49 results about "Gait training" patented technology

The invention relates to the technical field of rehabilitation medical treatment and neural engineering, and particularly discloses an epidural electrical stimulation lower limb rehabilitation system and method based on a brain-computer interface, the epidural electrical stimulation lower limb rehabilitation system comprises a weight reduction suspension device, an epidural electrical stimulation module and a brain-computer interface module, the epidural electrical stimulation module controls left and right electrical stimulation through a program controller, and the brain-computer interface module comprises a wireless electroencephalogram acquisition device and an interaction terminal and is used for acquiring electroencephalogram signals of a movement area of a patient and presenting a virtual gait scene and voice prompt at a computer end. The method comprises the steps of electroencephalogram signal collection and feature extraction, motion intention judgment, stimulation control and feedback backtracking, and by combining a motion intention decoding result with electrical stimulation output, activation of a lower limb target muscle group is achieved, a training closed loop is constructed, and the method is used for postoperative rehabilitation of a spinal cord injury patient.

1. Name of the product in this design: Gait training and assessment device. 2. Purpose of this design: A device for gait training and assessment. 3. The key design feature of this product is its shape. 4. The image or photograph that best illustrates the design's key points: 3D view 1.

The invention discloses an experimental rat hind limb platform type gait device and a control method thereof, and relates to the technical field of experimental animal behavior training and rehabilitation evaluation.The device comprises a fore limb positioning platform, a hind limb driving platform, a safety protection assembly, a data acquisition unit and a control unit; the control unit is used for generating an optimal track and driving the hind limb driving platform to move, specifically, target track parameters are set according to the injury state of the rat, the hind limb driving platform is started, multi-target optimization is conducted on the movement track of the hind limb driving platform based on the target track parameters, and meanwhile gait data of the rat are monitored in real time. When the gait data is abnormal, the hind limb driving platform is closed, and an alarm is given; according to the invention, individualized, intelligent and safe control of a rat gait training process can be realized, so that a motion track is adaptive to gait characteristics of different repair stages, and the accuracy of rehabilitation evaluation and the reliability of an experimental result are 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 utility model belongs to the technical field of rehabilitation training equipment, and relates to a gait correction training device which is particularly suitable for Parkinson patients. The problems that an existing device is unreasonable in structure, poor in stability, incapable of being flexibly adjusted and inconvenient to store are solved. The device comprises at least three sections of gait training units, each unit is composed of a transverse connecting piece and symmetrical handrail assemblies, and supporting sliding rods, supporting rods and handrail sliding rods in the assemblies are matched with one another. The sliding rods of the adjacent assemblies on the same side can be slidably connected in a sleeved mode, the inner diameters are sequentially increased, and flexible adjustment and contraction storage are achieved. And meanwhile, through the design of the supporting legs and the special supporting rods and slope chamfering treatment of the transverse connecting pieces, the stability and the use safety of the device are guaranteed. The device provides personalized training support for Parkinson patients, effectively improves the rehabilitation training effect, and is convenient to store and manage.

The application discloses a gait real-time analysis method and system based on visual skeleton feature extraction, which comprises the following steps: collecting a user walking video through a single camera; extracting human key skeleton points in real time by using a lightweight AI model; calculating anatomical coronal plane, sagittal plane parameters and gait space-time parameters based on the skeleton point coordinates; superimposing the skeleton and parameters on the video in real time and providing voice feedback; starting and stopping through a gesture recognition non-contact control system; automatically storing data and generating a rehabilitation report; the system comprises a USB camera, an embedded processing end and a feedback end with display and audio; the application replaces expensive motion capture equipment with a low-cost single camera, realizes objective quantitative evaluation of gait training, real-time multi-modal feedback and automatic management, significantly reduces medical costs, improves the efficiency and effect of rehabilitation training, and is especially suitable for primary medical institutions.

