KR102162621B1 - Gait training machine and method of using same - Google Patents

Abstract

The present invention provides a gait trainer and a method of using the same. Among the gait trainer and the method of using the same, the gait trainer includes a base seat, a driving module, a detection module, a controller, and a signal processing module. The driving module includes a driving circuit, a driving motor, and two movable platforms, the detection module includes a left footrest, a right footrest, a plurality of pressure sensors, and a position sensor, the controller is electrically connected to the driving circuit, each of the pressure sensors, and the position sensor, the signal processing module is installed in the controller and includes a gait detection unit and a gait determination unit, and a center-of-gravity calculation logic and a gait determination logic are stored in the gait determination unit. The gait trainer is operated to determine whether mounting weights of the left footrest and the right footrest are correct and whether a center-of-gravity position is correct so as to allow a user to recognize an ankle joint motion state and a center-of-gravity state of the body during gait training, so that to a walking posture of the user is adjusted to a healthy walking posture.

Description

Walking trainer and its usage method {GAIT TRAINING MACHINE AND METHOD OF USING SAME}

The present invention relates to a walking trainer, and in particular, to a walking trainer and a method of using the same.

As the health consciousness of modern people has emerged, various training equipment related to physical functions has thus attracted attention. In gait training, in addition to a treadmill with jogging function, training for healthy gait has also begun to be emphasized.

One gait cycle for the general public is from the landing of the right heel until the left toe falls off the ground, the left heel lands, the right toe falls off the ground, and then the right heel lands again. It can be seen that in the course of one overall gait cycle, the left foot and the right foot are alternately changed, and different motion angles may occur in the ankle joints of the left and right feet at different timings. Among them, when the stride length is the maximum during the entire gait cycle, the angle of motion of the ankle joint of the left foot and the right foot is the maximum.

Regarding the angle of motion of the ankle joint, it should be noted that the angle corresponding to the ankle joint is different for each different walking timing, and the ankle joint in the midstance from the initial contact is in a dorsiflextion state. A, the ankle joint between the toe off and the mid-swing of the opposite foot becomes a plantar flextion, which indicates that the angle of the ankle joint is circulating when a person is walking.

In addition, the body's center of gravity may shift between both feet within the walking cycle. In midstance, the center of gravity of the body rests on the feet it supports, so it bears most of the weight of the body. In midswing, the center of gravity of the body is transferred to the opponent's leg, and the opponent's foot bears the weight of the body, and is thus circulated. Therefore, a situation in which the left foot supports the weight of the body and then the right foot supports the weight of the body continuously occurs during the walking process.

Through the above, it is difficult to understand that in order to train a healthy walking posture, it is necessary to allow the user to know the ankle joint movement between both feet and the center of gravity of the body, so that it is necessary to adjust to a healthy walking posture. not.

There is currently a related technical data in the U.S. US7266424B2 patent, which includes one or more pressure sensors mounted on a biped robot, capturing state changes during a walking cycle, collecting data, and controlling the biped drive unit to fall, etc. Prevent operation.

The system processor of the U.S. US20160007885A1 patent can execute calculations to obtain the belt speed of the treadmill, the impact time of the foot, and the instruction of the left/right foot, and the processor calculates the data input from the sensor and obtains the walking parameter. Perform the calculation In addition, the system provides recommendations for gait correction. For example, the system may instruct the user to change the foot direction, rotate the ankle, bend the knee more, or correct the patient's gait based on other adjustments analyzed for the patient's gait data. You can instruct them to correct.

The main object of the present invention is to provide a walking trainer capable of adjusting to a healthy walking posture and a method of using the same by allowing the user to know the ankle joint movement and the center of gravity of the body.

Accordingly, the present invention provides a walking trainer and a method of using the same. The walking trainer includes a base sheet, a driving module, a detection module, a controller and a signal processing module; The driving module is installed inside the base sheet, and includes a driving circuit, a driving motor and two moving platforms, and the driving circuit controls the driving motor to move the moving platforms; The detection module includes a left footrest, a right footrest, a plurality of pressure sensors, and a position sensor, and the left footrest and the right footrest are pivotally coupled to the moving platform, respectively; Each of the pressure sensors is installed on the left footrest and the right footrest, respectively; The position sensor is installed in the base sheet; The controller has data storage, processing and output functions; The controller is electrically connected to the drive circuit, each of the pressure sensor and the position sensor; The signal processing module is installed in the controller, includes a gait detection unit and a gait determination unit, and stores a center of gravity calculation logic and a gait determination logic in the gait determination unit; Among them, the driving motor is driven so that each of the moving platforms moves the left footrest and the right footrest in opposite directions; The driving motor rotates in the opposite direction at the switching portion in which each of the moving platforms reciprocates, and the driving circuit generates a direction change signal; When the left footrest and the right footrest pass the position sensor along the moving platform, the position sensor generates a pass signal; Among them, the walking detection unit receives the weight signal measured by each of the pressure sensors, the passing signal measured by the position sensor, and the direction change signal of the driving circuit; The gait determination unit receives the weight signal, the pass signal, and the direction change signal from the gait detection unit, and operates the center of gravity calculation logic to operate the left footrest, the loading weight of the right footrest and the left footrest. , The position of the center of gravity on the right footrest is calculated, and the gait determination logic is operated to determine whether the weight of the left footboard and the right footboard is correct, and whether the center of gravity position is correct.

Through this, the user can know the movement of the ankle joint and the state of the body's center of gravity, so that the user can adjust to a healthy walking posture.

As a point to be mentioned, the gait determination unit can further calculate the number of passes, the number of turns, the number of times the center of gravity is correct, and the number of times the ankle joint is correct; When the gait determination unit receives the passing signal, the number of passes increases by 1, and the gait determination logic is operated to determine whether the weights of the left and right footrests are correct, and if correct, the The number of times the center of gravity is correct increases by 1, otherwise, the number of times the center of gravity is correct is unchanged; When the gait determination unit receives the direction change signal, the number of direction change is increased by 1, and by operating the gait determination logic, it is determined whether the ankle joint movement of the user's left foot and right foot is correct. If so, that is, the exact number of times the ankle joint is increased by 1, otherwise, the correct number of times the ankle joint is unchanged.

In addition, the gait trainer further includes an evaluation module, the evaluation module is installed in the controller, has a guide unit, and after the guide unit receives the direction change signal generated from the driving circuit, the user Transmitting a first guide indication for guiding to move the center of gravity of the body to one of the feet; After the guide unit once again receives the direction change signal, it transmits a second guide display for guiding the user to move the center of gravity of the body to the other foot.

