TW201714582A - Lower limb motion sensing and rehabilitation training system particularly designed for patients before or after artificial hip joint replacement surgery or artificial knee joint replacement surgery - Google Patents

Abstract

This invention discloses a lower limb motion sensing and rehabilitation training system for patients before or after artificial hip joint replacement surgery (Total Hip Replacement, THR) or artificial knee joint replacement surgery (Total Knee Replacement, TKR) for the purposes of lower limb motion sensing and rehabilitation training. The disclosed comprises: two lower limb motion sensing devices and a data collector. The lower limb motion sensing devices comprise an action tracker and a data transmission circuit. The motion tracker comprises a motion sensing module and a plurality of myoelectricity sensors. The data transmission circuit is telecommunicatedly connected with the action tracker and has a wireless transmission unit and a microcontroller. The data collector is telecommunicatedly connected with the two lower limb motion sensing devices for receiving the action data measured by the lower limb motion sensing devices. The lower limb motion sensing and rehabilitation training system of this invention has two measurement modes for respectively measuring the motion of single lower limb or double lower limbs and the muscle antagonistic reaction, and transmits the measured data to the data collector for subsequent processing.

Description

Lower limb motion sensing and rehabilitation training system

The invention relates to a lower limb motion sensing and rehabilitation training system, in particular to a lower limb motion sensing device with a dual measurement mode capable of providing a suitable measurement method according to different patients and symptoms, and a rehabilitation training system thereof.

According to the survey conducted by the American Association of ACL (Administration for Community Living), the population of the elderly over 65 years old will climb to more than 90 million in 2060. At the same time, according to the Health Promotion Administration (HPA) of the Taiwan Ministry of Health and Welfare, at least 80% of the elderly in Taiwan surveyed in 2011 were suffering from degenerative diseases, including degenerative joint diseases. One of the common degenerative diseases, when the joint degenerates into end-stage arthritis, requires surgery, such as Total Hip Replacement (THR) or Total Knee Replacement (TKR). ). These two operations began in 1968, and the patients who have undergone this surgery have grown significantly. According to the US AAOS (Agency for Healthcare Research and Quality) survey, more than 600,000 people in the United States are implemented each year, which is the most successful surgery today. One of the surgery.

A successful surgery requires a well-established preoperative assessment and postoperative rehabilitation training to help the user quickly adapt to new artificial joints. The user undergoing surgery must use the auxiliary device to help the user move at the beginning of the operation. The doctor diagnoses that the muscles and bones of the user have been restored to remove the auxiliary equipment, and continues to return to the body through correct and regular rehabilitation training. Functional, good and effective rehabilitation training not only helps users to accelerate the growth of muscles and bones, but also allows users to resume independent walking ability as soon as possible.

Because early autonomic exercise can effectively reduce tissue adhesion after surgery, patients often use drugs to achieve good pain control because of postoperative pain and lack of understanding of postoperative limitations. Complex rehabilitation actions can only be complicated by complex The limited intervention of the health therapist can be implemented, and the goal of autonomous exercise cannot be achieved, and the timing of rehabilitation is missed.

In addition, during the course of treatment, rehabilitation therapists have to wait for a long time and continue to assist the patient's movements, which is quite labor-intensive and time-consuming. In the current limited medical resources, patients usually cannot receive rehabilitation treatment for a long time, and the rehabilitation therapist will It is impossible to know exactly the patient's activity status, and it is impossible to accurately track whether the rehabilitation training program is correctly executed by the patient. On the other hand, sometimes the auxiliary equipment used for rehabilitation is not suitable for each patient's load range, so the patient may be abnormally struggling during the rehabilitation process, so that the patient's endurance is reduced and the curative effect is not seen. Improvement is more likely to make the rehabilitation person lose patience and confidence.

