Hamstring muscle stretching training device for cerebral palsy patient

Abstract

The application provides a training device for the hamstrings of a cerebral palsy patient, which comprises a lying chair including a support and a mattress arranged on the support; two exoskeleton mechanical legs including a thigh support, a shank support, a first driving member and a second driving member, the thigh support and the shank support are movably connected through a first movable shaft, the end of the thigh support away from the shank support is movably connected with the support through a second movable shaft, and the first movable shaft and the second movable shaft extend along a first direction; the first driving member and the second driving member are respectively used for adjusting the angle between the thigh support and the mattress and the angle between the shank support and the thigh support; wherein the shank support and the thigh support are configured as a structure with adjustable length. The buffer telescopic structures arranged on the foot palm support, the shank support and the thigh support respectively can be adapted to patients with different heights, so that the invalid stress received by the lower limbs of the patient during the training is released, and the joints are prevented from being injured.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and in particular to a hamstring traction training device for patients with cerebral palsy. Background Technology

[0002] Patients with mobility impairments such as cerebral palsy and stroke are prone to complications such as joint stiffness and skeletal deformities due to prolonged bed rest or wheelchair use. Therefore, these patients often require lower limb rehabilitation devices for lower limb training or to reduce muscle tension. Lower limb training typically involves using these devices to assist with exercises such as leg raises and leg splits.

[0003] Currently, commonly used lower limb training and rehabilitation equipment is mostly exercise devices similar to bicycles. However, while these devices can improve the movement of the lower limbs, they do not provide a very good stretching effect on the lower limb muscles. Furthermore, existing lower limb training equipment is often not well-suited for patients of different heights.

[0004] Therefore, the aforementioned technical deficiencies urgently need to be addressed. Summary of the Invention

[0005] In view of the shortcomings of the prior art, the purpose of this application is to provide a hamstring traction training device for patients with cerebral palsy, which is designed to be suitable for patients of different heights and to release the ineffective stress on the patient's lower limbs during training, thereby avoiding joint injuries to the patient's lower limbs.

[0006] The technical solution adopted by this application to solve the technical problem is as follows: a hamstring traction training device for cerebral palsy patients, comprising:

[0007] A recliner, comprising a frame and a mattress set on the frame;

[0008] The system includes two exoskeleton mechanical legs, each comprising a thigh support, a calf support, a first drive, and a second drive. The thigh support and calf support are movably connected via a first movable shaft, and the end of the thigh support away from the calf support is movably connected to a support frame via a second movable shaft. The first and second movable shafts extend along a first direction. The first and second drive are used to adjust the angle between the thigh support and the mattress, and the angle between the calf support and the thigh support, respectively.

[0009] The calf support and thigh support are configured with adjustable length structures.

[0010] In this embodiment, the calf support member is further configured to include an upper calf support section and a lower calf support section. The upper calf support section is provided with a first receiving cylinder at one end near the lower calf support section. The first receiving cylinder extends along the length direction of the upper calf support section, and the lower calf support section passes through the first receiving cylinder.

[0011] The thigh support includes an upper thigh support section and a lower thigh support section. A second receiving cylinder is provided at one end of the upper thigh support section near the lower thigh support section. The second receiving cylinder extends along the length of the upper thigh support section, and the lower thigh support section passes through the second receiving cylinder.

[0012] In this embodiment, the side walls of the first accommodating cylinder and the second accommodating cylinder are respectively provided with a through first limiting track and a second limiting track, the first limiting track and the second limiting track extend along the length direction of the upper support section of the calf and the upper support section of the thigh, respectively, and at least one side of the first limiting track and the second limiting track is provided with a plurality of limiting grooves.

[0013] A first limiting member is movably connected to the lower calf support section at the position corresponding to the first limiting track, and a second limiting member is movably connected to the lower thigh support section at the position corresponding to the second limiting track. The first and second limiting members move in the same direction as the extension direction of their respective limiting groove openings. The first and second limiting members abut against the limiting grooves so that the lower calf support and the thigh support form adjustable length structures.

