Foot drop rehabilitation instrument for human body bionic multi-joint movement

Abstract

The invention is suitable for the technical field of medical instruments, and provides a human body bionic multi-joint movement foot drop rehabilitation instrument which comprises a chassis assembly, a shank fixing assembly is arranged on the chassis assembly, the chassis assembly is used for supporting the shank fixing assembly, and meanwhile the shank fixing assembly is used for being fixed to the shank of a patient. The shank fixing assembly is provided with a foot assembly, the foot assembly is used for training foot joints of a patient to move up and down, the foot assembly is provided with a finger middle joint assembly, the finger middle joint assembly is used for the patient to do finger middle joint movement, and the finger middle joint assembly is provided with a finger anterior joint assembly. When the feet are pulled down, the motor push rod or the servo motor push rod drives the steel wire rope to be tightened, and all the joints are driven to synchronously complete the buckling action; when the feet are pulled up, the electric push rod or the servo motor push rod controls the steel wire rope to be loosened, and all the joints achieve the stretching action through springback of the spring rod, the middle-section torsional spring and the front-section torsional spring.

Description

Technical Field

[0001] This invention belongs to the field of medical device technology, and in particular relates to a human bionic multi-joint movement foot drop rehabilitation device. Background Technology

[0002] Foot drop is a common complication of conditions such as radial nerve injury, stroke, and spinal cord injury, manifesting as the inability to perform normal dorsiflexion of the foot, severely affecting the patient's walking function and daily living abilities. Existing rehabilitation equipment has significant limitations.

[0003] Fixed orthoses can only fix the foot posture, but cannot simulate the natural movement trajectory of the joints, and are difficult to activate the recovery of muscle and nerve function;

[0004] Although dynamic rehabilitation equipment has auxiliary power, it generally suffers from complex structure and high cost, and the movement mode is monotonous, which cannot meet the personalized needs of patients at different stages of rehabilitation (such as initial passive training and intermediate active assisted training).

[0005] Therefore, developing a foot drop rehabilitation device that can mimic the coordinated movement of multiple joints in the human body, is suitable for the entire rehabilitation cycle, is easy to operate, and is reasonably priced is of great practical value in improving the rehabilitation effect of patients. Summary of the Invention

[0006] The purpose of this invention is to provide a human bionic multi-joint movement foot drop rehabilitation device, aiming to solve the problems in the prior art.

[0007] The embodiments of the present invention are implemented as follows:

[0008] A biomimetic multi-joint foot drop rehabilitation device includes a chassis assembly, on which a lower leg fixation assembly is mounted for support. The lower leg fixation assembly is fixed to the patient's lower leg. A foot assembly is mounted on the lower leg fixation assembly for training the patient's foot joints to move up and down. A middle phalanx assembly is mounted on the foot assembly for the patient to perform middle phalanx joint movements. An anterior phalanx assembly is mounted on the middle phalanx assembly for the patient to perform anterior phalanx joint movements. A drive mechanism is mounted on both the lower leg fixation assembly and the anterior phalanx assembly for biomimetic foot movements.

[0009] Preferably, the chassis assembly includes a chassis frame, with anti-slip rubber rings provided at the four corners of the bottom side of the chassis frame. Support arms are rotatably connected to both sides of the chassis frame away from the center. A locking handwheel is provided on one side of the support arm near one end, and a support arm is provided on the other side of the locking handwheel near one end. The locking handwheel is used to lock the support arm and the support arm. A locking handwheel is provided on one side of the chassis frame away from the center.

[0010] Preferably, the lower leg fixation assembly includes a lower leg fixation frame, which is located on the top of the chassis frame. Connecting arms are fixedly installed on both sides of the lower leg fixation frame, and the two lower leg fixation frames are rotatably connected to the chassis frame. Two self-adhesive lower leg straps are provided on one side of the lower leg fixation frame, and the two self-adhesive lower leg straps are arranged far apart from each other. Each of the two self-adhesive lower leg straps is provided with a lower leg binding buckle. An elastic pad for the fixation frame is provided on one side of the lower leg fixation frame.

