Training device for rehabilitation training of leg nervous system

Abstract

The invention relates to the technical field of medical rehabilitation instruments, in particular to a leg nervous system rehabilitation training device which comprises a machine body, and a suspension mechanism is arranged in the machine body; the suspension mechanism comprises a first lifting rope and a second lifting rope. The end of the first lifting rope and the end of the second lifting rope are each provided with a bandage. A notch is formed in the machine body, a sliding block capable of sliding is arranged in the notch, and sliding holes allowing the first lifting rope and the second lifting rope to penetrate through are formed in the sliding block; the sliding block is configured to slide in the notch when the first lifting rope or the second lifting rope ascends and descends. The first lifting rope and the second lifting rope are directionally guided through the sliding hole of the sliding block, and the sliding block is arranged in the notch of the machine body and can horizontally slide in the length direction of the notch, so that when the first lifting rope and the second lifting rope are inclined due to hanging knee bending and generate horizontal component force, the sliding block slides in a self-adaptive mode under the horizontal component force, and the lifting effect is improved. And the guide positions of the first lifting rope and the second lifting rope are adjusted, so that the vertical suspension state is always maintained, and the traction degree of the legs is reduced.

Description

Technical Field

[0001] This invention relates to the field of medical rehabilitation equipment technology, specifically to a training device for leg nerve system rehabilitation training. Background Technology

[0002] Neurorehabilitation training refers to a series of medical and therapeutic methods used to help patients with functional impairments due to neurological damage or disease (stroke, spinal cord injury, traumatic brain injury, etc.) regain their physical, cognitive, and social functions. Neurological damage often leads to impaired mobility, and during treatment and rehabilitation, lower limb rehabilitation training is typically required to restore the patient's ability to walk.

[0003] Currently, lower limb nerve rehabilitation training typically employs a suspension knee flexion training device placed above the hospital bed. This involves binding the thigh and lower leg of the training limb with two suspension ropes. By pulling the two ropes at unequal distances, the thigh and lower leg are raised respectively. Then, by completely releasing the ropes, the thigh and lower leg are laid flat, completing one knee flexion exercise. However, the suspension ropes of this device are usually lowered vertically via fixed guide wheels. This fixed lowering point means that during the process of raising the thigh and lower leg, knee flexion causes a horizontal change in the connection point between the suspension ropes and the thigh and lower leg. This change in horizontal position causes the suspension ropes to tilt, resulting in a horizontal component of the tension. This horizontal component can overstretch the thigh and lower leg, which is detrimental to patients with leg nerve problems. Furthermore, this horizontal tension may pull the patient in the direction of the component force, causing accidental dragging and affecting the correct training posture. This has a greater impact on patients in the early stages of rehabilitation training.

[0004] Therefore, conventional training devices that use fixed guide wheels to guide suspension ropes for knee flexion training have a negative impact on leg training and training posture because the position of the suspension ropes remains unchanged. Summary of the Invention

[0005] The purpose of this invention is to provide a training device for leg nervous system rehabilitation training, in order to solve the technical problem in the prior art that the fixed position of the suspension rope causes a horizontal force to be applied to the leg after suspension and knee flexion, which has an adverse effect on leg training and training posture.

[0006] To solve the above-mentioned technical problems, the present invention specifically provides the following technical solution: A training device for leg nerve system rehabilitation training, comprising: The body, wherein a suspension mechanism is provided within the body; The suspension mechanism includes a first suspension rope and a second suspension rope that can be independently wound and unwound, and the ends of the first suspension rope and the second suspension rope are respectively provided with straps for binding the thigh and calf of the lower limbs; The machine body has a slot, and the ends of the first suspension rope and the second suspension rope pass through the slot and are suspended outside the machine body; The slot is provided with a sliding slider, and the slider has sliding holes for the first and second lifting ropes to pass through respectively. The slider is configured to slide within the slot when the first or second suspension rope is raised or lowered, so as to keep the first or second suspension rope in a vertical suspension state and prevent the thigh and calf from being overstretched during knee flexion.

[0007] As a preferred embodiment of the present invention, a guide pulley is provided on the inner side wall of the slider, and the first suspension rope and the second suspension rope pass through the corresponding guide pulley and then through the sliding hole; The inner wall of the slider is also provided with an arc-shaped groove, and the guide pulley is slidably disposed in the arc-shaped groove, with the center of the arc-shaped groove located on the axis of the sliding hole; The tangent on one side of the guide pulley is parallel to the axis of the sliding hole.

