A foot-operated lower limb rehabilitation training device

Abstract

This invention relates to the field of medical rehabilitation equipment technology, and discloses a foot-operated lower limb rehabilitation training device, including a base. A first outer shell is fixedly connected to the top left side of the base. A pedal shaft is rotatably connected inside the first outer shell, and foot pedals are provided at both ends of the pedal shaft. A fixing plate is fixedly connected inside each foot pedal. An assistive component is disposed inside the first outer shell. The assistive component includes a second cam, a second slider, a ball bearing, and a second spring. The second cam is fixedly sleeved on the outer circumference of the pedal shaft, the second slider is slidably connected inside the first outer shell, and the ball bearing is rotatably connected inside the second slider. By setting the assistive component composed of the second cam, the second slider, and the second spring inside the outer shell, when the foot pedal is at the most difficult dead point position, the second spring releases potential energy to drive the second cam to rotate, thereby assisting the patient to easily overcome the blind spot in force exertion, preventing movement jamming, and reducing the difficulty of starting rehabilitation training.

Description

Technical Field

[0001] This invention relates to the field of medical rehabilitation equipment technology, specifically a foot-operated lower limb rehabilitation training device. Background Technology

[0002] Lower limb rehabilitation training is an important means for patients with hemiplegia due to stroke, post-fracture surgery, and age-related functional decline to restore limb motor function. Clinically, pedal-type training devices are widely used to guide patients in circular movements to enhance joint range of motion and leg muscle strength. However, existing lower limb rehabilitation training devices are relatively simple in their power transmission structure design, mostly relying on the patient's own leg strength to directly drive the rotation or simply using the inertia of a flywheel to maintain rotation, neglecting the physical characteristics of torque changes during circular motion and the actual situation of insufficient muscle strength in rehabilitation patients.

[0003] Specifically, when the pedal rotates to its vertical apex or apex, the lever arm is shortest, placing it in a dead zone. At this point, the driving force required to maintain pedal rotation is at its maximum. Because rehabilitation patients often have poor leg explosive power and inconsistent force exertion, they are prone to stagnation or significant jamming when passing through this dead zone due to insufficient strength. This makes the entire training process intermittent, reducing the smoothness and effectiveness of rehabilitation training, increasing the patient's frustration at the start, and raising the risk of sports injury. It also fails to meet the needs of patients with weak muscles for smooth, continuous rehabilitation exercises. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a foot-operated lower limb rehabilitation training device, which solves the problems of existing rehabilitation devices lacking effective assistive mechanisms, making it difficult for patients to overcome movement dead spots, resulting in intermittent and disrupted training processes, and having limited functions and lacking stimulation and massage of the plantar nerves, leading to poor blood circulation improvement.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a foot-operated lower limb rehabilitation training device, comprising:

[0006] A base, on the top left side of the base, is fixedly connected to a housing, and a pedal shaft is rotatably connected inside the housing. Foot pedals are provided at both ends of the pedal shaft, and a fixing plate is fixedly connected inside the foot pedal.

[0007] A power assist assembly is disposed inside the outer casing. The power assist assembly includes a second cam, a second slider, a ball bearing, and a second spring. The second cam is fixedly sleeved on the outer periphery of the pedal shaft. The second slider is slidably connected inside the outer casing. The ball bearing is rotatably connected inside the second slider. One end of the second spring is fixedly connected to the bottom of the second slider, and the other end of the second spring is fixedly connected to the inner wall of the outer casing.

[0008] A fixing component is disposed on the top of the fixing plate, and the fixing component is used to support and restrain the lower leg of the trainee;

[0009] A compression component, disposed inside the foot pedal, is used to apply reciprocating pressure stimulation to the sole of the trainee's foot to assist in the rehabilitation of foot nerves and muscles.

[0010] Preferably, the fixing assembly includes a fixing block, a rotating rod, a connecting rod, a support plate, and a strap. The bottom of the fixing block is fixedly connected to the top of the fixing plate, the rotating rod is rotatably connected inside the fixing block, the connecting rod is fixedly sleeved on the outer periphery of the rotating rod, the support plate is installed on the top of the connecting rod, and the strap is disposed on the outer side of the support plate.