[0011] Preferably, the foot assembly includes a foot frame, with two self-adhesive foot straps on the inner side of the foot frame, the two self-adhesive foot straps being arranged far apart from each other, multiple size adjustment screw holes on both sides of the foot frame, connecting plates on both sides of the foot frame, and foot strap buckles on both self-adhesive foot straps, positioning blocks on opposite sides of the two connecting plates away from the center, adjustable foot frame bearings rotatably connected to both connecting plates, and the two adjustable foot frame bearings rotatably connected to two connecting arms respectively, and elastic pads on the inner side of the foot frame.

[0012] Preferably, the finger middle segment assembly includes a finger middle segment frame, on which a middle segment joint pin is provided, and the finger middle segment frame is rotatably connected to the foot frame via the middle segment joint pin.

[0013] Preferably, the proximal finger assembly includes a proximal finger frame, on which a proximal finger joint pin is provided, and the proximal finger frame is rotatably connected to the middle finger frame via the proximal finger joint pin.

[0014] Preferably, the drive mechanism includes an electric push rod or a servo motor push rod, which is hinged to one side of the calf fixation frame away from the center. A wire rope connector is hinged to the working end of the electric push rod or servo motor push rod, and a wire rope is connected to the wire rope connector. One end of a spring rod is hinged to one side of the calf fixation frame, and the other end of the spring rod is fixedly connected to a spring rod joint bearing. The wire rope is rotatably connected to the foot frame. Two wire rope sleeve fixing seats are fixedly installed on the bottom side of the foot frame, and the two wire rope sleeve fixing seats are positioned far apart from each other. A wire rope reversing wheel is fixedly installed on the bottom side of the foot frame near the chassis frame. A wire rope sleeve is fixedly connected between the two wire rope sleeve fixing seats. A middle joint torsion spring is sleeved on the middle joint pin, and a front joint torsion spring is sleeved on the toe anterior joint pin. The other end of the wire rope is fixedly connected to a wire rope joint bearing, and the wire rope joint bearing is hinged to the bottom side of the toe anterior joint frame. An upward lifting sensor is provided on the top side of the toe anterior joint frame, and a downward pressing sensor is provided on the bottom side of the toe anterior joint frame. A foot sensor is provided on the inner side of the foot frame near the middle toe joint frame.

[0015] Preferably, the switch assembly includes a switch frame, which is J-shaped. A foot plate is fixedly connected to the switch frame. A first sensor is fixedly installed on the inner side of the foot plate near the middle position. A lead box is fixedly installed on the outer middle position of the first sensor. A second sensor cover is fixedly connected to the top middle position of the lead box, and the second sensor cover is in close contact with the switch frame. A lead wire is provided on the middle position of one side of the lead box.

[0016] Compared with the prior art, the beneficial effects of the present invention are:

[0017] 1. In this invention, when the foot makes a downward pulling motion, an electric push rod or a servo motor push rod drives the steel wire rope to tighten, causing all joints to simultaneously complete the flexion motion; when the foot makes an upward pulling motion, the electric push rod or servo motor push rod controls the steel wire rope to relax, and each joint achieves the extension motion through the spring rod, the middle section torsion spring and the front section torsion spring. Then, through the linkage design of the transmission device, the precise coordination of the ankle joint, forefoot joint and finger joint movements is achieved, which reproduces the complex movement trajectory of the human body's natural gait. Through the coordinated movement of multiple joints, the natural gait is accurately simulated, the foot muscles and nerve functions are fully activated, and the rehabilitation efficiency is improved.

[0018] 2. This invention utilizes lifting sensors, pressing sensors, and plantar sensors located at the toe proximal segment and foot frame to detect foot movement commands in real time and feed them back to the control system. This drives the rehabilitation device to work collaboratively, achieving the effect of brain-controlled movement. Even if the patient's foot has completely lost sensation, the healthy foot can be used to drive the device via the switch assembly to achieve the same effect. Patients and medical staff can quickly master the operation method, lowering the barrier to entry.

