A multi-mode ankle joint rehabilitation training device

Abstract

A multi-mode ankle joint rehabilitation training device includes a parallel mechanism, a foot support mechanism mounted on a moving platform of the parallel mechanism, and a lower leg support mechanism mounted on a fixed platform of the parallel mechanism. The moving platform is a right-angled groove. The parallel mechanism has a first branch, a second branch, a third branch, and a fourth branch. The two ends of the groove in the longitudinal direction of the moving platform are connected to the upper ends of the third and fourth branches, respectively, and the two sides of the groove in the longitudinal direction of the moving platform are connected to the upper ends of the first and second branches, respectively. This invention addresses the technical problem of unsatisfactory ankle joint rehabilitation training effects caused by limited degrees of freedom, single training modes, and insufficient strength training in existing ankle joint rehabilitation training devices.

Description

Technical Field

[0001] This invention relates to the field of intelligent robots, specifically a multi-mode ankle joint rehabilitation training device. Background Technology

[0002] In recent years, with the rapid development of robotics technology, robots are increasingly being applied to the medical service field. Currently, hospitals and rehabilitation institutions both domestically and internationally are using rehabilitation robots to provide rehabilitation training services to patients. Lower limb rehabilitation robots have a high degree of automation, and using them for rehabilitation training can effectively improve patients' lower limb motor abilities, making them a key area of ​​development for medical rehabilitation equipment today.

[0003] The ankle joint is one of the most important joints in the human body, and also one of the most easily injured. With the rapid development of society, increasing intelligence, and a growing aging population, functional impairments of the ankle joint caused by sports injuries require rehabilitation training. Similarly, ankle movement disorders caused by stroke, hemiplegia, cerebral palsy, and other diseases also require rehabilitation training. Ankle rehabilitation training has received increasing attention. Ankle dorsiflexion disorders, due to the inability to overcome foot drop during the swing phase of gait, severely affect the recovery of walking ability. Therefore, ankle rehabilitation is extremely important for the overall recovery of patients. Traditional rehabilitation methods for patients with ankle movement disorders require hands-on instruction from physical therapists, consuming a significant amount of time and energy, and cannot guarantee sufficient training time and intensity.

[0004] Currently, some ankle rehabilitation training devices are available both domestically and internationally. However, these devices are complex in structure and lack coordinated movement; most have limited degrees of freedom, single modes, and poor flexibility, making it difficult to generate inversion, eversion, internal rotation, and external rotation movements of the ankle joint, thus failing to meet the diverse training requirements of the ankle joint. Furthermore, these devices lack targeted strength training for the ankle joint, preventing patients from achieving ideal rehabilitation results. With the rapid development of modern technology, many modern production processes require multifunctional and multi-mode devices. The medical device field is no exception. Existing ankle rehabilitation training devices only possess a single working mode and single function, failing to meet the training requirements for different degrees of disease. Therefore, it is essential to develop an ankle rehabilitation training device with multiple operating modes. Summary of the Invention

[0005] The present invention aims to provide a multi-mode ankle joint rehabilitation training device to solve the technical problems of unsatisfactory ankle joint rehabilitation training results caused by the limited degree of freedom, single training mode, and insufficient strength training of existing ankle joint rehabilitation training devices.

[0006] To solve the above technical problems, the specific solution adopted by the present invention is as follows: a multi-mode ankle joint rehabilitation training device, including a parallel mechanism, a foot support mechanism set on a moving platform of the parallel mechanism, and a lower leg support mechanism set on a fixed platform of the parallel mechanism. The moving platform is in the shape of a right-angled groove. The parallel mechanism has a first branch, a second branch, a third branch, and a fourth branch. The two ends of the groove in the longitudinal direction of the moving platform are respectively connected to the upper ends of the third branch and the fourth branch, and the two sides of the groove in the longitudinal direction of the moving platform are respectively connected to the upper ends of the first branch and the second branch.

