A calf muscle and soft tissue rehabilitation training apparatus and method of controlling the same

Abstract

The present application relates to the technical field of rehabilitation training, in particular to a kind of lower leg muscle and soft tissue rehabilitation training apparatus and control method thereof, its device includes base and seat, sliding groove is opened in base, first sliding seat and second sliding seat are transversely slidingly fitted in sliding groove, first adjusting rod is fixedly connected at the top of first sliding seat, and the bottom of seat is fixedly connected with the top of first adjusting rod;Second adjusting rod is fixedly connected at the top of second sliding seat, and training frame is fixedly connected at the top of second adjusting rod, and training assembly for driving first sliding seat and second sliding seat to move close to each other and away from each other is further provided on base;Symmetrically fixedly connected with sleeve in sliding groove, lifting rod is slidably fitted in sleeve, and lifting rod is rotatably fitted with support body.The present application can simultaneously assist the movement of lower leg and thigh, support and lift the knee joint of patient, protect the knee joint of patient, reduce the difficulty of rehabilitation training, and improve the rehabilitation training experience of patient.

Description

Technical Field

[0001] This invention relates to the field of rehabilitation training technology, specifically to a rehabilitation training device for calf muscles and soft tissues and its control method. Background Technology

[0002] In postoperative rehabilitation and sports injury recovery of the knee and lower limbs, functional training of the calf muscles, Achilles tendon, and soft tissues is crucial. The main rehabilitation methods rely heavily on patient-initiated exercises such as ankle pumps, heel raises, and resisted flexion, but their efficiency and adherence are limited by the patient's pain level and muscle strength.

[0003] Currently available calf rehabilitation training equipment, such as elastic bands, pulley-type ankle joint trainers, and fixed heel raise machines, can provide resistance in different directions to the patient's calf or ankle joint. Patients usually use their calf or ankle joint to overcome this resistance in a seated position to perform knee flexion training or ankle rotation training, thereby performing rehabilitation training for the calf muscles and soft tissues and improving the quality of the calf muscles and soft tissues.

[0004] According to the research in the paper "Design and Simulation of Passive Training Mode Control System of Foot-Operated Lower Limb Rehabilitation Device" (Jiang Jinjin, 2023), in actual calf rehabilitation training, the angles of the calf, thigh, and knee joints change synchronously (e.g., during leg flexion and extension training) to ensure limb coordination. In the early postoperative period, patients often experience weak muscle strength, pain sensitivity, or poor nerve control. Because existing devices often only drive the calf or ankle joint individually, patients must rely on their own muscle strength to complete knee flexion and extension, as well as thigh lifting and stabilization. This results in a poor training experience, painful rehabilitation training, and unsatisfactory training effects. Therefore, this invention provides a calf muscle and soft tissue rehabilitation training device and its control method to solve the above problems. Summary of the Invention

[0005] To address the aforementioned issues, this invention provides a calf muscle and soft tissue rehabilitation training device and its control method. By driving the seat and training box to move closer and further apart, it effectively assists in the synchronous movement of the calf and thigh, while simultaneously supporting and lifting the patient's knee joint, protecting the patient's knee joint, reducing the difficulty of rehabilitation training, and improving the patient's rehabilitation training experience.

[0006] To achieve the above objectives, the technical solution of the present invention is as follows: A calf muscle and soft tissue rehabilitation training device includes a base and a seat. A sliding groove is formed on the base, and a first sliding seat and a second sliding seat are laterally slidably fitted within the sliding groove. A first adjusting rod is fixedly connected to the top of the first sliding seat, and the bottom of the seat is fixedly connected to the top of the first adjusting rod. A second adjusting rod is fixedly connected to the top of the second sliding seat, and a training frame is fixedly connected to the top of the second adjusting rod. The base is also provided with a training component for driving the first and second sliding seats closer together and further apart. Sleeves are symmetrically fixedly connected within the sliding groove, and lifting rods are vertically slidably fitted within each sleeve. Each lifting rod is rotatably fitted with a support body. The base is provided with an adjusting component for adjusting the height of the support body. A support component for supporting the feet is provided within the training frame.

