Gait event-driven time-phase-sharing and multi-modal foot rehabilitation system and use method

Abstract

The invention provides a gait event-driven time-phase-sharing multi-mode foot rehabilitation system and a use method, and the system comprises a pressure sensor module which measures the pressure distribution value of the sole in real time; the micro-control module is used for comparing the measured pressure value with a preset threshold value so as to recognize different gait events in the dynamic gait and pressure balance of the inner side and the outer side of the sole, and controlling corresponding operation in real time; a neuromuscular electrical stimulation module that performs or stops on-threshold electrical stimulation on a target muscle of the foot based on the recognized gait event; a pneumatic muscle-bone complex module that includes pneumatic muscles and deflates or inflates the pneumatic muscles based on the recognized gait event; and a vibrating biofeedback module that provides biofeedback to correct the force balance of the sole when the recognized pressures on the inner and outer sides of the sole are unbalanced, the gait events including heel contact, heel clearance, and sole clearance. According to the invention, foot drop and strephenopodia can be corrected, muscle compensation and atrophy can be improved, and normal gait can be remodeled. 本发明提供了一种步态事件驱动的分时相、多模态足部康复系统及使用方法，该系统包括：压力传感器模块，实时测量足底部的压力分布值；微控制模块，将测量的压力值与预设的阈值比较以识别动态步态中的不同步态事件和足底部内外侧的压力平衡，并实时控制相应的操作；神经肌肉电刺激模块，基于识别的步态事件，对足部的目标肌肉实施或停止阈上电刺激；气动式肌骨联合体模块，包括气动肌肉并基于识别的步态事件，对气动肌肉放气或充气；和振动生物反馈模块，当识别的足底部内外侧的压力不平衡时，提供生物反馈以纠正足底部的用力平衡，步态事件包括脚跟触地、脚跟离地和脚掌离地。本发明可纠正足下垂、足内翻，并改善肌肉代偿和萎缩，重塑正常步态。