Ankle joint rehabilitation training device

Abstract

The ankle joint rehabilitation training device comprises a base, a sole support and a shank support, the sole support is arranged above the base, the shank support is of a semi-surrounding structure with the upper portion inclining backwards, and the inner side of the shank support is provided with a vertically-through shank restraining groove; a first side protection plate and a second side protection plate are integrally and symmetrically arranged on the left side and the right side of the sole support respectively; the upper ends of the first side protecting plate and the second side protecting plate are fixedly connected with a first rotating disc and a second rotating disc which are coaxial with each other respectively; the driving structure can drive the first turntable and the second turntable to rotate around the axis, so that the upper sole support swings around the axis of the first turntable and the second turntable; the robot can operate passively and can also drive ankle joints to move actively.

Description

Technical Field

[0001] The present invention relates to the field of joint rehabilitation training equipment. Background Art

[0002] Ankle joint rehabilitation training generally has the following two situations:

[0003] In the first case, when the patient's ankle joint can move autonomously, in order to exercise and restore the ankle muscles, it is necessary to apply a certain amount of flexible resistance to the patient's active ankle movement, thereby exercising the joint muscles and promoting recovery.

[0004] In the second case, when the patient's ankle joint cannot move autonomously, the patient's ankle joint needs to be actively driven by the rehabilitation device to passively move, so as to prevent or reduce joint adhesion caused by long-term surgery. Continuous passive movement helps to repair and reshape the articular cartilage surface and reduce adhesion within the joint.

[0005] Existing ankle joint recovery trainers can generally only achieve one of the above two functions. Summary of the invention

[0006] Purpose of the invention: In order to overcome the deficiencies in the prior art, the present invention provides an ankle joint rehabilitation trainer that can operate passively and actively drive ankle joint activities.

[0007] Technical solution: To achieve the above purpose, an ankle joint rehabilitation trainer of the present invention comprises a base, a sole support and a calf support, wherein the sole support is above the base, the calf support is a semi-enclosed structure with an upper portion tilted backward, and the inner side of the calf support is a calf restraint groove that passes through from top to bottom;

[0008] The left and right sides of the sole rest are symmetrically provided with a first side guard plate and a second side guard plate; the upper ends of the first side guard plate and the second side guard plate are fixedly connected with a first turntable and a second turntable coaxial with each other; the driving structure can drive the first turntable and the second turntable to rotate around the axis, so that the upper sole rest swings around the axis of the first turntable and the second turntable.

[0009] Furthermore, a calf strap is arranged on the front side of the calf restraint groove of the calf support; and a sole strap is arranged on the upper side of the sole support.

[0010] Furthermore, the axes of the first turntable and the second turntable are respectively provided with a first bearing hole and a second bearing hole; the first bearing hole of the first turntable is rotatably mounted on the first fixed shaft through a bearing, and the second bearing hole on the second turntable is rotatably mounted on the second fixed shaft through a bearing; the ends of the first fixed shaft and the second fixed shaft that are away from each other are fixedly connected to the base through a first support arm and a second support arm, respectively.

[0011] Furthermore, the ends of the first fixed axis and the second fixed axis that are close to each other are respectively fixedly connected to the two sides of the lower end of the calf support.

[0012] Furthermore, the first rotating disk has a first rope winding groove on its outer ring, a first rope winding drum is formed on the inner side of the first rope winding groove, and the first rope winding drum is coaxially integrated with the first rotating disk; it also includes a first traction rope extending along the length direction of the calf support, the upper end of the first traction rope is connected to the first connecting seat through a first pulling spring, and the first connecting seat is fixed to one side of the upper part of the calf support; the lower end of the first traction rope is in the first rope winding groove and crosses the upper side of the first rope winding drum in an arc shape, and the end is fixedly connected to the outer peripheral surface of the first rope winding drum;

[0013] The second turntable has a second rope winding groove on its outer circle, a second rope winding drum is formed on the inner side of the second rope winding groove, and the second rope winding drum is coaxial with the second turntable; it also includes a second traction rope extending along the length direction of the calf support, the upper end of the second traction rope is connected to the second connecting seat through a second pulling spring, and the second connecting seat is fixed to one side of the upper part of the calf support; the lower end of the second traction rope is in the second rope winding groove and crosses the lower side of the second rope winding drum in an arc shape, and the end is fixedly connected to the outer peripheral surface of the second rope winding drum.

