Stroke gait rehabilitation training device and use method

Abstract

The present application relates to the field of medical devices, in particular to a stroke gait rehabilitation training device and a use method. The present application comprises a leg wearing structure, a foot supporting structure, a gear transmission driving structure and a mechanical locking structure. The upper and lower leg rings are connected and fixed to the affected lower limb through the telescopic adjusting rod, and the end of the adjusting rod is provided with a transmission gear; the foot is provided with a correction shoe body containing a movable correction pad and an air bag. When walking and stepping, the knee joint flexion drives the lifting rod to lift the forefoot, compensating for foot drop; when the foot bottom touches the ground, the body weight presses the movable correction pad, on the one hand triggering the air bag to expand and laterally constrain the ankle joint to inhibit foot inversion, and on the other hand driving the locking rod to mechanically jam the transmission chain, reversely locking the knee joint to prevent bending; when lifting the foot, each component automatically resets. The present application does not require external power, and is a pure mechanical self-adaptive gait switching, synchronously correcting foot drop, foot inversion and knee instability, and retaining the proprioception, suitable for stroke patient rehabilitation training and daily walking.

Description

Technical Field

[0001] This invention relates to the field of medical devices, specifically to a gait rehabilitation training device for stroke patients and its usage method. Background Technology

[0002] Stroke is one of the most common neurological injuries in clinical practice, characterized by high incidence and high disability rates. Statistics show that over 80% of stroke patients experience varying degrees of motor dysfunction after the acute phase, with lower limb dysfunction being particularly prominent, directly impacting their walking ability and quality of life. Gait abnormalities are one of the most common sequelae of stroke, mainly manifested as foot drop, ankle instability, decreased knee joint control, and compensatory gait patterns (such as hip-lift gait and circumduction gait). These abnormal gait patterns not only reduce walking efficiency but also significantly increase the risk of falls, severely restricting patients' rehabilitation progress and social participation.

[0003] Foot drop occurs when insufficient strength or spasm of the tibialis anterior muscle prevents the foot from dorsiflexing properly during the swing phase, causing the toes to drag on the ground. Patients are forced to lift the affected limb by raising the hip or making outward circles to avoid tripping. This compensatory pattern, if prolonged, can lead to secondary strain on the hip, knee, and lower back muscles, further exacerbating gait abnormalities. Ankle instability manifests as inversion of the foot or "giving way" during the stance phase, making patients prone to ankle sprains and even falls, severely impacting walking confidence and the continuity of rehabilitation training. Furthermore, decreased knee control during the stance phase often results in sudden knee flexion ("bending") when standing, leading to instability, increased load on the unaffected limb, and reliance on assistive devices.

[0004] Currently, clinically used training devices for gait rehabilitation after stroke mainly include ankle-foot orthoses (AFOs), functional electrical stimulation (FES) devices, and various exoskeleton rehabilitation robots. While traditional ankle-foot orthoses can prevent foot drop to some extent, their rigid structure restricts multi-degree-of-freedom movement of the ankle joint, and long-term wear can affect proprioceptive input, hindering neuromuscular function recovery. FES devices require precise triggering of the tibialis anterior muscle contraction during the swing phase, placing high demands on the patient's muscle responsiveness and device synchronization, and also presenting problems such as skin irritation and electrode displacement. Although exoskeleton rehabilitation robots are powerful, their complex structure, high cost, and bulky size limit their application to institutional rehabilitation training, making them difficult to promote and apply in everyday life environments.

[0005] More critically, existing technologies lack a coordinated mechanism for assisting and locking the foot and knee joints at different gait phases (such as stepping, stance, and push-off). Most devices either provide continuous support (e.g., rigid orthotics) or only provide assistance during specific movements (e.g., electrical stimulation), failing to automatically switch operating modes according to the dynamic changes in the gait cycle. For example, assisting toe lift is needed during the stepping phase to clear the foot, while locking the ankle and knee joints is needed during the stance phase to maintain stability; these two aspects are often mechanically contradictory. Furthermore, existing devices rarely consider preserving proprioceptive input to the ankle joint between assistance and locking, which may interfere with the patient's neurorehabilitation process with long-term use.

[0006] In summary, there is an urgent need to develop a rehabilitation training device that can automatically identify different stages in the gait cycle and provide assistance with toe lift during the step-up phase and ankle and knee joint locking during the stance phase. This device should be simple in structure, require no external power, adaptable to different leg lengths, and not interfere with proprioceptive input, in order to meet the practical needs of stroke patients in rehabilitation training and daily walking. Summary of the Invention

[0007] The purpose of this invention is to overcome the above-mentioned existing problems.

