Lower limb rehabilitation training device

Abstract

The lower limb rehabilitation training device comprises a frame, two sets of leg mechanisms and a protection assembly, the two sets of leg mechanisms are identical and located on the two sides of the frame respectively, and each leg mechanism comprises a driving rod, a third connecting rod, a fourth connecting rod, a first connecting piece, a second connecting piece, a pedal and a driving piece. A rotating shaft is rotatably mounted at one end of the driving rod, the rotating shaft is rotatably mounted on the frame, the driving rod is controlled to rotate around the axis of the rotating shaft through the driving piece, then the hinged position of the third connecting rod and the fourth connecting rod is driven to rotate, and therefore the first connecting piece and the second connecting piece are controlled to move; finally, the pedal moves according to the track closest to the natural gait of the human body, training of the natural gait track of the human body is completed for a trainee, the rehabilitation training effect is improved, meanwhile, a multi-connecting-rod structure is adopted, higher supporting performance is achieved, the load and safety of the device are improved, and a protection assembly is matched, so that the safety of the device is improved. And the trainee can be protected in all directions.

Description

Technical Field

[0001] The present invention relates to the technical field of rehabilitation training equipment, and more specifically, to a lower limb rehabilitation training device. Background Art

[0002] Medical theory and clinical practice have long confirmed that, in addition to early surgical treatment and necessary drug treatment, correct and scientific rehabilitation training also plays a vital role for stroke patients with lower limb movement disorders. Rehabilitation training can not only help patients restore limb movement function, but also improve their quality of life and enable them to better integrate into society.

[0003] For patients with lower limb movement disorders, having a normal human gait is undoubtedly the core goal of achieving rehabilitation treatment. During gait training, the lower limb rehabilitation equipment used can be mainly divided into two categories: exoskeleton type and end effector type. The exoskeleton lower limb rehabilitation robot adopts a wearable design and can be closely connected to the human body, so as to accurately control the movement of all joints during training and help patients restore their natural gait.

[0004] For example, the Lokomat robot mainly consists of three parts: a weight-reducing system, a driven gait orthosis, and a treadmill. However, in actual use, in order to ensure that the driven gait orthosis has sufficient driving force to drive the patient's legs to move, the Lokomat robot almost puts the patient in a suspended state, and the patient's weight is completely supported by the weight-reducing system, and the contact part between the weight-reducing system and the patient is only a few straps. This contact method not only lacks sufficient support and stability, but also causes great discomfort to the patient during rehabilitation training. For another example, the intelligent control-assisted rehabilitation elliptical machine consists of an elliptical machine platform, an intelligent control system, a biofeedback sensor, and an adjustable support system. ICARE mainly uses a crank rocker four-bar mechanism, in which the foot pedal 4 is fixed on the connecting rod. ICARE can simulate natural walking movements, including stepping, forward and backward movements of the legs, and swinging of the body, so as to simulate the biomechanical characteristics of natural walking as much as possible, which helps patients restore normal gait. However, although the ICARE system has the function of bionic gait simulation, its simulation process is still limited to the elliptical motion trajectory. In fact, the natural gait trajectory of the human body is a more complex and changeable curve. Therefore, ICARE still has certain limitations in simulating the subtleties of the human body's natural gait and cannot fully restore the real gait details.

[0005] Therefore, the current lower limb rehabilitation training devices have the following shortcomings: 1. The price and use cost are high, and the demand for technical support and training is high. Only a small number of patients with financial conditions can use it; 2. As for exoskeleton-type lower limb rehabilitation equipment, the patient's weight is almost completely supported by the weight reduction system, but the system is in contact with the patient only through a few straps, lacks support and stability, and causes great discomfort to the patient; 3. As for the end-effector lower limb rehabilitation equipment, it cannot simulate the natural gait of the human body well; 4. The load capacity is limited. When conducting rehabilitation training or special application scenarios that require high loads, the current mechanism may not meet the requirements and may even pose a safety risk.

[0006] In summary, how to provide a rehabilitation device that is closer to the natural gait of the human body and is low-cost is a problem that needs to be urgently solved by those skilled in the art. Summary of the invention

[0007] In view of this, an object of the present invention is to provide a lower limb rehabilitation training device having a trajectory closer to the natural gait of the human body, low cost of use and better safety.

