Hip and ankle joint inward and outward rotation training device

Abstract

A hip and ankle joint inward and outward rotation training device comprises a base (100), a foot support (230) and a supporting frame (510) capable of toppling forwards and automatically returning under the action of external force. The support frame is provided with an internal and external rotation training arc track (520), the top of the support frame is provided with a through hole (521), and the back side of the foot support is provided with an internal and external rotation roller (450) which detachably penetrates into the through hole and is rotatably clamped and supported on the track; one ends of a pair of internal and external rotation training pull ropes (530) are detachably connected to the outer side face of the base for a user to pull, and the other ends of the pull ropes move from bottom to top through the supporting frame to drive the rollers to rotate left and right on the arc-shaped rails so as to pull the foot support to rotate left and right to achieve internal and external rotation training. The rehabilitation device is large in foot freedom degree and more comfortable and natural, ankle joints can be plantar flexion and dorsal extension, training can be conducted as soon as possible in the lying position, the rehabilitation effect is improved, and the rehabilitation time is shortened.

Description

Technical Field

[0001] This utility model relates to a medical device and a rehabilitation training device, and particularly to a hip and ankle joint internal and external rotation training device. Background Technology

[0002] With the rapid development of science and technology in today's society, people's living standards have greatly improved. China also faces the same problems as many other countries in the world: it is rapidly entering an aging society. Because many elderly people suffer from neurological or cerebrovascular diseases, the incidence of these diseases is increasing every year; among stroke patients, approximately 70% to 80% will experience varying degrees of lower limb motor dysfunction.

[0003] In recent years, with the rapid development of intelligent rehabilitation technology, lower limb rehabilitation robot technology, through weight reduction and repeated training of standardized normal physiological gait, enables patients with lower limb movement disorders to undergo scientific and effective rehabilitation training, thereby restoring their walking ability. However, in clinical practice, this training model has been found to be less effective in restoring limb function for patients with muscle strength below grade three or those with Parkinson's disease. Exoskeleton systems, based on bionic principles and with a structure close to anatomy, can organically combine robotics technology with rehabilitation therapy, assisting patients in specific joint training and improving physical function; however, only 55% of patients receiving rehabilitation therapy regain their walking ability.

[0004] Patients with neurological or cerebrovascular diseases often suffer from hip fractures due to gait abnormalities, making it extremely difficult to restore lower limb motor function. Hip fractures are also the most common lower limb fractures in the elderly. Surgery is the main treatment for hip fractures in the elderly to improve their walking ability, but only 40% to 60% of patients recover their activity level to the pre-fracture level after surgery. There are no reports on the use of robotic lower limb rehabilitation training for patients after internal fixation of hip fractures.

[0005] To better facilitate the recovery of muscle strength in patients with lower limb dysfunction before standing training, and to make lower limb walking training feasible, thereby promoting the recovery of lower limb walking function, literature reports that experts have designed training modes for lower limb rehabilitation robots with two degrees of freedom and three combined degrees of freedom. One such mode involves core muscle training in a supine position. While this training program can promote safe and early lower limb rehabilitation, it still has shortcomings. The training mode of the two-degree-of-freedom lower limb rehabilitation robot is essentially a passive hip and knee training mode, failing to consider the ankle joint's own range of motion and training status. Foot training plays a crucial role in the rehabilitation of lower limb function. Although the three-degree-of-freedom lower limb rehabilitation robot is designed to meet the rehabilitation movements of the thigh, calf, and ankle joints, its drive mechanism only uses hydraulic drive and lacks resistance training, making it very difficult to restore lower limb muscle strength.

[0006] To enable the researched and developed lower limb rehabilitation training device to be used for patients with lower limb dysfunction caused by neurological damage, hip fracture, or both stroke and hip fracture, for multi-joint, multi-range, anti-spasticity, and resistance training of the lower limbs, the applicant has also designed an intelligent multi-functional lower limb rehabilitation training all-in-one machine, with application number CN202210340685.9 and invention title "Intelligent Multifunctional Lower Limb Rehabilitation Training All-in-One Machine". However, during further research and development, the following defects were found in this all-in-one machine:

[0007] 1) During hip and knee joint internal and external rotation training, the range of motion is small and the freedom of movement is insufficient. While performing internal and external rotation training, the ankle cannot plantarflex and can only passively perform internal and external rotation under dorsiflexion. This prevents the muscles from being in a free and relaxed state for activity, so it is easy to damage the muscles and ligaments and may cause tension in the sensory muscles of the ankle joint.

