The invention provides a lower limb stepping training system, which is used for performing rehabilitation training on lower limbs when a hemiplegic patient walks, and comprises a stepping assembly, a six-dimensional force sensor and a controller, the stepping assembly comprises a transverse moving mechanism, a lifting mechanism and a pedal mechanism, and the controller comprises an active training mode and a passive training mode. In the active training mode, the following steps are executed: reading an external force applied to the pedal mechanism from the six-dimensional force sensor; the external force is decomposed into horizontal force in the horizontal direction and vertical force in the vertical direction; on the basis of the horizontal force data and the motor position # imgabs0 # at the current moment, the motor position # imgabs1 # at the next moment is obtained through calculation, and motor position data at the next moment are sent to the transverse moving mechanism; and the motor position # imgabs3 # at the next moment is obtained through calculation based on the vertical force data and the motor position # imgabs2 # at the current moment, and the motor position data at the next moment are sent to the lifting mechanism.

    本发明提供了一种下肢迈步训练系统,用于偏瘫病人行走时对下肢进行康复训练,包括迈步组件、六维力传感器及控制器,所述迈步组件包括横移机构、升降机构和脚踏机构,所述控制器包括主动训练模式和被动训练模式,在主动训练模式下执行如下步骤:从所述六维力传感器读取施加于所述脚踏机构上的外力;将所述外力分解为水平方向上的水平力以及垂直方向上的垂直力;基于所述水平力数据以及当前时刻的电机位置#imgabs0#计算得到下一时刻的电机位置#imgabs1#并将所述下一时刻的电机位置数据发送给所述横移机构,同时,基于所述垂直力数据以及当前时刻的电机位置#imgabs2#计算得到下一时刻的电机位置#imgabs3#并将所述下一时刻的电机位置数据发送给所述升降机构。


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    Titel :

    Lower limb stepping training system


    Weitere Titelangaben:

    一种下肢迈步训练系统


    Beteiligte:
    FANG MINGWEI (Autor:in) / KE PENGFEI (Autor:in) / CHENG PENGHUI (Autor:in)

    Erscheinungsdatum :

    25.04.2025


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    G16H Medizinische Informatik, d.h. Informations- und Kommunikationstechnik [IKT] besonders ausgebildet für die Handhabung oder Verarbeitung medizinischer oder auf das Gesundheitswesen bezogener Daten , HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA / A61H PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY , Geräte für die physikalische Therapie, z.B. Vorrichtungen zum Lokalisieren oder Anregen spezieller Reflexpunkte am Körper / B66F HOISTING, LIFTING, HAULING, OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD , Hub-, Verhol- oder Schubvorrichtungen, soweit nicht anderweitig vorgesehen, z.B. Vorrichtungen mit unmittelbarer Krafteinwirkung auf die Last / A63B Geräte für Körperübungen, Turngeräte, Gymnastik, zum Schwimmen, Klettern oder Fechten , APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING



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