572 results about "Plantar pressure" patented technology

The invention is a portable gait analyzer comprising of at least one independent rear foot motion collection unit, at least one independent lower shank motion collection unit, plantar pressure collection unit, at least one processing and display unit, and a soft casing unit. A plurality of accelerometers, rate sensors, force sensor resistors, and pressure sensors provide for the acquisition of acceleration signals, angular velocity signals, foot force signals, and foot pressure signals to be processed. At least one central processing unit, a plurality of memory components, input / output components and ports, telemetry components, calibration components, liquid crystal displays components for the processing and outputting of three dimensional acceleration, angular velocity, tilt, and position. The rearfoot motion collection unit and lower shank motion collection unit interact with the processing and display unit to calculate rear foot kinematic data crucial to identify the motions of pronation and supination. The plantar pressure collection unit interacts with the processing and display unit to calculate plantar pressure data crucial to identify the center of pressure line and excessive and abnormal loads on the sole of the foot. These factors of rear-foot kinematics and plantar pressure lead to gait style identification.

A method for the design and production of improved pressure reducing therapeutic shoe insoles for a person. The method includes the steps of measuring a three dimensional image of a foot and the distribution of plantar pressures applied by a person's foot being measured for a pressure reducing insole. Selecting a shoe insole outline or template which best fits or corresponds to the shape of a foot being measured. A foot display is generated which combines and aligns the three dimensional foot shape and the plantar pressure distribution. A three dimensional insole display is generated which combines and aligns the foot shape and plantar pressure distribution, and includes modifications based upon selected pressure contour lines identified within the foot display which are above predetermined pressure thresholds.

The invention relates to the field of exercise equipment, in particular to an intelligent running machine. The intelligent running machine comprises a running machine body, a tablet personal computer which is arranged on the running machine body, a flexible array pressure sensor which is arranged on the running machine body, a control module which is arranged on the tablet personal computer, a data acquisition module and a motor drive module. An internet function is integrated in the control module of the running machine, and each running machine uploads a relationship model and a training program which are established according to individual characteristics through network to a server for storage so as to realize identity authentication. Multiple kinds of training modes and virtual scenes are integrated in the control module; the training program which meets an exerciser is customized in a personalized way; foot pressure distribution information of the exerciser, which is detected bythe flexible array pressure sensor, and the real-time heart rate which is sent by a heart rate monitoring module are received in real time; running speed, gradient and the like can be adjusted automatically; safety of the exerciser can be guaranteed; and training modes can be enriched and training efficiency can be improved.

A method for the design and production of improved pressure reducing therapeutic shoe insoles for a person. The method includes the steps of measuring a three dimensional image of a foot and the distribution of plantar pressures applied by a person's foot being measured for a pressure reducing insole. Selecting a shoe insole outline or template which best fits or corresponds to the shape of a foot being measured. A foot display is generated which combines and aligns the three dimensional foot shape and the plantar pressure distribution. A three dimensional insole display is generated which combines and aligns the foot shape and plantar pressure distribution, and includes modifications based upon selected pressure contour lines identified within the foot display which are above predetermined pressure thresholds.

A method and system to characterize the wearer of at least one item of footwear having a sensor means which, while the item is being worn, collects from the wearer current pedobarometric data that is characteristic of the wearer, and the current pedobarometric data is compared with corresponding reference data for a specified wearer, preferably previously collected via the same or a similar item of footwear while worn by the specified wearer under controlled conditions, the results of the comparison being used to characterize the present wearer according to prescribed criteria.

The invention relates to a gait analysis method based on a plantar pressure. The gait analysis method comprises the steps of: (1) collecting plantar pressure signals through four pressure sensors; (2) carrying out gait phase analysis for the collected plantar pressure signals, comparing the total value of pressures collected by the four pressure sensors with a preset threshold value, the planta is in a swing phase when the total value of the pressures collected by the four pressure sensors is less than the preset threshold value, otherwise, the planta is in a supporting phase; (3) judging whether the gait phase analysis result is switched with the previous gait phase analysis result or not according to the plantar pressure signals, and entering into the next step at the point in time if the switching of gait phases happens; (4) carrying out an lower limb movement mode analysis based on the gait phases within the switching time of the gait phases; and (5) judging whether the gait analysis needs to be stopped or not according to a lower limb movement mode analysis result, and returning to the step (1) if not. The gait analysis method based on the plantar pressure, disclosed by the invention, can supply abundant human body movement information for the control of intelligent lower artificial limbs, and can be widely applied to the field of gait mode recognition.

