CN201500119U - Squatting and standing type lower limb functional assessment and training system - Google Patents

Abstract

The utility model provides a squatting and standing type lower limb functional assessment and training system, which comprises a training bed, a control box, a main-control computer, a patient-use display device and a main display screen, wherein the training bed comprises a bed seat, a bed frame and a bed plate; the bed frame is installed on the bed seat and is rotationally connected therewith; the bed plate can be divided into a back sliding plate and a lower limb supporting plate, a sliding device is mounted on the back sliding plate and performs squatting and standing motion with a patient, so as to realize weight reduction for supporting the back. A displacement sensing device is mounted below the sliding plate, a pressure sensing device is respectively arranged on a left foot board and a right foot board to realize the real-time displacement and pressure data collection during squatting and standing processes; and an automatic bed plate angle adjusting mechanism is arranged between the bed frame and the bad seat, so as to adjust the weight reduction degree of patients. The patient-use display device can feed back assessment and training processes and results. The main-control computer is used for assessing various parameters. The squatting and standing type lower limb functional assessment and training system realizes the squatting and standing function assessment and training under the weight reduction mode for the first time, so as to help patients realize the early stage squatting and standing training.

Description

The vertical lower limb function of squatting is evaluated training system

Technical field

This utility model relates to a kind of rehabilitation medical apparatus, relates in particular to the vertical lower limb function evaluation of a kind of crouching training system.

Background technology

According to statistics, China's cerebrovascular, parkinson disease, craniocerebral trauma, spinal cord injury annual morbidity respectively are 2,19/,100,000,1,00/,100,000,55.4/10 ten thousand and 6/,100,000.And because aging, natural disaster takes place frequently and contingency increases cause, sickness rate is increasing year by year.These diseases and damage can cause the dysfunction that stands of squatting down.Squatting down and standing is functional activation for keeping functional independence repeatedly to carry out every day, and in estimating disabled various ADL scales (as the Barthel scale), it is all directly relevant therewith to shift, go to toilet, and accounts for the scoring larger proportion usually.There is data to show, more the occurring in the process of squatting down-stand of falling of apoplexy patient.Therefore, improving the function of squatting down-stand effectively is the important behave of rehabilitation.

Generally by perusal or use simple timing tool to observe patient's the function of squatting down-stand, more the evaluation of complicated kinematics and kinetics needs be undertaken by high-speed camera and motion analysis system clinically.Squat down-stand on the functional training, be generally therapist's handicapped particular problem of squatting down at causing-stand,, carry out corresponding concrete exercise and integrate exercise as muscular strength, balance, spasm etc.Still lack at present the intelligent equipment that carries out the integration training at the function of squatting down-stand.At the patient who lacks the ability of independently squatting down-stand, how to train in early days also is the problem that need solve.

Present lower limb function rehabilitation training owing to there is not a loss of weight, only suitable static equilibrium better, have a function patient that independently stands.Severe patient for lacking the ability of independently standing can't adopt this mode to train.Therefore, the vertical lower limb function training of crouching that proposes under a kind of loss of weight mode is to press for the problem that solves clinically.

In addition, recovery function training product in the past often lacks interest and appeal training software and visual feedback system, and patient and instrument just can not carry out interaction like this, and the patient can not judge the rehabilitation training by a period of time, the what state that oneself recovers.Long-term training dry as dust makes patient's confidence that lacks training gradually, can influence the rehabilitation of patients process, causes rehabilitation efficacy undesirable.

The utility model content

The purpose of this utility model exactly in order to address the above problem, provides the vertical lower limb function evaluation of a kind of crouching training system.

In order to achieve the above object, this utility model has adopted following technical scheme: the vertical lower limb equilibrium function evaluation of a kind of crouching training system, and critical piece comprises: training bed, control chamber, main control computer, main display and patient use display device; The training bed comprises base, bedstead and bed board, bedstead is installed on the base and with base is rotatable and links to each other, bed board is divided into dorsal glide plate and lower limb gripper shoe, the lower limb gripper shoe is fixed on the bedstead and uses as support limb, the dorsal glide plate supports as human body and uses, the maximum characteristics of this training bed are equipped with carriage (slip track and slide block) between dorsal glide plate and bedstead, the dorsal glide plate can slide before and after the bedstead, and the patient leans against the back sliding panel and does the squatting down action that stands and train and assess.Below the dorsal glide plate, displacement sensing apparatus is housed; Front end at bedstead is connected with left and right pedal assembly, is respectively equipped with the plantar pressure sensing device on the pedal assembly of the left and right sides, realizes squatting down process displacement and the pressure real-time data acquisition of standing.Be provided with the bed board angle adjusting mechanism between bedstead and base, this bed board angle adjusting mechanism comprises a linear stepping motor and push rod.