[0011] Preferably, the fixing component further includes a limiting component, which includes a spring and a limiting ball. The rotating rod has a positioning groove inside. The bottom end of the spring is fixedly connected to the inside of the fixing block. The limiting ball is fixedly connected to the top end of the spring. The top of the limiting ball abuts against the outer wall of the rotating rod. When the connecting rod is in a vertical state, the limiting ball is engaged in the positioning groove.

[0012] Preferably, the extrusion assembly includes a micro motor, a second rotating rod, a first cam, a sliding plate, a pressure sensor, and a protrusion. The micro motor is installed on the outside of the foot pedal, the second rotating rod is fixedly connected to the output end of the micro motor, the first cam is fixedly sleeved on the outer periphery of the second rotating rod, the sliding plate is slidably connected to the inner wall of the foot pedal, the protrusion is fixedly connected to the top of the sliding plate, and the pressure sensor is installed on the top of the fixed plate.

[0013] Preferably, the system further includes an adjustment assembly, which comprises a second housing, a motor, a threaded rod, a first slider, and a seat. The second housing is fixedly connected to the right side of the base. The motor is installed inside the second housing. The threaded rod is fixedly connected to the output end of the motor and rotatably connected to the outside of the base. The first slider is threadedly connected to the outer periphery of the threaded rod. The seat is fixedly connected to the top of the first slider. A guide groove is provided inside the base. The bottom of the first slider is slidably connected inside the guide groove to limit the rotation of the first slider with the threaded rod.

[0014] Preferably, the second slider is slidably connected to the inside of the base on its outer side, and the second cam abuts against the ball.

[0015] Preferably, the fixed plate has multiple through holes for the protrusions to pass through, and the outer surface of the cam abuts against the bottom of the sliding plate to drive the sliding plate to reciprocate in the vertical direction.

[0016] Preferably, the rotating rod has a positioning groove inside. When the connecting rod is in a vertical state, the limiting ball is partially inserted into the positioning groove under the elastic force of the spring.

[0017] Preferably, a display screen and a control panel are provided on the top of the housing. The display screen is electrically connected to the pressure sensor, the micro motor and the motor, and is used to display training data and input control commands.

[0018] This invention provides a foot-operated lower limb rehabilitation training device. It has the following beneficial effects:

[0019] 1. This invention provides an assistive component consisting of a second cam, a second slider, and a second spring inside the outer casing. By utilizing the protruding part of the second cam in conjunction with the extension and retraction characteristics of the second spring, energy is stored and released during the rotation of the foot pedal. When the foot pedal is at the dead point where the force is most difficult to exert, the second spring releases potential energy to drive the second cam to rotate, thereby helping the patient to easily overcome the blind spot of force exertion, preventing movement jamming, and reducing the difficulty of starting rehabilitation training.

[0020] 2. The present invention integrates a squeezing assembly consisting of a micro motor, a cam, and a sliding plate with protrusions inside the foot pedal. During rehabilitation training, the protrusions are driven to dynamically squeeze and stimulate the patient's soles, thereby changing the traditional single movement mode. It can effectively stimulate acupoints and nerve endings on the soles of the feet, promote blood circulation in the lower limbs, prevent muscle atrophy, and achieve the dual rehabilitation effect of exercise and massage.

[0021] 3. This invention constructs a follow-up lower limb support system by setting a fixing component consisting of a connecting rod, a support plate, and a strap above the foot pedal. This structure can restrict the patient's lower leg to a preset movement trajectory, solving problems such as leg slippage, knee valgus or valgus that are prone to occur during training in patients with muscle weakness or hemiplegia. While preventing secondary injury, it ensures the accuracy of force exertion during rehabilitation training. Attached Figure Description

[0022] Figure 1 This is a perspective view of the present invention;

[0023] Figure 2 This is a schematic diagram of the outer casing and foot pedal of the present invention;

[0024] Figure 3 This is a schematic diagram of the fixing component of the present invention;

[0025] Figure 4 This is a cross-sectional view of the height block of the present invention;

[0026] Figure 5 This is an exploded schematic diagram of the foot pedal of the present invention;

[0027] Figure 6 for Figure 5 Enlarged view of point A in the middle;

[0028] Figure 7 This is a cross-sectional view of the outer casing of the present invention;

[0029] Figure 8 This is a schematic diagram of the adjustment component of the present invention.