The invention discloses a gait phase detection apparatus with ankle joint angle self-rectification function, which comprises a shank fixing mechanism, a ankle joint angle control mechanism, a ankle joint angle measuring mechanism and a thenar pressure measuring footwear. The invention can control ankle joint motor rotation angle according to thenar pressure signal, regulate ankle joint angle for foot drop patient in weight reduction walking training, prevent the damage to foot due to the towing and impacting caused by foot drop, and improve the dorsiflexion ability of foot drop patient; a pressure sensor and an angle sensor collects thenar pressure signal and ankle joint angle signal timely, an upper computer performs fuzzy logic algorithm to realize to detect gait phase smoothly and submissively. patient with walking ability defects or normal person with some degree of gait deformity can wear the invention while walking, detect the gait phase information in walking, estimate gait recovery degree scientifically, and optimize gait training strategy.

The invention discloses a lower limb rehabilitation robot compliance control method based on variable admittance. The control method comprises the following contents of synchronously acquiring surfaceelectromyogram signals and motion information of an uninjured side lower limb and an affected side lower limb of a patient via a Delsys electromyogram acquisition system and motion capture equipment,in cooperation with a plantar pressure sensor, acquiring human-machine interaction force between a lower limb rehabilitation robot and the patient via a plantar pressure sensor, and acquiring lower limb motion intentions of the patient through information fusion; establishing a human body lower limb musculoskeletal model via OpenSim software, calculating out muscle strength values of related muscles of lower limb flexion and extension motions, and in combination with an affected side mirroring uninjured side method as well as a GS-LSELM algorithm, establishing an electromyogram-muscle strength identification model of the human body lower limb and identifying out a muscle strength value of the affected side lower limb; and establishing a variable admittance model based on muscle strength torque and deviation away from an expected joint trajectory of the lower limb rehabilitation robot so as to correct the expected trajectory, and calculating deviation in combination with an actual trajectory and inputting the deviation into a position controller, so as to finally achieve tracking of the expected trajectory of the patient and active compliance control of the lower limb rehabilitation robot.

The invention relates to a graphene-based array type flexible pressure distribution sensor. The sensor comprises a flexible substrate; a graphene film array is arranged on the flexible substrate; the graphene film array comprises at least one graphene conductor; and the graphene conductor is electrically connected with a row electrode and a column electrode on the flexible substrate. The graphene film array is arranged on the flexible substrate, the graphene conductor in the graphene film array is electrically connected with the row electrode and the column electrode, and corresponding detection information such as change of the voltage can be output through the row electrode or the column electrode when the graphene conductor is deformed by pressure, so the sensor has high detection precision; the sensor has long service life; the made sensor is light and thin; the sensor is applied in the field of pressure distribution measurement of tooth engaging pressure distribution, sole pressure distribution, tyre pressure distribution and the like; and the using range of the sensor is enlarged, and the sensor is safe and reliable.

The invention provides a rehabilitation robot control method based on electromyography feedback type impedance self-adaption. The method comprises the steps of identifying the joint extension and flexion states of a training object based on electromyography signal characteristics values, plantar pressure signals and angular velocity signals, determining limb movement intention, and giving electromyography signal characteristic quantities used for describing the active level of the muscles of an affected side by using a method of affected side-mirroring-unaffected side; setting a target impedance equation, describing the function relation between extremity movement track differences and extremity stress, and establishing an impedance function capable of self-adaptive adjustment according to the active level of the muscles of the affected side and joint angles; according to initial anticipated static balance force, analyzing electromyography signals to obtain fatigue degree levels, and finely adjusting the anticipated static balance force. Self-adaptive tracking of anticipated tracks of a lower limb rehabilitation robot is realized by using a position controller. By establishing the self-adaptive adjustment impedance function and adjusting the static balance force by level, rehabilitation training processes can adapt to individuals and control processes are more natural, smooth and reliable and safer.

