CN107174483A - A kind of lower limb rehabilitation robot - Google Patents
A kind of lower limb rehabilitation robot Download PDFInfo
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- CN107174483A CN107174483A CN201710504438.7A CN201710504438A CN107174483A CN 107174483 A CN107174483 A CN 107174483A CN 201710504438 A CN201710504438 A CN 201710504438A CN 107174483 A CN107174483 A CN 107174483A
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- rehabilitation
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- lower limb
- rod
- knee joint
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- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 73
- 230000033001 locomotion Effects 0.000 claims description 58
- 210000000629 knee joint Anatomy 0.000 claims description 48
- 210000004394 hip joint Anatomy 0.000 claims description 47
- 210000000689 upper leg Anatomy 0.000 claims description 47
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 22
- 238000005096 rolling process Methods 0.000 claims description 13
- 238000003780 insertion Methods 0.000 claims description 12
- 230000037431 insertion Effects 0.000 claims description 12
- 238000009434 installation Methods 0.000 claims description 12
- 238000012549 training Methods 0.000 claims description 9
- 238000003860 storage Methods 0.000 claims description 7
- 230000005611 electricity Effects 0.000 claims description 5
- 238000012797 qualification Methods 0.000 claims description 5
- 230000036541 health Effects 0.000 claims description 3
- 239000011664 nicotinic acid Substances 0.000 claims description 3
- 238000001514 detection method Methods 0.000 claims description 2
- 239000007787 solid Substances 0.000 claims 1
- 230000035876 healing Effects 0.000 abstract description 12
- 238000000034 method Methods 0.000 abstract description 9
- 238000013461 design Methods 0.000 description 12
- 210000003423 ankle Anatomy 0.000 description 9
- 238000010586 diagram Methods 0.000 description 7
- 230000000694 effects Effects 0.000 description 4
- 210000003414 extremity Anatomy 0.000 description 3
- 206010061296 Motor dysfunction Diseases 0.000 description 2
- 210000002683 foot Anatomy 0.000 description 2
- 210000002414 leg Anatomy 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000001186 cumulative effect Effects 0.000 description 1
- 238000000151 deposition Methods 0.000 description 1
- 230000004069 differentiation Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 229940079593 drug Drugs 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 238000005183 dynamical system Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 238000005242 forging Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 210000003127 knee Anatomy 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000007659 motor function Effects 0.000 description 1
- 238000004321 preservation Methods 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 238000007670 refining Methods 0.000 description 1
- 230000000153 supplemental effect Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 210000001519 tissue Anatomy 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0218—Drawing-out devices
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/024—Knee
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0244—Hip
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/01—Constructive details
- A61H2201/0119—Support for the device
- A61H2201/0138—Support for the device incorporated in furniture
- A61H2201/0149—Seat or chair
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/10—Leg
Landscapes
- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The present invention relates to a kind of lower limb rehabilitation robot, the system includes the lower limb module being symmetrically installed on support；Seat is installed on the rear on support and in the middle part of 2 lower limb modules；Position relationship between seat, support, lower limb module is adjustable so that rehabilitation object can keep comfortable sitting posture, in the sitting posture, and rehabilitation object can comfortably be sat on the seat, and lower limb are placed in lower limb module；The system can be while healing robot high accuracy, high accuracy requirement be met, fast and easy accurately realizes being accurately positioned between each part, reduce the complexity of robotic mechanical system parts and its assembly method, avoid the problem of erection sequence is easily wrong, it can realize that all parts of healing robot are accurately positioned, it is adaptable to produce in batches.
Description
【Technical field】
The invention belongs to rehabilitation medical instrument field, more particularly to a kind of lower limb rehabilitation robot.
【Background technology】
The patient populations with motor dysfunction of lower limb triggered by aging, traffic accident and various diseases are continuously increased,
Disabled patient produces extreme influence due to body aspect to normal life.Nowadays suffering limb is helped to recover locomitivity
Recovery training method have traditional two kinds of training methods of medical teacher's auxiliary treatment and recovery exercising robot auxiliary treatment.Wherein
Medical teacher's supplemental training is typically suffering limb is done some basic actions under the guidance of medical teacher or by simple utensil, and it is imitated
Rate is low, treatment required time is long, and the requirement to medical teacher is high, costly, can not be widely used.Lower limb rehabilitation machine
People is to aid in the supplementary machine people that the patient with motor dysfunction of lower limb recovers motor function, in rehabilitation course, rehabilitation machines
Device people auxiliary patient completes the rehabilitation training of clinically demand, and provides feedback information to patient and medical teacher in time, makes trouble
Limb can recover locomitivity faster.