Control chamber is installed in below the bedstead of training bed, is provided with sensing device interface circuit, motor drive module and power module in the control chamber, and power module is respectively the sensing device interface circuit and motor drive module provides power supply; Motor drive module links to each other with the linear stepping motor signal of telecommunication in the bed board angle adjusting mechanism;

Main control computer is arranged on the operating board, is provided with data acquisition module, motion-control module in the main control computer and the assessment of function training software that stands of squatting down; Data acquisition module links to each other with the sensing device interface circuit signal of telecommunication in the control chamber, and motion-control module links to each other with the motor drive module signal of telecommunication in the control chamber; The assessment of function training software that stands of squatting down comprises testing evaluation module and functional training module;

The patient uses display device, is movably arranged on the next door of training bed and links to each other with the main control computer signal of telecommunication;

Main display is arranged on the operating board and with the main control computer signal of telecommunication and links to each other.

Left and right pedal modular construction symmetry is identical, respectively comprises pedal support, foot front end buffer, the heel axis of guide and pedal; Pedal support and bedstead are fixedly linked; The foot front end buffer and the heel axis of guide are connected between pedal and the pedal support; Described plantar pressure sensing device is arranged on the foot palm part of pedal and the below of heel portion, and the plantar pressure sensing device links to each other with the sensing device interface circuit signal of telecommunication in the control chamber.The real time data of plantar pressure sensing device is the basis of kinetic parameter and center of gravity assessment.

The plantar pressure sensing device is made up of the cantilever beam that posts four foil gauges, and the cantilever beam that posts four foil gauges is inserted in the sole stressed member of being made up of pedal, pedal support, foot front end buffer and the heel axis of guide.

On the bedstead displacement sensing apparatus is being housed below the dorsal glide plate.Displacement sensing apparatus links to each other with the sensing device interface circuit signal of telecommunication in the control chamber, realizes squatting down the process displacement real-time data acquisition that stands, and these data combine with plantar pressure sensing device data, does work and parameter evaluation such as power.

The patient comprises travelling car, is installed in support on the travelling car and rack-mount display screen with display device, and display screen and support flexibly connect, and the height of display screen and angle can be regulated.Travelling car

On the base of training bed a plurality of universal adjustment castors are installed, and correspondingly are provided with a plurality of flexible up and down governor motions of castor that are used to regulate.

Also comprise the bed board angular display unit, this bed board angular display unit is installed on the bedstead and moves with bedstead.

The vertical lower limb function evaluation training system main control computer of squatting is provided with the assessment of function training software that stands of squatting down, it comprises testing evaluation module and functional training module, by patient being carried out the stand testing evaluation of function of squatting down under back support loss of weight (or the not loss of weight) form, obtain data, to patient's balance training that stands of squatting down, help accelerating the rehabilitation of equilibrium function impaired patients targetedly.

Of the present utility model squatting down stands evaluation training bed in use, the patient relies on the dorsal glide plate of inclination, before and after bedstead, slide, initiatively do the action that stands of squatting down, carrying out corresponding training and assessment of function under back support angle (0-90 °) and the independent standing state arbitrarily.On hardware designs, the bed board that utilizes adjustable angle produces weight loss effect arbitrarily to the supporting role at back, utilize in the carriage very little frictional resistance between the sliding rail and slide block, help the patient to lean against slide plate and initiatively do the action that stands of squatting down, realize the training that stands of squatting down under the loss of weight mode first, help patient's functional training that stands of squatting down in early days.On software design, can utilize center of gravity and the posture change of advanced computer control and sensing device technology reflection human body in the process of standing of squatting down, by patient's display visual feedback, to the patient that can't independently stand is arranged, improve the symmetry of its action, realized especially early stage squatting down of each stage training that stands.The squatting down evaluation training system that stands has been opened the example that uses intelligent equipment to squat down to stand training and assessment.