[0007] Preferably, the first branch includes an R11 revolute joint, an R12 revolute joint, a P11 prismatic joint, an R13 revolute joint, and an R14 revolute joint distributed sequentially from the fixed platform to the moving platform. The axes of the R11 and R12 revolute joints are perpendicular, the axes of the R13 and R12 revolute joints are parallel, and the axes of the R14 revolute joints are perpendicular to each other. The R13 and R14 revolute joints form a universal joint.

[0008] The second branch includes R21 revolute joint, P21 prismatic joint, R22 revolute joint and R23 revolute joint, which are distributed sequentially from the fixed platform to the moving platform. The axes of R21 revolute joint, R11 revolute joint and R12 revolute joint are perpendicular to each other. The axis of P21 prismatic joint is collinear with the axis of R21 revolute joint. The axis of R23 revolute joint is perpendicular to the axis of R22 revolute joint. R23 revolute joint and R22 revolute joint form a universal joint.

[0009] The third branch includes S31 ball joint, P31 locating joint and S32 ball joint, which are distributed sequentially from the fixed platform to the moving platform. The fourth branch includes S41 ball joint, P41 locating joint and S42 ball joint, which are distributed sequentially from the fixed platform to the moving platform.

[0010] The R11 rotary joint, P11 prismatic joint, R21 rotary joint, and P21 prismatic joint all have servo motors for driving.

[0011] Preferably, the foot support mechanism includes forefoot support and heel support, the heel support being L-shaped and having a calf contact portion and a heel contact portion.

[0012] Preferably, the lower leg fitting part is fixedly connected to the upper end of the R14 rotating joint, and the rear foot fitting part is fixedly connected to the upper end of the R23 rotating joint.

[0013] Preferably, both the heel contact part and the forefoot support have threaded holes along the longitudinal direction, and a screw for adjusting the distance between the heel support and the forefoot support is installed in the threaded holes.

[0014] Preferably, the heel contact portion and the forefoot support are rotatably connected, the calf contact portion is fixedly connected to the upper end of the R14 rotating joint, and the forefoot support is fixedly connected to the upper end of the R23 rotating joint.

[0015] Preferably, both the rearfoot support and the forefoot support are provided with adhesive tape for fixing.

[0016] Preferably, it also includes a tensioning mechanism disposed in front of the foot support mechanism. The tensioning mechanism includes a base plate fixed on a fixed platform and an elastic band disposed on the base plate. The elastic band is used to fit over the patient's foot.

[0017] Preferably, the substrate is also provided with a lifting seat for mounting the elastic band, and the lifting seat is slidably mounted on the substrate in a vertical direction.

[0018] Preferably, the calf support mechanism includes a bracket and a calf support groove rotatably mounted on the bracket. The bracket has a frame and multiple telescopic legs located at the bottom of the frame. A track groove for sliding engagement of the telescopic legs is provided on a fixed platform. The frame is a split type and includes two U-shaped frames that slide and engage with each other. The calf support groove is rotatably connected to the U-shaped frame located at the front.

[0019] This invention not only provides a three-rotation movement mode, enabling rehabilitation training of the ankle joint in three degrees of freedom: plantar flexion / dorsiflexion, adduction / abduction, and internal / external rotation, but also allows for rehabilitation training in two and single degrees of freedom. Simultaneously, it provides movement along the vertical axis to simulate ground reaction force, achieving ankle joint strength training. Furthermore, during plantar flexion and dorsiflexion movements, a stretching mechanism can be used for strength training, meeting the rehabilitation training needs at different stages and effectively improving the effectiveness of ankle joint rehabilitation training. This effectively solves the problems of limited degrees of freedom, single mode, and insufficient strength training in existing ankle joint rehabilitation medical devices.

[0020] This invention employs a modular design concept, allowing patients to selectively install a calf support mechanism and a stretching mechanism according to their needs. The calf support mechanism can be adjusted based on the patient's posture and calf length, while the stretching mechanism can also be adjusted according to the position of the patient's foot. Attached Figure Description

[0021] Figure 1 This is the first structural schematic diagram of a multi-mode ankle joint rehabilitation training device according to Embodiment 1 of the present invention.