[0007] The technical principle of the above solution is as follows: The patient sits on the chair with their buttocks resting on the support structure and their lower legs placed in the training frame. The training components drive the chair to move back and forth towards the training frame, and simultaneously drive the training frame to move back and forth towards the chair, causing the chair and training frame to move closer and further apart. At the same time, the chair and training frame move the patient's buttocks and feet closer and further apart, as well as their thighs and lower legs, thus simultaneously driving leg flexion and extension exercises. During this process, when the chair and training frame move closer, a lifting bar raises the support structure, thereby raising the patient's knee joint; when the chair and training frame move further apart, the lifting bar lowers the support structure, allowing the patient's knee joint to relax, thus assisting in knee flexion and extension.

[0008] The above approach has the following beneficial effects: 1. Existing training devices only drive the lower leg or ankle joint individually, failing to assist the lower leg, knee joint, and thigh in synchronous movement, making it difficult to provide effective linkage assistance, and requiring the patient to exert force on their own; This invention synchronously drives the seat and training frame to reciprocate in opposite directions, using the reciprocating movement of the seat to drive the movement of the hip and thigh, and using the reciprocating movement of the training frame to drive the movement of the foot and lower leg, which can effectively assist the patient in completing lower limb flexion and extension training and improve the patient's rehabilitation effect.

[0009] 2. In the rehabilitation training process, the present invention, through the design of the lifting rod and the support body, can adjust the posture of the knee joint by using the lifting rod and the support body, thereby synchronously driving the patient's lower leg, thigh and knee joint during the training process, realizing more comprehensive movement assistance, ensuring the coordination of lower limb movement, reducing the difficulty of rehabilitation training, and improving the patient's training experience and training effect.

[0010] 3. In this invention, the closer the patient's lower leg and thigh are, the higher the lifting rod and support are raised, resulting in a greater degree of knee flexion. Conversely, as the patient's lower leg and thigh move further apart, the lifting rod and support are raised lower, thus reducing the degree of knee flexion. This design coordinates the range of motion of the lower leg, thigh, and knee, better reflecting the actual lower limb flexion trajectory, thereby improving the training assistance effect of the device.

[0011] Furthermore, the training component includes an upper rack and a lower rack. The upper rack is fixedly connected to the side wall of the first sliding seat, and the lower rack is fixedly connected to the side wall of the second sliding seat. A gear is provided between the upper rack and the lower rack, with the upper and lower sides of the gear meshing with the upper rack and the lower rack, respectively. A drive component for driving the gear to rotate is provided on the base.

[0012] Beneficial effects: When the gears rotate, the upper and lower racks will reciprocate in opposite directions, which will cause the first and second sliding seats to move closer and further apart. The first and second sliding seats will then cause the seat and training frame to move closer and further apart, thereby achieving knee flexion training.

[0013] Furthermore, the drive assembly includes a controller and a drive component fixedly connected to the base. The output shaft of the drive component is coaxially and fixedly connected to the gear. The controller is used to control the operation of the drive component.

[0014] Beneficial effects: Users can start the drive unit through the controller. The output shaft of the drive unit will drive the gear to rotate, which will cause the upper rack and lower rack to move back and forth in opposite directions, thereby automatically realizing knee flexion training.

[0015] Furthermore, the adjustment assembly includes a piston box fixedly connected to the base near the second sliding seat; all sleeves are connected to the side wall of the piston box, and all lifting rods are fixedly connected to lifting plates at the bottom, with the lifting plates and the inner side wall of the sleeves sliding vertically in cooperation; the piston box is provided with a piston assembly for driving the lifting plates to slide vertically along the inner side wall of the sleeves.

[0016] Beneficial effects: When the lifting plate slides vertically along the inner wall of the sleeve, the lifting rod will slide vertically along the sleeve, thereby adjusting the height of the support body and the knee joint, and assisting the patient's knee joint in movement.

[0017] Furthermore, the piston assembly includes a piston rod fixedly connected to the side of the second sliding seat near the piston box. The piston rod passes through the side wall of the base and the side wall of the piston box in sequence and is fixedly connected to a piston plate. The piston plate and the inner side wall of the piston box are both laterally slidingly engaged. The piston rod and the side wall of the base and the side wall of the piston box are both laterally slidingly engaged. A vent hole is opened on the side of the piston box away from the base.