[0014] Furthermore, it also includes a first drive motor and a first drive disk, the first drive motor is coaxially driven and connected to the first drive disk, and the first drive motor is fixedly installed on one side of the calf support through a first motor support; the outer ring of the first drive disk is provided with a circle of first winding grooves, the inner side of the first winding groove forms a first winding disk, and the first winding disk is coaxially integrated with the first drive disk; a first threading channel is passed through the first winding disk in a radial direction, and the first traction rope movably passes through the first threading channel;

[0015] It also includes a second drive motor and a second drive disk, the second drive motor is coaxially driven and connected to the second drive disk, and the second drive motor is fixedly installed on one side of the calf support through a second motor support; a second winding groove is provided on the outer ring of the second drive disk, and a second winding disk is formed on the inner side of the second winding groove, and the second winding disk is coaxially integrated with the second drive disk; a second threading channel is penetrated through the second winding disk in a radial direction, and the second traction rope movably passes through the second threading channel.

[0016] Further, a section where the lower end of the first traction rope is in the first rope winding groove and crosses the upper side of the first rope winding drum in an arc shape is recorded as the first traction rope arc section, and the counterclockwise end of the first traction rope arc section is fixedly connected to the outer peripheral surface of the first rope winding drum; a section between the first rotating disk and the first driving disk of the first traction rope is recorded as the straight middle section of the first traction rope; a section between the first driving disk and the first pulling spring of the first traction rope is recorded as the straight upper section of the first traction rope;

[0017] The section where the lower end of the second traction rope is in the second rope winding groove and crosses the upper side of the second rope winding drum in an arc shape is recorded as the second traction rope arc section, and the clockwise end of the second traction rope arc section is fixedly connected to the outer circumferential surface of the second rope winding drum; the section between the second rotating disk and the second driving disk of the second traction rope is recorded as the straight middle section of the second traction rope; the section between the second driving disk and the second pulling spring of the second traction rope is recorded as the straight upper section of the second traction rope.

[0018] Further, in mode A, the first drive motor and the second drive motor are controlled so that the first drive disc and the second drive disc are both locked and braked;

[0019] In mode B, if it is necessary to use the device to actively drive the patient's foot to passively swing upward around the ankle joint, on the basis of mode A, the first drive motor is separately controlled to make the first drive disk and the first winding coil winding axis rotate forward, and finally the first drive motor is controlled to reverse the first drive disk and the first winding coil winding axis to restore the device to its initial state; if it is necessary to use the device to actively drive the patient's foot to passively swing downward around the ankle joint, on the basis of mode A, the second drive motor is separately controlled to make the second drive disk and the second winding coil winding axis rotate forward, and finally the second drive motor is controlled to reverse the second drive disk and the second winding coil winding axis to restore the device to its initial state.

[0020] Beneficial effects: The present invention can exert flexible resistance on the active movement of the patient's ankle joint, thereby achieving the purpose of exercising the joint muscles; at the same time, it can also achieve passive movement of the patient's ankle joint through active driving of the device, thereby preventing or reducing joint adhesion caused by long-term surgery and the like. Continuous passive movement helps to repair and reshape the articular cartilage surface and reduce adhesion within the joint. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is the overall diagram of the device;

[0022] Figure 2 for Figure 1 Disassembly diagram of

[0023] Figure 3 for Figure 2 Further disassembly of the upper part. DETAILED DESCRIPTION

[0024] The present invention will be further described below in conjunction with the accompanying drawings.

[0025] As attached Figures 1 to 3An ankle joint rehabilitation trainer shown in the figure includes a base 3, a foot support 1 and a calf support 4, the foot support 1 is above the base 3, the calf support 4 is a semi-enclosed structure with the upper part tilted backward, the inner side of the calf support 4 is a calf restraint groove 6 that passes through from top to bottom, and a calf strap 5 is arranged on the front side of the calf restraint groove 6 of the calf support 4; a foot strap 2 is arranged on the upper side of the foot support 1.

