CN104102236A - Recovery shoe and control system thereof - Google Patents
Recovery shoe and control system thereof Download PDFInfo
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- CN104102236A CN104102236A CN201410348692.9A CN201410348692A CN104102236A CN 104102236 A CN104102236 A CN 104102236A CN 201410348692 A CN201410348692 A CN 201410348692A CN 104102236 A CN104102236 A CN 104102236A
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Abstract
The invention relates to a recovery shoe. The recovery shoe comprises a shoe upper, a sole plate, an adjustment mechanism and a controller, wherein the adjustment mechanism comprises a fixing plate, a fixing housing and a drive structure, the drive structure comprises a screw rod, a worm wheel, a worm, a motor and a moving support, one end of the screw rod is connected with the fixing plate, the other end of the screw rod is fixedly connected with the worm wheel, the worm wheel is connected with the fixing housing, the worm is meshed with the worm wheel, the screw rod is meshed with the moving support, the motor is connected with one end of the worm, the moving support is provided with a base plate, a pressure sensor is installed at one end of the base plate, contacted with the ground, the pressure sensor is used to obtain pressure signals, and the controller is used to process the pressure signals and control the motor to move. The invention further relates to a control system of the recovery shoe. The control system comprises a signal sensor, a position sensor, a signal collection module, a computer module and a drive module. The control system controls the adjustment mechanism of the recovery shoe by colleting pressure, accelerated speed and electromyographic signals and using the position sensor to monitor movement status of a user of the recovery shoe on line, and prevents a human body from tumbling.
Description
Technical field
The present invention relates to medical instruments field, be specifically related to a kind of rehabilitative shoe of fall prevention and for controlling the system of this rehabilitative shoe.
Background technology
The instability of plantar pressure, usually causes the damage of human synovial, even causes human body to be fallen.For the elderly or patient that some are handicapped, fall and may cause serious consequence, may cause fracture even to go into a coma.Therefore, develop new technology, the possibility that prediction human body is fallen, adjusts people's posture in time, very necessary.
Israel Gu Lian university develops a kind of Re-Step rehabilitation exercise footwear, and the Main Function of this rehabilitative shoe is that gait balance etc. is carried out rehabilitation training for patient's walkings such as headstroke, brain damages.Its sole is provided with projection pressure sensor device, adjusts the height of pressure sensor device according to the force value recording, and then the pose of adjusting sole is to guarantee that patient can out of trim.
In May, 2011, the Haifa, Israel Institute of Technology develops a kind of rehabilitative shoe for gonitis treatment, is characterized in changing the pressure center of gravity of sole, improves kneed athletic posture.
In July, 2011, Japan develops a kind of shoes of falling, and the pneumatic actuator of being made by rubber and sponge has been installed in its bottom, and when perceiving user and lose the risk of the duplicate removal heart, sole can adjust rapidly to guarantee that user can out of trim.
CN103110239A discloses a kind of rehabilitative shoe, is provided with rubber plastic capsule and control box thereof in sole, by controlling charging and discharging of rubber plastic capsule Raw, changes capsule volume, and then adjusts sole pose, prevents that user from falling.
CN102866640A discloses a kind of control system and use the rehabilitative shoe of this system of falling, and is provided with adjustment pad in the gravity centre adjustment mechanism of sole, by adjusting pads placement, changes the pose of sole, and then prevents that human body from falling.
Although existing prior art has been done certain research to preventing that human body from falling, but still has some problems:
1, adjust mode delay of response, can not effectively prevent that human body from falling.In prior art, by charging and discharging sole rubber capsule raw material or adjusting the modes such as sole pad and adjust sole pose, the delay of response of these modes, can not make corresponding adjustment fast, therefore can not effectively prevent that human body from falling.
2, control system pattern is single, can not accurate response human motion situation.In prior art, mainly the change by monitoring human pressure or center of gravity judges the possibility that human body is fallen, but in fact the crouching of human normal rises or bends over to move and all can cause the variation of pressure or center of gravity, therefore single control model can cause erroneous judgement to the possibility of falling of human body, and user is brought inconvenience.
Summary of the invention
In order to solve the problems of the technologies described above, the inventor, after carrying out a large amount of creative works, has completed the present invention.