[0008] As a preferred embodiment of the present invention, the slider is provided with an arc-shaped rod, and a rope loop is slidably provided on the arc-shaped rod, wherein the first suspension rope and the second suspension rope respectively slide through the corresponding rope loop; An angle sensor is also provided on the slider. A rod is connected to the shaft end of the angle sensor. The other end of the rod is located on the outer wall of the rope loop. The center of the arc of the arc rod is located on the axis of the angle sensor. The rope loop is configured to slide along the arc-shaped rod when the first or second suspension rope deflects, and drive the rod to rotate the shaft end of the angle sensor to detect the deflection angle.

[0009] In a preferred embodiment of the present invention, a toothed plate is provided in the slot, and a drive motor and a drive gear driven by the drive motor are provided on the slider, wherein the drive gear meshes with the toothed plate; The drive motor is configured to drive the drive gear to rotate based on the deflection angle detected by the angle sensor, so that the slider actively slides within the slot to reduce the deflection angle.

[0010] As a preferred embodiment of the present invention, the suspension mechanism further includes a roller and a winding motor, the roller being connected to the shaft of the winding motor, and the tail ends of the first suspension rope and the second suspension rope being wound on the corresponding rollers respectively. The machine body is provided with linear guide rails, and each of the winding rollers and each of the winding motors are mounted on the slide table of the corresponding linear guide rails. The linear guide rail is configured to drive the roller and winding motor thereon to move horizontally, and the amount of movement is synchronized with the displacement of the slider.

[0011] In a preferred embodiment of the present invention, the linear guide rails are distributed vertically at fixed intervals and horizontally arranged within the machine body.

[0012] As a preferred embodiment of the present invention, the winding and unwinding of the first and second suspension ropes are independently controlled by the machine body, so as to drive the bound thighs and calves to complete the bending or flattening action by means of the difference in suspension height.

[0013] Compared with the prior art, the present invention has the following beneficial effects: The present invention guides the first and second suspension ropes through the sliding hole of the slider, and the slider is set in the slot of the machine body and can slide horizontally along the length of the slot. When the first and second suspension ropes tilt due to the knee flexion during suspension and generate horizontal component force, the slider slides adaptively under the horizontal component force to adjust the guiding position of the first and second suspension ropes, thereby always maintaining a vertical suspension state and reducing the degree of leg strain. Attached Figure Description

[0014] To more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings in the following description are merely exemplary, and those skilled in the art can derive other embodiments based on the provided drawings without creative effort.

[0015] Figure 1 This is a schematic diagram of the structure of the training device for leg nervous system rehabilitation training provided in an embodiment of the present invention; Figure 2 A schematic diagram of the slider and slot arrangement of the training device for leg nervous system rehabilitation training provided in an embodiment of the present invention; Figure 3 An enlarged schematic diagram of the slider portion of the training device for leg nervous system rehabilitation training provided in an embodiment of the present invention; Figure 4 A schematic diagram of the arc-shaped slide section of the training device for leg nervous system rehabilitation training provided in an embodiment of the present invention; Figure 5 This is a schematic diagram of the linear guide rail section of the training device for leg nerve system rehabilitation training provided in an embodiment of the present invention.

[0016] The labels in the diagram represent the following: 1-Body; 2-Suspension mechanism; 3-Strap; 11-Gutter; 12-Slider; 13-Arc rod; 14-Angle sensor; 15-Guide pulley; 16-Gear plate; 17-Linear guide rail; 21-First lifting rope; 22-Second lifting rope; 23-Roller; 121-Sliding hole; 122-Arc-shaped groove; 123-Drive gear; 131-Rope loop; 141-Rod. Detailed Implementation

[0017] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0018] This invention provides a training device for leg neurological rehabilitation training, designed to provide passive rehabilitation training through mechanical assistance. It utilizes a unique suspension and correction structure to ensure the stability of the force direction during training, avoiding unnecessary horizontal traction on the patient and improving the safety and comfort of the training. Example 1: like Figure 1-3 As shown, this embodiment provides a basic training device, which mainly includes a body 1, a suspension mechanism 2, and straps 3.

