion trajectory. That is, the design is such that the step plate attached to the slide rod moves according to a standardized plantar position motion trajectory as the slide rod slides within the inclined slot. The motion trajectory of the right end of the slide rod in the sagittal plane of the human body is decomposed into displacement-time functions in two directions, horizontal and vertical, and then the contour shape of the corresponding motion drive cam is designed based on the displacement-time functions in those directions. The rotation of this cam drives the motion trajectory of the step plate to match the simulated biomotion trajectory of a human step. The calculation process is as follows: Assuming the length of the slide rod AB is 60 cm and the inclination angle of the inclined slot EC is 10°, point D, 15 cm from the left end B of the slide rod, is set as the fixed axis position of the step plate, and its motion trajectory (Dx, Dy) is set to the plantar motion trajectory in a standardized stepping process. When rod AB is in a horizontal position, the absolute position of point D relative to the ground is taken as the coordinate origin O(0,0), and a ground coordinate system Oxy is established. With horizontal forward being the positive x-axis and vertical upward being the positive y-axis, the equation for inclined slot EC in the ground coordinate system Oxy is 0.176x + y + 2.55 = 0. That is, the length of DE lDE, the length of BE lBE, and the two angles θ1 and θ2 can be calculated, and the formulas for these calculations are as follows. JPEG2026111544000010.jpg50165

[0029] The real-time trajectory coordinates of the right end A of the slide rod in the ground coordinate system are (Dx + 45cosθ², Dy - 45sinθ²). Since its horizontal and vertical motion trajectories can be driven by the rotation of the X-direction cam and the Y-direction cam, respectively, the contour curves of the X-direction cam and the Y-direction cam can be obtained by calculation based on the motion trajectory of the right end A of the slide rod. To reduce the size of the overall mechanism, the trajectories are reduced by a factor of six overall. Setting the minimum radius of the cam to 5 cm, the approximate calculation formulas for the contour curves of these two cams are obtained as follows. JPEG2026111544000011.jpg62167JPEG2026111544000012.jpg63166

[0030] Next, the step plate is designed to rotate according to the second simulated human gait biomotion trajectory. That is, a mechanism for driving the forward and backward tilt angle of the step plate is designed, and the forward and backward tilting motion of the step plate is driven by the rotation of the sole cam, referencing the already obtained standardized trajectory of the height difference Δ change between the toe and heel during changes in sole posture during stepping. The approximate formula for calculating the contour curve of the sole cam is as follows. JPEG2026111544000013.jpg51166

[0031] As shown in Figure 6, in the simulated biological step training robot, the handrail mechanism 2 includes a central control column 201, a bearing 202, a handrail pin shaft 203, a handrail 204, an underarm support rod 205, a hinge 206, a bottom rod 207, and a step plate 208. The underarm support rod 205 is fastened to a corresponding opening in the central control column 201, the outer diameter of the bearing 202 is fastened to a circular hole opened in the central control column 201, the handrail pin shaft 203 is fastened to a circular hole opened at a corresponding position in the handrail 204 to the right, and then fastened to the inner diameter of the bearing 202 to the left, forming a bearing constraint, the front end of the bottom rod 207 is hinged to the lower end of the handrail 204 via the hinge 206, allowing rotation, and the rear end of the bottom rod 207 is hinged to a protruding shaft on the outside of the step plate 208. When the step plate 208 is driven, it moves the base rod 207 along a predetermined motion trajectory, and further causes the handrail 204 to swing back and forth on a fixed axis via the hinged hinge 206. During the stepping motion, the user can perform an arm swing motion by grasping the upper end of the corresponding handrail (204) with both hands.