[0008] To achieve the above objectives, the technical solution adopted by the present invention to solve its technical problem is as follows: Design a gait rehabilitation training device for stroke patients and its usage method, the specific scheme is as follows: A gait rehabilitation training device for stroke includes an upper leg ring and a lower leg ring, which are rotatably connected by a telescopic adjustment rod. A first transmission gear is coaxially provided at the rotatable connection between the telescopic adjustment rod and the lower leg ring. The corrective shoe features a floating, movable corrective pad inside its body. The two ends of the connecting rod are fixed to the lower leg ring and the corrective shoe body, respectively. A second transmission gear is rotatably mounted on it, and the second transmission gear is connected to the first transmission gear through a transmission chain. A drive shaft is rotatably mounted on the outer side of the corrective shoe body, and a third transmission gear that meshes with the second transmission gear is fixed on the drive shaft; One end of the lifting rod is circumferentially fixed to the drive shaft and axially slidable, while the other end is equipped with a locking rod; The bottom of the corrective shoe has a linear sliding groove along the length of the sole, and the locking rod slides within the linear sliding groove. When stepping and bending the knee, the telescopic adjustment rod shortens, driving the first transmission gear to rotate. This rotation is then transmitted through the transmission chain, the second transmission gear, the third transmission gear, and the drive shaft, causing the lifting rod to swing. The locking rod slides along the linear sliding groove and lifts the corrective shoe and the foot, thus achieving foot drop correction driven by knee flexion and extension movements.

[0009] Furthermore, it also includes a walking assistance and standing locking switching mechanism, which is triggered by the movable correction pad; when standing and bearing weight, the movable correction pad is pressed down and triggers the switching mechanism to lock the lifting rod and the corrective shoe body, thereby locking the entire transmission chain and the rotating joint of the telescopic adjustment rod, and restricting knee joint bending; when lifting the foot to relieve pressure, the movable correction pad moves up and resets, the switching mechanism is unlocked, and the device returns to the step assistance state.

[0010] Furthermore, the standing locking mechanism includes A locking rod is provided at the sliding end of the lifting rod; The push block is located at the bottom of the movable orthopedic pad; A snap-fit ​​block is installed on the locking rod body; It includes a push groove on the bottom of the corrective shoe and a snap-fit ​​groove on the inner wall of the linear sliding groove; the end of the locking rod is machined with a guide slope, and a return spring is assembled between the locking rod and the linear sliding groove; when the movable corrective pad is pressed down, the push block is embedded in the push groove and presses against the guide slope, driving the locking rod to slide so that the snap-fit ​​block is embedded in the snap-fit ​​groove, forming a mechanical snap-fit ​​limit.

[0011] Furthermore, a compression spring is provided between the active correction pad and the insole of the correction shoe, with both ends of the compression spring fixed to the lower surface of the active correction pad and the upper surface of the insole of the correction shoe, respectively.

[0012] Furthermore, one end of the return spring abuts against the wall of the linear sliding groove, and the other end abuts against the side wall of the locking rod. The return spring applies an elastic return force to the locking rod toward the outside of the corrective shoe body.

[0013] Furthermore, it also includes an ankle anti-inversion airbag assembly, which includes a storage airbag, an ankle support airbag, and a flexible pressure-resistant air tube connecting the two; the storage airbag is located between the active correction pad and the insole of the correction shoe, and the ankle support airbag is an arc-shaped bladder that fits against the inner side of the correction shoe corresponding to the outer side of the ankle; when the active correction pad is compressed and moves downward, it squeezes the storage airbag to inflate the ankle support airbag, forming a lateral restraint force.

[0014] Furthermore, both the upper and lower leg rings are open-type C-shaped ring structures with Velcro straps fitted at the openings; the telescopic adjustment rod is a multi-section sleeve structure.

[0015] Furthermore, the lifting rod and the drive shaft are slidably connected via a spline structure; the connecting rod is a solid aluminum alloy rod, with its top end rigidly connected to the bottom of the lower leg ring and its bottom end rigidly connected to the upper part of the outer side wall of the corrective shoe.

[0016] Furthermore, it also includes integrated balance height-increasing shoes for the healthy side, where the sole height of the balance height-increasing shoes is equal to the ground height of the corrective shoe body and all its internal structures.

[0017] A method of using a gait rehabilitation training device for stroke includes the following steps: In the walking process, when taking a step, the knee joint bends, which causes the telescopic adjustment rod to shorten. The first transmission gear rotates and drives the lifting rod to swing through the transmission chain, the second transmission gear, the third transmission gear and the drive shaft. The locking rod slides along the linear sliding groove and lifts the movable correction pad and the foot to achieve foot drop correction. When standing, the corrective pad is pressed down after the heel touches the ground, the push block is inserted into the push groove and drives the locking rod to slide, the locking block is inserted into the locking groove to form a locking limit, and the rotating parts of the lifting rod, transmission chain and telescopic adjustment rod are locked in sequence to restrict the bending of the knee joint; When switching steps, the movable correction pad moves upward and resets under the action of the compression spring when the foot is lifted again. The push block disengages from the push groove, the locking rod retracts under the action of the reset spring, the locking block disengages from the locking groove, the lock is released, and the device returns to the step assist state.