The invention discloses a treading type leg scraping device which comprises a vertical rod type auxiliary walking device and a leg scraping piece, a first binding piece is connected to the leg scraping piece, a leg scraping protruding block is arranged on the inner side of the leg scraping piece, the vertical rod type auxiliary walking device comprises a pedal and a second binding piece, and a supporting device is connected to the pedal. A rotating frame is rotationally connected to the upper portion of the supporting device, a connecting structure is arranged between the rotating frame and the leg scraping piece, and when a patient conducts normal walking gait training through the pedal and the second binding piece, the device can synchronously drive the leg scraping protruding block to scrape the thigh. The mechanical stimulation of the leg scraping bumps on the thigh skin and subcutaneous tissues can induce the human body to generate benign stress response and repair response, so that the walking ability is recovered, local and whole body blood circulation is effectively promoted, metabolic waste discharge is accelerated, and muscular pain and stiffness caused by long-term braking or sport injury are relieved.

A walker device is described herein including two side frames, each side frame including a front vertical support, a rear vertical support and at least one connecting member extending between the front and rear vertical supports. The walker device further includes a cross bar extending between the two side frames and pivotally connecting to the front vertical supports of the two side frames. The walker device also includes a tension device which applies a resistive force to the pivoting motion between the first cross bar and the two side frames. The walker device is therefore capable of a pivoting configuration which enables the user to learn or re-learn a more natural gait pattern including rotation of the upper and lower body. Some embodiments of the walker device include a second, auxiliary cross bar that is parallel to the first cross bar and horizontally offset from the first cross bar.

A horizontal lower limb rehabilitation robot includes a horizontal rigid chassis, left and right lower limb training mechanisms symmetrically arranged on both sides of the rigid chassis, an electrical control unit, and a multimodal sensing system located at key locations. The left and right lower limb training mechanisms have identical symmetrical structures. The electrical control unit coordinates the movement timing and amplitude of the hip and knee joint drive units, enabling simultaneous flexion training of the hip, knee, and ankle joints, bridging training to activate the lower limb trunk and gluteal muscles, and gait training simulating natural walking. This robot features a rational structure, convenient adjustment, safety, comfort, and intelligence. Through intelligent control and multiple rehabilitation training modes, it can meet the training needs of patients at different rehabilitation stages and with different body types, achieving integrated rehabilitation training and effect evaluation, and providing a more efficient and safer intelligent device for lower limb rehabilitation treatment.

The present application relates to the field of rehabilitation robots, in particular to a three-joint complete gait walking device, comprising a back connecting device, a hip joint movement mechanism, a knee joint movement mechanism and an ankle joint movement mechanism; the hip joint movement mechanism comprises a hip joint mounting plate, a thigh supporting rod and a thigh adjusting block, the hip joint mounting plate is arranged on a leg fixing mechanism, and the thigh adjusting block is adjustably arranged on the thigh supporting rod; the knee joint movement mechanism comprises a knee joint mounting plate, a calf adjusting block and a calf supporting rod, the knee joint mounting plate is arranged on the thigh adjusting block, and the calf supporting rod is adjustably arranged on the calf adjusting block; the ankle joint movement mechanism is arranged at the lower end of the calf supporting rod; driving mechanisms are arranged on the hip joint mounting plate and the knee joint mounting plate. The present application is used for gait training of patients with rehabilitation needs of walking disorders, the combined movement process is closer to normal gait walking, and it is more beneficial for gait training and improves the training effect.

This application provides a lower limb exoskeleton robot control method and system based on motion intention recognition, including: acquiring exoskeleton motion data and exoskeleton unloaded data; determining exoskeleton dynamic parameters through gait training based on the exoskeleton unloaded data; determining human lower limb dynamic parameters based on the exoskeleton motion data and exoskeleton dynamic parameters; calculating human joint torques through inverse dynamic equations based on the exoskeleton motion data, exoskeleton dynamic parameters, and human lower limb dynamic parameters; inputting human joint torques and predefined gait training joint trajectories into a control model to obtain the joint trajectory output by gait training control; the control model is constructed based on inertial terms, damping terms, nonlinear damping terms, and stiffness terms, and is used to dynamically adjust the predefined gait training joint trajectory under the drive of human motion intention, solving the technical problem of poor adaptability of human-computer interaction control due to insufficient motion intention perception accuracy in existing technologies.