[0032] As shown in Figure 7, in the simulated biological step training robot, the X-direction cam mechanism 3 consists of a first rail 301, a first connecting piece 302, a first slider 303, an intermediate rod 304, a second rail 305, a second slider 306, a first hinge block 307, a second bevel gear 308, a first bevel gear 309, a first coupling 310, a first bearing seat 311, a first spacer block 312, an X-direction cam 313, a first push rod 314, a first pin 315, a first scissor rod 316, a second hinge block 317, and a third slider 318. The first connecting piece 302 is welded to the left side of the first slider 303, the first slider 303 is fitted onto the first rail 301 and is slidable up and down along the rail, the first rail 301 and the second rail 305 are welded to the left and right surfaces of the intermediate rod 304, and two sets of the first hinge blocks 307 are welded to the right side of the second slider 306, and then each set The two first hinge blocks 307 are fitted to the upper and lower ends of the rail 305, enabling sliding in the relative or opposite directions, and are slidable up and down along the second rail 305. Similarly, the two sets of the second hinge blocks 317 are each welded to the rightward direction to the left surface of the third slider 318 corresponding to the set, and then fitted to the upper and lower ends of the third rail 320, which is welded vertically to the corresponding position on the inner side of the outer shell 1, enabling sliding in the relative or opposite directions along the third rail 320. The two corresponding through-holes in the block 317 and the six first scissor rods 316 are hinged together by the corresponding second pins 319 to form a parallelogram scissor component, enabling a transmission function of deformable left-right extension and contraction; the right end of the first pin 315 is fitted into the rightmost through-hole of the three cross-intersection portions of the six first scissor rods 316, its left end is fitted into a circular hole opened at the right end of the first push rod 314, and the left end of the first push rod 314 rolls into the outer edge of the X-direction cam 313.The first bevel gear 309 and the second bevel gear 308 mesh with each other, the third bevel gear 321 and the fourth bevel gear 323 mesh with each other, the second bevel gear 308 and the third bevel gear 321 are fixed coaxially via the first coupling 310, the center of the X-direction cam 313 is coaxially fixed to the first bevel gear 309 via the first coupling 310, and the four sets of first bearing seats 311 support and restrain the axis of the X-direction cam 313, the first bevel gear 309, the second bevel gear 308, the third bevel gear 321, and the fourth bevel gear 323, and are welded and fixed coaxially at corresponding positions via the first spacer block 312. After startup, the aforementioned simulated biological step training robot's motor 322 rotates, driving the coaxially fixed fourth bevel gear 323, which meshes with the third bevel gear 321, causing it to rotate. Furthermore, the coaxially fixed second bevel gear 308 begins to rotate, driving the meshed first bevel gear 309 to rotate as well. This causes the X-direction cam 313 connected to the shaft to rotate, and its contour drives the first push rod 314, moving the rightmost of the three through holes located at the intersection of the six first scissor rods 316 from side to side. Through the expansion and contraction deformation of the scissor structure, six stages of amplified transmission are achieved for horizontal displacement, and the left-right movement trajectory of the first rail 301 becomes the X-direction displacement of the first preset human gait simulated biological movement trajectory. Ultimately, the sliding rod (602) acquires the X-direction displacement of the first human gait simulation biomotion trajectory via the hinge 601 fixed to the first connecting piece 302.