[0008] 2) The angle of the feet is fixed, making it impossible to use equipment to relax the lower limbs through foot relaxation techniques, and also impossible to use equipment for anti-spasm operations.

[0009] 3) Insufficient freedom of foot movement prevented simulation of gait training in a supine position.

[0010] 4) Training can only be conducted under a power system. Clinical applications have shown that passive training can only be used for short periods, while active training is the best way to promote better recovery of limb function and overall physical and mental health in patients.

[0011] 5) Only single-limb training mode is available; multi-limb coordination is not supported. Utility Model Content

[0012] The technical problem to be solved by this utility model is to provide a hip and ankle joint internal and external rotation training device that allows for greater foot freedom, greater comfort, plantar flexion and dorsiflexion of the ankle and toe joints, and early assisted or active training even when lying down.

[0013] To solve the above-mentioned technical problems, this utility model provides a hip and ankle joint internal and external rotation training device, including a base, a foot support supported on the base, and a support frame on the back of the foot support. The support frame, which can tilt forward under external force and automatically return to its original position, has an internal and external rotation training arc track. The top of the internal and external rotation training arc track is provided with a through hole. The bottom of the foot support is provided with a roller for internal and external rotation that is detachably inserted into the through hole and rotatably locked onto the track. One end of a pair of internal and external rotation training pull ropes is detachably connected to the outer side of the first end of the base for the user to pull. The other end is connected to the support frame from bottom to top, driving the internal and external rotation rollers to rotate left and right on the internal and external rotation training arc track, thereby pulling the foot support plate to rotate left and right. The ends of each pair of internal and external rotation training pull ropes can be hung on the fixed positions or hanging rings on both sides of the first end of the base.

[0014] The middle portion of each of the internal and external rotation training ropes passes through rope fixing tubes set on both sides of the base.

[0015] On both sides of the end of the base, near the support frame, a vertical connecting plate extends laterally. The inner side of the support frame is rotatably connected to the outer side of the vertical connecting plate. An arc-shaped track extends forward from the outer edge of each vertical connecting plate, with the groove facing upward and a return spring built into its lowest point. A rigid vertical slide rod extends forward vertically from both sides of the support frame, and the outer end of each vertical slide rod is limited to slide within the arc-shaped track. In the initial state without external force, the support frame is upright, the outer end of the vertical slide rod is at the top of the arc-shaped track, and the spring is in a free state. When the foot bracket presses down on the support frame, the support frame tilts forward, and the outer end of the vertical slide rod slides down within the arc-shaped track, compressing the return spring. When the plantar flexing force is removed, the restoring force of the return spring causes the outer end of the vertical slide rod to rise, straightening the support frame again.

[0016] Each of the vertical connecting plates is connected to a hydraulic rod connecting seat at the rear, from which a hydraulic rod extends and connects to the support frame.

[0017] The circular track is a quarter circle.

[0018] The support frame includes triangular brackets on both sides; each triangular bracket consists of a telescopic rod, a support rod, and a bottom connecting rod; the telescopic rod is located on the inner side, close to the vertical connecting plate, and is rotatably connected to the vertical connecting plate through a rotating shaft; the upper end of the support rod is fitted over the telescopic rod, allowing it to extend and retract; the bottom connecting rod is fixedly connected between the bottom of the telescopic rod and the support rod; the top end of the telescopic rod is connected to the inner and outer rotating training arc track, forming an arched support frame.

[0019] On the outside of each of the vertical connecting plates, a support frame housing is used to protect the lower part of the arc track, vertical slide bar and telescopic rod; the top and bottom of the support frame housing are provided with narrow openings to allow the telescopic rod to swing back and forth; the support rod and bottom connecting rod are located outside the support frame housing.

[0020] A pair of inner and outer rotation training ropes ascend from the narrow openings at the bottom of the support frame housing on both sides, and are directly or indirectly connected to the inner and outer rotation rollers.

[0021] The inner and outer rotation training arc track has a through hole with a tension ring that can be slidably locked inside the track. The inner and outer rotation rollers are fitted inside the tension ring, and the two inner and outer rotation training ropes are respectively connected to both sides of the tension ring.