[0018] The beneficial effects of this invention are: 1. This invention utilizes a purely mechanical linkage between a telescopic adjustment rod, a gear transmission chain, and a mechanical locking structure. Without any sensors or external power, it automatically switches working modes based on the patient's walking state. During the stepping phase, the knee flexion movement drives the lifting rod to advance the foot via gear transmission, providing assistance to the foot drop proportional to the knee flexion speed and restoring the clearance trajectory. During the support phase, foot pressure triggers a mechanical interlock between the locking rod and the locking groove, locking the entire transmission system and the knee joint rotation pair in reverse. This structurally prevents "leg bending" during the support phase, achieving a synergistic unity of two functions—assistance and locking—within the same device.

[0019] 2. This invention integrates three major functions: lifting assistance, lateral restraint, and longitudinal support. The lifting rod acts directly on the forefoot, mechanically compensating for weakness of the tibialis anterior muscle and correcting foot drop; the ankle anti-inversion airbag component automatically inflates during the support phase, providing flexible lateral restraint on the outer side of the ankle joint and effectively inhibiting foot inversion; the connecting rod rigidly connects the lower leg ring to the corrective shoe body, sharing the load of the knee joint while using the lateral rigidity of the shoe upper to initially limit foot rollover.

[0020] 3. The ankle anti-inversion airbag assembly of this invention provides high-strength mechanical restraint and pneumatic support during the support phase to ensure standing safety; while during the stepping phase, the airbag automatically depressurizes and the lifting rod releases restraint, allowing the ankle joint to regain full freedom of movement. This periodic switching mode of rigid support during the support phase and flexible release during the stepping phase not only solves the safety problem of stroke patients being prone to falls when standing, but also minimizes continuous interference with ankle proprioception, preserving key sensory feedback pathways for neurofunctional remodeling. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a schematic diagram of the structure of the present invention; Figure 3 This is a schematic diagram of the structure of the present invention; Figure 4 This is a schematic diagram of the structure of the present invention; Figure 5 This is a schematic diagram of the structure of the present invention; Figure 6 For along Figure 5 Schematic diagram of the cross-sectional structure along the AA direction; Figure 7 This is an exploded structural diagram of the present invention; Figure 8 This is a schematic diagram of the third gear, lifting rod, drive shaft, and locking rod. Figure 9 A diagram illustrating the disassembled structure of the corrected shoe body; Figure 10 This is a schematic diagram of the structure of the energy storage airbag, ankle support airbag, and flexible pressure-resistant air tube.

[0022] The above figures include the following reference numerals: 1. Upper leg ring; 10. Telescopic adjustment rod; 11. First transmission gear; 2. Lower leg ring; 3. Corrective shoe body; 30. Movable corrective pad; 31. Connecting support rod; 32. Compression spring; 33. Linear sliding groove; 4. Energy storage airbag; 40. Ankle support airbag; 41. Flexible pressure-resistant air tube; 5. Second transmission gear; 50. Transmission chain; 51. Third transmission gear; 52. Drive shaft; 53. Lifting rod; 54. Gear shaft; 6. Locking rod; 60. Push groove; 61. Snap-fit ​​groove; 62. Snap-fit ​​block; 63. Push block. Detailed Implementation

[0023] 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, and not all embodiments.

[0024] In the description of this invention, it should be understood that the terms "front", "rear", "left", "right", "upper", "lower", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0025] refer to Figure 1-10This invention provides a gait rehabilitation training device for stroke patients. The device is made of lightweight, high-strength engineering plastics, aerospace aluminum alloy, and elastic composite textile fabric. The device is a purely mechanical linkage structure, requiring no external power supply, sensors, or electronic control components. It relies entirely on human walking movements to achieve the linkage and switching of various functional components. It can be adapted for stroke patients to carry out gait rehabilitation training and daily walking. The device is arranged along the lateral side of the patient's affected lower limb, and each component conforms to the physiological structure of the human lower limb. It can simultaneously correct foot drop, inhibit foot inversion, and effectively limit the problem of abnormal bending of the knee joint during the standing support phase.

[0026] In practical implementation, this device mainly consists of four major components: a leg-wearing structure, a foot support structure, a gear transmission drive structure, and a mechanical locking structure. The leg-wearing structure includes an upper leg ring 1, a lower leg ring 2, and a telescopic adjustment rod 10. The upper leg ring 1 is designed as an open C-shaped ring structure, integrally molded from rigid reinforced engineering plastic, providing reliable rigid support performance. The opening of the upper leg ring 1 is symmetrically fitted with elastic Velcro straps, which can be quickly opened, closed, and locked to accommodate different thigh circumferences. The upper leg ring 1 is worn and fixed in the thigh area above the patient's knee joint. A flexible and breathable sponge pad is attached to the inner side of the ring to avoid prolonged pressure on the limb from the rigid structure, effectively improving the wearing experience.

