Rehabilitation elliptical machine

Abstract

The present invention provides an elliptical machine for rehabilitation. The elliptical machine for rehabilitation includes a frame, a step length adjustment mechanism and a pedal mechanism. The step length adjustment mechanism includes a step length rod, a mounting bracket, a lead screw and a slider. The step length rod has a first end. A driving motor is arranged on the mounting bracket. The lead screw is connected to the output shaft of the driving motor. The slider is threadedly connected to the lead screw. The first end of the step length rod is fixedly connected to the slider. When the driving motor is started, the lead screw drives the slider to slide under the drive of the driving motor to drive the step length rod. The step length adjustment mechanism of the present invention can drive the step length rod under the drive of the driving motor. When the elliptical machine for rehabilitation is provided with the step length adjustment mechanism, the step length can be automatically adjusted within a certain range, which is not only convenient to use, but also can ensure the safety of people with lower limb injuries and stroke people.

Description

Technical Field

[0001] The invention relates to medical rehabilitation equipment, in particular to an elliptical machine for rehabilitation. Background Art

[0002] The elliptical machine is a comprehensive training machine that combines walking, jogging, and stationary cycling into one. It is an aerobic exercise machine that is particularly suitable for beginners or people with heavy weight or lower limb joint injuries.

[0003] The stride length of current elliptical machines is basically fixed. Even if it is adjustable, it is adjusted through mechanical gears, which is inconvenient for people with lower limb injuries and stroke patients. Summary of the invention

[0004] In view of the above problems, according to one aspect of the present invention, a step length adjustment mechanism is provided.

[0005] The step length adjustment mechanism provided by the present invention comprises a step length rod, a mounting bracket, a lead screw and a slider. The step length rod has a first end. A driving motor is arranged on the mounting bracket. The lead screw is connected to the output shaft of the driving motor. The slider is threadedly connected to the lead screw. The first end of the step length rod is fixedly connected to the slider. When the driving motor is started, the lead screw drives the slider to slide under the drive of the driving motor to drive the step length rod.

[0006] By way of example, a first support seat and a second support seat are provided on the mounting bracket, and the first support seat and the second support seat are respectively supported at two ends of the lead screw.

[0007] For example, the mounting bracket is further provided with a slide rail, the slide rail is located between the first support seat and the second support seat and is arranged parallel to the lead screw, and the slider is slidably connected to the slide rail.

[0008] According to another aspect of the present invention, there is provided an elliptical machine for rehabilitation, the elliptical machine for rehabilitation comprising a frame, a pedal mechanism and a step length adjustment mechanism, the pedal mechanism and the step length adjustment mechanism are both arranged on the frame, and the step length adjustment mechanism comprises:

[0009] a step length rod having a first end;

[0010] A mounting bracket, wherein a driving motor is arranged on the mounting bracket;

[0011] a lead screw connected to an output shaft of the drive motor; and

[0012] A slider, the slider being threadedly connected to the lead screw;

[0013] Wherein, the first end is fixedly connected to the slider, and when the drive motor is started, the lead screw drives the slider to slide under the drive of the drive motor, so as to drive the step rod;

[0014] The mounting bracket is connected to the frame, and a curvilinear motion driving mechanism is also arranged on the frame. The curvilinear motion driving mechanism is connected to the pedal mechanism. The step length rod has a second end away from the first end, and the pedal mechanism is connected to the second end.

[0015] For example, the foot pedal mechanism includes:

[0016] A bottom plate, wherein a transverse guide rail is provided on the bottom plate;

[0017] An intermediate connecting plate, wherein the intermediate connecting plate is slidably connected to the bottom plate via the transverse guide rail, and a rotating disk is arranged on the intermediate connecting plate;

[0018] A foot pedal, the foot pedal is fixedly connected to the turntable;

[0019] A first driving mechanism, the first driving mechanism is connected to the rotating disk and can drive the rotating disk to rotate relative to the middle connecting plate; and

[0020] a second driving mechanism, the second driving mechanism being connected to the middle connecting plate and capable of driving the middle connecting plate to move laterally relative to the bottom plate;

[0021] The first driving mechanism and the second driving mechanism both include servo motors.