Lower limb rehabilitation robot is a complicated system, including mechanical system, control system, dynamical system, man-machine
The systems such as interactive system.Wherein, mechanical system and control system are that the difficult point of design and realization is also emphasis.Wrapped in mechanical system
A large amount of parts are included, tissue and control that existing healing robot can not be effective to a large amount of parts progress in system, so
Not only easily there is the mistake for being difficult to discover in assembling process, waste substantial amounts of human and material resources, financial resources, and can not expire
Requirement of the sufficient healing robot to location accuracy and accuracy.Therefore, how to design and meet what high accuracy, high accuracy were required
The mechanical system and its control system of healing robot be one have to consideration the problem of.The present invention is for how quickly accurate
True completion assembly work and propose a kind of assembly method, and the knowledge such as Machine Design, machine-building are combined, to sitting and lying formula
Lower limb rehabilitation robot optimizes structure design, it is proposed that a kind of new lower limb rehabilitation robot, with reference to Machine Design, machine
The knowledge such as tool manufacture, system control, optimize structure design to sitting and lying formula lower limb rehabilitation robot, can meet rehabilitation machines
While device people high accuracy, high accuracy requirement, fast and easy accurately realizes being accurately positioned between each part, reduces machine
The complexity of device people machinery system parts and its assembly method, it is to avoid erection sequence easily mistake the problem of, can realize
The all parts of healing robot are accurately positioned, it is adaptable to produced in batches.
【The content of the invention】
In order to solve above mentioned problem of the prior art, the technical solution adopted by the present invention is as follows：A kind of leg rehabilitation instrument
Device people, the lower limb rehabilitation robot includes support, seat, 2 lower limb modules；Lower limb module symmetries is installed on support；
Seat is installed on support and positioned at the centre of 2 lower limb modules；
Lower limb module includes hip joint motion module, thigh motion module and shank motion module；
Hip joint motion module includes：It is pedestal, support bar, hip joint rod member, the first electric cylinder mounting bracket, first electronic
It is cylinder, hip joint rolling bearing pedestal, rotary shaft, the first electric cylinder installation side plate, the first electric cylinder end fixed seat, first electronic
Cylinder top fixed seat；
Hip joint rod member is fastened after being positioned by detent with support bar with fixing device；Support bar by positioned at
The groove at middle part, the groove positioned at end are used after realizing positioning between one end of the first electric cylinder mounting bracket and pedestal respectively
Screw is fastened；It is rotatably connected after being positioned between hip joint rolling bearing pedestal and hip joint rod member by rotary shaft；The
One electric cylinder installation side plate is L-shaped side plate, and its side plate passes through recessed with positioning positioned at hip joint rolling bearing pedestal one side
Groove is fixedly connected after being positioned, and another side plate and the first electric cylinder top fixed seat pass through screw or bolt connection；First electricity
It is dynamic that cylinder end fixed seat is by screw or is bolted on pedestal；With interior hexagon cylindrical head shoulder screw by the first electric cylinder
One end is rotatably mounted in the first electric cylinder top fixed seat, with interior hexagon cylindrical head shoulder screw by the first electric cylinder
The other end and the first rotatable connection of electric cylinder end fixed seat；Hip joint rotary shaft is realized by the driving of the first electric cylinder
Hold the relative rotation between pedestal and hip joint rod member, thus realize the anteflexion of rehabilitation object hip joint and/or after stretch.
Further, thigh motion module includes：Thigh adjusting rod, knee joint connecting rod, knee joint adapting rod, the second electricity
Dynamic cylinder fixed seat, the second electric cylinder mounting bracket, the second electric cylinder, the second electric cylinder adapting rod, connecting shaft, connection shaft flange；
It is fixedly connected between thigh adjusting rod and knee joint connecting rod by fixing device；Knee joint connecting rod and knee
Joint adapting rod is rotatably connected by rotating shaft, is fixedly connected between the second electric cylinder adapting rod and knee joint adapting rod；
By interior hexagon cylindrical head shoulder screw by the two ends of the second electric cylinder respectively with the second electric cylinder fixed seat and the second electric cylinder
Adapting rod is rotatably connected；Realized by the driving of the second electric cylinder relative between knee joint connecting rod and knee joint adapting rod
Rotate, thus realize rehabilitation object it is kneed it is anteflexion/after stretch；Second electric cylinder mounting bracket is fixedly installed in thigh adjusting rod
And second between electric cylinder fixed seat；Connecting shaft is fixed on thigh adjusting rod by connecting shaft flange.
Further, knee joint adapting rod is the V-shaped flat board that interior angle is the first angle；The summit of first angle has one
Positioning hole, rotatably connecting between knee joint adapting rod and knee joint connecting rod is realized by inserting rotating shaft in the positioning hole
Connect；Wherein, first angle is the angle for being less than 180 degree more than 90 degree.
Further, shank motion module includes：Shank adjusting rod, shank rod member, fixing axle, fixed shaft flange；It is located at
The axis hole of fixing axle at the top of shank adjusting rod is positioned with the positioning hole on shank rod member one end, and is locked by screw
It is close to and connects；Fixing axle is fixed on shank adjusting rod by fixed shaft flange.
Further, being fixedly connected between thigh adjusting rod and knee joint connecting rod be it is adjustable, by it is described can
What is adjusted is fixedly connected with the adjustment for realizing thigh motion module length, so as to meet the physical qualification demand of different rehabilitation objects.
Further, it is adjusted by adjusting the depth of thigh regulation club head insertion knee joint connecting rod, when big
After appropriate depth inside leg regulation club head insertion connecting rod, fastening is carried out with fixing device to clamp thigh adjusting rod
Head.
Further, in addition to control device, the control device passes through wired or wirelessly electronic with first
Cylinder, the second electric cylinder are communicatively coupled；Control device reads the exercise program that current rehabilitation object is directed in storage inside, and
The drive control of first electric cylinder, the second electric cylinder is carried out based on the exercise program.
