Portable lower limb rehabilitation exercise device

Abstract

The invention discloses a portable lower limb rehabilitation exercise device which comprises a wearable support, an insole assembly, a gait detection assembly, a tactile feedback device and a control assembly, the wearable support is composed of a foot sleeve and a leg sleeve, and a micro servo motor is installed between the foot sleeve and the leg sleeve; the wearable support adjusts the angle between the foot sleeve and the leg sleeve through the micro servo motor, when a patient uses the exercise device for rehabilitation training, the gait of the patient during rehabilitation training can be detected through the acceleration sensor, the gyroscope and the pressure detection device, and if the gait of the patient is abnormal, the patient can be helped to do rehabilitation training. Vibration is triggered through an arranged tactile feedback device, a patient is reminded to correct the gait in time, when a pressure detection device detects that a pressure signal of the patient in a single gait cycle exceeds a preset threshold value and when the patient places the foot next time, the angle between a foot sleeve and a leg sleeve is adjusted through an arranged micro servo motor, and the patient is reminded to correct the gait in time. The downward pressing amplitude of feet is limited through mechanical resistance, and the rehabilitation effect of patients is improved.

Description

Technical Field

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

[0002] Lower limb rehabilitation exercise is crucial for the recovery of patients with impaired lower limb functions, and is related to whether they can resume normal life and mobility. Traditional lower limb rehabilitation exercise devices have many limitations and are difficult to meet the personalized and precise rehabilitation needs of patients.

[0003] Currently, common lower limb rehabilitation exercise equipment on the market mostly consists of fixed-mode exercise machines, such as simple leg flexion and extension trainers, walking aids with fixed tracks, etc. These devices lack consideration for individual differences in their design and cannot be flexibly adjusted according to the patient's real-time physical condition and movement feedback. For example, due to differences in lower limb muscle strength, joint mobility, and injury degree among different patients, the requirements for foot force and movement angle during the rehabilitation exercise process are very different. However, existing fixed-mode devices can only provide a single, pre-set exercise mode and cannot make dynamic adjustments according to the real-time pressure changes of the patient's feet. This not only affects the rehabilitation effect but may also cause secondary injuries to the patient due to unreasonable force and movement angle.

[0004] In addition, during the rehabilitation exercise process of the human body, the foot pressure is a dynamically changing parameter. As the exercise action progresses, the fatigue level increases, and the body center of gravity shifts, the pressure distribution in different areas of the foot will continuously change. Traditional rehabilitation devices cannot capture these pressure changes in real time, nor can they adjust the foot pressing angle in real time according to the changes, making it difficult to achieve the dynamic matching of rehabilitation training and the human physiological state.

[0005] In the field of lower limb rehabilitation, there is an urgent need for a rehabilitation exercise device that can dynamically adjust the foot pressing angle in real time according to the foot pressure. Such a device can provide more personalized, safer, and more effective rehabilitation training for patients, filling the gap in precise rehabilitation in the existing technology, and having important clinical application value and broad market prospects. Summary of the Invention

[0006] The purpose of the present invention is to provide a portable lower limb rehabilitation exercise device to solve the problems raised in the above background art.

[0007] To achieve the above purpose, the present invention provides the following technical solution: A portable lower limb rehabilitation exercise device, comprising: a wearable bracket, the wearable bracket is composed of a foot sleeve and a leg sleeve, a micro servo motor is installed between the foot sleeve and the leg sleeve, and the wearable bracket adjusts the angle between the foot sleeve and the leg sleeve through the micro servo motor to limit the foot pressing amplitude;

[0008] Insole assembly, the insole assembly is installed in a foot sleeve, and the insole assembly is composed of an upper layer pad, a middle layer pad, and a lower layer pad;

[0009] Gait detection component, the gait detection component is installed in the insole assembly and at the bottom of the foot sleeve, and the gait detection component is used to detect the gait of a patient during exercise;

[0010] Tactile feedback device, the tactile feedback device is installed in the insole assembly, and the tactile feedback device is used to give a reminder feedback for the patient's bad gait;

[0011] Control component, the control component is installed at the top of the back of the leg sleeve. The control system includes a data processing module and a control module. The control system processes and analyzes the data collected during the patient's exercise through the data processing module, and dynamically adjusts the device through the control module.