[0030] The components are as follows: 1. Base; 2. Outer shell one; 3. Seat; 4. Outer shell two; 5. Motor; 6. Threaded rod; 7. Slider one; 8. Pedal shaft; 9. Foot pedal; 10. Fixing plate; 11. Support plate; 12. Strap; 13. Connecting rod; 14. Fixing block; 15. Pressure sensor; 16. Protrusion block; 17. Micro motor; 18. Limiting ball; 19. Spring one; 20. Rotating rod one; 21. Sliding plate; 22. Rotating rod two; 23. Cam one; 24. Cam two; 25. Spring two; 26. Slider two; 27. Ball bearing; 28. Display screen; 29. ​​Control panel. Detailed Implementation

[0031] The technical solutions in 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.

[0032] Please see the appendix Figure 1 -Appendix Figure 8 The present invention provides a foot pedal type lower limb rehabilitation training device, including a base 1, a shell 2 fixedly connected to the top left side of the base 1, a pedal shaft 8 rotatably connected inside the shell 2, foot pedals 9 are provided at both ends of the pedal shaft 8, and a fixing plate 10 is fixedly connected inside the foot pedals 9.

[0033] The power assist assembly is located inside the outer casing 2. The power assist assembly includes a second cam 24, a second slider 26, a ball 27, and a second spring 25. The second cam 24 is fixedly sleeved on the outer periphery of the pedal shaft 8. The second slider 26 is slidably connected inside the outer casing 2. The ball 27 is rotatably connected inside the second slider 26. One end of the second spring 25 is fixedly connected to the bottom of the second slider 26, and the other end of the second spring 25 is fixedly connected to the inner wall of the outer casing 2.

[0034] A fixing component is installed on top of the fixing plate 10. The fixing component is used to support and restrain the lower leg of the trainee.

[0035] The compression component, located inside the foot pedal 9, is used to apply reciprocating pressure stimulation to the soles of the trainee's feet to assist in the rehabilitation of foot nerves and muscles.

[0036] Specifically, by setting an assistive component inside the outer casing 2, the resistance distribution during the rotation of the pedal shaft 8 can be balanced. When the patient steps on the foot pedal 9, causing the pedal shaft 8 to rotate to the upper or lower dead point where it is difficult to exert force, the assistive component releases the previously stored energy, pushing the pedal shaft 8 smoothly over the dead point, preventing the movement from getting stuck or stopping due to insufficient leg strength, and reducing the difficulty of starting and maintaining rehabilitation training. At the same time, the compression component integrated inside the foot pedal 9 makes full use of the internal space of the foot pedal 9. While the patient is performing leg flexion and extension movements, the mechanical action generated by the compression component can pass through the fixing plate 10 and act on the sole of the foot. This active acupoint stimulation can promote blood circulation in the lower limbs and enhance the sensory ability of the nervous system, achieving the dual rehabilitation effect of combined exercise training and physical massage on a single device.

[0037] When the trainee steps on the foot pedal 9, causing the pedal shaft 8 to rotate inside the outer casing 2, the second cam 24, fixed on the pedal shaft 8, rotates synchronously with the pedal shaft 8. As the second cam 24 rotates from the short axis position to the long axis position, the contour surface of the second cam 24 gradually presses against the ball 27. The ball 27, under force, pushes the second slider 26 to slide downward inside the outer casing 2 and compresses the second spring 25. At this time, part of the rotational kinetic energy of the pedal shaft 8 is converted into the elastic potential energy of the second spring 25 and stored. When the apex of the second cam 24 passes the ball 27, that is, when the pedal shaft 8 is at the dead point position where it is difficult to exert force, the second spring 25, which is in a compressed state, releases its elastic potential energy and rebounds quickly. The rebound force of the second spring 25 pushes the second slider 26 and the ball 27 to push the downward slope of the second cam 24, thereby generating an auxiliary thrust in the direction of rotation on the second cam 24. The auxiliary thrust drives the pedal shaft 8 to smoothly pass through the dead point area, making the rotational movement of the pedal shaft 8 smoother and more continuous, avoiding the movement jamming phenomenon caused by insufficient leg strength of the patient.