Further, the rehabilitation programme is：The carry out bionic movement that left and right lower limb module is continuously circulated, (1) first electricity
Dynamic cylinder starts and promotes the first length with First Speed, and very first time length is kept in the first length, and (2) start the second electric cylinder
And the second length is promoted with second speed, the second time span is kept in the second length, (3) are electronic with third speed driving second
Cylinder withdraws the second length and keeps the 3rd time span, and (4) drive the first electric cylinder to withdraw the first length and protect with fourth speed
Hold the 4th time span；(5) circulation performs above-mentioned steps (1)~(4)；When cycle-index reaches first number, adjustment first
Speed, second speed, third speed, fourth speed, the first length, the second length, very first time length, the second time span,
3rd time span, the 4th time span.Before the promotion and withdrawal of first and second electric cylinders drive hip joint and are kneed
Bend/after stretch.
Further, after rehabilitation object is fixed, initial pressure value sequence, the collection pressure sensor of intermittent are detected
Dynamic pressure value sequence, and the initial pressure value sequence and dynamic pressure value sequence are transferred to control unit；Control is single
Member obtains pressure value weight sequence from current rehabilitation programme, for an interval, based on the dynamic pressure value sequence and initially
Pressure value sequence, pressure value weight sequence, calculating rehabilitation component；Rehabilitation vector sequence based on T interval calculates rehabilitation degree, when
When rehabilitation degree is spent more than the first rehabilitation, increase the difficulty of current rehabilitation programme；When rehabilitation degree is more than less than or equal to the first rehabilitation degree
When second rehabilitation is spent, promoted according to current rehabilitation programme；When rehabilitation is spent less than or equal to the second rehabilitation, the difficulty of rehabilitation programme is reduced
Degree；If current rehabilitation programme comes into highest difficulty, at the end of each interval, Q nearest consecutive intervals are obtained
Rehabilitation component, when the rehabilitation component at described Q interval is all higher than the first component threshold value, terminates current rehabilitation programme, and from depositing
Next rehabilitation programme corresponding to current rehabilitation object is read in storage device；Next rehabilitation meter is based in follow-up rehabilitation
Draw and carry out rehabilitation training；Wherein：T and Q is preset value, and T at intervals of an examination cycle；Wherein：First rehabilitation degree and second
Rehabilitation degree is preset value.
Further, based on the dynamic pressure value sequence (I_VL0I_VLiI_VLN) and initial pressure
Force value sequence (VL0VLiVLN), pressure value weight sequence (W1WiWN), calculating rehabilitation point
Measure VR；Specially：VR=∑s Wi × | VLi-I_VLi |/VLi-I；Wherein：N is the number of pressure sensor；Based on T interval
Rehabilitation vector sequence (VR1VRjVRT) calculate rehabilitation degree R, be specially：Wherein：T_VR is second component threshold value.
Beneficial effects of the present invention include：The knowledge such as Machine Design, machine-building, system control can be combined, to sitting and lying
Formula lower limb rehabilitation robot optimizes structure design, can meet healing robot high accuracy, high accuracy requirement it is same
When, fast and easy accurately realizes being accurately positioned between each part, reduces robotic mechanical system parts and its assembling
The complexity of method, it is to avoid erection sequence easily mistake the problem of, can realize healing robot all parts it is accurate
Positioning, it is adaptable to produce in batches.
【Brief description of the drawings】
Accompanying drawing described herein be for providing a further understanding of the present invention, constituting the part of the application, but
Inappropriate limitation of the present invention is not constituted, in the accompanying drawings：
Fig. 1 is the lower limb modular structure schematic diagram of the lower limb rehabilitation robot of the present invention.
Fig. 2 is lower limb rehabilitation robot hip joint motion module schematic diagram of the invention.
Fig. 3 is lower limb rehabilitation robot thigh motion module schematic diagram of the invention.
Fig. 4 is lower limb rehabilitation robot shank motion module schematic diagram of the invention.
Fig. 5 positions schematic diagram for the lower limb rehabilitation robot hip joint motion module of the present invention.
Fig. 6 for the present invention hip joint with the first electric cylinder installation side plate schematic diagram.
Fig. 7 is shank motion module of the invention and thigh motion module connection diagram.
【Embodiment】
Describe the present invention in detail below in conjunction with accompanying drawing and specific embodiment, illustrative examples therein and say
It is bright to be only used for explaining the present invention but not as a limitation of the invention.