In addition, the evaluation module further includes a degree of participation unit, wherein the degree of participation unit calculates the accuracy rate of the ankle joint and the accuracy rate of the center of gravity, and the accuracy rate of the ankle joint = the number of times the ankle joint is correct / the number of times the direction change * 100%, the accuracy rate of the center of gravity = the number of times the center of gravity is correct / the number of passes * 100%, it is possible to allow the user to evaluate the accuracy rate of the walking posture.

The present invention provides a method of using a walking trainer applied to a walking trainer, wherein the walking trainer includes a base sheet, a driving module, a sensing module, a controller, a touch screen, a signal processing module, and an evaluation module; The driving module includes a driving circuit, a driving motor and two moving platforms; The detection module includes a left footrest, a right footrest, a plurality of pressure sensors, and a position sensor, and the left footrest and the right footrest are pivotally coupled to each of the moving platforms, and the driving motor supports each of the moving platforms. Driving to move the left footrest and the right footrest in opposite directions; The plurality of pressure sensors are installed at respective corners of the left footrest and the right footrest, the position sensor is installed in the base sheet, and the touch screen is for a user to input data and display information; The controller is electrically connected to the driving circuit, each of the pressure sensors, the position sensors, and the touch screen; The signal processing module is installed in the controller and includes a gait detection unit and a gait determination unit; The gait determination unit stores a center of gravity calculation logic and a gait determination logic; The evaluation module is installed in the controller and includes a guide unit.

The method of using the walking trainer includes the following steps:

A) Preparatory step: Step by the user to get on the left and right footrests with both feet, the touch screen is provided for the user to set the number of speed levels, stride length, and training time;

B) walking trainer operation step: the controller converts the speed level number, the stride length, and the training time into driving data, and outputs the driving data to the driving circuit of the driving module, and the driving motor to the driving circuit By controlling the rotation of the moving platform, controlling a movement speed, a movement time, and a range of movement of the left and right footrests; The range of motion of each of the moving platforms is limited within the stride, and a situation occurs in which each of the moving platforms rotates in a direction opposite to the driving motor at a switching part where reciprocating motion occurs, and the driving circuit generates a direction change signal. Generate; When the left footrest and the right footrest pass the position sensor along the moving platform, the position sensor generates a pass signal;

C) signal detection and determination: the gait detection unit receives the weight signal measured by the pressure sensor, the passing signal measured by the position sensor, and the direction change signal of the driving circuit; The gait determination unit receives the weight signal, the pass signal, and the direction change signal of the gait detection unit, and operates the center of gravity calculation logic to operate the left footrest, the loading weight of the right footrest, and the left footrest. , Calculating the position of the center of gravity on the right footrest; Operating the gait determination logic to determine whether the weight of the left footrest and the right footrest is correct and whether the center of gravity position is correct; The gait determination unit calculates the number of passes, the number of turns, the number of times the center of gravity is correct, and the number of times the ankle joint is correct; When the gait determination unit receives the pass signal, the number of passes increases by 1, and the gait determination logic is operated to determine whether the weight of the left and right footrests is correct, and if correct, the The number of times the center of gravity is correct increases by 1, otherwise, the number of times the center of gravity is correct is unchanged; When the gait determination unit receives the direction change signal, the number of direction change is increased by 1, and by operating the gait determination logic, it is determined whether the ankle joint movement of the user's left foot and right foot is correct. In this case, the exact number of times the ankle joint is increased by 1, otherwise, the accuracy number of the ankle joint is unchanged;

D) Guidance display: In the process of moving the left footboard forward and the right footboard moving backward, the guide unit receives a direction change signal generated from the driving circuit, and then a leftward guide signal on the touch screen. By transmitting, so that a left-facing arrow guiding the user to move the center of gravity of the body to the left foot is displayed on the touch screen, and then, after receiving the direction change signal again, the guide unit returns to the touch screen. Transmitting the right-facing guidance signal to display a right-facing arrow guiding the user to move the center of gravity of the body to the right foot on the touch screen; Further, the guide unit further receives a result of determining whether the user's left foot and right foot ankle joint movement is correct from the gait determination unit, and the touch screen displays an image of a left foot shoe print and a shoe print image of the right foot; When the ankle joint motion of the left foot is correct, the left foot ankle joint display signal is transmitted to the touch screen, and the color of the left foot shoe print image is displayed or emitted so that the user can understand the correct movement of the left foot ankle joint; When the right foot ankle joint motion is correct, that is, by transmitting a right foot ankle joint indication signal to the touch screen, displaying a color or emitting light on the right foot shoe print image, so that the user can understand the correct motion of the right foot ankle joint;

E) Repeat operation: repeating steps B)-D) until the training time is over.

Through this, the user can adjust to a healthy walking posture by allowing the user to know and adjust the ankle joint motion and the body's center of gravity.

As a point to be mentioned, the evaluation module further includes a participation degree unit, and the method of using the walking trainer further includes a step F) following step E), and step F) is a step of displaying the result: the participation The degree unit calculates the accuracy rate of the ankle joint and the center of gravity within the training time, and the accuracy rate of the ankle joint = the exact number of times the ankle joint is correct / the number of turns * 100%, and the accuracy rate of the center of gravity = the weight The center is the correct number of times / the number of passes * 100%, and the touch screen includes the correct number of times of the ankle joint, the number of turns of the direction, the correct rate of the ankle joint, the correct number of times the center of gravity is correct, the number of passes or the number of passes of the center of gravity. The accuracy rate can be set and displayed.

As a matter of note, among them, the gait determination logic is

A first valve value and a second valve value are mounted in advance in the gait determination unit;

The moving direction of the left and right footrests is a front-rear direction, and a direction in which a face faces when a user stands on the left and right footstool is forward;

Total LValue: the weight of the left footrest;

Total RValue: the weight of the right footrest;

Total Value: the total weight of the user;

Total Value = Total LValue + Total RValue;

When the left footrest moves backward and receives the passing signal, and Total LValue / Total Value≥ 1st valve value, the center of gravity of the user's body is on the left foot, and the weight of the left footrest is recognized as correct. , If not, that is, judged as an error in the loading weight of the left footrest;

When the right footrest moves backward and receives the passing signal, and Total RValue / Total Value≥1st valve value, the center of gravity of the user's body is on the right foot, and the weight of the right footrest is recognized as correct. If not, it is determined as an error in the weight of the right footrest;

A direction in which the left and right footrests move forward is defined as an X direction, and a direction perpendicular to the X direction and facing outward is defined as a Y direction;

|LX Position|/(LX_Proportion/2) ≥ 2 indicates that the left foot ankle joint motion is correct; If not, it is determined that it is an error in the motion of the left foot ankle joint;

LX Position: The coordinate value of the center of gravity in the X direction on the left footrest;

LX_Proportion: It is the length of the left footrest along the X direction from the geometric center of the left footrest as the origin;

|RX Position|/(RX_Proportion/2) ≥ the second valve value, indicating that the right foot ankle joint motion is correct; If not, that is, it is determined that it is a right foot ankle joint motion error;

RX Position: The coordinate value of the center of gravity in the X direction on the right footrest;

RX_Proportion: This is the length of the right footrest along the X direction with the origin of the geometric center of the right footrest.