[0022] For example, the first driving mechanism includes a first driving member, a first driving wheel, a first synchronous belt and a first guide wheel for guiding the first synchronous belt, the first driving wheel is arranged on the output end of the first driving member, and the first synchronous belt is connected between the first driving wheel and the turntable.

[0023] By way of example, the second driving mechanism includes a second driving member, a second driving wheel, a second synchronous belt and a second guide wheel for guiding the second synchronous belt, the second driving wheel is arranged on the output end of the second driving member, the two ends of the second synchronous belt are respectively fixed on the left and right sides of the base plate, the middle section of the second synchronous belt is wound around the second driving wheel, and the second guide wheel is fixedly connected to the intermediate connecting plate.

[0024] For example, a second driving member mounting plate is fixedly connected to one side end of the second guide wheel, and the second driving member is arranged on the second driving member mounting plate.

[0025] For example, a transition connecting plate is fixedly connected to the other side end of the second guide wheel, the bottom of the side of the transition connecting plate facing away from the second guide wheel is fixed to the middle connecting plate, and a first drive member mounting plate is fixedly connected above the transition connecting plate, and the first drive member is arranged on the first drive member mounting plate.

[0026] For example, a guide wheel mounting frame is provided on the upper surface of the intermediate connecting plate close to the transition connecting plate, and the first guide wheel is provided on the guide wheel mounting frame.

[0027] For example, the foot pedal is provided with an adjustment strap for fixing the foot.

[0028] For example, the frame is further provided with a curvilinear motion driving mechanism, a pedal connecting rod is passed through the lower part of the base plate, the curvilinear motion driving mechanism is connected to the pedal connecting rod, and the second end of the step length rod is connected to the pedal connecting rod.

[0029] For example, the curvilinear motion driving mechanism includes a third driving member and a crank mechanism, the third driving member drives the crank mechanism through a transmission mechanism, and the pedal connecting rod is connected to the crank mechanism.

[0030] The step length adjustment mechanism of the present invention can drive the step length rod under the drive of the driving motor. When the rehabilitation elliptical machine is provided with the step length adjustment mechanism, the step length can be automatically adjusted within a certain range, which is not only convenient to use, but also can ensure the safety of people with lower limb injuries and stroke patients. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The above and other purposes, features and advantages of the present invention will become more apparent by describing the embodiments of the present invention in more detail in conjunction with the accompanying drawings. The accompanying drawings are used to provide a further understanding of the embodiments of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings, the same reference numerals generally represent the same components or steps.

[0032] Figure 1 is a three-dimensional diagram of an elliptical machine for rehabilitation according to an embodiment of the present invention;

[0033] Figure 2 is a three-dimensional diagram of a foot pedal mechanism of an elliptical machine for rehabilitation according to an embodiment of the present invention;

[0034] Figure 3 yes Figure 2 A three-dimensional diagram of the pedal mechanism without the pedal;

[0035] Figure 4 yes Figure 2A detailed diagram of the connection between the middle connecting plate of the pedal mechanism and the second driving mechanism;

[0036] Figure 5 is a bottom view of an elliptical machine for rehabilitation according to an embodiment of the present invention;

[0037] Figure 6 is a three-dimensional diagram of a step length adjustment mechanism of an elliptical machine for rehabilitation according to an embodiment of the present invention;

[0038] Figure 7 Schematic diagram of the adjustment relationship of the step length adjustment mechanism of the rehabilitation elliptical machine according to an embodiment of the present invention.

