61 results about "Ambulation training" patented technology

The invention discloses a suspension type self-adaptive weight reducing device for rehabilitation training and a rehabilitation training robot. The device comprises a foldable mobile training frame, alower limb training assistive device carrying device, a weight reducing vest, a pulley rope system and a self-adaptive weight reducing box, the box is internally provided with a rope winding device and a self-adaptive gravity following device, the rope winding device is connected with a rope roller through a coupling by means of a servo motor cooperating with a speed reducer, and the reduced gravity is provided for a patient by winding or releasing the rope; the rope is led out by the rope roller and winds around a pulley on the side face of a mounting plate to be connected with the weight reducing vest through a pulley block on the self-adaptive gravity following device, the gravity position is calculated by collecting the joint rotation angle of the patient, a motor of the self-adaptivegravity following device is controlled to drive a lead screw to rotate through the coupling, and a shifting board connected with a lead screw nut drives a movable pulley to do liner motion. In this way, the length of the suspension rope in the training process of the patient is adjusted, gravity following is achieved, and the roughly constant reduce gravity is maintained.

A walking training system according to the present invention includes a belt conveyor on which a trainee walks, a frame, a sensor, and a control device. The frame, positioned on both sides of the belt conveyor, allows an assistant to place each of the feet thereon. The sensor measures the presence state of a foot on the frame. The control device determines whether there are three or more feet on the frame based on the measurement result of the sensor and, if it is determined that there are three or more feet, performs abnormal-time control.

The present invention relates to a system and a method for controlling a joint angle of a knee-joint type walking training robot which estimates a walking stage of a person receiving rehabilitation for walking and actively responds to the walking stage on the basis thereof. The present invention can easily control the joint angle of the knee-joint type walking training robot by providing a configuration comprising: a pressure measuring device for measuring the pressure on the sole of a walker's foot by using a pressure sensor; and a joint angle estimating device for estimating the joint angle of a knee-joint by extracting movement time of the walk and the length of the part of the sole contacting the ground on the basis of the sole's pressure measured by the pressure measuring device.

The invention discloses lower limb rehabilitation equipment for weight reduction walking training and balance evaluation. The equipment comprises a training platform, a walking training device which is arranged on the training platform and is used for assisting the patient to do lower limb joint movement; a weight reduction supporting device which is arranged on the training platform and is used for carrying out weight reduction control and pelvic heeling control on a patient who is carrying out lower limb joint movement, a posture conversion device which is arranged at the top of the weight reduction supporting device and used for assisting a patient in achieving conversion between a sitting posture and a standing posture, a power output part which is arranged on the weight reduction supporting device and used for cooperating with the patient to conduct pelvis cooperative movement when the patient does lower limb movement, and a pelvis cooperative motion feedback device which is usedfor feeding back pelvis motion data so as to carry out balance evaluation. Pelvis movement data are obtained while a patient is assisted in conducting lower limb joint movement under weight reductioncontrol, and subsequent balance evaluation and pelvis balance movement autonomous adjustment are facilitated; and synchronous improvement of walking ability and balance ability of a patient is facilitated.

The invention discloses a walking training instrument for dynamic weight reduction. The walking training instrument comprises a machine head, a rail and a hanging stand, wherein the machine head comprises a walking assembly and a lower box body; the walking assembly is used for producing power and is walked along the rail, and a sling is arranged on the lower box body positioned at the bottom of the walking assembly; the other end of the sling is connected with the hanging stand; and the hanging stand is used for being connected with a patient, and a retractable sling can be used for realizingdynamic weight reduction of the patient during walking. According to the walking training instrument for dynamic weight reduction disclosed by the invention, requirements on walking training and transferring for the dynamic weight reduction can be met in a compact space, and quick vertical and horizontal motion in a large scale can be realized; and the walking training instrument has a simple structure, is attractive in appearance, is high in reliability, convenient to maintain, is high in intelligent degree, and can reduce the working pressure of therapists.