[0038] Please see the appendix Figure 1 -Appendix Figure 4 The fixing assembly includes a fixing block 14, a rotating rod 20, a connecting rod 13, a support plate 11, and a strap 12. The bottom of the fixing block 14 is fixedly connected to the top of the fixing plate 10. The rotating rod 20 is rotatably connected inside the fixing block 14. The connecting rod 13 is fixedly sleeved on the outer periphery of the rotating rod 20. The support plate 11 is installed on the top of the connecting rod 13. The strap 12 is located on the outer side of the support plate 11.

[0039] Specifically, the support plate 11, together with the straps 12, forms a semi-enclosed constraint structure for the lower leg. The support plate 11 not only supports the weight of the patient's lower leg, but also restricts the lower leg within the support plate 11 through the straps 12, ensuring the relative position between the patient's lower leg and the foot pedal 9 is fixed. This prevents accidents such as the foot slipping off the foot pedal 9, or the knee joint turning inward or outward during training for patients with weak muscles or hemiplegia, ensuring the accuracy and safety of the lower limb movement trajectory. The limiting component set inside the fixing block 14 acts on the rotating rod 20. By providing elastic locking force, the limiting component allows the connecting rod 13 to remain upright or at a specific angle when not under force, preventing the connecting rod 13 and the support plate 11 from falling down due to gravity and interfering with the patient's sitting or foot placement, thus improving the ease of use of the equipment.

[0040] Please see the appendix Figure 3 and attached Figure 4 The fixing component also includes a limiting component, which includes a spring 19 and a limiting ball 18. The rotating rod 20 has a positioning groove inside. The bottom end of the spring 19 is fixedly connected to the inside of the fixing block 14. The limiting ball 18 is fixedly connected to the top end of the spring 19. The top of the limiting ball 18 abuts against the outer wall of the rotating rod 20. When the connecting rod 13 is in a vertical state, the limiting ball 18 is inserted into the positioning groove.

[0041] Specifically, when installed, spring 19 is in a compressed and energy-storing state. Spring 19 continuously pushes the limiting ball 18 upward, so that the limiting ball 18 always remains in close contact with the outer wall of the rotating rod 20, thereby generating a frictional resistance torque on the contact surface between the limiting ball 18 and the rotating rod 20. When the connecting rod 13 stops rotating, the frictional resistance torque applied by the limiting ball 18 to the rotating rod 20 can balance the overturning torque generated by the weight of the connecting rod 13 and the support plate 11, ensuring that the connecting rod 13 can remain stably in a vertical state, preventing the connecting rod 13 from falling over when it loses external support, and making it convenient for the trainee to place their lower leg inside the support plate 11 and perform subsequent strapping 12 fixation operations.

[0042] Please see the appendix Figure 1 Appendix Figure 2 Appendix Figure 5 and attached Figure 6 The extrusion assembly includes a micro motor 17, a second rotating rod 22, a first cam 23, a sliding plate 21, a pressure sensor 15, and a protrusion 16. The micro motor 17 is installed on the outside of the foot pedal 9. The second rotating rod 22 is fixedly connected to the output end of the micro motor 17. The first cam 23 is fixedly sleeved on the outer periphery of the second rotating rod 22. The sliding plate 21 is slidably connected to the inner wall of the foot pedal 9. The protrusion 16 is fixedly connected to the top of the sliding plate 21. The pressure sensor 15 is installed on the top of the fixed plate 10.

