147 results about "Gait training" patented technology

The invention belongs to the technical field of diabetic foot ulcer early-stage active protection, and particularly relates to a diabetic foot gait training system based on tactile sense direction guidance. The system comprises an intelligent insole system, a cloud platform, a flexible tactile feedback interface and mobile terminal software. The intelligent insole system collects plantar pressure data in the gait process of a user and sends the pressure data to the cloud platform and the mobile terminal software through wireless communication; the cloud platform calculates sole accumulated pressure distribution in a specified time period, and when the accumulated partial pressure distribution is abnormal, control data is sent to the flexible tactile feedback interface through Wi-Fi; the flexible tactile feedback interface receives data of the cloud platform to generate tactile direction guidance, and gait training is achieved; and mobile terminal software can check a plantar pressure cloud picture and a pressure curve in real time. The training system generates direction prompts through tactile codes, guides a patient to actively adjust abnormal gaits, changes plantar pressure distribution and reduces the morbidity of diabetic foot ulcers.

The invention discloses a user health monitoring method and system based on an intelligent medical bracelet, and relates to the technical field of intelligent health monitoring. According to the user health monitoring method based on the intelligent medical bracelet, when a to-be-monitored postoperative rehabilitation user is in gait training, moving posture data and moving physiological data of the to-be-monitored postoperative rehabilitation user are obtained in real time, data analysis is carried out respectively, a body position imbalance risk index and a physiological health index are obtained, comprehensive analysis is carried out, and the health of the to-be-monitored postoperative rehabilitation user is obtained. According to the invention, the comprehensive health index of the to-be-monitored postoperative rehabilitation user and the preset comprehensive health index are judged and analyzed, and the corresponding training adjustment measures are taken based on the judgment and analysis result. Therefore, the health state of the postoperative rehabilitation user in the moving state is accurately and comprehensively evaluated, personalized safety training management measures are taken according to the health state of the postoperative rehabilitation user, and the rehabilitation efficiency of the postoperative rehabilitation user is effectively improved.

The invention discloses a recognition method for gait training, and relates to the technical field of gait recognition. The method comprises the following steps: acquiring a visual sequence acquired by a visual sensor and an IMU sequence acquired by an inertial measurement unit, and performing time reference unification and space reference unification on the visual sequence and the IMU sequence; inputting the visual sequence features and the IMU sequence features after space-time reference unification into a space-time joint calibration network, and performing space-time joint calibration and feature fusion on the visual sequence features and the IMU sequence features through the space-time joint calibration network to obtain fusion features; and performing gait anomaly recognition based on the fusion feature, and generating a dynamic feedback signal according to a recognition result. Multi-modal data space-time calibration is achieved through dynamic time warping and space reference unification, cross-modal feature deep fusion is completed in combination with a space-time joint calibration network, accurate gait anomaly recognition and multi-modal dynamic feedback are achieved, and the problem of feature fusion failure caused by space-time alignment errors is effectively solved.

The invention discloses a robot gait training method and system based on reinforcement learning, and relates to the technical field of electric vehicle charging, and the method comprises the steps: carrying out the simulation learning initialization of a strategy based on a reference video; selecting a plurality of evaluation indexes to design a dynamic reward function so as to guide the initial strategy network to optimize the gait performance; through an environment difficulty scheduling mechanism, the training environment difficulty is automatically adjusted according to strategy performance; performing optimization training on the strategy network by using a PPO algorithm; and judging the optimized gait strategy by constructing a cognitive load index, and outputting a final gait strategy. According to the method, imitation learning, self-adaptive reward modeling, multi-stage scheduling, reinforcement learning optimization and cognitive feedback are organically fused, and a robot gait training framework with generalization ability, stability and social adaptability is constructed. According to the method, the naturalness, the stability and the man-machine friendliness of the gait of the robot can be remarkably improved under complex terrains and interaction scenes, and the method has wide application prospects and popularization value.

The invention discloses a control method of a lower limb rehabilitation robot system based on personalized gait generation and an active compliance control strategy. The control method comprises the steps that S1, lower limb gait data of a plurality of volunteers are collected and preprocessed; s2, constructing a personalized gait generation model, and generating a personalized gait mode according to the preprocessed lower limb gait data; s3, based on a personalized gait mode, establishing an inner ring-position controller based on active disturbance compensation control (ADRC) to perform expected trajectory tracking; an outer ring-trajectory planner is established, and a preset trajectory is adjusted in real time according to the man-machine interaction torque and the predicted system state; and S4, realizing active gait rehabilitation training through a personalized gait generation model and a double-loop active compliance control strategy. The gait track designed and generated by the method is highly matched with a normal gait mode, the track loss is small, a safe and personalized rehabilitation training scheme is provided for a patient, and the applicability and effect of gait training are remarkably improved.