The invention relates to a multi-mode rehabilitation weight-reducing walking training vehicle. The multi-mode rehabilitation weight-reducing walking training vehicle comprises a vehicle body, a waistsupport assembly detachably connected with the vehicle body through a waist support fixing plate, an active auxiliary gravity center transfer mechanism connected with the vehicle body, an armrest assembly detachably connected with the vehicle body, a weight-reducing suspension device arranged on the top of the training vehicle and a driving device arranged at the bottom of the training vehicle, wherein the waist support assembly is detachably connected with an exoskeleton robot. Compared with the prior art, the multi-mode rehabilitation weight-reducing walking training vehicle has the advantages that the training vehicle provided by the invention realizes switching of multiple working modes by utilizing a rapid combination disassembly and assembly technology so as to cope with patients with different rehabilitation degrees.

The invention relates to a foot sole driving walking training walking aid which comprises a walking aid frame, a walking track simulation device, an ankle joint angle adjusting device and a pedal device. The walking aid frame is used for providing a supporting force for a patient and assisting the patient in training; a mounting bottom plate, an outer wheel set and an inner wheel set are arrangedon the walking aid frame; the outer wheel set can change the movement speed and direction of the walking aid frame; and the inner wheel set can make contact with the ground in the movement process ofthe walking aid frame to play a role in assisting in movement of the walking aid frame and supporting the frame. The walking track simulation device is installed on the walking aid frame. The ankle joint angle adjusting device is installed on the walking track simulation device; and the pedal plate device is connected with the ankle joint angle adjusting device. The walking track simulation deviceis used for driving the pedal plate device to complete simulation of the elliptical track of walking of a person; and the ankle joint angle adjusting device is used for changing the angle of the ankle joint to cooperate with the patient taking exercise in the rehabilitation training process.

A free walking training machine includes a chassis having a left supporting frame and a right supporting frame, a left swing arm having a left axial portion extending sidewards, a right swing arm having a right axial portion extending sidewards, a left lifting mechanism, a right lifting mechanism, a first linking unit, and a second linking unit. The left lifting mechanism makes the left swing arm move upward and downward relative to the left supporting frame. The right lifting mechanism makes the right swing arm move upward and downward relative to the right supporting frame. The first and second linking mechanisms are connected between the left and right swing arms for enabling the left and right axial portions and the left and right swing arms to make linking movement and move toward contrary directions, respectively. The first and second linking mechanisms are operable independently.

The invention discloses an intelligent interactive walking training system. The system comprises a lower limb motion capture sensor combination, a gait processor connected with the lower limb motion capture sensor combination, a feedback controller connected with the gait processor, and a prompt module connected with the feedback controller. The invention further discloses an implementation methodof the intelligent interactive walking training system. The method comprises the following steps: a gait model is established in a gait recognition module, and a training target value is set in a training setting module; and the lower limb motion capture sensor combination acquires magnetic field intensity, angular velocity and acceleration values of a left lower limb and a right lower limb in the motion process in real time. According to the adopted gait recognition method, each step is decomposed into four gaits, the duration time of each gait is very short, and therefore, the abnormal gaitrecognition speed is high; once an abnormal gait is found, a prompt of correction is immediately made when the abnormal gait is repeated next time; the responsiveness is high; and the method is similar to the actual guidance scene of a rehabilitation therapist.

The invention discloses an active training control method and device for a lower limb walking trainer. The method comprises the steps of: giving a resistance compensation moment according to the movement direction of a joint; acquiring a knee joint moment and a hip joint moment; allowing a trainer to set gravity compensation coefficients for the knee joint moment and the hip joint moment through afirst external interface to adjust the compensation degree, and setting different gravity compensation coefficients for different patients; respectively converting the knee joint moment and the hip joint moment which are set with the gravity compensation coefficients into motor output moments; allowing the trainer to multiply the output torque of a motor by an overall compensation coefficient through a second external interface, and setting different overall compensation coefficients for different patients; and outputting an active training motion curve of a patient, and evaluating the rehabilitation degree of the patient according to the motion curve. The active training control method and device have the following advantage: the problems of lack of an active training algorithm and incapability of evaluating the rehabilitation degree of the patient in the prior art are solved.