[0043] Specifically, the pressure sensor 15 is used to monitor the contact pressure between the trainee's feet and the fixed plate 10 in real time. When the pressure sensor 15 detects an effective pressure signal and confirms that the trainee's feet are placed on the fixed plate 10, the system controls the micro motor 17 to start running. The micro motor 17 drives the rotating rod 22 and the cam 23 fixed on the rotating rod 22 to rotate continuously. The rotating cam 23 periodically pushes the bottom of the sliding plate 21 with the high point of the contour on the surface of the cam 23, driving the sliding plate 21 to make vertical reciprocating up and down movement along the inner wall of the foot pedal 9. With the upward movement of the sliding plate 21, multiple protrusions 16 fixed on the top of the sliding plate 21 pass through the fixed plate 10 and protrude from the upper surface of the fixed plate 10. The multiple protrusions 16 directly press against the skin and muscle tissue of the trainee's sole. This dynamic mechanical compression simulates the effect of acupressure massage. While the trainee is performing the stepping exercise, the multiple protrusions 16 stimulate the reflex zones and nerve endings of the sole, effectively promoting blood circulation in the feet and relieving muscle stiffness.

[0044] Please see the appendix Figure 1 and attached Figure 8 It also includes an adjustment assembly, which includes a housing 2 4, a motor 5, a threaded rod 6, a slider 1 7, and a seat 3. The housing 2 4 is fixedly connected to the right side of the base 1. The motor 5 is installed inside the housing 2 4. The threaded rod 6 is fixedly connected to the output end of the motor 5 and rotatably connected to the outside of the base 1. The slider 1 7 is threadedly connected to the outer periphery of the threaded rod 6. The seat 3 is fixedly connected to the top of the slider 1 7. A guide groove is provided inside the base 1. The bottom of the slider 1 7 is slidably connected inside the guide groove to limit the slider 1 7 from rotating with the threaded rod 6.

[0045] Specifically, when the position of seat 3 needs to be adjusted, motor 5 starts and drives threaded rod 6 to rotate inside base 1. Since the slider 7 has a threaded hole that matches threaded rod 6, and the slider 7 is limited and guided by base 1, it cannot rotate with threaded rod 6. This converts the rotational motion of threaded rod 6 into linear reciprocating motion of slider 7 along the axis of threaded rod 6. The linear movement of slider 7 causes seat 3, which is fixed on top of slider 7, to move back and forth above base 1. This allows the distance between seat 3 and foot pedal 9 to be adjusted according to the leg length of the trainee, thus realizing the electric adjustment of seat 3 to accommodate patients of different heights. When threaded rod 6 rotates under the drive of motor 5, the side wall of guide groove applies a reverse lateral support force to slider 7, thereby preventing slider 7 from rotating around the axis of threaded rod 6.

[0046] Please see the appendix Figure 7 and attached Figure 8 The outer side of slider 26 is slidably connected to the inside of base 1, and cam 24 abuts against ball 27.

[0047] Specifically, the sliding connection of slider 26 inside base 1 plays a directional guiding role, ensuring that slider 26 always reciprocates linearly along the axis of spring 25, thereby ensuring the stability of the elastic potential energy storage and release process.

[0048] Please see the appendix Figure 5 and attached Figure 6 The fixed plate 10 has multiple through holes for the protrusions 16 to pass through. The outer surface of the cam 23 abuts against the bottom of the sliding plate 21 and is used to drive the sliding plate 21 to reciprocate in the vertical direction.

[0049] Specifically, the positions of the through holes on the fixed plate 10 are perpendicularly aligned with the positions of the multiple protrusions 16 on the sliding plate 21. This structural layout ensures that when the sliding plate 21 is subjected to force and moves upward, the multiple protrusions 16 can smoothly pass through the fixed plate 10 without mechanical interference or jamming. The cam 23, as a power transmission element, utilizes its own eccentric contour to convert the rotational torque input by the rotating rod 22 into a vertical thrust on the bottom of the sliding plate 21. As the cam 23 rotates continuously, the sliding plate 21 produces periodic lifting and lowering displacements under the combined action of the cam 23's pushing action and its own gravity. This allows the multiple protrusions 16 to intermittently protrude from the surface of the fixed plate 10 to press the sole of the foot, achieving a simple and compact foot massage function.

[0050] Please see the appendix Figure 4 The rotating rod 20 has a positioning groove inside. When the connecting rod 13 is in a vertical position, the limiting ball 18 is partially inserted into the positioning groove under the elastic force of the spring 19.