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.

The invention provides an anti-unbalance lower limb rehabilitation training system and method. The method comprises the following steps: collecting simulated training data; extracting gait training tracks of all normal people in each gait cycle from the simulation training data, and determining an imbalance compensation coefficient of the target object during lower limb rehabilitation training through each gait training track; obtaining an initial gait track of the target object, and determining difference association features of gaits of the target object in each gait cycle according to the initial gait track; track correction is carried out on a dependence path when the target object carries out gait conversion between adjacent gait cycles through the unbalance compensation coefficient and each difference correlation feature, and a self-adaptive anti-unbalance track is obtained; and the lower limb rehabilitation training equipment performs personalized anti-unbalance adjustment according to the self-adaptive anti-unbalance trajectory. By adopting the scheme of the invention, personalized anti-unbalance rehabilitation training can be realized according to the difference of different patients on different rehabilitation training requirements, so that the effectiveness of the anti-unbalance lower limb rehabilitation training equipment can be improved.

The invention discloses a brain small vascular disease lower limb dysfunction self-adaptive electrical stimulation auxiliary rehabilitation system in the technical field of medical instruments, and the system comprises a data collection module which is used for obtaining the multi-modal data of a patient in real time; the decision regulation and control module is used for generating dynamically optimized electrical stimulation parameters and rehabilitation task instructions based on a deep reinforcement learning algorithm and patient individualized pathological characteristics according to the multi-modal data; the electrical stimulation execution module is used for synchronously regulating and stimulating nerve targets according to the optimized electrical stimulation parameters; and the interactive virtual reality module is used for combining immersive gait training and cognitive training. By detecting the multi-modal physiological data of the patient, combining the deep reinforcement learning model to dynamically optimize the electrical stimulation parameters, and coupling VR exercise training and cognitive training, the three-in-one collaborative rehabilitation mode of electrical stimulation-physical treatment-cognitive intervention is realized, the rehabilitation training efficiency is improved, the relapse risk of the patient is reduced, and the rehabilitation training experience of the patient is enhanced.

A rigid-flexible integrated multifunctional lower limb rehabilitation training device comprises a base (100), a flexion and extension support (200), a hip and knee joint flexion and extension autonomous training control mechanism (300), an ankle joint dorsal extension and plantar flexion training mechanism (400), a hip and ankle joint inward and outward rotation autonomous training mechanism (500) and a hip joint adduction and abduction autonomous training mechanism (600). Mainly comprises a flexion and extension hand pull rope (310), a pedal plate (320) and a pedal pull rope (330); a support plate (410) and an elastic member (420); the internal and external rotation training device comprises a support frame (510), an internal and external rotation training arc-shaped track (520), an internal and external rotation roller (450) and an internal and external rotation training pull rope (530), the gear (620) is meshed with the adduction and abduction training arc-shaped track (610), and the adduction and abduction training pull rope (630) is arranged on the adduction and abduction training arc-shaped track (610). The lower limb core muscle group rehabilitation training device integrates multiple modes such as multiple joints, multiple degrees of freedom, passive, assisting and active as soon as possible in the lying position, can simulate gait training in the lying position, and effectively promotes early rehabilitation of a patient.

The invention relates to the technical field of data processing, and discloses a gait training method and system based on virtual reality. The method comprises the following steps: acquiring gait motion data in real time through a plurality of inertial measurement sensors, and fusing the gait motion data with whole body depth image data acquired by a depth camera to form a gait feature vector; and a gait analysis model constructed by using a convolutional neural network and a long-short-term memory network is used for recognizing gait parameter abnormity in real time and generating an evaluation report. And according to the evaluation report, a self-adaptive virtual reality training scene is dynamically generated, and instant visual and auditory feedback is provided, so that the individuation and effect of gait training are improved, and the method has a wide clinical application prospect.

