49 results about "Lower limb training" patented technology

The invention relates to a closed-loop control method suitable for personalized lower limb exercise training, belongs to the technical field of exercise rehabilitation, and designs a closed-loop control method for dynamically adjusting lower limb training load according to muscle activation degree by combining surface myoelectricity characteristics with a personalized training model and a closed-loop control algorithm. According to the method, the resistance load can be adjusted in real time according to the muscle state, and finally the muscle activation level in the training process is maintained in an expected range. In the pre-training stage, sEMG data are collected to establish a personalized mapping model, and response characteristics of individual muscles are quantified; in the formal training stage, the muscle state is monitored in real time, the reference load is predicted through the model, and a closed-loop control algorithm is adopted to generate dynamic adjustment amount to adjust resistance output in real time. The invention further provides a closed-loop control system suitable for personalized lower limb exercise training.

The utility model discloses a rehabilitation machine clutch mechanism for realizing respective training of upper and lower limbs. The rehabilitation machine clutch mechanism comprises an upper limb transmission sleeve and a lower limb transmission sleeve which are coaxially arranged, a transmission shaft is slidably arranged in the lower limb transmission sleeve, a sliding block is rotatably installed at the end, away from the upper limb transmission sleeve, of the transmission shaft, and the transmission shaft is axially fixed relative to the sliding block. A transmission pin is inserted in the circumferential side of the sliding block in the radial direction, the outer side of the sliding block is coaxially sleeved with a spiral sleeve, a spiral guide groove is formed in the spiral sleeve, and the transmission pin is in transmission fit with the guide groove. A transmission gear is fixedly mounted on the outer side of the spiral sleeve and drives the spiral sleeve to rotate when rotating, so that the sliding block is driven to axially move, and the transmission shaft is pulled to slide left and right in the upper limb transmission sleeve; the upper limbs and the lower limbs can be driven to be independently trained through one driving system, the structure is simplified, and cost is reduced.

The invention discloses a hemiplegic lower limb underwater rehabilitation training system which comprises a box body, a moving device, an exoskeleton training device and a pair of transmission devices symmetrically arranged on the outer side wall of the box body, the moving device comprises a driving roller, a rotating roller and an annular flexible belt, and the two ends of the driving roller are rotatably arranged on the side wall of the box body; the exoskeleton training device comprises a carapace and a pair of lower limb training parts symmetrically hinged to the lower portion of the carapace, the transmission device comprises a first transmission part and a second transmission part which are in series transmission, one end of the first transmission part is connected with the driving roller, and one end of the second transmission part extends into the box body to be detachably connected with the lower limb training parts. Power output by the moving device is transmitted to the lower limb training part through the transmission device, and the lower limb training part is driven to drive the legs of the patient to do reciprocating swing training on the annular flexible belt. An extra underwater power source is not needed, the structure is simplified, the cost is reduced, the device can adapt to patients of different heights, the adaptability and safety of rehabilitation training are improved, and the device is suitable for lower limb gait rehabilitation of hemiplegic patients.

The invention discloses a multifunctional rehabilitation training device for neurotrauma, which belongs to the technical field of neurotrauma rehabilitation and comprises a bottom plate, a seat, upper limb training mechanisms symmetrically arranged on two sides of the seat and lower limb training mechanisms symmetrically arranged on the front side of the seat. The upper limb training mechanism comprises a fixing plate, an inclined first supporting plate and a rotatable second supporting plate, a first driving mechanism composed of an electric push rod, a guide plate and the like is arranged below the second supporting plate, and a hand pressing mechanism with a massage glove and inflation equipment is arranged on the front side of the second supporting plate; the lower limb training mechanism comprises a supporting plate, a rotatable first bracket and a rotatable second bracket, the supporting plate is provided with a module sliding table, the bottom of the second bracket is connected with the module sliding table through an extending frame, and a foot pressing mechanism with a pressing foot sleeve and a protruding part is arranged on a baffle at the tail end of the second bracket. The device can synchronously carry out upper limb elbow joint bending training, hand pressing training, lower limb knee joint bending training and foot pressing training, supports multi-mode training adjustment, can meet the requirements of different patients, improves rehabilitation efficiency and comfort, and is suitable for upper limb and lower limb functional rehabilitation of neurotrauma patients.