[0012] As a preferred solution of the present invention: Fixing straps for fixing the patient's lower limbs are installed on the sides of both the foot sleeve and the leg sleeve.

[0013] As a preferred solution of the present invention: Connecting parts are provided at the bottoms of both sides of the leg sleeve. The micro servo motors are installed on both sides of the top of the foot sleeve. The connecting parts are arranged on the inner walls of both sides of the foot sleeve, and the output shafts of the micro servo motors extend into the foot sleeve and are connected to the corresponding connecting parts.

[0014] As a preferred solution of the present invention: Airbag pads are installed inside both the foot sleeve and the leg sleeve.

[0015] As a preferred solution of the present invention: The foot sleeve and the leg sleeve are made of 3D printed lightweight carbon fiber material.

[0016] As a preferred solution of the present invention: The gait detection component includes a pressure detection device, an acceleration sensor, and a gyroscope. The pressure detection device is installed on the top of the middle layer pad, and the acceleration sensor and the gyroscope are both installed inside the bottom end of the foot sleeve.

[0017] As a preferred solution of the present invention: The pressure detection device is a flexible piezoresistive sensor, and the pressure detection device is arranged in an array and covers the heel, arch, and forefoot areas.

[0018] As a preferred solution of the present invention: The tactile feedback device is a vibration motor, and the tactile feedback device is installed in an array on the surface of the lower layer pad.

[0019] As a preferred embodiment of the present invention: the data processing module is used to collect acceleration, foot pressure data and foot posture data during the process of the patient lifting and lowering the foot, and the control module controls the operation of the micro servo motor and the vibration motor in real time according to the data analyzed and processed by the data processing module.

[0020] As a preferred embodiment of the present invention: the control component further includes an information transmission module and a Bluetooth module. The information transmission module is used to upload the collected patient gait information to the background terminal, and the Bluetooth module is used to transmit the collected patient gait information to the patient's mobile phone.

[0021] As a preferred embodiment of the present invention: the processing algorithm of the data processing module includes data input, preprocessing, feature extraction, data classification and anomaly feedback. In the preprocessing stage, the Kalman filter is used to fuse multi-sensor data (acceleration sensor, flexible piezoresistive sensor and gyroscope), and then low-pass filtering is performed to remove high-frequency noise. In the feature extraction stage, time-domain features and frequency-domain features are extracted. The time-domain features are used to identify the moments of lifting / lowering the foot, and the frequency-domain features are used to determine whether the walking frequency is abnormal.

[0022] As a preferred embodiment of the present invention: in the data classification stage, the support vector machine (SVM) model is used to judge whether the lifting height of the foot is normal, and in the anomaly feedback stage, the vibration motor is used to remind the patient that the gait is abnormal.

[0023] Compared with the prior art, the beneficial effects of the present invention are as follows: When a patient uses the exercise device for rehabilitation training, through the provided acceleration sensor, gyroscope, and pressure detection device, the gait of the patient during rehabilitation exercise can be detected. If the patient's gait is abnormal, the tactile feedback device works to generate vibration to remind the patient to correct the gait in a timely manner. Moreover, when the patient is performing rehabilitation exercise, the pressure that the foot can bear is limited. Medical staff can first set a pressure threshold. When the pressure detection device detects that the pressure signal of the patient exceeds the preset threshold within a single gait cycle, when the patient puts the foot down next time, the angle between the foot sleeve and the leg sleeve is adjusted by the provided micro servo motor, thereby increasing the stiffness of the wearable bracket in this way and restricting the downward pressure amplitude of the foot through mechanical resistance, which is more conducive to the patient's rehabilitation training. The rehabilitation exercise device can dynamically adjust the angle between the foot sleeve and the leg sleeve during the patient's rehabilitation exercise, thereby realizing the limitation of the downward pressure amplitude of the foot, avoiding excessive pressure on the foot during the rehabilitation exercise cycle, affecting the rehabilitation effect, and avoiding secondary injury to the patient. Moreover, during the rehabilitation exercise period, the rehabilitation exercise device can collect the information of the patient's foot lifting and putting down in real time and process and analyze the collected information through the data processing module to judge whether the gait is abnormal during the patient's exercise period. If the gait is abnormal, it can also timely remind the patient to correct the gait through the tactile feedback device. At the same time, the collected information can be uploaded to the background for the attending physician to know the exercise situation and formulate the next stage of the rehabilitation plan. At the same time, the collected information can also be sent to the patient's own mobile phone for the patient to understand their own gait information during the exercise cycle. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 is a structural schematic diagram of the present invention;