[0051] Specifically, when the connecting rod 13 is rotated to the vertical position, the spherical part of the limiting ball 18 is inserted into the positioning groove under the thrust of the spring 19, so that the limiting ball 18 and the positioning groove form a geometric fit connection. This fit connection increases the starting torque required for the rotating rod 20 to rotate relative to each other, thereby playing a mechanical self-locking role. It can lock the connecting rod 13 and the support plate 11 in a vertical standing position, preventing the connecting rod 13 from accidentally tipping over due to its own weight or slight external vibration. When it is necessary to unlock and adjust the angle, the operator only needs to apply a slight external force to make the connecting rod 13 rotate.

[0052] Please see the appendix Figure 1 Appendix Figure 2 and attached Figure 8 The top of the outer casing 2 is equipped with a display screen 28 and a control panel 29. The display screen 28 is electrically connected to the pressure sensor 15, the micro motor 17 and the motor 5, and is used to display training data and input control commands.

[0053] Specifically, the control panel 29 serves as the human-machine interface terminal of this device. It is responsible for receiving various instruction parameters input by the operator and converting the operation instructions into electrical signals to send to the motor 5 to perform the position adjustment action of the seat 3, or to send to the micro motor 17 to control the start and stop and operating frequency of the compression component. The display screen 28 receives and analyzes the real-time monitoring signals from the pressure sensor 15 through its internal processing circuit. It intuitively presents key motion data such as the pressure value applied by the trainee's foot, the stepping frequency, and the training duration on the interface of the display screen 28, realizing the visual monitoring of the rehabilitation training process. This not only makes it convenient for the trainee to grasp their own motion status in real time, but also provides quantitative data support for medical staff to evaluate the rehabilitation effect of the affected limb and formulate subsequent treatment plans.

[0054] This embodiment is designed for patients with hemiplegia or lower limb muscle weakness after stroke. These patients lack voluntary control of the affected limb and have difficulty exerting force in their legs. Before training begins, medical staff first operate the control panel 29 to start the motor 5 inside the outer casing 2 4. The motor 5 drives the threaded rod 6 to rotate, which in turn moves the slider 1 7 and the seat 3 on the base 1 to a suitable distance. Then, the connecting rod 13 on the affected side is rotated upwards, and the elastic force of the spring 19 inside the fixing block 14 pushes the limiting ball 18 into the positioning groove of the rotating rod 20, locking the connecting rod 13 in a vertical position. Then, the patient's lower leg is placed in the support plate 11 and... Tighten the strap 12 for secure fixation to prevent knee valgus or foot slippage. During training, when the patient steps on the foot pedal 9 and drives the pedal shaft 8 to rotate to the hard dead point position, the spring 25 in the assist component releases the previously stored elastic potential energy, pushing the slider 26 and ball 27 to press the cam 24, assisting the pedal shaft 8 to smoothly pass the dead point. At the same time, the micro motor 17 inside the foot pedal 9 works under the trigger of the pressure sensor 15, driving the rotating rod 22 and cam 23 to rotate, so that the sliding plate 21 drives the protrusion 16 to perform reciprocating pressure stimulation on the sole of the affected foot to assist in nerve rehabilitation.

[0055] This embodiment is designed for patients recovering from fracture surgery or joint injury. These patients need to gradually restore joint mobility and eliminate limb swelling. After sitting down, the patient observes the data on the display screen 28 through the control panel 29, controls the motor 5 to fine-tune the position of the seat 3, and uses the cooperation of the threaded rod 6 and the slider 7 to adjust the knee joint to the optimal extension angle without pain. During training, the function of the compression component is emphasized. When the patient steps on the foot pedal 9, the pressure sensor 15 continuously monitors the contact status, and the micro motor 17 drives the cam 23 to rotate at high frequency. The contour of the cam 23 pushes the sliding plate 21 to make vertical reciprocating motion, so that the protrusion 16 passes through the fixed plate 10 and rhythmically squeezes the sole of the foot. This pump-like mechanical action can effectively promote venous return in the lower limbs and help eliminate postoperative edema. At the same time, the rolling contact between the cam 24 and the ball 27 in the assist component reduces mechanical resistance, and the energy absorption and release process of the spring 25 makes the circular motion smoother and reduces the impact load on the damaged joint when the pedal shaft 8 rotates.