An "interactive lower limb rehabilitation system" disclosed in the Republic of China Patent No. 201417796, which utilizes a nine-axis motion sensing unit and a ZigBee wireless transmission module to provide a user-rehabilitation system for human-computer interaction. A motion sensing device for the thighs and calves of the lower extremities, observing the change in the angle of the thigh relative to the calf, and presenting the image on a computer screen through an animation simulation, providing a self-healing device for the user. However, when the human body is walking or running mainly through the muscles of the thigh quadriceps muscle, the "interactive lower limb rehabilitation system" can help the user to know whether his rehabilitation posture is correct through animation simulation, but The physician's muscle strength change parameters cannot be provided. The change of muscle strength is a very important reference for the diagnosis of the physician. The good muscle recovery can help the user to leave the assist device as soon as possible and enter the next rehabilitation stage. Moreover, the "Interactive Lower Limb Rehabilitation System" only has the single measurement mode described above, and it is not possible to adjust its exercise measurement mode for various symptoms.

Another example is a "wearing home care system based on gait sensing" disclosed in the Republic of China Patent No. 201413630, which measures the user's relevant gait parameters through a wearable device. It uses a belt and installs two accelerometers to make gait-related measurements on the left and right sides of the belt. However, according to the foregoing, the function related to human walking is mainly to use the quadriceps and related muscle groups to make walking and other gait movements, but the wearable home care system obviously has no relevant muscle strength measurement method; On the one hand, the device only obtains the parameters of the relevant gait through the calculation of the acceleration, and cannot calculate the swing angle of the lower limb of the user, and the accurate measurement data cannot be obtained.

In view of the above-mentioned shortcomings of the wearable motion sensing device that cannot measure the muscle strength and the inability to adjust the measurement mode synchronously, the creator of the case insists on the good motive of excellence and proposes an interactive lower limb rehabilitation system with a gesture The sensing module detects the movement trajectory of the rehabilitation person, combines the interactive mode and strategy provided by the human-machine interface, and adjusts the motion measurement mode for different symptoms, and has a dual-mode measurement method to develop a novel rehabilitation The development of treatment and rehabilitation technology will achieve the effect of true rehabilitation.

In order to achieve the above objective, the present invention is achieved by the following technical means, wherein the present lower limb motion sensing and rehabilitation training system comprises: two lower limb motion sensing devices, the lower limb motion sensing device includes: an action a tracker, the motion tracker includes: a motion sensing module and a plurality of muscle sensors, the motion sensing module is electrically connected to the plurality of muscle sensors; a data transmission circuit, and the motion tracker telecommunications Connecting, the data transmission circuit has a wireless transmission unit and a microcontroller, the wireless transmission unit is electrically connected to the microcontroller; and a data collector is electrically connected to the two lower limb motion sensing devices for receiving The motion information of the lower limb motion sensing device is measured.

In the preferred embodiment of the present invention, the motion sensing module includes: an acceleration gauge, a gyroscope, and a magnetometer.

In a preferred embodiment of the present invention, the lower limb motion sensing device further includes a housing having a connecting unit for forming an annular structure together with the housing.

In a preferred embodiment of the present invention, the data transmission circuit further includes a charging circuit.

In a preferred embodiment of the present invention, the lower limb motion sensing and rehabilitation training system further includes a rehabilitation system electrically connected to the data collector, the rehabilitation system including a database and a system platform, the database The system platform is connected to the system for storing the measurement data uploaded by the data collector.

In a preferred embodiment of the present invention, the system platform further includes a one-step analysis algorithm for calculating a user's limb gait related parameters or a user's limb movement related parameters, including a knee bending angle. Parameters, hip bending angle parameters, motion discrimination, and balance state parameters.

In the preferred embodiment of the present invention, the system platform further includes a human body balance judgment analysis algorithm, and the motion sensing module and the muscle sensor detector are used together to calculate a human body offset state.

In a preferred embodiment of the present invention, the system platform further includes an integrated fitness analysis algorithm for calculating a user's physical energy measurement related parameters, including a three-minute walking parameter, a starting-sitting-station parameter, and walking. Time and distance parameters.

In the preferred embodiment of the present invention, the system platform further includes a mode conversion algorithm for distinguishing and converting the current mode into a two-limb calibration measurement mode or a single-limb calibration measurement mode, and the two-limb correction measurement The mode is to wear the lower limb motion sensing device to the lap of the user's limbs for measuring the parameters related to the limbs; the single limb correction measurement mode is to wear the lower limb motion sensing device to the thigh of the user's single limb With the calf, it is used to measure the parameters related to the single limb.