[0022] Figure 2 This is a second structural schematic diagram of a multi-mode ankle joint rehabilitation training device according to Embodiment 1 of the present invention.

[0023] Figure 3 This is the third structural schematic diagram of a multi-mode ankle joint rehabilitation training device according to Embodiment 1 of the present invention.

[0024] Figure 4 This is a schematic diagram of the foot support mechanism and tensioning mechanism in Embodiment 1 of the present invention.

[0025] Figure 5 This is a schematic diagram of the foot support mechanism and the lower leg support mechanism in Embodiment 1 of the present invention.

[0026] Figure 6 This is a schematic diagram of the parallel mechanism structure of Embodiment 1 of the present invention.

[0027] Figure 7 This is a schematic diagram of the lower leg support mechanism in Embodiment 1 of the present invention.

[0028] Figure 8 This is a schematic diagram of the foot support mechanism in Embodiment 1 of the present invention.

[0029] Figure 9 This is a schematic diagram of the tensioning mechanism in Embodiment 1 of the present invention.

[0030] Figure 10 This is a schematic diagram of the parallel structure and foot support mechanism in a multi-mode ankle joint rehabilitation training device according to Embodiment 2 of the present invention.

[0031] Markings in the diagram: 1. Track groove; 2. Parallel mechanism; 21. First branch; 211. R11 revolute joint; 212. R12 revolute joint; 213. P11 prismatic joint; 214. R13 revolute joint; 215. R14 revolute joint; 22. Second branch; 221. R21 revolute joint; 222. P21 prismatic joint; 223. R22 revolute joint; 224. R23 revolute joint; 23. Third branch; 231. S31 ball joint; 232. P31 prismatic joint; 233. S32 ball joint; 24. Fourth branch; 241. S41 ball joint. 242, P41 moving pair, 243, S42 ball joint, 25, fixed platform, 26, moving platform, 27, first tilting base, 28, second tilting base, 3, lower leg support mechanism, 31, first U-shaped frame, 32, telescopic outrigger, 33, second U-shaped frame, 34, lower leg support groove, 4, foot support mechanism, 41, rear foot support, 42, forefoot support, 43, screw, 44, lower leg fitting part, 45, rear foot fitting part, 46, adhesive tape, 5, stretching mechanism, 51, elastic band, 52, lifting seat, 53, toothed slide rail, 54, base plate. Detailed Implementation

[0032] The technical solution of the present invention will be described below through two embodiments:

[0033] Example 1

[0034] See Figures 1 to 3 This embodiment of a multi-mode ankle joint rehabilitation training device includes a parallel mechanism 2, a lower leg support mechanism 3, a foot support mechanism 4, a stretching mechanism 5, and a control panel.

[0035] Combination Figure 6 As shown, the parallel mechanism 2 consists of a fixed platform 25, a first branch 21, a second branch 22, a third branch 23, a fourth branch 24, and a moving platform 26. The first branch 21 and the second branch 22 are coplanar, as are the third branch 23 and the fourth branch 24. The included angles between the first branch 21 and the third branch 23 and the fourth branch 24 are all 90°, meaning that the four branches are distributed at 90° angles on the fixed platform 25.

[0036] The first branch 21 consists of a revolute joint 211 (R11), a revolute joint 212 (R12), a prismatic joint 213 (P11), a revolute joint 214 (R13), and a revolute joint 215 (R14). The axis of the revolute joint 211 (R11) is perpendicular to the axis of the revolute joint 212 (R12). The axis of the revolute joint 214 (R13) is parallel to the axis of the revolute joint 212 (R13). The prismatic joint 213 (P11) is connected to both the revolute joints 212 and 214 (R13). The axis of the revolute joint 215 (R14) is perpendicular to the axis of the revolute joint 214 (R13). The revolute joints 214 and 215 (R13) form a universal joint. The revolute joint 211 (R11) is connected to the first inclined base 27, and the revolute joint 215 (R14) is connected to the moving platform 26.