The invention provides a kind of rehabilitative shoe, comprise vamp, sole, be arranged on adjusting mechanism and controller in sole, described adjusting mechanism and described controller are arranged in described sole, and described adjusting mechanism comprises fixed head, fixed housing and drive mechanism;
Described fixed head is installed on described sole, and described fixed housing is connected on described fixed head, and described fixed head and described fixed housing encirclement formation one accommodation space, and described drive mechanism is arranged in described accommodation space;
Described drive mechanism comprises leading screw, worm gear, worm screw, motor and traversing carriage, described leading screw lower end connects described fixed head, the affixed described worm gear in described leading screw upper end, the described fixed housing of the corresponding connection of described worm gear, described worm screw and the engagement of described worm gear, described motor is connected in described worm screw one end;
Described traversing carriage comprises platform, pole and chassis, described platform and the engagement of described leading screw, and described pole upper end connects described platform, and lower end connects described chassis, and described pole is run through described fixed head and described sole, and described chassis contacts with ground;
Pressure transducer is equipped with in one end that described chassis contacts with ground, and described pressure transducer is used for obtaining pressure signal, and described controller is for the treatment of pressure signal, and controls described motor movement.
Further, in the middle of described fixed head, offer through hole, for the pole of described traversing carriage is passed, on described fixed head, also offer the first concave station, the lower end of described leading screw is connected to the first concave station place of described fixed head by bearing connected mode correspondence, described fixed head dual-side is provided with the first threaded hole, for described fixed head is threaded connection, is installed in described sole.
Further, described fixed housing is inverted U structure, comprise roof and two side, on the roof of described fixed housing, offer the second concave station, described worm gear is connected to the second concave station place of described fixed housing by bearing connected mode correspondence, on a sidewall of described fixed housing, offer boss, and described motor is arranged on described boss place, on another sidewall of described fixed housing, offer through hole, described through hole is run through in described worm screw one end.
Further, described drive mechanism also comprises shaft coupling, and described motor is connected with described worm screw by described shaft coupling, and the platform of described traversing carriage is provided with the second threaded hole that size is mated with described leading screw, for meshing with described leading screw.
Alternatively, described rehabilitative shoe at least comprises two described adjusting mechanisms, described in each adjusting mechanism at least comprise two described leading screws and with the described worm gear of described leading screw equal number, the quantity on described worm screw with some thread segments and described thread segment is identical with described worm gear quantity.
Preferably, described rehabilitative shoe comprises three described adjusting mechanisms, described in each adjusting mechanism comprise two described leading screws and with the described worm gear of described leading screw equal number, the quantity on described worm screw with some thread segments and described thread segment is identical with described worm gear quantity.
Alternatively, the shape on the platform of described fixed head, described traversing carriage and the chassis of described traversing carriage can be a kind of in circle, ellipse, rectangle, round rectangle or pentagon independently of one another.
It is a kind of for controlling the control system of rehabilitative shoe that the present invention also provides, and described control system is for controlling above-mentioned rehabilitative shoe, and described control system comprises:
Signal transducer, for obtaining plantar pressure signal, acceleration signal and electromyographic signal, described signal transducer comprises pressure transducer, acceleration transducer and surface myoelectric sensor;
Position transducer, is arranged in described motor, the positional information for rehabilitative shoe described in online record in each motion moment;
Signal acquisition module, be used for gathering described plantar pressure signal, acceleration signal and electromyographic signal, and described plantar pressure signal, acceleration signal and electromyographic signal are transferred to computer module, described signal acquisition module comprises pressure signal acquisition module, acceleration signal acquisition module and surface electromyogram signal acquisition module;
Computer module, for receiving and process described plantar pressure signal, acceleration signal and electromyographic signal, sends steering order;
Driver module, for the steering order of sending according to described computer module, make respective drive action, described driver module comprises multi-axis motion control card, driver and motor, and described driver drives described motor movement according to the steering order of described multi-axis motion control card.
Further, described pressure transducer is arranged on the chassis of described traversing carriage, described acceleration transducer is arranged at the waist of human body, described acceleration transducer is six shaft angle acceleration transducers, described surface myoelectric sensor setting is in human body lower limbs, and described surface myoelectric sensor is surface myoelectric electrode.
Further, described computer module comprises data processing unit, and described data processing unit comprises:
Signal processing unit, for to described plantar pressure signal, acceleration signal with electromyographic signal is amplified, shaping and filtering;
Eigenwert extraction unit, for carrying out eigenwert extraction to described plantar pressure signal, acceleration signal and electromyographic signal after described signal processing unit processes;
Pattern recognition unit, is described, recognizes, classifies and explain for the described eigenwert to extracted;
Control module, for sending corresponding steering order according to the result of described pattern recognition unit.