[0019] 3. The present invention can fix the patient's feet and lower legs by setting the lower leg fixation component and foot component. It is easy to operate and can be quickly assembled and disassembled, adapting to the daily use needs of patients. The optimized design of the chassis component and lower leg fixation component ensures the stability of use in various body positions and improves training safety. Attached Figure Description

[0020] Figure 1 This is a front view of a seated posture provided in an embodiment of the present invention;

[0021] Figure 2 This is a driving structure diagram provided in an embodiment of the present invention;

[0022] Figure 3 This is a drop-down chart of sitting postures provided in an embodiment of the present invention;

[0023] Figure 4 This is a pull-up image of a sitting posture provided in an embodiment of the present invention;

[0024] Figure 5 This is a flat front view provided in an embodiment of the present invention;

[0025] Figure 6 A frontal view of the reclining posture provided in an embodiment of the present invention;

[0026] Figure 7 A three-dimensional view of a seated posture provided for an embodiment of the present invention;

[0027] Figure 8 This is a diagram showing the installation position of the torsion spring provided in an embodiment of the present invention;

[0028] Figure 9 A diagram of a switch assembly provided in an embodiment of the present invention;

[0029] Figure 10 A diagram of human foot movement provided for an embodiment of the present invention.

[0030] Explanation of reference numerals in the attached figures:

[0031] 100. Chassis assembly; 101. Chassis frame; 102. Anti-slip rubber ring; 103. Support arm one; 104. Locking handwheel one; 105. Locking handwheel two; 106. Support arm two;

[0032] 200. Lower leg fixation component; 201. Lower leg fixation frame; 202. Connecting arm; 203. Lower leg self-adhesive strap; 204. Lower leg binding buckle; 205. Fixation frame elastic pad;

[0033] 300. Foot assembly; 301. Foot frame; 302. Self-adhesive foot straps; 303. Size adjustment screw hole; 304. Connecting plate; 305. Foot strap buckle; 306. Positioning block; 307. Adjustable foot frame bearing; 308. Elastic pad for foot frame;

[0034] 400. Middle phalanx assembly; 401. Middle phalanx support; 402. Middle phalanx joint pin;

[0035] 500. Proximal finger assembly; 501. Proximal finger support; 502. Proximal finger joint pin;

[0036] 600. Drive mechanism; 601. Servo motor push rod; 602. Wire rope connector; 603. Wire rope; 604. Spring rod joint bearing; 605. Wire rope sleeve fixing seat; 606. Wire rope reversing wheel; 607. Spring rod; 608. Wire rope sleeve; 609. Middle section torsion spring; 610. Front section torsion spring; 611. Wire rope joint bearing; 612. Lift sensor; 613. Downward pressure sensor; 614. Foot sensor;

[0037] 700. Switch assembly; 701. Switch frame; 702. Foot plate; 703. First sensor; 704. Lead box; 705. Second sensor cover; 706. Lead wire.

[0038] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0039] Please see Figure 1-7 This invention provides a technical solution: a human bionic multi-joint movement foot drop rehabilitation device, including a chassis assembly 100, a lower leg fixation assembly 200 disposed on the chassis assembly 100 for supporting the lower leg fixation assembly 200, and the lower leg fixation assembly 200 for fixing to the patient's lower leg. A foot assembly 300 is disposed on the lower leg fixation assembly 200 for training the patient's foot joints to move up and down. A middle phalanx assembly 400 is disposed on the foot assembly 300 for the patient to perform middle phalanx joint movements. A proximal phalanx assembly 500 is disposed on the middle phalanx assembly 400 for the patient to perform proximal phalanx joint movements. A drive mechanism 600 is disposed on the lower leg fixation assembly 200 and the middle phalanx assembly 400 for bionic foot movements.