[0026] The left and right sides of the sole support 1 are symmetrically provided with a first side guard plate 10a and a second side guard plate 10b; the upper ends of the first side guard plate 10a and the second side guard plate 10b are respectively fixedly connected with the first turntable 9a and the second turntable 9b coaxially with each other; the driving structure can drive the first turntable 9a and the second turntable 9b to rotate around the axis, so that the upper sole support 1 swings around the axis of the first turntable 9a and the second turntable 9b; the axis of the first turntable 9a and the second turntable 9b are respectively provided with a first bearing hole 13a and a second bearing hole 13b; the first bearing hole 13a of the first turntable 9a is rotatably mounted on the first fixed shaft 14a through a bearing, and the second bearing hole 13b on the second turntable 9b is rotatably mounted on the second fixed shaft 14b through a bearing; the ends of the first fixed shaft 14a and the second fixed shaft 14b that are away from each other are fixedly connected to the base 3 through the first support arm 15a and the second support arm 15b respectively; the ends of the first fixed shaft 14a and the second fixed shaft 14b that are close to each other are respectively fixedly connected to the two sides of the lower end of the calf support 4.

[0027] like Figure 3 As shown, the outer circle of the first rotating disk 9a is provided with a first rope winding groove 18a, the inner side of the first rope winding groove 18a forms a first rope winding drum 19a, and the first rope winding drum 19a is coaxially integrated with the first rotating disk 9a; it also includes a first traction rope 7a extending along the length direction of the calf support 4, the upper end of the first traction rope 7a is connected to the first connecting seat 17a through the first pulling spring 16a, and the first connecting seat 17a is fixed to one side of the upper part of the calf support 4; the lower end of the first traction rope 7a is in the first rope winding groove 18a and crosses the upper side of the first rope winding drum 19a in an arc shape, and the end is fixedly connected to the outer peripheral surface of the first rope winding drum 19a;

[0028] It also includes a first drive motor 8a and a first drive disk 12a, the first drive motor 8a is coaxially driven and connected to the first drive disk 12a, and the first drive motor 8a is fixedly installed on one side of the calf support 4 through the first motor support 11a; the outer circle of the first drive disk 12a is provided with a circle of first winding grooves 32a, and the inner side of the first winding groove 32a forms a first winding disk 20a, and the first winding disk 20a is coaxially integrated with the first drive disk 12a; the first winding disk 20a is penetrated by a first threading channel 21a in a radial direction, and the first traction rope 7a moves through the first threading channel 21a.

[0029] The section where the lower end of the first traction rope 7a is in the first rope winding groove 18a and crosses the upper side of the first rope winding drum 19a in an arc shape is recorded as the first traction rope arc section 7.1a, and the counterclockwise end of the first traction rope arc section 7.1a is fixedly connected to the outer circumferential surface of the first rope winding drum 19a; the section between the first rotating disk 9a and the first driving disk 12a of the first traction rope 7a is recorded as the first traction rope straight middle section 7.2a; the section between the first driving disk 12a and the first pulling spring 16a of the first traction rope is recorded as the first traction rope straight upper section 7.3a.

[0030] The second rotating disk 9b has a second rope winding groove 18b on its outer circle, and a second rope winding drum 19b is formed on the inner side of the second rope winding groove 18b. The second rope winding drum 19b is coaxially integrated with the second rotating disk 9b; it also includes a second traction rope 7b extending along the length direction of the calf support 4, the upper end of the second traction rope 7b is connected to the second connecting seat 17b through the second pulling spring 16b, and the second connecting seat 17b is fixed to one side of the upper part of the calf support 4; the lower end of the second traction rope 7b is in the second rope winding groove 18b and crosses the lower side of the second rope winding drum 19b in an arc shape, and the end is fixedly connected to the outer peripheral surface of the second rope winding drum 19b;

[0031] It also includes a second drive motor 8b and a second drive disk 12b, the second drive motor 8b is coaxially driven and connected to the second drive disk 12b, and the second drive motor 8b is fixedly installed on one side of the calf support 4 through a second motor support 11b; the outer circle of the second drive disk 12b is provided with a circle of second winding grooves 32b, and the inner side of the second winding groove 32b forms a second winding disk 20b, and the second winding disk 20b is coaxially integrated with the second drive disk 12b; the second winding disk 20b is penetrated by a second threading channel 21b in a radial direction, and the second traction rope 7b can move through the second threading channel 21b.