Its function is mainly:

1, assessment of function: any back support angle (0-90 °) and the standing state dynamic posturography of squatting down-stand down, gained assessment parameters comprise frontal plane hunting frequency, average center of gravity, the maximum amplitude of oscillation of frontal plane, the average amplitude of oscillation of frontal plane, center of gravity motion track total length, the center of gravity motion track gross area and frontal plane side slew rate, in test period on average acting amount of left and right sides lower limb and test period the interior average working power of left and right sides lower limb;

Functional training: the exercise of squatting down-stand under back support angle (0-90 °) and the standing state arbitrarily, realize the exercise scheme that corresponding difficulty is step by step gone forward one by one, vision and sound feedback and virtual environment training program and game training scheme are arranged.

Description of drawings

Fig. 1 is the squat overall structure sketch map of vertical lower limb function evaluation training system of this utility model;

Fig. 2 is a plantar pressure sensing device placement location sketch map.

The specific embodiment

Referring to Fig. 1, this utility model vertical lower limb function evaluation training system of squatting comprises that training bed 1, control chamber 2, main control computer 3, patient are with display device 4 and main display 5.Control chamber 2 is installed on the base 11 of training bed, main control computer 3 is arranged on the operating board (operating board not shown come out), the patient is movably arranged on the next door of training bed with display device 4 and links to each other with the main control computer signal of telecommunication, and main display 5 is arranged on the operating board and with the main control computer signal of telecommunication and links to each other.

Training bed 1 in this utility model comprises base 11, bedstead 12 and bed board 13, bed board 13 comprises dorsal glide plate 131 and lower limb gripper shoe 132, bedstead 12 be installed on the base 11 and with base 11 by 6 rotatable linking to each other of rotating shaft, and be supported on base 11 tops by two push rods 9 (being separately positioned on both sides).Dorsal glide plate 131 links to each other and can move forward and backward along bedstead by being connected slide block 7 slips with bedstead 12, displacement sensing apparatus (not shown come out) is installed on dorsal glide plate 131, front end at bedstead 12 is connected with left and right pedal assembly 14, be provided with bed board angle adjusting mechanism 15 between bedstead 12 and base 11, this bed board angle adjusting mechanism comprises a linear stepping motor.On the base 11 of training bed, a plurality of universal adjustment castors 111 are installed, and correspondingly are provided with a plurality of flexible up and down governor motions 112 of castor that are used to regulate.Bed board angular display unit 8 also is installed on bedstead 12, and bed board angular display unit 8 moves the angle that is used to show bedstead 12 and bed board 13 inclinations with bedstead 12.

Left and right pedal assembly 14 symmetrical configuration in this utility model are identical, respectively comprise pedal support 141, foot front end buffer 142, the heel axis of guide 143 and pedal 144.Pedal support 141 is fixedly linked with bedstead 12; The foot front end buffer 142 and the heel axis of guide 143 are connected between pedal 144 and the pedal support 141.Around pedal 144, be provided with plantar pressure sensing device (not shown come out), this plantar pressure sensing device is made up of the cantilever beam that posts four foil gauges, and the cantilever beam that posts four foil gauges is inserted in the sole stressed member of being made up of pedal, pedal support, foot front end buffer and the heel axis of guide.And link to each other with the sensing device interface circuit signal of telecommunication in the control chamber 2 respectively.

Control chamber 2 is installed on the base 11 of training bed, is provided with sensing device interface circuit, motor drive module and power module (not shown come out) in the control chamber, and power module is respectively the sensing device interface circuit and motor drive module provides power supply; Motor drive module links to each other with the linear stepping motor signal of telecommunication in bed board angle adjusting mechanism, left lower extremity support travel mechanism and the right lower extremity support travel mechanism respectively.

Main control computer 3 is arranged on the operating board (operating board not shown come out), be provided with data acquisition module and motion-control module (not shown come out) in the main control computer, data acquisition module links to each other with the sensing device interface circuit signal of telecommunication in the control chamber, and motion-control module links to each other with the motor drive module signal of telecommunication in the control chamber.

The patient is movably arranged on the next door of training bed 1 with display device 4 and links to each other with main control computer 3 signals of telecommunication, this patient comprises travelling car 41, is installed in support 42 on the travelling car and rack-mount display screen 43 with display device 4, display screen and support flexibly connect, and the height of display screen and angle can be regulated.

Main display 5 is arranged on the operating board and with main control computer 3 signals of telecommunication and links to each other.