[0040] In practical application, before use, the patient first adjusts the angle of the chassis component 100 to make the rehabilitation device fit the patient's body position. Then, the lower leg fixing component 200 fixes the rehabilitation device to the patient's lower leg, while the foot component 300 is fixed to the patient's foot. The drive mechanism 600 then pulls the foot component 300, the middle phalanx component 400, and the anterior phalanx component 500 to achieve precise coordination of the ankle joint, forefoot joint, and finger joint movements. This reproduces the complex movement trajectory of the human body's natural gait. Through the coordinated movement of multiple ankle joints, forefoot joints, and finger joints, the natural gait is precisely simulated, comprehensively activating the foot muscles and nerve functions and improving rehabilitation efficiency.

[0041] Please see Figure 1-7 The chassis assembly 100 includes a chassis frame 101. Anti-slip rubber rings 102 are provided at the four corners of the bottom side of the chassis frame 101. Support arms 103 are rotatably connected to both sides of the chassis frame 101 away from the middle. A locking handwheel 104 is provided on one side of the support arm 103 near one end. A support arm 2 106 is provided on the other side of the locking handwheel 104 near one end. The locking handwheel 104 is used to lock the support arm 103 and the support arm 2 106. A locking handwheel 2 105 is provided on one side of the chassis frame 101 away from the middle.

[0042] In practical application, the angle of the rehabilitation device is first adjusted according to the patient's position. When the rehabilitation device is adjusted to a position suitable for the patient, the support arm 103 and the support arm 2 106 are locked by the locking handwheel 104 to achieve the effect of fixing the rehabilitation device. In order to prevent the rehabilitation device from rotating again, the fixed chassis frame 101 is locked again by the locking handwheel 2 105.

[0043] Please see Figure 1-7 The lower leg fixation assembly 200 includes a lower leg fixation frame 201, which is located on the top of the chassis frame 101. Connecting arms 202 are fixedly installed on both sides of the lower leg fixation frame 201, and the two lower leg fixation frames 201 are rotatably connected to the chassis frame 101. Two self-adhesive lower leg straps 203 are provided on one side of the lower leg fixation frame 201, and the two self-adhesive lower leg straps 203 are arranged far apart from each other. Each of the two self-adhesive lower leg straps 203 is provided with a lower leg binding buckle 204, and a fixation frame elastic pad 205 is provided on one side of the lower leg fixation frame 201.

[0044] In practical application, this embodiment firstly uses two self-adhesive calf straps 203 and two calf binding buckles 204 to directly bind the calf to the fixation frame, which is quick and secure. The calf binding buckles 204 are also used to increase the binding strength. Then, the elastic pads 205 of the fixation frame are used to increase the comfort of the calf and prevent the rehabilitation device from damaging the skin on the outside of the calf.

[0045] Please see Figure 1-7 The foot assembly 300 includes a foot frame 301. Two self-adhesive foot straps 302 are provided on the inner side of the foot frame 301, and the two self-adhesive foot straps 302 are arranged far apart from each other. Multiple size adjustment screw holes 303 are provided on both sides of the foot frame 301. Connecting plates 304 are provided on both sides of the foot frame 301, and foot strap buckles 305 are provided on both size adjustment screw holes 303. Positioning blocks 306 are provided on opposite sides of the two connecting plates 304 away from the center. Adjustable foot frame bearings 307 are rotatably connected to both connecting plates 304, and the two adjustable foot frame bearings 307 are rotatably connected to two connecting arms 202 respectively. The foot frame 301 has elastic foot frame pads 308 on its inner side.

[0046] In practical application, this embodiment first adjusts the size using multiple size adjustment screw holes 303 on both sides of the foot frame 301. Then, the foot is fixed to the foot frame 301 using two self-adhesive foot straps 302 and foot strap buckles 305. Next, two connecting plates 304 are used to connect with the connecting arm 202 and install positioning blocks 306. At the same time, the positioning blocks 306 are used to adjust the downward angle of the foot frame 301. The adjustable foot frame bearings 307 are used to improve the flexibility of the rehabilitation device and increase its service life.

