CN115444718A

CN115444718A - Automatic gait following training method

Info

Publication number: CN115444718A
Application number: CN202210964326.0A
Authority: CN
Inventors: 黄开唐; 谢树宇; 刘傲雪; 赵悦稳
Original assignee: Hubei Renlai Rehabilitation Equipment Manufacturing Co ltd
Current assignee: Hubei Renlai Rehabilitation Equipment Manufacturing Co ltd
Priority date: 2022-08-11
Filing date: 2022-08-11
Publication date: 2022-12-09

Abstract

The invention discloses an automatic gait following training method, which comprises the following steps: detecting whether the rehabilitee wears the fixing device or not; when the rehabilitee wears the fixing device, adjusting the position of the electric potential shifting machine to enable the electric potential shifting machine and the fixing device on the rehabilitee body to be positioned on the same vertical line; judging whether to start following operation or not; if the follow-up operation is determined to be started, judging whether the fixing device on the body of the rehabilitee moves; if the fixing device on the body of the rehabilitee is determined to move, the electric potential shifting machine is controlled to move so that the electric potential shifting machine can move synchronously along with the fixing device on the body of the rehabilitee, and the electric potential shifting machine and the fixing device on the body of the rehabilitee are positioned on the same vertical line in the moving process of the rehabilitee. Through the mode, the electric potential shifting machine can automatically move along with the rehabilitation person when the rehabilitation person moves, so that the electric potential shifting machine and the rehabilitation person are always kept on a vertical line, the workload of medical personnel is reduced, and the rehabilitation effectiveness of training personnel is enhanced.

Description

Automatic gait following training method

Technical Field

The invention relates to the technical field of rehabilitation training, in particular to an automatic gait following training method.

Background

In modern society, people pay more and more attention to the mode of postoperative rehabilitation, however along with the promotion of postoperative rehabilitation importance and the principle of rehabilitation training importance, generally need medical personnel to carry out one-to-one or many-to-one rehabilitation training to the rehabilitation personnel.

Especially, the postoperative rehabilitation of the lower limb part usually requires many-to-one medical personnel to prevent the rehabilitation personnel from falling down during the postoperative rehabilitation, although the electric shifting machine appearing at the back can be used as a fixing device to help the rehabilitation patients to train to prevent falling down, the electric shifting machine on the market is operated and moved in a push button type manner at present, the electric shifting machine can prevent falling down and does not need special persons to support, but the electric shifting machine still needs one-to-one auxiliary operation of the medical personnel to help the rehabilitation personnel to carry out the postoperative rehabilitation, the method needs to manually judge the relative position of the electric shifting machine and the training personnel to manually correct the position of the electric shifting machine, manpower, material resources and time are wasted, and a time difference exists between the judgment of the person and the operation of the electric shifting machine when the position correction is carried out, so that the rehabilitation personnel can not train effectively.

Disclosure of Invention

Technical problem to be solved

Aiming at the defects of the prior art, the invention provides an automatic following gait training method, which can solve the technical problems.

(II) technical scheme

In order to solve the technical problems, the invention provides the following technical scheme: an automatic follow gait training method, comprising: detecting whether the rehabilitee wears the fixing device or not; when the rehabilitee is confirmed to wear the fixing device, adjusting the position of an electric potential shifting machine to enable the electric potential shifting machine and the fixing device on the rehabilitee body to be positioned on the same vertical line, wherein the electric potential shifting machine is movably arranged in a sliding rod and is connected with the fixing device through a pull rope; judging whether to start following operation or not; if the follow-up operation is determined to be started, judging whether the fixing device on the body of the rehabilitee moves; and if the fixing device on the body of the rehabilitee is determined to move, controlling the electric potential shifting machine to move so that the electric potential shifting machine moves synchronously along with the fixing device on the body of the rehabilitee, and enabling the electric potential shifting machine and the fixing device on the body of the rehabilitee to be on the same vertical line during the movement of the rehabilitee.

Further, the method further comprises: detecting acceleration using a gyroscope in a fixture when it is determined that the fixture on the rehabilitee is moving; calculating a motor speed value in real time according to the acceleration value; and controlling the electric displacement machine to operate at a motor speed value so that the electric displacement machine and the rehabilitee synchronously move.