[0025] Figure 2 is a structural schematic diagram of the insole assembly of the present invention;

[0026] Figure 3 is a sectional structural schematic diagram of the foot sleeve of the present invention;

[0027] Figure 4 is a side structural schematic diagram of the leg sleeve of the present invention;

[0028] Figure 5 is a principle block diagram of the control component of the present invention;

[0029] Figure 6 is a working principle block diagram of the data processing module of the present invention.

[0030] In the figure: 1. Foot sleeve; 2. Leg sleeve; 21. Connection part; 3. Micro servo motor; 4. Insole assembly; 41. Upper insole; 42. Middle insole; 43. Lower insole; 5. Tactile feedback device; 6. Control assembly; 61. Data processing module; 62. Control module; 63. Information transmission module; 64. Bluetooth module; 7. Fixing strap; 8. Airbag pad; 9. Pressure detection device; 10. Acceleration sensor; 11. Gyroscope. Detailed implementation mode

[0031] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0032] Please refer to Figure 1 - Figure 6 The present invention provides a technical solution: a portable lower limb rehabilitation exercise device, including: a wearable bracket, the wearable bracket is composed of a foot sleeve 1 and a leg sleeve 2, a micro servo motor 3 is installed between the foot sleeve 1 and the leg sleeve 2, and the wearable bracket adjusts the angle between the foot sleeve 1 and the leg sleeve 2 through the micro servo motor 3 to limit the downward pressure amplitude of the foot;

[0033] An insole assembly 4, the insole assembly 4 is installed in the foot sleeve 1, and the insole assembly 4 is composed of an upper insole 41, a middle insole 42 and a lower insole 43;

[0034] A gait detection assembly, the gait detection assembly is installed in the insole assembly 4 and at the bottom of the foot sleeve 1, and the gait detection assembly is used to detect the gait of the patient during exercise;

[0035] A tactile feedback device 5, the tactile feedback device 5 is installed in the insole assembly 4, and the tactile feedback device 5 is used to give a reminder feedback for the patient's bad gait;

[0036] A control assembly 6, the control assembly 6 is installed at the top of the back of the leg sleeve 2, the control system includes a data processing module 61 and a control module 62, the control system processes and analyzes the data collected during the patient's exercise through the data processing module 61, and dynamically adjusts the device through the control module 62.

[0037] In this embodiment, fixing straps 7 for fixing the patient's lower limbs are installed on the sides of the foot sleeve 1 and the leg sleeve 2.

[0038] Specifically, after the patient wears the rehabilitation exercise device, the fixed strap 7 can prevent the patient's lower limbs from detaching from the foot sleeve 1 and the leg sleeve 2, thereby improving the stability of the rehabilitation exercise device during use.

[0039] In this embodiment, connecting parts 21 are provided at the bottoms of both sides of the leg sleeve 2. The micro servo motors 3 are installed on both sides of the top of the foot sleeve 1. The connecting parts 21 are arranged on the inner walls of both sides of the foot sleeve 1, and the output shafts of the micro servo motors 3 extend into the foot sleeve 1 and are connected to the corresponding connecting parts 21.

[0040] Specifically, the connecting parts 21 are driven by the provided micro servo motors 3, so that the angle between the foot sleeve 1 and the leg sleeve 2 can be effectively adjusted in this way. This method can use the mechanical resistance to limit the downward movement amplitude of the foot. When the patient is putting down the foot, normally the foot will be parallel to the ground. Under the action of the micro servo motor 3, the angle between the foot sleeve 1 and the leg sleeve 2 is dynamically adjusted to an obtuse angle during the patient's rehabilitation exercise, so that when the patient puts down the foot, the toes touch the ground first. This method can assist the patient in controlling the gait, and the way that the toes touch the ground first can reduce the pressure on the patient's foot, which is beneficial to the patient's recovery.

[0041] In this embodiment, airbag pads 8 are installed inside both the foot sleeve 1 and the leg sleeve 2.