[0014] In this embodiment, a first receiving groove is provided in the lower leg support section, the first receiving groove extends along the length direction of the lower leg support section, a first buffer member is slidably connected in the first receiving groove along its extension direction, at least one end of the first buffer member is provided with a first elastic member in the extension direction of the first receiving groove, the first elastic member is used to keep the first buffer member in the middle position of the first receiving groove, a first clearance hole is provided on one side of the first receiving groove, a first limiting member passes through the first clearance hole and is movably connected with the first buffer member;

[0015] A second receiving groove is provided in the lower thigh support section. The second receiving groove extends along the length direction of the lower thigh support section. A second buffer member is slidably connected in the second receiving groove along its extension direction. At least one end of the second buffer member in the extension direction of the second receiving groove is provided with a second elastic member. The second elastic member is used to keep the second buffer member in the middle position of the second receiving groove. A second clearance hole is provided on one side of the second receiving groove. A second limiting member passes through the second clearance hole and is movably connected to the second buffer member.

[0016] In this embodiment, the exoskeleton mechanical leg further includes a foot support and a third drive. The foot support is movably connected to the end of the calf support away from the thigh support via a third movable shaft. The third drive is used to adjust the angle between the foot support and the calf support. The third movable shaft extends along a first direction.

[0017] In this embodiment, the foot support is further configured to have a slide rail that extends along the length of the foot support, and a slider is slidably connected to the slide rail. A foot support plate is provided on the end of the slider that is away from the slide rail.

[0018] In this embodiment, a third elastic element is provided on the foot support member, and the two ends of the third elastic element are respectively connected to the foot support member and the slider. The slider is stopped in the middle of the slide rail by the third elastic element.

[0019] In this embodiment, the thigh support member is further configured such that the end of the thigh support member near the first drive member is movably connected to the bracket via a fourth movable shaft, and the fourth movable shaft extends along the second direction.

[0020] The exoskeleton mechanical leg also includes a fourth drive unit, which drives the thigh support to rotate about a fourth movable axis.

[0021] In this embodiment, the lower leg support and the thigh support are respectively provided with a first soft pad and a second soft pad.

[0022] In this embodiment, a first fixing member, a second fixing member, a third fixing member, and a fourth fixing member are respectively provided on the foot support plate, the calf support member, the thigh support member, and the recliner. The first fixing member, the second fixing member, the third fixing member, and the fourth fixing member are configured as strap structures.

[0023] Compared with existing technologies, this application provides a hamstring traction training device for cerebral palsy patients. The device uses a first drive component, a second drive component, and a third drive component to drive a thigh support component, a calf support component, and a foot support component, respectively, to achieve training movements such as lifting the foot and stretching the calf and thigh muscles. The buffer and telescopic structures respectively installed on the foot support component, calf support component, and thigh support component can adapt to patients of different heights and release ineffective stress on the patient's lower limbs during training, preventing lower limb joint injuries. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This is a schematic diagram of the overall structure of a hamstring traction training device for cerebral palsy patients provided in this embodiment;

[0026] Figure 2 This is a partial structural schematic diagram of a hamstring traction training device for cerebral palsy patients provided in this embodiment;

[0027] Figure 3 This is a schematic diagram of the structure of the exoskeleton mechanical leg of a hamstring traction training device for cerebral palsy patients provided in this embodiment;

[0028] Figure 4 This is an exploded view of the exoskeleton mechanical leg of a hamstring traction training device for cerebral palsy patients provided in this embodiment;

[0029] Figure 5 This is an exploded view of a portion of the structure of the exoskeleton mechanical leg of a hamstring traction training device for cerebral palsy patients provided in this embodiment;

[0030] Figure 6 yes Figure 5 Perspective view marked A;

[0031] Figure 7 yes Figure 5 Perspective view marked B;

[0032] Figure 8 This is a schematic diagram of the structure of the first or second buffer block of a hamstring traction training device for cerebral palsy patients provided in this embodiment;

[0033] Figure 9 This is an exploded view of a portion of the exoskeleton mechanical leg of a hamstring traction training device for cerebral palsy patients provided in this embodiment.