[0018] Beneficial effects: When the second sliding seat slides laterally back and forth along the sliding groove, the second sliding seat will drive the piston rod and piston plate to slide laterally back and forth in the piston box, thereby causing the gas to flow back and forth between the piston box and the sleeve, causing the lifting plate to slide vertically back and forth continuously in the sleeve, thereby making the lifting of the support body match the sliding of the first and second sliding seats, improving the coordination of the patient's flexion and extension training.

[0019] Furthermore, the support assembly includes several hinge rods that are spherically hinged to the inner wall of the training frame. Each hinge rod has a foot pedal at its other end, and each foot pedal has a slot for placing a foot.

[0020] Beneficial effects: Patients can place their feet in the placement slot, and the pedal will support the patient's feet. At the same time, since the pedal is hinged to the inner wall of the training frame through a hinge rod, the patient's feet can swing up and down, swing left and right, and rotate, thereby actively training the ankle joint.

[0021] Furthermore, several telescopic rods are fixedly connected to the inner side wall of the training frame. The output shafts of the telescopic rods are all hinged to the side of the adjacent pedals near the training frame. The controller is used to control the operation of the telescopic rods.

[0022] Beneficial effects: This solution uses a telescopic rod design, which allows users to control the operation of the telescopic rod via a controller. When one side of the telescopic rod's output shaft extends and the other side retracts, the pedal will cause the user's foot to swing towards the side where the telescopic rod's output shaft is retracted. Through the regular extension and retraction of the telescopic rod, the pedal can also cause the user's foot to rotate, thereby achieving automated foot and ankle joint rehabilitation training.

[0023] Furthermore, each lifting rod is fixedly connected to a bent rod on its side wall, and the other end of each bent rod is rotatably engaged with the side wall of its adjacent support body.

[0024] Beneficial effects: The bending bar can provide support for the support structure and ensure its stability. At the same time, users can hold the bending bar during flexion and extension exercises to stretch their waist and maintain their balance.

[0025] Furthermore, both the first and second adjusting rods are electronically controlled cylinders, and the controller is used to control the operation of the first and second adjusting rods.

[0026] Beneficial effects: Users can activate the first and second adjustment levers via the controller to adjust the height of the seat and training frame according to their own needs, thereby ensuring the comfort and adaptability of training.

[0027] Furthermore, a control method for a calf muscle and soft tissue rehabilitation training device includes the following steps: S1, Height Adjustment: The patient sits in the chair and activates the first and second adjustment levers via the controller to adjust the chair, support, and training frame to the same horizontal height.

[0028] S2, Distance Adjustment: The controller starts the drive unit to adjust the distance between the seat and the training frame according to the patient's height. The knee joint is placed on the support body, the lower leg is placed in the training frame, and the foot is placed in the placement slot.

[0029] S3, Knee Flexion Training: The controller activates the drive mechanism, using the seat to move the hips and thighs towards the training frame, and the training frame to move the feet and lower legs towards the seat, while the support structure moves the patient's knee joint upwards; then the seat moves the hips and thighs away from the training frame, and the training frame moves the feet and lower legs away from the seat, while the support structure moves the patient's knee joint downwards, thus performing knee flexion training.

[0030] Beneficial effects: This method can ensure the coordination of the patient's lower limbs during rehabilitation training, while helping the patient's calf, thigh and knee joints to exert force and move, reducing the difficulty of training and reducing the training burden. Attached Figure Description

[0031] Figure 1 This is an isometric view of the calf muscle and soft tissue rehabilitation training device of the present invention.

[0032] Figure 2 This is a cross-sectional view of the middle sleeve of the calf muscle and soft tissue rehabilitation training device of the present invention.

[0033] Figure 3 This is a cross-sectional view of the piston box in the calf muscle and soft tissue rehabilitation training device of the present invention.

[0034] Figure 4 This is an isometric view of the central support component of the calf muscle and soft tissue rehabilitation training device of the present invention.

[0035] Figure 5 This is a schematic diagram illustrating the steps of the control method for the calf muscle and soft tissue rehabilitation training device of the present invention.