[0042] Specifically, the provided airbag pads 8 can effectively reduce the pressure on the patient's foot and leg by the foot sleeve 1 and the leg sleeve 2, and prevent pressure sores on the patient's foot and leg during the rehabilitation exercise. In this way, it can help the patient recover and avoid secondary injuries during the rehabilitation exercise.

[0043] In this embodiment, the foot sleeve 1 and the leg sleeve 2 are made of 3D printed lightweight carbon fiber material.

[0044] Specifically, since the foot sleeve 1 and the leg sleeve 2 are made of carbon fiber, the rehabilitation exercise device has high-strength rigidity. After the angle between the foot sleeve 1 and the leg sleeve 2 is adjusted by the micro servo motor 3, the rehabilitation exercise device has the function of variable stiffness. This method can facilitate the toes to touch the ground first when the patient is putting down the foot. The way that the toes touch the ground first can reduce the pressure on the patient's foot, and the way that the toes touch the ground can assist the patient in reducing the foot pressure when putting down the foot, thus avoiding secondary injuries caused by high foot pressure during exercise, which is more beneficial to the patient's recovery.

[0045] In this embodiment, the gait detection component includes a pressure detection device 9, an acceleration sensor 10, and a gyroscope 11. The pressure detection device 9 is installed on the top of the middle layer pad 42, and both the acceleration sensor 10 and the gyroscope 11 are installed inside the bottom end of the foot sleeve 1.

[0046] Specifically, the pressure detection device 9 can detect the plantar pressure of the patient. When the detected plantar pressure is greater than the threshold value, the tactile feedback device 5 can give feedback to the patient, thereby enabling the patient to adjust the foot placement force in a timely manner and avoiding secondary injuries caused by excessive foot placement force. The acceleration sensor 10 can detect the acceleration when the patient lifts the foot, so as to determine whether the patient is in the foot-lifting stage or the foot-placement stage during the rehabilitation exercise. Furthermore, in this way, it is beneficial for the control component 6 to issue a working instruction to the micro servo motor 3 in a timely manner. By detecting the change in the foot acceleration through the acceleration sensor 10, when the acceleration suddenly decreases (the foot leaves the ground), it is determined as a foot-lifting action. By detecting the change in the plantar pressure through the pressure detection device 9, when the pressure suddenly increases (the foot touches the ground), it is determined as a foot-placement action. The gyroscope 11 is used to detect the rotation angle and posture change of the foot to assist in judging the stability of the gait. If it is detected that the gait angle exceeds the threshold value (such as the in-toe angle > 10°), at this time, the tactile feedback device 5 can give feedback to the patient, thereby reminding the patient to correct the gait in a timely manner.

[0047] In this embodiment, the pressure detection device 9 is a flexible piezoresistive sensor, and the pressure detection device 9 is arranged in an array and covers the heel, arch, and forefoot areas.

[0048] Specifically, the flexible piezoresistive sensor has the advantages of being lightweight and flexible. Therefore, when installed in the insole assembly 4, it will not cause a strange tactile sensation to the patient. The pressure detection device 9 arranged in an array can detect each pressure point on the patient's foot. When the patient has abnormal gaits such as in-toe or out-toe, the tactile feedback device 5 can give feedback to the patient, thereby reminding the patient to correct the gait in a timely manner.

[0049] In this embodiment, the tactile feedback device 5 is a vibration motor, and the tactile feedback device 5 is arranged in an array on the surface of the lower layer pad 43.

[0050] Specifically, generating vibration through the vibration motor can promptly improve the patient's gait correction. Furthermore, during the patient's rehabilitation exercise, the rehabilitation exercise device can play a feedback role in real time for the patient's abnormal gait, promptly reminding the patient to correct the gait, and thus being more conducive to the patient's recovery.

[0051] The data processing module 61 is used to collect the acceleration, foot pressure data, and foot posture data during the process of the patient lifting and lowering the foot. The control module 62 controls the operation of the micro servo motor 3 and the vibration motor in real time according to the data analyzed and processed by the data processing module 61. The control component 6 further includes an information transmission module 63 and a Bluetooth module 64. The information transmission module 63 is used to upload the collected patient gait information to the background terminal, and the Bluetooth module 64 is used to transmit the collected patient gait information to the patient's mobile phone.