[0056] This embodiment is designed for elderly users experiencing lower limb functional decline and those seeking to prevent muscle atrophy. The primary goal for these users is to improve lower limb flexibility and safety. After the elderly user quickly adjusts the seat 3 position using the control panel 29 and drive motor 5, to prevent slippage due to slow reaction time, the lower leg needs to be placed within the support plate 11 and restrained by the straps 12. At this time, the frictional resistance between the limiting ball 18 and the rotating rod 20 provides appropriate lateral support. During the starting phase, the assistive component plays a crucial role; spring 25 releases energy to help overcome static friction, making the start of the pedal shaft 8 easier and reducing the risk of sports injuries. As the foot pedal 9 rotates, the micro motor 17 drives the sliding plate 21 and protrusions 16 to continuously press on acupoints on the soles of the feet. Combined with the motion data displayed on the screen 28, this enhances the elderly user's proprioception. Simultaneously, the assistive component inside the outer shell 2 ensures smooth operation during prolonged low-load training, preventing muscle fatigue.

[0057] Working principle: When using this device, the seat 3 is first adjusted to suit the user's needs. The user issues an adjustment command through the control panel 29 to start the motor 5 located inside the outer casing 4. The output shaft of the motor 5 drives the threaded rod 6 to rotate within the base 1. Since the slider 7 is threadedly connected to the threaded rod 6 and is guided by the base 1, the rotation of the threaded rod 6 drives the slider 7 to translate in a straight line, thereby moving the seat 3 fixed on the top of the slider 7 back and forth until the seat 3 is adjusted to the training position most suitable for the patient's leg length.

[0058] After the position is adjusted, the patient sits down and places both feet on the fixed plate 10 inside the foot pedal 9. At this time, the connecting rod 13 is rotated, causing the rotating rod 20 to rotate to a vertical position within the fixed block 14. During this process, the spring 19 inside the fixed block 14 continuously pushes the limiting ball 18 upward, causing the limiting ball 18 to abut against the outer wall of the rotating rod 20, thereby using elastic force to lock the connecting rod 13 and prevent it from falling over arbitrarily when not under force. Subsequently, the patient's lower leg is placed in the support plate 11, and the strap 12 is tightened to complete the limb fixation and ensure safety during the training process.

[0059] During the training phase, the patient exerts force with both feet to rotate the pedal shaft 8 inside the outer casing 2. The cam 24 fixed on the pedal shaft 8 rotates synchronously. As the long shaft end of the cam 24 gradually rotates and pushes against the ball 27, the ball 27 is compressed, pushing the slider 26 downward and compressing the spring 25, converting mechanical kinetic energy into elastic potential energy of the spring 25. When the foot pedal 9 moves to near the dead center, the apex of the long shaft of the cam 24 passes the ball 27. At this time, the compressed spring 25 rebounds and releases energy, pushing the downward slope of the cam 24 through the slider 26 and the ball 27, generating additional rotational torque to help the pedal shaft 8 smoothly pass the dead center, thus achieving smooth assistance.

[0060] During training, the pressure sensor 15 on the fixed plate 10 monitors the patient's stepping force in real time. When a change in the pressure sensor 15 value is detected, it is determined that the trainee has placed both feet into the foot pedal 9. Then, the micro motor 17 on the outside of the foot pedal 9 is activated. The micro motor 17 drives the rotating rod 22 and the cam 23 to rotate. The protruding part of the cam 23 continuously pushes the sliding plate 21, causing multiple protrusions 16 on the sliding plate 21 to reciprocate and move up and down in the through hole of the fixed plate 10, rhythmically squeezing and massaging the patient's soles to help promote blood circulation in the lower limbs.