[0019] The main body 1 serves as the support and control unit of the entire device, and a suspension mechanism 2 is installed inside it. At least two slots 11 are provided on the side or bottom of the main body 1 for leading out the suspension components.

[0020] The suspension mechanism 2 includes a first suspension rope 21 and a second suspension rope 22. The first suspension rope 21 and the second suspension rope 22 are connected to independent drive mechanisms inside the machine body 1 to achieve independent winding and unwinding functions. The ends of the first suspension rope 21 and the second suspension rope 22 pass through the slots 11 on the machine body 1 and are suspended outside the machine body 1.

[0021] Each suspension rope has a strap 3 fixed to its suspension end. These two straps 3 are used to bind the patient's thigh and calf, respectively. By controlling the different lengths of the first suspension rope 21 and the second suspension rope 22, the height difference between the thigh and calf can be changed, thereby simulating and driving the lower limb to complete the rehabilitation movement from flat to knee-flexed and then from knee-flexed back to flat.

[0022] To ensure that the force applied by the sling is mainly vertical when raising or lowering the limb, and to avoid generating a large horizontal component force that could cause excessive stretching between the thigh and calf, or cause the patient's body to be accidentally dragged.

[0023] Therefore, this device is equipped with a unique guiding and correction structure. For example... Figure 2 As shown, a slider 12 that can slide along the length of the slot 11 is provided in each slot 11. The slider 12 has a sliding hole 121, and the first suspension rope 21 and the second suspension rope 22 extend out through the corresponding sliding hole 121 respectively.

[0024] When the first suspension rope 21 or the second suspension rope 22 tilts due to changes in the posture of the suspended limb (such as a large horizontal displacement of the lower leg when the knee is flexed), the tilted rope will exert a lateral force on the inner wall of the sliding hole 121. This lateral force will push the slider 12 to slide within the slot 11. The movement of the slider 12 will change the fulcrum position of the suspension rope passing through the body, thereby reducing the tilt angle of the suspension rope to a certain extent, making it tend to maintain or approach a vertical suspension state, effectively reducing the horizontal component force acting on the patient's limb.

[0025] Two sliders 12 are provided, corresponding to the first suspension rope 21 or the second suspension rope 22 respectively.

[0026] Example 2: Based on Example 1, in order to further reduce frictional loss between the suspension rope and the slider 12, improve the smoothness of movement and the life of the components, the slider 12 has been optimized in this example.

[0027] like Figure 3 , Figure 4 As shown, a guide pulley 15 is provided on the inner side wall of the slider 12 facing the interior of the machine body. Before the first suspension rope 21 and the second suspension rope 22 pass through the corresponding guide pulley 15, they first pass through the sliding hole 121. Through the rolling support of the guide pulley 15, the sliding friction between the suspension rope and the slider 12 is transformed into rolling friction, which significantly reduces wear.

[0028] Furthermore, an arc-shaped groove 122 is formed on the inner sidewall of the slider 12, and the rotating shaft of the guide pulley 15 is slidably disposed within the arc-shaped groove 122. Importantly, the center of the arc of the arc-shaped groove 122 is located on the axis of the sliding hole 121. At the same time, after installation, it must be ensured that the tangent on one side of the groove surface on the guide pulley 15 used to contact the suspension rope is parallel to the axis of the sliding hole 121.

[0029] When the suspension rope deflects, it not only pushes the slider 12 to move as a whole, but also exerts pressure on the guide pulley 15 through the suspension rope, forcing the guide pulley 15 to make a slight adaptive slide along the arc-shaped groove 122. This dual sliding mechanism (slider movement + pulley rotation and sliding along the arc groove) allows the suspension rope to always pass through the sliding hole 121 at a better angle. Even at the moment when the slider 12 is fixed in position, friction and resistance can be minimized by fine-tuning the guide pulley 15.

[0030] Example 3: Based on Example 2, in order to achieve more precise and proactive deviation control, this example adds deflection angle detection and active drive functions.

[0031] like Figure 3 , Figure 4 As shown, an arc-shaped rod 13 is fixedly installed on the slider 12. A rope loop 131 that can slide along the arc of the rod 13 is fitted on the arc-shaped rod 13. After the first lifting rope 21 and the second lifting rope 22 pass through the guide pulley 15, they pass through the corresponding rope loops 131 respectively, and finally exit from the sliding hole 121.