In addition, as a point to be explained, among them, the number of the plurality of pressure sensors is 8, which are installed at the four corners of the left and right footrests, respectively, to the left rear, left front, and right front of the left footrest. , Each of the pressure sensors located in the right rear is a sensor A, a sensor B, a sensor C, and a sensor D, and each of the pressure sensors located in the right rear, right front, left front, and left rear of the right footrest is Each is sensor E, sensor F, sensor G, and sensor H, and when a user is standing on the left and right footstool, weight can be applied to the left and right footstool, and the center of gravity calculation logic is as follows: same:

Total LValue = LValue1 + LValue2 + LValue3 + LValue4;

Total LValue: the loading weight of the left footrest;

LValue1-4: weight signal of sensors A-D;

Total RValue = RValue1 + RValue2 + RValue3 + RValue4;

Total RValue: the loading weight of the right footrest;

RValue1-4: weight signal of sensor E-H;

Total Value = Total LValue + Total RValue;

Total Value: the total weight of the user;

Calculate the position of the center of gravity on the left footrest through the following relationship:

LX_Gravity = ((LValue3 + LValue2) * LX_Proportion) / Total LValue;

LY_Gravity = ((LValue2 + LValue1) * LY_Proportion) / Total LValue;

LValue1-3: weight signal of sensors A-C;

LX_Proportion= The length of the left footrest along the X direction from the geometric center of the left footrest as the origin;

LY_Proportion= is the length of the left footrest along the Y direction from the geometric center of the left footrest;

That is, the center of gravity coordinates (LX_Position, LY_Position) on the left footrest are obtained through the following relationship:

LX_Position = LX_Gravity-(LX_Proportion / 2);

LY_Position = LY_Gravity-(LY_Proportion / 2);

The position of the center of gravity on the right footrest is obtained through the following relationship:

RX_Gravity = ((RValue3 + RValue2) * RX_Proportion) / Total RValue;

RY_Gravity = ((RValue2 + RValue1) * LY_Proportion) / Total RValue;

RValue1-3: weight signal of sensor E-G;

RX_Proportion: The length of the right footrest along the X direction from the origin of the geometric center of the right footrest;

RY_Proportion: It is the length of the right footrest along the Y direction with the origin of the geometric center of the right footrest;

The coordinates of the center of gravity on the right footrest (RX_Position, RY_Position) are obtained through the following relationship:

RX_Position = RX_Gravity-(RX_Proportion / 2);

RY_Position = RY_Gravity-(RY_Proportion / 2).

As a matter of explanation, the first valve value is 0.8, and the second valve value is 0.8.

In order to additionally guide the user's walking motion, among them, in the step D) guide display, the left foot shoe print image includes a left shoe heel image and a left shoe sole image, and the right shoe print image is a right shoe heel image and a right shoe sole image. And; In the process of the left footrest moving forward and the right footrest moving backward, after the guide unit receives the direction change signal, it transmits a left heel indication signal to the touch screen, and the left foot shoe heel image By displaying the color of or emitting light, the user is instructed to place the center of gravity of the left foot on the left heel, and at the same time, the right foot sole display signal is transmitted to the touch screen, and the color of the right foot sole image is displayed or illuminated. , Instructing the user to place the center of gravity of the right foot on the floor of the right foot; Subsequently, in the process of the left footrest moving backward and the right footrest moving forward, after the guide unit receives the passing signal, the left foot sole display signal is transmitted to the touch screen, and the left foot sole image By displaying or emitting the color of, the user is instructed to place the center of gravity of the left foot on the floor of the left foot, and at the same time, the right heel display signal is transmitted to the touch screen to display the color of the heel image of the right foot or light up. By doing so, the user is instructed to place the center of gravity of the right foot on the right heel.

1 is a three-dimensional view showing a walking trainer according to a first embodiment of the present invention.
2 is a partial three-dimensional view showing the walking trainer according to the first embodiment of the present invention.
3 is a partial three-dimensional view showing the left footrest of the first embodiment of the present invention.
4 is a partial three-dimensional view showing the right footrest of the first embodiment of the present invention.
5 is a system block diagram showing a controller, a driving module, a pressure sensor, and a position sensor according to the first embodiment of the present invention.
6 is a flowchart showing steps A) to E) of the second embodiment of the present invention.
7 is an explanatory view showing the distribution of the coordinates of the center of gravity of the left footrest according to the second embodiment of the present invention.
8 is an explanatory view showing the distribution of the coordinates of the center of gravity of the right footrest according to the second embodiment of the present invention.
9 is an explanatory diagram showing a left-facing arrow for guiding a user to move the center of gravity of the body to the left foot on the touch screen according to the second embodiment of the present invention.
10 is an explanatory diagram showing a right arrow for guiding a user to move the center of gravity of a body to the right foot on the touch screen according to the second embodiment of the present invention.
11 is an explanatory view showing an image of a left foot shoe print and an image of a right foot shoe print on the touch screen according to the second embodiment of the present invention.
12 is an explanatory view showing a left foot shoe heel image, a left shoe sole image, a right shoe heel image, and a right shoe sole image on the touch screen according to the second embodiment of the present invention.
13 is a flowchart showing steps A) to F) of the second embodiment of the present invention.

In order to describe the technical features of the present invention in detail, it will be described as follows by combining the drawings with the following preferred embodiments. among them

As shown in Figures 1-5, the first embodiment of the present invention provides a kind of walking trainer (10). The walking trainer 10 includes a base sheet 11, a handle 13, a driving module 15, a detection module 16, a controller 17, a signal processing module 171 and an evaluation module 172. .

The base sheet 11 is installed on the ground.

The handle 13 is installed on the base sheet 11 so that the user can hold it and perform gait training. As a point to be described, the handle 13 is a member that assists the user and can be selectively installed or removed.

The driving module 15 is installed inside the base sheet 11. The driving module 15 includes a driving circuit 151 and a driving motor 153. The driving circuit 151 is for controlling the driving motor 153. The driving motor 153 drives two screws 155, two nuts 157 are installed on each of the screws 155, and two moving platforms 159 connect each of the screws 155. It is pivotally coupled to the plurality of nuts 157 to move together with each of the nuts 157 moving along.

The detection module 16 includes a left footrest 161a, a right footrest 161b, a plurality of pressure sensors 162, and one position sensor 163.