[0027] In practice, the lower leg ring 2 also adopts an open C-shaped ring structure. Its material, shape, and overall support performance are consistent with the upper leg ring 1. The opening of the lower leg ring 2 is also equipped with Velcro straps for secure wearing. The lower leg ring 2 is worn on the upper part of the lower leg below the patient's knee joint, arranged vertically opposite the upper leg ring 1, with their central axes coinciding with the axis of the human lower limb. A telescopic adjustment rod 10 is vertically mounted between the upper leg ring 1 and the lower leg ring 2. This telescopic adjustment rod 10 adopts a multi-section sleeve structure design, which can freely extend and retract along its own axis to accommodate users with different leg lengths. The telescopic adjustment rod 10 is divided into a movable end and a fixed end. The movable end of the telescopic adjustment rod 10 forms a rotating joint with the center of the outer thigh at the bottom of the upper leg ring 1, and the two can rotate relative to each other around a horizontal rotation axis. The axis of this rotation axis is perpendicular to the direction of human movement. The fixed end of the telescopic adjustment rod 10 forms a rotating joint with the center of the outer lower leg at the top of the lower leg ring 2, and can also rotate relative to each other around the rotation axis. The rotating shaft of the telescopic adjustment rod 10 near the lower leg ring 2 extends outward along the axial direction to form an extension shaft section. A first transmission gear 11 is coaxially mounted on the extension shaft section. The rotation plane of the first transmission gear 11 is parallel to the direction of human walking. The inner ring of the first transmission gear 11 is clearance-fitted with the extension shaft section. The first transmission gear 11 can complete the rotation action independently. The extension shaft section is rigidly connected to the fixed end of the telescopic adjustment rod 10. When the patient's knee joint bends and the thigh and lower leg rotate relative to each other, the telescopic adjustment rod 10 will shorten synchronously. The telescopic adjustment rod 10 remains in a vertical state.

[0028] In practice, the foot support structure is installed on the affected side of the patient's foot and mainly consists of an orthotic shoe body 3, a movable orthotic pad 30, an ankle anti-inversion airbag assembly, and a connecting rod 31. The orthotic shoe body 3 is a one-piece shoe structure that is worn entirely on the patient's foot. It is composed of a hard and wear-resistant sole and a fully enclosed flexible upper. The upper can completely wrap around the side and instep of the patient's foot. The instep area of ​​the upper has multiple sets of Velcro straps, which can flexibly adjust the tightness of the shoe to fit different sizes and widths of feet.

[0029] In practice, the connecting rod 31 is vertically positioned on the outer side of the lower limb between the lower leg ring 2 and the corrective shoe body 3. In this embodiment, the connecting rod 31 is made of solid aluminum alloy, possessing excellent resistance to bending and deformation. The top end of the connecting rod 31 is rigidly connected to the outer bottom of the lower leg ring 2, while the bottom end is rigidly connected to the upper part of the outer side wall of the corrective shoe body 3, maintaining an overall vertical posture. When the patient is in a standing support position, the connecting rod 31 can effectively distribute the vertical load on the lower limb, reducing the pressure on the knee joint and further improving the overall standing stability of the lower limb. It can also structurally limit the inward rotation of the foot by utilizing the lateral rigidity of the shoe upper itself.

[0030] In practice, a movable orthotic pad 30 is installed in the hollow area inside the orthotic shoe body 3. The outline of the movable orthotic pad 30 is adapted to the inner cavity of the orthotic shoe body 3, and it is laid flat inside the orthotic shoe body 3, under the patient's foot. Multiple sets of small compression springs 32 are evenly distributed between the bottom of the movable orthotic pad 30 and the inner sole of the orthotic shoe body 3. The two ends of the compression springs 32 are respectively fixed to the lower surface of the movable orthotic pad 30 and the upper surface of the inner sole of the orthotic shoe body 3. These compression springs 32 have small deformation and moderate stiffness, and are only used to achieve small-scale elastic cushioning and component reset. The movable orthotic pad 30 and the inner cavity of the orthotic shoe body 3 are assembled by a clearance sliding fit. The two can slide relative to each other in the vertical direction. The sliding gap is uniform and consistent, ensuring smooth and unobstructed movement of the components. Along the length of the corrective shoe body 3 from the heel to the toe, a straight sliding groove 33 is provided on the outer side wall of the bottom of the corrective shoe body 3. The straight sliding groove 33 is a through groove structure and serves as a motion guide structure for subsequent transmission components.