[0039] Among them, the accompanying drawings are marked

[0040] 10—Rack

[0041] 11—Base

[0042] 12—Stand

[0043] 20—Pedal mechanism

[0044] 21 - Base plate

[0045] 211—Horizontal guide rail

[0046] 22—Middle connecting plate

[0047] 221—Chute

[0048] 23—Turntable

[0049] 24—Pedals

[0050] 241—Adjust the strap

[0051] 25—First driving mechanism

[0052] 251—First driving member

[0053] 252—First driving wheel

[0054] 253—First synchronous belt

[0055] 254—First guide wheel

[0056] 255—First drive member mounting plate

[0057] 256—Guide wheel mounting bracket

[0058] 26—Second driving mechanism

[0059] 261—Second driving member

[0060] 262—Second driving wheel

[0061] 263—Second synchronous belt

[0062] 264—Second guide wheel

[0063] 265—Second drive member mounting plate

[0064] 27—Transition plate

[0065] 28—pedal connecting rod

[0066] 30—Curve motion drive mechanism

[0067] 31—Third drive member

[0068] 32—Crank mechanism

[0069] 40—Step length adjustment mechanism

[0070] 41—Step length rod

[0071] 411—First End

[0072] 412—Second End

[0073] 42—Mounting bracket

[0074] 43—Drive motor

[0075] 44—Screw

[0076] 45—Slider

[0077] 46—First support seat

[0078] 47—Second support seat

[0079] 48—Slide rail DETAILED DESCRIPTION

[0080] In order to make the purpose, technical scheme and advantages of the present invention more obvious, the exemplary embodiments according to the present invention will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments of the present invention, and it should be understood that the present invention is not limited to the exemplary embodiments described herein. Based on the embodiments of the present invention described in the present invention, all other embodiments obtained by those skilled in the art without creative work should fall within the protection scope of the present invention.

[0081] The elliptical machine for rehabilitation provided by the present invention is used to provide auxiliary rehabilitation exercises for people with lower limb injuries and stroke patients.

[0082] Combined with reference Figure 1 The rehabilitation elliptical machine provided by the present invention includes a frame 10, a pedal mechanism 20 and a step length adjustment mechanism 40, and the pedal mechanism 20 and the step length adjustment mechanism 40 are both arranged on the frame 10.

[0083] The frame 10 is used to provide support for the entire rehabilitation elliptical machine. For example, the frame 10 includes a base 11 and a stand 12 fixedly connected to the base 11. Casters can also be installed under the base 11 to facilitate the movement of the rehabilitation elliptical machine.

[0084] Combined with reference Figures 2 to 5 The pedal mechanism 20 includes a base plate 21 , an intermediate connecting plate 22 , a pedal 24 , a first driving mechanism 25 and a second driving mechanism 26 .

[0085] The bottom plate 21 is provided with a transverse guide rail 211, where the transverse direction is perpendicular to the length direction of the bottom plate 21, and the length direction of the bottom plate 21 is consistent with the length direction of the patient's foot. Figure 5 As shown, the bottom of the bottom plate 21 has a through hole, and the main function of the through hole is to allow the pedal connecting rod 28 described later to pass through.

[0086] The middle connecting plate 22 is slidably connected to the bottom plate 21 through the transverse guide rail 211, and a turntable 23 is provided on the middle connecting plate 22. A slide groove 221 is provided on the middle connecting plate 22, and the slide groove 221 cooperates with the transverse guide rail 211, so that the middle connecting plate 22 can move left and right along the transverse guide rail 211.

[0087] The foot pedal 24 is fixedly connected to the turntable 23 .

[0088] The first driving mechanism 25 is connected to the rotating disk 23, and can drive the rotating disk 23 to rotate relative to the middle connecting plate 22. Since the foot pedal 24 is fixedly connected to the rotating disk 23, when the rotating disk 23 rotates relative to the middle connecting plate 22, the foot pedal 24 will be driven to rotate together. Specifically, the first driving mechanism 25 includes a first driving member 251, a first driving wheel 252, a first synchronous belt 253, and a first guide wheel 254 for guiding the first synchronous belt. The first driving wheel 252 is arranged on the output end of the first driving member 251, and the first synchronous belt 253 is connected between the first driving wheel 252 and the rotating disk 23. Exemplarily, the first driving member 251 can adopt a common servo motor. In this way, the first driving member 251 drives the first driving wheel 252 to rotate, and the first driving wheel 252 drives the rotating disk 23 to rotate through the first synchronous belt 253 and the first guide wheel 254. The foot pedal 24 is installed on the rotating disk 23, thereby realizing the rotation of the foot pedal 24.