In a preferred embodiment of the present invention, the system platform further includes a comparison table of maximum contraction muscle strength and myoelectric signal response of different parts of the user for conversion to the user when the muscle sensor is measured. The actual muscle exertion.

In the preferred embodiment of the present invention, the system platform further includes a sensor position setting file of the user, and records the user parts to which the muscle sensor is attached to provide a comparison function of the reference.

In order to achieve the above objectives and effects, the technical means and structure adopted by this creation are described in detail in the preferred embodiment of the present creation. The features and functions are as follows, and the full understanding is made, but it should be noted that the contents are not It constitutes a limitation of the present invention.

Please also refer to FIG. 1 , FIG. 2 a and FIG. 2 b , which is a system architecture diagram of an embodiment of a lower limb motion sensing and rehabilitation training system, and a schematic diagram 1 and a schematic diagram 2 of a single limb correction measurement mode. The lower limb motion sensing and rehabilitation training system includes two lower limb motion sensing devices (1, 1') and a data collector 2.

The two lower limb motion sensing devices (1, 1') respectively include an action tracker 11, a data transmission circuit 12, and a casing 13. The motion tracker 11 includes a motion sensing module 111 and a plurality of muscle sensors (112, 112') for measuring the action response of the wearing part, which includes an accelerometer 1111 (accelerometer) A gyroscope 1112 (gyroscope) and a magnetometer 1113 (magnetometer). In this embodiment, the number of the muscle sensors (112, 112') (Electromyography, EMG) is two and is electrically connected to the motion sensing module 111, and has two sets of positive electrode patches 1121 and negative electrodes. A slice 1121' and a ground patch 1122 are used to measure the electromyographic response of the wear site. The data transmission circuit 12 is electrically connected to the motion tracker 11. The data transmission circuit 12 has a battery 121, a wireless transmission unit 122, and a microcontroller 123 (Micro-Controller), and the battery 121 and the wireless transmission unit respectively 122 and the microcontroller 123 are electrically connected. The battery 121 is used to provide the power required for the operation of the lower limb motion sensing device 1, which may be a 3.7 volt polymer lithium battery, but is not limited thereto. The wireless transmission unit 122 is configured to transmit the collected measurement data, which may be a Bluetooth module or a wireless communication module such as ZigBee, but is not limited thereto. The microcontroller 123 is configured to perform measurement operations such as noise removal, filtering, and sampling on the collected measurement data. The outer casing 13 is used for covering and protecting the lower limb motion sensing device 1 , and has a connecting unit 131 for forming an annular structure together with the outer casing 13 so that the outer casing 13 can be worn for use. Part 4 needs to be measured.

In an embodiment of the present invention, the data transmission circuit 12 further includes a charging circuit 124. The charging circuit 124 is electrically connected to the battery 121, and the battery 121 can be charged or provided by the external power supply to provide the lower limb motion sensing. The power required to operate the device 1.

The data collector 2 is electrically connected to the two lower limb motion sensing devices (1, 1'). The data collector 2 includes a wireless communication module 21 and a processing unit 22. The wireless communication module 21 is configured to receive motion data measured by the two lower limb motion sensing devices (1, 1') and electrically transmit the processing data to the processing unit 22 for processing. Preferably, the data collector 2 can be a desktop computer or a handheld computer, allowing the user 4 or medical personnel to immediately view the measurement results.

Please also refer to FIG. 3, which is a system architecture diagram of another embodiment of the creative lower limb motion sensing and rehabilitation training system. In an embodiment of the present invention, the lower limb motion sensing and rehabilitation training system further includes a rehabilitation system 3, and the rehabilitation system 3 is connected to the data collector 2 by telecommunication, which may be a cloud platform. The rehabilitation system 3 includes a database 31 and a system platform 32. The database 31 is telecommunications with the data collector 2 and has network transmission capability for storing measurement data uploaded by the data collector 2. The system platform 32 is telecommunicationally connected to the database 31, and can be any mobile device such as a tablet computer, a smart phone or a notebook computer, but is not limited thereto. The system platform 32 has built-in algorithms that can be used to calculate measurement parameters.