The invention relates to a rehabilitation weight-reducing walking training vehicle capable of realizing linear following by detecting a distance and a control method, and belongs to the field of medical instruments. The rehabilitation weight-reducing walking training vehicle comprises a controller and a distance sensor for detecting the distance between a weight-reducing vehicle and the back of apatient. The controller comprises a distance information acquisition module, a speed control module and a motor driving module, wherein the distance information acquisition module receives a real-timedistance measurement value acquired by the distance sensor to obtain a real-time distance value Act_dis at the current moment, and obtains a distance difference value Err_dis between the real-time distance value Act_dis at the current moment and a set absolute distance value Abs_dis through calculation; the speed control module receives the distance difference value Err_dis, and a PID algorithm is adopted to obtain a training vehicle speed correction value Act_speed at the current moment; and the motor driving module receives the speed value Act_speed of the training vehicle and enables the training vehicle to run at the speed of Act_speed by controlling a motor. According to the invention, the synchronous real-time performance of synergic movement of the weight-reducing vehicle and a patient is ensured.

The invention provides a rehabilitation body weight support treadmill training vehicle capable of carrying out double-trajectory tracking, and a tracking method. A double-trajectory tracking scheme isadopted to realize body weight support vehicle tracking movement. The rehabilitation body weight support treadmill training vehicle comprises the vehicle body of the rehabilitation body weight support treadmill training vehicle, wherein the left side of the front part of the bottom of the vehicle body and the right side of the front part of the bottom of the vehicle body are independently provided with a left driving wheel and a right driving wheel; the driving wheels are driven through driving motors; a tracking sensor which just faces a tracking trajectory is installed in the front of a rack of each driving motor, carries out tracking on the tracking trajectory, and feeds back a tracking result to a controller; and the controller controls the driving wheels to carry out acceleration, deceleration or constant speed movement according to the tracking result. The rehabilitation body weight support treadmill training vehicle adopts a double-trajectory tracking way to realize active control of moving forward and turning of the body weight support vehicle, a running route of the body weight support vehicle is free from human intervention, potential safety hazards generated when a patient operates and controls the body weight support vehicle to turn are avoided, meanwhile, human power for accompanying personnel to supervise and operate the body weight support vehicle can be released, and on a premise that safety is guaranteed, a rehabilitation training process of the patient can be smoothly and coherently carried out.

The invention discloses an auxiliary rehabilitation training robot. The robot comprises an omni-directional moving platform, a sitting and standing transferring mechanism and a pelvis supporting mechanism, the sitting and standing transferring mechanism is vertically installed on the omni-directional moving platform, the pelvis supporting mechanism is vertically installed on the sitting and standing transferring mechanism, and the pelvis supporting mechanism can do lifting motion relative to the sitting and standing transferring mechanism; and the sitting and standing transferring mechanism isused for providing lifting motion force for the pelvis supporting mechanism so as to assist a user in weight reduction walking training and sitting and standing transfer training. The robot is small,exquisite and flexible in whole, low in cost and convenient to use in a family environment, meets the human body movement requirements, can help a patient with dyskinesia to independently complete indoor movement, sitting and standing transfer, daily life tasks and walking training, helps the patient to improve the life quality, replaces care family members, and relieves the family burden to a certain extent.

A walking training that can be performed even for severely disabled people who do not have the muscular strength to support the upper body after an accident or surgery, etc., and can obtain a high rehabilitation effect, and can be easily implemented Mobile walking trainer indoors. The gait training device includes: a seat (1) whose height is such that a user (R) can sit with his or her feet in contact with the ground; a support member (2) that supports the seat; An azimuth moving part (3), which is installed on the supporting part.