[0031] In practice, the direction between the two legs is defined as the inner side, and the opposite side is defined as the outer side. The ankle anti-inversion airbag assembly is arranged inside the corrective shoe body 3, corresponding to the outer side of the patient's ankle. This airbag assembly consists of a storage airbag 4 and an ankle support airbag 40, which are connected by a flexible pressure-resistant air tube 41. The storage airbag 4 is fixedly installed in the gap area between the movable corrective pad 30 and the inner sole of the corrective shoe body 3. The ankle support airbag 40 is designed with an arc-shaped bladder structure, and the curved surface of the arc-shaped bladder completely conforms to the physiological contour of the outer side of the human ankle. The flexible pressure-resistant air tube 41 is arranged along the inner wall of the corrective shoe body 3. When the patient stands with their feet bearing the pressure of the body, the movable orthotic pad 30 shifts downward under the influence of gravity, compressing the storage airbag 4. The gas inside the storage airbag 4 rushes into the ankle support airbag 40 through the flexible pressure-resistant air tube 41, causing the ankle support airbag 40 to inflate. The inflated arc-shaped airbag compresses the patient's ankle inward, forming a stable lateral restraint force on the ankle joint, effectively preventing the foot and ankle joint from turning inward, and improving the problems of foot inversion and leg buckling during the support phase. When the patient lifts their foot to enter the stepping phase, the movable orthotic pad 30 rises upward under the reset action of the bottom compression spring 32, the compression on the storage airbag 4 is released and the pressure is completed. The ankle support airbag 40 contracts synchronously, completely releasing the restraint on the ankle joint, preserving the proprioceptive input of the ankle joint to the greatest extent, and creating favorable conditions for the patient's neuromuscular function rehabilitation.

[0032] In practice, the gear transmission drive structure mainly includes a second transmission gear 5, a transmission gear chain, a third transmission gear 51, a drive shaft 52, and a lifting rod 53.

[0033] The second transmission gear 5 is rotatably mounted on the outer wall of the connecting support rod 31 via a gear shaft 54. The plane of rotation of the second transmission gear 5 is parallel to that of the first transmission gear 11, and the axes of rotation of the two gears are both in the same vertical plane. A closed transmission chain 50 is fitted between the first transmission gear 11 and the second transmission gear 5, and the transmission chain 50 is fitted on the first gear and the gear shaft 54 ​​to achieve synchronous power transmission. Both ends of the gear shaft 54 ​​supporting the second transmission gear 5 are limited. One end of the gear shaft 54 ​​is rigidly fixed to the second transmission gear 5, and the other end is rotatably mounted on the outer wall of the connecting support rod 31, allowing the gear shaft 54 ​​to rotate freely.

[0034] In practice, a support plate is provided on the outside of the corrective shoe body 3. A drive shaft 52 is installed on the support plate near the shoe upper and rotates laterally. The drive shaft 52 is arranged horizontally, and its axis is perpendicular to the direction of human movement. The inner end of the drive shaft 52 is rotated and supported on the support plate, and the outer end extends to the outside of the corrective shoe body 3. A third transmission gear 51 is rigidly fixed at this end, and the third transmission gear 51 meshes with the second transmission gear 5 for transmission.

[0035] In practical implementation, the device includes a long, rigid lifting rod 53. One end of the lifting rod 53 is slidably mounted on the drive shaft 52 via a spline structure. The spline fit allows the lifting rod 53 to slide slightly along the axial direction of the drive shaft 52 and to be synchronously driven to complete a rotational motion when the drive shaft 52 rotates. In the naturally stationary state, the lifting rod 53 and the connecting support rod 31 maintain a vertical posture parallel to each other. The end of the lifting rod 53 away from the drive shaft 52 is the sliding end. This sliding end extends towards the corrective shoe body 3 in a direction perpendicular to the lifting rod 53 and is fixed with a locking rod 6. The locking rod 6 is made of a rigid rod and is embedded in the straight sliding groove 33 on the outer wall of the corrective shoe body 3, forming a sliding pair with the straight sliding groove 33.

[0036] In practice, when the patient walks forward, swings their lower leg backward, and flexes their knee, the telescopic adjustment rod 10 shortens axially with the knee flexion. The lower leg ring 2 rotates around the fixed end of the telescopic adjustment rod 10. One end of the transmission chain 50, which is sleeved on the gear shaft 54, rotates around the end sleeved on the first gear, thereby driving the first transmission gear 11 to rotate forward. Through the linkage of the transmission chain 50, the gear shaft 54 ​​is driven to rotate. The second transmission gear 5 rotates in the same direction as the first transmission gear 11. The second transmission gear 5 then drives the third transmission gear 51 to rotate in the opposite direction to the drive shaft 52 through meshing transmission. During the rotation of the drive shaft 52, the lifting rod 53 is driven to swing in an arc around the drive shaft 52. The sliding end of the lifting rod 53 slides along the direction from the heel to the toe of the corrective shoe body 3 inside the linear sliding groove 33. Under the constraint of the linear sliding groove 33, the sliding end of the lifting rod 53 gradually lifts the forefoot part, effectively compensating for foot drop caused by insufficient tibialis anterior muscle strength, avoiding excessive angle between the instep and leg during stepping and dragging friction between the toe and the ground, guiding the patient to form a standard gait clearance trajectory, and abandoning compensatory walking postures such as hip lifting and circling.