[0022] The inner and outer rotation training arc track is provided with roller grooves for accommodating inner and outer rotation rollers and support rails for supporting the operation of the rollers. The through hole faces the foot bracket and accommodates the inner and outer rotation rollers entering and exiting the roller grooves. On the side near the foot bracket, there is also a tension ring running groove rail parallel to the roller grooves.

[0023] The inner and outer rotation rollers have a built-in third motor for automatic inner and outer rotation training; an electrical control box or control panel controls the operation of the third motor; the electrical control box or control panel has a display screen and control buttons.

[0024] Compared with existing technologies, the main advantages of this invention are: a combination of rigidity and flexibility, and the addition of internal and external rotation training ropes, allowing the left and right hands to pull the ropes alternately to assist the affected limb in internal and external rotation training; when both hands pull the ropes simultaneously, it also allows for plantar flexion of the foot. The support frame can tilt forward and automatically return to its original position under external force, giving the foot undergoing internal and external training an additional degree of freedom. During training, the ankle and toe joints can freely plantarflex and dorsiflex, becoming more relaxed. This not only prevents sports injuries to the ankle joint but also increases comfort and improves rehabilitation effects. This invention's device can also provide lower limb relaxation therapy using traditional Chinese medicine techniques. Based on the applicant's successful experience with various manual therapies, this invention integrates multiple functional training modes and multi-joint training modes into one machine. The machine is also small and portable, making it very convenient to operate for medical staff, caregivers, and patients themselves. Moreover, its structure is ingenious and simple, and its cost is low. This invention also employs electric control; when the patient is completely unable to perform active or assisted training, the motor can be activated to begin rehabilitation training as early as possible. This device can be used alone or integrated into a multifunctional lower limb rehabilitation training device that combines rigidity and flexibility, becoming part of it. Attached Figure Description

[0025] Figure 1This is a three-dimensional schematic diagram of the hip and ankle joint internal and external rotation training device of this utility model.

[0026] Figure 2 This is a three-dimensional schematic diagram of the hip and ankle joint internal and external rotation training device of this utility model from another angle.

[0027] Figure 3 This is a cross-sectional schematic diagram of the hip and ankle joint internal and external rotation training device of this utility model.

[0028] Figure 4 yes Figure 2 Enlarged view of part A.

[0029] Figure 5 This is a three-dimensional schematic diagram of the hip and ankle joint internal and external rotation training device of this utility model integrated into a multifunctional lower limb rehabilitation training device that combines rigidity and flexibility. Detailed Implementation

[0030] The technical solutions of the preferred embodiments of this application will be further described in detail below with reference to the accompanying drawings.

[0031] For ease of description, let's use Figure 1 For reference, based on the feeling of a person's feet when operating the training device, movement of the feet toward the control box is defined as forward, and vice versa as backward.

[0032] like Figure 1-5As shown, the hip and ankle joint internal and external rotation training device of this utility model mainly includes a base 100, a foot support 230, and a support frame 510 on the back of the foot support. The support frame is upright in its natural state and can tilt forward and automatically return to its original position under external force. The support frame has an internal and external rotation training arc track 520. The top of the internal and external rotation training arc track 520 is provided with a through hole 521. The bottom plate of the support is provided with a corresponding position of an internal and external rotation roller 450 that can be inserted into the through hole and supported to rotate on the track. One end of a pair of internal and external rotation training pull ropes 530 is detachably connected to the outer side of the first end connector 120 for the user to pull. The other end is connected to the support frame 510 from bottom to top, driving the internal and external rotation roller 450 to rotate left and right on the internal and external rotation training arc track 520, thereby pulling the foot support plate 232 to rotate left and right, realizing the internal and external rotation training of the user's foot. If used solely for internal and external rotation training, the support frame can be of various types, as long as it has an arc-shaped track 520 for internal and external rotation training at the top, providing support for the internal and external rotation rollers 450 to roll left and right. The internal and external rotation training rope 530 can be directly or indirectly connected to the internal and external rotation rollers 450, as long as it can drive them to roll left and right. As a preferred embodiment, a triangular support frame can be used. For example, the support frame 510 includes triangular supports on both sides; each triangular support consists of a telescopic rod 550, a support rod 560, and a bottom connecting rod 570; the telescopic rod 550 is located on the inner side, close to the vertical connecting plate 130, and is rotatably connected to the vertical connecting plate 130 through a rotating shaft 580; the upper end of the support rod 560 is fitted over the telescopic rod 540 to allow it to extend and retract; the bottom connecting rod 560 is fixedly connected between the bottom of the telescopic rod 550 and the support rod 560; the top end of the telescopic rod 550 is connected to the arc-shaped track 520 for internal and external rotation training, forming an arc-shaped support frame.