[0033] As shown in Figure 8, in the simulated biological step training robot, the step mechanism 4 includes a third pin 401, a first crank rod 402, a second crank rod 403, a slot housing 404, a rack 405, a gear 406, a ratchet plate 407, a pawl receiving plate 408, a sole cam 409, and a second push rod 410, with the four third pins 401 each being connected to the first crank rod The first crank rod 402 and the second crank rod 403 are fitted into a total of four through holes at both ends, the third pin 401 at the left end of the first crank rod 402 is fitted into a circular through hole at the top of the slot housing 404, and the third pin 401 at the right end of the first crank rod 402 is fitted into the leftmost through hole at three cross-intersection positions of the six first scissor rods 316, forming a clearance fit. Furthermore, the third pin 401 at the left end of the second crank rod 403 first passes through a slot opened on the horizontal line of the slot housing 404, then is inserted into the axial hole of the gear 406 and fitted in a clearance fit, the third pin 401 at the right end of the second crank rod 403 is driven into a through hole opened at the lower end of the intermediate rod 304 in the X-direction cam mechanism 3 and tightened and fixed, the two left and right pawl receiving plates 408 are each coaxially fitted inside the two left and right pairs of the ratchet plates 407, and then together are coaxially assembled to the protruding shafts on both sides of the sole cam 409, the two left and right pawl receiving plates 408 are each coaxially welded and fixed to both sides of the sole cam 409, and the two left and right ratchet plates 407 are each coaxially welded and fixed to the two left and right pairs of the gear 406. After the simulated biological step training robot is started, the entire step mechanism 4 is pulled forward by the first crank rod 402, and the two upper and lower racks 405 fixed to the inner walls of the two sets of left and right slot housings 404 also move forward as a single unit. At the same time, the two sets of left and right gears 406 are pulled forward by the corresponding second crank rods 403. Due to the difference in forward drive displacement that occurs after the first crank rods 402 and the second crank rods 403 receive power, the pulled gears 406 and racks 405 have a difference in displacement in the horizontal forward direction. The right gear 406 rotates clockwise forward while meshing with the lower rack 405, and the left gear 406 rotates counterclockwise forward while meshing with the upper rack 405.At this time, the right gear 406 and its associated ratchet plate 407 and pawl plate 408 engage and move in conjunction, while the left gear 406 and its associated ratchet plate 407 and pawl plate 408 disengage and disconnect the power transmission. During this half-cycle, the foot cam 409 is driven clockwise. Conversely, when the two sets of gears 406 are pushed backward by the second crank rod 403, the left gear 406 rotates clockwise backward while engaging with the upper rack 405, and the right gear 406 rotates counterclockwise backward while engaging with the lower rack 405. At this time, the left gear 406 and its associated ratchet plate engage and move in conjunction, while the right gear 406 and its associated ratchet plate disengage and disconnect the power transmission. Even in this half-cycle, the sole cam 409 is still driven clockwise. By repeating this reciprocating motion, the sole cam 409 is eventually driven to rotate clockwise throughout the entire motion cycle. As a result, the second push rod 410, which tightly engages with the outer contour of the sole cam 409, moves up and down reciprocating throughout the entire motion cycle, further pushing up the step plate 208 in the handrail mechanism 2, thereby achieving periodic forward and backward tilting motion in each motion cycle. That is, the spatial position of the step plate (208) is driven by the slide rod (602) to match the first simulated human gait bio-movement trajectory, and at the same time, the forward and backward tilting posture of the step plate (208) also matches the second simulated human gait bio-movement trajectory.