The left footrest 161a and the right footrest 161b are pivotally coupled to each of the moving platforms 159, respectively, and when the user's feet step on the left footrest 161a and the right footrest 161b, respectively, the respective Since the moving platforms 159 alternately move, the user's walking movement occurs, and the left footrest 161a and the right footrest 161b swing along the rotation of the user's ankle joint. Each of the pressure sensors 162 is installed on the left footrest 161a and the right footrest 161b, respectively, and is for generating a weight signal by measuring the weight applied to the user's foot. As a matter of note, each of the pressure sensors 162 can be replaced with a load element or a gyroscope.

The position sensor 163 is installed in the base sheet 11, is located at the side of the plurality of nuts 155, and when the moving platform 159 passes the position sensor 163, the position sensor ( 163) generates one pass signal. It should be noted that in this embodiment, the position sensor 163 is a proximity switch or a sensor capable of detecting the passage of an object, for example, photoelectric sensors, electronic sensors, capacitive sensors, etc. all operate here. It is possible.

The controller 17 has data storage, processing and output functions. The controller 17 is electrically connected to the driving circuit 151, each of the pressure sensors 162 and the position sensors 163.

The signal processing module 171 is installed in the controller 17 and includes a gait detection unit 171a and a gait determination unit 171b. A weight center calculation logic and a gait determination logic are stored in the gait determination unit 171b.

Among them, the driving motor 153 drives each of the moving platforms 159 to move the left footrest 161a and the right footrest 161b in opposite directions. At the reciprocating motion conversion portion of each of the moving platforms 159, the driving motor 153 generates a situation in which it rotates in the reverse direction, and at this time, the driving circuit 151 generates a direction change signal. When the left footrest 161a and the right footrest 161b pass through the position sensor 163 along the moving platform 159, the position sensor 163 generates a passing signal.

Among them, the gait detection unit (171a) is the weight signal measured by each of the pressure sensors 162, the passing signal measured by the position sensor 163, and the direction change signal of the driving circuit 151 Receive. The gait determination unit 171b receives the weight signal, the pass signal, and the direction change signal from the gait detection unit 171a, operates the center of gravity calculation logic, and operates the left footrest 161a, the The mounting weight of the right footrest 161b and the position of the center of gravity on the left footrest 161a and the right footrest 161b are calculated, and the gait determination logic is the mounting of the left footrest 161a and the right footrest 161b. It determines whether the weight is correct and whether the center of gravity position is correct.

Through the walking trainer, the user can know the motion of the ankle joint and the center of gravity of the body, so that the user can adjust to a healthy walking posture.

As a point to be mentioned, the walking determination unit 171b can calculate the number of passes, the number of direction changes, the number of times the center of gravity is correct, and the number of times the ankle joint is correct. When the walking determination unit 171b receives the passing signal, the number of passes is increased by 1, and whether the weight of the left footrest 161a and the right footrest 161b is correct by operating the walking determination logic And, if it is correct, the number of times the center of gravity is correct is increased by 1. If not, the number of accuracy of the center of gravity is unchanged. When the gait determination unit 171b receives the direction change signal, the number of direction change is increased by 1, and by operating the gait determination logic, it is determined whether the ankle joint movement of the user's left foot and right foot is correct. If all are correct, the exact number of times the ankle joint is increased by 1; otherwise, the correct number of times the ankle joint is unchanged.

In addition, this embodiment optionally further includes an evaluation module 172, the evaluation module 172 is installed in the controller 17, a guide unit 172a is provided, and the guide unit 172a After receiving the direction change signal generated by the driving circuit 151, transmits a first guide display for guiding the user to move the center of gravity of the body to one of the feet. After receiving the direction change signal once again, the guide unit transmits a second guide display for guiding the user to move the center of gravity of the body to another foot.

In this embodiment, the evaluation module 172 further includes a participation degree unit 172b, and the participation degree unit 172b calculates the accuracy of the ankle joint and the center of gravity. The accuracy rate of the ankle joint = the correct number of times the ankle joint / the number of turns * 100%, the accuracy rate of the center of gravity = the correct number of times the center of gravity / the number of passes * 100%, the user It is also possible to know the situation of the movement of the center of gravity.

The above was the introduction of the walking trainer 10 provided by the present invention, and then, as shown in Figs. 6-13, the second embodiment of the present invention provides a method of using the walking trainer 10.

As a point to be explained, this embodiment uses the walking trainer provided by the first embodiment, and as shown in FIG. 1, the controller 17 is electrically connected to the touch screen 21, and the touch screen (21) is for the user to input data and display information.

In addition, as shown in FIGS. 3 and 4 in the present embodiment, the number of the pressure sensors 162 is 8, respectively, installed at the four corners of the left footrest 161a and the right footrest 161b do. Each of the pressure sensors 162 of the left rear, left front, right front and right rear of the left footrest 161a is a sensor A (162a), a sensor B (162b), a sensor C (162c), a sensor D (162d). ), and each of the pressure sensors of the right rear, right front, left front, and left rear of the right footrest 161b is respectively a sensor E (162e), a sensor F (162f), a sensor G (162g), a sensor H (162h) )to be.

The method of using the walking trainer 10 includes the following steps:

A) Preparation step: As a step in which the user climbs the left footrest 161a and the right footrest 161b with both feet, the touch screen 21 is provided for the user to set the number of speed levels, stride length, and training time. .

The controller 17 displays a plurality of speed levels on the touch screen 21 so that the user selects one of the speed levels. Each of the number of speed levels is expressed as the moving speed of the moving platform 159 from high speed to low speed or low speed to high speed. For example: the moving speed of the moving platform 159 is divided into four levels, and the result of the low to high speed is that the moving speed of the moving platform 159 is at the fourth level to the third level. It passes through the second level and passes through the first level. As a point to be described, during the reciprocating movement of the moving platform 159, its velocity distribution may be divided into an acceleration stage, a constant velocity stage, and a deceleration stage. Each of these speed levels refers to the division of the moving speed level when the moving platform is in a constant speed stage.

The controller 17 also displays a stride space on the touch screen 21 to allow the user to input a stride length, and the stride length indicates that the walking trainer 10 is on the left footrest 161a and the right footrest 161b. As the distance responding to the corresponding position, for example, if the distance corresponding to the rear end points of the left footrest 161a and the right footrest 161b is 80cm, that is, 80cm is input.

In addition, a gait training time column is displayed on the touch screen 21 so that the user inputs training time data, for example, 30 minutes and 40 minutes.