The invention discloses an interactive gait training and evaluation system based on multi-source information fusion for stroke patients. The interactive gait training and evaluation system structurally comprises a pose acquisition module, a plantar pressure acquisition module, a fatigue information acquisition module, a wireless communication module, a data analysis and processing module, an intelligent cloud platform, an AR (augmented reality) helmet and a mobile terminal. The system aims at stroke patients with certain walking ability and can intelligently provide the patients with high-immersion interactive rehabilitation training game on the basis of the AR technology, and the gait rehabilitation training effect on the patients can be improved effectively; multi-dimensional gait information during rehabilitation training of the patients is acquired by a gait acquisition module and processed by the data analysis and processing module, processed information and data are transmitted to the mobile terminal through the wireless communication module, and gait evaluation results can be fed back to doctors and the patients in real time in a highly visualized manner; safety of the patients in the rehabilitation training process is guaranteed on the basis of muscle fatigue monitoring; the intelligent cloud platform can realize automatic tracking, evaluation and push of gait diseases.

The invention relates to health monitoring sneakers based on flexible array pressure sensor and a health monitoring method thereof, which acquire parameters of a user including walking distance, pace, frequency and energy consumption through acquiring information of sole pressure in a walking process. The sole pressure information is transmitted to a multifunctional wristwatch through a wireless communication mode for processing, storing and displaying; the multifunctional wristwatch also has the functions of pulse detection, body temperature detection and children safety custody; data stored in the multifunctional wristwatch is transferred to a computer client through USB; software of the computer client can perform data exchange with software of a master server; and the user can obtain training effect evaluation and exercise planning. The sneakers and the method can carry out health monitoring on the user through information including pulse, body temperature and sports parameters.

A new insole is consisting of shock absorbing and shear reducing composite layers of Poron or soft EVA for the bottom layer, Plastazote or cushioned polymer gel for the middle layer, and a closed cell Neoprene top cover. Through out the insole, there are evenly spaced 3 / 16″ holes through only the bottom and the middle layer of the insole. These holes are ½″ away from each other and in square patterns. The holes will significantly reduce the direct plantar pressure and shear stress dynamically exerting on the plantar skin upon loading. When there is a focal point of pressure, the holes in the bottom 2 layers will be distorted or stretched to the direction of the pressure which will also allow the insole material to distorted or “give” resulting in reduction of the peak plantar pressure.

The invention relates to a pressure detection device and method based on a piezoresistive and piezoelectric flexible sensor combination. A piezoresistive sensor set is used for detecting the pressure distribution condition, the pressure distribution condition is transformed to digital signals through a data collecting and processing module, sent to a pressure calculation module through a wireless communication module, and carried out real-time display in a display module. Piezoelectric signals are used for judging whether is in a pressure changing state or not to switch the sleepy and activated states of a single chip computer; in the long time sleep state, a zero point of the piezoresistive sensor is corrected; in the activated state, pressure sensing signal frequency dynamic tracking is carried out, and when the pressure sensing signal frequency is in a high frequency response, piezoriesistive sensor signals can be modified through piezoelectric signals to improve the high frequency performance of the piezoriesistive sensor signals. The pressure detection device and method based on the piezoresistive and piezoelectric flexible sensor combination has the advantages of being low in power dissipation, strong in durability, good in dynamic performance, and capable of being applied to fields of wearable plantar pressure detection, artificial limb pressure detection and robot electronic skin.

The invention discloses a multiparameter biological information testing platform and a testing method, which adopts a movement human body as a testing object, acquires kinematic parameters, macroscopic action force of a human body and a supporting surface, distribution characteristics of sole pressure, bioelectric information of muscle groups of the human body and the like of all sections synchronously, monitors dynamic change characteristics of cardiopulmonary functions of the human body and provides theory and platform support for relevant studies and applications. The multiparameter biological information testing platform comprises a biological testing channel and integrated analysis software, wherein the testing channel comprises a synchronous clock server, a gait tactile information testing unit, a surface myoelectric acquisition unit, a high-speed image acquisition unit, an acceleration / angle testing unit and a heart rate / pulse testing unit. Under the uniform control of a center computer, all subfunction instruments are interconnected by an Ethernet interface, and realize accurate synchronization of time domains of all parameters by a clock synchronous server to form a comprehensive testing platform; each unit equipment also can be equipped with self-analysis software and a man-machine interface to form an independent instrument. The invention provides a multiparameter biological information acquiring integrated testing device and a testing method for the aspects of gait analysis, sports science research, movement function and health evaluation, basic tests and the like.

