37 results about "Ambulation training" patented technology

The utility model discloses a walking rehabilitation training device for a stroke patient, and relates to the technical field of rehabilitation training. Comprising a base, a storage cavity is formed in the base, a plurality of lead screws are rotationally arranged in the storage cavity, the lead screws are movably sleeved with lifting frames, supporting plates are hinged to the tops of the lifting frames, and replacement plates are detachably connected to the tops of the supporting plates. According to the liftable replacement plate, the multiple supporting plates can form a stair state, a patient can simulate walking stair-climbing training, the training difficulty is increased, the angle of the angle-adjustable replacement plate can be adjusted, the multiple replacement plates can simulate a slope surface so that the patient can conduct walking training, the training difficulty is greatly increased, uphill training can be conducted, and downhill training can also be conducted; by selecting the replacement plates of different table tops, walking on different road surfaces can be simulated, the training difficulty is further increased, the structure is simple and compact, economic benefits are met, and the application prospect is wide.

To provide a walking assist device capable of adjusting a horizontal position of the center of gravity of a user, and a walking training method using the same.SOLUTION: A walking assist device 10 for assisting walking of a user P includes: a frame body 11 disposed so as to surround the user P in a standing state on which the arm of the user P is placed; N pulling members 13,14,15,16 that pull at least one of the waist portion and the abdominal portion of the user P in directions different from each other in a horizontal component via a mounting tool 12 mounted on the user P; and N winding means 17,18,19,20 that correspond to the N pulling members 13,14,15,16 respectively, and wind the corresponding pulling members 13,14,15,16. In the N pulling members 13,14,15,16. an angle formed by the respective pulling directions of all the adjacent pulling members 13,14,15,16 is less than 180 degrees in a plain view, N being an integer of 3 or more.SELECTED DRAWING: Figure 2

The utility model provides an anti-falling dialysis patient walking training device which comprises a main body frame, the main body frame is of an annular structure, a walking training hollow cavity is formed in the main body frame, a handrail support is arranged below an annular handrail, a wheel body installation frame is arranged below a training device base, and universal wheels are arranged below the wheel body installation frame. A base anti-toppling supporting rod is arranged on the side edge of the trainer base. A patient can stand in the main body frame of the annular structure and the walking training hollow cavity in the body frame, so that a relatively closed protection space is provided for the patient. The annular handrail, the handrail cross rod and the handrail support provide good support and balance for the patient, and the possibility of falling down is reduced. The base anti-toppling supporting rod on the side edge of the training device base improves the stability of the training device and prevents toppling in the using process. The anti-collision buffering rubber ring in the middle of the main body frame can effectively relieve injury to the patient when the patient collides with the main body frame in the training process.

Disclosed is an exercise system including: a walking exercise device including an effector having at least one link that drives a pedal on which a patient stands; and a system operation device for controlling a main effector according to a training plan for each individual to conduct walking training for the patient, wherein the system operation device includes: an index prediction unit having an index prediction model for predicting a walk evaluation index of the patient on the basis of basic information including personal information and initial walking state information of the patient; a training planning unit for establishing an individual training plan for each patient on the basis of the predicted waling evaluation index; a training evaluation unit for evaluating a training result on the basis of training result data according to a result of rehabilitation training of the patient performed by the walking exercise unit; and a reporting unit for performing reporting on the training result on the basis of the evaluation of the training result.

A disclosed exercise system comprises: a walking exercise device having a pedal for a patient to stand on, and a pedal driving unit having one or more links to drive the pedal; and a system control device for conducting gait training of the patient according to a training plan, wherein the system control device comprises: an index prediction unit for determining a gait assessment index on the basis of initial gait status information of the patient or a gait training result after gait training; a training planning unit for establishing a patient-customized training plan to be performed by a walking exercise unit on the basis of the gait training result; a training process unit for monitoring training data with respect to a real-time training status from the patient in real time while performing training on the patient according to the training plan, and generating feedback on the training data; and a training evaluation unit for evaluating the training result on the basis of training result data corresponding to the result of the patient's rehabilitation training performed by the walking exercise unit.