The invention discloses a comprehensive body builder based on motor control strength, and relates to the technical field of body builders, the comprehensive body builder comprises a base, a leg exercising frame is slidably mounted at one end of the base, a seat is mounted on the base, a frame body is fixedly connected to the side wall of the base, and push-pull arms are rotatably connected to the outer walls of the two sides of the frame body through rotating shafts; a first pulley block and a double-shaft motor are arranged at the top of the base, the first pulley block comprises two mounting frames fixedly connected to the top of the base, and mounting shafts are rotationally connected to the two mounting frames. Switching of upper limb training or lower limb training can be carried out by pressing the adjusting piece and rotating the fastening piece, switching of training exercises such as rowing and leg exercising can be carried out, the structure is simple, operation is convenient, a single motor power source can be distributed to different training devices, and the fitness equipment is convenient to use. Upper limb and lower limb training can be carried out on one device through a single motor power source, and the problems that an existing training device is single in function, and a plurality of devices need to be purchased are solved.

The invention relates to the field of lower limb rehabilitation training, and discloses a state monitoring system for gastrocnemius muscle exercise load regulation and control equipment and a control method thereof.The state monitoring system comprises a signal collection module used for collecting the force application state of a foot on a pedal through a force measurement sensor in the process that the foot treads the pedal of the gastrocnemius muscle exercise load regulation and control equipment; the signal transmission module is used for preprocessing the force application state, obtaining preprocessed data and transmitting the preprocessed data to the main control module; the main control module is used for acquiring the force application amplitude of the foot aiming at the pedal from the preprocessed data, determining the force application deviation between the force application amplitude and the target amplitude, and determining a control signal based on the force application deviation through the PID controller; the driving module is used for at least adjusting the damping data based on the control signal; the monitoring module is used for monitoring the body state of at least part of the body part of the patient in the process that the pedals are continuously treaded. According to the scheme, diversified lower limb training requirements can be met.

The utility model belongs to the technical field of rehabilitation training, and particularly relates to a rehabilitation training device which comprises a bottom plate, a sliding rail is fixedly connected to the top of the bottom plate, an adjustable seat assembly is installed on the outer wall of the sliding rail, an upper limb training assembly is arranged on the top of the adjustable seat assembly, and a lower limb training assembly is arranged on the side of the adjustable seat assembly. The upper limb exercise assembly comprises a bottom supporting shell, a second bearing is fixedly connected to the interior of the bottom supporting shell, a first threaded rod is fixedly connected to the interior of the second bearing, a sliding block is rotatably connected to the top of the first threaded rod, and a first worm wheel is fixedly connected to the first threaded rod; the side of the first worm gear is engaged with a first worm; the structural strength and reliability of the device are guaranteed, the safety is improved, potential safety hazards caused by the unstable structure are reduced, the device can be circularly lifted through a servo motor, and automatic training can be better conducted on a patient in the initial stage.

The present disclosure may be a lower extremity training system comprising: a plate comprising: an upper surface, and a lower surface, wherein the lower surface is configured to interface with a floor; one or more grip sections disposed upon the upper surface, the one or more grip sections configured to accept one or more mounts; one or more force sensors coupled to the one or more mounts.

The utility model relates to the technical field of medical instruments, in particular to a lower limb training device for VTE prevention, which can assist a patient in training ankles and is convenient to use and high in practicability. Comprising a baseplate; the rotating shaft is rotationally installed on the bottom plate, the lower portion of the foot pad plate is fixedly installed on the rotating shaft, the elastic mechanism is arranged between the bottom plate and the foot pad plate, the elastic mechanism has elasticity, the limiting mechanism is installed on the left portion of the bottom plate, and the limiting mechanism has a limiting function.

The invention provides a lower limb lymphedema rehabilitation training device which comprises a supporting plate, a first rotating plate is rotatably installed on one side of the supporting plate, a second rotating plate is rotatably installed on the side, away from the supporting plate, of the first rotating plate, and protection assemblies are arranged on the side face of the first rotating plate and the side face of the second rotating plate. A training assembly with adjustable resistance is arranged between the first rotating plate and the supporting plate, and an elastic positioning assembly is arranged between the first rotating plate and the second rotating plate. The lower limb lymphedema rehabilitation training device is used for lower limb training when a patient lies in bed, lymph backflow is assisted by raising legs, rehabilitation treatment of the lower limb lymphedema patient is facilitated, medical staff can adjust the strength of the training device according to the physical quality of the patient in the training process, and the lower limb lymphedema rehabilitation training device is suitable for being used by different staff; meanwhile, the training device can be used for massaging the shanks of the patient, dredging channels and promoting lymph backflow, has ventilation and perspiration functions and is convenient for the patient to use.