Further, the step of judging whether the fixing device on the rehabilitative user moves comprises: establishing a coordinate by taking a fixing device on the body of the rehabilitee as an original point, and taking the electric displacement machine as a moving point of the coordinate; judging whether the moving point is on a longitudinal axis of the coordinate in real time; and if the moving point is determined not to be on the longitudinal axis of the coordinates, determining that the fixing device on the body of the rehabilitee moves, and if the moving point is determined to be on the longitudinal axis of the coordinates, determining that the fixing device on the body of the rehabilitee does not move.

Further, a driving motor is arranged in the electric displacement machine, the driving motor is connected with the fixing device through a pull rope, so that the fixing device is driven to ascend and descend through the driving motor, and the automatic following gait training method further comprises the following steps: obtaining the required weight loss according to the weight and the disease weight degree of the rehabilitee; when gait training needs to be carried out on a rehabilitee, the driving motor is controlled to rotate so as to drive the fixing device to ascend, and therefore weight loss and weight loss of the rehabilitee are reduced.

Further, the ground is correspondingly provided with a lifting platform, the lifting platform is provided with a plurality of first lifting platforms corresponding to the left foot of the rehabilitee and a plurality of second lifting platforms corresponding to the right foot of the rehabilitee at intervals along the moving track direction of the rehabilitee, wherein the automatic following gait training method further comprises the following steps: when the left foot of the rehabilitee is detected to be stepped on the first lifting platform, the first lifting platform is controlled to slowly descend, and when the right foot of the rehabilitee is detected to be stepped on the second lifting platform, the second lifting platform is controlled to slowly descend.

Further, the first lifting platform comprises a first inflatable bag capable of being inflated and deflated, the second lifting platform comprises a second inflatable bag capable of being inflated and deflated, and the automatic following gait training method further comprises the following steps: inflating the first inflatable bag before the lifting of the left foot of the rehabilitee is detected and the first inflatable bag is about to be stepped on, and controlling the first inflatable bag to slowly deflate when the lifting of the left foot of the rehabilitee is detected and the first inflatable bag is stepped on; and inflating the second inflatable bag before the right foot of the rehabilitee is detected to be lifted and to be stepped on the second inflatable bag, and controlling the second inflatable bag to slowly deflate when the right foot of the rehabilitee is detected to be stepped on the second inflatable bag.

Further, the ground is correspondingly provided with a lifting platform, the lifting platform is movably provided with a first lifting platform corresponding to the left foot of the rehabilitee and a second lifting platform corresponding to the right foot of the rehabilitee along the moving track direction of the rehabilitee, and the automatic following gait training method further comprises the following steps: when the left foot of a rehabilitee is detected to be stepped on the first lifting platform, controlling the first lifting platform to slowly descend, after the left foot of the rehabilitee is detected to be lifted from the first lifting platform, controlling the first lifting platform to move forwards to a next pre-stepping point, and after the first lifting platform moves to the next pre-stepping point, controlling the first lifting platform to ascend; when the fact that the right foot of the rehabilitee steps on the second lifting table is detected, the second lifting table is controlled to slowly descend, after the fact that the right foot of the rehabilitee is lifted from the second lifting table is detected, the second lifting table is controlled to move forwards to a next pre-stepping point, and after the second lifting table moves to the next pre-stepping point, the second lifting table is controlled to ascend.

Further, the first lifting platform comprises a first inflatable bag capable of being inflated and deflated, the second lifting platform comprises a second inflatable bag capable of being inflated and deflated, and the automatic following gait training method further comprises the following steps: when the left foot of the rehabilitee is detected to be lifted and to be stepped on the first inflatable bag, the first inflatable bag is controlled to be deflated slowly, when the left foot of the rehabilitee is detected to be lifted from the first inflatable bag, the first lifting platform is controlled to drive the first inflatable bag to move forwards to a next pre-stepping point, and the first inflatable bag is inflated after the first inflatable bag moves to the next pre-stepping point; and when the right foot of the rehabilitee is detected to be lifted from the second inflatable bag, the second lifting platform is controlled to drive the second inflatable bag to move forward to a next pre-treading point, and the second inflatable bag is inflated after the second inflatable bag moves to the next pre-treading point.