[0008] In order to achieve the above object, the present invention provides the following technical solutions:

[0009] A lower limb rehabilitation training device, comprising:

[0010] frame;

[0011] Two groups of leg mechanisms, the two groups of leg mechanisms are identical and are respectively located on both sides of the frame, the leg mechanisms include a driving rod, a third connecting rod and a fourth connecting rod, one end of the driving rod is rotatably mounted with a rotating shaft, the rotating shaft is rotatably mounted on the frame, one end of the third connecting rod and the fourth connecting rod are hinged to an end of the driving rod away from the frame, the leg mechanisms also include a first connecting member and a second connecting member, the first connecting member and the second connecting member are both provided with three hinge holes distributed in a triangular shape, the adjacent hinge holes of the first connecting member and the second connecting member are hinged to each other through a fifth connecting rod and a sixth connecting rod, one end of the third connecting rod away from the driving rod is hinged to a hinge hole of the first connecting member away from the fifth connecting rod, one end of the fourth connecting rod away from the driving rod is hinged to the hinge hole connected to the sixth connecting rod and the second connecting member, and a pedal is hinged to the hinge hole of the second connecting member away from the fifth connecting rod;

[0012] A driving member, used for controlling the driving rod to rotate around the axis of the rotating shaft;

[0013] A protection component is used to protect the user.

[0014] Furthermore, in the present invention, the triangle formed by the three hinge holes on the second connecting member is an obtuse triangle.

[0015] Furthermore, the first connecting member is composed of a first a-link, a first b-link and a first c-link connected end to end to form a triangular structure, and the three hinge holes are respectively located at the ends where the first a-link, the first b-link and the first c-link are connected.

[0016] Furthermore, the second connecting member is composed of a second a-link, a second b-link and a second c-link connected end to end to form a triangular structure, and the three hinge holes are respectively located at the ends where the second a-link, the second b-link and the second c-link are connected.

[0017] Furthermore, in the present invention, a support rod extending in the moving direction of the pedal is provided at the bottom of the frame, and a handrail is installed on the frame.

[0018] According to a further aspect of the present invention, the driving component is a motor.

[0019] Furthermore, the present invention provides that the protection assembly comprises two annular leg protection belts and an annular waist and abdomen protection belt, the two leg protection belts are connected to the waist and abdomen protection belt, and the waist and abdomen protection belt is connected to the frame.

[0020] Furthermore, the leg protection belt and the waist and abdomen protection belt are both provided with openings, which are opened and closed by zippers or snaps.

[0021] The present invention further provides that the pedal is provided with a groove, the bottom of the groove is provided with anti-slip patterns, and the pedal is provided with an anti-slip rope.

[0022] The lower limb rehabilitation training device provided by the present invention, when in use, two groups of identical leg mechanisms are installed on the frame, the leg mechanisms include a driving rod, a third connecting rod, and a fourth connecting rod, one end of the driving rod is rotatably installed with a rotating shaft, the rotating shaft is rotatably installed on the frame, one end of the third connecting rod and the fourth connecting rod is hinged to the end of the driving rod away from the frame, the leg mechanism also includes a first connecting member and a second connecting member, the first connecting member and the second connecting member are each provided with three hinge holes distributed in a triangular shape, and the adjacent hinge holes of the first connecting member and the second connecting member are connected to each other through the fifth connecting rod and the sixth connecting rod. The third connecting rod is hinged, one end of the third connecting rod away from the driving rod is hinged to the hinge hole of the first connecting member away from the fifth connecting rod, one end of the fourth connecting rod away from the driving rod is hinged to the hinge hole connected to the sixth connecting rod and the second connecting member, and a pedal is hinged on the hinge hole of the second connecting member away from the fifth connecting rod. The driving member is used to control the driving rod to rotate around the axis of the rotating shaft. Therefore, when the driving rod rotates, it will drive the hinge of the third connecting rod and the fourth connecting rod to rotate, thereby controlling the movement of the first connecting member and the second connecting member, and cooperating with the fifth connecting rod and the sixth connecting rod, finally realizing that the pedal is moved according to the attached Fig.10 The trajectory movement can realize the training of the trainee to complete the natural gait trajectory of the human body, thereby improving the effect of rehabilitation training. At the same time, the application adopts a multi-link structure, which has stronger support and increases the load and safety of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0024] Figure 1 This is a schematic diagram of the structure of the overall shaft side provided by the present invention;