The invention relates to a method for measuring planta pressure for rehabilitation therapy. The method is characterized in that thin film piezoresistive type pressure sensors are adopted to be placed on planta pressure points in left and right sock linings, each sock lining is of a three layer structure, and the top layer and the bottom layer are fiber layers; the thin film piezoresistive type pressure sensors are tightly adhered to and fixed on the bottom layers closely, are fixedly connected with the fibers at the top layers through soft salient points, and transmits the acquired resistance signals corresponding to the pressure to two signal processing transmitters which are corresponding to the pressure sensors of the left and right sock linings, the resistance signals are subjected to resistance-voltage conversion and wave filtration and then are output to two corresponding micro processors so as to be subjected to AD (analog-to-digital) conversion respectively; data acquired from two feet are merged into a data packet and is transmitted to a receiver; the receiver transmits the data of the left and right feet to a PC (personal computer) through a USB (universal serial bus); and the PC reads the data through the triggering of a timing device, and unpacks the data packet, and signal processing and three dimensional display are carried out through software.

The invention discloses a method for creating an expert knowledge base for automatically training lower artificial limbs, which relates to lower artificial limb control. All hardware comprises an artificial limb knee joint, an acceptance chamber, a pelma pressure sensor, a control device and a control circuit, wherein the control device comprises a cylinder, a piston, an air channel, a pin valve and a straight stepping motor. Pelma pressure signals from the pelma pressure sensor are collected and calculated by a single chip in the control circuit, and an iteration study algorithm is adopted to create the expert knowledge base used for controlling the artificial limb knee joint. A portable acquisition system is adopted in the method. The calculation is automatically accomplished by the single chip, which is accurate and efficient. The iteration study method is adopted to find out the minimum period phase difference of the walking status of the artificial limbs and health limbs, and people who wear the artificial limbs can walk without the assist of professionals. The system can automatically generate the optimal symmetry of knee joint controlling amount at different walking speeds, so that the expert knowledge base for automatically training lower artificial limbs can be created.

The invention discloses a gesture stability gauging and exercising device with dynamic interference and physiological feedback, which comprises the following parts: servo motor control mode controlled by computer, mechanism ode with connecting rod device, load gauging mode to gauge real-time gravity and plantar pressure distribution, programmed interface, motor controller box, position sensor, computer and other balance table hard rack, wherein the mechanism mode of balance table is composed of several groups of connecting rod, mobile boards, ball and socket shaped support bearings, air cushions and other racks; the load sensor is set on four ends of mobile boards, which meters real-time gravity coordinate; the position sensor is set in the ball and socket seat, which monitors the coordinate of real-time mobile board; the pressure aerating mode is set under the mobile board, which controls the stability of mobile board at starting time; when the detector stands on the center of mobile board, the gas cushion leaks not to influence the movement of board.

The invention provides a plantar pressure measurement based wearable real-time monitoring and feedback alarm device and method for scissors gaits. The device mainly comprises a sole provided with pressure sensors, a signal acquisition and transmission module and a portable data receiving and processing terminal. The sensors are fixed on the sole, the signal acquisition and transmission module and a power supply battery are placed at the position of a heel, and the device is wearable. The signal acquisition and transmission module sends acquired signals to the portable data processing terminal (a smart phone, a tablet personal computer and the like) in a wireless transmission mode. The data processing terminal processes the received plantar pressure signals in real time and displays the plantar pressure signals in a waveform mode. The detection method for the scissors gaits includes the steps of firstly, dividing gait periods according to signal features to find a time division point between two adjacent gait periods, which is the forefoot raising moment; secondly, calculating the dynamic pressure index (heel bearing ratio) in each gait period; and finally, comparing the dynamic pressure indexes with a set threshold, if the dynamic pressure indexes are smaller than the threshold, judging that the current gaits are scissors gaits, sending alarm signals such as sound and vibration to remind patients to correct the gaits. Meanwhile, the acquired plantar pressure data can be stored automatically and sent to doctors, parents and the like as evaluation evidences of recovery progress and references for formulation of the next recovery training.