This invention relates to the field of nursing rehabilitation technology, and in particular provides a rehabilitation device for stroke hemiplegia care. This rehabilitation device includes a rehabilitation bed frame, a massage adjustment component, a lower limb adjustment component, and a lower limb training component. This invention enables mechanically assisted adjustment for stroke patients to smoothly transition from a supine position to a sitting and standing position, effectively reducing the workload of rehabilitation technicians, providing patients with self-rehabilitation training methods, and providing massage rehabilitation for the back and buttocks. It also allows for precise adjustment of massage intensity to help promote blood circulation, relieve muscle stiffness, reduce pain, and promote rehabilitation. Furthermore, it provides mechanical assistance for rehabilitation training such as bridging exercises, lower body abduction training, standing training, and plantar flexion training, thereby ensuring the accuracy of the patient's movements, avoiding distorted movements, and maximizing the rehabilitation effect.

The application belongs to the technical field of lower limb training, and particularly discloses a wheel-leg robot and a lower limb passive training coordination control method. The wheel-leg robot comprises a wheeled mobile platform, an exoskeleton mechanical leg is connected to the wheeled mobile platform, the exoskeleton mechanical leg comprises a driving motor, a telescopic sleeve is connected to the shaft of the driving motor, an inner rod is slidingly connected to the telescopic sleeve, and the inner rod is connected to a leg supporting groove. A row of positioning grooves are arranged on the inner rod and are distributed along the sliding direction of the inner rod. A transverse insertion rod matched with the positioning grooves is slidingly connected to the telescopic sleeve, and a return spring is connected between the transverse insertion rod and the telescopic sleeve. The application provides a wheel-leg robot and a lower limb passive training coordination control method suitable for patients with different body types. The actual position of the foot is monitored to adjust the speed of the bottom wheel of the wheeled mobile platform, the coordination is improved, and the rehabilitation training needs of patients with lower limb movement dysfunction in various aspects can be met.

This invention relates to the field of lower limb training technology, and more specifically, to a method and system for lower limb rehabilitation training on a slope. The method includes: acquiring sling images at predetermined time intervals T over a period of time to obtain a sling image at the current moment; preprocessing the sling image at the current moment to calculate the angle between the current sling image and the sling when it is in a vertical position; and controlling the pulley to move in response to the angle reaching a preset condition. This invention calculates the number of pulley movements to assess the patient's lower limb training progress and then determines whether to improve patient protection. For example, a low number of pulley movements indicates poor lower limb mobility, thus requiring a shorter predetermined time interval T in the next period to increase the frequency of sling image acquisition, thereby improving patient protection and preventing falls.

The application discloses a wearable anti-pressure-sore support device for lower limb rehabilitation training of the elderly, and relates to the field of lower limb training anti-pressure-sore devices.The device comprises a support frame, an installation groove is formed in the support frame, an installation ring is slidably connected in the installation groove, and a moving mechanism connected with the support frame is movably connected to the installation ring.The wearable anti-pressure-sore support device for lower limb rehabilitation training of the elderly can lift the lower limbs of a patient through a lower limb fixing and lifting mechanism, thereby avoiding long-time local pressure.The device is equipped with a pressing roller which can roll and elastically press the lower limbs.The pressing roller is elastically attached to the support frame through a telescopic rod and a spring, and can automatically adjust the pressing force according to the surface shape of the lower limbs, thereby avoiding injury caused by excessive pressing force.Under the synergistic action of the moving mechanism and the transmission mechanism, the pressing roller can press the lower limbs at multiple angles and in all directions, thereby promoting blood circulation, improving local nutrition supply, and effectively reducing the risk of pressure sores.