[0034] In the diagram: 1. Recliner; 11. Frame; 12. Mattress; 2. Exoskeleton mechanical leg; 21. Thigh support; 211. Upper thigh support section; 2111. Second receiving cylinder; 2112. Second limiting track; 212. Lower thigh support section; 2121. Second limiting component; 2122. Second receiving groove; 2123. Second elastic component; 2124. Second clearance hole; 2125. Second buffer component; 213. Second soft cushion; 22. Lower leg support; 221. Upper lower leg support section; 2211. First receiving cylinder; 2212. First limiting track; 2213. Limiting groove; 222. Lower lower leg support section; 22 21. First limiting member; 2222. First receiving groove; 2223. First elastic member; 2224. First clearance hole; 2225. First buffer member; 223. First soft pad; 23. First driving member; 24. Second driving member; 25. Third driving member; 26. Fourth driving member; 27. First movable shaft; 28. Second movable shaft; 29. ​​Third movable shaft; 30. Fourth movable shaft; 31. Foot support member; 311. Slide rail; 312. Slider; 313. Foot support plate; 314. Third elastic member; 32. First fixing member; 33. Second fixing member; 34. Third fixing member; 35. Fourth fixing member. Detailed Implementation

[0035] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0036] In the description of this application, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on this application. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0037] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0038] Furthermore, the technical features involved in the different embodiments of the present invention described above can be combined with each other as long as they do not conflict with each other.

[0039] This invention provides, for example Figures 1 to 9 The diagram illustrates a hamstring traction training device for cerebral palsy patients, used to assist patients with cerebral palsy, stroke, or other mobility impairments in lower limb rehabilitation training or to reduce muscle tension. Its main structure includes a reclining chair 1 and two exoskeleton mechanical legs 2. The two exoskeleton mechanical legs 2 are detachably connected to the reclining chair 1, and one or both exoskeleton mechanical legs 2 are installed on the reclining chair 1 when lower limb training is required. It is evident that in some embodiments, only one exoskeleton mechanical leg 2 may be installed on the reclining chair 1. Furthermore, the recliner 1 includes a support frame 11 and a mattress 12 mounted on the support frame 11; the exoskeleton mechanical leg 2 includes a thigh support 21, a calf support 22, a first drive 23, and a second drive 24. The thigh support 21 and the calf support 22 are movably connected via a first movable shaft 27. The end of the thigh support 21 away from the calf support 22 is movably connected to the support frame 11 via a second movable shaft 28. The first and second movable shafts 27 and 28 extend along a first direction; the first drive 23 and the second drive 24 are respectively used to adjust the angle between the thigh support 21 and the mattress 12, and the angle between the calf support 22 and the thigh support 21; wherein, the directions of the first and second directions are as follows: Figure 2 , Figure 3 , Figure 5 and Figure 9 As shown. Understandably, the two exoskeleton mechanical legs 2 can move independently to help patients perform different lower limb training movements, including hamstring stretching exercises. When performing hamstring stretching exercises, it is necessary to stretch the patient's two legs at different angles and directions to achieve hamstring stretching training.

[0040] The calf support 22 and thigh support 21 are configured with adjustable lengths. By adjusting the lengths of the calf support 22 and thigh support 21, patients of different heights can be accommodated for lower limb rehabilitation training.

[0041] It's important to note that, taking cerebral palsy as an example, cerebral palsy is a neurodevelopmental disorder. Patients with cerebral palsy may experience various problems in their lower limbs, including muscle stiffness, insufficient muscle strength, abnormal muscle tone, and uncoordinated muscle contractions. Therefore, regular lower limb training is necessary for patients with cerebral palsy. Currently, commonly used lower limb training and rehabilitation equipment is mostly similar to exercise bikes. While these devices can improve the movement of the lower limbs, they do not provide a very good stretching effect on the lower limb muscles. Furthermore, existing lower limb training equipment is often not well-suited for patients of different heights.