[0037] The second branch 22 consists of a revolute joint 221 (R21), a prismatic joint 222 (P21), a revolute joint 223 (R22), and a revolute joint 224 (R23). The axis of the revolute joint 221 (R21) is perpendicular to the axis of the revolute joint 212 (R12). The axis of the prismatic joint 222 (P21) is collinear with the axis of the revolute joint 221 (R21) and is connected to both the revolute joints 221 and 223 (R22). The axis of the revolute joint 223 (R22) is collinear with the axis of the revolute joint 221 (R21). The axis of the revolute joint 224 (R23) is perpendicular to the axis of the revolute joint 223 (R22). The revolute joints 223 and 224 (R23) form a universal joint. The revolute joint 221 (R21) is connected to the second inclined base, and the revolute joint 215 (R14) is connected to the moving platform 26.

[0038] The first inclined base 27 and the second inclined base are both right-angled triangles and are fixedly connected to the fixed platform 25. The sum of the inclination angles of the first inclined base 27 and the second inclined base is 90°, which satisfies that the included angle between the center lines of the first branch 21 and the second branch 22 of the parallel mechanism 2 is 90°.

[0039] The third branch 23 consists of S31 ball joint 231, P31 prismatic joint 232, and S32 ball joint 233. The fourth branch 24 consists of S41 ball joint 241, P41 prismatic joint 242, and S42 ball joint 243. S31 ball joint 231 and S41 ball joint 241 are fixed on the fixed platform 25.

[0040] The movable platform 26 is concave, with the included angle between the two sides of the groove being 90°. The connections to the third branch 23 and the fourth branch 24 are distributed on both sides of the movable platform 26. After the movable platform 26 is connected to the first branch 21 and the second branch 22, it forms a 90° angle, that is, the foot surface and the heel surface are parallel to the bottom and side surfaces of the movable platform 26, respectively. This structural design can highly simulate the positional relationship between the foot and ankle joint in a normal human body state.

[0041] Combination Figure 5 and Figure 7 As shown, the calf support mechanism 3 includes a bracket and a calf support groove 34 rotatably mounted on the bracket. The bracket has a frame and four telescopic outriggers 32 located at the bottom of the frame. A track groove 1 is provided on the fixed platform 25 for the telescopic outriggers 32 to slide and engage. The frame is a split type and includes a first U-shaped frame 31 and a second U-shaped frame 33 that slide and engage. The calf support groove 34 is rotatably connected to the U-shaped frame located at the front. The upper surface of the calf support groove 34 is an arc-shaped grooved long plate, which is used to fit the calf. The height and length of the entire calf support mechanism 3 can be adjusted by the cooperation of the telescopic outriggers 32 and the first U-shaped frame 31 and the second U-shaped frame 33 to achieve the most comfortable posture for the patient. During the length adjustment process, the positions of the two left telescopic outriggers 32 in the track groove 1 are fixed, while the two right telescopic outriggers 32 are not fixed. During exercise, the sliding cooperation of the first U-shaped frame 31 and the second U-shaped frame 33 can adapt to the changes in the patient's leg position, further improving comfort.

[0042] Combination Figure 4 and Figure 9 As shown, the stretching mechanism 5 includes a base plate 54, a lifting seat 52, and an elastic band 51. The base plate 54 is assembled on the fixed platform 25 by a threaded connection. The elastic band 51 is placed on the patient's foot. The lifting seat 52 slides on the base plate 54 via a toothed slide rail 53 to adjust the tightness of the elastic band 51. With the rotation of the foot, the elastic band 51 generates tension, and the reaction force acts on the foot, realizing ankle joint strength rehabilitation training.

[0043] In other embodiments of the present invention, the patient may selectively install the calf support mechanism 3 according to the degree of the patient's sports injury and the sitting posture during use; the patient may selectively install the stretching mechanism 5 according to different training stages and whether strength training is required. Both are easy to install and highly practical.

