Rehabilitation equipment

A method for assessing voluntary movement of a user during rehabilitation, comprising steps of:

• A) providing a rehabilitation equipment that includes:
• a left foot pedal for operation by a left foot of the user;
• a left-pedal driving module to drive movement of the left foot pedal for guiding the left foot of the user to take a step;
• a left-pedal measuring module mounted to the left-pedal driving module and configured to measure a torque output by the left-pedal driving module to drive movement of the left foot pedal;
• a right foot pedal for operation by a right foot of the user;
• a right-pedal driving module to drive movement of the right foot pedal for guiding the right foot of the user to take a step;
• a right-pedal measuring module mounted to the right-pedal driving module and configured to measure a torque output by the right-pedal driving module to drive movement of the right foot pedal;
• and
• a processing module electrically coupled to the left-pedal measuring module and the right-pedal measuring module;
• B) by the left-pedal measuring module and the right-pedal measuring module, measuring, during a first time period which has a length equaling that of a measuring cycle and in which both of the left foot of the user on the left foot pedal and the right foot of the user on the right foot pedal are at a relaxing state, the torque output by the left-pedal driving module to generate first left-pedal torque information corresponding to the first time period, and the torque output by the right-pedal driving module to generate first right-pedal torque information corresponding to the first time period,
• wherein the first left-pedal torque information includes multiple sets of first-period left-pedal torque data respectively corresponding to a plurality of measuring points which are points in time defined within the measuring cycle, and the first right-pedal torque information includes multiple sets of first-period right-pedal torque data respectively corresponding to the measuring points, and
• wherein each of the sets of the first-period left-pedal torque data includes a first-period left-pedal horizontal torque value and a first-period left-pedal vertical torque value, and each of the sets of the first-period right-pedal torque data includes a first-period right-pedal horizontal torque value and a first-period right-pedal vertical torque value;
• C) by the left-pedal measuring module and right-pedal measuring module, measuring, during a second time period which has a length equaling that of the measuring cycle and in which both of the left foot of the user on the left foot pedal and the right foot of the user on the right foot pedal are at an exercising state, the torque output by the left-pedal driving module to generate second left-pedal torque information corresponding to the second time period, and the torque output by the right-pedal driving module to generate second right-pedal torque information corresponding to the second time period,
• wherein the second left-pedal torque information includes multiple sets of second-period left-pedal torque data respectively corresponding to the measuring points, and the second right-pedal torque information includes multiple sets of second-period right-pedal torque data respectively corresponding to the measuring points, and
• wherein each of the sets of the second-period left-pedal torque data includes a second-period left-pedal horizontal torque value and a second-period left-pedal vertical torque value, and each of the sets of the second-period right-pedal torque data includes a second-period right-pedal horizontal torque value and a second-period right-pedal vertical torque value;
• D) by the processing module, determining a difference between the first left-pedal torque information and the second left-pedal torque information to generate left-foot force output information relating to a force output by the left foot of the user, and determining a difference between the first right-pedal torque information and the second right-pedal torque information to generate right-foot force output information relating to a force output by the right foot of the user,
• wherein the left-foot force output information includes multiple sets of left-pedal torque difference data respectively corresponding to the measuring points, each of the sets of the left-pedal torque difference data relating to a difference between one of the sets of the second-period left-pedal torque data and one of the sets of the first-period left-pedal torque data that correspond to a respective same one of the measuring points,
• wherein each of the sets of the left-pedal torque difference data includes a left-pedal horizontal torque difference value which is a difference between the first-period left-pedal horizontal torque value of the corresponding one of the sets of the first-period left-pedal torque data and the second-period left-pedal horizontal torque value of the corresponding one of the sets of the second-period left-pedal torque data, and a left-pedal vertical torque difference value which is a difference between the first-period left-pedal vertical torque value of the corresponding one of the sets of the first-period left-pedal torque data and the second-period left-pedal vertical torque value of the corresponding one of the sets of the second-period left-pedal torque data,
• wherein the right-foot force output information includes multiple sets of right-pedal torque difference data respectively corresponding to the measuring points, each of the sets of the right-pedal torque difference data relating to a difference between one of the sets of the second-period right-pedal torque data and one of the sets of the first-period right-pedal torque data that correspond to a respective same one of the measuring points, and
• wherein each of the right-pedal torque difference data includes a right-pedal horizontal torque difference value which is a difference between the first-period right-pedal horizontal torque value of the corresponding one of the sets of the first-period right-pedal torque data and the second-period right-pedal horizontal torque value of the corresponding one of the sets of the second-period right-pedal torque data, and a right-pedal vertical torque difference value which is a difference between the first-period right-pedal vertical torque value of the corresponding one of the sets of the first-period right-pedal torque data and the second-period right-pedal vertical torque value of the corresponding one of the sets of the second-period right-pedal torque data;
• E) by the processing module, for each of the measuring points, correcting the left-pedal horizontal torque difference value that corresponds to the measuring point based on a predetermined horizontal torque reference value that corresponds to the measuring point to obtain a left-pedal horizontal torque correction value, correcting the left-pedal vertical torque difference value that corresponds to the measuring point based on a predetermined vertical torque reference value that corresponds to the measuring point to obtain a left-pedal vertical torque correction value, correcting the right-pedal horizontal torque difference value that corresponds to the measuring point based on the predetermined horizontal torque reference value that corresponds to the measuring point to obtain a right-pedal horizontal torque correction value, and correcting the right-pedal vertical torque difference value that corresponds to the measuring point based on the predetermined vertical torque reference value that corresponds to the measuring point to obtain a right-pedal vertical torque correction value;
• F) by the processing module, calculating, for each of the measuring points, a left-pedal torque correction value based on the left-pedal horizontal torque correction value and the left-pedal vertical torque correction value that correspond to the measuring point, and a right-pedal torque correction value based on the right-pedal horizontal torque correction value and the right-pedal vertical torque correction value that correspond to the measuring point;
• and
• G) by the processing module, calculating, for each of the measuring points, a force output ratio based on the left-pedal torque correction value and the right-pedal torque correction value that correspond to the measuring point;
• wherein, for each of the measuring points, the force output ratio indicates one of a condition that the left foot of the user applied a force, a condition that the right foot of the user applied a force, and a condition that neither the left foot nor the right foot of the user applied a force;
• and
• wherein the force output ratio is calculated according to:
• R
• =
• (
• S
• l
• S
• r
• )
• -
• 1
• ⁢
• when
• ⁢
• (
• S
• l
• ≥
• S
• r
• )
• R
• =
• -
• (
• S
• r
• S
• l
• )
• +
• 1
• ⁢
• when
• ⁢
• (
• S
• l
• <
• S
• r
• )
• where R represents the force output ratio, Sr represents the right-pedal torque correction value, and Sl represents the left-pedal torque correction value.