The utility model relates to training equipment for simulating equal-length exercise, which comprises an equipment base; the upper limb training mechanism comprises an upper limb training support, an armrest assembly and a first force sensor; the upper limb training support is arranged on the equipment base, the armrest assembly is movably connected with the upper limb training support, and the detection end of the first force sensor is in transmission connection with the armrest assembly; when a user performs upper limb training, the upper limbs of the user apply acting force to the armrest assembly, and the first force sensor collects the acting force of the upper limbs of the user through the armrest assembly; the lower limb training mechanism comprises a lower limb training support and a second force sensor; the lower limb training support is arranged on the equipment base, and the second force sensor is arranged between the lower limb training support and the equipment base; when the lower limbs of the user act on the lower limb training support to move, the second force sensor collects acting force data of the lower limbs of the user. When the training equipment is applied, a user always masters the force applied by the body of the user and the force needing to be borne, and potential damage to the body of the user is avoided.

The application discloses an active motion training device for lower limb exercise, and relates to the technical field of lower limb training devices, which comprises a base, an adjustable seat installed on the base, two self-extending massage mechanisms slidingly arranged on the base, and connecting pieces connecting the two self-extending massage mechanisms. When the pedal moves, the steel cable is pulled to move synchronously with the connecting piece, and the movement of the connecting piece controls the movement of the two self-extending massage mechanisms. At this time, the self-extending massage mechanism massages the lower limbs of the user, and can be attached to the lower limbs of the user, thereby increasing the massage effect on the lower limbs of the user. When the connecting piece moves, the resistance element provides resistance to increase the resistance when the user pushes the pedal to move, so as to realize the training function. The resistance element is inserted and is convenient to replace, so that different resistance elements can be replaced according to different users.

The present application relates to the technical field of medical rehabilitation equipment, in particular to a spinal cord injury rehabilitation exercise device and an exercise method thereof, comprising a supporting base, a spinal vertebra seat adjusting mechanism, a lower limb training mechanism and an upper limb training mechanism.In the present application, the gear rack transmission structure is composed of the toothed plate, the T-shaped positioning sliding block and the transmission gear, and is limited and guided by the T-shaped sliding groove, so that the position of the seat can be stably adjusted, and the multi-angle backrest of the seat can be adjusted by the servo motor, so that the sitting posture and the backrest angle can be individually adjusted according to the height of the patient, the injured part of the spinal vertebra and the rehabilitation stage, the human body spinal physiological curvature can be accurately fitted, the spinal posture adjustment, the passive training of the lower limbs and the resistance stretching of the upper limbs are integrated on the same supporting base, the rehabilitation training of the waist, the upper limbs and the lower limbs of the patient can be completed by one device, the rehabilitation process is simplified, the occupied space of the device is reduced, and the overall structure has high automation.

The upper and lower limb paralysis rehabilitation booster comprises a base, an upper limb training assembly, a lower limb training assembly and a seat are arranged on the base, an adjusting groove is formed in the base in the length direction, an adjusting screw rod is rotationally connected into the adjusting groove, an adjusting block is in threaded connection with the adjusting screw rod, and the cross section of the adjusting block and the cross section of the adjusting groove are both square. The adjusting block is slidably connected into the adjusting groove, the seat is arranged on the adjusting block, an adjusting motor for driving the adjusting screw to rotate is arranged on the outer surface of the base, the adjusting screw drives the adjusting block to move along the adjusting groove, and the adjusting block moves to drive the seat to be close to or away from the training assembly. Therefore, the distance between the seat and the training assembly can be flexibly adjusted. The rehabilitation training device has the effect of improving the comfort of a patient during rehabilitation training.

The application discloses a lower limb exoskeleton active-passive rehabilitation training device in the technical field of rehabilitation training devices, which comprises a lower limb training device, a plurality of fixed tracks are fixedly arranged at the support of the lower limb training device, a positioning assembly is movably connected to the middle part of the fixed track, the positioning assembly is used for being connected with the fixed track, a fixed block is fixedly connected to the end of the positioning assembly, a wrapping cylinder is fixedly connected to the end of the fixed block, an antiskid assembly is arranged on the upper part of the wrapping cylinder, the antiskid assembly is used for preventing the legs of a user from sliding in the wrapping cylinder, a limiting assembly is arranged in the middle part of the fixed block, the limiting assembly is used for fixing the positioning assembly, the position of the positioning assembly is limited through the limiting assembly, the loosening of the positioning assembly caused by vibration during movement of the user is avoided, the positioning assembly is prevented from being separated from the embedded fixed track, and the amputated limb is more stable in the wrapping cylinder.