The invention discloses a lung cancer patient home exercise rehabilitation training system based on a severe game, and the system comprises a patient terminal device which is used for operating a severe game application and collecting exercise behavior data and physiological signals; the medical care terminal management interface is used for medical care personnel to log in and check patient information and training execution conditions; and the server / cloud platform comprises an exercise prescription engine module which is used for generating an individualized exercise prescription based on the baseline evaluation data of the patient. Through a virtual game scene and a hierarchical breakthrough and reward mechanism, the originally boring respiratory training, resistance training and walking training are integrated into a severe game with the sense of sexuality and goals, the participation interest and the sense of achievement of a patient are stimulated, and the possibility of long-term persistence is remarkably improved.

A motion unit of the disclosed gait training system comprises: a support unit including an actuator support portion having a predetermined height; and an actuator including a first link having one end connected to the actuator support portion by a first joint, a second link having one end connected to the other end of the first link by a second joint, and a foot plate connected to the other end of the second link by a third joint, wherein a first driving motor for rotating the first link with respect to the actuator support portion is installed at the first joint, a second driving motor for rotating the second link with respect to the first link is installed at the second joint, and a third driving motor for rotating the footrest with respect to the second link is installed at the third joint.

The present invention relates to a virtual reality-based task-oriented gait training system and method, in which the virtual reality-based task-oriented gait training system according to the present invention includes a gait detection unit that detects a walking movement of a trainee, a projector unit that projects virtual walking environment information for inducing a gait training of the trainee, and a control unit that executes a walking training program to change the virtual walking environment information according to the detected walking movement of the trainee, in which the virtual walking environment information includes a background constructing a virtual space and a walking training object appearing in the virtual space, and the gait training object includes a virtual obstacle for disturbing the walking movement of the trainee according to a preset level of difficulty or a gait inducing object for inducing gait of the trainee with a predetermined stride length. According to the present invention, there is an advantage that the trainee can perform gait training with interest and receive trainee-customized treatments through real-time interaction in virtual reality implemented closer to a real ground walking environment.

An exercise system is disclosed that includes a walking exercise device having a pedal stepped on by a patient and one or more linked pedal drives driving the pedal, and a system control device that performs a patient walking training in accordance with a patient's individual training plan, the system control device includes: an index prediction unit that determines a walking evaluation index of a patient based on basic information including patient personal information and initial walking state information; a training planning unit having a self-discipline training planning model for establishing a patient individual-targeted training plan performed by the walking exercise unit on the basis of the result of the walking training; and a training evaluation unit that evaluates a training result on the basis of training result data of a rehabilitation training result of the patient performed by the walking exercise unit.

The invention relates to a walking training device for assisting rehabilitation of stroke patients, comprising a control box, one side of the control box is detachably provided with a climbing assembly, the control box is provided with second chutes arranged at equal intervals, each second chute is slidably connected with a step block, and the adjacent step blocks have a height difference. Two handrails are arranged above the control box, a supporting assembly for supporting the handrails is arranged on the control box, and a lifting assembly is arranged in the control box. Through cooperative arrangement of the lifting assembly and the step block, the upper surface of the control box can be switched between a plane state and a step state, the plane state can meet the basic requirements of daily walking rehabilitation training of a patient and fitting with weak leg strength in the initial stage, and the step state can carry out enhanced training of going up and down stairs. The advanced requirement after strength improvement in the later period of rehabilitation is met, the training strength can be flexibly adjusted according to the leg strength change of the patient, and the whole rehabilitation period from foundation to reinforcement is covered.