[0047] Please see Figure 1-4 The finger middle segment assembly 400 includes a finger middle segment frame 401, on which a middle segment joint pin 402 is provided, and the finger middle segment frame 401 is rotatably connected to the foot frame 301 through the middle segment joint pin 402.

[0048] In practical application, this embodiment firstly uses the middle joint bracket 401 and the middle joint pin 402. The middle joint bracket 401 is used to make the middle joint of the toe move and is set with upper and lower limits. The middle joint pin 402 is used to connect the foot bracket 301 and the middle joint bracket 401.

[0049] Please see Figure 1-4 The proximal finger assembly 500 includes a proximal finger frame 501, on which a proximal finger joint pin 502 is provided. The proximal finger frame 501 is rotatably connected to the middle finger frame 401 via the proximal finger joint pin 502.

[0050] In practical application, this embodiment firstly uses the finger proximal segment bracket 501 and the finger proximal segment joint pin 502. The finger proximal segment bracket 501 is used to make the finger proximal segment joint move up and down. The upper limit position is provided with a contact surface and the lower limit position is controlled by a push rod. The finger proximal segment joint pin 502 is used to connect the finger middle segment bracket 401 and the finger proximal segment bracket 501.

[0051] Please see Figure 1-7 The drive mechanism 600 includes an electric push rod or servo motor push rod 601, which is hinged to one side of the lower leg fixation frame 201 away from the center. A wire rope connector 602 is hinged to the working end of the electric push rod or servo motor push rod 601, and a wire rope 603 is connected to the wire rope connector 602. One end of a spring rod 607 is hinged to one side of the lower leg fixation frame 201, and the other end of the spring rod 607 is fixedly connected to a spring rod joint bearing 604. The wire rope 603 is rotatably connected to the foot frame 301. Two wire rope sleeve fixing seats 605 are fixedly installed on the bottom side of the foot frame 301, and the two wire rope sleeve fixing seats 605 are positioned far apart from each other. A wire rope reversing wheel 606 is fixedly installed on the bottom side near the chassis frame 101. A wire rope sleeve 608 is fixedly connected between two wire rope sleeve fixing seats 605. A middle joint torsion spring 609 is sleeved on the middle joint pin 402. A front joint torsion spring 610 is sleeved on the finger anterior joint pin 502. The other end of the wire rope 603 is fixedly connected to a wire rope joint bearing 611, and the wire rope joint bearing 611 is hinged to the bottom side of the finger anterior frame 501. An upper pressure sensor 612 is provided on the top side of the finger anterior frame 501, a lower pressure sensor 613 is provided on the bottom side of the finger anterior frame 501, and a foot sensor 614 is provided on the inner side of the foot frame 301 near the middle finger frame 401.

[0052] In practical application, when the foot performs a downward pull-down movement, the electric push rod or servo motor push rod 601 drives the steel wire rope 603 to tighten, causing all joints to simultaneously complete the flexion movement. This powerful training provides good stretching for the ligaments of the foot. When the foot performs an upward pull-up movement, the electric push rod or servo motor push rod 601 controls the steel wire rope 603 to relax. Each joint achieves extension movement through the spring rod 607, the middle section torsion spring 609, and the front section torsion spring 610. Furthermore, the middle section torsion spring 609 and the front section torsion spring 610 can drive the middle section of the toes. 401 and the forefoot joint frame 501 are reset. During the reset process, the foot can still be trained. At the same time, the steel wire rope reversing wheel 606 and the steel wire rope sleeve 608 can guide the steel wire rope 603. Through the linkage design of the transmission device, the precise coordination of the ankle joint, forefoot joint and finger joint movement is realized, which reproduces the complex movement trajectory of the human body's natural gait. Through the coordinated movement of multiple joints of the ankle joint, forefoot joint and finger joint, the natural gait is accurately simulated, which fully activates the foot muscle and nerve function and improves rehabilitation efficiency.