[0044] Combination Figure 4 , 5As shown in Figure 8, the foot support mechanism 4 includes a forefoot support 42 and a rearfoot support 41. The rearfoot support 41 is L-shaped and has a calf-fitting part 44 and a rearfoot-fitting part 45. The calf-fitting part 44 is fixedly connected to the upper end of the R14 rotating joint 215, and the rearfoot-fitting part 45 is fixedly connected to the upper end of the R23 rotating joint 224. Both the rearfoot-fitting part 45 and the forefoot support 42 have threaded holes along the longitudinal direction. A screw 43 for adjusting the distance between the rearfoot support 41 and the forefoot support 42 is installed in the threaded holes. The patient can rotate the screw 43 to adjust the length of the foot support mechanism 4 to match the length of their foot. Both the rearfoot support 41 and the forefoot support 42 are provided with adhesive tape 46 for fixing. The patient can tighten it according to their own conditions. The two work together to fix the foot to the foot support mechanism 4, ensuring that the foot does not slip or rotate relative to the foot support mechanism 4 during rehabilitation training, thereby improving the rehabilitation training effect.

[0045] Based on the above structure, the first motion mode is achieved when the axis of the R11 revolute joint 211 in the parallel mechanism 2 does not pass through the center point of the moving platform 26. The parallel mechanism 2 can realize two rotations and one movement. The P11 prismatic joint 213, the R21 revolute joint 221, and the P21 prismatic joint 222 serve as driving joints and are respectively connected to servo motors. The two rotations enable the ankle joint to rotate around the sagittal and coronal axes respectively, realizing plantar flexion / dorsiflexion and adduction / abduction movements. The one movement can satisfy movement along the vertical axis. Among them, the movement can simulate the ground reaction force through interaction with the human body, thus performing strength training on the ankle joint.

[0046] When the axis of the R11 revolute joint 211 in the parallel mechanism 2 passes through the center point of the moving platform 26 and the R11 revolute joint 211 rotates by a limited angle, the second motion mode is achieved, and the parallel mechanism 2 can realize three rotations. The R21 revolute joint 221, the P11 prismatic joint 213, and the R21 revolute joint 221 serve as driving joints, respectively connected to servo motors, to satisfy the ankle joint's rotation around the sagittal axis (i.e., plantar flexion and dorsiflexion), rotation around the coronal axis (i.e., adduction and abduction), and rotation around the vertical axis (i.e., internal rotation and external rotation), thereby realizing the rotation of the ankle joint in space and meeting the needs of ankle joint rehabilitation exercises.

[0047] The third motion mode is achieved when the axis of the parallel mechanism 2R11 revolute joint 211 does not pass through the center point of the moving platform 26 and the axis of the R23 revolute joint 224 is parallel (not collinear) to the axis of the R11 revolute joint 211. In this mode, the parallel mechanism 2 can achieve a movement, with the P21 prismatic joint 222 acting as the driving joint, connected to a servo motor to complete the movement along the frontal axis. When the device moves along the frontal axis, it can simulate providing ground reaction force, allowing the patient to move against the device, thereby achieving ankle joint strength training.

[0048] The control panel is a portable tablet for easy use by patients and caregivers. It includes a motion mode selection module, a position detection module, and a protection module. It can adjust different motion modes, perform initialization settings, alarms, emergency stops, motion angle detection, and other functions to ensure the safe and effective operation of the device.