[0052] Specifically, the collected information can be uploaded to the background through the set information transmission module 63, so as to facilitate the attending physician to know the exercise situation and formulate the next stage of the rehabilitation plan according to the exercise situation. At the same time, the collected information can also be sent to the patient's own mobile phone through the Bluetooth module 64 for the patient to understand their own gait information during the exercise cycle.

[0053] In this embodiment, the processing algorithm of the data processing module 61 includes data input, preprocessing, feature extraction, data classification, and anomaly feedback. In the preprocessing stage, the Kalman filter is used to fuse multi-sensor data (acceleration sensor 10, flexible piezoresistive sensor, and gyroscope 11), and then low-pass filtering is performed to remove high-frequency noise. In the feature extraction stage, time-domain features and frequency-domain features are extracted. The time-domain features are used to identify the moments of lifting / lowering the foot, and the frequency-domain features are used to determine whether the walking frequency is abnormal. In the data classification stage, the support vector machine (SVM) model is used to judge whether the lifting height of the foot is normal, and in the anomaly feedback stage, the vibration motor is used to remind the patient that the gait is abnormal.

[0054] Specifically, in the data input stage, it is first necessary to input the preset thresholds of the acceleration sensor 10 (triaxial), the pressure detection device 9 (multi-point on the sole of the foot), and the gyroscope 11 (attitude angle). In the preprocessing stage, the Kalman filter is used. The Kalman filter can fuse multi-sensor data (acceleration sensor 10, gyroscope 11, pressure detection device 9) to estimate the true state of foot movement and reduce noise interference. When performing feature extraction of time-domain features during the patient's rehabilitation exercise, when first extracting features at the moments of lifting and lowering the foot, the action boundary is identified through the zero-crossing detection of the acceleration sensor 10 data or the threshold trigger of the pressure detection device 9, so as to judge whether the patient is performing a foot-lifting action or a foot-lowering action during the exercise. Based on the data of the pressure detection device 9, the center-of-gravity movement trajectory of the plantar pressure distribution is calculated to judge whether there are abnormal gaits such as in-toeing or out-toeing during the patient's rehabilitation exercise, and then it is convenient to give a timely reminder for correction. When performing feature extraction of frequency-domain features, the fast Fourier transform (FFT) is used to analyze the spectral energy distribution of the acceleration data to identify the step frequency (such as fast step / slow step) and the periodic abnormality of the gait. The support vector machine (SVM) model is used to classify the foot-lifting height (normal / high / low) or pressure distribution (in-toeing / out-toeing) of the patient during the rehabilitation exercise by combining the acceleration data and the pressure data. According to the analysis results, an immediate feedback signal is generated to drive the vibration motor to work to timely remind the patient to correct the gait and reduce the foot-lowering pressure. If it is detected that the gait angle exceeds the threshold (such as the in-toeing angle > 10°), a vibration reminder is triggered. If it is detected that the foot pressure exceeds the threshold, a vibration reminder will also be triggered. If the acceleration sensor 10 detects that the patient's leg-lifting height is too high or too low, a vibration reminder will also be triggered. Through this method, it is possible to effectively assist the patient to maintain a good gait and foot pressure during the rehabilitation exercise, thereby promoting the patient's recovery.

[0055] Working principle: When the patient is performing rehabilitation exercises, if the pressure detection device 9 detects that the pressure on the patient's foot is greater than the threshold value within a single gait cycle, in the next gait cycle, during the process of the patient putting down the foot, the angle between the foot sleeve 1 and the leg sleeve 2 is adjusted by the micro servo motor 3 so that an obtuse angle is formed between the foot sleeve 1 and the leg sleeve 2. Moreover, the foot sleeve 1 and the leg sleeve 2 are made of carbon fiber, so that the rehabilitation exercise device has high-strength rigidity. After adjusting the angles of the foot sleeve 1 and the leg sleeve 2 by the micro servo motor 3, the rehabilitation exercise device has the function of variable stiffness. This method can conveniently make the patient's toes touch the ground first during the process of putting down the foot. The way of touching the ground with the toes first can reduce the pressure on the patient's foot, and the way of touching the ground with the toes can assist the patient in reducing the foot pressure when putting down the foot, thus avoiding secondary injuries caused by excessive foot pressure during the patient's exercise, and further facilitating the patient's recovery. The gait detection component can detect the patient's gait during the rehabilitation exercise process. The acceleration sensor 10 can detect the patient's foot lifting. The pressure detection device 9 can detect the patient's foot pressure. The gyroscope 11 is used to detect the rotation angle and posture change of the patient's foot to assist in judging the stability of the gait. When the patient's gait is abnormal, the tactile feedback device 5 is triggered to give a vibration reminder. This device can dynamically adjust the downward pressure angle of the foot in real time according to the patient's foot pressure during the patient's rehabilitation exercise process, and can also detect the patient's gait in real time during the rehabilitation exercise process. If there is an abnormal gait, it can timely remind the patient. This rehabilitation exercise can effectively improve the patient's rehabilitation effect.