A flexible driven walking rehabilitation training robot system and motion control method, the robot system contains an outer frame, a main active weight reduction unit and an omnidirectional movement unit; the control method is that the host computer issues the expected force trajectory to drive the robot action, the driving motor starts to drive the human motion, the angle encoder one and the angle encoder two detect the angle change information and the tension information of the traction rope, the tension information is input into the PID controller as feedback, the angle information and the tension information are input into the disturbance observer to estimate the human-machine interaction disturbance and the unmodeled error of the system, and are input into the robot system again as the correction amount of the PID controller, iterative circulation, the actual output of the robot accurately follows the expected trajectory. The application can meet the demand of active participation of patients, and provide quantitative and targeted walking training strategy, and realize the purpose of walking rehabilitation function training for patients.

The invention relates to the technical field of rehabilitation training equipment, in particular to a lower limb weight support walking training system based on a flexible cable parallel mechanism, which comprises four integrated driving devices, four ropes, a suspension device, a support device and a control device. And one end of each rope is connected with the moving end of the corresponding integrated driving device. The suspension device comprises an actuator and a rotating unit; the actuator is provided with four connecting ends, and each connecting end is connected with the other end of the corresponding rope; the rotating unit is connected with the actuator and can rotate around the actuator. The supporting device is connected with the rotating unit. The multi-degree-of-freedom rehabilitation training device can meet front-back, left-right, lifting and rotating multi-degree-of-freedom rehabilitation training, the motion freedom degree, the weight reduction effect and the training precision are remarkably improved, and complex gaits in a real walking environment can be simulated; the energy consumption and the material cost are reduced; the structure is compact, and the occupied space is reduced.

The present invention relates to an intelligent gait training apparatus and, more specifically, to an intelligent gait training apparatus comprising: a gait unit for providing a gait environment to a user; and a support unit for supporting the gait unit and the user, wherein the gait unit comprises a treadmill and an actuator module for rotating or transferring the treadmill.

Disclosed are a robot-assisted walking training system and a control method therefor, the training system having: a main system having a walking motion generation section having an end effector type robot pedal stepped by a patient for walking training and a pedal-operation unit for driving the robot pedal, and a main control section for controlling the end effector type robot pedal and the pedal-operation unit; a main control unit that performs walking training of the patient stepping on the robot pedal by controlling the pedal-operation unit; and a cooperative system in the form of a wearable robot having a cooperative system with one or more joint-operating engines mounted to the patient's body and configured to assist or force joint movement of the patient's lower body in synchronization with movement of the pedal-operating unit, and a lower control portion configured to control the lower body of the patient's lower body. The lower control portion is configured to control the one or more joint-operating engines and associate or link motion of the one or more active joint portions to motion of the pedal-operating unit in response to a control signal from the main control portion.

To provide walking training to trainees regardless of their walking ability. [Solution] A walking training system comprising a walking training control device that displays images simulating the walking movements of the trainee's lower limbs on a display device, and a spinal cord stimulator that generates electrical stimulation to the trainee's spinal cord at timings corresponding to the walking cycle of the displayed walking movements.

The application discloses a kind of rehabilitation robot walking training method and device based on virtual terrain force feedback, the method includes: according to the force characteristic data of different material terrain, terrain feature model is constructed;According to the state of character and environment in virtual scene, virtual ground counterforce is generated;In the process of walking training, control rehabilitation robot simulates ground counterforce effect;According to the motion state of actual user, the motion of character in virtual scene is controlled.The device includes end drive type rehabilitation robot and host computer.The application can let user experience the feeling of walking under different terrain in the process of auxiliary walking training of rehabilitation robot, enhance walking training immersion, and material difference also brings richer training mode, avoid the problem of local muscle fatigue under single training mode.

A walking training system includes a leg orthosis fitted to a leg of a user, a pulling member coupled to the leg orthosis, a first drive mechanism configured to apply pull force to the pulling member, according to walking motion of the user, a holding device that holds the pulling member at a holding level, at a point between a coupling point of the leg orthosis and the first drive mechanism, and a second drive mechanism configured to change the holding level of the pulling member held by the holding device, according to the walking motion of the user.