[0049] Parallel mechanism 2 achieves multi-mode motion through configuration changes. In the first motion mode, servo motor R21 (revolute joint 221) is driven individually, while servo motors P11 (prismatic joint 213) and R21 (revolute joint 221) are in a "brake" state (locked). In this mode, parallel mechanism 2 can only rotate around the coronal axis. Similarly, when servo motor P11 (prismatic joint 213) is driven individually, servo motors R11 (revolute joint 211) and R21 (revolute joint 221) are in a "brake" state (locked), allowing parallel mechanism 2 to rotate only around the sagittal axis. Finally, when servo motor P21 (prismatic joint 222) is driven individually, servo motors P11 (prismatic joint 213) and R21 (revolute joint 221) are in a "brake" state (locked), allowing parallel mechanism 2 to move along the vertical axis. Simultaneously driving the servo motors of R21 rotary joint 221, P21 prismatic joint 222, and P11 prismatic joint 213, the parallel mechanism 2 can meet the complex movement trajectory of the ankle joint and can also provide ground support reaction force through simulation. The patient moves along the vertical axis by resisting the movement, thereby achieving ankle joint strength training.

[0050] Parallel mechanism 2 achieves multi-mode motion through configuration changes. In the second motion mode, the P21 prismatic joint 222 drive servo motor is in a non-"non-brake" state, allowing movement. When the R21 rotary joint 221 servo motor is driven alone, the P11 prismatic joint 213 and the R21 rotary joint 221 drive servo motors are in a "brake" state, i.e., locked. In this mode, parallel mechanism 2 can only rotate around the coronal axis. Similarly, when the P11 prismatic joint 213 servo motor is driven alone, the R11 rotary joint 211 and the R21 rotary joint 221 drive servo motors are in a "brake" state, i.e., locked. In this mode, parallel mechanism 2 can only rotate around the sagittal axis. Finally, when the R21 rotary joint 221 servo motor is driven alone, both the R11 rotary joint 211 and the R21 rotary joint 221 drive servo motors are in a "brake" state, i.e., locked. In this mode, parallel mechanism 2 can only rotate around the vertical axis. Simultaneously driving the servo motors of R21 rotary joint 221, P11 prismatic joint 213, and R21 rotary joint 221, the parallel mechanism 2 can achieve spatial rotation, allowing the ankle joint to undergo comprehensive rehabilitation training.

[0051] Parallel mechanism 2 achieves multi-mode motion through positional changes. Selecting the third motion mode only requires driving the P21 locating pair 222 servo motor to achieve movement along the vertical axis. It can simulate providing ground reaction force, allowing the patient to move through the resistance device and achieve ankle joint strength training.

[0052] In addition, the parallel mechanism 2 has a built-in angle sensor that detects the ankle joint movement angle in real time, making it easy for caregivers to read the patient's ankle joint movement data and providing data support for developing effective ankle joint rehabilitation training programs.

[0053] Example 2

[0054] The main structure of this embodiment is the same as that of embodiment 1, the only difference being that... Figure 10 As shown, in this embodiment, the rear foot fitting part 45 and the forefoot support 42 are rotatably engaged, the lower leg fitting part 44 is still fixedly connected to the upper end of the R14 rotating joint 215, and the forefoot support 42 is fixedly connected to the upper end of the R23 rotating joint 224.

[0055] With the above structure, the forefoot support 42 in this embodiment can swing up and down relative to the rearfoot support 41 under the driving force, and drive the patient's forefoot to swing up and down relative to the rearfoot, thereby expanding the rehabilitation training capabilities of this embodiment for the front and back of the patient's foot.