In an embodiment of the present invention, the system platform 32 has a one-step analysis algorithm 321 for calculating a user's limb gait related parameters or a user's limb movement related parameters, including knee bending. Angle parameters, hip bending angle parameters, motion discrimination, and balance state parameters.

In an embodiment of the present invention, the system platform 32 has a human body balance judgment analysis algorithm 322, and the motion sensing module 111 and the two muscle sensors (112, 112') are used to calculate a human body offset state.

In an embodiment of the present invention, the system platform 32 has an integrated fitness analysis algorithm 323 for calculating a user's physical energy measurement related parameters, including a three-minute travel parameter, a standing jump parameter, and a jogging time and distance. parameter.

In an embodiment of the present invention, the system platform 32 has a mode conversion algorithm 324 for distinguishing and converting the current mode into a two-limb correction measurement mode or a single-limb correction measurement mode, and the two-limb correction measurement The mode is to wear the two lower limb motion sensing devices (1, 1 ') to the lower leg of the user's limbs for measuring the parameters related to the limbs; the single limb correction measurement mode is to wear the two lower limb motion sensing The device (1, 1') is applied to the thighs and calves of the single limb of the user to measure the parameters related to the single limb.

Please refer to FIG. 4 at the same time. FIG. 4 is a flow chart of another embodiment of the lower limb motion sensing and rehabilitation training system. After the user 4 wears the two lower limb motion sensing devices (1, 1') 90, the mode conversion algorithm 324 distinguishes and converts 91 into a single limb correction measurement mode 92 or a dual limb correction measurement mode. 93 and perform (A) Process 94 or (B) Process 95, respectively. In addition, the two lower limb motion sensing devices (1, 1') will first test and record the maximum contraction force and myoelectric response of the user 4 as a reference for subsequent measurement. The signals measured by the two lower limb motion sensing devices (1, 1') can be transmitted to the data collector 2 for processing and calculation via wireless transmission. The data collector 2 can be worn on the user or placed in the range of the signal to receive the data, and after the pre-operation of analog/digital conversion, filtering, de-noising, etc., the data is transmitted to the mobile phone or the remote end. The system platform 32 performs back-end operations that are provided to the physician or the rehabilitation engineer for reference during diagnosis and data retrieved at the time of return visit.

Please refer to FIG. 2a, FIG. 2b and FIG. 5 at the same time. FIG. 5 is a flow chart of the implementation of the single-limb calibration measurement mode of another embodiment of the lower limb motion sensing and rehabilitation training system. In the single-limb calibration measurement mode 92, (A) Flow 94 is performed. The user 4 wears the two lower limb motion sensing devices (1, 1') on the thigh and the lower leg of the user 4, respectively, for measuring the regular motion and muscle antagonistic response of the single limb. The two lower limb motion sensing devices (1, 1') must be adjacent to the skin of the user 4, and there should be no gaps or distances to ensure the accuracy of the measured data, and one of the lower limbs The positive electrode patch 1121 and the negative electrode patch 1121 ′ of the measuring device 1 are respectively attached to the quadriceps of the thigh and the muscle of the posterior side of the thigh, and the positive electrode patch 1121 of the lower limb motion sensing device 1 ′. The negative electrode patch 1121' is attached to the muscles on the anterior side of the lower leg and the back side of the lower leg, respectively, and the ground patch 1122 is attached to the joint, such as the knee joint or the ankle joint.