Further, recovered person's left foot has worn first recognizer, first elevating platform is equipped with the second recognizer that follows first recognizer and remove, and recovered person's right foot is dressed and is had the third recognizer, and the second elevating platform is equipped with the fourth recognizer that follows the third recognizer and remove, wherein: when the first recognizer worn by the left foot of the rehabilitee moves, the first lifting platform provided with the second recognizer is controlled to move along with the first recognizer, so that the first lifting platform provided with the second recognizer is positioned below the first recognizer; when the third recognizer worn by the right foot of the rehabilitee moves, the second lifting platform provided with the fourth recognizer is controlled to move along with the third recognizer, so that the second lifting platform provided with the fourth recognizer is located below the third recognizer.

(III) advantageous effects

Compared with the prior art, the invention provides an automatic gait following training method, which has the following beneficial effects: the automatic following gait training method disclosed by the invention comprises the following steps: detecting whether the rehabilitee wears the fixing device or not; when the rehabilitee wears the fixing device, adjusting the position of the electric potential shifting machine to enable the electric potential shifting machine and the fixing device on the rehabilitee body to be positioned on the same vertical line; judging whether to start following operation or not; if the follow-up operation is determined to be started, judging whether the fixing device on the body of the rehabilitee moves; if the fixing device on the body of the rehabilitative person is determined to move, the electric displacement machine is controlled to move so that the electric displacement machine can move synchronously along with the fixing device on the body of the rehabilitative person, and the electric displacement machine and the fixing device on the body of the rehabilitative person are located on the same vertical line in the moving process of the rehabilitative person. Through the mode, the electric displacement machine can automatically perform a training mode of following movement when a rehabilitee moves, so that the electric displacement machine and the rehabilitee are always kept on a vertical line, the workload of medical personnel is reduced, and the rehabilitation effectiveness of the rehabilitee is enhanced.

Drawings

FIG. 1 is a schematic flow diagram of an automatic follow-gait training method of the present invention;

FIG. 2 is a schematic view of a connection structure of the fixing device and an electric displacement machine of the present invention;

FIG. 3 is a schematic structural view of a first embodiment of the elevating platform of the present invention;

fig. 4 is a schematic structural diagram of a lifting platform according to a second embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.

As shown in fig. 1, the weight-loss adaptive gait training method disclosed by the invention comprises the following steps:

step S101: it is detected whether the rehabilitee wears the fixing device 10.

Step S102: when the rehabilitee wears the fixing device 10, the position of the electric potential shift machine 12 is adjusted to enable the electric potential shift machine 12 and the fixing device 10 on the rehabilitee to be on the same vertical line.

In the present embodiment, as shown in fig. 2, the electric displacement machine 12 is movably disposed in the sliding rod 13, and the electric displacement machine 12 is connected to the fixing device 10 through the pulling rope 11. Specifically, the slide bar 13 is a screw rod, one end of the screw rod is connected with a screw rod motor so as to drive the screw rod to rotate through the screw rod motor, and the electric displacement machine 12 is connected with the screw rod so as to drive the electric displacement machine to move when the screw rod rotates.

Step S103: and judging whether to start following operation or not.

Step S104: if it is determined that the follow-up operation is started, it is judged whether the fixing device 10 on the rehabilitee's body is moved.

It should be understood that the step of determining whether the fixing device on the rehabilitative person moves in step S104 includes:

step S1041: the fixing device 10 on the body of the rehabilitative person is used as an origin to establish coordinates, and the electric potential displacement machine 12 is used as a moving point of the coordinates.

It is to be understood that in step S1041, coordinates are established with the fixture 10 on the rehabilitee' S body as the origin, so that the vertical height of the electric displacement machine 12 from the fixture 10 is taken as the ordinate value, and the horizontal distance of the electric displacement machine 12 from the fixture 10 is taken as the abscissa value.

Step S1042: and judging whether the moving point is on the longitudinal axis of the coordinate in real time.

It should be appreciated that in step S102, when it is determined that the rehabilitee wears the fixing device 10, the position of the electric displacement machine 12 is adjusted so that the moving point is on the vertical axis of the coordinates to ensure that the electric displacement machine 12 is on the same vertical line as the fixing device 10 on the rehabilitee in the initial state.

Step S1043: if the moving point is determined not to be on the longitudinal axis of the coordinates, it is determined that the fixation device 10 on the rehabilitee is moving, and if the moving point is determined to be on the longitudinal axis of the coordinates, it is determined that the fixation device 10 on the rehabilitee is not moving.