[0042] This application's solution uses a first driving component 23, a second driving component 24, and a third driving component 25 to drive the thigh support component 21, the calf support component 22, and the foot support component 31, respectively, to achieve training movements such as lifting the leg and stretching the calf and thigh muscles. The buffer and telescopic structures respectively installed on the foot support component 31, the calf support component 22, and the thigh support component 21 can adapt to patients of different heights and release ineffective stress on the patient's lower limbs during training, preventing injury to the lower limb joints.

[0043] Furthermore, such as Figure 4 and Figure 5 As shown, the calf support member 22 includes an upper calf support section 221 and a lower calf support section 222. The upper calf support section 221 is provided with a first receiving cylinder 2211 near the lower calf support section 222. The first receiving cylinder 2211 extends along the length direction of the upper calf support section 221, and the lower calf support section 222 passes through the first receiving cylinder 2211.

[0044] The thigh support member 21 includes an upper thigh support section 211 and a lower thigh support section 212. The upper thigh support section 211 is provided with a second receiving cylinder 2111 at one end near the lower thigh support section 212. The second receiving cylinder 2111 extends along the length direction of the upper thigh support section 211, and the lower thigh support section 212 passes through the second receiving cylinder 2111.

[0045] It should be noted that the upper calf support section 221 and the lower calf support section 222 are nested together to form a telescopic structure. In some embodiments, the first receiving cylinder 2211 can be located at one end of the lower calf support section 222 near the upper calf support section 221, that is, the first receiving cylinder 2211 can be located on either the lower calf support section 222 or the upper calf support section 221. Furthermore, the upper calf support and the lower calf support can be connected in the aforementioned telescopic sleeve form, or in other forms that allow for length adjustment.

[0046] Similarly, the upper thigh support section 211 and the lower thigh support section 212 are nested together to form a telescopic structure. In some embodiments, the second receiving cylinder 2111 can be disposed at one end of the lower thigh support section 212 near the upper thigh support section 211, that is, the second receiving cylinder 2111 can be disposed on either the lower thigh support section 212 or the upper thigh support section 211. Furthermore, the upper thigh support section 211 and the lower thigh support section 212 can be connected in the aforementioned telescopic sleeve form, or in other forms that allow for length adjustment.

[0047] In one embodiment, the upper calf support segment 221 and the lower calf support segment 222, and the upper thigh support segment 211 and the lower thigh support segment 212 are connected by an interference fit. During use, the lengths of the calf support segment 22 and the thigh support segment 21 are adjusted according to the patient's height. The upper calf support segment 221 and the lower calf support segment 222, and the upper thigh support segment 211 and the lower thigh support segment 212, can maintain this connection length within a certain range due to friction.

[0048] Furthermore, such as Figure 5 As shown, the first accommodating cylinder 2211 and the second accommodating cylinder 2111 are respectively provided with a through first limiting track 2212 and a second limiting track 2112. The first limiting track 2212 and the second limiting track 2112 extend along the length direction of the lower leg support section 221 and the upper thigh support section 211, respectively. At least one side of the first limiting track 2212 and the second limiting track 2112 is provided with a plurality of limiting grooves 2213.

[0049] like Figure 5 As shown, a first limiting member 2221 is movably connected to the lower leg support section 222 at the position corresponding to the first limiting track 2212, and a second limiting member 2121 is movably connected to the lower thigh support section 212 at the position corresponding to the second limiting track 2112. The direction of movement of the second limiting member 2121 is the same as the extension direction of the opening of the limiting groove 2213. The first limiting member 2221 and the second limiting member 2121 are used to abut against the limiting groove 2213 so that the lower leg support member 22 and the thigh support member 21 respectively form a structure with adjustable length.

[0050] In this embodiment, a plurality of limiting grooves 2213 disposed on the first limiting track 2212 and the second limiting track 2112 form a limiting structure for the gear position. Taking the adjustment of the length of the calf support member 22 as an example, before adjusting the length of the calf support member 22, the first limiting member 2221 is first moved to the first limiting track 2212 so that the first limiting member 2221 can slide along the length of the first limiting track 2212; when the lengths of the upper calf support section 221 and the lower calf support section 222 are adjusted to the appropriate position, the first limiting member 2221 is moved back into the limiting groove 2213, thus completing the length adjustment of the calf support member 22.