[0025] Figure 2 This is a schematic diagram of the overall front structure of the present invention;

[0026] Figure 3 This is a schematic diagram of the structure in which the integral side pedal provided by the present invention is located at the lowest point;

[0027] Figure 4 This is a schematic diagram of the structure in which the integral side pedal provided by the present invention is located at the rearmost side;

[0028] Figure 5 This is a schematic diagram of the structure in which the specific integral side pedal provided by the present invention is located at the uppermost front side;

[0029] Figure 6 This is a schematic diagram of the structure in which the specific integral side pedal provided by the present invention is located at the bottom of the front side;

[0030] Figure 7 A schematic diagram of a natural gait trajectory of a human body provided by the present invention;

[0031] Figure 8 A schematic diagram of the hip joint angle cycle provided by the present invention;

[0032] Fig. 9 A schematic diagram of the knee joint angle cycle provided by the present invention;

[0033] Fig.10 A schematic diagram of the gait trajectory of the device provided by the present invention;

[0034] Figure 1-Figure 10 , the reference numerals include:

[0035] 1. Frame; 2. Leg mechanism; 21. First connecting member; 211. First a-link; 212. First b-link 212; 213. First c-link 213; 22. Second connecting member; 221. Second a-link; 222. Second b-link; 223. Second c-link; 23. Third link; 24. Fourth link; 25. Fifth link; 26. Sixth link; 27. Drive rod; 3. Rotating shaft; 4. Pedal; 41. Anti-slip rope; 42. Groove; 5. Drive member; 6. Protection assembly; 61. Waist and abdomen protection belt; 62. Leg protection belt; 7. Support rod; 8. Armrest. DETAILED DESCRIPTION

[0036] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0037] The core of the present invention is to provide a lower limb rehabilitation training device, which has a trajectory closer to the natural gait of the human body, has low use cost and better safety.

[0038] Please refer to Figure 2A lower limb rehabilitation training device includes a frame 1, two groups of leg mechanisms 2, a driving member 5 and a protective assembly 6. The two groups of leg mechanisms 2 are identical and are respectively located on both sides of the frame 1. The leg mechanism 2 includes a driving rod 27, a third connecting rod 23, and a fourth connecting rod 24. One end of the driving rod 27 is rotatably mounted with a rotating shaft 3, and the rotating shaft 3 is rotatably mounted on the frame 1. One end of the third connecting rod 23 and the fourth connecting rod 24 is hinged to the end of the driving rod 27 away from the frame 1. The leg mechanism 2 also includes a first connecting member 21 and a second connecting member 22. The first connecting member 21 and the second connecting member 22 are each provided with three triangular-shaped dividing members. The hinge holes of the cloth, the adjacent hinge holes of the first connecting member 21 and the second connecting member 22 are hinged through the fifth connecting rod 25 and the sixth connecting rod 26, the end of the third connecting rod 23 away from the driving rod 27 is hinged to the hinge hole of the first connecting member 21 away from the fifth connecting rod 25, the end of the fourth connecting rod 24 away from the driving rod 27 is hinged to the hinge hole connected to the sixth connecting rod 26 and the second connecting member 22, the hinge hole of the second connecting member 22 away from the fifth connecting rod 25 is hinged with a pedal 4, the driving member 5 is used to control the driving rod 27 to rotate around the axis of the rotating shaft 3, and the protective component 6 is used to protect the user.