[0032] The section where the lower end of the second traction rope 7b is in the second rope winding groove 18b and crosses the upper side of the second rope winding drum 19b in an arc shape is recorded as the second traction rope arc section 7.1b, and the clockwise end of the second traction rope arc section 7.1b is fixedly connected to the outer circumferential surface of the second rope winding drum 19b; the section between the second rotating disk 9b and the second driving disk 12b of the second traction rope 7b is recorded as the second traction rope straight middle section 7.2b; the section between the second driving disk 12b and the second pulling spring 16b of the second traction rope 7b is recorded as the second traction rope straight upper section 7.3b.

[0033] Working principle: Since the counterclockwise end of the first traction rope arc segment 7.1a is fixedly connected to the outer circumference of the first rope drum 19a, and the clockwise end of the second traction rope arc segment 7.1b is fixedly connected to the outer circumference of the second rope drum 19b; therefore, the tension of the first traction rope 7a will cause the foot support 1 to have a tendency to swing upward around the axis of the first rope drum 19a, and the tension of the second traction rope 7b will cause the foot support 1 to have a tendency to swing downward around the axis of the second rope drum 19b; therefore, in the initial state, the foot support 1 maintains balance under the interaction of the first traction rope 7a and the second traction rope 7b.

[0034] Based on the initial state, the device includes A mode and B mode:

[0035] When the patient's ankle joint can move autonomously, the device enters mode A in order to exercise and restore the ankle joint muscles;

[0036] A mode details:

[0037] In mode A, the first drive motor 8a and the second drive motor 8b are controlled to make the first drive disk 12a and the second drive disk 12b enter a locked and braked state; at this time, the first traction rope 7a can freely move through the first threading channel 21a along the length direction, and the second traction rope 7b can freely move through the second threading channel 21b along the length direction; at this time, after the patient wears the device, the patient actively controls his or her own sole to swing up and down around the ankle joint. When the patient's sole swings downward around the ankle joint, the patient's sole will push the sole support 1 to swing downward around the axis of the first rope reel 19a / second rope reel 19b. At this time, the first traction spring 16a is stretched, and the second traction spring 16b is adaptively contracted. The tension applied to the first traction rope 7a by the stretched first traction spring 16a is transmitted to the sole support 1 in the form of clockwise torque, thereby forming a resistance for the sole support 1 to swing downward around the axis of the first rope reel 19a / second rope reel 19b, and then The effect of flexibly resisting the downward swinging of the patient's foot around the ankle joint is achieved, thereby prompting the patient's ankle muscles to exert force, thereby achieving the purpose of exercising and restoring the ankle muscles; conversely, when the patient's foot swings downward and upward around the ankle joint, the patient's foot will push the foot support 1 to swing upward around the axis of the first rope drum 19a / second rope drum 19b. At this time, the first traction spring 16a contracts adaptively and the second traction spring 16b is stretched. At this time, the tension applied to the second traction rope 7b by the second traction spring 16b is transmitted to the foot support 1 in the form of a clockwise torque, thereby forming a resistance to the upward swinging of the foot support 1 around the axis of the second rope drum 19b, thereby achieving the effect of flexibly resisting the upward swinging of the patient's foot around the ankle joint, thereby prompting the patient's ankle muscles to exert force, thereby achieving the purpose of exercising and restoring the ankle muscles; according to this rule, the patient can achieve the purpose of regularly exercising the joint muscles by actively controlling his or her own foot to swing up and down repeatedly around the ankle joint.

[0038] When the patient's ankle joint cannot move autonomously, the device needs to be actively driven to passively move the patient's ankle joint to prevent or reduce joint adhesion caused by long-term surgery. Continuous passive movement helps to repair and reshape the articular cartilage surface and reduce adhesion in the joint. Under this requirement, the device enters mode B;

[0039] Detailed description of B mode:

[0040] After the patient wears the device, if the device is needed to actively drive the patient's foot to passively swing upward around the ankle joint, on the basis of mode A, the first drive motor 8a is controlled separately to make the first drive disc 12a and the first winding disc 20a rotate forward around the axis, so that the first traction rope straight middle section 7.2a of the first traction rope 7a and the first traction rope straight upper section 7.3a, which are close to each other, are gradually wound around the outer ring of the first winding disc 20a, so that the first traction rope arc section 7.1a is forced to pull the first rope winding disc 19a in the clockwise direction, thereby causing the first drive disc 12a to rotate clockwise around the axis, and then the sole support 1 is actively swung upward around the axis of the first rope winding disc 19a, so as to achieve the purpose of the sole support 1 driving the patient's foot to passively swing upward around the ankle joint. In the above process, the first pulling spring 16a and the second pulling spring 16b are both adaptively changed. Finally, the first drive motor 8a is controlled to reverse the first drive disc 12a and the first winding disc 20a around the axis, so that the device is restored to the initial state;