The utility model relates to the technical field of nursing devices, in particular to a multifunctional rehabilitation training device suitable for disabled groups, which comprises a frame, a folding plate, an electric cylinder and a folding support block. The folding plate comprises a first plate body and a second plate body rotationally connected with the first plate body, and one side of the second plate body is hinged to the cross rod; the electric cylinder is fixed to the bottom of the rack, and the output end of the electric cylinder is rotationally connected with the second plate body; the folding supporting block is fixedly connected to the machine frame and located below the first plate body in the horizontal state, the training device provided by the technical scheme enables a patient to effectively and easily complete the training process, standing, walking, sitting, lying flat, semi-lying and upper and lower limb training are achieved, and the training effect is good. Moreover, the structure is simple, the occupied space is small, and the patient can conveniently switch the excrement and urine in time according to the physical condition of himself / herself.

1. Name of the product in this design: Intelligent Upper and Lower Limb Trainer (SXZ Series). 2. Purpose of this design: An auxiliary device for upper and lower limb 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.

This invention discloses a device for rehabilitating paralyzed limb joints, comprising: a base with a seat fixedly installed at one end of the top surface; an arm strength training component; a coordination training mechanism. The coordination training mechanism includes an installation board, with a moving component set on the top surface of the base. One side of the installation board can be detachably connected with the arm training component and the lower limb training component. The lower limb training component includes two first telescopic rods with a first support rod set between them, and the first support rod is rotatably connected to the end of the first telescopic rod. The arm training component includes two mounting rods installed on the installation board, with the other end of the mounting rod fixedly connected to the second telescopic rod, and the second telescopic rods are fixedly connected by a second support rod.

This invention discloses a lower limb intelligent feedback training system and method, belonging to the field of rehabilitation training technology. The system includes a multi-source information acquisition module, a real-time intention and state recognition module, an adaptive decision-making and control module, a multimodal feedback execution module, and a training data management and individual model update module. The multi-source information acquisition module collects force, motion, and physiological information during lower limb training; the real-time intention and state recognition module fuses and analyzes the multi-source information to identify the user's motion intention and assess their motion state; the adaptive decision-making and control module generates training parameter adjustment instructions based on the motion intention, motion state, training goals, and individual ability parameters; the multimodal feedback execution module provides feedback to the user based on the training parameters; and the training data management and individual model update module updates the individual ability parameters. Through this structure, adaptive adjustment and closed-loop feedback in the lower limb training process are achieved.

The application belongs to the technical field of medical auxiliary equipment, and discloses a four-limb rehabilitation device with adjustable limbs for neurology department, which comprises a base, a seat and a rehabilitation part arranged on the base, wherein the base is provided with a sliding rail, the seat is slidingly connected to the sliding rail, and a driving cylinder for driving the seat to move is fixed to the base; the rehabilitation part comprises a main body, a lower limb training part arranged at the bottom of the main body, and an upper limb training part arranged at the upper part of the main body, wherein the lower limb training part comprises a foot pedal rotatably connected to the main body; the upper limb training part comprises a mounting block and a holding column rotatably connected to the mounting block; the upper part of the main body is provided with a mounting groove, and the mounting block is vertically slidingly connected to the mounting groove; the four-limb rehabilitation device further comprises a threaded column penetrating through the mounting block and being threadedly connected to the mounting block, the threaded column penetrating through the top of the main body and being rotatably connected to the main body, and a motor fixed to the top of the main body and driving the threaded column to rotate. The four-limb rehabilitation device can be adjusted, and the applicability is improved.

The utility model relates to the technical field of rehabilitation training devices, in particular to a lower limb rehabilitation training device which comprises a bottom frame, a chair frame, a seat, a hinge, an inclined frame, a guide rod, a pedal, a connecting rope, a rope plate, a balance weight inserting rod, a balance weight block, a limiting rod and a hydraulic adjusting rod. The lower limb training device is composed of the inclined frame, the pedal, the connecting rope, the rope plate, the balance weight inserting rod, the balance weight block and the limiting rod, a patient steps on the pedal to increase hindrance, the leg exercising effect is achieved, the pedal is composed of the two detachable plate bodies which can be used independently, and therefore the lower limb training device is convenient to use. While the treading effect is achieved, strengthening exercise of a single lower limb or alternate treading exercise of two legs can be conducted, a more flexible training mode is provided according to the lower limb condition of a patient, and targeted training of the patient is facilitated.