It is a kind of lower limb rehabilitation robot that the present invention is applied referring to accompanying drawing 1, the lower limb rehabilitation robot includes branch
Frame, seat, 2 lower limb modules；
Lower limb module symmetries is installed on support；After seat is installed on support and is located in the middle part of 2 lower limb modules
Side；Specifically：Support is three-dimensional convex shape, and the top at middle part, which is installed, symmetrically installs 2 lower limb moulds above seat, both sides
Block；Position relationship between seat, support, lower limb module is adjustable so that rehabilitation object can keep comfortable sitting posture,
In the sitting posture, rehabilitation object can comfortably be sat on the seat, and lower limb are placed and are bundled in lower limb module；
Wherein, lower limb module includes hip joint motion module, thigh motion module and shank motion module；
Lower limb rehabilitation robot uses modularized design, including hip joint motion module, thigh motion module and shank fortune
Dynamic model block, first completes the assembling of each separate modular, then completes overall assembling, and modules junction is designed with installation positioning dress
Put, divide good class by modules by part according to the modular organisation divided during assembling, complete the assembling of modules, will be each
After the completion of individual module assembling, the corresponding positioner of modules is found, is assembled in sequence；By such design,
Be easy to it is quick, be accurately positioned installation；
By the hip joint rolling bearing base that the connecting shaft 19 in hip joint motion module is navigated to thigh motion module
In positioning hole on seat 6, and fastened with by screw, realize the company between hip joint motion module and thigh motion module
Connect；
By the way that the knee joint adapting rod 10 in thigh motion module is navigated on shank motion module shank adjusting rod 15
Detent in, and fastened with screw, realize the connection between thigh motion module and shank motion module；
As shown in Figure 2, hip joint motion module includes：Pedestal 1, support bar 2, hip joint rod member 3, the first electric cylinder peace
Fill support 4, the first electric cylinder 5, hip joint rolling bearing pedestal 6, rotary shaft 7, the first electric cylinder installation side plate 17, first electronic
Cylinder end fixed seat 23, the first electric cylinder top fixed seat 18；
Hip joint rod member 3 is fastened after being positioned by detent 3-1 with support bar 2 with fixing device；Support bar 2 leads to
Cross the groove 2-1 positioned at middle part, the groove 2-2 positioned at end respectively with one end of the first electric cylinder mounting bracket 4 and pedestal 1 it
Between realize positioning after fastened with screw；After being positioned between hip joint rolling bearing pedestal 6 and hip joint rod member 3 by rotary shaft 7
It is rotatably connected；First electric cylinder installation side plate 17 be L-shaped side plate, its side plate by with positioned at hip joint rolling bearing
The detent of the one side of pedestal 6 is fixedly connected after being positioned, and another side plate and the first electric cylinder top fixed seat 18 pass through
Screw or bolt connection；First electric cylinder end fixed seat 23 is by screw or is bolted on pedestal 1；Use interior hexagonal cylindrical
One end of first electric cylinder 5 is rotatably mounted in the first electric cylinder top fixed seat 18 by head shaft shoulder screw, uses interior hexagonal
Cylindrical head shaft shoulder screw is by the other end of the first electric cylinder 5 and the rotatable connection of the first electric cylinder end fixed seat 23；Pass through
The relative rotation between hip joint rolling bearing pedestal 6 and hip joint rod member 3 is realized in the driving of first electric cylinder, so as to realize health
Multiple object hip joint anteflexion and/or after stretch；
It is preferred that：The side plate of first electric cylinder installation side plate 17 and determining positioned at the one side of hip joint rolling bearing pedestal 6
Being fixedly connected between the groove of position is adjustable；Specifically：By the side plate for adjusting the first electric cylinder installation side plate 17
Contact area between detent is come the adjustment that is fixedly connected；Bias is adjusted by the adjustment being fixedly connected
The size of square, so as to adjust the size of motion amplitude；The size of the motion amplitude is related to rehabilitation programme；
It is preferred that：Positioning between detent 3-1 and support bar 2 is adjustable, passes through the adjustable positioning
The adjustment of hip joint motion module height is realized, so as to meet the physical qualification demand of different rehabilitation objects (for example：Stature ratio
Condition, limitation of movement case conditions)；Specifically：Carried out by adjusting the head of support bar 2 insertion detent 3-1 depth
Adjustment；It is interchangeable：The head of support bar 2 is shaggy cylinder, and detent 3-1 inside is arc-shaped, works as support
After appropriate depth inside the head insertion detent 3-1 of bar 2, fastening is carried out with fixing device so as to clamping brace bar 2
Head；
Pedestal is square plate, and what can be stablized is fixed on above support side；
As shown in Figure 3, thigh motion module includes：Thigh adjusting rod 8, knee joint connecting rod 9, knee joint adapting rod
10th, the second electric cylinder fixed seat 11, the second electric cylinder mounting bracket 12, the second electric cylinder 13, the second electric cylinder adapting rod 14, company
Spindle 19, connection shaft flange 20；
It is fixedly connected between thigh adjusting rod 8 and knee joint connecting rod 9 by fixing device；Knee joint connecting rod 9
It is rotatably connected with knee joint adapting rod 10 by rotating shaft, between the second electric cylinder adapting rod 14 and knee joint adapting rod 10
It is fixedly connected；By interior hexagon cylindrical head shoulder screw by the two ends of the second electric cylinder 13 respectively with the second electric cylinder fixed seat 11
It is rotatably connected with the second electric cylinder adapting rod 14；Realize that knee joint connecting rod 9 is closed with knee by the driving of the second electric cylinder 13
Save adapting rod 10 between relative rotation so that realize rehabilitation object it is kneed it is anteflexion/after stretch；Second electric cylinder mounting bracket