Claims

1. A foot-operated lower limb rehabilitation training device, characterized in that, include: Base (1), the base (1) is fixedly connected to the top left side of the outer shell (2), the outer shell (2) is rotatably connected to the pedal shaft (8), the pedal shaft (8) is provided with foot pedals (9) at both ends, and the foot pedal (9) is fixedly connected to the fixing plate (10). A power assist assembly is disposed inside the outer casing (2). The power assist assembly includes a second cam (24), a second slider (26), a ball (27), and a second spring (25). The second cam (24) is fixedly sleeved on the outer periphery of the pedal shaft (8). The second slider (26) is slidably connected inside the outer casing (2). The ball (27) is rotatably connected inside the second slider (26). One end of the second spring (25) is fixedly connected to the bottom of the second slider (26), and the other end of the second spring (25) is fixedly connected to the inner wall of the outer casing (2). A fixing component is provided on the top of the fixing plate (10), the fixing component being used to support and restrain the lower leg of the trainee; A compression component is disposed inside the foot pedal (9). The compression component is used to apply reciprocating pressure stimulation to the sole of the trainee's foot to assist in the rehabilitation of foot nerves and muscles.

2. The foot-operated lower limb rehabilitation training device according to claim 1, characterized in that, The fixing assembly includes a fixing block (14), a rotating rod (20), a connecting rod (13), a support plate (11), and a strap (12). The bottom of the fixing block (14) is fixedly connected to the top of the fixing plate (10). The rotating rod (20) is rotatably connected inside the fixing block (14). The connecting rod (13) is fixedly sleeved on the outer periphery of the rotating rod (20). The support plate (11) is installed on the top of the connecting rod (13). The strap (12) is located on the outside of the support plate (11).

3. The foot-operated lower limb rehabilitation training device according to claim 2, characterized in that, The fixing component also includes a limiting component, which includes a spring (19) and a limiting ball (18). The rotating rod (20) has a positioning groove inside. The bottom end of the spring (19) is fixedly connected to the inside of the fixing block (14). The limiting ball (18) is fixedly connected to the top end of the spring (19). The top of the limiting ball (18) abuts against the outer wall of the rotating rod (20). When the connecting rod (13) is in a vertical state, the limiting ball (18) is inserted into the positioning groove.

4. The foot-operated lower limb rehabilitation training device according to claim 1, characterized in that, The extrusion assembly includes a micro motor (17), a second rotating rod (22), a first cam (23), a sliding plate (21), a pressure sensor (15), and a protrusion (16). The micro motor (17) is installed on the outside of the foot pedal (9). The second rotating rod (22) is fixedly connected to the output end of the micro motor (17). The first cam (23) is fixedly sleeved on the outer periphery of the second rotating rod (22). The sliding plate (21) is slidably connected to the inner wall of the foot pedal (9). The protrusion (16) is fixedly connected to the top of the sliding plate (21). The pressure sensor (15) is installed on the top of the fixed plate (10).

5. A foot-operated lower limb rehabilitation training device according to claim 1, characterized in that, It also includes an adjustment assembly, which includes a second housing (4), a motor (5), a threaded rod (6), a slider (7), and a seat (3). The second housing (4) is fixedly connected to the right side of the base (1). The motor (5) is installed inside the second housing (4). The threaded rod (6) is fixedly connected to the output end of the motor (5) and rotatably connected to the inside of the base (1) on the outside. The slider (7) is threadedly connected to the outer periphery of the threaded rod (6). The seat (3) is fixedly connected to the top of the slider (7). A guide groove is provided inside the base (1). The bottom of the slider (7) is slidably connected inside the guide groove to limit the slider (7) from rotating with the threaded rod (6).

6. A foot-operated lower limb rehabilitation training device according to claim 1, characterized in that, The outer side of the slider two (26) is slidably connected to the inside of the base (1), and the cam two (24) abuts against the ball (27).

7. A foot-operated lower limb rehabilitation training device according to claim 4, characterized in that, The fixed plate (10) has multiple through holes through which the protrusion (16) passes. The outer surface of the cam (23) abuts against the bottom of the sliding plate (21) to drive the sliding plate (21) to reciprocate in the vertical direction.

8. A foot-operated lower limb rehabilitation training device according to claim 3, characterized in that, The rotating rod (20) has a positioning groove inside. When the connecting rod (13) is in a vertical state, the limiting ball (18) is partially inserted into the positioning groove under the elastic force of the spring (19).

9. A foot-operated lower limb rehabilitation training device according to claim 4, characterized in that, The top of the outer casing (2) is provided with a display screen (28) and a control panel (29). The display screen (28) is electrically connected to the pressure sensor (15), the micro motor (17) and the motor (5) for displaying training data and inputting control commands.

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