After the two lower limb motion sensing devices (1, 1') are worn, the user 4 follows the action instruction to perform rehabilitation 9402 according to the rehabilitation prescription 9401 opened by the physician or the rehabilitationist. During the rehabilitation process, the two lower limb motion sensing devices (1, 1') measure the lower limb motion parameter 9403 and perform the denoising, filtering, and sampling through the microcontroller analysis parameter 9404, and output the motion data to the motion data. Data collector 9405 and 9406 in the database. On the other hand, the rehabilitation system 3 will immediately simulate the user 4 rehabilitation action and simultaneously display the relevant motion parameter 9407, and determine whether the user 4 is currently correct 9408, and the user 4 will raise a warning message when the rehabilitation action is incorrect. 9409, for the user 4 to adjust the action 9410 to the correct action and start the number of calculations 9411. When the rehabilitation action 9412 is completed, the system platform will determine whether there is still an unfinished action 9413, and if there is any rest time 9414, after the rest time, it will enter the next rehabilitation action 9415 and execute the process simulation to use the The 4 rejuvenation action simultaneously displays the relevant motion parameter 9407, and if there is no unfinished action, the measurement 9416 ends.

It is worth mentioning that, as the main purpose of the single-limb calibration measurement mode is to measure the bending angle of the knee joint or knee of the user's 4 lower limbs and the antagonistic myoelectric parameters of the quadriceps muscle, in addition to serving as a physician in the user. In addition to the reference basis at the time of returning to the clinic, it can also be measured before surgery as a reference for the physician before the user.

Please refer to FIG. 6a, FIG. 6b and FIG. 7 simultaneously, which is a schematic diagram, a schematic diagram 2 and a flow chart of the implementation of the two-limb correction measurement mode of another embodiment of the lower limb motion sensing and rehabilitation training system. In the two-limb correction measurement mode 93, the process (95) is performed, and the user 4 wears the two lower-limb motion sensing devices (1, 1') on the left and right lower legs of the user 4, respectively. The two lower limb motion sensing devices (1, 1') must also be adjacent to the skin of the user 4, and there should be no gaps or distances to ensure the accuracy of the measured data, and the motion of the two lower limbs The positive electrode patch 1121 and the negative electrode patch 1121' of the measuring device (1, 1') are respectively attached to the quadriceps of the thigh and the muscle of the back side of the thigh, and the ground patch 1122 is attached to the knee joint. .

The main purpose of the two-limb correction measurement mode is to analyze the gait parameters, balance status and muscle antagonistic response of the user's daily life, and determine whether the gait is normal. The two lower limb motion sensing devices (1, 1') collect the gait parameter 9501 of the user 4, and analyze the gait parameter 9502 by using the data collector or the system platform, and simultaneously evaluate the balance ability of the user 4 9503. . If the balance ability is found to be abnormal, the abnormal message is returned to the user 9504, and the abnormal data 9505 is uploaded to the database 9506 to store the record for future reference. In addition, the limb correction measurement mode also has a gait body energy measurement function 9507, and the user 4 can select to perform the measurement 9508 or skip the process, and the gait body energy measurement includes three minutes to step up, - Station - sitting, walking, etc., can be provided to the user 4 and related medical personnel for future use. Finally, the two lower limb motion sensing devices (1, 1') output gait parameters 9509 are stored in the database 9510, and the measurement 9511 is ended.

In an embodiment of the present invention, the system platform 32 further includes a comparison table 325 of maximum contraction muscle strength and myoelectric signal response of different parts of the user for measuring the two muscle detectors (112, 112'). At the time, it is converted to the actual muscle force of the user.

In an embodiment of the present invention, the system platform 32 further includes a sensor position setting file 326 of the user, and records the parts to which the muscle sensor (112, 112') patch should be attached to provide a reference consistency. Comparison function.

It is worth mentioning that in order to ensure that the comparison benchmarks of the before and after tests are consistent, each of the two sets of the calibration measurement modes (112, 112') patches need to be attached to a fixed position. Therefore, each user will have a set of independent parameter settings, according to which the user wears and attaches each of the muscle sensor (112, 112') patches. In order to make the position of each of the muscle detectors (112, 112') uniform, the user can also fix it by using a bundle suitable for each part.

In addition, the system platform 32 can simulate the state of human motion, and is divided into an immediate mode and an offline mode. The instant mode is applied to the user to perform a rehabilitation action, and is matched with the above algorithm to immediately inform the user whether the current action is correct. The offline mode is mainly provided to professional medical professionals, providing a more visual way for professional medical professionals to view user movement and rehabilitation in the most simple way.