12 are fixedly installed between the electric cylinder fixed seat 11 of thigh adjusting rod 8 and second；Connecting shaft 19 is fixed by connecting shaft flange 20
On thigh adjusting rod 8；
It is preferred that：Being fixedly connected between thigh adjusting rod 8 and knee joint connecting rod 9 be it is adjustable, by it is described can
What is adjusted is fixedly connected with the adjustment for realizing thigh motion module length, so as to meet the physical qualification demand of different rehabilitation objects
(for example：Stature ratio condition, limitation of movement case conditions)；Specifically：Knee joint is inserted by adjusting the head of thigh adjusting rod 8
The depth of connecting rod 9 is adjusted, and after the appropriate depth inside connecting rod 9 is inserted on thigh adjusting rod 8 head, is filled with fixed
Put and carry out fastening to clamp the head of thigh adjusting rod 8；Physical qualification demand in view of rehabilitation object or so lower limb may
It is different, 2 thigh motion module length can be adjusted without influencing each other respectively；It is interchangeable：Directly pass through
The thigh adjusting rod 8 of selection appropriate size carries out the adjustment of the length；
It is preferred that：Knee joint adapting rod 10 is the V-shaped plate that interior angle is the first angle；The summit of first angle has certain
Position hole, by the positioning hole insert rotating shaft realize it is rotatable between knee joint adapting rod 10 and knee joint connecting rod 9
Connection；Wherein, first angle is the angle for being less than 180 degree more than 90 degree；First angle can be according to rehabilitation object
Health and rehabilitation programme selected, pass through the tune of the first angle described in the replaces realization to knee joint adapting rod 10
It is whole；It is preferred that:First angle is 145 degree；It is preferred that：Institute can be carried out according to rehabilitation programme and rehabilitation subject's body condition
State the selection of the specification of knee joint adapting rod 10；The first angle number of degrees of different size knee joint adapting rod 10 are different；
It is preferred that：Second electric cylinder mounting bracket 12 is 2；Described two second electric cylinder mounting brackets are located at the respectively
The both sides of two electric cylinders, one end of described two second electric cylinder mounting brackets is separately mounted to the both sides of thigh adjusting rod 8, described
The other end of two the second electric cylinder mounting brackets inserts the inside of the second electric cylinder fixed seat 11 and and enters the second electric cylinder respectively
Fixed seat 11 is fixedly connected using fixing device；
As shown in Figure 4, shank motion module includes：Shank adjusting rod 15, shank rod member 16, fixing axle 21, fixing axle
Flange 22；
Axis hole positioned at the fixing axle 21 at the top of shank adjusting rod 15 is determined with the positioning hole on the one end of shank rod member 16
Position, and locking connection is carried out by screw；Fixing axle 21 is fixed on shank adjusting rod 15 by fixed shaft flange 22；
It is preferred that：The other end of shank rod member 16 is vertically installed with ankle attachment means；By in ankle attachment means
Ankle rehabilitation module is installed to carry out the support and rehabilitation of ankle；When being fitted without ankle rehabilitation institution, rehabilitation object can be with
Directly foot is placed in ankle attachment means, and for there is the rehabilitation object of ankle rehabilitation demands, installation foot can be passed through
The mode of ankle rehabilitation module carries out the support and rehabilitation of ankle；
It is preferred that：Can be by navigating to the positioning on shank motion module shank adjusting rod 15 to knee joint adapting rod 10
The adjustment of depth in groove, to carry out the adjustment of shank motion module length；First implementation is：On shank adjusting rod 15
Shape inside detent is mutually agreed with the insertion portion shape of knee joint adapting rod 10, when the insertion portion of knee joint adapting rod 10
Insert after the appropriate depth inside the detent on shank adjusting rod 15, fastening is carried out with fixing device to clamp knee joint
The insertion portion of adapting rod 10；Second implementation is：On knee joint adapting rod 10 and shank motion module shank adjusting rod 15
It is corresponding on detent to be provided with multigroup fastening through hole, when the insertion portion of knee joint adapting rod 10 insertion shank adjusting rod 15
On detent inside be micro-adjusted after appropriate depth, when the through hole on the through hole and detent of insertion portion is overlapped
Afterwards, it is fixed with fixing devices such as screw, bolts；
It is preferred that：Frame bottom is provided with the movable pulley group that can brake, the convenient movement for carrying out healing robot；
The lower limb rehabilitation robot also include control device, the control device by it is wired or wirelessly and
First electric cylinder, the second electric cylinder are communicatively coupled；Control device reads the fortune that current rehabilitation object is directed in storage inside
Dynamic plan, and the control based on exercise program progress first electric cylinder, the second electric cylinder；Exercise program includes：
Per driving order, actuating speed, drive length of electric cylinder in the lower limb module of side etc.；A kind of implementation of rehabilitation programme
For：The carry out bionic movement that left and right lower limb module is continuously circulated, (1) first electric cylinder starts and promotes first to grow with First Speed
Degree, keeps very first time length, (2) start second electric cylinder and simultaneously promote the second length with second speed, in the in the first length
Two length keep the second time span, and (3) drive the second electric cylinder to withdraw the second length and kept for the 3rd time with third speed
Length, (4) are driven the first electric cylinder to withdraw the first length and are kept the 4th time span with fourth speed；(5) on circulation is performed
State step (1)~(4)；When cycle-index reaches first number, adjustment First Speed, second speed, third speed, four-speed
Degree, the first length, the second length, very first time length, the second time span, the 3rd time span, the 4th time span.It is electronic