B) Steps of the walking trainer:

The controller 17 converts the number of speed levels, the stride and the training time into driving data, and outputs the driving data to the driving circuit 151 of the driving module 15, and the driving circuit 151 ) To control the rotation of the driving motor 153, and further control the movement speed, the movement time, and the range of motion in which the respective moving platforms 159 move the left footrest 161a and the right footrest 161b As, the motion range of each of the moving platforms 159 is limited within the stride, and a situation occurs in which each of the moving platforms 159 rotates in a direction opposite to the driving motor 153 at a switching portion where reciprocating motion is performed. At this time, the driving circuit 151 generates a direction change signal. When the left footrest 161a and the right footrest 161b pass through the position sensor 163 along the moving platform 159, the position sensor 163 generates a passing signal.

As a point to be described here, after the left footrest 161a and the right footrest 161b are located at the moving direction change part, the moving direction is then switched, for example, the left footrest 161a (or the right footrest ( 161b)) moves forward to the end of the stroke, then moves backward; The left footrest 161a (or the right footrest 161b) moves rearward to the end of the stroke, and then moves forward.

C) Signal detection and judgment:

The gait detection unit (171a) receives the weight signal measured by each of the pressure sensors 162, the passing signal measured by the position sensor 163, and the direction change signal of the driving circuit 151; The walking determination unit 171b receives the weight signal, the passing signal, and the direction change signal of each of the walking detection unit 171a, and operates the center of gravity calculation logic to operate the left footrest 161a, the Calculating the mounting weight of the right footrest 161b and the position of the center of gravity on the left footrest 161a and the right footrest 161b; Operating the gait determination logic to determine whether the weights mounted on the left and right footrests 161a and 161b are correct and whether the center of gravity position is correct; The walking determination unit (171b) calculates the number of passes, the number of turns, the number of times the center of gravity is correct, and the number of times the ankle joint is correct; When the walking determination unit 171b receives the passing signal, the number of passes is increased by 1, and by operating the walking determination logic, the weight of the left footrest 161a and the right footrest 161b is accurately Whether or not the center of gravity is correct, the number of times the center of gravity is correct increases by 1; otherwise, the number of times the center of gravity is correct is unchanged; When the gait determination unit 171b receives the direction change signal, the number of direction change is increased by 1, and by operating the gait determination logic, it is determined whether the ankle joint movements of the user's left foot and right foot are all correct. If all are correct, the number of times the ankle joint is correct increases by 1, and if not, the number of times the ankle joint is accurate is unchanged.

Hereinafter, the center of gravity calculation logic will be introduced.

When the user is standing on the footrest, weight may be applied to the left footrest 161a and the right footrest 161b,

Total LValue = LValue1 + LValue2 + LValue3 + LValue4;

Total LValue: The payload weight of the left footrest;

LValue1-4: weight signal of sensors A-D;

Total RValue = RValue1 + RValue2 + RValue3 + RValue4;

Total RValue: The payload weight of the right footrest;

RValue1-4: weight signal of sensor E-H;

Total Value = Total LValue + Total RValue;

Total Value: This is the user's total weight.

Next, calculate the position of the center of gravity.

The position of the center of gravity on the user's left footrest 161a is that the movement direction of the left footrest 161a and the right footrest 161b is in the front and rear direction, and the user is in the left footrest 161a and the right footrest 161b. When looking in the X direction based on the face facing forward when standing, and the Y direction perpendicular to the X direction and facing outward, the position of the center of gravity on the left footrest 161a is calculated according to the following relationship.

LX_Gravity = ((LValue3 + LValue2) * LX_Proportion) / Total LValue;

LY_Gravity = ((LValue2 + LValue1) * LY_Proportion) / Total LValue;

LValue1-3: weight signal of sensors A-C;

LX_Proportion= The length of the left footrest along the X direction from the geometric center of the left footrest 161a as the origin;

LY_Proportion= is the length of the left footrest along the Y direction from the geometric center of the left footrest 161a as the origin;

That is, the coordinates of the center of gravity on the left footrest 161a are

LX_Position = LX_Gravity-(LX_Proportion / 2);

LY_Position = LY_Gravity-(LY_Proportion / 2);

(LX_Position, LY_Position) = The coordinates of the center of gravity on the left footrest (161a).

The position of the center of gravity on the right footrest 161b is

RX_Gravity = ((RValue3 + RValue2) * RX_Proportion) / Total RValue;

RY_Gravity = ((RValue2 + RValue1) * LY_Proportion) / Total RValue;

RValue1-3: weight signal of sensor E-G;

RX_Proportion: The length of the right footrest along the X direction from the geometric center of the right footrest 161b as the origin;

RY_Proportion: It is the length of the right footrest along the Y direction from the geometric center of the right footrest 161b as the origin;

That is, the coordinates of the center of gravity on the right footrest 161b are

RX_Position = RX_Gravity-(RX_Proportion / 2);

RY_Position = RY_Gravity-(RY_Proportion / 2);

(RX_Position, RY_Position) = coordinates of the center of gravity on the right footrest 161b.

7 is an example of the distribution of the coordinates of the center of gravity on the left footrest 161a, whose X-direction coordinate represents the length of the left footrest 161a, and the Y coordinate represents the width of the left footrest 161a. 8 is an example of the distribution of the coordinates of the center of gravity on the right footrest 161b, whose X-direction coordinate represents the length of the right footrest 161b, and the Y coordinate represents the width of the right footrest 161b. The value of each point in FIGS. 7 and 8 is within the training time, and the center of gravity positions of the left footrest 161a and the right footrest 161b are calculated through the center of gravity calculation logic through a preset sampling frequency. do. For example, when the sampling frequency is 0.2 (Hz), the plurality of pressure sensors 162 on the left footrest 161a and the right footrest 161b measure the weight signal once every 5 seconds. The sampling frequency may be set to other values, and there is no limitation thereon.

The gait determination logic is introduced as follows:

The first valve value and the second valve value are mounted in advance on the walking determination unit 171b.

When the left footrest 161a moves toward the rear and receives the passing signal, and Total LValue / Total Value≥ 1st valve value, the center of gravity of the user's body is on the left foot, and the weight of the left footrest 161a This is recognized as being correct, and if not, it is determined as an error in the weight of the left footrest 161a.

When the right footrest 161b moves backward and receives the pass signal, and Total RValue / Total Value≥ 1st valve value, the center of gravity of the user's body is on the right foot, and the weight of the right footrest 161b This is recognized as being correct, and if not, it is determined as an error in the weight of the right footrest 161b.

It should be noted that in this embodiment, the first valve value is 0.8, but a value of 0.5 or more may be selected as needed. If the first valve value is less than 0.5, that is, the center of gravity of the body is located on the other side, there is no effect of recognizing the center of gravity of the body; If the first valve value is 1 or more, that is, the weight of one side of the body exceeds the weight of the whole body, resulting in an error.