[0089] The second driving mechanism 26 is connected to the middle connecting plate 22, and can drive the middle connecting plate 22 to move horizontally relative to the bottom plate 21. Specifically, the second driving mechanism 26 includes a second driving member 261, a second driving wheel 262, a second synchronous belt 263, and a second guide wheel 264 for guiding the second synchronous belt 263. The second driving wheel 262 is arranged on the output end of the second driving member 261, and the two ends of the second synchronous belt 263 are respectively fixed on the left and right sides of the bottom plate 21. The middle section of the second synchronous belt 263 is wound around the second driving wheel 262, and the second guide wheel 264 is fixedly connected to the middle connecting plate 22. Exemplarily, the second driving member 261 can adopt a common servo motor. In this way, the second driving member 261 drives the second driving wheel 262 to rotate. Since the two sides of the second synchronous belt 263 are fixed, the second guide wheel 264 is fixed on the middle connecting plate 22. The second driving wheel 262 moves left and right, and the second guide wheel 264 moves left and right, thereby driving the middle connecting plate 22 to drive the pedal 24 to move left and right.

[0090] For example, a second driving member mounting plate 265 is fixedly connected to one side end of the second guide wheel 264, and the second driving member 261 is arranged on the second driving member mounting plate 265. A transition connecting plate 27 is fixedly connected to the other side end of the second guide wheel 264, and the bottom of the side of the transition connecting plate 27 facing away from the second guide wheel 264 is fixed to the middle connecting plate 22, and a first driving member mounting plate 255 is fixedly connected above the transition connecting plate 27, and the first driving member 251 is arranged on the first driving member mounting plate 255. In this way, when the second driving member 261 is in motion, it will drive the middle connecting plate 22 and all the members (including the first driving member 251 and the second driving member 261) installed on the middle connecting plate 22 to move left and right relative to the bottom plate 21.

[0091] In addition, in order to facilitate the installation of the first guide wheel 254 , a guide wheel mounting frame 256 is provided on the upper surface of the middle connecting plate 22 close to the transition connecting plate 27 , and the first guide wheel 254 is provided on the guide wheel mounting frame 256 .

[0092] The footrest 24 is provided with an adjustment fixing belt 241 for fixing the foot, and the adjustment fixing belt 241 can cover the instep to fix the instep. Of course, the entire fixing belt 241 can cover the heel to fix the heel. In the embodiment of the present invention, the footrest 24 includes both an adjustment fixing belt that can cover the instep and an adjustment fixing belt that can cover the heel.

[0093] In order to better provide multi-degree-of-freedom auxiliary rehabilitation exercises for people with lower limb injuries and stroke patients, the elliptical machine for rehabilitation of the present invention is further provided with a curvilinear motion driving mechanism 30 on the frame 10, and a pedal connecting rod 28 is provided on the lower part of the bottom plate 21, and the curvilinear motion driving mechanism 30 is connected to the pedal connecting rod 28. Specifically, the curvilinear motion driving mechanism 30 includes a third driving member 31 and a crank mechanism 32, and the third driving member 31 drives the crank mechanism 32 through a transmission mechanism 33, and the pedal connecting rod 28 is connected to the crank mechanism 32. For example, the third driving member 31 can adopt a common servo motor, and the transmission mechanism 33 can adopt a common belt drive or chain drive. In this way, the transmission mechanism 33 is driven by the third driving member 31, and the transmission mechanism 33 drives the crank mechanism 32 to rotate, and the reciprocating motion of the pedal mechanism 20 is realized through the crank mechanism 32, thereby realizing the curvilinear motion of walking.

[0094] As can be seen from the above, the pedal mechanism 20 of the present invention can realize the rotation of the pedal 24 through the arrangement of the first drive mechanism 25 and the turntable 23; the pedal 24 can be moved left and right through the arrangement of the second drive mechanism 26 and the middle connecting plate 22; the two actions are combined into a curvilinear motion to realize the multi-degree-of-freedom motion of the foot when a person walks. In addition, the first drive mechanism 25 and the second drive mechanism 26 provide the patient with auxiliary motion power, and can provide auxiliary rehabilitation exercises for people with lower limb injuries and stroke patients. Moreover, since the pedal mechanism 20 of the present invention is used on the elliptical machine, and the pedal 24 is connected to the curvilinear motion drive mechanism 30, it provides the patient with auxiliary motion power for walking, and the pedal 24 can be moved left and right and rotated, so that it can be used for different training for different patients.