The invention relates to the technical field of rehabilitation training, and particularly discloses a method, system and device for assisting walking training through visual and auditory stimulation. Visual and auditory data is generated by means of auxiliary training equipment to guide a user to walk and train, parameters are adjusted according to the body state of the user, limb coordination characteristics and muscle group coordination characteristics are obtained according to the multiple pieces of joint movement track information, gait parameters are calculated according to the limb coordination characteristics and the muscle group coordination characteristics, and the gait training accuracy is improved. The method comprises the following steps: acquiring accurate limb gait information, then judging whether the limb gait information meets a preset condition or not, if not, generating posture auxiliary information according to an analysis result, adjusting own parameters of auxiliary training equipment according to the posture auxiliary information, and re-acquiring joint movement track information; if yes, equipment parameters are fixed, a complete and scientific home rehabilitation training system is formed, and it is ensured that training is stable and coherent.

The invention provides a gait balance training method and system based on virtual reality, and is applied to the technical field of data processing. The method comprises the following steps: processing knee joint sequence image information of a target user to generate knee joint motion range interval information; processing the physiological parameter information of the target user in a preset time period, and generating target diagnosis interval data information of the target user; processing the gait training purpose information of the target user and the target diagnosis interval data information of the target user to generate a gait training adjustment factor; processing the knee joint activity range interval information and the clinical attribute information of the target user based on a target gait training generation model, and generating gait posture stability information and gait stability time information; and processing the gait posture stability information, the gait stability time information and the gait training adjustment factor to generate target gait training information.

1. Name of the product in this design: Walking aid (ZX-08). 2. Purpose of this design: To assist hemiplegic and paraplegic patients in standing, moving, and gait 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: a 3D model.

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.

To provide a gait training system that allows gait training to be performed appropriately.SOLUTION: A gait training system 1 includes: a treadmill 131 having a belt 132 on which a user lands; and a vertical handrail 400 having a grip part 420 arranged inside right and left ends of the belt 132, which is provided along a vertical direction.SELECTED DRAWING: Figure 2

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.

The invention relates to the field of sports medicine and can be used for gait training after knee joint injuries. The present method includes stretching a band of a resilient material using the knee of the injured leg, wherein one end of said band is secured in relation to a fixed support behind the injured leg. A series of exercises is then performed without removing the load on the injured knee joint, from an upright starting position on a platform with the band positioned on the knee of the injured leg and the hands on the waist. Both legs are bent. Next, sets of exercises are performed which include raising the healthy leg, placing the foot on an intermediate platform, and placing the foot on the floor. To finish, the load is removed from the injured leg and the user steps up and down from the platform. The method makes it possible to restore the coordination of the movements made when descending or climbing a flight of steps.

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.

1. Name of the Design Product: Gait Training Robot. 2. Use of the Design Product: For patients to carry out rehabilitation training or assist in walking. 3. Design Key Points of the Design Product: Lies in the shape. 4. Picture or Photograph that Best Illustrates the Design Key Points: Perspective view.

The application discloses a control method of an autonomous navigation lower limb robot, which comprises the following steps: collecting human gait data to obtain an original gait curve, optimizing the gait in combination with sensor data, and controlling an exoskeleton to perform rehabilitation training; based on lower limb motion parameters and navigation instructions, the speed of a driving wheel is controlled, so that the platform advances to a target direction in cooperation with the lower limb motion parameters, thereby realizing the functions of gait training and autonomous navigation, and the comfort during lower limb rehabilitation training and the experience of a patient are improved, and real-time regulation and control of lower limb motion and autonomous control of a walking direction of the patient during training are realized.

The present application relates to the technical field of medical devices, and discloses a multifunctional riding type lower limb rehabilitation robot, which comprises a frame, an exoskeleton lifting assembly installed on one side wall of the frame, and a detachable gear shifting riding device. The rehabilitation auxiliary robot can be used in two ways. A waist support structure is fixedly installed on one side outer wall of the exoskeleton lifting assembly. Hip joints are respectively installed on the two side outer walls of the waist support structure. The frame, the waist support structure, the hip joints, the knee joints, the ankle joints and the foot palm support and the walking stick can be used to perform muscle strength training and motion support and motion control training on patients with central palsy. The riding device can effectively complete rehabilitation training through the riding posture. After the gear is shifted, the riding device can drive the frame to move. The muscle strength training can also be performed on patients with peripheral nerves. After the muscle strength is enhanced, the patients can effectively stand, stand steadily, maintain balance and perform gait training.