This utility model adopts the control of main control computer realization center, is shown by two display screens.Wherein main display is placed on the operating board, uses for medical personnel.Main display can show and comprises all the elements such as patient information, test report, functional training, game training, generation report, system are provided with, and can control the content of patient with display screen simultaneously.The patient is with display location the place ahead when the patient trains, be convenient to the patient and observe lower limb firmly big or small real-time change in the left and right sides in the training process, the real-time active regulation balance, the patient can show the participation process of training process, recreation and the contents such as result of training with display screen, uses for the patient.

The collection of data and processing in this utility model, gather the plantar pressure data by the pressure sensor device group, be transferred to the sensing device interface circuit in the control chamber, by the real-time displacement in the displacement sensing apparatus collection dorsal glide process, send integrating device (to amplify by the change of multichannel sensing through signal, filtering, the sampling maintenance) enters data collecting card, outputing to main control computer then handles signal, make left and right sides lower limb firmly size with block diagram intuitively, the form of numeral size shows, thereby make patient can recognize the practical situation of oneself, suitably regulate posture and dynamics.Certainly patient also can get information about the training by a period of time, oneself has obtained great progress, helps helping patient to set up the confidence of rehabilitation, excites their training desire.The various signals of collection be can pass through simultaneously, frontal plane hunting frequency, average center of gravity, the maximum amplitude of oscillation of frontal plane, the average amplitude of oscillation of frontal plane, center of gravity motion track total length, the center of gravity motion track gross area and frontal plane side slew rate, left and right sides lower limb acting amount, the isoparametric calculating assessment of left and right sides lower limb working power and demonstration carried out.

Be provided with motion-control module in the main control computer in this utility model, main control computer is by the linear stepping motor in the motion-control module driving bed board angle adjusting mechanism.Make its positive and negative rotation that transfers the realization bed board by the Synchronization Control motor, reach the effect that bed board 0～90 degree tilts arbitrarily with this, simultaneously, also can observe by the angular display unit that is installed on the bedstead, realize that the patient lies low, reclines even stands and train, realize assessment and training under the various angle Reduction of Students' Study Load states.Linear stepping motor control bed board motion in the bed board angle adjusting mechanism realizes the inclination of health.

This utility model vertical lower limb function evaluation training system use of squatting is as follows:

1, the patient tilts to lie on a bed near the dorsal glide plate, and allows its left and right sides foot step down in respectively on the pedal of the left and right sides, and left and right sides pedal is on the same horizontal plane.

2, regulate the angle of inclination of bed according to patient's practical situation automatically, realize loss of weight in various degree, the bed board angular display unit moves with bedstead, feedback shows the actual angle of inclination of bed board, compare with the automatic adjusting angle of main control computer, angle is more little, and the loss of weight degree is big more.

3, the patient leans against the slip bed board, and initiatively squatting down stands, and the slip bed board is followed patient moving, reaches motor process back support weight loss effect.

4, allow computer enter to squat down the testing evaluation module of assessment of function training system of standing, allow patient carry out the initial testing that stands of squatting down in 10 seconds, to adapt to this test mode.

5, allow patient do to squat down standing motion to be tested, obtaining the testing evaluation result of every kinetic parameter, described kinetic parameter comprises frontal plane hunting frequency, average center of gravity, the maximum amplitude of oscillation of frontal plane, the average amplitude of oscillation of frontal plane, center of gravity motion track total length, the center of gravity motion track gross area, frontal plane side slew rate, on average acting amount of left and right sides lower limb and lower limb average working power in the left and right sides in test period in test period.

6, allow computer enter to squat down the functional training module of assessment of function training software of standing, according to the testing evaluation result, select suitable training cycle and loss of weight angle, allow patient do to squat down standing motion to be trained, training achievement with center of gravity drop on from normal center of gravity zero-bit ± 5%, ± 10%, ± time ratio in 20% and ± 30% zone and well center of gravity percentage ratio represent.

The parameter evaluation implementation method is as follows in this device:

A, patient squat down and stand that center of gravity in the motor process changes is the basis of kinetic parameter assessment of standing of squatting down, and all will use in described below 11 CALCULATION OF PARAMETERS.(center ofgratitude is COG) before second rumpbone for general gravity center of human body.Center of gravity projection in this system refers to the projection of gravity center of human body on pedal, again since human body to be in the standing balance side force of squatting down in the process of standing very little, so gravity center of human body's projected position test philosophy just can be reduced to:

x＝(F _A+F _B-F _C-F _D)·L/G

y＝(F _B+F _D-F _A-F _C)·M/G

In the formula, L is the distance of O (the O point is pedal detection platform center, the left and right sides) to the X-axis of pick off, and M is the distance of O point to the Y-axis of pick off, and G is the patient's human weight behind the loss of weight, F _A, F _B, F _C, F _DBe respectively the reading of four pick offs, the pick off symmetry is placed on pedal below, the left and right sides as shown in Figure 2, and stressed size records by pick off.