Step S105: if the fixing device 10 on the body of the rehabilitative person is determined to move, the electric displacement machine 12 is controlled to move so that the electric displacement machine 12 can synchronously move along with the fixing device 10 on the body of the rehabilitative person, and the electric displacement machine 12 and the fixing device 10 on the body of the rehabilitative person are located on the same vertical line in the moving process of the rehabilitative person.

Further, the automatic following gait training method further comprises the following steps:

step S201: when it is determined that the fixture 10 on the rehabilitee is moving, acceleration is detected by a gyroscope in the fixture 10. It should be understood that a gyroscope is provided in the fixture 10, and the acceleration of the fixture 10 (i.e., the acceleration of the movement of the rehabilitee) can be measured by the gyroscope.

Step S202: and calculating the motor speed value in real time according to the acceleration value.

Step S203: controlling the electric potential displacement machine 12 to operate at a motor speed value, so that the electric potential displacement machine 12 and the rehabilitee synchronously move.

That is to say, when recovered person in an instant of operation, can will produce certain acceleration value, this acceleration value will be measured to the gyroscope, can calculate the electrical velocity value of the electronic machine 12 of shifting of electric potential according to this acceleration value this moment, reach the functioning speed of the electronic machine 12 of shifting of adjustment to accomplish dynamic adaptation recovered person's walking speed, do not worry too slow or too fast and cause the condition that electronic machine 12 can not follow up, thereby let recovered person accomplish good postoperative rehabilitation's gait training as one's will.

Further, in some embodiments, a driving motor is disposed in the electric displacement machine 12, and the driving motor is connected to the fixing device 10 through a pull rope 11 to drive the fixing device 10 to ascend and descend through the driving motor.

Wherein the automatic following gait training method further comprises:

step S301: the required weight loss is obtained according to the weight and the disease weight degree of the rehabilitative patients.

Step S302: when gait training is needed to be carried out on the rehabilitee, the driving motor is controlled to rotate to drive the fixing device 10 to ascend, so that the weight loss of the rehabilitee is reduced.

It should be understood that the fixing device 10 is driven to rise by the driving motor, so as to reduce the whole weight of the lower limb, and realize that the lower limb of the rehabilitee is required to be applied with different weights, so that the rehabilitee can slowly feel the training of walking, adapt to the walking behavior again, and slowly walk out of the self adaptability.

Further, as shown in fig. 3, a lifting platform 20 is correspondingly disposed on the ground, wherein the lifting platform 20 is provided with a plurality of first lifting platforms 201 corresponding to the left foot of the rehabilitee and a plurality of second lifting platforms 202 corresponding to the right foot of the rehabilitee at intervals along the moving track direction of the rehabilitee. It should be understood that the first elevating platform 201 and the second elevating platform 202 are in the lifting state when the rehabilitee is to prepare to walk along the movement track.

Further, the automatic following gait training method further comprises the following steps: when the left foot of the rehabilitee is detected to be treaded on the first lifting platform 201, the first lifting platform 201 is controlled to slowly descend, and when the right foot of the rehabilitee is detected to be treaded on the second lifting platform 202, the second lifting platform 202 is controlled to slowly descend. It should be understood that the slow descending of the first lifting platform 201 is mainly controlled by the left foot to be slowly stepped on, and the slow descending of the first lifting platform 201 is mainly controlled by the right foot to be slowly stepped on.

It should be noted that the first pressure gauge is disposed on the top of the first lifting platform 201, and when the left foot is stepped on the first lifting platform 201, the first pressure gauge can detect pressure, and at this time, the first lifting platform 201 is controlled to slowly descend, and the second pressure gauge is disposed on the top of the second lifting platform 202, and when the right foot is stepped on the second lifting platform 202, the second pressure gauge can detect pressure, and at this time, the second lifting platform 202 is controlled to slowly descend.