Beneficial effect of the present invention is as follows:
1, adjustment mode is rapid, can prevent in time that human body from falling.
In the present invention, motor is connected with worm screw, and worm and wheel is engagement fit, and worm gear is with leading screw for being fixedly connected with, so drive motor can drive leading screw along its axially-movable by engaged transmission mode;
Meanwhile, each motion of the position transducer Real-Time Monitoring human body in control system positional information constantly, once human body has the possibility of falling, the control system of rehabilitative shoe can be sent control command fast, and then by adjusting mechanism rapid adjustment sole pose.
2, control system is intelligent, effectively prevents the generation of falling.In the present invention, gather Human Sole pressure signal, acceleration signal, human muscle's surface electromyogram signal as monitor signal, by computer module, the signal gathering is processed, the state of falling of human body is judged.
Compare with single pressure signal or the monitoring of center of gravity signal, the signal message gathering in the present invention more comprehensively, is conducive to computer module the motion state of human body is made to correct judgement, and the event that effectively prevents from falling occurs.
3, install simply, applied widely.In the present invention, the adjusting mechanism on rehabilitative shoe base plate is detachable mechanism, and this conciliation mechanism can dismantle easily and be installed on any walking shoes, therefore applied widely.
Accompanying drawing explanation
Fig. 1 is the overall schematic of the embodiment of the present invention one rehabilitative shoe.
Fig. 2 is the embodiment of the present invention one rehabilitative shoe inner structure schematic diagram.
Fig. 3 is the stereographic map of the adjusting mechanism of the embodiment of the present invention one rehabilitative shoe.
Fig. 4 is the three-dimensional exploded view of the adjusting mechanism of the embodiment of the present invention one rehabilitative shoe.
Fig. 5 is the front view of the adjusting mechanism of the embodiment of the present invention one rehabilitative shoe.
Fig. 6 is the structural representation of the fixed head of the embodiment of the present invention one rehabilitative shoe.
Fig. 7 is the structural representation of the fixed housing of the embodiment of the present invention one rehabilitative shoe.
Fig. 8 is the structural representation of the traversing carriage of the embodiment of the present invention one rehabilitative shoe.
Fig. 9 is the workflow schematic diagram of the embodiment of the present invention two control system.
Embodiment
Below by specific embodiment, the present invention is described in detail, should be understood that, these embodiments are only used for exemplifying the present invention, not real protection scope of the present invention formed to any type of any restriction.
In the present invention, term " interior ", " outward ", " on ", orientation or the position relationship of the indication such as D score, 'fornt', 'back', " left side ", " right side ", " top ", " end ", " vertically ", " level " be based on orientation shown in the drawings or position relationship, only the present invention and embodiment for convenience of description, be not intended to limit indicated device, element or ingredient and must there is particular orientation, or construct and operate with particular orientation.
In addition, term " installation ", " setting ", " being provided with ", " connection ", " being connected " should be interpreted broadly.For example, can be to be fixedly connected with, removably connect, or monolithic construction; Can be mechanical connection, or be electrically connected to; Can be to be directly connected, or indirectly be connected by intermediary, or be connection inner between two devices, element or ingredients.For those of ordinary skills, can understand as the case may be above-mentioned term concrete meaning in the present invention.
Embodiment 1
Consult Fig. 1 to Fig. 8, the first embodiment of the present invention is a kind of rehabilitative shoe of fall prevention, and this rehabilitative shoe comprises vamp 1, sole 2, be arranged on three adjusting mechanisms 3 and controller 4 in sole 2.As shown in Figure 2, this adjusting mechanism 3 and this controller 4 are arranged in this sole 2, are provided with three for coordinating the first through hole 21 of this adjusting mechanism 3 in this sole 2.Being understandable that, is the clear annexation that shows each parts, and in Fig. 2, the structural drawing of two of sole front end these adjusting mechanisms 3 is not shown.
Consult Fig. 3 to Fig. 5, each this adjusting mechanism 3 comprises fixed head 31, fixed housing 32 and drive mechanism 33.
Consult Fig. 6, this fixed head 31 is a rectangle fixed head, one second through hole 312 is offered in the centre of this fixed head 31, in these through hole 312 both sides, offer respectively one first concave station 311, in the both sides of the edge of this fixed head 31, be provided with 4 the first threaded holes 313, this fixed head 31 is threaded connection mode and is installed on this sole 2.