[0034] As shown in Figure 9, in the simulated biological step training robot, the Y-direction cam mechanism 5 consists of a second connecting piece 501, a fourth slider 502, a fourth rail 503, an intermediate rod 504, a fifth slider 505, a fifth rail 506, a third hinge block 507, a second scissor rod 508, a fourth pin 509, a fourth hinge block 510, a fifth bevel gear 511, a sixth bevel gear 512, a second bearing seat 513, a second coupling 514, a second spacer block 515, a seventh bevel gear 516, an eighth bevel gear 517, a sixth slider 518, and Y The system includes a directional cam 519, a third push rod 520, a fifth pin 521, and a sixth rail 522. The second connecting piece 501 is welded downward to the fourth slider 502, the fourth slider 502 is fitted to the fourth rail 503 and is slidable left and right along the fourth rail 503, the fourth rail 503 and the fifth rail 506 are welded to the upper and lower surfaces of the intermediate rod 504, respectively. Two sets of the third hinge blocks 507 are welded upward to the lower surface of the fifth slider 505 corresponding to each set, and then to the left and right ends of the fifth rail 506, respectively. The two sets of the fourth hinge blocks 510 are fitted into the fifth rail 506, enabling sliding in a relative or opposite direction, and similarly, the two sets of the fourth hinge blocks 510 are each welded downward to the upper surface of the sixth slider 518 corresponding to the set, and then fitted into the left and right ends of the sixth rail 522, which is welded horizontally to the corresponding positions on the inner bottom surface of the outer shell 1, enabling sliding in a relative or opposite direction along the sixth rail 522, corresponding to the two third hinge blocks 507, the two fourth hinge blocks 510, and the six second scissor rods 508, respectively. The two through holes are hinged together by the corresponding fourth pin 509 to form a parallelogram scissor component, enabling a transmission function of deformable vertical extension and contraction; the left end of the fifth pin 521 is fitted into the lowest through hole of the three cross-intersection portions of the six second scissor rods 508; the right end of the fifth pin 521 is fitted into a circular hole opened at the lower end of the third push rod 520; the upper end of the third push rod 520 rolls into the outer edge of the Y-direction cam 519; the fifth bevel gear 511 and the sixth bevel gear 512 mesh with each other.The seventh bevel gear 516 and the eighth bevel gear 517 mesh with each other, and the three sets of second bearing seats 513 and second spacer blocks 515 are welded and fixed vertically to their corresponding positions, respectively, and are used to horizontally support the sixth bevel gear 512 and the seventh bevel gear 516, which are then coaxially opposed and fixed together by the second coupling 514. They are also used to support the output shaft of the eighth bevel gear 517 and to be tightly fitted into the central shaft hole of the Y-direction cam 519 to drive its rotation. After startup, the simulated biological step training robot starts up, and the motor 322 rotates, driving the fixed fifth bevel gear 511, causing the sixth bevel gear 512 to mesh and receive power, starting to rotate. Furthermore, the coaxially fixed seventh bevel gear 516 starts to rotate, driving the meshed eighth bevel gear 517 to rotate. This causes the Y-direction cam 519 connected to the shaft to begin rotating, and its contour drives the third push rod 520, moving the lowest of the three through-holes located at the intersection of the six second scissor rods 508 vertically. Through the expansion and contraction deformation of the scissor structure, six stages of amplified transmission are achieved for vertical displacement, and the vertical movement trajectory of the fourth rail 503 becomes the Y-direction displacement of the first preset human gait simulation biomotion trajectory. The slide rod 602 acquires the Y-direction displacement of the first human gait simulation biomotion trajectory via the hinge 601 fixed to the second connecting piece 501. Finally, the slide rod 602 is driven according to the combined X-direction and Y-direction motion trajectory, i.e., the human gait simulation biomotion trajectory, reaching the preset motion effect, and furthermore, the step plate 208 and bottom rod 207 are all transmitted in stages.

[0035] As shown in Figure 10, in the simulated biological step training robot, the base mechanism 6 includes a hinge 601, a slide rod 602, a roller 603, and an inclined slot 604. The right end of the hinge 601 is welded and fixed simultaneously with the corresponding contact surfaces of the first connecting piece 302 in the X-direction cam mechanism 3 and the second connecting piece 501 in the Y-direction cam mechanism 5. The left end of the hinge 601 is hinged to the right end of the slide rod 602. The protruding shaft at the lower left end of the slide rod 602 is hinged to the roller 603. The roller 603 is fitted into a groove in the upper inclined surface of the inclined slot 604, supporting the reciprocating movement of the slide rod 602 and supporting most of the user's weight. The above description represents only preferred embodiments of the present invention and does not limit it. Those skilled in the art will know that various modifications and changes can be made to the present invention. Any modifications, equivalent substitutions, improvements, etc., made to the present invention are all covered within the scope of the present invention.

Claims

1. A simulated biological step training robot comprising an outer shell (1), a handrail mechanism (2), an X-direction cam mechanism (3), a step mechanism (4), a Y-direction cam mechanism (5), and a base mechanism (6), wherein the handrail mechanism (2) is fixed downward at the central position inside the outer shell (1), and two sets of the step mechanisms (4) are fixed to both sides of the handrail mechanism (2) inside the outer shell (1), with their front ends connected upward to the handrail mechanism (2) by hinge transmission, and two sets of the base mechanisms (6) are hinged to the outer axis of the step plate of the step mechanism (4) of the same group, A simulated biological step training robot characterized in that it is driven to bring about a change in spatial position, and two sets of left and right X-direction cam mechanisms (3) and two sets of left and right Y-direction cam mechanisms (5) are each fixed to the front end of the base mechanism (6) of the same group and are hinge-connected to the corresponding output shafts at the front end of the step mechanism (4) of the same group, and are used to move along a movement trajectory that mimics the walking posture of the human body, and at the same time to drive the corresponding base mechanism (6) to form a composite movement in the horizontal and vertical directions by linking the corresponding step mechanism (4).