[0095] Combined with reference Figure 6 The step length adjustment mechanism 40 includes a step length rod 41, a mounting bracket 42, a lead screw 44 and a slider 45. The step length rod 41 has a first end 411 and a second end 412 away from the first end 411. A driving motor 43 is arranged on the mounting bracket 42. The lead screw 44 is connected to the output shaft of the driving motor 43. The slider 45 is threadedly connected to the lead screw 44. The first end 411 of the step length rod 41 is fixedly connected to the slider 45. When the driving motor 43 is started, the lead screw 44 drives the slider 45 to slide under the drive of the driving motor 43 to drive the step length rod 41. The second end 412 of the step length rod 41 is connected to the pedal mechanism 20. Specifically, the second end 412 of the step length rod 41 is connected to the pedal connecting rod 28. In this way, the lead screw 44 drives the slider 45 to slide under the drive of the driving motor 43, and the slider 45 drives the step length rod 41, thereby driving the pedal 24 to achieve step length adjustment.

[0096] The mounting bracket 42 is fixed on the frame 10, specifically, fixed on the stand 12. The mounting bracket 42 is provided with a first support seat 46 and a second support seat 47, which are respectively supported at both ends of the lead screw 44, so that the drive motor 43, the lead screw 44 and the slider 45 are mounted on the mounting bracket 42. The first support seat 46 and the second support seat 47 are provided because the lead screw 44 is a slender member, and needs to rotate and move linearly at the same time during operation, and the slider 45 is also threadedly connected thereto, so during the movement of the lead screw 44, the lead screw 44 may be damaged or even broken, and it is also easy to shake during the movement. By providing two support seats at both ends of the lead screw 44, the above situation can be avoided to a certain extent.

[0097] Of course, even if the first support seat 46 and the second support seat 47 are provided at both ends of the lead screw 44, the lead screw 44 may still shake during its movement. For this reason, a slide rail 48 is provided between the first support seat 46 and the second support seat 47. The slide rail 48 can be fixed on the mounting bracket 42 and arranged parallel to the lead screw 44, and the slider 45 is slidably connected to the slide rail 48. In this way, during the movement of the lead screw 44, the slide rail 48 can share part of the force for the lead screw 44. At the same time, since the slider 45 is slidably connected to the slide rail 48, during the movement of the lead screw 44, the slide rail 48 can also play a guiding role, thereby effectively preventing the lead screw 44 from shaking during its movement, and further preventing the pedal mechanism 20 from shaking.

[0098] Combined with reference Figure 7 By setting the step length adjustment mechanism 40, by adjusting the distance of L1, the distance change of L2 can be finally achieved. The adjustment parameters of an embodiment of the present invention are shown in Table 1.

[0099] Table 1:

[0100] L1(mm) 0 30 60 90 120 150 180 210 240 270 290 L2(mm) 1450 1431 1411 1392 1372 1353 1333 1313 1293 1273 1260

[0101] It can be concluded from the above table that by changing the position of the step length rod 41, the position of the foot pedal 24 can be changed, thereby adjusting the step length of a person walking.

[0102] In summary, it can be seen that the step length adjustment mechanism 40 of the present invention can drive the step length rod 41 under the drive of the driving motor 43. When the step length adjustment mechanism 40 is provided on the rehabilitation elliptical machine, the step length can be automatically adjusted within a certain range, which is not only convenient to use, but also can ensure the safety of people with lower limb injuries and stroke patients.

[0103] In the description of the embodiments of the present invention, it should be understood that the terms "front", "rear", "left", "right", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present invention.