[0033] On both sides of the end of the base 100, near the support frame 510, a vertical connecting plate 130 extends laterally. The inner side of the support frame 510 is rotatably connected to the outer side of the vertical connecting plate 130, specifically through a rotating shaft 580. An arc track 131, preferably a quarter arc, extends forward from the outer edge of each vertical connecting plate 130, with the groove facing upward and a return spring (not shown in the figure) built into its lowest point. A rigid vertical slide rod 540 extends forward vertically from the telescopic rods 550 on both sides of the support frame 510, and the outer end of each vertical slide rod is limited to slide within the arc track 131 at the corresponding position. In order to more stably hold the support frame and more forcefully restore the vertical state of the support frame, a hydraulic rod connecting seat 132 is connected to the back of each vertical connecting plate 130, and a hydraulic rod 133 extends from it and connects to the telescopic rod 550 of the support frame 510. In the initial state without external force, the support frame is upright, the outer end of the vertical slide bar 540 is at the top of the arc track 131, and the spring is in a free state. When the user's foot actively, passively, or assisted to step forward or plantarflex, the foot bracket 230 presses down on the support frame 510, the telescopic rod 550 and the support frame 510 tilt forward, and the outer end of the vertical slide bar 540 slides down in the arc track 131, compressing the return spring. When the forward or plantarflexing force is removed, the restoring force of the return spring and the hydraulic rod causes the outer end of the vertical slide bar 540 to move upward, restoring the support frame 510 to an upright position.

[0034] On the outside of each of the vertical connecting plates 130, a support frame housing 501 is used to protect the lower part of the arc track 131, the vertical slide bar 540 and the telescopic rod 550; the top and bottom of the support frame housing 501 are provided with narrow openings to allow the telescopic rod 550 to swing back and forth; the support rod 560 and the bottom connecting rod 570 are located outside the support frame housing 501.

[0035] A pair of internal and external rotation training ropes 530 are inserted upwards from the narrow openings at the bottom of the support frame housing 501 on both sides, and connected to the internal and external rotation rollers 450. The connection can be direct or indirect. When both internal and external rotation training ropes 530 are pulled simultaneously, the support frame will tilt forward. When the pulling force is removed, the support frame will rebound under the action of the hydraulic rod 133 returning to its original position and the return spring of the arc track 131, thereby realizing active plantar flexion and extension training controlled by ropes. As a preferred embodiment, a tension ring 525 that can be slidably locked in the track is provided at the through hole 521 of the internal and external rotation training arc track 520. The internal and external rotation rollers 450 are fitted inside the tension ring 525, and the two internal and external rotation training ropes 530 are respectively connected to both sides of the tension ring. This is an example of the internal and external rotation training ropes 530 indirectly connecting and driving the internal and external rotation rollers 450. The internal and external rotation training arc track 520 has a roller groove 522 for accommodating the internal and external rotation roller 450 and a support rail 523 for supporting the roller's movement. The through hole 521 faces the foot support and accommodates the internal and external rotation roller 450 entering and exiting the roller groove 522. Near the foot support, there is also a tension ring running groove 524 parallel to the roller groove 522. When the trainee pulls the internal and external rotation training rope 530 with their left hand, the tension ring 525 pulls the internal and external rotation roller 450 to rotate to the left on the internal and external rotation training arc track 520, causing the affected leg's hip joint to rotate to the left. When the trainee pulls the internal and external rotation training rope 530 with their right hand, the affected leg's hip joint rotates to the right. When both hands pull the internal and external rotation training ropes 530 simultaneously, the support frame tilts forward and then returns to its original position, thus achieving voluntary internal and external rotation training combined with voluntary plantar flexion and dorsiflexion training. Simultaneously, when the foot exerts force forward, the support frame tilts forward and rebounds, allowing for more comfortable and free training. These structures allow for a more natural gait simulation in the supine position, significantly improving training effectiveness. Patients unable to train independently require early and timely training. A third motor 730 is built into the internal and external rotation rollers 450 to provide passive training. The device is equipped with a control panel or an electrical control box 700 connected to the end of the base to control the third motor. The control panel or control box includes a display screen 701 and control buttons 702. The display screen 701 shows parameters such as rotation angle and speed during passive rehabilitation training.