[0032] An angle sensor 14 is also mounted on the slider 12. A rod 141 is connected to the rotating shaft end of the angle sensor 14, and the other end of the rod 141 is fixed to the outer wall of the rope loop 131. Crucially, the center of the arc of the arc-shaped rod 13 must be located on the rotation axis of the angle sensor 14.

[0033] When the suspension rope deflects, it causes the rope loop 131 in contact with it to slide along the arc-shaped rod 13. Since the rope loop 131 is connected to the shaft end of the angle sensor 14 through the rod 141, the sliding of the rope loop 131 is converted into the swing of the rod 141, thereby driving the axis of the angle sensor 14 to rotate. The angle sensor 14 converts this rotation angle into an electrical signal output, which accurately reflects the real-time deflection angle of the suspension rope relative to the initial vertical direction.

[0034] Based on the detected deflection angle, this embodiment further incorporates an active deflection correction drive mechanism. For example... Figure 3 As shown, a toothed plate 16 is fixedly installed in the slot 11 along its length. A drive motor and a drive gear 123 driven by the drive motor are installed on the slider 12, and the drive gear 123 meshes with the toothed plate 16.

[0035] The control system (which can be integrated into the body 1 or externally connected) receives the deflection angle signal sent by the angle sensor 14. When the deflection angle exceeds a preset allowable range (e.g., greater than 2 degrees), the control system sends a command to the drive motor. The drive motor starts, driving the drive gear 123 to rotate. Since the toothed plate 16 is fixed, the rotation of the drive gear 123 is converted into linear movement of the slider 12 along the toothed plate 16 (i.e., along the slot 11). By controlling the direction and speed of the drive motor, the direction and distance of movement of the slider 12 can be precisely controlled, thereby actively and quickly reducing the deflection angle of the suspension rope and restoring it to a relatively vertical suspension state.

[0036] Example 4: Based on Example 3, in order to ensure that the control accuracy of the suspension height of the suspension rope is not affected when the slider 12 actively corrects its movement, this example incorporates a synchronous compensation design for the suspension drive source.

[0037] like Figure 5 As shown, the drive source of the suspension mechanism 2 includes a roller 23 and a winding motor. Each roller 23 is connected to the output shaft of a winding motor. The tail ends of the first suspension rope 21 and the second suspension rope 22 are wound onto the corresponding roller 23. By controlling the forward and reverse rotation of the winding motor, the corresponding suspension rope can be wound (lifted) or unwound (lowered).

[0038] Each roller 23 and its associated winding motor are not fixedly installed, but are instead mounted together on a slide of a linear guide rail 17. The linear guide rail 17 is fixed inside the machine body 1 and is configured to be horizontal. Preferably, the two sets of linear guide rails 17 used to drive the first suspension rope 21 and the second suspension rope 22 are arranged parallel to each other at a certain vertical distance inside the machine body 1 to avoid interference.

[0039] The linear guide 17 is also connected to the control system. When the control system controls the drive motor of the slider 12 to operate for correction movement, it synchronously sends control commands to the corresponding linear guide 17. The linear guide 17 drives its slide (along with the winding roller 23 and winding motor on it) to move horizontally, and the direction and amount of movement are strictly consistent with the displacement of the slider 12.

[0040] This synchronous compensation mechanism is crucial. If only slider 12 moves while roller 23 remains stationary, the segment of the suspension rope between slider 12 and roller 23 will change from a hypotenuse to a right-angled side. This change in geometric length alters the effective suspension length of the rope, affecting the precise control of the limb's lifting height. By ensuring that roller 23 moves synchronously and in the same amount as slider 12, the segment of the suspension rope between roller 23 and slider 12 maintains the same relative spatial relationship, thus reducing height control errors introduced by correction movements and achieving high-precision suspension position control.

[0041] When using this device for rehabilitation training, the operator first comfortably secures the straps 3 to the patient's thighs and calves respectively. After starting the device, the control system controls the winding motors of the first suspension rope 21 and the second suspension rope 22 to work in coordination according to the preset or therapist-set training program (such as knee flexion angle, rhythm, and number of repetitions), driving the lower limbs to perform reciprocating movements of knee flexion and flattening.