[0053] In practical application, this embodiment utilizes the lifting sensor 612, pressing sensor 613, and foot sensor 614 located at the toe proximal frame 501 and foot frame 301. When the patient's toes are unable to move or press down, the foot sensor 614 is activated, and the rehabilitation instrument trains the toes. If the patient has slight sensation in their foot, they can gently press the pressing sensor 613 with their toes, causing the toe middle segment component 400 to press down, thus training the toes. If the brain cannot control the toe movements, the rehabilitation instrument can be controlled via a switch component. Simultaneously, the patient or others can control the rehabilitation instrument remotely. If the foot can make micro-movements, the foot sensor 614 can operate in a pressing point delay mode, which can sense foot movement commands in real time and feed them back to the control system, driving the rehabilitation instrument to work collaboratively and achieving the effect of brain-controlled movement. Patients and medical staff can quickly master the operation method, reducing the barrier to entry.

[0054] Please see Figure 9 The switch assembly 700 includes a switch frame 701, which is J-shaped. A foot plate 702 is fixedly connected to the switch frame 701. A first sensor 703 is fixedly installed on the inner side of the foot plate 702 near the middle position. A lead box 704 is fixedly installed on the outer middle position of the first sensor 703. A second sensor cover 705 is fixedly connected to the top middle position of the lead box 704, and the second sensor cover 705 is close to the switch frame 701. A lead wire 706 is provided on the middle position of one side of the lead box 704.

[0055] In practical application, the rehabilitation device is controlled by the switch assembly 700. The first sensor 703 and the second sensor cover 705 are connected by the switch frame 701, which is flexible. The switch frame 701 is connected to the rehabilitation device through the lead box 704 and the lead wire 706.

[0056] Please see Figure 10 First, before rehabilitation training, the foot is in a normal state. When the rehabilitation instrument moves the foot downward, the ankle and finger joints will be in a bent state. When the rehabilitation instrument moves the foot upward, the ankle and finger joints will be in a stretched state. This repeated bending and stretching can train the foot and accelerate the recovery speed of the patient's foot.

[0057] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A human bionic multi-joint movement foot drop rehabilitation device, characterized in that: The device includes a chassis assembly (100) and a switch assembly (700). A lower leg fixation assembly (200) is mounted on the chassis assembly (100) to support the lower leg fixation assembly (200), which is then fixed to the patient's lower leg. A foot assembly (300) is mounted on the lower leg fixation assembly (200) to train the patient's foot joints to move up and down. The middle segment component (400) is provided on the middle segment component (300), which is used by the patient to perform middle segment joint movements of the finger. The anterior segment component (500) is provided on the middle segment component (400), which is used by the patient to perform anterior segment joint movements. The lower leg fixation component (200) and the anterior segment component (500) are provided with a drive mechanism (600), which is used for bionic foot movements.

2. The human bionic multi-joint movement foot drop rehabilitation device according to claim 1, characterized in that, The chassis assembly (100) includes a chassis frame (101). Anti-slip rubber rings (102) are provided at the four corners of the bottom side of the chassis frame (101). Support arms (103) are rotatably connected to both sides of the chassis frame (101) away from the middle. A locking handwheel (104) is provided on one side of the support arm (103) near one end. A support arm (106) is provided on the other side of the locking handwheel (104) near one end. The locking handwheel (104) is used to lock the support arm (103) and the support arm (106). A locking handwheel (105) is provided on one side of the chassis frame (101) away from the middle.

3. The human bionic multi-joint movement foot drop rehabilitation device according to claim 2, characterized in that, The lower leg fixation assembly (200) includes a lower leg fixation frame (201), which is located on the top of the chassis frame (101). Connecting arms (202) are fixedly installed on both sides of the lower leg fixation frame (201), and the two lower leg fixation frames (201) are rotatably connected to the chassis frame (101). Two lower leg self-adhesive straps (203) are provided on one side of the lower leg fixation frame (201), and the two lower leg self-adhesive straps (203) are arranged far apart from each other. Each of the two lower leg self-adhesive straps (203) is provided with a lower leg binding buckle (204), and a fixation frame elastic pad (205) is provided on one side of the lower leg fixation frame (201).