[0036] The reference numerals in the accompanying drawings of the instruction manual include: 1. Base; 2. First sliding seat; 3. First adjusting rod; 4. Seat; 5. Sleeve; 6. Lifting rod; 7. Bending rod; 8. Support body; 9. Second sliding seat; 10. Second adjusting rod; 11. Training frame; 12. Upper rack; 13. Lower rack; 14. Gear; 15. Drive component; 16. Piston box; 17. Pedal; 18. Telescopic rod; 19. Lifting plate; 20. Piston rod; 21. Piston plate; 22. Hinge rod. Detailed Implementation

[0037] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. 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.

[0038] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for 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 the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0039] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0040] The following detailed description illustrates the specific implementation method: Example 1:

[0041] like Figure 1 As shown, a calf muscle and soft tissue rehabilitation training device includes a base 1 and a seat 4. The base 1 has a sliding groove, and a first sliding seat 2 and a second sliding seat 9 are laterally slidably fitted in the sliding groove. A first adjusting rod 3 is bolted to the top of the first sliding seat 2, and the bottom of the seat 4 is bolted to the top of the first adjusting rod 3. A second adjusting rod 10 is bolted to the top of the second sliding seat 9, and a training frame 11 is bolted to the top of the second adjusting rod 10.

[0042] like Figure 1As shown, the base 1 is also provided with a training component for driving the first sliding seat 2 and the second sliding seat 9 to move closer and further apart. The training component includes an upper rack 12 and a lower rack 13. The upper rack 12 is bolted to the side wall of the first sliding seat 2, and the lower rack 13 is bolted to the side wall of the second sliding seat 9. A gear 14 is provided between the upper rack 12 and the lower rack 13, and the upper and lower sides of the gear 14 mesh with the upper rack 12 and the lower rack 13, respectively. The base 1 is provided with a drive component for driving the gear 14 to rotate. The drive component includes a controller and a drive element 15 bolted to the base 1 (in this embodiment, the drive element 15 is an AC motor). The output shaft of the AC motor is coaxially bolted to the gear 14, and the controller is used to control the operation of the AC motor.

[0043] like Figure 1 As shown, specifically, the patient sits on seat 4 with their lower legs placed in training frame 11. The AC motor is started via controller, and the output shaft of the AC motor drives gear 14 to rotate reciprocally. When gear 14 rotates clockwise (…), Figure 1 The upper rack 12 slides to the right, thereby causing the first sliding seat 2, the first adjusting rod 3, and the seat 4 to slide to the right. The seat 4 then moves the patient's hips and thighs to the right. The lower rack 13 slides to the left, thereby causing the second sliding seat 9, the second adjusting rod 10, and the training frame 11 to slide to the left. The training frame 11 then moves the patient's feet and lower legs to the left, thus enabling the patient's lower limbs to complete knee flexion. Conversely, when the gear 14 rotates counterclockwise, the upper rack 12 moves to the left, the lower rack 13 slides to the right, and the seat 4 and training frame 11 move away from each other, thus enabling the patient's lower limbs to complete extension. This process is repeated to simultaneously drive the patient's thighs and lower legs, assisting the patient in leg flexion and extension training. Compared to the existing rehabilitation training mode that only drives the lower legs, this embodiment effectively reduces the training difficulty for patients and improves the feasibility of training.

[0044] During the training process, patients can adjust the output power of the AC motor according to their own needs, thereby adjusting the assistance level of the rehabilitation training. The greater the output power of the AC motor, the greater the assistance level of the rehabilitation training.

[0045] When patients have difficulty exerting force, the output power of the AC motor can be increased to increase the assistance of rehabilitation training and reduce the difficulty of training; when patients recover well and are able to exert force independently, the output power of the AC motor can be reduced to decrease the assistance of rehabilitation training and increase the difficulty of training.

[0046] In addition, patients can turn off the AC motor and rely entirely on their own strength to conduct self-training.

[0047] This training mode allows patients to dynamically control the intensity of rehabilitation training by adjusting the output power of the AC motor in real time. This enables the training difficulty to match the patient's rehabilitation progress at different stages, and even to match the patient's physical function and training needs at different times during a single training session (for example, if the patient feels tired after training for a period of time, the training difficulty can be reduced to match the current physical condition).