[0104] In the description of the embodiments of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0105] The above is only a specific embodiment of the present invention or an explanation of a specific embodiment. The protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. The protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. An elliptical machine for rehabilitation, characterized in that: The invention comprises a frame, a pedal mechanism and a step length adjustment mechanism, wherein the pedal mechanism and the step length adjustment mechanism are both arranged on the frame. The foot pedal mechanism comprises: A bottom plate, wherein a transverse guide rail is provided on the bottom plate; An intermediate connecting plate, wherein the intermediate connecting plate is slidably connected to the bottom plate via the transverse guide rail, and a rotating disk is arranged on the intermediate connecting plate; A foot pedal, the foot pedal is fixedly connected to the turntable; A first driving mechanism, the first driving mechanism is connected to the rotating disk and can drive the rotating disk to rotate relative to the middle connecting plate; and a second driving mechanism, the second driving mechanism being connected to the middle connecting plate and capable of driving the middle connecting plate to move laterally relative to the bottom plate; The first driving mechanism and the second driving mechanism both include servo motors; The step length adjustment mechanism comprises: a step length rod having a first end; A mounting bracket, wherein a driving motor is arranged on the mounting bracket; a lead screw connected to an output shaft of the drive motor; and A slider, the slider being threadedly connected to the lead screw; Wherein, the first end is fixedly connected to the slider, and when the drive motor is started, the lead screw drives the slider to slide under the drive of the drive motor, so as to drive the step rod; The mounting bracket is connected to the frame, and a curvilinear motion driving mechanism is also arranged on the frame. The curvilinear motion driving mechanism is connected to the pedal mechanism. The step length rod has a second end away from the first end, and the pedal mechanism is connected to the second end.

2. The elliptical machine for rehabilitation according to claim 1, characterized in that: The mounting bracket is provided with a first support seat and a second support seat, and the first support seat and the second support seat are respectively supported at two ends of the lead screw.

3. The elliptical machine for rehabilitation according to claim 2, characterized in that: The mounting bracket is also provided with a slide rail, the slide rail is located between the first support seat and the second support seat and is arranged parallel to the lead screw, and the slider is slidably connected to the slide rail.

4. The elliptical machine for rehabilitation according to claim 1, characterized in that: The first driving mechanism includes a first driving member, a first driving wheel, a first synchronous belt and a first guide wheel for guiding the first synchronous belt. The first driving wheel is arranged on the output end of the first driving member, and the first synchronous belt is connected between the first driving wheel and the turntable.

5. The elliptical machine for rehabilitation according to claim 4, characterized in that: The second driving mechanism includes a second driving member, a second driving wheel, a second synchronous belt and a second guide wheel for guiding the second synchronous belt, the second driving wheel is arranged on the output end of the second driving member, the two ends of the second synchronous belt are respectively fixed on the left and right sides of the base plate, the middle section of the second synchronous belt is wound around the second driving wheel, and the second guide wheel is fixedly connected to the intermediate connecting plate.

6. The elliptical machine for rehabilitation according to claim 5, characterized in that: A second driving member mounting plate is fixedly connected to one side end of the second guide wheel, and the second driving member is arranged on the second driving member mounting plate.

7. The elliptical machine for rehabilitation according to claim 6, characterized in that: A transition connecting plate is fixedly connected to the other side end of the second guide wheel, the bottom of the side of the transition connecting plate facing away from the second guide wheel is fixed to the middle connecting plate, and a first driving member mounting plate is fixedly connected above the transition connecting plate, and the first driving member is arranged on the first driving member mounting plate.

8. The elliptical machine for rehabilitation according to claim 7, characterized in that: A guide wheel mounting frame is arranged on the upper surface of the middle connecting plate close to the transition connecting plate, and the first guide wheel is arranged on the guide wheel mounting frame.

9. The elliptical machine for rehabilitation according to any one of claims 1 to 8, characterized in that: The foot pedal is provided with an adjustment fixing belt for fixing the foot.

10. The elliptical machine for rehabilitation according to claim 9, characterized in that: A pedal connecting rod is provided on the lower part of the bottom plate, the curved motion driving mechanism is connected to the pedal connecting rod, and the second end of the step length rod is connected to the pedal connecting rod.

11. The elliptical machine for rehabilitation according to claim 10, characterized in that: The curvilinear motion driving mechanism comprises a third driving member and a crank mechanism. The third driving member drives the crank mechanism through a transmission mechanism, and the pedal connecting rod is connected to the crank mechanism.

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