Consult Fig. 7, this fixed housing 32 is inverted U structure, comprise roof and two side, on the roof of this fixed housing 32, offer two second concave stations 321, on a sidewall of this fixed housing 32, offer a through hole type boss 322, on another sidewall of this fixed housing 32 to offering a third through-hole (scheming not shown) by boss 322.
This fixed housing 32 is fixed on this fixed head 32, and this fixed housing 32 and these fixed head 31 encirclement formation one accommodation spaces, and this drive mechanism 33 is arranged in this accommodation space.Consult Fig. 5, this drive mechanism 3 comprises two rhizoid thick sticks 331, two worm gears 332, worm screw 333, motor 334 and a traversing carriage 335 with two sections of screw threads.
These leading screw 331 lower ends of each root are connected on the first concave station 311 of this fixed head by bearing connected mode correspondence, this corresponding affixed one this worm gear 332 in leading screw 331 upper ends, this worm gear 332 is connected on the second concave station 321 of this fixed housing 32 by bearing connected mode, two sections of screw threads and two this worm gear 332 engagements of this worm screw 333, one end of this worm screw 333 is connected with this motor 334 by a shaft coupling (scheming not shown), the other end is through the third through-hole on these fixed housing 32 sidewalls, this motor 334 is fixedly arranged on the through hole type boss 322 on these fixed housing 32 sidewalls.
Consult Fig. 8, this traversing carriage 335 comprises platform, pole and chassis, this platform is round rectangle platform, on this platform, offer the second threaded hole that two sizes coordinate with this leading screw 331, for these leading screw 331 gear motions, this pole upper end connects this platform, lower end connects this chassis, this pole is run through this sole 2 and this fixed head 31 by the first through hole 21 and the second through hole 312, and this chassis is circular base plate, and this chassis contacts with ground;
Pressure transducer 3351 is equipped with in one end that this chassis contacts with ground, and this pressure transducer 3351 is for obtaining pressure signal, and this controller 4 is for the treatment of pressure signal, and controls this motor 334 motions.
In the present embodiment, the adjusting mechanism of rehabilitative shoe is mainly by the pose of mechanical drive mode rapid adjustment sole.In the adjusting mechanism of rehabilitative shoe, leading screw and worm gear are fixed connection structure, worm and wheel engagement, traversing carriage and leading screw engagement, worm screw is connected with motor, therefore,, when motor is driven, motor drives rapidly worm screw to rotate, worm screw drives worm gear and screw mandrel to rotate by engaged transmission, further, the traversing carriage of drive and screw mandrel engagement pumps along the vertical axial direction of screw mandrel, thereby adjusts the pose of sole.
User puts on after rehabilitative shoe, the controller of rehabilitative shoe can be according to the position and posture that is arranged on the pressure inductor monitoring user of sole, controls the driving condition of the motor in adjusting mechanism, when monitoring the situation that human body may drop to, fast driving motor, thereby the motion of drive adjusting mechanism.
In addition, the adjusting mechanism on rehabilitative shoe base plate is detachable mechanism, so can be by dismantling easily and install adjusting mechanism for any walking shoes.
Embodiment 2
The second embodiment of the present invention is a kind ofly for controlling the control system of rehabilitative shoe, to consult Fig. 9, is the workflow schematic diagram of this control system.
This control system is for controlling the rehabilitative shoe of embodiment mono-, and this control system comprises:
Pressure transducer 101, is arranged on the chassis of traversing carriage of rehabilitative shoe, for obtaining plantar pressure signal; Six shaft angle acceleration transducers 102, are arranged at the waist of human body, for obtaining acceleration signal; Surface myoelectric sensor 103, is arranged at human body lower limbs, and for obtaining electromyographic signal, this surface myoelectric sensor 103 is surface myoelectric electrode.
Position transducer 104, is arranged in the motor of rehabilitative shoe, the positional information for rehabilitative shoe described in online record in each motion moment.
Pressure signal acquisition module 201, for gathering plantar pressure signal and this signal being transferred to computer module; Acceleration signal acquisition module 202, for gathering acceleration signal and this signal being transferred to computer module; Surface electromyogram signal acquisition module 203, for gathering electromyographic signal and this signal being transferred to computer module.
Computer module, for receiving and process plantar pressure signal, acceleration signal and electromyographic signal, and sends steering order.This computer module comprises data processing unit, and this data processing unit comprises: signal processing unit 301, eigenwert extraction unit 302, pattern recognition unit 303 and control module 304.