Under b, the assessment loss of weight state during active exercise frontal plane hunting frequency change, reflected within a certain period of time, center of gravity is projected in the change frequency that frontal plane is the positive negative value of horizontal direction, in algorithm, only represent the speed that the center of gravity projected position changes along X-direction, this parameter value is big more, and promptly the frequency of Bian Huaing is high more, and reflection patient shake is serious more, center of gravity control is unstable more, as parkinson disease.

Frontal plane hunting frequency change algorithm is: by changing in the center of gravity that stands in the motor process of squatting down that above-mentioned a can draw, move to right side area and move to the number of times of left field and the ratio of time from right side area from left field according to the projection of patient's center of gravity again, that is:

$\mathrm{\η}=\frac{N}{T}$

In the formula, N is the number of times that the center of gravity projection is swung from the left field to the right side area and from the right side area to the left field, the testing time of T for selecting.

Average center of gravity during active exercise under c, the assessment loss of weight state, having reflected squats down stands in the motor process, two lower limb balance of exerting oneself, absolute value is more little, and the expression balanced degree is good more, on the occasion of big more, shows that right lower extremity is stronger than left lower extremity; Negative value is big more, and is then opposite.Clinical data shows that average center of gravity projection value is big more, and body symmetry is poor more, as the apoplexy hemiptegic.It is defined as the ratio of patient's center of gravity projection offset distance sum and times of collection, and computational methods are:

$\stackrel{\‾}{G}=\frac{\underset{i=1}{\overset{N}{\mathrm{\Σ}}}\left|G_i\right|}{N}$

In the formula, Gi is each position of gathering the projection skew of center of gravity on pedal plate; I=1,2,3,4 ... N (i, N are integer), N is counting of gathering in the testing time of selecting.

The maximum amplitude of oscillation of frontal plane during active exercise under d, the assessment loss of weight state, the two lower limb of the reflection patient maximum of degrees of offset firmly on directions X.Frontal plane is maximum, and the amplitude of oscillation is big more shows the patient under the loss of weight state, during active exercise about two lower limb firmly value is relevant with body symmetry, this difference is big more to show that symmetry is poor, stability is also poor more.Relevant disease such as amputee, the hemiptegic.

It is defined as the ultimate range that the projection of patient's center of gravity is offset normal center of gravity projection zero-bit, and its computational methods are:

Smax＝Max|Si|

In the formula, Si is the length that each center of gravity projection of gathering is offset normal center of gravity projection zero-bit, i=1,2,3,4 ... N (i, N are integer).

The average amplitude of oscillation of frontal plane during active exercise under e, the assessment loss of weight state, under the reflection patient loss of weight state, in the course of action on directions X shake severe degree and speed, the big more patient's balanced capacity that shows of its value is poor more, relevant disease such as extrapyramidal disease.Its computational methods are:

$\stackrel{\‾}{S}=\frac{\underset{i=1}{\overset{N}{\mathrm{\Σ}}}\left|\mathrm{Si}\right|}{N}$

In the formula, Si is the length that each center of gravity projection of gathering is offset normal center of gravity projection zero-bit, i=1,2,3,4 ... N (i, N are integer), N is counting of gathering in the testing time of selecting.

Center of gravity projection motion track total length during active exercise has reflected under patient's loss of weight state under f, the assessment loss of weight state, center of gravity projection motion track total length during active exercise, and its value is big more to show that center of gravity projection offset distance summation is long more, patient's balanced capacity is poor more.

According to track classification (centre type, front and back type, left right model, multicenter type, diffusion-type), assess the judgement patient's states, normally be the multicenter type.The computational methods of multicenter type center of gravity projection motion track total length are:

In the formula, x _i, y _iBe each coordinate of gathering center of gravity projection deviation post.I=0,1,2,3,4 ... N (i, N are integer).