Further, the first lift stage 201 includes a first inflatable and deflatable airbag 2011, and the second lift stage 202 includes a second inflatable and deflatable airbag 2021.

step A1: the first inflatable bag 2011 is inflated before the left foot of the rehabilitee is detected to be lifted and to be stepped on the first inflatable bag 2011, and the first inflatable bag 2011 is controlled to be slowly deflated when the left foot of the rehabilitee is detected to be stepped on the first inflatable bag 2011. It should be understood that step A1 may detect whether the left foot of the rehabilitee is about to step on the first inflatable bag 2011 through the first distance sensor, such as to step on the first inflatable bag 2011 by detecting that the first inflatable bag 2011 is closer to the left foot, wherein the first inflatable bag 2011 is controlled to deflate slowly mainly so that the left foot can be stepped on slowly.

Step A2: the second airbag 2021 is inflated before the right foot of the rehabilitative person is detected to be lifted and about to step on the second airbag 2021, and the second airbag 2021 is controlled to be slowly deflated when the right foot of the rehabilitative person is detected to step on the second airbag 2021. It should be understood that step A2 may detect whether the right foot of the rehabilitee is about to step on the second airbag 2021 by the second distance sensor, such as by detecting that the second airbag 2021 is at a smaller distance from the right foot, which means that the right foot is about to step on the second airbag 2021, wherein the second airbag 2021 is controlled to slowly deflate mainly to allow the right foot to step on slowly.

Further, in some specific embodiments, as shown in fig. 4, a lifting platform 30 is correspondingly disposed on the ground, wherein the lifting platform 30 is movably disposed along the moving track direction of the rehabilitee with a first lifting platform 301 corresponding to the left foot of the rehabilitee and a second lifting platform 302 corresponding to the right foot of the rehabilitee.

step B1: when the left foot of the rehabilitee is detected to be stepped on the first lifting platform 301, the first lifting platform 301 is controlled to slowly descend, and when the left foot of the rehabilitee is detected to be lifted from the first lifting platform 301, the first lifting platform 301 is controlled to move forwards to the next pre-stepping point, and after the first lifting platform 301 moves to the next pre-stepping point, the first lifting platform 301 is controlled to ascend. It will be appreciated that the first lift stage 301 is controlled to move forward to the next pre-treading point primarily to allow the rehabilitee's left foot to step in again.

And step B2: when the right foot of the rehabilitee is detected to be stepped on the second lifting table 302, the second lifting table 302 is controlled to slowly descend, and when the right foot of the rehabilitee is detected to be lifted from the second lifting table 302, the second lifting table 302 is controlled to move forward to a next pre-stepping point, and after the second lifting table 302 moves to the next pre-stepping point, the second lifting table 302 is controlled to ascend. It should be understood that the second lifting platform 302 is controlled to move forward to the next pre-treading point, mainly to allow the left foot of the rehabilitee to tread again.

It should be noted that the first pressure gauge is disposed on the top of the first lifting platform 301, when the left foot is stepped on the first lifting platform 301, the first pressure gauge can detect pressure, and at this time, the first lifting platform 301 is controlled to slowly descend, and the second pressure gauge is disposed on the top of the second lifting platform 302, when the right foot is stepped on the second lifting platform 302, the second pressure gauge can detect pressure, and at this time, the second lifting platform 302 is controlled to slowly descend.

Further, the first elevating platform 301 comprises a first inflatable and deflatable inflatable bag 3011, and the second elevating platform 302 comprises a second inflatable and deflatable inflatable bag 3021, wherein the automatic following gait training method further comprises:

and step B3: the first inflatable bag 3011 is inflated when it is detected that the left foot of the rehabilitee is lifted and is about to step on the first inflatable bag 3011, the first inflatable bag 3011 is controlled to be deflated slowly when it is detected that the left foot of the rehabilitee is stepped on the first inflatable bag 3011, the first lifting platform 301 is controlled to drive the first inflatable bag 3011 to move forward to a next pre-stepping point after it is detected that the left foot of the rehabilitee is lifted from the first inflatable bag 3011, and the first inflatable bag 3011 is inflated after the first inflatable bag 3011 moves to the next pre-stepping point. It should be understood that step B3 may be implemented by detecting whether the left foot of the rehabilitative apparatus is about to step on first airbag 3011 via the first distance sensor, such as by detecting that first airbag 3011 is at a smaller distance from the left foot, which indicates that the left foot is about to step on first airbag 3011, wherein controlling first airbag 3011 to deflate slowly mainly allows the left foot to step on slowly.