In addition, the second valve value is further mounted on the walking determination unit 171b in advance.

|LX Position|/(LX_Proportion/2) ≥ 2 indicates that the left foot ankle joint motion is correct; If not, that is, it is determined that it is a motion error of the ankle joint of the left foot.

|RX Position|/(RX_Proportion/2) ≥ the second valve value, indicating that the right foot ankle joint motion is correct; If not, that is, it is determined that it is a motion error of the ankle joint of the right foot.

In this embodiment, the second valve value is 0.8, but a value of 0.5 or more may be selected if necessary. ｜LX Position｜ represents the position of the center of gravity in the X direction on the left footboard 161a and the distance between the origin of the left footboard 161a, and ｜RX Position｜ is the position of the center of gravity in the X direction on the right footboard 161b. Since it represents the distance of the origin of the right footrest 161b, it indicates that the larger the values of |LX Position| and |RX Position|, the greater the ankle joint motion angle and the greater the degree of the ankle joint motion. Therefore, if the second valve value is less than 0.5, that is, the angle of motion of the ankle joint is insufficient, there is no training effect; When the second valve value exceeds 1, that is, the coordinate position of the center of gravity is outside the left and right footboards, it is an error situation.

D) Guidance display:

9 and 10, in the process of moving the left footrest 161a forward and the right footrest 161b moving backward, the guide unit 172a from the driving circuit 151 After receiving the generated direction change signal, a left-facing guide signal is transmitted to the touch screen 21, and at this time, a left-facing arrow (IL) guiding the user to move the center of gravity of the body to the left foot to the touch screen 21 ) Is displayed. Subsequently, after receiving the direction change signal one more time, the guide unit 172a transmits the right direction guidance signal to the touch screen 21, and at this time, the user sets the center of gravity of the body to the touch screen 21. A right arrow (IR) is displayed to guide you to move with your right foot. By repetitively displaying in this way, the position of the center of gravity of the body is guided to the user when the walking posture is changed.

If the left footrest 161a moves backward and the right footrest 161b moves forward, after the guide unit 172a receives the direction change signal generated from the driving circuit 151, the A right-facing signal is transmitted to the touch screen 21, and at this time, a right-facing arrow IR is displayed on the touch screen 21 to guide the user to move the center of gravity of the body to the right foot. Subsequently, after receiving the direction change signal one more time, the guide unit 172a transmits the leftward guidance signal to the touch screen 21, and at this time, the user can set the center of gravity of the body to the touch screen 21. A left-facing arrow IL is displayed to guide you to move with your left foot. By repetitively displaying in this way, the position of the center of gravity of the body is guided to the user when the walking posture is changed.

In addition, as shown in FIG. 11, the guide unit 172a further receives a result of determining whether the ankle joint motion of the user's left foot and right foot is correct from the walking determination unit 171b. The touch screen 21 displays a left foot shoe print image (SPL) and a right foot shoe print image (SPR), and when the ankle joint motion of the left foot is correct, transmits a left foot ankle joint display signal to the touch screen 21 , After receiving the left foot ankle joint indication signal, the color of the left foot shoe print image (SPL) is displayed or emitted, so that the user can understand the exact movement of the left foot ankle joint. When the right foot ankle joint movement is correct, that is, the right foot ankle joint display signal is transmitted to the touch screen 21, and after receiving the right foot ankle joint display signal, the color of the right foot shoe print image (SPR) is displayed or emitted, Allows the user to understand the exact movement of the ankle joint of the right foot. In this way, it is repeatedly displayed so that the user can understand the exact movement of the left and right ankle joints.

As a point to be mentioned, as shown in FIG. 12, the left foot shoe print image SPL displayed on the touch screen 21 is further divided into a left foot shoe heel image SPL1 and a left foot shoe sole image SPL2, and the right foot The shoe print image (SPR) may be further divided into a right shoe heel image (SPR1) and a right shoe sole image (SPR2).

The guide unit 172a receives the direction change signal generated from the driving circuit 151 while the left footrest 161a of the walking trainer 10 moves forward and the right footrest 161b moves backward. After that, the left heel display signal is transmitted to the touch screen 21, and the touch screen 21 displays the color of the left heel image SPL1 or emits light after receiving the left heel display signal. Instructs to place the center of gravity of the left foot on the left heel; At the same time, the right foot sole display signal is transmitted to the touch screen 21, and the touch screen 21 displays the color of the right foot sole image SPR2 or emits light after receiving the right foot sole display signal, so that the user Is instructed to place the center of gravity on the floor of the right foot. Subsequently, after receiving the passing signal of the position sensor 163, the left foot sole indication signal is transmitted to the touch screen 21, and the touch screen 21 receives the left foot sole indication signal and then the left foot sole image ( SPL2) color is displayed or emitted to instruct the user to place the center of gravity of the left foot on the floor of the left foot. At the same time, the right heel display signal is transmitted to the touch screen 21, and the touch screen 21 displays the color of the right shoe heel image SPR1 or emits light after receiving the right heel display signal. Instruct the center of gravity of the right foot to be placed on the right heel.

E) Repeat operation:

The steps B)-D) are repeated until the training time is over.

It should be noted that, as shown in FIG. 13, a step F) following step E) after step E) may be further added.

F) Display results:

The participation degree unit (172b) calculates the accuracy of the ankle joint and the center of gravity within the training time, and the accuracy of the ankle joint = the correct number of the ankle joint / the number of turns * 100%, and the center of gravity The accuracy rate = the number of times the center of gravity is correct / the number of passes * 100%, and the touch screen 21 includes the correct number of times the ankle joint is correct, the number of turns of the direction, the accuracy rate of the ankle joint, the number of times the center of gravity is correct, The number of passes or the accuracy rate of the center of gravity may be set and displayed.

Accordingly, in the gait training process, it is possible to adjust to a healthy walking posture by allowing the user to know the exact rate of the movement of the ankle joint and the center of gravity and center of gravity of the body.