[0036] For ease of use, the ends of a pair of internal and external rotating training ropes 530 can be hung on the fixed positions or hanging rings on both sides of the beginning of the base, and the middle part passes through the rope fixing tubes 160 set on both sides of the base 100.

[0037] The device in this embodiment organically combines multiple control methods, including active training control, assisted training control, and passive training control. Regardless of the training control method, during the inward and outward rotation control process of this invention, the inward and outward rotation training arc track can naturally tilt forward due to the forward force applied by the feet, and automatically return to its original position when the forward force is removed. Multiple forms of training can be conducted.

[0038] Active training: Insert the inward and outward rotation roller 450 on the back of the foot support 230 into the through hole 521 at the top of the inward and outward rotation training arc track 520, and the inward and outward rotation roller 450 is locked and supported in the track; place the patient's foot in the foot support, and the hip and ankle joint actively perform inward and outward rotation movements, which will drive the foot support to rotate inward and outward along the top of the inward and outward rotation training arc track 520;

[0039] Assisted training: Insert the internal and external rotation rollers 450 on the back of the foot support 230 into the through hole 521 at the top of the internal and external rotation training arc track 520. The internal and external rotation rollers 450 are secured and supported within the track. The patient pulls the corresponding internal and external rotation training ropes 530 with both upper limbs in turn. The internal and external rotation training ropes 530 drive the internal and external rotation rollers 450 to roll back and forth in the arc track. When both internal and external rotation training ropes 530 are pulled at the same time, the internal and external rotation training arc track 520 and its supporting frame 510 will tilt forward. When the pulling force is removed, the supporting frame will rebound under the action of the return force of the hydraulic rod 133 and the return spring of the arc track 131, thereby realizing the active plantar flexion training controlled by manually assisted rope pulling.

[0040] Passive training: Insert the inner and outer rotation rollers 450 on the back of the foot support 230 into the through hole 521 at the top of the inner and outer rotation training arc track 520, and the inner and outer rotation rollers 450 are locked and supported in the track; start the corresponding third motor 730, and the third motor 730 drives the inner and outer rotation rollers 450 to roll back and forth in the arc track.

[0041] In addition to the aforementioned passive, assisted, and autonomous training, lower limb relaxation training can also be performed: Keep the left lower limb straight and the foot in a free position; continue to keep the left lower limb straight, plantarflex the footplate, and use rollers 450 connected to the internal and external rotation training arc track 520 to quickly step on the footplate with each toe of the left foot at a radius of 5-10° for 1-2 minutes (20-30 times / minute back and forth). Through the rebound force, the ankle joint achieves rapid dorsiflexion and plantarflexion movements, which can drive the rapid vibration of the entire lower limb anterior and posterior muscle groups. Through the support frame, swing the left foot rapidly to the left and outward at a radius of 5-10° for 1-2 minutes (20-30 times / minute back and forth), achieving rapid vibration of the left lower limb internal and external muscle groups. These two movements realize the lower limb relaxation treatment of traditional Chinese medicine techniques.

Claims

1. A hip and ankle joint internal and external rotation training device, comprising a base (100) and a foot support (230) supported on the base, characterized in that: On the back of the foot support, there is a support frame (510) that can tilt forward and automatically return to its original position under external force. The support frame has an inward and outward rotation training arc track (520). The top of the inward and outward rotation training arc track (520) is provided with a through hole (521). On the back of the foot support (230), there is a roller (450) for inward and outward rotation that can be detachably inserted into the through hole and rotatably mounted on the track. One end of a pair of inward and outward rotation training pull ropes (530) is detachably connected to the outer side of the front end of the base (100) for the user to pull. The other end is connected to the support frame (510) and moves from bottom to top, driving the roller (450) for inward and outward rotation to rotate left and right on the inward and outward rotation training arc track (520), thereby pulling the foot support (230) to rotate left and right.

2. The hip and ankle joint internal and external rotation training device according to claim 1, characterized in that: The ends of each pair of inner and outer rotation training ropes (530) can be hung on the fixed positions or hanging rings on both sides of the beginning of the base.