Based on the above, it can be seen that the lower limb motion sensing and rehabilitation training system proposed by this creation has the following advantages compared with the conventional techniques: (1) The lower limb motion sensing and rehabilitation training system of this creation can be different according to different The measurement situation is switched, and the measurement mode is a two-limb calibration measurement mode or a single-limb calibration measurement mode. (2) The creation of the lower limb motion sensing and rehabilitation training system can solve the problem that the existing wearable device is mainly based on the measurement movement change and cannot measure the muscle strength change. (3) This creation of the lower limb motion sensing and rehabilitation training system provides a set of real-time simulation mode, which provides feedback to the user through data analysis and instant output, allowing the user to learn and make correct rehabilitation exercises. Instant error judgment method guides the user to correct the wrong action immediately. (4) The lower limb motion sensing and rehabilitation training system of this creation can provide motion sensing data of the patient's home activities, assist the physician to construct the complete action model of the patient to the hospital and the hospital, and allow the user to operate by himself. The patient needs to go to the hospital for part of the test, reducing the waiting time for the patient to go to the hospital for a complete test. (5) The lower limb motion sensing and rehabilitation training system of this creation measures the abnormality of the human limbs through the lower limb motion sensing device, and measures the muscle force condition using the muscle inductance detector and observes through the time series comparison. The user's current state of force when standing is compared with the historical record, and whether the user's muscle strength is declining or whether the strength of the muscles of the feet is asymmetrical.

After the above detailed description, it has been fully shown that the creation has progressive progress, and the new creations that have never been seen before, fully comply with the requirements of the invention patent, and apply in accordance with the law. However, the above description is only for the preferred embodiment of the present invention, and should not be used to limit the scope of the present invention, that is, the equivalent changes and modifications according to the scope of the present invention should be within the scope of the present invention. .

1,1'‧‧‧ Lower limb motion sensing device
11‧‧‧Action Tracker
111‧‧‧Sports Sensing Module
1111‧‧‧ Acceleration regulations
1112‧‧‧Gyro
1113‧‧‧ magnetometer
112,112'‧‧‧Muscle Inductance Detector
1121‧‧‧positive patch
1121'‧‧‧negative patch
1122‧‧‧Ground patch
12‧‧‧Data transmission circuit
121‧‧‧Battery
122‧‧‧Wireless transmission unit
123‧‧‧Microcontroller
124‧‧‧Charging circuit
13‧‧‧Shell
131‧‧‧Connecting unit
2‧‧‧ Data Collector
21‧‧‧Wireless communication module
22‧‧‧Processing unit
3‧‧‧Rehabilitation system
31‧‧‧Database
32‧‧‧System platform
321‧‧‧gait analysis algorithm
322‧‧‧ Human balance judgment analysis algorithm
323‧‧‧Physical analysis algorithm
324‧‧‧Mode Conversion Algorithm
325‧‧‧Compare table of maximal contraction muscle strength and myoelectric signal response in different parts of each user
326‧‧‧Sensor position profiles for individual users
4‧‧‧Users
90~9511‧‧‧Process method steps

1 is a system architecture diagram of an embodiment of a lower limb motion sensing and rehabilitation training system; FIG. 2a is a schematic diagram 1 of a single limb correction measurement mode according to an embodiment of a lower limb motion sensing and rehabilitation training system; 2b is a schematic diagram of the implementation of the single limb correction measurement mode of the lower limb motion sensing and rehabilitation training system; FIG. 3 is a system architecture diagram of another embodiment of the lower limb motion sensing and rehabilitation training system. 4 is a flow chart of another embodiment of the lower limb motion sensing and rehabilitation training system of the present invention; FIG. 5 is a flow chart of the single limb correction measurement mode of another embodiment of the lower limb motion sensing and rehabilitation training system. Figure 6a is a schematic diagram of the implementation of the two-limb correction measurement mode of another embodiment of the lower limb motion sensing and rehabilitation training system; Figure 6b is another embodiment of the lower limb motion sensing and rehabilitation training system of the present invention; FIG. 7 is a flow chart of implementing the two-limb correction measurement mode of another embodiment of the lower limb motion sensing and rehabilitation training system.