10: walking trainer 11: base sheet
13: handle 15: drive module
151: driving circuit 153: driving motor
155: screw 157: nut
159: moving platform 16: detection module
161a: left footrest 161b: right footrest
162: pressure sensor 162a-h: sensor AH
163: position sensor 17: controller
171: signal processing module 171a: walking detection unit
171b: gait determination unit 172: evaluation module
172a: guide unit 172b: engagement unit
21: touch screen
IL: left arrow IR: right arrow
SPL: Left foot shoe print image SPR: Right foot shoe print image
SPL1: Left foot shoe heel image SPL2: Left foot shoe sole image
SPR1: Right foot shoe heel image SPR2: Right foot shoe image

Claims (10)

In the gait trainer,
Base sheet;
A driving module installed inside the base sheet and having a driving circuit, a driving motor and two moving platforms, and controlling the driving motors with the driving circuit to move the plurality of moving platforms;
Having a left footrest, a right footrest, a plurality of pressure sensors and a position sensor; The left footrest and the right footrest are pivotally coupled to the respective moving platforms; Each of the pressure sensors is installed on the left footrest and the right footrest, respectively; The position sensor includes a detection module installed in the base sheet;
It has data storage, processing and output functions; A controller electrically connected to the driving circuit, each of the pressure sensor and the position sensor;
A signal processing module installed in the controller, including a gait detection unit and a gait determination unit, and storing a center of gravity calculation logic and gait determination logic;
Among them, the driving motor drives each of the moving platforms to move the left footrest and the right footrest in opposite directions; A situation occurs in which each of the moving platforms rotates in a direction opposite to the driving motor at a switching portion in which the reciprocating motion is performed, and the driving circuit generates a direction change signal; When the left footrest and the right footrest pass the position sensor along the moving platform, the position sensor generates a pass signal;
Among them, the gait detection unit receives the weight signal measured by each of the pressure sensors, the passing signal measured by the position sensor, and the direction change signal of the driving circuit; The walking determination unit receives the weight signal, the passing signal, and the direction change signal from the walking detection unit, and then operates the center of gravity calculation logic to perform the loading weight of the left footrest, the right footrest, and the left footrest. , Calculating the position of the center of gravity on the right footrest, and operating the gait determination logic to determine whether the mounted weight of the left footrest and the right footrest is correct and whether the center of gravity position is correct. The method of claim 1,
The gait determination unit calculates the number of passes, the number of turns, the number of times the center of gravity is correct, and the number of times the ankle joint is correct; When the walking determination unit receives the passing signal, the number of passes increases by 1, and the walking determination logic is operated to determine whether the weight of the left footrest and the right footrest is correct, and if correct, the The number of times the center of gravity is correct increases by 1, otherwise, the number of times the center of gravity is correct is unchanged; When the gait determination unit receives the direction change signal, the number of direction change is increased by 1, and by operating the gait determination logic, it is determined whether the ankle joint movement of the user's left foot and right foot is correct. If so, that is, the exact number of times the ankle joint increases by 1, and if not, the correct number of the ankle joints is invariant. The method of claim 2,
Further comprising an evaluation module, wherein the evaluation module is installed in the controller, has a guide unit, and after the guide unit receives the direction change signal generated from the driving circuit, the user determines the center of gravity of the body. Transmits a first guide indication for guiding movement to one of the feet; After the guide unit receives the direction change signal once again, it transmits a second guide display for guiding the user to move the center of gravity of the body to another foot. The method of claim 3,
The evaluation module further includes a participation degree unit, wherein the participation degree unit calculates the accuracy rate of the ankle joint and the accuracy rate of the center of gravity, and the accuracy rate of the ankle joint = the correct number of times the ankle joint is correct / the number of times the direction change * 100% And, the accuracy rate of the center of gravity = the number of times the center of gravity is correct / the number of passes * 100%, walking trainer. In the method of using the walking trainer applied to the walking trainer,
The walking trainer includes a base sheet, a driving module, a detection module, a controller, a touch screen, a signal processing module and an evaluation module; The driving module includes a driving circuit, a driving motor and two moving platforms; The detection module includes a left footrest, a right footrest, a plurality of pressure sensors, and a position sensor, and the left footrest and the right footrest are pivotally coupled to each of the moving platforms, and the driving motor supports each of the moving platforms. Driving to move the left footrest and the right footrest in opposite directions; The plurality of pressure sensors are installed at respective corners of the left footrest and the right footrest, the position sensor is installed in the base sheet, and the touch screen is for a user to input data and display information; The controller is electrically connected to the driving circuit, each of the pressure sensors, the position sensors, and the touch screen; The signal processing module is installed in the controller and includes a gait detection unit and a gait determination unit; The gait determination unit stores a center of gravity calculation logic and a gait determination logic; The evaluation module is installed in the controller and includes a guide unit;
How to use the walking trainer
A) Preparatory step: Step by the user to get on the left and right footrests with both feet, the touch screen is provided for the user to set the number of speed levels, stride length, and training time;
B) walking trainer operation step: the controller converts the speed level number, the stride length, and the training time into driving data, and outputs the driving data to the driving circuit of the driving module, and the driving motor to the driving circuit By controlling the rotation of the moving platform, controlling a movement speed, a movement time, and a range of movement of the left and right footrests; The range of motion of each of the moving platforms is limited within the stride, and a situation occurs in which each of the moving platforms rotates in a direction opposite to the driving motor at a switching part where reciprocating motion occurs, and the driving circuit generates a direction change signal Generate; When the left footrest and the right footrest pass the position sensor along the moving platform, the position sensor generates a pass signal;
C) signal detection and determination: the gait detection unit receives the weight signal measured by the pressure sensor, the passing signal measured by the position sensor, and the direction change signal of the driving circuit; The gait determination unit receives the weight signal, the pass signal, and the direction change signal of the gait detection unit, and operates the center of gravity calculation logic to operate the left footrest, the loading weight of the right footrest, and the left footrest. , Calculating the position of the center of gravity on the right footrest; Operating the gait determination logic to determine whether the weight of the left footrest and the right footrest is correct and whether the center of gravity position is correct; The gait determination unit calculates the number of passes, the number of turns, the number of times the center of gravity is correct, and the number of times the ankle joint is correct; When the gait determination unit receives the pass signal, the number of passes increases by 1, and the gait determination logic is operated to determine whether the weight of the left and right footrests is correct, and if correct, the The number of times the center of gravity is correct increases by 1, otherwise, the number of times the center of gravity is correct is unchanged; When the gait determination unit receives the direction change signal, the number of direction change is increased by 1, and by operating the gait determination logic, it is determined whether the ankle joint movement of the user's left foot and right foot is correct. In this case, the exact number of times the ankle joint is increased by 1, otherwise, the accuracy number of the ankle joint is unchanged;