The invention discloses an abnormal gait identification method capable of facilitating screening Parkinsonism. The method is characterized in that the gait plantar pressure characteristics can be extracted, and the modeling and the identification of the neural network of the gait system of the normal healthy people and the patients suffering from the Parkinsonism can be dynamically carried out; the constant neutral network can be established; a dynamic estimator can be built by using the constant neutral network, and based on the difference between the gait modes of the normal healthy people and the patients suffering from the Parkinsonism in the gait system dynamics, the abnormal gait caused by the Parkinsonism and the normal gait of the normal healthy people can be distinguished according to the minimum error principle, and the screening detection of the Parkinsonism can be facilitated. By arranging a pressure sensing floor system or wearing the special shoes provided with the pressure sensor insole, the plantar pressure characteristics can be acquired, and the abnormal gait caused by the Parkinsonism and the normal gait of the normal healthy people can be distinguished conveniently, simply, and non-invasively, and therefore the daily gait monitoring of the family members can be realized, and the screening detection of the Parkinsonism can be facilitated.

The invention belongs to the technical field of medical equipment, and particularly relates to a wearable lower limb rehabilitation evaluating system. The system comprises a lower limb signal collecting system, an upper computer and an application software system thereof, wherein the lower limb signal collecting system is used for collecting and transmitting rehabilitation patient lower limb motion signals, electromyographic signals and plantar pressure signals and comprises a bandage module, a signal collecting module, a signal processing module, a signal transmitting module and a power supply module; the signal collecting module is detachably connected to the bandage module, and the signal processing module, the signal transmitting module and the power supply module are installed on thebandage module, so that normal living of the rehabilitation patient is not affected; a rehabilitation training software system utilizes obtained data to work out the step pitch, gait analysis, ankle joint activity, myoelectricity, equilibrium state, plantar pressure distribution, knee joint activity, muscle force evaluation of relative muscles and other information, more professional and more comprehensive evaluation data is provided for a therapist, and meanwhile more professional guidance is provided for the patient.

The invention relates to a gait classification method based on multi-sensor information fusion. The gait classification method includes the following steps that (1), plantar pressure information and ankle angle information in the walking process of multiple patients are collected; (2) according to the obtained plantar pressure information, gait stages of the patients are analyzed, the gait stages are divided into the stages of touching the ground with the feet and the stages of swinging the legs, and one gait cycle includes one stage of touching the ground with one foot and one stage of swinging the leg of the same foot of each patient; (3) a characteristic value of each gait cycle is set, so that gait characteristics of all the patients in the walking process are represented; (4), gait cluster analysis is performed on all the characteristic values of all the gait cycles of all the patients through a spectral clustering algorithm, so that the patients with the different gait characteristics are divided into different classifications. The patients are objectively classified, so that reference is provided for rehabilitation training and treatment of the patients, and a doctor can adopt different treatment modes and training intensities for the patients of the different classifications conveniently. The gait classification method can be widely used in the fields of gait analysis and medical rehabilitation.

The invention discloses a multi-phase gait switching control system and control method for a power-assisted exoskeleton robot. The multi-phase gait switching control system is characterized in that the multi-phase gait switching control system includes a sensor module, a signal acquisition and processing module, a gait switching motion control module and a motor driving module; and sensors comprise inertial measurement units, plantar pressure sensors and motor encoders. With the multi-phase gait switching control system and control method for the power-assisted exoskeleton robot of the invention adopted, the output of lower hip joint and knee-joint motor power-assisted torque under various of phase gaits and smooth switching between the phase gaits can be planned under a condition that the exoskeleton robot bears a heavy object, and the coordination and flexibility of the movement of the limbs of the weight-bearing exoskeleton equipment can be realized.

A system for monitoring falling down of old people comprises a pulse sensor node, an acceleration sensor node, a plantar pressure sensor node and a convergence processing node, wherein a multi-sensor human body trunk network can be achieved through the four types of nodes in a star structure. The pulse sensor node comprises a pulse sensor, a microprocessor, a battery and a wireless communication module; the acceleration sensor node comprises an acceleration sensor, a microprocessor, a battery and a wireless communication module; the plantar pressure sensor node comprises a plantar pressure sensor, a microprocessor, a battery and a wireless communication module; according to the pulse sensor node, the acceleration sensor node and the plantar pressure sensor node, sensors are connected with microprocessors, microprocessors and wireless communication modules are connected in a bidirectional mode; and the convergence processing node comprises a storage, a wireless communication module compatible with a body sensor network (BSN), a wireless communication module accessing a communication network, a manual alarm switch and a microprocessor, the manual alarm switch is connected with the microprocessor, and the microprocessor is connected with the storage, the wireless communication module compatible with the BSN and the wireless communication module accessing the communication network in a bidirectional mode respectively.