[0039] When in use, two sets of identical leg mechanisms 2 are installed on the frame 1, and the leg mechanism 2 includes a driving rod 27, a third connecting rod 23, and a fourth connecting rod 24. One end of the driving rod 27 is rotatably installed with a rotating shaft 3, and the rotating shaft 3 is rotatably installed on the frame 1. One end of the third connecting rod 23 and the fourth connecting rod 24 is hinged to the end of the driving rod 27 away from the frame 1. The leg mechanism 2 also includes a first connecting member 21 and a second connecting member 22. The first connecting member 21 and the second connecting member 22 are each provided with three hinge holes distributed in a triangular shape. The adjacent hinge holes of the first connecting member 21 and the second connecting member 22 are hinged to each other through a fifth connecting rod 25 and a sixth connecting rod 26. The third connecting rod 2 One end of the fourth connecting rod 24 away from the driving rod 27 is hinged to the hinge hole of the first connecting member 21 away from the fifth connecting rod 25, one end of the fourth connecting rod 24 away from the driving rod 27 is hinged to the hinge hole connected to the sixth connecting rod 26 and the second connecting member 22, and the hinge hole of the second connecting member 22 away from the fifth connecting rod 25 is hinged with the pedal 4, and the driving member 5 is used to control the driving rod 27 to rotate around the axis of the rotating shaft 3. Therefore, when the driving rod 27 rotates, the hinge of the third connecting rod 23 and the fourth connecting rod 24 will be driven to rotate, so as to realize the control of the movement of the first connecting member 21 and the second connecting member 22, and cooperate with the fifth connecting rod 25 and the sixth connecting rod 26, so as to finally realize the pedal 4 according to the attached Fig.10 The trajectory movement can realize the training of the trainee to complete the natural gait trajectory of the human body, thereby improving the effect of rehabilitation training. At the same time, the application adopts a multi-link structure, which has stronger support and increases the load and safety of the device.

[0040] It should be noted that the embodiment of the present invention does not limit the specific structure of the rotary drive member 5. In some embodiments, the rotary drive member 5 is a motor, such as a DC brushed motor or a stepping motor.

[0041] In addition, the lengths of the third connecting rod 23, the fourth connecting rod 24, the fifth connecting rod 25 and the sixth connecting rod 26 in the embodiment of the present invention can be determined according to actual experimental results to ensure that the device can achieve the purpose of being closer to the natural gait of the human body.

[0042] Optionally, in some embodiments, the first connecting member 21 and the second connecting member 22 may be composed of a rod-shaped structure, or a plate-shaped structure, and it is only necessary to ensure that the three hinge holes are in a triangular position.

[0043] Optionally, in some embodiments, the hinged locations of several connecting rods may be connected by riveting.

[0044] Optionally, in some embodiments, the hinged position between the pedal 4 and the second connecting member 22 is located at the rear end or middle of the pedal 4, which is helpful for the trainer's feet to remain level.

[0045] Optionally, in some embodiments, in order to ensure that the pedal 4 has a rotation angle that simulates the natural gait of the human body when in use, the number of connecting rods hinged to the pedal 4 can be increased to achieve the rotation angle of the pedal 4 in the natural gait.

[0046] Optionally, in some embodiments, the pedal 4 can be divided into two parts, and the two parts are hinged, and the hinged position is located at one-third of the pedal 4 near the front end, which can simulate the angle of the human body's foot before lifting the foot, making it easier to stimulate the trainee and improve the training effect.

[0047] Please refer to Figure 4 In some embodiments, the triangle formed by the three hinge holes on the second connecting member 22 is an obtuse triangle, which is conducive to simulating the natural gait posture of the human body. At the same time, the triangle can increase the stability of the entire device when in use.

[0048] Optionally, in some embodiments, the first connecting member 21 is composed of a first a-link 211, a first b-link 212 and a first c-link 213 connected end to end to form a triangular structure, and the three hinge holes are respectively located at the ends where the first a-link 211, the first b-link 212 and the first c-link 213 are connected; the second connecting member 22 is composed of a second a-link 221, a second b-link 222 and a second c-link 223 connected end to end to form a triangular structure, and the three hinge holes are respectively located at the ends where the second a-link 221, the second b-link 222 and the second c-link 223 are connected; the use of a rod-like structure can reduce the materials used in production, thereby achieving the purpose of reducing costs.

[0049] Please refer to Figure 4 In some embodiments, a support rod 7 extending in the moving direction of the pedal 4 is provided at the bottom of the frame 1. The support rod 7 increases the bottom area of ​​the frame 1, thereby enhancing the stability of the entire device. An armrest 8 is installed on the frame 1. The armrest 8 is convenient for the user to hold on to, thereby increasing the trainee's sense of security.