Claims

1. A multimodal ankle joint rehabilitation training device, characterized in that: It includes a parallel mechanism (2), a foot support mechanism (4) set on the moving platform (26) of the parallel mechanism (2), and a calf support mechanism (3) set on the fixed platform (25) of the parallel mechanism (2). The moving platform (26) is in the shape of a right-angled groove. The parallel mechanism (2) has a first branch (21), a second branch (22), a third branch (23), and a fourth branch (24). The two ends of the groove in the longitudinal direction of the moving platform (26) are connected to the upper ends of the third branch (23) and the fourth branch (24) respectively. The two sides of the groove in the longitudinal direction of the moving platform (26) are connected to the upper ends of the first branch (21) and the second branch (22) respectively. The first branch (21) includes R11 revolute joint (211), R12 revolute joint (212), P11 prismatic joint (213), R13 revolute joint (214) and R14 revolute joint (215) distributed sequentially from the fixed platform (25) to the moving platform (26). The axes of R11 revolute joint (211) and R12 revolute joint (212) are perpendicular, the axes of R13 revolute joint (214) and R12 revolute joint (212) are parallel, and the axis of R14 revolute joint (215) is perpendicular to the axis of R13 revolute joint (214). R13 revolute joint (214) and R14 revolute joint (215) form a universal joint. The second branch (22) includes R21 revolute joint (221), P21 prismatic joint (222), R22 revolute joint (223) and R23 revolute joint (224) distributed sequentially from the fixed platform (25) to the moving platform (26). The axes of R21 revolute joint (221) are perpendicular to those of R11 revolute joint (211) and R12 revolute joint (212). The axis of P21 prismatic joint (222) is collinear with that of R21 revolute joint (221). The axis of R23 revolute joint (224) is perpendicular to that of R22 revolute joint (223). R23 revolute joint (224) and R22 revolute joint (223) form a universal joint. The third branch (23) includes S31 ball joint (231), P31 locating joint (232) and S32 ball joint (233) distributed sequentially from the fixed platform (25) to the moving platform (26). The fourth branch (24) includes S41 ball joint (241), P41 locating joint (242) and S42 ball joint (243) distributed sequentially from the fixed platform (25) to the moving platform (26). The R11 rotary joint (211), P11 prismatic joint (213), R21 rotary joint (221) and P21 prismatic joint (222) all have servo motors for driving.

2. The multi-modal ankle joint rehabilitation training device as described in claim 1, characterized in that: The foot support mechanism (4) includes a forefoot support (42) and a heel support (41). The heel support (41) is L-shaped and has a calf contact part (44) and a heel contact part (45).

3. The multimodal ankle joint rehabilitation training device as described in claim 2, characterized in that: The lower leg fitting part (44) is fixedly connected to the upper end of the R14 rotating joint (215), and the rear palm fitting part (45) is fixedly connected to the upper end of the R23 rotating joint (224).

4. The multi-modal ankle joint rehabilitation training device as described in claim 3, characterized in that: Both the heel contact part (45) and the forefoot support (42) have threaded holes along the longitudinal direction, and screws (43) for adjusting the distance between the heel support (41) and the forefoot support (42) are installed in the threaded holes.

5. The multimodal ankle joint rehabilitation training device as described in claim 2, characterized in that: The heel contact part (45) and the forefoot support (42) rotate together, the lower leg contact part (44) is fixedly connected to the upper end of the R14 rotating joint (215), and the forefoot support (42) is fixedly connected to the upper end of the R23 rotating joint (224).

6. A multimodal ankle joint rehabilitation training device as described in any one of claims 1-5, characterized in that: Both the heel support (41) and the forefoot support (42) are provided with adhesive tape (46) for fixing.

7. The multimodal ankle joint rehabilitation training device as described in claim 1, characterized in that: It also includes a stretching mechanism (5) located in front of the foot support mechanism (4). The stretching mechanism (5) includes a base plate (54) fixed on a fixed platform (25) and an elastic band (51) located on the base plate (54). The elastic band (51) is used to fit around the patient's foot.

8. The multimodal ankle joint rehabilitation training device as described in claim 7, characterized in that: The base plate (54) is also provided with a lifting seat (52) for mounting the elastic band (51), and the lifting seat (52) is slidably mounted on the base plate (54) in a vertical direction.

9. The multimodal ankle joint rehabilitation training device as described in claim 1, characterized in that: The lower leg support mechanism (3) includes a bracket and a lower leg support groove (34) rotatably mounted on the bracket. The bracket has a frame and multiple telescopic legs (32) mounted at the bottom of the frame. A track groove (1) for sliding engagement of the telescopic legs (32) is provided on the fixed platform (25). The frame is a split type and includes two slidingly mating U-shaped frames. The lower leg support groove (34) is rotatably connected to the U-shaped frame located at the front.

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