The invention relates to the technical field of rehabilitation training equipment, and discloses a suspension type balance auxiliary device for gait training, which comprises an equipment supporting iron stand, an emergency locking mechanism is arranged in the equipment supporting iron stand, an auxiliary anti-falling mechanism is arranged outside the emergency locking mechanism, the emergency locking mechanism comprises an I-shaped sliding rail, and the I-shaped sliding rail is provided with an auxiliary anti-falling mechanism. The upper surface of the I-shaped sliding rail is fixedly connected with the inner top wall of the equipment supporting iron frame, and two training sliding grooves are formed in the bottom face of the I-shaped sliding rail. According to the suspension type balance auxiliary equipment for gait training, by arranging an emergency locking mechanism, when a tension and pressure sensor is used for monitoring that the gravity center of a person trained by the equipment is unstable, an electric lifting rod is contracted upwards by a certain distance to tighten the part between the trainer and the equipment; and the stroke locking structure fixed outside the electric lifting rod is used for locking the extension and retraction of the electric lifting rod, so that the body shape of the trainee is stable, and the effect of improving the safety of the auxiliary equipment is achieved.

The utility model discloses a rehabilitation wheelchair capable of changing multiple postures, and particularly relates to the technical field of wheelchairs. The seat plate frame set comprises a seat plate frame, a fixed seat plate and a rotary supporting seat plate, the fixed seat plate and the rotary supporting seat plate are arranged above the seat plate frame, the seat plate frame is hinged to the supporting frame, and a rectangular hole is formed in the middle of the fixed seat plate and rotationally connected with the rotary supporting seat plate. The backrest frame set comprises a backrest frame, a waist support arranged above the backrest frame and a back support assembly, the middle of the waist support is hinged to the backrest frame, the bottom of the waist support is hinged to the seat plate frame, and the back support assembly is hinged to the backrest frame; the leg plate frame group comprises a leg plate frame and a knee propping device; the pedal plate group comprises a pedal plate and a gait training device; the posture adjusting assembly can enable the wheelchair to be switched among a sitting posture, a prone posture and a standing posture. According to the utility model, a user can flexibly switch among a sitting posture, a prone posture and a standing posture, so that different use requirements of the user are met; in addition, in the posture changing process, the body of the user can be supported, and the safety of the user is guaranteed.

The invention discloses a multi-form rehabilitation walking aid robot which comprises a rack, a deformable mechanism, a pedal connecting rod mechanism, an exoskeleton hanging bracket and moving wheels. The invention has the prominent characteristics that four mechanism forms of lying, sitting, standing and folding can be switched, the functions of a nursing bed, a wheelchair, a walking aid, an exoskeleton hanging bracket and the like are integrated, and compared with the prior art, the under-actuated mechanism is adopted, so that the number of actuators is reduced; the functions of a nursing bed, a wheelchair, a gait training device, a walking aid, an exoskeleton mounting frame and the like are combined, and horizontal training, sitting and standing switching training, gait training and walking aid training of a patient are achieved.

The utility model relates to the technical field of gait training for Parkinson patients, and discloses a gait training balancing device for Parkinson patients, which comprises a bottom plate and four universal wheels fixedly connected with the bottom surface of the bottom plate, an adjusting mechanism and a protection mechanism are arranged above the bottom plate, and the protection mechanism is positioned on the surface of the adjusting mechanism; the adjusting mechanism comprises a lifting assembly and a handrail assembly. A threaded rod is used for driving a sliding block to ascend and descend through an adjusting mechanism and a lifting assembly, so that the sliding block drives a connecting frame to ascend and descend, the height between the two handrails is adjusted, and patients with different heights can use the handrails conveniently; the distance between the two handrails is adjusted, so that the handrails can be adjusted according to the distance between the two arms of the patient, different patients can use the device conveniently, manual supporting is reduced, the using range of the balancing device for the Parkinson's disease patient is widened, and the convenience of gait training is improved.