[0041] After the patient wears the device, if it is necessary to use the device to actively drive the patient's foot to passively swing downward around the ankle joint, on the basis of mode A, the second drive motor 8b is controlled separately to make the second drive disk 12b and the second winding disk 20b rotate forward around the axis, so that the second traction rope straight middle section 7.2b and the second traction rope straight upper section 7.3b of the second traction rope 7b, which are close to each other, are gradually wound around the outer circle of the second winding disk 20b, so that the second traction rope arc section 7.1b is forced to pull the second rope winding disk 19b in the counterclockwise direction, thereby causing the second drive disk 12b to rotate counterclockwise around the axis, and then causing the sole support 1 to actively swing downward around the axis of the second rope winding disk 19b, thereby achieving the purpose of the sole support 1 driving the patient's foot to passively swing downward around the ankle joint. In the above process, the first traction spring 16a and the second traction spring 16b both change adaptively. Finally, the second drive motor 8b is controlled to reverse the second drive disk 12b and the second winding disk 20b around the axis, so that the device is restored to its initial state.

[0042] Just move back and forth according to the above rules.

[0043] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. An ankle joint rehabilitation trainer, characterized in that: It comprises a base (3), a sole support (1) and a calf support (4), wherein the sole support (1) is above the base (3), the calf support (4) is a semi-enclosed structure with an upper portion tilted backwards, and the inner side of the calf support (4) is a calf restraint groove (6) that passes through from top to bottom; The left and right sides of the sole support (1) are symmetrically provided with a first side guard plate (10a) and a second side guard plate (10b); the upper ends of the first side guard plate (10a) and the second side guard plate (10b) are respectively fixedly connected with a first rotating disk (9a) and a second rotating disk (9b) coaxial with each other; the driving structure can drive the first rotating disk (9a) and the second rotating disk (9b) to rotate around the axis, so that the upper sole support (1) swings around the axis of the first rotating disk (9a) and the second rotating disk (9b).

2. An ankle joint rehabilitation trainer according to claim 1, characterized in that: A calf strap (5) is arranged on the front side of the calf restraint groove (6) of the calf support (4); and a sole strap (2) is arranged on the upper side of the sole support (1).

3. An ankle joint rehabilitation trainer according to claim 1, characterized in that: The axes of the first rotating disk (9a) and the second rotating disk (9b) are respectively provided with a first bearing hole (13a) and a second bearing hole (13b); the first bearing hole (13a) of the first rotating disk (9a) is rotatably mounted on the first fixed shaft (14a) through a bearing, and the second bearing hole (13b) on the second rotating disk (9b) is rotatably mounted on the second fixed shaft (14b) through a bearing; and the ends of the first fixed shaft (14a) and the second fixed shaft (14b) that are away from each other are fixedly connected to the base (3) through a first supporting arm (15a) and a second supporting arm (15b) respectively.

4. An ankle joint rehabilitation trainer according to claim 3, characterized in that: The ends of the first fixed shaft (14a) and the second fixed shaft (14b) that are close to each other are respectively fixedly connected to the two sides of the lower end of the calf support (4).

5. An ankle joint rehabilitation trainer according to claim 4, characterized in that: The first rotating disk (9a) has a first rope winding groove (18a) on its outer circle, and a first rope winding drum (19a) is formed on the inner side of the first rope winding groove (18a), and the first rope winding drum (19a) is coaxially integrated with the first rotating disk (9a); it also includes a first traction rope (7a) extending along the length direction of the calf support (4), the upper end of the first traction rope (7a) is connected to the first connecting seat (17a) through a first pulling spring (16a), and the first connecting seat (17a) is fixed to one side of the upper part of the calf support (4); the lower end of the first traction rope (7a) is in the first rope winding groove (18a) and crosses the upper side of the first rope winding drum (19a) in an arc shape, and the end is fixedly connected to the outer peripheral surface of the first rope winding drum (19a); The second rotating disk (9b) has a second rope winding groove (18b) on its outer circle, and a second rope winding drum (19b) is formed on the inner side of the second rope winding groove (18b), and the second rope winding drum (19b) is coaxially integrated with the second rotating disk (9b); it also includes a second traction rope (7b) extending along the length direction of the calf support (4), the upper end of the second traction rope (7b) is connected to the second connecting seat (17b) through a second pulling spring (16b), and the second connecting seat (17b) is fixed to one side of the upper part of the calf support (4); the lower end of the second traction rope (7b) is in the second rope winding groove (18b) and crosses the lower side of the second rope winding drum (19b) in an arc shape, and the end is fixedly connected to the outer peripheral surface of the second rope winding drum (19b).