[0051] In one embodiment, the first limiting member 2221 and the second limiting member 2121 are configured as rocker arms, and their rocking direction is the same as the extension direction of the opening of the limiting groove 2213. Furthermore, elastic members are provided between the first limiting member 2221 and the lower leg support section 222, and between the second limiting member 2121 and the lower thigh support section 212, so that the first limiting member 2221 and the second limiting member 2121 always abut against the limiting groove 2213.

[0052] In another embodiment, it can be in the form of other structures, as long as it can achieve gear adjustment and limit function.

[0053] Furthermore, such as Figure 5 , Figure 6 As shown, a first receiving groove 2222 is provided in the lower leg support section 222. The first receiving groove 2222 extends along the length direction of the lower leg support section 222. A first buffer member 2225 is slidably connected in the first receiving groove 2222 along its extending direction. At least one end of the first buffer member 2225 in the extending direction of the first receiving groove 2222 is provided with a first elastic member 2223. The first elastic member 2223 is used to keep the first buffer member 2225 in the middle position of the first receiving groove 2222, that is... The first buffer 2225 is held in the middle position of the first receiving groove 2222 under the action of the first elastic member 2223; a first clearance hole 2224 is provided on one side of the first receiving groove 2222, and the first limiting member 2221 passes through the first clearance hole 2224 and is movably connected to the first buffer 2225; when the first buffer 2225 is displaced, the first clearance hole 2224 can avoid the first limiting member 2221, so as to avoid interference between the first limiting member 2221 and the first clearance hole 2224.

[0054] like Figure 5 , Figure 7As shown, a second receiving groove 2122 is provided within the lower thigh support section 212, extending along the length of the lower thigh support section 212. A second buffer member 2125 is slidably connected within the second receiving groove 2122 along its extending direction. At least one end of the second buffer member 2125 in the extending direction of the second receiving groove 2122 is provided with a second elastic member 2123. The second elastic member 2123 is used to keep the second buffer member 2125 in the middle position of the second receiving groove 2122. A second clearance hole 2124 is provided on one side of the second receiving groove 2122. A second limiting member 2121 passes through the second clearance hole 2124 and is movably connected to the second buffer member 2125. Similarly, when the second buffer member 2125 is displaced, the second clearance hole 2124 can avoid the second limiting member 2121, preventing interference between the second limiting member 2121 and the second clearance hole 2124.

[0055] It should be noted that the adjustable structure composed of the limiting rails (first limiting rail 2212 and second limiting rail 2112) and the limiting members (first limiting member 2221 and second limiting member 2121) is used to adjust the length of the leg support member 22, so that the exoskeleton mechanical leg 2 can match patients of different heights. It is essentially a length (or height) adjustable structure. The buffer structure composed of the buffer members (first buffer member 2225 and second buffer member 2125) and the elastic members (first elastic member 2223 and second elastic member 2123) in this embodiment is used to buffer the ineffective stress generated on the patient's lower limbs when the leg support member 22 swings (ineffective stress, as described in this specification, refers to forces that cannot help the patient perform effective lower limb training), thus avoiding injury to the patient's knees and ankles.

[0056] Furthermore, such as Figure 4 As shown, the exoskeleton mechanical leg 2 also includes a foot support 31 and a third drive 25. The foot support 31 is movably connected to the end of the calf support 22 away from the thigh support 21 via a third movable shaft 29. The third drive 25 is used to adjust the angle between the foot support 31 and the calf support 22. The third movable shaft 29 extends along a first direction. The third drive 25 drives the foot support 31 to assist the patient in performing foot movements and calf stretching exercises, thus helping the patient to exercise and train their calf muscles.

[0057] Furthermore, such as Figure 4 As shown, a slide rail 311 is provided on the foot support member 31. The slide rail 311 extends along the length of the foot support member 31. A slider 312 is slidably connected on the slide rail 311. A foot support plate 313 is provided on the end of the slider 312 away from the slide rail 311.