The application provides a severe psychological and limb rehabilitation system based on virtual reality and augmented reality, which comprises a multi-modal data acquisition unit, which acquires limb movement data, physiological index data and psychological state data of a patient in real time; an edge-cloud collaborative processing unit, which comprises an edge computing node and a cloud server; and an immersive interaction unit, which guides the patient to complete rehabilitation training tasks, including upper limb grasping training, lower limb gait training and psychological intervention scenes, through a virtual scene and tactile / auditory / visual feedback; wherein the multi-modal data acquisition unit is in communication connection with the edge computing node, the edge computing node and the cloud server interact data through an encryption protocol, and rehabilitation strategies generated by the cloud server are fed back to the patient in real time through the immersive interaction unit. The VR / AR technology can provide an immersive training environment, and the movement, psychological and physiological states of the patient can be monitored in real time, so that a personalized rehabilitation plan is automatically generated, and precise treatment and personalized intervention are realized.

The utility model discloses a robot for gait training, which relates to the technical field of gait training and comprises two robot bases and supporting arms, and the supporting arms are fixed at the top ends of the robot bases; the longitudinal section of each robot base is triangular, the robot bases are all hollow, and the interiors of the robot bases are all connected with power main motors. The cross beam is held to walk, the robot base is pushed to move for long-term training so as to correct the abnormal gait of a trainee, physical support is provided for the trainee through the cross beam, the risk of falling down in the training process is reduced, and the trainee can gradually adapt to the center transfer of the body and the rhythm change of the gait cycle. The power main motor is used for driving the one-way lead screw to rotate, the one-way lead screw is in threaded fit with the threaded hole, the adjusting arm and the cross beam are made to do lifting motion, and the requirements of patients with different heights and body function states are met.

The utility model discloses a child gait training tool which comprises a training device, a pedal plate is installed in the training device, a gait correcting mechanism is arranged at the upper end of the pedal plate and comprises a shank gaiter placed at the upper end of the pedal plate, the outer side of the shank gaiter is movably connected with a thigh gaiter through a rotating shaft, and the thigh gaiter is connected with a thigh through a rotating shaft. The outer side of the thigh gaiter is fixedly connected with a supporting frame, and the front end of the supporting frame is fixedly connected with a mounting frame. According to the gait training tool for the children, after the children have eight inner gaits, the knee pushes the auxiliary contact head, so that the limiting rod changes the shape of the spring piece, the elastic acting force of the spring piece on the limiting rod is changed, the spring piece pushes the limiting rod to move, and the child gaits. The purpose that the pressure of the main contact head on the legs of the child is conveniently increased is achieved, the child can conduct gait adjustment consciously, the child is prevented from having eight inner gaits, and therefore the correction effect on the eight inner gaits of the child is improved.

1. The name of the design product: gait training support frame (1). 2. The use of the design product: for assisting support standing and assisting walking training. 3. The design points of the design product: in shape. 4. The picture or photo that best shows the design points: perspective view 1.

Described are a gait rehabilitation robot and gait rehabilitation robot and training method thereof, the gait rehabilitation robot including: a pair of footplates; a pair of footplate supports; a pair of gait actuators; a controller; and a memory, wherein the controller receives at least one of a state value and a control command value relating to the corresponding motor from each gait actuator under a load condition, and calculates anteroposterior forces exerted on each of the footplates by the corresponding foot during the gait training based, for each gait actuator, on a difference between at least one of the received state value and control command value and the corresponding reference value stored in the memory for a present gait trajectory and speed. Thus, a gait status can be determined based on the difference between the anteroposterior forces exerted on each footplate under no-load and load conditions.