A management system for managing a walk training apparatus according to one aspect of the present disclosure includes: a state detecting portion configured to detect a loaded state in which the user applies a load to the walk training apparatus during use of the walk training apparatus; an evaluation value calculating portion configured to calculate an evaluation value based on which the load applied to the walk training apparatus by the user is evaluated; and a timing determination portion configured to, in a case where the evaluation value is equal to or more than a threshold associated with the walk training apparatus, determine that a timing of maintenance of the walk training apparatus has come.

The utility model provides a straddle type walking training device which comprises a base, a weight reduction mechanism and an upper body protection mechanism, and the upper body protection mechanism provides upper body protection and can move in the horizontal direction at the same time to assist a patient in shifting the center of gravity so as to achieve auxiliary walking. The weight reduction mechanism is a straddle type weight reduction mechanism and provides effective supporting and weight reduction during walking; an angle limiter and a rotary damper are arranged at the joint of the weight reduction mechanism and the base, the weight reduction mechanism can perform offset rotation at a certain angle to be matched with human body gravity center transfer and keep stable during walking training, and the training effect is improved; meanwhile, the weight reduction mechanism and the upper body protection mechanism can move in the vertical direction to adjust the height so as to adapt to different posture requirements, the whole device is a whole, stability, safety and comfort are high, the weight reduction effect is good, the body movement law is met, and the training effect is better.

1. The name of this design product: Assisted walking robot (lightweight). 2. Purpose of this design product: It is used as a rehabilitation walking aid for people with weak lower limb functions. Assist people with weak lower limb functions to complete independent living behaviors such as walking and walking training. 3. The key point of the design of this product lies in its shape. 4. The picture or photo that best illustrates the design points: Stereoscopic drawing 1.

This invention provides a multi-directional walking rehabilitation training device, including a walking training apparatus and an auxiliary support device disposed above the walking training apparatus. The walking training apparatus includes a shell, a multi-directional drive mechanism, an elastic running belt, and a support body disposed inside the shell. The elastic running belt has a closed, pouch-like structure, and the support body is disposed inside the elastic running belt, which is used to rotate in any direction on the support body. The multi-directional drive mechanism is disposed at the bottom of the shell, and its top contacts the elastic running belt below the support body, driving the elastic running belt to rotate in any direction on the support body. The multi-directional drive mechanism is located below the support body, optimizing the structural design and allowing for reasonable storage and concealment of the multi-directional drive mechanism. There is no obstruction between the elastic running belt and the user, allowing the user to directly lift their leg and step onto the elastic running belt, facilitating the user's access to and from the rehabilitation equipment.

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.

The walking training device includes: a robot leg attached to one leg of a trainee; a treadmill; a load distribution sensor that detects a distribution of a load received from a sole of the trainee; and a walking state distinguishing unit that determines whether the one leg is in a swinging leg state; a control unit that performs a predetermined bending-extending control for the swinging leg state of the one leg by the robot leg when the one leg is in the swinging leg state; a measuring unit that measures a clearance between the one leg in the swinging leg state and the treadmill. The control unit changes control content of the predetermined bending-extending control so that the one leg does not contact the belt of the treadmill during extending control of the one leg, when the clearance is less than a specified value.

The present invention relates to a walking training system, a control method thereof, and a storage medium. The walking training device according to this embodiment includes: a robot leg attached to one leg of a trainee; a treadmill; a load distribution sensor detecting the distribution of a load received by the sole of the trainee's foot riding on a belt of the treadmill; a walking state determination unit determining whether the one leg has switched from a standing state to a swinging state based on an increase in the load received by the other leg of the trainee performing walking training, as detected by the load distribution sensor; and a control unit for initiating bending control of the one leg in the swinging state by the robot leg when the treadmill determination unit determines that the one leg has switched from the standing state to the swinging state.