This signal processing unit 301, for amplifying plantar pressure signal, acceleration signal and electromyographic signal, shaping and filtering; This eigenwert extraction unit 302, for carrying out eigenwert extraction to plantar pressure signal, acceleration signal and electromyographic signal after this signal processing unit 301 is processed; This pattern recognition unit 303, is described, recognizes, classifies and explain for the eigenwert to extracted; This control module 304, for sending corresponding steering order according to the result of this pattern recognition unit 303.
Driver module, for the steering order of sending according to this computer module, make respective drive action, this driver module comprises multi-axis motion control card 401, driver 402 and motor 403, and this driver 402 drives this motor 403 motions according to the steering order of this multi-axis motion control card 401.
Be understandable that, this control system also can be for controlling the rehabilitative shoe that comprises other types adjusting mechanism.
In the present embodiment, user puts on rehabilitative shoe, this surface myoelectric electrode 103 of 4 wireless devices is placed with respectively to rectus femoris and the tibialis anterior in human body lower limbs, this six shaft angles acceleration transducer 102 is placed with in human body waist, this pressure transducer 101 is arranged on the chassis of rehabilitative shoe, utilize pressure signal, acceleration signal and electromyographic signal, the position and posture of monitoring user, utilize and be arranged on the position transducer in rehabilitative shoe motor simultaneously, on-line real time monitoring rehabilitative shoe is in each motion positional information constantly.
When people's posture is abnormal, for example, when human body is fallen forward, the anterior voltage division signal of biped strengthens, the surface electromyogram signal of rectus femoris and tibialis anterior also strengthens, the component signal forward of waist angular acceleration signal also strengthens simultaneously, now, by pressure signal acquisition module 201, acceleration signal acquisition module 202 and surface electromyogram signal acquisition module 203 gather corresponding pressure signal, acceleration signal and electromyographic signal, and signal is transferred to computer module, by signal, process, eigenwert is extracted and pattern-recognition, judge the position and posture of human body, to driver module, send control signal rapidly, drive motor, and then drive the adjusting mechanism of rehabilitative shoe fast the pose of sole to be adjusted, effectively prevent that human body from falling.
The purposes that should be appreciated that these embodiment only limits the scope of the invention for the present invention being described but not being intended to.In addition, also should understand, after having read technology contents of the present invention, those skilled in the art can be under the premise without departing from the principles of the invention, technical scheme to invention is done some changes, revise and/or modification, for example the shape of moving platform and stationary platform can be irregular polygon, the connected mode of each parts junction is not limited to welding, be threaded, pin connects or globe joint connects, as long as the connected mode adopting can meet horizontally rotating of each parts or Space Rotating, within these all equivalents fall within the protection domain that the application's appended claims limits equally.
Claims (10)
1. a rehabilitative shoe, comprise vamp, sole, be arranged on adjusting mechanism and controller in sole, described adjusting mechanism and described controller are arranged in described sole, it is characterized in that, described adjusting mechanism comprises fixed head, fixed housing and drive mechanism;
Described fixed head is installed on described sole, and described fixed housing is connected on described fixed head, and described fixed head and described fixed housing encirclement formation one accommodation space, and described drive mechanism is arranged in described accommodation space;
Described drive mechanism comprises leading screw, worm gear, worm screw, motor and traversing carriage, described leading screw lower end connects described fixed head, the affixed described worm gear in described leading screw upper end, the described fixed housing of the corresponding connection of described worm gear, described worm screw and the engagement of described worm gear, described motor is connected in described worm screw one end;
Described traversing carriage comprises platform, pole and chassis, described platform and the engagement of described leading screw, and described pole upper end connects described platform, and lower end connects described chassis, and described pole is run through described fixed head and described sole, and described chassis contacts with ground;
Pressure transducer is equipped with in one end that described chassis contacts with ground, and described pressure transducer is used for obtaining pressure signal, and described controller is for the treatment of pressure signal, and controls described motor movement.
2. rehabilitative shoe according to claim 1, it is characterized in that, in the middle of described fixed head, offer through hole, for the pole of described traversing carriage is passed, on described fixed head, also offer the first concave station, the lower end of described leading screw is connected to the first concave station place of described fixed head by bearing connected mode correspondence, described fixed head dual-side is provided with the first threaded hole, for described fixed head is threaded connection, is installed in described sole.