[0058] Furthermore, a third elastic element 314 is provided on the foot support 31. The two ends of the elastic element are connected to the foot support 31 and the slider 312 respectively. The slider 312 is stopped in the middle of the slide rail 311 by the elastic element.

[0059] In this embodiment, the buffer structure composed of slider 312 and third elastic element 314 plays a similar role to the first and second buffer blocks described in the previous embodiment. Because the axis of rotation of the foot support 31 is not aligned with the axis of movement of the patient's ankle when it swings, the swinging of the foot support 31 can cause pulling, compression, and even injury to the patient's foot, calf, and ankle. Therefore, in this embodiment, the buffer stroke of the buffer structure effectively releases the ineffective stress on the patient's foot, calf, and ankle.

[0060] In another embodiment, the cushioning structure between the foot support member 31 and the foot support plate 313 can also be other structures that have the same cushioning effect. Any structure that allows the foot support plate 313 to have a certain cushioning distance in its extending direction is acceptable.

[0061] Furthermore, such as Figure 3 , Figure 4 and Figure 9 As shown, the end of the thigh support 21 near the first drive member 23 is movably connected to the bracket 11 via a fourth movable shaft 30, which extends along a second direction; wherein the directions of the first and second directions are as follows: Figure 2 , Figure 3 , Figure 5 and Figure 9 As shown.

[0062] The exoskeleton mechanical leg 2 also includes a fourth drive member 26, which drives the thigh support member 21 to rotate around the fourth movable axis 30.

[0063] It should be noted that the first drive component 23, the second drive component 24, the third drive component 25, and the fourth drive component 26 can be hydraulically or electrically driven. The specific type can be selected according to actual needs.

[0064] Furthermore, such as Figure 3 , Figure 4 As shown, the calf support 22 and the thigh support 21 are respectively provided with a first soft pad 223 and a second soft pad 213. It can be understood that the first soft pad 223 and the second soft pad 213 can support the patient's calf and thigh respectively, preventing the patient's legs from directly rubbing against hard objects and causing scratches. This can effectively improve the patient's comfort during training.

[0065] Furthermore, such as Figure 3 , Figure 4As shown, a first fixing member 32, a second fixing member 33, a third fixing member 34, and a fourth fixing member 35 are respectively provided on the foot support plate 313, the calf support member 22, the thigh support member 21, and the recliner 1. The first fixing member 32, the second fixing member 33, the third fixing member 34, and the fourth fixing member 35 are configured as a strap structure.

[0066] Understandably, the first fixing member 32, the second fixing member 33, and the third fixing member 34 are used to fix the patient's feet, calves, and thighs, respectively, to prevent the patient's lower limbs from slipping during exercise. The fourth fixing member 35 is used to fix the patient's waist or shoulders. In some embodiments, the recliner 1 is provided with at least two fourth fixing members 35, which are used to fix the patient's waist and shoulders, respectively. Understandably, the strap structure is simple in structure and its length can be adjusted as needed to ensure that the patient's legs are in a suitable position with the device.

[0067] In summary, this application provides a hamstring stretching training device for patients with cerebral palsy. The device utilizes a first drive component 23, a second drive component 24, and a third drive component 25 to drive a thigh support component 21, a calf support component 22, and a foot support component 31, respectively, to achieve training movements such as leg lifting and stretching of the calf and thigh muscles. The buffer and telescopic structures respectively installed on the foot support component 31, the calf support component 22, and the thigh support component 21 can accommodate patients of different heights and release ineffective stress on the patient's lower limbs during training, preventing lower limb joint injuries.