Under g, the assessment loss of weight state, the center of gravity projection motion track gross area in unit interval during active exercise has reflected the stability and the balanced degree of health control center of gravity in the unit interval.Setting under the same period, the different rehabilitation training phase is being carried out front and back contrast, determining the training effect, numerical value is big more, and reflection stability and balance are poor more, as parkinson disease, and cerebellar ataxia etc.Center of gravity projection motion track gross area algorithm is in unit interval:

$A=\frac{\underset{i=1}{\overset{n}{\mathrm{\Σ}}}\mathrm{\π}(x_i^2+y_i^2)}{\mathrm{NTc}}$

In the formula, x _i, y _iBe each coordinate of gathering the position of the projection skew of center of gravity on pedal plate.I=0,1,2,3,4 ... N (i, N are integer); Tc is each time of gathering.

Under h, the assessment loss of weight state, frontal plane side slew rate in unit interval during active exercise, the translational speed of center of gravity projection when being reflected in the maximum amplitude of oscillation on the X-direction, its value is big more, and it is poor more that the expression center of gravity is controlled.Relevant disease such as torsion spasm, chorea etc.Its computational methods are:

$V=\frac{S_{\max }-S_{\max }^{\′}}{T}$

In the formula, S ' _MaxBe the previous sampled value of the maximum amplitude of oscillation of frontal plane, T is the sampling time.

I, assessment loss of weight state lower limb on average acting amount in the left and right sides in following test period, this parameter reflected the two lower limb postural muscles of patient mainly be the acting of stretching the knee joint muscle group (with the constant speed test class like), stretch the acting size of knee joint muscle group in order to distinguish left and right Ipsilateral, its acting is calculated respectively.On average acting amount of left and right sides lower limb is poor in test period, has reflected the difference of two lower limb weight capacities, and difference exceeds person's normal range, just like relevant disease persons such as hemiplegia, single lower limb osteoarthritis etc.Computational methods are respectively:

W _{A left side}=F _{A left side}S=(F _A+ F _B) S

W _Right=F _RightS=(F _C+ F _D) S

In the formula, W _{A left side}, W _RightThe size of on average doing work when left and right sides lower limb stand in test period, F _{A left side}, F _RightStressed for left and right foot, F _A, F _B, F _C, F _DBe respectively the reading of four sensing devices, the sensing device symmetry is placed on pedal below, the left and right sides as shown in Figure 2, S is the displacement of dorsal glide plate on forced direction, i.e. the sliding distance of dorsal glide plate, and its data are measured by the displacement sensing apparatus that is contained on the dorsal glide plate.

Lower limb average working power in the left and right sides in test period when standing under j, the assessment loss of weight state, the two lower limb of this parameter reflection patient stretch the knee joint muscle group acting (with the constant speed test class like) speed, stretch the acting speed size of knee joint muscle group in order to distinguish left and right Ipsilateral, its power calculates respectively.Assessed value is big more, and it is strong more to show that the patient stretches knee joint muscle group function, reacts sensitive more.Its computational methods are respectively:

In the formula, P _{A left side}, P _RightAverage working power size when left and right sides lower limb stand in test period, W _{A left side}, W _RightBy above-mentioned i algorithm gained, the time of T for squat down and stand at every turn.

The time ratio that k, described center of gravity drop in normal center of gravity zero-bit ± 5% zone is calculated by following formula:

${\mathrm{\η}}_1=\frac{n_1}{N}\×100\%$

In the formula, n ₁Be the number of times of center of gravity in swing in normal center of gravity zero-bit ± 5% scope, N is counting of gathering in the testing time of selecting;

The time ratio that l, described center of gravity drop in normal center of gravity zero-bit ± 5% to ± 10% zone is calculated by following formula:

${\mathrm{\η}}_2=\frac{n_2}{N}\×100\%$

In the formula, n ₂Be the number of times of center of gravity in swing in normal center of gravity zero-bit ± 5% to ± 10% scope, N is counting of gathering in the testing time of selecting;

The time ratio that m, described center of gravity drop in normal center of gravity zero-bit ± 10% to ± 20% zone is calculated by following formula:

${\mathrm{\η}}_3=\frac{n_3}{N}\×100\%$

In the formula, n ₃Be the number of times of center of gravity in swing in normal center of gravity zero-bit ± 10% to ± 20% scope, N is counting of gathering in the testing time of selecting;

The time ratio that n, described center of gravity drop in normal center of gravity zero-bit ± 20% to ± 30% zone is calculated by following formula:

${\mathrm{\η}}_4=\frac{n_4}{N}\×100\%$

In the formula, n ₄Be the number of times of center of gravity in swing in normal center of gravity zero-bit ± 20% to ± 30% scope, N is counting of gathering in the testing time of selecting;

O, good center of gravity percentage ratio are the time that center of gravity drops in normal center of gravity zero-bit ± 5% zone to account for the percentage ratio of whole training times.