And step B4: the second airbag 3021 is inflated before the rise of the right foot of the rehabilitee is detected and before the second airbag 3021 is stepped on, the second airbag 3021 is controlled to be deflated slowly when the rise of the right foot of the rehabilitee is detected and the second airbag 3021 is controlled to be inflated after the rise of the right foot of the rehabilitee is detected from the second airbag 3021, the second lifting table 302 is controlled to move the second airbag 3021 forward to the next pre-treading point and the second airbag 3021 is inflated after the second airbag 3021 moves to the next pre-treading point. It should be appreciated that step B4 may be implemented by detecting whether the right foot of the rehabilitee is about to step on the second airbag 3021 via the second distance sensor, such as by detecting that the second airbag 3021 is at a smaller and smaller distance from the right foot, such as to step on the second airbag 3021, wherein the second airbag 3021 is controlled to slowly deflate mainly to allow the right foot to step on slowly.

Further, in other embodiments, the first recognizer is worn on the left foot of the rehabilitee, and the first lifting table 301 is provided with the second recognizer which moves along with the first recognizer, wherein the second recognizer is fixedly arranged in the first lifting table 301, and when the first recognizer worn on the left foot of the rehabilitee moves, the first lifting table 301 provided with the second recognizer is controlled to move along with the first recognizer, so that the first lifting table 301 provided with the second recognizer is positioned below the first recognizer. Further, recovered person's right foot is dressed and is had the third recognizer, and second elevating platform 302 is equipped with the fourth recognizer that follows the third recognizer and removes, and wherein the fourth recognizer is fixed and set up in second elevating platform 302, and when the third recognizer that recovered person's right foot was dressed removed, the control is equipped with the second elevating platform 302 of fourth recognizer and follows the third recognizer and remove to make the second elevating platform 302 that is equipped with the fourth recognizer be in the below of third recognizer.

In conclusion, the electric potential shifting machine can automatically follow the movement of a rehabilitee when the rehabilitee moves, so that the electric potential shifting machine and the rehabilitee are always kept on a vertical line, the workload of medical personnel is reduced, and the rehabilitation effectiveness of the rehabilitee is enhanced.

It is to be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising a," "8230," "8230," or "comprising" does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. An automatic follow gait training method, comprising:

detecting whether the rehabilitee wears the fixing device or not;

when the rehabilitee is confirmed to wear the fixing device, adjusting the position of an electric potential shifting machine to enable the electric potential shifting machine and the fixing device on the rehabilitee body to be positioned on the same vertical line, wherein the electric potential shifting machine is movably arranged in a sliding rod and is connected with the fixing device through a pull rope;

judging whether to start following operation or not;

if the follow-up operation is determined to be started, judging whether the fixing device on the body of the rehabilitee moves;

and if the fixing device on the body of the rehabilitee moves, controlling the electric displacement machine to move so that the electric displacement machine moves synchronously along with the fixing device on the body of the rehabilitee, and enabling the electric displacement machine and the fixing device on the body of the rehabilitee to be positioned on the same vertical line in the moving process of the rehabilitee.

2. The method of automatic follow gait training according to claim 1, characterized in that the method further comprises:

detecting acceleration using a gyroscope in a fixture when it is determined that the fixture on the rehabilitee is moving;

calculating a motor speed value in real time according to the acceleration value;

and controlling the electric potential displacement machine to operate at a motor speed value, so that the electric potential displacement machine and the rehabilitee synchronously move.

3. The automatic follow gait training method according to claim 2, wherein the step of determining whether the fixture on the rehabilitee is moving comprises:

establishing a coordinate by taking a fixing device on the body of the rehabilitee as an original point, and taking the electric displacement machine as a moving point of the coordinate;

judging whether the moving point is on a longitudinal axis of the coordinate in real time;

and if the moving point is determined not to be on the longitudinal axis of the coordinates, determining that the fixing device on the body of the rehabilitee moves, and if the moving point is determined to be on the longitudinal axis of the coordinates, determining that the fixing device on the body of the rehabilitee does not move.

4. The automatic follow gait training method according to claim 3, wherein a drive motor is provided in the displacement machine, the drive motor being connected to the fixture through a rope, so as to drive the fixture to ascend and descend by the drive motor, wherein the automatic follow gait training method further comprises:

obtaining the required weight loss according to the weight and the disease weight degree of the rehabilitee;

when gait training is needed to be carried out on a rehabilitee, the driving motor is controlled to rotate so as to drive the fixing device to ascend, and therefore weight loss of the rehabilitee is reduced.