2. In the simulated biological step training robot according to claim 1, the handrail mechanism (2) includes a central control column (201), a bearing (202), a handrail pin shaft (203), a handrail (204), an underarm support rod (205), a hinge (206), a bottom rod (207), and a step plate (208), wherein the underarm support rod (205) is fastened to a corresponding opening in the central control column (201), and the outer diameter of the bearing (202) is fastened to a circular hole opened in the central control column (201), A simulated biological step training robot characterized in that the handrail pin shaft (203) is tightened and fixed to a circular hole opened in the handrail (204) at a corresponding position to the right, and then tightened and driven into the inner diameter of the bearing (202) to the left, forming a bearing constraint, the front end of the base rod (207) is hinged to the lower end of the handrail (204) via a hinge (206) to allow rotation, and the rear end of the base rod (207) is connected to a protruding shaft on the outside of the step plate (208).

3. In the simulated biological step training robot according to claim 1, the X-direction cam mechanism (3) comprises a first rail (301), a first connecting piece (302), a first slider (303), an intermediate rod (304), a second rail (305), a second slider (306), a first hinge block (307), a second bevel gear (308), a first bevel gear (309), a first coupling (310), a first bearing seat (311), a first spacer block (312), an X-direction cam (313), a first push rod (314), a first pin (315), and a first scissor rod (316 The first connecting piece (302) is welded to the left side of the first slider (303) to the right, and the first slider (303) is fitted onto the first rail (301) and is slidable up and down along the rail, and the first rail (301) and the second rail (305) are welded to the left and right surfaces of the intermediate rod (304), respectively, and two sets of the first Each hinge block (307) is welded to the right side of the second slider (306) in a leftward direction, and then fitted to the upper and lower ends of the second rail (305), respectively, enabling sliding in a relative or opposite direction, and allowing vertical sliding along the second rail (305). Similarly, each of the two sets of the second hinge blocks (317) is welded to the left surface of the corresponding third slider (318) in a rightward direction, and then fitted to the upper and lower ends of the third rail (320), which is vertically welded to the corresponding position on the inner side of the outer shell (1), respectively, and the third rail The two first hinge blocks (307), the two second hinge blocks (317), and the six first scissor rods (316) each have two corresponding through-holes that are hinged together by corresponding second pins (319) to form a parallelogram scissor component, which enables a transmission function of deformable left and right extension and contraction, and the right end of the first pin (315) is fitted into the rightmost through-hole of the three cross-intersection portions of the six first scissor rods (316).Its left end is tightly fitted into a circular hole opened at the right end of the first push rod (314), the left end of the first push rod (314) rolls and meshes with the outer edge of the X-direction cam (313), the first bevel gear (309) and the second bevel gear (308) mesh with each other, the third bevel gear (321) and the fourth bevel gear (323) mesh with each other, the second bevel gear (308) and the third bevel gear (321) are fixed coaxially via the first coupling (310), and the center of the X-direction cam (313) is the first A simulated biological step training robot characterized by the following features: a bevel gear (309) is coaxially fixed via a first coupling (310), and the four sets of first bearing seats (311) support and restrain the axis of the X-direction cam (313), the first bevel gear (309), the second bevel gear (308), the third bevel gear (321), and the fourth bevel gear (323), and are welded and fixed in the same plane at corresponding positions via a first spacer block (312).

4. In the simulated biological step training robot according to claim 1, the step mechanism (4) includes a third pin (401), a first crank rod (402), a second crank rod (403), a slot housing (404), a rack (405), a gear (406), a ratchet plate (407), a pawl receiving plate (408), a sole cam (409), and a second push rod (410), wherein the four third pins (401) each have a first crank The first crank rod (402) is crimped into a total of four through holes at both ends and at both ends of the second crank rod (403), the third pin (401) at the left end of the first crank rod (402) is crimped into a circular through hole at the top of the slot housing (404), and the third pin (401) at the right end of the first crank rod (402) is crimped into the leftmost through hole at the three cross-intersection positions of the six first scissor rods (316), and the two are fitted together in a clearance fit, The third pin (401) at the left end of the second crank rod (403) first passes through a slot opened on the horizontal line of the slot housing (404), then is inserted into the axial hole of the gear (406) and fitted in a clearance fit, and the third pin (401) at the right end of the second crank rod (403) is driven into a through hole opened at the lower end of the intermediate rod (304) in the X-direction cam mechanism (3) and tightened and fixed, and the two left and right claw receiving plates (408) are respectively left A simulated biological step training robot characterized in that, after being coaxially fitted inside the two identical ratchet plates (407) on the right, they are coaxially assembled together to the protruding shafts on both sides of the sole cam (409), the two left and right claw receiving plates (408) are each coaxially welded and fixed to both sides of the sole cam (409), and the two left and right ratchet plates (407) are each coaxially welded and fixed to the two identical left and right gears (406).