[0042] Throughout the exercise, the angle sensor 14 monitors the rope deflection angle in real time. Once a deflection angle is detected, the control system immediately coordinates the slider 12 drive motor and the linear guide rail 17 to achieve dynamic correction, ensuring that the lifting force is always vertically upward. This process is fully automated, providing the patient with a stable, safe, and precise passive training environment.

[0043] In addition, based on the above-mentioned training device, such as Figure 1 As shown, a training system for leg nervous system rehabilitation training is provided, comprising: An electromyography (EMG) sensor is used to be placed inside the strap 3 and attached to the skin surface of the lower limb to convert muscle contraction and relaxation states into electrical signal output. The controller is electrically connected to the electromyography (EMG) sensor to receive the electrical signals output by the EMG sensor and output control signals to the training device. After receiving the control signals output by the controller, the training device adjusts the training movements.

[0044] The leg nerve system rehabilitation training system uses electromyography (EMG) sensors attached to the muscle surfaces of the thigh and calf to acquire the contraction and relaxation states of the thigh and calf and convert them into electrical signals, which are then output to the control unit. The control unit, based on the received electrical signals, acquires the contraction and relaxation states of the thigh and calf and outputs corresponding control signals to control the operation of the training device. The drive unit of the training device drives the thigh and calf to perform training movements according to the control signals, thereby achieving passive rehabilitation training.

[0045] Specifically, when the drive unit of the training device moves the patient's thigh and calf from flat to flexed knee, the muscles of the thigh and calf contract. The electromyography (EMG) sensor converts the contraction state into an electrical signal and sends it to the control unit. After the electrical signal reaches the maximum threshold, the control unit sends a control signal to the training device to stop the knee flexion training and controls the drive unit of the training device to gradually move the thigh and calf flat. At this time, the EMG sensor detects that the thigh and calf muscles relax and converts the relaxation state into an electrical signal and sends it to the control unit. After the electrical signal reaches the initial value, the control unit sends a control signal to the training device to continue the knee flexion training and controls the drive unit of the training device to move the thigh and calf from flat to flexed knee. This process is repeated for a set time to complete the passive rehabilitation training.

[0046] The controller acquires the electrical signals from the electromyography (EMG) sensor in real time and compares them with preset thresholds. The preset thresholds include an initial value and a maximum value. The initial value is the measurement value of the EMG sensor when the thigh and calf are flat, while the maximum value is set on the electrical signals detected and generated by the EMG sensor during knee flexion. Therefore, the maximum value is set according to the patient's recovery status to limit the degree of knee flexion and achieve gradual and scientific rehabilitation training.

[0047] Therefore, this training system can adjust the training intensity based on the patient's rehabilitation status by adjusting the threshold of the electrical signal, thereby gradually increasing the training intensity to adapt to the rehabilitation training of the patient at different recovery stages.

[0048] Based on the above training system and training device, a training method is provided, comprising the following steps: Step 100: Lay the patient's lower limbs flat, attach the electromyography (EMG) sensor to the thigh and calf muscles of the patient's lower limbs, connect the EMG sensor to the control unit, and then bind the training device's strap 3 to the patient's thigh and calf. Step 200: Based on the patient's rehabilitation status, set the training intensity and training time, then start the control machine; Step 300: The controller controls the training device to implement the preset rehabilitation movement range according to the set training intensity. The suspension mechanism 2 of the training device drives the lower limb to complete the rehabilitation movement through the strap. At the same time, the electromyography sensor provides real-time feedback of the electrical signals of the thigh and calf muscles. The controller outputs corresponding control signals according to the electrical signals to adjust the range of the lower limb rehabilitation movement driven by the suspension mechanism 2 of the training device. Step 400: After the training time is reached, the control unit controls the training device to reset so that the patient's lower limbs are placed flat, and then automatically stops.

[0049] The neurorehabilitation training method of the present invention mainly involves attaching electromyography (EMG) sensors to the surface of the patient's thigh and calf muscles and then connecting them to a control unit. During the training process, the control unit can monitor the contraction and relaxation of the thigh and calf muscles in real time. Based on this, the control unit can control the suspension mechanism 2 of the training device to perform rehabilitation exercises on the patient's thigh and calf.

[0050] That is, after setting the training intensity and time according to the patient's recovery, the control machine controls the suspension mechanism 2 of the training device to raise the patient's thigh and calf. When the control machine detects that the electrical signal of the thigh and calf reaches the threshold through the electromyography sensor, it stops raising and slowly lowers the thigh and calf. This process is repeated for the set time to complete the rehabilitation training.