[0050] Optionally, in some embodiments, the support rod 7 may adopt a structure with an adjustable extension length, such as a rotating structure or a telescopic structure, to facilitate the transportation of the device.

[0051] Optionally, in some embodiments, the armrest 8 may adopt a telescopic structure or a rotating structure, and be provided with a locking mechanism for fixing the armrest 8 when in use.

[0052] Please refer to Figure 4 In some embodiments, the protection component 6 includes two annular leg protection belts 62 and an annular waist and abdomen protection belt 61. The two leg protection belts 62 are connected to the waist and abdomen protection belt 61, and the waist and abdomen protection belt 61 is connected to the frame 1. When in use, the two legs of the trainee are fixed by the leg protection belts 62 respectively, and the back of the trainee is fixed by the waist and abdomen protection belt 61, so as to achieve the purpose of protecting the trainee.

[0053] Optionally, in some embodiments, the leg protection belt 62 and the waist and abdomen protection belt 61 are both made of nylon cloth.

[0054] Optionally, in some embodiments, both the leg protection belt 62 and the waist and abdomen protection belt 61 are provided with openings, and are opened and closed with zippers or snaps, and the openings are provided to facilitate fixing the trainee's torso.

[0055] In other embodiments, Velcro may also be used to achieve the opening and closing function of the opening.

[0056] Please refer to Figure 4 In some embodiments, the pedal 4 is provided with a groove 42, which can facilitate the trainee to place the sole of the foot inside the groove 42, thereby preventing the trainee's sole from slipping off the pedal 4 and improving the trainee's training safety.

[0057] Optionally, in some embodiments, the bottom of the groove 42 is provided with anti-slip lines to increase the friction between the sole of the trainee's foot and the pedal 4, avoid sliding between the sole of the foot and the pedal 4 during use, and improve the training effect.

[0058] Optionally, in some embodiments, an anti-slip rope 41 is provided on the pedal 4, and the anti-slip rope 41 is bound to the soles of the trainer's feet to prevent the trainer's feet from falling off the pedal 4, thereby improving the trainer's training safety.

[0059] Optionally, in some embodiments, the anti-drop rope 41 may be made of a material with elastic deformation capability, such as rubber, rubber band, etc.

[0060] The hip and knee angles of normal gait obtained through human gait capture experiments are shown in Figure 8 and Fig. 9 As shown. The spatial coordinate information of the marker points placed on the subject's limbs is captured by an infrared camera unit installed on the side of the treadmill. The sampling frequency of the spatial coordinate acquisition system is 100 Hz and the resolution is 0.1 mm. By performing motion analysis on the collected spatial coordinate information of the marker points, the gait cycle curve of the hip and knee joint angles is obtained. The sampling of the hip and knee angles is based on a constant time interval. It is then input into Onen's lower limb kinematic model to obtain the subject's gait trajectory as shown below. Figure 7 .

[0061] The degrees of freedom of the leg mechanism 2 are calculated, and the parameters are adjusted by selecting the length of each connecting rod and performing simulation analysis using SOLIDWORKS software, so as to perform trajectory fitting and obtain the motion trajectory of the pedal 4 when the structure is used. Fig.10 .

[0062] That is to say, the key point of the embodiment of the present invention is that: a leg mechanism 2 composed of a plurality of connecting rods is adopted, and the first connecting member 21 and the second connecting member 22 are matched, the first connecting member 21 and the second connecting member 22 are each provided with three hinge holes distributed in a triangle, the adjacent hinge holes of the first connecting member 21 and the second connecting member 22 are hinged to each other through the fifth connecting rod 25 and the sixth connecting rod 26, the end of the third connecting rod 23 away from the driving rod 27 is hinged to the hinge hole of the first connecting member 21 away from the fifth connecting rod 25, and the fourth connecting rod 2 The end of the driving rod 27 away from the fifth connecting rod 25 is hinged to the hinge hole connected to the sixth connecting rod 26 and the second connecting member 22. The hinge hole of the second connecting member 22 away from the fifth connecting rod 25 is hinged with the pedal 4. The driving member 5 is used to control the driving rod 27 to rotate around the axis of the rotating shaft 3. Therefore, when the driving rod 27 rotates, the hinge of the third connecting rod 23 and the fourth connecting rod 24 will be driven to rotate, so as to control the movement of the first connecting member 21 and the second connecting member 22, and cooperate with the fifth connecting rod 25 and the sixth connecting rod 26, so as to finally realize the pedal 4 according to the attached Fig.10 The trajectory movement can realize the training of the trainee to complete the natural gait trajectory of the human body, thereby improving the effect of rehabilitation training. At the same time, the application adopts a multi-link structure, which has stronger support and increases the load and safety of the device.