The present application belongs to the technical field of lower limb training robot, and specifically discloses a robot lower limb training method, comprising the following steps: step 1, fitting a hip joint rotation angle change curve, a center of gravity up and down position change curve and a center of gravity forward speed change curve according to gait information of a human body; step 2, using a gravity compensation PD control algorithm to control rotation of an exoskeleton motor according to the hip joint rotation angle change curve; using a PD control algorithm with weight reduction bias to control rotation of a lifting motor according to the center of gravity up and down position change curve; and using a PI control algorithm to control rotation of a bottom wheel according to the center of gravity forward speed change curve; the present application provides a robot and a lower limb training method capable of improving human-computer interaction compliance.

The utility model relates to a lower limb training rehabilitation device, and relates to the technical field of rehabilitation. The lower limb training rehabilitation device comprises a seat body and a training assembly. And a seat surface is arranged on the seat body. The training assembly comprises a training plate, and the training plate is hinged to the edge of the seat surface; a passive training part and an active training part are arranged at the position, facing the training plate, of the seat body. The passive training part comprises a pushing piece, and the output end of the pushing piece detachably abuts against the end, away from the seat face, of the training plate. The active training part comprises a first elastic piece, the first elastic piece is arranged between the training plate and the seat body, and when the output end of the pushing piece is connected to the training plate, the first elastic piece is in a compressed state. According to the lower limb training and rehabilitation device, passive training can be conducted on the lower limbs of a patient, the effect of preliminary training and recovery on the lower limbs is achieved, and after the patient recovers to a proper stage, the patient can actively exert force to conduct training.

This utility model discloses a lower limb training and rehabilitation device with a vibration structure, relating to the field of rehabilitation therapy technology. It includes a base, a bed frame mounted on the base, a thigh clamp arm mounted on the bed frame, a telescopic shell mounted at the end of the bed frame, and a training mechanism mounted on the telescopic shell. The training mechanism includes a sliding seat slidably mounted within the telescopic shell, a support arm fixedly mounted on the sliding seat, a positioning shaft fixedly mounted on the support arm, a rotating arm rotatably mounted on the positioning shaft, a foot pedal fixedly mounted on the rotating arm, and a vibration mechanism fixedly mounted on the foot pedal. The training mechanism also includes a torsion spring sleeved on the positioning shaft and a return spring located on one side of the sliding seat. This lower limb training and rehabilitation device with a vibration structure can train the patient's calves, knees, and ankles, and the vibration mechanism can alleviate muscle stiffness after exercise.

This invention relates to a cardiac rehabilitation training device, belonging to the field of rehabilitation training technology, including a lower limb training mechanism and an upper limb training mechanism. The upper limb training unit includes a mounting box, a training rod, and a pull ring. The mounting box is located above the lower limb training mechanism. The training rod is vertically arranged and slides through the mounting box. A sliding cavity is formed inside the training rod, and an elastic band is installed inside the sliding cavity. The top end of the elastic band is fixedly connected to the side wall of the sliding cavity, and the bottom end is fixedly connected to the pull ring. The upper limb training mechanism has a first state and a second state. In the first state, the training rod is locked to the mounting box, and the pull ring can be pulled freely. In the second state, the training rod can be raised and lowered vertically, and the pull ring is locked to the bottom end of the training rod. A controller is installed inside the mounting box. This device can meet the needs of coordinated upper and lower limb training, improve training efficiency, is simple to operate, highly adaptable, and helps to achieve a more scientific and comprehensive cardiac rehabilitation program.

The application discloses a lower limb training rehabilitation method and system for orthopedic nursing, and the method comprises the following steps: collecting plantar pressure distribution data of a patient's lower limbs when walking, and extracting gait stability features according to the moving track of the pressure center; inputting the gait stability features into a gait analysis model, and combining real-time electromyographic signals to generate a joint load distribution atlas; calculating the training intensity coefficients of each muscle group based on the joint load distribution atlas through an adaptive adjustment algorithm; generating neuromuscular stimulation parameters according to the training intensity coefficients, and outputting electric stimulation signals with corresponding intensity; and fusing the electric stimulation signals and the gait stability features to generate a personalized rehabilitation scheme containing training duration, intensity gradient and rest interval. By using the embodiment of the application, the rehabilitation effect can be improved, the recovery period can be shortened, and the medical risk can be reduced.