The promotion of cylinder and withdrawing drive hip joint and it is kneed it is anteflexion/after stretch；Lower limb module can be adjusted according to rehabilitation programme
Activity, the activity of both sides lower limb module can be related or incoherent, and the activity between two electric cylinders can also be related
Or it is incoherent；For example：The inconsistent activity of two lower limb, side lower limb remains stationary state and opposite side lower limb module are lived
It is dynamic；
In view of during passive rehabilitation, with the progress of rehabilitation speed, rehabilitation object to the control abilities of lower limb by
It is cumulative strong, have actively recover consciousness in the training process, can active drive lower limb participate in rehabilitation programme, the active drive can be with
Detected by the pressure sensor device on the binding device that is arranged in lower limb module；In addition, its is resistance to for different rehabilitation objects
Different by degree, rehabilitation speed is also different, and unified is obviously improper using identical rehabilitation programme to rehabilitation object；And rehabilitation
Doctor's resource is also quite rare, and the adjustment of simple dependence doctor resource to carry out rehabilitation programme is likely to result in very big resource
Waste, can also increase the financial burden of rehabilitation object；Therefore allow healing robot to pass through the dynamic detection to rehabilitation object to adjust
The problem of whole rehabilitation programme, the progress for promoting rehabilitation programme are critically important；
The lower limb rehabilitation robot also includes thigh binding device and shank binding device, by thigh binding device and
The lower limb of rehabilitation object are fixed on lower limb rehabilitation robot by shank binding device；In thigh binding device and shank binding dress
Put inner side and pressure sensor is set, pressure value is obtained by the pressure sensor respectively；It is preferred that：Above and below inner side
Pressure sensor is set respectively；
After rehabilitation object is fixed, initial pressure value sequence, the dynamic pressure of the collection pressure sensor of intermittent are detected
Force value sequence, and the initial pressure value sequence and dynamic pressure value sequence are transferred to control unit；Control unit is from current
Pressure value weight sequence is obtained in rehabilitation programme, for an interval, based on the dynamic pressure value sequence and initial pressure value sequence
Row, pressure value weight sequence, calculating rehabilitation component；Rehabilitation vector sequence based on T interval calculates rehabilitation degree, when rehabilitation degree is big
When the first rehabilitation is spent, increase the difficulty of current rehabilitation programme；It is more than the second rehabilitation when rehabilitation degree is less than or equal to the first rehabilitation degree
When spending, promoted according to current rehabilitation programme；When rehabilitation is spent less than or equal to the second rehabilitation, the difficulty of rehabilitation programme is reduced；If
Current rehabilitation programme comes into highest difficulty, at the end of each interval, obtains the rehabilitation point of Q nearest consecutive intervals
Amount, when the rehabilitation component at described Q interval is all higher than the first component threshold value, the current rehabilitation programme of termination, and from storage device
It is interior to read next rehabilitation programme corresponding to current rehabilitation object to perform；Next rehabilitation meter is based in follow-up rehabilitation
Draw and carry out rehabilitation training, untill all rehabilitation programmes for the rehabilitation object are performed both by finishing；Wherein：T and Q are pre-
If value, T at intervals of an examination cycle；Wherein：First rehabilitation degree, the second rehabilitation degree, the first component threshold value are preset value；
Based on the dynamic pressure value sequence (I_VL0I_VLiI_VLN) and initial pressure value sequence
(VL0VLiVLN), pressure value weight sequence (W1WiWN), calculating rehabilitation component VR, tool
Body is：VR=∑s Wi × | VLi-I_VLi |/VLi-I；Wherein：N is the number of pressure sensor；Due to different rehabilitations pair
As with for rehabilitation programme, rehabilitation emphasis is different, it is necessary to different weights be set to different pressure values, due to weight and rehabilitation
Plan is related, therefore, and pressure value weight sequence is obtained from current rehabilitation programme；, will if a position is not rehabilitation emphasis
Weight is set to less value, and vice versa, similar, can be corresponding by the position if rehabilitation training need not be carried out
Pressure value weight is set to 0；
Rehabilitation vector sequence (VR1VRjVRT) based on T interval calculates rehabilitation degree R, is specially：Wherein：T_VR is second component threshold value；Wherein, second point
Amount threshold value is preset value；
It is preferred that：Rehabilitation component is also calculated based on rehabilitation object tolerance level；User's tolerance level is based on rehabilitation object feedback and obtained
Take, if feeling more loose in the upper interval of user, provide higher tolerance angle value, vice versa；
Rehabilitation component is also calculated based on user's tolerance level, is specially：Based on the dynamic pressure value sequence (I_
) and initial pressure value sequence (VL0VLiVLN), pressure value weight VL0I_VLiI_VLN
Sequence (W1WiWN), rehabilitation object tolerance level UC, calculate rehabilitation component VR；VR=(UC/S_UC) × (∑ Wi
×|VLi-I_VLi|/VLi-I)；Wherein S_UC is the standard toleragenic degree of the rehabilitation object, and the standard toleragenic degree is to exist
Individual difference；Susceptibility due to different rehabilitation objects under the same conditions to same rehabilitation programme is different, this impression
Sometimes deviate actual conditions, it is therefore desirable to be standardized the tolerance level of the rehabilitation object；For example：To rehabilitation object
The standard toleragenic degree of the differentiation is obtained by the way of topic test is done, or marking evaluation is carried out by rehabilitation doctor；
Increase the difficulty of current rehabilitation programme, be specially：Increase hip joint motion module in rehabilitation programme, thigh motion mould