The invention discloses an auxiliary rehabilitation training robot. The robot comprises an omni-directional moving platform, a sitting and standing transferring mechanism and a pelvis supporting mechanism, the sitting and standing transferring mechanism is vertically installed on the omni-directional moving platform, the pelvis supporting mechanism is vertically installed on the sitting and standing transferring mechanism, and the pelvis supporting mechanism can do lifting motion relative to the sitting and standing transferring mechanism; the sitting and standing transferring mechanism is used for providing lifting motion force for the pelvis supporting mechanism so as to assist a user in weight reduction walking training and sitting and standing transferring training. The whole machine is small, exquisite, flexible, low in cost and convenient to use in a family environment, meets the human body movement requirements, can help a patient with dyskinesia to independently complete indoormovement, sitting and standing transferring, daily life tasks and walking training, helps the patient to improve the life quality, replaces nursing family members, and relieves the family burden to acertain extent.

The invention discloses a suspension type self-adaptive weight reducing device for rehabilitation training and a rehabilitation training robot. The device comprises a foldable mobile training frame, alower limb training assistive device carrying device, a weight reducing vest, a pulley rope system and a self-adaptive weight reducing box, the box is internally provided with a rope winding device and a self-adaptive gravity following device, the rope winding device is connected with a rope roller through a coupling by means of a servo motor cooperating with a speed reducer, and the reduced gravity is provided for a patient by winding or releasing the rope; the rope is led out by the rope roller and winds around a pulley on the side face of a mounting plate to be connected with the weight reducing vest through a pulley block on the self-adaptive gravity following device, the gravity position is calculated by collecting the joint rotation angle of the patient, a motor of the self-adaptivegravity following device is controlled to drive a lead screw to rotate through the coupling, and a shifting board connected with a lead screw nut drives a movable pulley to do liner motion. In this way, the length of the suspension rope in the training process of the patient is adjusted, gravity following is achieved, and the roughly constant reduce gravity is maintained.

Provided is a walking training apparatus which includes: a main body to be ridden by a walking trainee; a footrest part coupled to the main body rotatably to support feet of the walking trainee; and an upper body support part coupled to the main body at a position spaced apart from the footrest part to support an upper body of the walking trainee and thus disperse load supported by the footrest part, wherein the upper body support part supports an armpit and a forearm of the walking trainee.

The invention discloses an ambulation training system for a retardate. According to the ambulation training system for the retardate, the change of a light color command, a voice command or a vibration command of a prompt module in a receiving device within a certain distance can be controlled; an inductive transmitting device serves as an induction signal transmitting end; the receiving device serves as an induction signal receiving end; the change of the light color command, the voice command or the vibration command of the prompt module is controlled through a signal receiving module. An interactive inductive system comprises at least one group of transmitting devices and at least one receiving device.

A walking training apparatus includes a walking assistance apparatus attached to a leg of a user, a first pulling mechanism to pull the leg upward and forward, a controller configured to control the first pulling mechanism so that a vertically-upward component of a pulling force applied by the first pulling mechanism reduces a weight of the walking assistance apparatus, and a joint angle detector disposed in the walking assistance apparatus or an image pickup device to take an image of the leg of the user. The controller is configured to make the first pulling mechanism generate an additional pulling force in addition to the pulling force at a start of forward swinging of the leg or during a swinging period of the leg in a walking motion of the user, by using information detected by at least one of the joint angle detector and the image pickup device.

The invention discloses an ankle-knee linkage walking assisting device, belongs to the field of medical instruments, and aims to solve the problem that an existing walking training assisting method is poor in treatment effect or expensive in equipment and cannot be popularized and used. The ankle-knee linkage walking assisting device comprises a knee joint wearing body, an ankle wearing body and a plurality of stay wires. The tension angle and the tension force of each stay wire are dynamically adjusted by adjusting the length of the stay wires and the position of a sliding screw, the posture of the ankle is limited by the tension force of the stay wires, the gentle flexion of the knee is controlled to be within 10 degrees, the dorsal flexion of the ankle is controlled to be larger than 0 degree, the consistency of each exercise training is guaranteed, through repeated exercise, exercise dynamic shaping reconstruction is realized, and action reflection is formed, so that the gait is fixed. By means of the open-chain and closed-chain motion principle, the far-end motion freedom degree is limited through ankle-knee combination, near-end control is strengthened, far-end abnormal modes are reduced, and the purposes of labor saving and auxiliary therapy are achieved.