A plantar pressure distribution signal acquisition system comprises a sensing unit and a control unit. The sensing unit is fixed with feet by a locating foot packing sheet and is a film pressure sensing measurer comprising an upper sheet and a lower sheet; parallel copper claddings are distributed on one of the faces of the upper sheet and the lower sheet at intervals; conductive rubbers are distributed on the copper claddings at intervals, and the conductive rubbers on the upper sheet and the lower sheet are contacted with one another to form sending dots. The control unit is a main control chip; one signal input terminal of the main control chip is connected with two signal output terminals and enabling terminals of a multiplexer of the upper sheet, and the other signal input terminal of the main control chip is connected with two signal output terminals and enabling terminals of a multiplexer of the lower sheet. The system is a large-area pressure distribution measuring device by taking the conductive rubber as a sensing element, and has the advantages of high reliability and precision and low cost, can dynamically measure pressure distribution of a plane and a curved surface in a large-area range in real time, and is suitable for measuring the pressure distribution of vola, buttocks and the like.

The invention provides a rehealthy training robot control system which comprises a surface myoelectric signal acquisition module, a plantar pressure signal acquisition module, a computer module and a driving module, wherein the computer module is connected to the surface myoelectric signal acquisition module and the plantar pressure signal acquisition module; and the driving module is connected to the computer module. The rehealthy training robot control system acquires a surface myoelectric signal and a plantar pressure signal both reflecting the active consciousness of a patient by means of the surface myoelectric signal acquisition module and the plantar pressure signal acquisition module. The computer module comprehensively processes the acquired surface myoelectric signal and plantar pressure signal and is capable of accurately reflecting the active consciousness of the patient. The driving module drives a rehealthy training robot to work according to an instruction which is issued by the computer module and is capable of accurately reflecting the active consciousness of the patient, thereby meeting different consciousness requirements of the patient. In addition, the invention also provides a control method of the surface myoelectric signal acquisition module.

The invention discloses a method for measuring plantar pressure. The method mainly aims at reducing cost for accurate monitoring of plantar pressure information. A plantar pressure measurement device with lots of sensing points is first utilized for measuring the plantar pressure information; a model is established according to the information and a modeling method put forwards in the method and plantar pressure models; the model can present differences between different persons; finally, a plantar pressure measurement device with few sensing points is used for monitoring the plantar pressure information of a measurer; the plantar pressure information of various position points on the planta pedis is obtained through model backstepping reduction, and therefore complete and accurate plantar pressure information can be obtained through the simple devices. A layout of sensor arrays at different intervals is used for the optimized measurement device with lots of sensing points, and the optimized measurement device with few sensing points is obtained through embeddable structures of sensor units. Two kinds of models are used as the plantar pressure models and include a neural network model and an interpolation model relevant to distance.

The invention discloses an intelligent shoe adaptive monitoring method for spine and leg health. The method includes the steps that shoe soles and / or the interiors of shoes are divided into multiple preset areas, pressure data of each area in walk is collected through a collection module, and time data in collection is recorded; the collection module transmits the pressure data and the time data in collection to an analysis module; the analysis module gives a motion state recognition result according to the pressure data and the time data in collection by establishing and adapting to a complete recognition model. Based on corresponding pressure characteristic groups, corresponding pressure characteristic healthy groups and corresponding population plantar pressure characteristic health assessments, a triangular plantar pressure health acquisition and assessment model is built individually in a way of a triangular mass matrix; the shoe sole pressure distribution is adaptively and automatically adjusted according to an individual and group comparison result to form a shoe sole pressure model most suitable for individuals, and thus the shoe soles can be automatically adjusted to formthe more comfortable and most healthy shoe sole pressure model for individuals; the shoe sole pressure model serves as an input factor in user portrait groups to influence the initial plantar pressuredistribution of like characteristic groups.

The invention discloses a gait rehabilitation training robot control system. The system is characterized by comprising a weight reduction device, a gait simulative generator and a personal computer for controlling the real-time speed of the gait simulative generator and selecting different training modes. The control system disclosed by the invention can realize passive-mode and active-mode rehabilitation trainings according to naturally walking gait of people, under the help of a weight reduction balance system. The control system can also be used for evaluating the effects of the active / passive rehabilitation trainings on the basis of acquired sole pressure signals, and plays an important role in clinical rehabilitation training.