Block and the speed and/or amplitude of the motion of shank motion module, corresponding control unit increase pushing away for the first and/or second electric cylinder
Enter speed and amplitude；The difficulty of rehabilitation programme is reduced, is specially：Reduce hip joint motion module in rehabilitation programme, thigh motion
Module and the speed and/or amplitude of the motion of shank motion module, corresponding control unit reduce the first and/or second electric cylinder
Fltting speed and amplitude；
The preservation rehabilitation object and its rehabilitation programme sequence of association in storage device；Rehabilitation forging is ready in rehabilitation object
During refining, the biological parameter of rehabilitation object is obtained, rehabilitation programme sequence is obtained from java standard library according to the biological parameter of rehabilitation object,
Selectable, the rehabilitation programme is micro-adjusted rehabilitation doctor, preserves the rehabilitation programme sequence Jing Guo micro-adjustment；
Rehabilitation programme sequence is obtained from java standard library according to the biological parameter of rehabilitation object, is specially：According to rehabilitation object
Multiple biological parameters, obtained from java standard library and the rehabilitation programme sequence that most matches of the multiple biological parameter；
It is preferred that：The java standard library is located locally or network；The java standard library carries out real-time update according to Advances in Medicine；
A kind of lower limb rehabilitation robot of the present invention, with reference to knowledge such as Machine Design, machine-building, system controls, to sitting
Horizontal lower limb rehabilitation robot optimizes structure design, can be required meeting healing robot high accuracy, high accuracy
Meanwhile, fast and easy accurately realizes being accurately positioned between each part, reduces robotic mechanical system parts and its dress
The complexity of method of completing the square, it is to avoid erection sequence easily mistake the problem of, can realize the standard of all parts of healing robot
It is determined that position, it is adaptable to produce in batches.
Described above is only the better embodiment of the present invention, therefore all constructions according to described in present patent application scope,
The equivalent change or modification that feature and principle are done, is included in the range of present patent application.
Claims (10)
1. a kind of lower limb rehabilitation robot, it is characterised in that the lower limb rehabilitation robot includes support, seat, 2 lower limb moulds
Block；Lower limb module symmetries is installed on support；Seat is installed on support and positioned at the centre of 2 lower limb modules；
Lower limb module includes hip joint motion module, thigh motion module and shank motion module；
Hip joint motion module includes：Pedestal, support bar, hip joint rod member, the first electric cylinder mounting bracket, the first electric cylinder,
Hip joint rolling bearing pedestal, rotary shaft, the first electric cylinder installation side plate, the first electric cylinder end fixed seat, the first electric cylinder
Top fixed seat；
Hip joint rod member is fastened after being positioned by detent with support bar with fixing device；Support bar passes through positioned at middle part
Groove, positioned at end groove respectively between one end of the first electric cylinder mounting bracket and pedestal realize positioning after use screw
Fastening；It is rotatably connected after being positioned between hip joint rolling bearing pedestal and hip joint rod member by rotary shaft；First electricity
Dynamic cylinder installation side plate is L-shaped side plate, and its side plate with the detent positioned at hip joint rolling bearing pedestal one side by entering
It is fixedly connected after row positioning, another side plate and the first electric cylinder top fixed seat pass through screw or bolt connection；First electric cylinder
End fixed seat is by screw or is bolted on pedestal；With interior hexagon cylindrical head shoulder screw by one end of the first electric cylinder
It is rotatably mounted in the first electric cylinder top fixed seat, with interior hexagon cylindrical head shoulder screw by the another of the first electric cylinder
End and the first rotatable connection of electric cylinder end fixed seat；Hip joint rolling bearing base is realized by the driving of the first electric cylinder
Seat hip joint rod member between relative rotation so that realize the anteflexion of rehabilitation object hip joint and/or after stretch.
2. lower limb rehabilitation robot according to claim 1, it is characterised in that thigh motion module includes：Thigh is adjusted
Bar, knee joint connecting rod, knee joint adapting rod, the second electric cylinder fixed seat, the second electric cylinder mounting bracket, the second electric cylinder,
Second electric cylinder adapting rod, connecting shaft, connection shaft flange；
It is fixedly connected between thigh adjusting rod and knee joint connecting rod by fixing device；Knee joint connecting rod and knee joint
Adapting rod is rotatably connected by rotating shaft, is fixedly connected between the second electric cylinder adapting rod and knee joint adapting rod；Pass through
Interior hexagon cylindrical head shoulder screw transfers at the two ends of the second electric cylinder with the second electric cylinder fixed seat and the second electric cylinder respectively
Bar is rotatably connected；Relative turn between knee joint connecting rod and knee joint adapting rod is realized by the driving of the second electric cylinder
It is dynamic, thus realize rehabilitation object it is kneed it is anteflexion/after stretch；Second electric cylinder mounting bracket be fixedly installed in thigh adjusting rod and
Between second electric cylinder fixed seat；Connecting shaft is fixed on thigh adjusting rod by connecting shaft flange.
3. the lower limb rehabilitation robot according to claim 1-2 any one, it is characterised in that knee joint adapting rod is interior
Angle is the V-shaped flat board of the first angle；The summit of first angle has a positioning hole, by inserting rotating shaft in the positioning hole
Realize being rotatably connected between knee joint adapting rod and knee joint connecting rod；Wherein, first angle is small more than 90 degree
In the angle of 180 degree.