1,1'‧‧‧ Lower Limb Motion Sensing Device

11‧‧‧Action Tracker

111‧‧‧Sports Sensing Module

1111‧‧‧ Acceleration regulations

1112‧‧‧Gyro

1113‧‧‧ magnetometer

112,112’‧‧‧Mensance detector

1121‧‧‧positive patch

1121'‧‧‧negative patch

1122‧‧‧Ground patch

12‧‧‧Data transmission circuit

121‧‧‧Battery

122‧‧‧Wireless transmission unit

123‧‧‧Microcontroller

124‧‧‧Charging circuit

13‧‧‧Shell

131‧‧‧Connecting unit

2‧‧‧ Data Collector

21‧‧‧Wireless communication module

22‧‧‧Processing unit

Claims (11)

A lower limb motion sensing and rehabilitation training system, comprising: two lower limb motion sensing devices, the lower limb motion sensing device comprises: an motion tracker, the motion tracker comprising: a motion sensing module and a plurality of muscle inductance measurements The motion sensing module is electrically connected to the plurality of muscle sensors; a data transmission circuit is electrically connected to the motion tracker, the data transmission circuit has a wireless transmission unit and a microcontroller, and the wireless transmission The unit is electrically connected to the microcontroller; and a data collector is electrically connected to the two lower limb motion sensing devices for receiving motion data measured by the lower limb motion sensing devices. The lower limb motion sensing and rehabilitation training system according to claim 1, wherein the motion sensing module comprises: an acceleration gauge, a gyroscope and a magnetometer. The lower limb motion sensing and rehabilitation training system according to claim 1, wherein the lower limb motion sensing device further comprises a casing, the casing having a connecting unit, the connecting unit is configured to form with the casing A ring structure. The lower limb motion sensing and rehabilitation training system according to claim 1, wherein the data transmission circuit further comprises a charging circuit. For example, the lower limb motion sensing and rehabilitation training system described in claim 1 further includes a rehabilitation system electrically connected to the data collector, the rehabilitation system including a database and a system platform. The database is connected to the system platform by telecommunications to store the measurement data uploaded by the data collector. The lower limb motion sensing and rehabilitation training system described in claim 5, wherein the system platform further comprises a one-step analysis algorithm, wherein the gait analysis algorithm is used to calculate a user's limb gait related parameters. Or the user's parameters related to single limb movement, including knee bending angle parameters, hip bending angle parameters, motion discrimination, and balance state parameters. For example, the lower limb motion sensing and rehabilitation training system described in claim 5, wherein the system platform further comprises a human body balance judgment analysis algorithm, and the motion sensing module and the muscle sensor are matched with each other. Calculate the body offset state. The lower limb motion sensing and rehabilitation training system described in claim 5, wherein the system platform further comprises an integrated fitness analysis algorithm for calculating a user's physical energy measurement related parameters, including three minutes. Ascending parameters, start-sit-station parameters, and walking time and distance parameters. The lower limb motion sensing and rehabilitation training system described in claim 5, wherein the system platform further comprises a mode conversion algorithm for distinguishing and converting the current mode into a dual limb correction measurement mode or a single a limb correction measurement mode, wherein the limb correction measurement mode is worn on the lower leg of the user's limbs for measuring the limb related parameters; the single limb correction measurement mode is wearable The lower limb motion sensing device is applied to the thigh and the lower leg of the user's limb to measure the parameters related to the single limb. The lower limb motion sensing and rehabilitation training system described in claim 5, wherein the system platform further comprises a comparison table of maximum contraction muscle strength and myoelectric signal response of different parts of the user for providing When the muscle sensor is measured, it is converted into the actual muscle force of the user. For example, the lower limb motion sensing and rehabilitation training system described in claim 5, wherein the system platform further includes a sensor position setting file of another user, and records that each muscle sensor should be attached. User parts to provide a consistent comparison function.