D) Guidance display: In the process of moving the left footboard forward and the right footboard moving backward, the guide unit receives a direction change signal generated from the driving circuit, and then a leftward guide signal on the touch screen. By transmitting, so that a left-facing arrow guiding the user to move the center of gravity of the body to the left foot is displayed on the touch screen, and then, after receiving the direction change signal again, the guide unit returns to the touch screen. Transmitting a right-facing guide signal so that a right-facing arrow guiding the user to move the center of gravity of the body to the right foot is displayed on the touch screen; Further, the guide unit further receives a result of determining whether the user's left foot and right foot ankle joint movement is correct from the gait determination unit, and the touch screen displays an image of a left foot shoe print and a shoe print image of the right foot; When the ankle joint motion of the left foot is correct, the left foot ankle joint display signal is transmitted to the touch screen, and the color of the left foot shoe print image is displayed or emitted so that the user can understand the correct movement of the left foot ankle joint; When the right foot ankle joint motion is correct, that is, by transmitting a right foot ankle joint indication signal to the touch screen, displaying a color or emitting light on the right foot shoe print image, so that the user can understand the correct motion of the right foot ankle joint;
E) Repetitive operation: A method of using a walking trainer comprising repeating steps B)-D) until the training time is over. The method of claim 5,
The evaluation module further includes a participation level unit, and the method of using the walking trainer further includes a step F) following step E), and step F) is a step of displaying a result: the participation level unit is the training Calculate the accuracy rate of the ankle joint and the center of gravity within time, and the accuracy rate of the ankle joint = the accuracy number of the ankle joint / the number of turns of the direction * 100%, and the accuracy rate of the center of gravity = the accuracy number of the center of gravity / The number of passes * 100%, and the touch screen displays the correct number of times the ankle joint is correct, the number of direction changes, the correct rate of the ankle joint, the correct number of times the center of gravity is correct, the number of passes, or the accuracy rate of the center of gravity. How to use the walking trainer as possible. The method of claim 5,
The gait determination logic is
A first valve value and a second valve value are mounted in advance in the gait determination unit;
The moving direction of the left and right footrests is a front-rear direction, and a direction in which a face faces when a user stands on the left and right footstool is forward;
Total LValue: the weight of the left footrest;
Total RValue: the weight of the right footrest;
Total Value: the total weight of the user;
Total Value = Total LValue + Total RValue;
When the left footrest moves backward and receives the passing signal, and Total LValue / Total Value≥ 1st valve value, the center of gravity of the user's body is on the left foot, and the weight of the left footrest is recognized as correct. , If not, that is, judged as an error in the loading weight of the left footrest;
When the right footrest moves backward and receives the passing signal, and Total RValue / Total Value≥1st valve value, the center of gravity of the user's body is on the right foot, and the weight of the right footrest is recognized as correct. If not, it is determined as an error in the weight of the right footrest;
A direction in which the left and right footrests move forward is defined as an X direction, and a direction perpendicular to the X direction and facing outward is defined as a Y direction;
|LX Position|/(LX_Proportion/2) ≥ 2 indicates that the left foot ankle joint motion is correct; If not, it is determined that it is an error in the motion of the left foot ankle joint;
LX Position: The coordinate value of the center of gravity in the X direction on the left footrest;
LX_Proportion: It is the length of the left footrest along the X direction from the geometric center of the left footrest as the origin;
|RX Position|/(RX_Proportion/2) ≥ the second valve value, indicating that the right foot ankle joint motion is correct; If not, that is, it is determined that it is a right foot ankle joint motion error;
RX Position: The coordinate value of the center of gravity in the X direction on the right footrest;
RX_Proportion: The length of the right footrest along the X direction from the geometric center of the right footrest as the origin, how to use the walking trainer. The method of claim 7,
The number of the plurality of pressure sensors is 8, and is installed at each of the four corners of the left footrest and the right footrest, and each of the pressures located at the left rear, left front, right front, and right rear of the left footrest Sensors are sensor A, sensor B, sensor C, and sensor D, respectively, and each of the pressure sensors located at the right rear, right front, left front, and left rear of the right footrest is sensor E, sensor F, sensor G, respectively. It is a sensor H, and when a user is standing on the left and right footrests, weight can be applied to the left and right footstool, and the center of gravity calculation logic is
Total LValue = LValue1 + LValue2 + LValue3 + LValue4;
Total LValue: the loading weight of the left footrest;
LValue1-4: weight signal of sensor AD;
Total RValue = RValue1 + RValue2 + RValue3 + RValue4;
Total RValue: the loading weight of the right footrest;
RValue1-4: weight signal of sensor EH;
Total Value = Total LValue + Total RValue;
Total Value: the total weight of the user;
The position of the center of gravity on the left footrest is calculated through the following relationship;
LX_Gravity = ((LValue3 + LValue2) * LX_Proportion) / Total LValue;
LY_Gravity = ((LValue2 + LValue1) * LY_Proportion) / Total LValue;
LValue1-3: weight signal of sensor AC;
LX_Proportion= The length of the left footrest along the X direction from the geometric center of the left footrest as the origin;
LY_Proportion= is the length of the left footrest along the Y direction from the geometric center of the left footrest;
That is, the center of gravity coordinates (LX_Position, LY_Position) on the left footrest
LX_Position = LX_Gravity-(LX_Proportion / 2);
LY_Position = LY_Gravity-obtained through the relationship of (LY_Proportion / 2);
The position of the center of gravity on the right footrest is calculated through the following relationship:
RX_Gravity = ((RValue3 + RValue2) * RX_Proportion) / Total RValue;
RY_Gravity = ((RValue2 + RValue1) * LY_Proportion) / Total RValue;
RValue1-3: weight signal of sensor EG;
RX_Proportion: The length of the right footrest along the X direction from the origin of the geometric center of the right footrest;
RY_Proportion: It is the length of the right footrest along the Y direction with the origin of the geometric center of the right footrest;
The center of gravity coordinates (RX_Position, RY_Position) on the right footrest are
RX_Position = RX_Gravity-(RX_Proportion / 2);
RY_Position = RY_Gravity-How to use the gait trainer, which is obtained through the relationship of (RY_Proportion / 2). The method of claim 7,
The first valve value is 0.8, and the second valve value is 0.8. The method of claim 5,
D) In the guide display step, the left foot shoe print image includes a left shoe heel image and a left shoe sole image, and the right shoe print image includes a right shoe heel image and a right shoe sole image; In the process of the left footrest moving forward and the right footrest moving backward, after the guide unit receives the direction change signal, it transmits a left heel indication signal to the touch screen, and the left foot shoe heel image By displaying the color of or emitting light, the user is instructed to place the center of gravity of the left foot on the left heel, and at the same time, the right foot sole display signal is transmitted to the touch screen, and the color of the right foot sole image is displayed or illuminated. , Instructing the user to place the center of gravity of the right foot on the floor of the right foot; Subsequently, in the process of the left footrest moving backward and the right footrest moving forward, after the guide unit receives the passing signal, the left foot sole display signal is transmitted to the touch screen, and the left foot sole image By displaying or emitting the color of, the user is instructed to place the center of gravity of the left foot on the floor of the left foot, and at the same time, the right heel display signal is transmitted to the touch screen to display the color of the heel image of the right foot or light up. By instructing the user to place the center of gravity of the right foot on the right heel, how to use the walking trainer.

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