The utility model relates to the technical field of gait training, in particular to a gait training device for rehabilitation, which comprises a device base frame, a rotating shaft is rotatably connected to the middle of the device base frame, a connecting rod is fixed on the end side of the rotating shaft, a fixing rod is fixed on the end side of the connecting rod, and a screw rod is arranged in the fixing rod in a lifting sliding manner. A stool is fixed to the top of the screw rod, an armrest frame is arranged in the device base frame in a lifting sliding mode, a control button is installed on the top of the armrest frame, and elbow arm supports are symmetrically installed on the top of the armrest frame. A patient can adjust the advancing direction according to training items or physical conditions through the rotating part, different training scenes and rehabilitation requirements are met, the height of the stool can be accurately adjusted according to the height of the patient and the training requirements by matching with the lifting part, and the height of the armrest frame is rapidly adjusted and stably fixed through the limiting part. The device can adapt to body conditions of different patients, and the comfort and stability of the patients in use are improved.

The application provides a waist protection device and gait training equipment. The waist protection device comprises a bearing support, an opening for a user to enter and exit, a turnover frame pipe arranged at the opening of the bearing support, a first connecting end and a second connecting end, a rotating mechanism, the bearing support and the first connecting end being connected through the rotating mechanism, the turnover frame pipe being turned over at the opening of the bearing support through the rotating mechanism, a first protection mechanism arranged on the turnover frame pipe, a second protection mechanism arranged on the bearing support, the second protection mechanism being arranged opposite to the opening on the bearing support, and a locking mechanism, the bearing support and the second connecting end being connected through the locking mechanism when the locking mechanism is in a first state, and the bearing support and the second connecting end being separated through the locking mechanism when the locking mechanism is in a second state. The technical problems of low adaptability of a waist and back of a human body and insufficient supporting force in a gait training process using a waistcoat are solved.

Disclosed are a gait training system and a gait training method. The gait training system is provided with: a gait exercise part provided with two exercise units, one on the left and one on the right, for gait training of a patient; and an electronic device for controlling same. Each of the two exercise units is provided with: an actuator as an end-effect type robot that controls the movements of both feet for gait training of the patient; and an actuator support that serves as a reference point for the movement of the actuator. The actuator of each of the two exercise units is provided with: a first joint mounted on the actuator support; a first link of which one end is connected to the support by the first joint; a second link of which one end is connected to the other end of the first link by a second joint; and a footplate connected to the other end of the second link by a third joint, wherein the footplate generates gait motions in various modes to control the movement of a foot of the patient.

The utility model relates to the technical field of rehabilitation training, and discloses a lower limb step gait training device, which comprises a rotary step platform comprising an annular guide rail, a folding step and a rotary power mechanism, the folding step can be driven by the rotary power mechanism to slide along the annular guide rail, and an adjusting rail and a height adjusting mechanism are arranged in the annular guide rail. The height adjusting mechanism is used for driving the adjusting rail to ascend and descend in the normal direction of the annular guide rail so as to adjust the height of the folding steps relative to the bottom face of the annular guide rail. The at least two supporting seats are arranged at the two ends of the bottom of the annular guide rail in the extending direction respectively, and the supporting seat at at least one end of the annular guide rail in the extending direction is provided with an inclination angle adjusting mechanism which is used for adjusting the pitch angle of the annular guide rail relative to the horizontal plane; the control device is in signal connection with the rotating power mechanism, the height adjusting mechanism and the inclination angle adjusting mechanism, automatic adjustment of the height and the gradient of the folding step is achieved, and different rehabilitation requirements and training targets of the lower limbs of the patient can be met.