Claims (8)

1. the vertical lower limb function of squatting is evaluated training system, it is characterized in that comprising:

The training bed, comprise base, bedstead and bed board, bedstead is installed on the base and with base is rotatable and links to each other, bed board comprises dorsal glide plate and lower limb gripper shoe, the lower limb gripper shoe is fixed on the bedstead, the dorsal glide plate slides with bedstead and links to each other and can slide before and after bedstead, below the dorsal glide plate displacement sensing apparatus is housed; Front end at bedstead is connected with left and right pedal assembly, is respectively equipped with the plantar pressure sensing device on the left and right pedal assembly, is provided with the bed board angle adjusting mechanism between bedstead and base, and this bed board angle adjusting mechanism comprises a linear stepping motor;

Control chamber is installed in below the bedstead of training bed, is provided with sensing device interface circuit, motor drive module and power module in the control chamber, and power module is respectively the sensing device interface circuit and motor drive module provides power supply; Motor drive module links to each other with the linear stepping motor signal of telecommunication in the bed board angle adjusting mechanism;

Main control computer is arranged on the operating board, is provided with data acquisition module, motion-control module in the main control computer and the assessment of function training software that stands of squatting down; Data acquisition module links to each other with the sensing device interface circuit signal of telecommunication in the control chamber, and motion-control module links to each other with the motor drive module signal of telecommunication in the control chamber; The assessment of function training software that stands of squatting down comprises testing evaluation module and functional training module;

The patient uses display device, is movably arranged on the next door of training bed and links to each other with the main control computer signal of telecommunication;

Main display is arranged on the operating board and with the main control computer signal of telecommunication and links to each other.

2. the vertical lower limb function evaluation of crouching as claimed in claim 1 training system, it is characterized in that: described left and right pedal modular construction symmetry is identical, respectively comprises pedal support, foot front end buffer, the heel axis of guide and pedal; Pedal support and bedstead are fixedly linked; The foot front end buffer and the heel axis of guide are connected between pedal and the pedal support; Described plantar pressure sensing device is arranged on the foot palm part of pedal and the below of heel portion.

3. the vertical lower limb function evaluation of crouching as claimed in claim 1 training system, it is characterized in that: described plantar pressure sensing device is made up of the cantilever beam that posts four foil gauges, and the cantilever beam that posts four foil gauges is inserted in the sole stressed member of being made up of pedal, pedal support, foot front end buffer and the heel axis of guide.

4. the vertical lower limb function evaluation of crouching as claimed in claim 1 training system, it is characterized in that: described patient comprises travelling car, is installed in support on the travelling car and rack-mount display screen with display device, display screen and support flexibly connect, and the height of display screen and angle can be regulated.

5. the vertical lower limb function of crouching as claimed in claim 1 evaluation training system is characterized in that: on the base of described training bed a plurality of universal adjustment castors are installed, and correspondingly are provided with a plurality of flexible up and down governor motions of castor that are used to regulate.

6. the vertical lower limb function evaluation of crouching as claimed in claim 1 training system, it is characterized in that: also comprise the bed board angular display unit, this bed board angular display unit is installed on the bedstead and moves with bedstead.

7. the vertical lower limb function evaluation of crouching as claimed in claim 1 training system, it is characterized in that: described main control computer is provided with the functional test evaluation module that stands of squatting down, and the testing evaluation parameter of this testing evaluation module comprises frontal plane hunting frequency, average center of gravity, the maximum amplitude of oscillation of frontal plane, the average amplitude of oscillation of frontal plane, center of gravity motion track total length, the center of gravity motion track gross area and frontal plane side slew rate, on average acting amount of left and right sides lower limb and lower limb average working power in the left and right sides in test period in test period.

8. the vertical lower limb function evaluation of crouching as claimed in claim 1 training system, it is characterized in that: described main control computer is provided with the functional training module that stands of squatting down, and this functional training module comprises carries out exercise scheme, the training program that vision and sound feedback and virtual environment are arranged and the game training scheme that squatting down under back support loss of weight and the standing state-exercise scheme that stands, corresponding difficulty are step by step gone forward one by one.

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