The invention relates to a movable parallel wire driven lower limb rehabilitation robot and an implementation method thereof. The robot comprises a suspension weight reducing unit, a tension sensor, safety straps, a safety handrail, a spring, a door fence, wire driving units, universal driven wheels, a leg wearing device, a treadmill, rear driving wheels, wires, a supporting frame and a liquid crystal display screen. The whole robot is of a truss structure formed by the supporting frame, and the suspension weight reducing unit on the upper portion is connected with the safety straps through the wires; the movement of the waist of a patient is constrained through four groups of springs between four vertical beams on the left and on the right and between the safety straps; the liquid crystalscreen is arranged above the safety handrail on the front portion of the robot; the patient and a wheelchair enter and go out through the left door fence; four cross beams at corresponding positionsof an affected limb sagittal plane on each side are provided with the four wire driving units; the affected limb is driven for rehabilitation training by pulling the leg wearing device through the wires; the universal driven wheels are installed on the front portion of the bottom of the robot, and the rear driving wheels are arranged on the rear portion of the robot. The robot can achieve gait training and walking training in passive, power-assisted and active modes.

A walking training system includes a treadmill configured to prompt a trainee to walk, a display device installed such that the trainee views the display device while walking on the treadmill, a camera configured to image the trainee at an angle of view at which a gait of the trainee is recognizable, a calculation unit configured to calculate a tilt of a body core of the walking trainee based on an image captured by the camera, and a display control unit configured to control the display device to display a body core line associated with the tilt, and an index indicating at least an end of a permissible range of a deflection of the body core line.

The present disclosure relates to a processing system, a walking training system, a processing method, and a computer-readable medium which are capable of providing, to a training assistant performingassistance when a trainee performs rehabilitation by using a walking training device, education for achieving appropriate assistance to the trainee. The processing system includes a determination unit and an output unit. The determination unit determines, from among the parameters that can be adjusted by the walking training device, a parameter to be adjusted, which is a parameter for which the adjustment frequency adjusted by a training assistant that assists the trainee who performs walking training by the walking training device or another assistant in a hospital is lower than an adjustment reference. The output unit outputs the parameter information indicating a parameter to be adjusted and the effect information indicating an adjustment effect when the parameter to be adjusted is adjusted.

A Balance and Walking Trainer for improving the ability to walk, particularly for relearning to walk, which includes a base frame, three pairs of wheel casters, one front pair, one center pair aligned centrally with the user, and one rear pair, which is smaller in diameter than the front and center pairs and which floats above the ground. The Balance and Walking Trainer further comprises two pairs of telescoping risers affixed essentially vertical and also perpendicular to the base frame, wherein the first pair of telescoping risers are aligned substantially with the center wheels. In order for correct body mechanics to be maintained, a user may “scoop” his hands onto the handles to operate the Balance and Walking Trainer with correct body mechanics. The second pair of telescoping risers is aligned posterior to the first telescoping risers and a U-shaped bumbar is releasably attached to provide structure and stability to the Balance and Walking trainer and to provide a seat for the user or to provide a means to catch the user if user should fall backwards while operating the invention.

The invention relates to a mechanical virtual walking training walking aid device. The device comprises a supporting weight-reducing vehicle, a walking track simulation device, an ankle joint angle adjusting device and a pedal device; the supporting weight-reducing vehicle comprises a mounting bottom plate, front wheels, a front wheel steering device, rear wheels, a rear wheel linkage device, a moving support platform and a wearable stride traction binding band, wherein the wearable stride traction binding band is used for supporting a patient together with the moving support platform to assist the patient to stand and perform rehabilitation training; the ankle joint angle adjusting device is used for driving the pedal device to rotate for a certain angle; the ankle joint angle adjusting device is arranged on the walking track simulation device; the walking track simulation device is used for driving feet of the patient to perform rehabilitation training; and the rear wheel linkage device is connected with the ankle joint angle adjusting device. The ankle joint angle adjusting device provides driving force for the rear wheel linkage device to realize synchronous rotation of the rear wheels and the pedal device, and the front wheel steering device is used for changing the rotation direction of the front wheels so as to change the movement direction of the whole device.