The utility model discloses a kind of parkinsonian gait training rehabilitation devices, it is related to medical rehabilitation technical field, including the cylindrical rod for supporting and the annular sleeve of sleeve connection on cylindrical rod;Handle is installed in annular sleeve side surface, and axillary support is provided in annular sleeve upper portion;Cylindrical rod is provided with guide slot along its axial direction, limit slot is provided in one side of guide slot, the clamping pin of being clamped in guide slot is provided in annular sleeve inside;When the moment of force of handle is greater than the moment of force of axillary support, drive clamping pin overturn to the side of guide slot away from limit slot;When the moment of force of handle is less than the moment of force of axillary support, drive clamping pin overturn to the side of guide slot towards limit slot;It can be dynamically adjusted support state according to the stress condition of patient hand and axillary.

1. Name of the product in this design: Gait training support frame (2). 2. Purpose of this design: For assisting in standing and walking training. 3. The key design feature of this product is its shape. 4. The image or photograph that best illustrates the design's key points: 3D view 1.

The invention relates to the technical field of medical apparatus and instruments, in particular to a neurosurgery postoperative rehabilitation device and a rehabilitation method thereof.The neurosurgery postoperative rehabilitation device comprises an adjustable bed, a fixing frame, a driving device and a driving device, a plurality of bandages are arranged on the adjustable bed, a baffle is arranged on the adjustable bed, and the fixing frame is arranged on the adjustable bed; when the postoperative rehabilitation device for the neurosurgery department is used, a patient wears a wearable device, then the patient is fixed to an adjustable bed through a bandage, then a bed board of the adjustable bed is lifted, when the bed board of the adjustable bed is lifted, a clamping rod can be separated from a first fixing ring, and after the clamping rod is separated from the first fixing ring, the patient can be fixed to the adjustable bed. Under the action of a first torsional spring, a rotating shaft and a connecting block can drive a mounting frame to rotate by 180 degrees, then a medical worker can hang a wearable device on the mounting frame to hang a patient to help the patient to conduct gait training, the patient can be more conveniently and rapidly converted into the gait training state from the state of lying on a sickbed, and the patient can conveniently and rapidly carry out gait training. And the use is more convenient.

The invention discloses a gait recognition historical training data tracing system based on a block chain, and relates to the technical field of data processing. According to the method, a unique identifier is allocated to each gait feature extraction model, and version metadata is recorded, so that models of different versions can be accurately distinguished and tracked, gait feature data are stored in a partitioned manner according to the version identifiers of the gait feature extraction models, an index is independently constructed for each partition, and according to an additional original data mapping table, the gait feature data are extracted. The method can accurately record storage paths of gait feature entries and original gait training data, delete old gait features and store the old gait features in a new gait feature library, ensure that latest and optimized feature data are used in the system, and automatically judge when data migration needs to be performed, so that the automation degree of the system is improved, and the efficiency of the system is improved. And during searching, results most similar to query data can be found in feature data of different versions of models, so that more comprehensive and accurate matching information is provided for gait recognition.

The invention relates to the technical field of medical instruments, in particular to a plantar pressure distribution measuring structure for gait training, which comprises a gait training instrument treadmill, the surface of the gait training instrument treadmill is provided with a concave groove, and a treadmill conveyor belt is mounted in an inner cavity of the concave groove; a conveyor belt support frame is arranged in the treadmill conveyor belt; a plurality of pressure sensors distributed in a rectangular array are fixedly mounted on the mounting bottom plate; the treadmill has the beneficial effects that the conveyor belt supporting frame is arranged in the treadmill conveyor belt, the pressure measuring assembly is arranged between the conveyor belt supporting frame and the treadmill conveyor belt and comprises the mounting bottom plate and the mounting partition plate, and the multiple pressure sensors can accurately monitor static plantar pressure distribution of a user; the rolling wheels can reduce friction force borne by the treadmill conveyor belt, and it is ensured that the pressure sensor can monitor dynamic plantar pressure distribution of a user in time.