3. rehabilitative shoe according to claim 1, it is characterized in that, described fixed housing is inverted U structure, comprise roof and two side, offer the second concave station on the roof of described fixed housing, described worm gear is connected to the second concave station place of described fixed housing by bearing connected mode correspondence, on one sidewall of described fixed housing, offer boss, described motor is arranged on described boss place, on another sidewall of described fixed housing, offers through hole, and described through hole is run through in described worm screw one end.
4. rehabilitative shoe according to claim 1, it is characterized in that, described drive mechanism also comprises shaft coupling, and described motor is connected with described worm screw by described shaft coupling, the platform of described traversing carriage is provided with the second threaded hole that size is mated with described leading screw, for meshing with described leading screw.
5. according to the rehabilitative shoe described in claim 1 to 4 any one, it is characterized in that, described rehabilitative shoe at least comprises two described adjusting mechanisms, described in each adjusting mechanism at least comprise two described leading screws and with the described worm gear of described leading screw equal number, the quantity on described worm screw with some thread segments and described thread segment is identical with described worm gear quantity.
6. rehabilitative shoe according to claim 5, it is characterized in that, described rehabilitative shoe comprises three described adjusting mechanisms, described in each adjusting mechanism comprise two described leading screws and with the described worm gear of described leading screw equal number, the quantity on described worm screw with some thread segments and described thread segment is identical with described worm gear quantity.
7. according to the rehabilitative shoe described in claim 1 to 4 any one, it is characterized in that, the shape on the platform of described fixed head, described traversing carriage and the chassis of described traversing carriage can be a kind of in circle, ellipse, rectangle, round rectangle or pentagon independently of one another.
8. for controlling a control system for rehabilitative shoe, it is characterized in that, described control system is for controlling the rehabilitative shoe as described in claim 1 to 7 any one, and described control system comprises:
Signal transducer, for obtaining plantar pressure signal, acceleration signal and electromyographic signal, described signal transducer comprises pressure transducer, acceleration transducer and surface myoelectric sensor;
Position transducer, is arranged in described motor, the positional information for rehabilitative shoe described in online record in each motion moment;
Signal acquisition module, be used for gathering described plantar pressure signal, acceleration signal and electromyographic signal, and described plantar pressure signal, acceleration signal and electromyographic signal are transferred to computer module, described signal acquisition module comprises pressure signal acquisition module, acceleration signal acquisition module and surface electromyogram signal acquisition module;
Computer module, for receiving and process described plantar pressure signal, acceleration signal and electromyographic signal, sends steering order;
Driver module, for the steering order of sending according to described computer module, make respective drive action, described driver module comprises multi-axis motion control card, driver and motor, and described driver drives described motor movement according to the steering order of described multi-axis motion control card.
9. control system according to claim 8, it is characterized in that, described pressure transducer is arranged on the chassis of described traversing carriage, described acceleration transducer is arranged at the waist of human body, described acceleration transducer is six shaft angle acceleration transducers, described surface myoelectric sensor setting is in human body lower limbs, and described surface myoelectric sensor is surface myoelectric electrode.
10. control system according to claim 8, is characterized in that, described computer module comprises data processing unit, and described data processing unit comprises:
Signal processing unit, for to described plantar pressure signal, acceleration signal with electromyographic signal is amplified, shaping and filtering;
Eigenwert extraction unit, for carrying out eigenwert extraction to described plantar pressure signal, acceleration signal and electromyographic signal after described signal processing unit processes;
Pattern recognition unit, is described, recognizes, classifies and explain for the described eigenwert to extracted;
Control module, for sending corresponding steering order according to the result of described pattern recognition unit.
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| CN201410348692.9A CN104102236B (en) | 2014-07-22 | 2014-07-22 | A kind of rehabilitative shoe and its control system |
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| CN201410348692.9A CN104102236B (en) | 2014-07-22 | 2014-07-22 | A kind of rehabilitative shoe and its control system |
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| CN104102236B CN104102236B (en) | 2017-03-29 |
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| CN107183825A (en) * | 2017-06-27 | 2017-09-22 | 上海理工大学 | Orthopedics with falling-resistant function |
| CN107693308A (en) * | 2017-10-26 | 2018-02-16 | 西南交通大学 | Wearable power-assisted walking aid rehabilitation Environmental-protection shoes |
| CN114983392A (en) * | 2022-04-28 | 2022-09-02 | 上海途滕智能科技有限公司 | Gait correction system based on chaos algorithm |
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