4. the lower limb rehabilitation robot according to claim 1-3 any one, it is characterised in that shank motion module bag
Include：Shank adjusting rod, shank rod member, fixing axle, fixed shaft flange；
The axis hole of fixing axle at the top of shank adjusting rod is positioned with the positioning hole on shank rod member one end, and passes through spiral shell
Nail carries out locking connection；Fixing axle is fixed on shank adjusting rod by fixed shaft flange.
5. lower limb rehabilitation robot according to claim 4, it is characterised in that thigh adjusting rod and knee joint connecting rod it
Between to be fixedly connected be adjustable, the adjustment of thigh motion module length is realized by adjustable be fixedly connected, from
And meet the physical qualification demand of different rehabilitation objects.
6. lower limb rehabilitation robot according to claim 5, it is characterised in that adjust club head insertion by adjusting thigh
The depth of knee joint connecting rod is adjusted, after thigh adjusts the appropriate depth inside club head insertion connecting rod, with solid
Determine device to carry out fastening to clamp the head of thigh adjusting rod.
7. lower limb rehabilitation robot according to claim 1, it is characterised in that also including control device, the control dress
Put by wired or be wirelessly communicatively coupled with the first electric cylinder, the second electric cylinder；Control device reads internal
The exercise program of current rehabilitation object is directed in storage, and first electric cylinder, the second electricity are carried out based on the exercise program
The drive control of dynamic cylinder.
8. lower limb rehabilitation robot according to claim 7, it is characterised in that the rehabilitation programme is：Left and right lower limb mould
The carry out bionic movement that block is continuously circulated, (1) first electric cylinder starts and promotes the first length with First Speed, in the first length
Very first time length is kept, (2) start the second electric cylinder and promote the second length with second speed, second is kept in the second length
Time span, (3) are driven the second electric cylinder to withdraw the second length and are kept the 3rd time span with third speed, and (4) are with the 4th
Speed drives the first electric cylinder to withdraw the first length and keeps the 4th time span；(5) circulation performs above-mentioned steps (1)~(4)；
When cycle-index reaches first number, First Speed, second speed, third speed, fourth speed, the first length, the are adjusted
Two length, very first time length, the second time span, the 3rd time span, the 4th time span.First and second electric cylinders
Promote and withdraw drive hip joint and it is kneed it is anteflexion/after stretch.
9. lower limb rehabilitation robot according to claim 1, it is characterised in that after rehabilitation object is fixed, detection is just
Beginning pressure value sequence, the dynamic pressure value sequence of the collection pressure sensor of intermittent, and by the initial pressure value sequence and
Dynamic pressure value sequence is transferred to control unit；Control unit obtains pressure value weight sequence from current rehabilitation programme, for
One interval, based on the dynamic pressure value sequence and initial pressure value sequence, pressure value weight sequence, calculates rehabilitation component；Base
Rehabilitation vector sequence in T interval calculates rehabilitation degree, when rehabilitation degree is spent more than the first rehabilitation, increases current rehabilitation programme
Difficulty；When rehabilitation degree is spent less than or equal to the first rehabilitation degree more than the second rehabilitation, promoted according to current rehabilitation programme；When rehabilitation is small
When being spent equal to the second rehabilitation, the difficulty of rehabilitation programme is reduced；If current rehabilitation programme comes into highest difficulty, each
At the end of interval, the rehabilitation component of Q nearest consecutive intervals is obtained, when the rehabilitation component at described Q interval is all higher than first
During component threshold value, current rehabilitation programme is terminated, and the next rehabilitation meter for corresponding to current rehabilitation object is read out of storage device
Draw；Rehabilitation training is carried out based on next rehabilitation programme in follow-up rehabilitation；Wherein：T and Q is preset value, T at intervals of
One examination cycle；Wherein：First rehabilitation degree and the second rehabilitation degree are preset value.
10. lower limb rehabilitation robot according to claim 9, it is characterised in that based on the dynamic pressure value sequence (I_
) and initial pressure value sequence (VL0VLiVLN), pressure value weight VL0I_VLiI_VLN
Sequence (W1WiWN), calculating rehabilitation component VR；Specially：VR=∑s Wi × | VLi-I_VLi |/VLi-I；Its
In：N is the number of pressure sensor；Rehabilitation vector sequence (VR1VRjVRT) based on T interval calculates health
Multiplicity R, be specially：Wherein：T_VR is second component threshold
Value.
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| CN109795576A (en) * | 2019-03-01 | 2019-05-24 | 浙江大学 | One type people biped robot |
| CN109903831A (en) * | 2019-01-29 | 2019-06-18 | 上海沐月信息技术发展有限公司 | A kind of intelligence evaluation and test training system for children's rehabilitation |
| CN110037891A (en) * | 2019-04-22 | 2019-07-23 | 哈工大机器人（合肥）国际创新研究院 | Lower limb knee ankle recovery training appliance for recovery based on plantar pressure Gait Recognition |
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| CN101623547A (en) * | 2009-08-05 | 2010-01-13 | 燕山大学 | Lower limb rehabilitation medical robot used for paralytic patient |
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| CN110037891A (en) * | 2019-04-22 | 2019-07-23 | 哈工大机器人（合肥）国际创新研究院 | Lower limb knee ankle recovery training appliance for recovery based on plantar pressure Gait Recognition |
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