5. The automatic following gait training method according to claim 4, wherein a plurality of first lifting platforms corresponding to the left foot of the rehabilitee and a plurality of second lifting platforms corresponding to the right foot of the rehabilitee are provided on the ground at intervals along the movement trajectory direction of the rehabilitee, and the automatic following gait training method further comprises:

when the left foot of the rehabilitee is detected to be stepped on the first lifting table, the first lifting table is controlled to slowly descend, and when the right foot of the rehabilitee is detected to be stepped on the second lifting table, the second lifting table is controlled to slowly descend.

6. An automatic follow gait training method according to claim 5, wherein said first elevating platform comprises an inflatable and deflatable first inflatable bag and said second elevating platform comprises an inflatable and deflatable second inflatable bag, and wherein the automatic follow gait training method further comprises:

inflating the first inflatable bag before the lifting of the left foot of the rehabilitee is detected and the first inflatable bag is about to be stepped on, and controlling the first inflatable bag to slowly deflate when the lifting of the left foot of the rehabilitee is detected and the first inflatable bag is stepped on;

and inflating the second inflatable bag before the lifting of the right foot of the rehabilitee is detected and the second inflatable bag is about to be stepped on, and controlling the second inflatable bag to slowly deflate when the lifting of the right foot of the rehabilitee is detected and the second inflatable bag is stepped on.

7. The automatic following gait training method according to claim 4, wherein a lifting platform is correspondingly provided on the ground, and the lifting platform is movably provided with a first lifting platform corresponding to the left foot of the rehabilitee and a second lifting platform corresponding to the right foot of the rehabilitee along the movement track direction of the rehabilitee, wherein the automatic following gait training method further comprises:

when the left foot of a rehabilitee is detected to be stepped on the first lifting table, controlling the first lifting table to slowly descend, and after the left foot of the rehabilitee is detected to be lifted from the first lifting table, controlling the first lifting table to move forwards to a next pre-stepping point, and after the first lifting table moves to the next pre-stepping point, controlling the first lifting table to ascend;

when the right foot of the rehabilitee is detected to be stepped on the second lifting table, the second lifting table is controlled to slowly descend, and when the right foot of the rehabilitee is detected to be lifted from the second lifting table, the second lifting table is controlled to move forwards to a next pre-stepping point, and after the second lifting table moves to the next pre-stepping point, the second lifting table is controlled to ascend.

8. The method of automatic follow gait training according to claim 7, wherein said first lift table includes an inflatable and deflatable first bladder, and said second lift table includes an inflatable and deflatable second bladder, and wherein the method of automatic follow gait training further comprises:

when the left foot of the rehabilitee is detected to be lifted up and to step on the first inflatable bag, the first inflatable bag is controlled to be slowly deflated, when the left foot of the rehabilitee is detected to be stepped on the first inflatable bag, the first lifting platform is controlled to drive the first inflatable bag to move forwards to a next pre-stepping point after the left foot of the rehabilitee is detected to be lifted up from the first inflatable bag, and the first inflatable bag is inflated after the first inflatable bag moves to the next pre-stepping point;

and when the right foot of the rehabilitee is detected to be lifted from the second inflatable bag, the second lifting platform is controlled to drive the second inflatable bag to move forward to a next pre-treading point, and the second inflatable bag is inflated after the second inflatable bag moves to the next pre-treading point.

9. The automatic follow gait training method according to claim 8, wherein the left foot of the rehabilitee wears a first recognizer, the first elevating stage is provided with a second recognizer which moves following the first recognizer, the right foot of the rehabilitee wears a third recognizer, and the second elevating stage is provided with a fourth recognizer which moves following the third recognizer, wherein:

when the first recognizer worn by the left foot of the rehabilitee moves, the first lifting platform provided with the second recognizer is controlled to move along with the first recognizer, so that the first lifting platform provided with the second recognizer is positioned below the first recognizer; when the third recognizer worn by the right foot of the rehabilitee moves, the second lifting platform provided with the fourth recognizer is controlled to move along with the third recognizer, so that the second lifting platform provided with the fourth recognizer is located below the third recognizer.