5. In the simulated biological step training robot according to claim 1, the Y-direction cam mechanism (5) comprises a second connecting piece (501), a fourth slider (502), a fourth rail (503), an intermediate rod (504), a fifth slider (505), a fifth rail (506), a third hinge block (507), a second scissor rod (508), a fourth pin (509), a fourth hinge block (510), a fifth bevel gear (511), a sixth bevel gear (512), a second bearing seat (513), a second coupling (514), a second spacer block (515), and a seventh The assembly includes a bevel gear (516), an eighth bevel gear (517), a sixth slider (518), a Y-direction cam (519), a third push rod (520), a fifth pin (521), and a sixth rail (522), wherein the second connecting piece (501) is welded downward to the fourth slider (502), the fourth slider (502) is fitted to the fourth rail (503) and is slidable left and right along the fourth rail (503), the fourth rail (503) and the fifth rail (506) are welded to the upper and lower surfaces of the intermediate rod (504), respectively, and two sets of the third pin (501) Each hinge block (507) is welded upward to the lower surface of the corresponding fifth slider (505) and then fitted to the left and right ends of the fifth rail (506), enabling sliding along the fifth rail (506) in a relative or opposite direction. Similarly, each of the two sets of the fourth hinge blocks (510) is welded downward to the upper surface of the corresponding sixth slider (518) and then fitted to the left and right ends of the sixth rail (522), which is horizontally welded to the corresponding position on the inner bottom surface of the outer shell (1), enabling sliding along the sixth rail (5 22) to enable sliding in relative or opposite directions, the two third hinge blocks (507), the two fourth hinge blocks (510), and the two corresponding through-holes of the six second scissor rods (508) are hinged together by corresponding fourth pins (509) to form a parallelogram scissor component to enable the transmission function of deformable vertical extension and contraction, the left end of the fifth pin (521) is fitted into the lowest through-hole of the three cross-intersection portions of the six second scissor rods (508),The right end of the fifth pin (521) is tightly fitted into a circular hole opened in the lower end of the third push rod (520), the upper end of the third push rod (520) rolls into mesh with the outer edge of the Y-direction cam (519), the fifth bevel gear (511) and the sixth bevel gear (512) mesh with each other, the seventh bevel gear (516) and the eighth bevel gear (517) mesh with each other, and the three sets of second bearing seats (513) and second spacer blocks (515) are each A simulated biological step training robot characterized by being welded and fixed vertically in corresponding positions, horizontally supporting the sixth bevel gear (512) and the seventh bevel gear (516) and then coaxially aligning them, before being coaxially fixed by the second coupling (514), and also being used to support the output shaft of the eighth bevel gear (517) and to be tightly fitted into the central shaft hole of the Y-direction cam (519) to drive its rotation.

6. A simulated biological step training robot according to claim 1, wherein the base mechanism (6) includes a hinge (601), a slide rod (602), a roller (603), and an inclined slot (604), wherein the right end of the hinge (601) is welded and fixed simultaneously with the corresponding contact surfaces of the first connecting piece (302) in the X-direction cam mechanism (3) and the second connecting piece (501) in the Y-direction cam mechanism (5), the left end of the hinge (601) is hinged to the right end of the slide rod (602), the protruding shaft at the lower left end of the slide rod (602) is hinged to the roller (603), and the roller (603) is fitted into a groove in the upper inclined surface of the inclined slot (604) to support the reciprocating movement of the slide rod (602).

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