[0037] In practice, the mechanical locking structure is integrated between the locking rod 6, the movable correction pad 30 and the correction shoe body 3. The locking structure mainly includes a push block 63, a push groove 60, a snap-fit ​​groove 61 and a snap-fit ​​block 62.

[0038] The free end of the locking rod 6 is machined to form a guide slope. The locking rod 6 extends through the linear sliding groove 33 into the internal space of the movable corrective pad 30. A return spring is installed between the locking rod 6 and the linear sliding groove 33. One end of the return spring abuts against the groove wall of the linear sliding groove 33, and the other end abuts against the side wall of the locking rod 6. Under normal conditions, the return spring can apply an elastic return force to the locking rod 6 toward the outside of the corrective shoe body 3, ensuring that the locking rod 6 can automatically return to its original position after the limit is released.

[0039] A push block 63 is fixedly installed at the bottom of the active correction pad 30. A push groove 60 is formed on the upper surface of the bottom of the correction shoe body 3 corresponding to the position of the push block 63. The push groove 60 is connected to the linear sliding groove 33. The push block 63, the push groove 60 and the guide slope at the end of the locking rod 6 are vertically aligned. A protrusion is provided on the inner wall of the linear sliding groove 33 in the direction outside the push groove 60. A concave locking groove 61 is provided on the protrusion at the position corresponding to the push groove 60. A protruding locking block 62 is fixed at the corresponding position of the locking rod 6. The two can achieve stable mechanical locking and limiting. When the active correction pad 30 is not compressed, the locking block 62 is located on the side of the protrusion facing the correction shoe body 3, and the locking block 62 does not cooperate with the locking groove 61. In a natural standing position, the angle between the lower limbs and the soles of the feet is approximately 90 degrees. At this time, the lifting rod 53 rotates back to its original position, returning to a vertical posture parallel to the connecting support rod 31. The guide slope at the end of the locking rod 6 falls precisely into the pushing groove 60 and is directly below the pushing block 63. When the patient's weight applies downward pressure, the movable orthotic pad 30 compresses the compression spring 32 at its bottom and moves downward. The movable orthotic pad 30 gradually comes into contact with the orthotic shoe body 3. The pushing block 63, fixed to the sole of the shoe, embeds itself into the pushing groove 60 along with the relative movement of the components. The side wall of the pushing block 63 slides against the guide slope of the locking rod 6. After being stressed, the guide slope drives the locking rod 6 to slide horizontally outward. During the outward sliding of the locking rod 6, the locking block 62 on the rod body simultaneously embeds into the locking groove 61, achieving mechanical locking and limiting. The locking rod 6 then stops sliding and rotating. Once the locking lever 6 is stopped, it will simultaneously lock the lifting lever 53, preventing it from swinging or rotating further. This, in turn, locks the drive shaft 52, the third transmission gear 51, the second transmission gear 5, the first transmission gear 11, and the rotating pairs at both ends of the telescopic adjustment lever 10. The entire transmission structure and the leg rotation structure are completely locked. In the locked state, the thigh and lower leg cannot bend relative to each other, mechanically eliminating abnormal knee flexion during the support phase. This effectively solves problems such as leg weakness and loss of balance caused by insufficient muscle strength in the affected limb, significantly reducing the risk of falls during walking.

[0040] When the patient lifts their foot and steps forward, and the movable corrective pad 30 is reset upward, the push block 63 and the guide slope of the locking rod 6 disengage from each other, the locking block 62 disengages from the limit of the locking groove 61, and the locking rod 6 automatically retracts to the initial position under the elastic force of the reset spring, completing the overall reset.

[0041] To avoid the problems of uneven foot height caused by the structure of the affected side's corrective shoe 3 and insufficient internal space in ordinary shoes to accommodate additional height-increasing components, this device is equipped with an integrated balance height-increasing shoe for the healthy side. This balance height-increasing shoe is a separate, finished shoe made entirely of lightweight, wear-resistant materials. It has no extra protruding structures inside, and its internal space is consistent with that of conventional rehabilitation shoes. The sole thickness of the balance height-increasing shoe is precisely matched, and its overall sole height is equal to the total ground clearance of the affected side's corrective shoe 3 (including the internal active corrective pad 30, air bladder, springs, and all other built-in structures). The height difference between the two is controlled within a reasonable range, ensuring that both feet are on the same horizontal plane after the patient wears it. The upper of the balance height-increasing shoe uses elastic fabric with Velcro straps to accommodate different foot shapes. Its simple overall structure does not add extra burden to the limbs, fundamentally preventing problems such as pelvic tilt, center of gravity shift, gait imbalance, and compensatory strain in the lower back and legs caused by uneven foot height.

[0042] This invention provides a gait rehabilitation training device for stroke patients with foot drop, ankle instability, and decreased knee joint control. It can be applied to various scenarios such as in-hospital rehabilitation training, daily walking at home, and short-distance outdoor activities. The wearing and usage process is as follows.