6. An ankle joint rehabilitation trainer according to claim 5, characterized in that: It also includes a first drive motor (8a) and a first drive disk (12a), wherein the first drive motor (8a) is coaxially driven and connected to the first drive disk (12a), and the first drive motor (8a) is fixedly installed on one side of the calf support (4) through a first motor support (11a); a circle of first winding grooves (32a) are arranged on the outer ring of the first drive disk (12a), and a first winding disk (20a) is formed on the inner side of the first winding groove (32a), and the first winding disk (20a) and the first drive disk (12a) are coaxially integrated; a first threading channel (21a) is passed through the first winding disk (20a) in a radial direction, and the first traction rope (7a) movably passes through the first threading channel (21a); It also includes a second drive motor (8b) and a second drive disk (12b), the second drive motor (8b) is coaxially driven and connected to the second drive disk (12b), and the second drive motor (8b) is fixedly installed on one side of the calf support (4) through a second motor support (11b); the outer ring of the second drive disk (12b) is provided with a circle of second winding grooves (32b), the inner side of the second winding groove (32b) forms a second winding disk (20b), and the second winding disk (20b) and the second drive disk (12b) are coaxially integrated; the second winding disk (20b) is penetrated by a second threading channel (21b) in the radial direction, and the second traction rope (7b) movably passes through the second threading channel (21b).

7. An ankle joint rehabilitation trainer according to claim 6, characterized in that: A section where the lower end of the first traction rope (7a) is in the first rope winding groove (18a) and crosses the upper side of the first rope winding disc (19a) in an arc shape is recorded as the first traction rope arc section (7.1a), and the counterclockwise end of the first traction rope arc section (7.1a) is fixedly connected to the outer peripheral surface of the first rope winding disc (19a); a section between the first rotating disc (9a) and the first driving disc (12a) of the first traction rope (7a) is recorded as the first traction rope straight middle section (7.2a); and a section between the first driving disc (12a) and the first pulling spring (16a) of the first traction rope (7a) is recorded as the first traction rope straight upper section (7.3a); A section where the lower end of the second traction rope (7b) is in the second rope winding groove (18b) and crosses the upper side of the second rope winding disc (19b) in an arc shape is recorded as the second traction rope arc section (7.1b), and the clockwise end of the second traction rope arc section (7.1b) is fixedly connected to the outer peripheral surface of the second rope winding disc (19b); a section between the second rotating disc (9b) and the second driving disc (12b) of the second traction rope (7b) is recorded as the second traction rope straight middle section (7.2b); and a section between the second driving disc (12b) and the second pulling spring (16b) of the second traction rope (7b) is recorded as the second traction rope straight upper section (7.3b).

8. The working method of the ankle joint rehabilitation training device according to claim 7, characterized in that: In mode A, the first drive motor (8a) and the second drive motor (8b) are controlled so that the first drive disk (12a) and the second drive disk (12b) are both locked and braked; In the B mode, if the device is required to actively drive the sole of the patient's foot to passively swing upward around the ankle joint, on the basis of the A mode, the first drive motor (8a) is controlled separately to make the first drive disk (12a) and the first winding disk (20a) rotate forward around the axis, and finally the first drive motor (8a) is controlled to make the first drive disk (12a) and the first winding disk (20a) rotate reversely around the axis, so that the device is restored to the initial state; if the device is required to actively drive the sole of the patient's foot to passively swing downward around the ankle joint, on the basis of the A mode, the second drive motor (8b) is controlled separately to make the second drive disk (12b) and the second winding disk (20b) rotate forward around the axis, and finally the second drive motor (8b) is controlled to make the second drive disk (12b) and the second winding disk (20b) rotate reversely around the axis, so that the device is restored to the initial state.

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