[0056] The content not described in detail in this specification belongs to the prior art well-known to those skilled in the art. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A portable lower limb rehabilitation exercise device, characterized in that: include: A wearable support, the wearable support is composed of a foot cover (1) and a leg cover (2), a micro servo motor (3) is installed between the foot cover (1) and the leg cover (2), and the wearable support adjusts the angle between the foot cover (1) and the leg cover (2) through the micro servo motor (3) to limit the downward pressure of the foot; An insole assembly (4), the insole assembly (4) being installed in the foot cover (1), the insole assembly (4) being composed of an upper pad (41), a middle pad (42) and a lower pad (43); A gait detection component, the gait detection component is installed inside the insole component (4) and at the bottom of the foot cover (1), and the gait detection component is used to detect the gait of the patient during exercise; A tactile feedback device (5), the tactile feedback device (5) being installed in the insole assembly (4), and the tactile feedback device (5) being used to provide reminder feedback on the patient's bad gait; A control component (6) is installed on the top of the back of the leg cover (2). The control system comprises a data processing module (61) and a control module (62). The control system processes and analyzes data collected during the patient's exercise process through the data processing module (61), and dynamically adjusts the device through the control module (62).

2. A portable lower limb rehabilitation exercise device according to claim 1, characterized in that: Fixing belts (7) for fixing the patient's lower limbs are installed on the sides of the foot cover (1) and the leg cover (2).

3. A portable lower limb rehabilitation exercise device according to claim 1, characterized in that: The bottoms of both sides of the leg cover (2) are provided with connecting parts (21), the micro servo motor (3) is installed on both sides of the top of the foot cover (1), the connecting parts (21) are arranged on the inner walls of both sides of the foot cover (1), and the output shafts of the micro servo motor (3) extend into the foot cover (1) and are connected to the corresponding connecting parts (21).

4. The portable lower limb rehabilitation exercise device according to claim 1, characterized in that: Airbag cushions (8) are installed inside the foot cover (1) and the leg cover (2).

5. The portable lower limb rehabilitation exercise device according to claim 1, characterized in that: The foot cover (1) and the leg cover (2) are made of 3D printed lightweight carbon fiber material.

6. The portable lower limb rehabilitation exercise device according to claim 1, characterized in that: The gait detection component comprises a pressure detection device (9), an acceleration sensor (10) and a gyroscope (11); the pressure detection device (9) is installed on the top of the middle pad (42); and the acceleration sensor (10) and the gyroscope (11) are both installed inside the bottom end of the foot cover (1).

7. The portable lower limb rehabilitation exercise device according to claim 6, characterized in that: The pressure detection device (9) is a flexible piezoresistive sensor, and the pressure detection device (9) is arranged in an array and covers the heel, arch and forefoot areas.

8. The portable lower limb rehabilitation exercise device according to claim 1, characterized in that: The tactile feedback device (5) is a vibration motor, and the tactile feedback device (5) is installed in an array on the surface of the lower pad (43).

9. The portable lower limb rehabilitation exercise device according to claim 1, characterized in that: The data processing module (61) is used to collect acceleration, foot pressure data and foot posture data during the process of a patient raising and lowering their feet, and the control module (62) controls the operation of the micro servo motor (3) and the vibration motor in real time based on the data analyzed and processed by the data processing module (61).

10. The portable lower limb rehabilitation exercise device according to claim 1, characterized in that: The control component (6) further comprises an information transmission module (63) and a Bluetooth module (64); the information transmission module (63) is used to upload the collected patient gait information to a background terminal, and the Bluetooth module (64) is used to transmit the collected patient gait information to a patient's mobile phone.

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