3. The hip and ankle joint internal and external rotation training device according to claim 2, characterized in that: The middle portion of each of the internal and external rotation training ropes (530) passes through the rope fixing tubes (160) set on both sides of the base (100).

4. The hip and ankle joint internal and external rotation training device according to claim 1, characterized in that: On both sides of the end of the base (100), near the support frame (510), a vertical connecting plate (130) extends laterally. The inner side of the support frame (510) is rotatably connected to the outer side of the vertical connecting plate (130). An arc track (131) extends forward from the outer edge of each vertical connecting plate (130), with the groove facing upward and a return spring built into its lowest point. A rigid vertical slide rod (540) extends forward vertically from both sides of the support frame (510), and the outer end of each vertical slide rod is limited by the support frame (510). The support frame slides within the arc track (131); in the initial state without external force, the support frame is in an upright state, the outer end of the vertical slide rod (540) is at the top of the arc track (131), and the spring is in a free state; when the foot bracket presses down on the support frame (510), the support frame (510) tilts forward, and the outer end of the vertical slide rod (540) slides down within the arc track (131), squeezing the return spring; when the plantar flexion force is removed, the restoring force of the return spring causes the outer end of the vertical slide rod (540) to move upward, making the support frame (510) upright again.

5. The hip and ankle joint internal and external rotation training device according to claim 4, characterized in that: Each of the vertical connecting plates (130) is connected to a hydraulic rod connecting seat (132) at the rear, from which a hydraulic rod (133) extends and is connected to the support frame (510).

6. The hip and ankle joint internal and external rotation training device according to claim 4, characterized in that: The circular track (131) is a quarter circle.

7. The hip and ankle joint internal and external rotation training device according to claim 4, characterized in that: The support frame (510) includes triangular supports on both sides; each triangular support consists of a telescopic rod (550), a support rod (560), and a bottom connecting rod (570); the telescopic rod (550) is located on the inner side, close to the vertical connecting plate (130), and is rotatably connected to the vertical connecting plate (130) through a rotating shaft (580); the upper end of the support rod (560) is sleeved on the telescopic rod (550), allowing it to extend and retract; the bottom connecting rod (570) is fixedly connected between the bottom of the telescopic rod (550) and the support rod (560); the top end of the telescopic rod (550) is connected to the inner and outer rotating training arc track (520) to form an arc-shaped support frame.

8. The hip and ankle joint internal and external rotation training device according to claim 7, characterized in that: On the outside of each of the vertical connecting plates (130), a support frame housing (501) is used to protect the lower part of the arc track (131), the vertical slide bar (540) and the telescopic rod (550); the top and bottom of the support frame housing (501) are provided with narrow openings for the telescopic rod (550) to swing back and forth; the support rod (560) and the bottom connecting rod (570) are located outside the support frame housing (501).

9. The hip and ankle joint internal and external rotation training device according to claim 8, characterized in that: A pair of inner and outer rotation training ropes (530) ascend from the narrow openings at the bottom of the support frame housing (501) on both sides and are directly or indirectly connected to the inner and outer rotation rollers (450).

10. The hip and ankle joint internal and external rotation training device according to claim 1 or 9, characterized in that: The inner and outer rotation training arc track (520) has a tension ring (525) that can be slidably locked inside the track at the through hole (521). The inner and outer rotation roller (450) is fitted inside the tension ring (525), and the two inner and outer rotation training ropes (530) are respectively connected to the two sides of the tension ring.

11. The hip and ankle joint internal and external rotation training device according to claim 10, characterized in that: The inner and outer rotation training arc track (520) is provided with a roller groove (522) for accommodating the inner and outer rotation roller (450) and a support rail (523) for supporting the roller. The through hole (521) faces the foot bracket and accommodates the inner and outer rotation roller (450) entering and exiting the roller groove (522). On the side near the foot bracket, there is also a tension ring running groove rail (524) parallel to the roller groove (522).

12. The hip and ankle joint internal and external rotation training device according to claim 1, characterized in that: The inner and outer rotation roller (450) has a built-in third motor (730) for automatic inner and outer rotation training; an electrical control box (700) or control panel controls the operation of the third motor; the electrical control box (700) or control panel has a display screen (701) and control buttons (702).

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