[0063] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0064] The above is a detailed introduction to a lower limb rehabilitation training device provided by the present invention. This article uses specific examples to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of the present invention, the present invention can also be improved and modified, and these improvements and modifications also fall within the scope of protection of the claims of the present invention.

Claims

1. A lower limb rehabilitation training device, characterized in that: include: Frame (1); Two groups of leg mechanisms (2), the two groups of leg mechanisms (2) are identical and are respectively located on both sides of the frame (1), the leg mechanisms (2) comprising a driving rod (27), a third connecting rod (23), and a fourth connecting rod (24), one end of the driving rod (27) being rotatably mounted with a rotating shaft (3), the rotating shaft (3) being rotatably mounted on the frame (1), one end of the third connecting rod (23) and the fourth connecting rod (24) being hinged to an end of the driving rod (27) away from the frame (1), the leg mechanisms (2) further comprising a first connecting member (21) and a second connecting member (22), the first connecting member (21) and the second connecting member (22) Each of the first connecting member (21) and the second connecting member (22) is provided with three hinge holes distributed in a triangular shape, the hinge holes adjacent to each other of the first connecting member (21) and the second connecting member (22) are hingedly connected via a fifth connecting rod (25) and a sixth connecting rod (26), one end of the third connecting rod (23) away from the driving rod (27) is hingedly connected to a hinge hole on the first connecting member (21) away from the fifth connecting rod (25), one end of the fourth connecting rod (24) away from the driving rod (27) is hingedly connected to a hinge hole connected to the sixth connecting rod (26) and the second connecting member (22), and a pedal (4) is hingedly connected to the hinge hole of the second connecting member (22) away from the fifth connecting rod (25); A driving member (5) for controlling the driving rod (27) to rotate around the axis of the rotating shaft (3); A protection component (6), wherein the protection component (6) is used to protect a user.

2. A lower limb rehabilitation training device according to claim 1, characterized in that: The triangle formed by the three hinge holes on the second connecting member (22) is an obtuse triangle.

3. A lower limb rehabilitation training device according to claim 1, characterized in that: The first connecting member (21) is composed of a first a-link (211), a first b-link (212) and a first c-link (213) connected end to end to form a triangular structure, and the three hinge holes are respectively located at the ends where the first a-link (211), the first b-link (212) and the first c-link (213) are connected.

4. A lower limb rehabilitation training device according to claim 3, characterized in that: The second connecting member (22) is composed of a second a-link (221), a second b-link (222) and a second c-link (223) connected end to end to form a triangular structure, and the three hinge holes are respectively located at the ends where the second a-link (221), the second b-link (222) and the second c-link (223) are connected.

5. A lower limb rehabilitation training device according to claim 1, characterized in that: A support rod (7) extending in the moving direction of the pedal (4) is provided at the bottom of the frame (1), and a handrail (8) is installed on the frame (1).

6. A lower limb rehabilitation training device according to claim 1, characterized in that: The driving component adopts a motor.

7. A lower limb rehabilitation training device according to any one of claims 1 to 6, characterized in that: The protection component (6) comprises two annular leg protection belts (62) and an annular waist and abdomen protection belt (61), the two leg protection belts (62) are connected to the waist and abdomen protection belt (61), and the waist and abdomen protection belt (61) is connected to the frame (1).

8. A lower limb rehabilitation training device according to claim 7, characterized in that: The leg protection belt (62) and the waist and abdomen protection belt (61) are both provided with openings, which are opened and closed by zippers or snaps.

9. A lower limb rehabilitation training device according to claim 7, characterized in that: The pedal (4) is provided with a groove (42), the bottom of the groove (42) is provided with an anti-slip pattern, and the pedal (4) is provided with an anti-slip rope (41).

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