4. The human bionic multi-joint movement foot drop rehabilitation device according to claim 1, characterized in that, The foot assembly (300) includes a foot frame (301), on the inner side of which are two self-adhesive foot straps (302), which are arranged far apart from each other. Multiple size adjustment screw holes (303) are provided on both sides of the foot frame (301). Connecting plates (304) are provided on both sides of the foot frame (301), and foot strap buckles (305) are provided on both self-adhesive foot straps (302). Positioning blocks (306) are provided on opposite sides of the two connecting plates (304) away from the center.

5. The human bionic multi-joint movement foot drop rehabilitation device according to claim 4, characterized in that, Each of the two connecting plates (304) is rotatably connected to an adjustable foot frame bearing (307), and the two adjustable foot frame bearings (307) are rotatably connected to two connecting arms (202) respectively, and the inner side of the foot frame (301) has a foot frame elastic pad (308).

6. The human bionic multi-joint movement foot drop rehabilitation device according to claim 4, characterized in that, The finger middle segment assembly (400) includes a finger middle segment frame (401), on which a middle segment joint pin (402) is provided, and the finger middle segment frame (401) is rotatably connected to the foot frame (301) via the middle segment joint pin (402).

7. A human bionic multi-joint movement foot drop rehabilitation device according to claim 6, characterized in that, The finger proximal segment assembly (500) includes a finger proximal segment frame (501), on which a finger proximal segment joint pin (502) is provided, and the finger proximal segment frame (501) is rotatably connected to the finger middle segment frame (401) through the finger proximal segment joint pin (502).

8. A human bionic multi-joint movement foot drop rehabilitation device according to claim 7, characterized in that, The drive mechanism (600) includes an electric push rod or a servo motor push rod (601), which is hinged to one side of the calf fixation frame (201) away from the center. The working end of the electric push rod or servo motor push rod (601) is hinged to a wire rope connector (602), and a wire rope (603) is connected to the wire rope connector (602). One end of a spring rod (607) is hinged to one side of the calf fixation frame (201), and the other end of the spring rod (607) is fixedly connected to a spring rod joint bearing (604). The wire rope (603) is rotatably connected to the foot frame (301). Two wire rope sleeve fixing seats (605) are fixedly installed on the bottom side of the foot frame (301), and the two wire rope sleeve fixing seats (605) are arranged far apart from each other.

9. A human bionic multi-joint movement foot drop rehabilitation device according to claim 8, characterized in that, A wire rope reversing pulley (606) is fixedly installed on the bottom side of the foot frame (301) near the chassis frame (101). A wire rope sleeve (608) is fixedly connected between the two wire rope sleeve fixing seats (605). A middle joint torsion spring (609) is sleeved on the middle joint pin (402). A front joint torsion spring (610) is sleeved on the finger anterior joint pin (502). The other end of the wire rope (603) is fixed. A wire rope joint bearing (611) is connected to the bottom side of the finger proximal segment frame (501). An upward sensor (612) is provided on the top side of the finger proximal segment frame (501), and a downward sensor (613) is provided on the bottom side of the finger proximal segment frame (501). A plantar sensor (614) is provided on the inner side of the foot frame (301) near the finger middle segment frame (401).

10. A human bionic multi-joint movement foot drop rehabilitation device according to claim 1, characterized in that, The switch assembly (700) includes a switch frame (701) in a J-shape. A foot plate (702) is fixedly connected to the switch frame (701). A first sensor (703) is fixedly installed on the inner side of the foot plate (702) near the middle position. A lead box (704) is fixedly installed on the outer middle position of the first sensor (703). A second sensor cover (705) is fixedly connected to the top middle position of the lead box (704), and the second sensor cover (705) is close to the switch frame (701). A lead wire (706) is provided on the middle position of one side of the lead box (704).

Images