[0051] The above embodiments are merely exemplary embodiments of this application and are not intended to limit this application. The scope of protection of this application is defined by the claims. Those skilled in the art can make various modifications or equivalent substitutions to this application within its substance and scope of protection, and such modifications or equivalent substitutions should also be considered to fall within the scope of protection of this application.

Claims

1. A training device for leg nervous system rehabilitation training, characterized in that, include: The body (1) is provided with a suspension mechanism (2); The suspension mechanism (2) includes a first suspension rope (21) and a second suspension rope (22) that are independently wound and unwound. The ends of the first suspension rope (21) and the second suspension rope (22) are respectively provided with straps (3) for binding the thigh and calf of the lower limbs. The machine body (1) has a slot (11) and the ends of the first suspension rope (21) and the second suspension rope (22) pass through the slot (11) and are suspended outside the machine body (1); The slot (11) is provided with a sliding slider (12), and the slider (12) is provided with sliding holes (121) for the first hoisting rope (21) and the second hoisting rope (22) to pass through respectively. The slider (12) is configured to slide within the slot (11) when the first suspension rope (21) or the second suspension rope (22) is raised or lowered, so that the first suspension rope (21) or the second suspension rope (22) remains in a vertical suspension state to prevent the thigh and calf from being overstretched during knee flexion.

2. The training device for leg nervous system rehabilitation training according to claim 1, characterized in that, The inner wall of the slider (12) is provided with a guide pulley (15), and the first suspension rope (21) and the second suspension rope (22) pass through the corresponding guide pulley (15) and then through the sliding hole (121). The inner sidewall of the slider (12) is also provided with an arc-shaped groove (122), and the guide pulley (15) is slidably disposed in the arc-shaped groove (122). The center of the arc of the arc-shaped groove (122) is located on the axis of the sliding hole (121). The tangent on one side of the guide pulley (15) is parallel to the axis of the sliding hole (121).

3. The training device for leg nervous system rehabilitation training according to claim 2, characterized in that, An arc-shaped rod (13) is provided on the slider (12), and a rope loop (131) is slidably provided on the arc-shaped rod (13). The first hoisting rope (21) and the second hoisting rope (22) respectively slide through the corresponding rope loop (131). An angle sensor (14) is also provided on the slider (12). The shaft end of the angle sensor (14) is connected to a rod (141). The other end of the rod (141) is located on the outer wall of the rope loop (131). The arc center of the arc rod (13) is located on the axis of the angle sensor (14). The rope loop (131) is configured to slide along the arc-shaped rod (13) when the first suspension rope (21) or the second suspension rope (22) deflects, and drive the rod (141) to rotate the shaft end of the angle sensor (14) to detect the deflection angle.

4. The training device for leg nervous system rehabilitation training according to claim 3, characterized in that, A toothed plate (16) is provided in the slot (11), and a drive motor and a drive gear (123) driven by the drive motor are provided on the slider (12). The drive gear (123) meshes with the toothed plate (16). The drive motor is configured to drive the drive gear (123) to rotate according to the deflection angle detected by the angle sensor (14), so that the slider (12) actively slides in the slot (11) to reduce the deflection angle.

5. A training device for leg nervous system rehabilitation training according to any one of claims 1-4, characterized in that, The suspension mechanism (2) further includes a roller (23) and a winding motor. The roller (23) is connected to the shaft of the winding motor. The tail ends of the first suspension rope (21) and the second suspension rope (22) are respectively wound on the corresponding roller (23). The machine body (1) is provided with a linear guide rail (17), and each of the winding rollers (23) and each of the winding motors are mounted on the slide table of the corresponding linear guide rail (17). The linear guide (17) is configured to drive the roller (23) and the winding motor thereon to move horizontally, and the amount of movement is synchronized with the displacement of the slider (12).

6. The training device for leg nervous system rehabilitation training according to claim 5, characterized in that, The linear guide rails (17) are distributed vertically at fixed intervals and horizontally arranged within the body (1).

7. The training device for leg nervous system rehabilitation training according to claim 1, characterized in that, The winding and unwinding of the first suspension rope (21) and the second suspension rope (22) are independently controlled by the machine body (1) so as to drive the bound thighs and calves to complete the bending or flattening action by means of the difference in suspension height.

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