The technical scheme of the invention discloses a brain-computer interface assisted patient gait training system. The brain-computer interface system is combined to provide the accuracy of the brain motion intention, the infrared optical motion capture system is adopted to capture reflective identification points on the human body through infrared rays emitted by the lens, and accurate and real-time motion information is collected and generated. The gait of a standing or walking training patient under the suspended sky rail is tracked and measured in real time, and the track of a three-dimensional space point, the motion posture of a rigid body and the action of a human body are recorded as real visual feedback of a lower limb training brain-computer interface of the dyskinesia patient. It is guaranteed that when the brain of a patient outputs a motion intention, input from the real motion ability of the patient can be obtained, peripheral electrical stimulation or epidural electrical stimulation is combined as tactile feedback, and therefore precise closed-loop regulation and control of the brain on the output of a motion control signal of the paralyzed lower limb are promoted.

The utility model relates to the technical field of medical equipment, in particular to a wheelchair for rehabilitation training, which comprises two first supports and second supports arranged on the first supports, rear wheels are arranged on the first supports, front wheels are arranged on the second supports, driving parts are rotatably arranged on the first supports, and the driving parts are rotatably arranged on the second supports. A moving assembly is arranged at the movable end of the driving part, a connecting frame is rotationally arranged between the moving assembly and the connecting frame, the driving part is arranged to drive the moving assembly to move upwards so as to drive the hanging assembly to move upwards, the hanging assembly supports a patient, and the patient can be changed into a standing state from a sitting state. When the moving assembly moves upwards, the cushion can be changed into a vertical state from a horizontal state under the action of the connecting rod, so that the cushion can be prevented from being blocked when gait training is carried out on a patient, the gait training of the patient is facilitated, and the lower limbs of the patient are helped to recover.

The utility model relates to the technical field of Parkinson's patient training, and discloses a Parkinson's patient frozen gait rehabilitation nursing trainer which comprises a supporting plate, a special-shaped supporting block is fixed to the right side of the supporting plate, a driving assembly is fixedly connected to the interior of the front side of the special-shaped supporting block, a first gear is fixedly connected to the driving end of the driving assembly, and a second gear is fixedly connected to the driving end of the first gear. Two limiting discs are rotatably connected to the interior of the left side of the special-shaped supporting block, a second gear is fixedly connected to the sides, close to each other, of the two limiting discs, a fixed block is fixedly connected to one side of each limiting disc, a rotating block is rotatably connected to one side of each fixed block, and a pedal is fixedly connected to one side of each rotating block; and a movable hole is formed in the top end of the pedal. According to the gait training device, more stable support can be provided, a patient can be helped to keep balance during gait training, the falling risk is reduced, the comfort in the training process is ensured, and therefore the acceptability and continuity of the patient to training are improved.

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.

The utility model relates to the technical field of passive exercise training equipment, and discloses a lower limb passive joint motion range and gait training instrument for small animals, which comprises a base and a support frame fixedly connected to the top end of the base, a movable fixing mechanism is arranged at the top end of the base, and an adjusting limiting mechanism is arranged above the movable fixing mechanism. A shifting plate is shifted to drive movement and extrudes a first spring at the same time, so that the outer wall of a clamping block is separated from the inner wall of a clamping groove, then a limiting plate is pushed forwards to drive a sliding plate to move forwards, then the legs of a rat are placed in the sliding plate, the shifting plate is loosened, and the first spring rebounds to push the clamping block to move, so that the clamping block is clamped to the inner wall of the clamping groove; then a limiting plate is pulled to drive a sliding plate to move, at the moment, the inner wall of a clamping groove extrudes the outer wall of a clamping block till the clamping block moves into the proper clamping groove, and therefore the leg of the rat is fixed, and the fixing stability of the leg of the rat in the rehabilitation moving process is guaranteed.

The invention discloses a posture and gait training auxiliary device and method suitable for vestibular neuritis patients in the technical field of medical instruments, the posture and gait training auxiliary device comprises guardrails, ground mats and eyeshades, the guardrails are arranged in two groups, and the ground mats are arranged in two groups. During treatment, the patient wears an eyeshade, walks according to a second foot type shown on a second ground mat and requires the patient to walk close to the front foot and the heel, when the feet of the patient are located at the position of the intelligent monitoring assembly on the second foot type, the induction lamp is turned on, the intelligent monitoring assembly starts to work, the intelligent monitoring assembly can adjust the timing range for 2-10 seconds, and the patient can walk on the second foot type. After the body of the patient is stabilized at the body position, the body does not shake or does not shake obviously, the patient walks next step. After the patient finishes four-stage training, the posture gait problem caused by chronic dizziness of the patient can be well improved. The method is low in cost per time, and a treatment place does not need to be in a hospital; the cost for self-rehabilitation treatment of a patient is low, the compliance is good, and the rehabilitation treatment effect can be well achieved.

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.