[0068] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A hamstring stretching training device for patients with cerebral palsy, characterized in that, include: A recliner, the recliner comprising a frame and a mattress disposed on the frame; The system includes two exoskeleton mechanical legs, each comprising a thigh support, a calf support, a first drive, and a second drive. The thigh support and the calf support are movably connected via a first movable shaft. The end of the thigh support away from the calf support is movably connected to the support frame via a second movable shaft. The first and second movable shafts extend along a first direction. The first and second drive are used to adjust the angle between the thigh support and the mattress, and the angle between the calf support and the thigh support, respectively. The calf support and the thigh support are configured to have an adjustable length. The calf support includes an upper calf support section and a lower calf support section. The upper calf support section is provided with a first receiving cylinder at one end near the lower calf support section. The first receiving cylinder extends along the length direction of the upper calf support section, and the lower calf support section passes through the first receiving cylinder. The thigh support includes an upper thigh support section and a lower thigh support section. The upper thigh support section is provided with a second receiving cylinder at one end near the lower thigh support section. The second receiving cylinder extends along the length direction of the upper thigh support section. The lower thigh support section passes through the second receiving cylinder. The side walls of the first receiving cylinder and the second receiving cylinder are respectively provided with a through first limiting track and a second limiting track. The first limiting track and the second limiting track extend along the length direction of the lower leg support section and the upper thigh support section, respectively. At least one side of the first limiting track and the second limiting track is provided with a plurality of limiting grooves. A first limiting member is movably connected to the lower calf support section at the position corresponding to the first limiting track, and a second limiting member is movably connected to the lower thigh support section at the position corresponding to the second limiting track. The first and second limiting members move in the same direction as the extension direction of their respective corresponding limiting groove openings. The first and second limiting members abut against the limiting grooves to make the lower calf support and the thigh support respectively form length-adjustable structures. A first receiving groove is provided in the lower calf support section, extending along the length direction of the lower calf support section. A first buffer member is slidably connected in the first receiving groove along its extension direction. At least one end of the first buffer member in the extension direction of the first receiving groove is provided with a first elastic member. The first elastic member is used to keep the first buffer member in the middle position of the first receiving groove. A first clearance hole is provided on one side of the first receiving groove, and the first limiting member passes through the first clearance hole and is movably connected to the first buffer member. A second receiving groove is provided in the lower thigh support section, and the second receiving groove extends along the length direction of the lower thigh support section. A second buffer member is slidably connected in the second receiving groove along its extension direction. At least one end of the second buffer member in the extension direction of the second receiving groove is provided with a second elastic member. The second elastic member is used to keep the second buffer member in the middle position of the second receiving groove. A second clearance hole is provided on one side of the second receiving groove. The second limiting member passes through the second clearance hole and is movably connected to the second buffer member. The first buffer member, the second buffer member, the first elastic member, and the second elastic member are used to buffer the ineffective stress generated on the patient's lower limb when the thigh support member and the lower leg support member swing.

2. The hamstring stretching training device for cerebral palsy patients according to claim 1, characterized in that, The exoskeleton mechanical leg also includes a foot support and a third drive. The foot support is movably connected to the end of the lower leg support away from the thigh support via a third movable shaft. The third drive is used to adjust the angle between the foot support and the lower leg support. The third movable shaft extends along a first direction.

3. The hamstring stretching training device for cerebral palsy patients according to claim 2, characterized in that, The foot support is provided with a slide rail, which extends along the length of the foot support. A slider is slidably connected to the slide rail, and a foot support plate is provided at the end of the slider away from the slide rail.

4. The hamstring stretching training device for cerebral palsy patients according to claim 3, characterized in that, The foot support is provided with a third elastic element, the two ends of which are respectively connected to the foot support and the slider. The slider stops in the middle of the slide rail through the third elastic element.

5. The hamstring stretching training device for cerebral palsy patients according to claim 1, characterized in that, The thigh support member is movably connected to the bracket via a fourth movable shaft at one end near the first drive member, and the fourth movable shaft extends along the second direction. The exoskeleton mechanical leg also includes a fourth drive unit, which is used to drive the thigh support to rotate around the fourth movable axis.

6. The hamstring stretching training device for cerebral palsy patients according to claim 2, characterized in that, The calf support and the thigh support are respectively provided with a first soft pad and a second soft pad.

7. The hamstring stretching training device for cerebral palsy patients according to claim 6, characterized in that, The foot support, the calf support, the thigh support, and the recliner are respectively provided with a first fixing member, a second fixing member, a third fixing member, and a fourth fixing member, all of which are configured as strap structures.

Images