[0043] When using the device, the patient first puts it on the affected leg, placing the thigh and calf into the openings of the upper leg ring 1 and lower leg ring 2 respectively. The Velcro at both openings is used to tighten and secure the device. The overall length of the telescopic adjustment rod 10 is adjusted according to the patient's leg length to ensure that the upper leg ring 1, telescopic adjustment rod 10, and lower leg ring 2 fit snugly against the physiological position of the lower limb. After wearing, the device is stable and secure. Next, the affected foot is put on, slipping it into the corrective shoe body 3. The Velcro at the shoe upper is tightened, and the tightness is adjusted according to the width and size of the foot to ensure the corrective shoe body 3 tightly wraps around the foot. After completing the treatment on the affected side, the patient directly puts the healthy foot into the matching balance and height-increasing shoe.

[0044] When a patient initiates walking training or walks normally, the gait enters the stepping phase, with the knee joint flexing. This causes the telescopic adjustment rod 10 to shorten axially and rotate in conjunction with the rotating pairs at both ends. Power is transmitted sequentially through the first transmission gear 11, transmission chain 50, second transmission gear 5, third transmission gear 51, and drive shaft 52, driving the lifting rod 53 to swing and lift the movable correction pad 30 and the patient's toes. This mechanical assistance compensates for insufficient tibialis anterior muscle strength, effectively correcting foot drop, preventing toes from dragging on the ground, and guiding the patient to abandon compensatory gait behaviors such as hip lift and circling, gradually rebuilding a standard walking posture. During this stage, the ankle anti-inversion airbag component is in a depressurized state, the ankle joint is not subject to lateral forced restraint, proprioception is input normally, which is conducive to the rehabilitation and remodeling of lower limb neuromuscular function.

[0045] When the patient's feet touch the ground and they enter the standing support phase, the downward pressure of the body load compresses the movable orthotic pad 30. On one hand, this compresses the storage airbag 4, causing gas to fill the ankle support airbag 40. The lateral restraint force generated by the expansion of the ankle support airbag 40 restricts foot inversion and, together with the connecting support rod 31, improves the condition of the lower limb giving way. On the other hand, the movable orthotic pad 30 moves downward, triggering the mechanical locking structure. The pushing block 63, in conjunction with the guide ramp, drives the locking rod 6 to slide outward against the elasticity of the return spring. The locking block 62 and the locking groove 61 form a locking limit, sequentially locking the rotating joints of the lifting rod 53, the various gears, and the telescopic adjustment rod 10, mechanically restricting abnormal bending of the knee joint. At the same time, the connecting support rod 31 between the lower leg ring 2 and the orthotic shoe body 3 shares the vertical load, reducing the pressure on the knee joint. Multiple structures work together to improve standing stability. The height of the balance shoe on the healthy side is equal to that of the corrective shoe on the affected side, so that the patient's lower limbs are evenly stressed when standing, the trunk remains stable, and the risk of falls and ankle sprains is reduced from the root, thus enhancing the patient's sense of security when walking.

[0046] When the patient lifts their foot again to switch to a stepping motion, the movable corrective pad 30 returns to its original position under the action of the bottom compression spring 32. The push block 63 disengages from the push groove 60, the locking rod 6 loses external force, and returns to its initial position under the elastic drive of the return spring. The locking limit is released, all transmission structures return to free operation, the device automatically switches to step-assist mode, the ankle support airbag 40 depressurizes synchronously, and the ankle joint regains its freedom of movement. The device cycles through step-assist, standing locking, and automatic reset movements in accordance with the patient's walking movements.

[0047] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A gait rehabilitation training device for stroke, comprising an upper leg ring (1) and a lower leg ring (2), which are rotatably connected by a telescopic adjustment rod (10), characterized in that, The first transmission gear (11) is coaxially provided at the rotatable connection between the telescopic adjustment rod (10) and the lower leg ring (2); The corrective shoe body (3) has a floating corrective pad (30) inside; The two ends of the connecting rod (31) are fixed to the lower leg ring (2) and the corrective shoe body (3) respectively. A second transmission gear (5) is rotatably installed on it. The second transmission gear (5) is connected to the first transmission gear (11) through the transmission chain (50). A drive shaft (52) is rotatably mounted on the outside of the corrective shoe body (3), and a third transmission gear (51) that meshes with the second transmission gear (5) is fixed on the drive shaft (52). One end of the lifting rod (53) is circumferentially fixed to the drive shaft (52) and axially slidably connected, and the other end is provided with a locking rod (6). The bottom of the corrective shoe body (3) is provided with a straight sliding groove (33) along the length of the sole. The locking rod (6) slides in the straight sliding groove (33). When stepping and bending the knee, the telescopic adjustment rod (10) shortens and drives the first transmission gear (11) to rotate. Through the transmission chain (50), the second transmission gear (5), the third transmission gear (51) and the drive shaft (52) drive the lifting rod (53) to swing. The locking rod (6) slides along the straight sliding groove (33) and lifts the corrective shoe body (3) and the foot, realizing foot drop correction driven by knee flexion and extension movement.