The utility model provides a walking trainer for hemiplegic patients, which comprises a base, armrest plates arranged on two sides of the base, a left pedal and a right pedal arranged on the base, an independent linear motion mechanism arranged between the pedals and the base, a cross rod arranged in front of the armrest plates, and a first button arranged on the cross rod and used for controlling the linear motion mechanism to move forwards. And a second button for controlling a set of linear motion mechanism to return is further arranged on the armrest plate, when the first button is started, the linear motion mechanism drives the pedal to move forwards, and when the second button is started, the linear motion mechanism drives the pedal to move backwards, so that feet placed on the pedal are driven to move back and forth.

The invention provides multidirectional walking rehabilitation training equipment. The multidirectional walking rehabilitation training equipment comprises a walking training device and an auxiliary supporting device arranged above the walking training device. The walking training device comprises a shell, and a multidirectional driving mechanism, an elastic running belt and a supporting body which are arranged in the shell; the elastic running belt is of a closed bag-shaped structure, the supporting body is arranged in the elastic running belt, and the elastic running belt is used for rotating on the supporting body in any direction; the multidirectional driving mechanism is arranged at the bottom of the shell, and the top of the multidirectional driving mechanism is in contact with the elastic running belt below the supporting body and used for driving the elastic running belt to rotate on the supporting body in any direction. The multi-direction driving mechanism is located below the supporting body, the structural design is optimized, the multi-direction driving mechanism is reasonably stored and hidden, no barrier exists between the elastic running belt and a user, the user can directly lift legs to step on the elastic running belt, and the user can conveniently get on and off the rehabilitation equipment.

Disclosed is an exercise system comprising: a walking exercise apparatus including a pedal driving unit having pedals on which a patient stands and one or more links that drive the pedals; and a system control apparatus that performs walking training for the patient according to a personalized training plan, wherein the system control apparatus comprises: an indicator prediction unit that determines walking evaluation indicators for the patient on the basis of basic information including personal information and initial walking state information of the patient; a training planning unit having an autonomous training planning model that establishes, on the basis of walking training results, a patient-personalized training plan to be performed by a walking exercise unit; and a training evaluation unit that evaluates training results on the basis of training result data according to the results of rehabilitation training of the patient, which is performed by the walking exercise unit.

To estimate a foot joint kick-out timing from indirect detection by an angle sensor.SOLUTION: A walking training device 1 includes a saddle support type load-relieving device 21 having a saddle 210, and a treadmill 22 for relatively moving the saddle 210 in a front direction with respect to a floor surface. The walking training device 1 includes the inertial sensor 121 that is attached to the waist of a person sitting on the saddle 210 and detects a tilting motion on the frontal plane of the pelvis during the walking training, and a timing estimation unit 112 that estimates a second extreme value point of the same polarity (e.g., a second negative peak) detected on the other side as a foot joint kick-out timing after the inertial sensor 121 detects that the direction of the pelvis crosses a vertical axis on the frontal plane from one of the right and left sides to the other.SELECTED DRAWING: Figure 6

A disclosed exercise system comprises: a walking exercise apparatus including a pedal driving unit having pedals on which a patient stands and one or more links that drive the pedals; and a system control apparatus that performs walking training for the patient according to a personalized training plan, wherein the system control apparatus comprises: an indicator prediction unit that determines walking evaluation indicators for the patient on the basis of basic information including personal information and initial walking state information of the patient; a training planning unit having an autonomous training planning model that establishes, on the basis of walking training results, a patient-personalized training plan to be performed by a walking exercise unit; and a training evaluation unit that evaluates training results on the basis of training result data according to the results of rehabilitation training of the patient, which is performed by the walking exercise unit.

The invention relates to the technical field of rehabilitation medicine and intelligent motion control, in particular to an intelligent walking training system which comprises a walking machine execution unit used for driving a patient to conduct walking training, and the walking machine execution unit comprises a speed control module and a gradient adjusting module; the sensor acquisition unit and the rehabilitation evaluation module are used for generating an individualized rehabilitation training plan according to the basic information of the patient and the training historical data; a closed-loop control module; the system is reasonable in structure, high in function integration level and suitable for various application scenes such as hospital rehabilitation centers, family rehabilitation auxiliary training and medical institution remote rehabilitation management.