The invention discloses a dynamic weight-reducing walking training instrument, which includes a machine head, a track and a hanger. The machine head includes a walking assembly and a lower box. The walking assembly is used to generate power and walk along the track. The lower box is located at the bottom of the walking assembly. A sling is arranged on the top; the other end of the sling is connected with a hanger, the hanger is used for connecting and using the patient, and the retractable sling is used for realizing dynamic weight loss when the patient walks. The dynamic weight loss walking training device can meet the needs of dynamic weight loss walking training and transfer in a compact space, and can realize a wide range of rapid vertical and horizontal movements. It has a simple structure, beautiful appearance, high reliability, easy maintenance, and intelligence. High degree of automation can reduce the work pressure of the therapist.

The invention relates to a bionic weight-reduction training device and an intelligent trackless weight-reduction walking training robot. The training device comprises a vertical motion power mechanism, a vertical motion connection rod, a hanging rack connector, a horizontal connection rod, a human body suspension mechanism and a human body fixing mechanism; one end of the vertical motion connection rod is movably installed in the vertical motion power mechanism, the other end of the vertical motion connection rod is installed on the hanging rack connector, the hanging rack connector is installed on the human body suspension mechanism through the horizontal connection rod, and the human body fixing mechanism is installed on the human body suspension mechanism. The training root comprises the bionic weight-reduction training device, a chassis, a horizontal motion driving mechanism and a control device, the bionic weight-reduction training device is fixedly installed at the upper end of the chassis, and the horizontal motion driving mechanism is fixedly installed at the lower end of the chassis. The bionic weight-reduction training device is reasonable in design, assistance can be provided for a patient in the horizontal and vertical directions, the training confidence of a user is improved, the assistance and intervention of workers are greatly reduced, and the working intensityof the workers is reduced.

The present invention provides a learning system, a walking training system, method, system, program, and a learning completion model for performing walking training with appropriate setting parameters. The learning system according to an embodiment of the present invention is provided with: a data acquisition unit that acquires rehabilitation data from a walking training system provided with an actuator that assists a walking action of a trainee, and a control unit that controls the actuator on the basis of a set parameter; a data generation unit that generates rehabilitation data including an index indicating the degree of recovery of the trainee and a setting parameter as learning data; and a learning unit that uses the learning data to perform machine learning, thereby generating a learning model in which the recommended value of the setting parameter is output using the index as an input.

A simulation ambulation training device comprises a bottom plate, a left armrest device and a right armrest device. A slide plate is fixedly mounted on the bottom plate below each armrest device, horizontal guide grooves are formed in the upper portions of the inner sides of the side plates, horizontal lead screws are arranged in the guide grooves, horizontal sliders are mounted on the horizontal lead screws, a first servo motor is mounted on the side plate at one end of each horizontal lead screw, vertical guide plates are mounted on the horizontal sliders, vertical lead screws are arranged in the vertical guide plates, vertical sliders are mounted on the vertical lead screws, second servo motors are fixedly mounted at the top ends of the vertical guide plates, and pedals are arranged on the inner sides of the vertical guide plates and connected with the vertical sliders through speed reducers. The horizontal lead screws and the vertical lead screws are arranged, the sliders are arranged on the lead screws, so that the pedals can horizontally and vertically move, flexible movement traces are provided, different trace training can be performed according to different patients, the movement traces of a three-dimensional space are realized, and fine training effects are ensured.

The invention discloses a self-pretensioning seat device and a pelvic auxiliary walking training mechanism. The self-pretensioning seat device includes a seat structure, a clamping assembly and a linkage driving assembly. The seat plate is movably installed to the back plate; the clamping assembly includes two side splints located above the seat plate and arranged at intervals along the left and right directions, and the two side splints can be close to or far away from each other; The linkage driving assembly is arranged between the seat board and the clamping assembly, so that when the seat board moves downward, the two side splints approach each other to clamp the side of the patient's body. With such a setting, the distance between the two side splints can be adjusted in linkage with the patient's sitting down and standing up actions, without repeated adjustment after the patient sits down, which improves convenience and provides a better user experience.