2. The gait rehabilitation training device for stroke according to claim 1, characterized in that, It also includes a walking assistance and standing lock switching mechanism, which is triggered by the movable correction pad (30); when standing and bearing weight, the movable correction pad (30) is pressed down and triggers the switching mechanism to lock the lifting rod (53) and the corrective shoe body (3), thereby locking the entire transmission chain and the rotating joint of the telescopic adjustment rod (10) and restricting knee flexion; when lifting the foot to relieve pressure, the movable correction pad (30) moves up and resets, the switching mechanism is unlocked, and the device returns to the step assistance state.

3. The gait rehabilitation training device for stroke according to claim 2, characterized in that, Standing locking mechanism includes A locking rod (6) is provided at the sliding end of the lifting rod (53); A push block (63) is provided at the bottom of the movable orthopedic pad (30); A snap-fit ​​block (62) is provided on the locking rod (6); The push groove (60) is located at the bottom of the corrective shoe body (3) and the snap-fit ​​groove (61) is located on the inner wall of the linear sliding groove (33); the end of the locking rod (6) is machined with a guide slope, and a reset spring is assembled between the locking rod (6) and the linear sliding groove (33); when the movable corrective pad (30) is pressed down, the push block (63) is embedded in the push groove (60) and presses against the guide slope, driving the locking rod (6) to slide so that the snap-fit ​​block (62) is embedded in the snap-fit ​​groove (61), forming a mechanical snap-fit ​​limit.

4. The gait rehabilitation training device for stroke according to claim 3, characterized in that, A compression spring (32) is provided between the active correction pad (30) and the insole of the correction shoe body (3). The two ends of the compression spring (32) are fixed to the lower surface of the active correction pad (30) and the upper surface of the insole of the correction shoe body (3), respectively.

5. The gait rehabilitation training device for stroke according to claim 3, characterized in that, One end of the return spring abuts against the wall of the linear sliding groove (33), and the other end abuts against the side wall of the locking rod (6). The return spring applies an elastic return force to the locking rod (6) toward the outside of the corrective shoe body (3).

6. The gait rehabilitation training device for stroke according to claim 1, characterized in that, It also includes an ankle anti-inversion airbag assembly, which includes a storage airbag (4), an ankle support airbag (40), and a flexible pressure-resistant air tube (41) connecting the two. The storage airbag (4) is located between the active correction pad (30) and the insole of the corrective shoe body (3). The ankle support airbag (40) is an arc-shaped bladder and fits the inner side of the corrective shoe body (3) corresponding to the outer side of the ankle. When the active correction pad (30) is pressed down, it squeezes the storage airbag (4) to inflate the ankle support airbag (40) to form a lateral restraint force.

7. The gait rehabilitation training device for stroke according to claim 1, characterized in that, Both the upper leg ring (1) and the lower leg ring (2) are open-type C-shaped ring structures with Velcro straps at the openings; the telescopic adjustment rod (10) is a multi-section sleeve structure.

8. The gait rehabilitation training device for stroke according to claim 1, characterized in that, The lifting rod (53) and the drive shaft (52) are slidably connected by a spline structure; the connecting rod (31) is a solid aluminum alloy rod, the top of which is rigidly connected to the bottom of the lower leg ring (2), and the bottom is rigidly connected to the upper part of the outer side wall of the corrective shoe body (3).

9. The gait rehabilitation training device for stroke according to claim 1, characterized in that, It also includes a one-piece balanced height-increasing shoe for the healthy side, wherein the height of the sole of the balanced height-increasing shoe is equal to the ground height of the corrective shoe body (3) and all its internal structures.

10. A method of using the gait rehabilitation training device for stroke according to any one of claims 1 to 9, characterized in that, Includes the following steps: In the walking steps, when taking a step, the knee joint bends and the telescopic adjustment rod (10) shortens. The first transmission gear (11) rotates and drives the lifting rod (53) to swing through the transmission chain (50), the second transmission gear (5), the third transmission gear (51) and the drive shaft (52). The locking rod (6) slides along the straight sliding groove (33) and lifts the movable correction pad (30) and the foot to achieve foot drop correction. When standing, the movement correction pad (30) is pressed down after the heel touches the ground, the push block (63) is embedded in the push groove (60) and drives the locking rod (6) to slide, the snap block (62) is embedded in the snap groove (61) to form a snap limit, and the rotating joints of the lifting rod (53), the transmission chain (50) and the telescopic adjustment rod (10) are locked in sequence to restrict the bending of the knee joint; When switching steps, the active correction pad (30) moves upward and resets under the action of the compression spring (32) when the foot is lifted again. The push block (63) disengages from the push groove (60), the locking rod (6) retracts under the action of the reset spring, the locking block (62) disengages from the locking groove (61), the lock is released, and the device returns to the step assist state.

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