[0048] like Figure 1 and Figure 2 As shown, sleeves 5 are symmetrically bolted into the sliding groove, and lifting rods 6 are vertically slidably fitted inside each sleeve 5. Each lifting rod 6 is rotatably fitted with a support body 8. An adjustment assembly for adjusting the height of the support body 8 is provided on the base 1. The adjustment assembly includes a piston box 16 bolted to the side of the base 1 near the second sliding seat 9; each sleeve 5 communicates with the side wall of the piston box 16; each lifting rod 6 has a lifting plate 19 bolted to its bottom, and the lifting plate 19 is vertically slidably fitted with the inner side wall of the sleeve 5; a piston assembly for driving the lifting plate 19 to slide vertically along the inner side wall of the sleeve 5 is provided inside the piston box 16. Figure 3 As shown, the piston assembly includes a piston rod 20 bolted to the side of the second sliding seat 9 near the piston box 16. The piston rod 20 passes through the side wall of the base 1 and the side wall of the piston box 16 in sequence and is bolted to a piston plate 21. The piston plate 21 and the inner side wall of the piston box 16 are in lateral sliding fit. The piston rod 20 is in lateral sliding fit with the side wall of the base 1 and the side wall of the piston box 16. A vent hole is opened on the side of the piston box 16 away from the base 1.

[0049] like Figure 1 and Figure 3 As shown, specifically, the knee joint is placed on the support body 8. When the lower rack 13 drives the second sliding seat 9 to slide laterally back and forth along the sliding groove, the second sliding seat 9 also drives the piston rod 20 and the piston plate 21 to slide laterally back and forth within the piston box 16; as Figure 3As shown, when the second sliding seat 9 slides to the left, the piston rod 20 and piston plate 21 move to the left within the piston box 16, thereby delivering the gas in the piston box 16 to the sleeve 5. At this time, the lifting plate 19 slides upward within the sleeve 5 under the push of the gas, thereby pushing the lifting rod 6 and the support body 8 to move upward, thus lifting the patient's knee joint. At the same time, as the first sliding seat 2 and the second sliding seat 9 move closer to each other, the patient's lower leg and thigh also move closer to each other, thereby simultaneously assisting the patient's knee joint, lower leg, and thigh in exerting force to complete the lifting operation. Knee flexion movement; when the second sliding seat 9 moves to the right, the piston rod 20 and piston plate 21 move to the right in the piston box 16, thereby drawing the gas in the sleeve 5 into the piston box 16. At this time, the lifting plate 19 slides down along the inner wall of the sleeve 5, and the lifting rod 6 and support body 8 also move down, thereby relaxing the patient's knee joint. At the same time, the first sliding seat 2 and the second sliding seat 9 move away from each other, and the patient's lower leg and thigh also move away from each other, thereby relaxing the patient's knee joint, lower leg and thigh at the same time, and completing the extension movement of the lower limb simultaneously.

[0050] In this embodiment, the rotation of gear 14 simultaneously drives the movement of seat 4, training frame 11 and support 8, so that the movements of the lower leg, thigh and knee joints are coordinated with each other, which is more in line with the actual lower limb flexion trajectory, thereby improving the training assistance effect of the device; by simultaneously assisting the patient's lower leg, thigh and knee joint movements, the assistance effect is effectively improved and the training difficulty is reduced.

[0051] Example 2:

[0052] The difference from Example 1 is that, as Figure 1 and Figure 2 As shown, each side wall of the lifting rod 6 is bolted with a bent rod 7, and the other end of the bent rod 7 is rotatably engaged with the side wall of its adjacent support body 8.

[0053] Specifically, the bending rod 7 provides support for the support body 8, ensuring its stability. At the same time, during flexion and extension exercises, users can hold the bending rod 7 and bend their waist forward as much as possible, keeping it close to their legs. When the seat 4 and the bending rod 7 move away from each other, the waist will be stretched. When the seat 4 and the bending rod 7 move closer together, the waist will return to a relaxed state. By repeating this process, the waist can be exercised while maintaining body balance.

[0054] Example 3:

[0055] like Figure 4 As shown, the difference from Example 1 is that, as Figure 1 and Figure 4As shown, the training frame 11 is equipped with a support assembly for supporting the feet. The support assembly includes several hinge rods 22 that are ball-jointed to the inner wall of the training frame 11. Each hinge rod 22 has a footrest 17 ball-jointed to its other end, and each footrest 17 has a groove for placing the feet. Several telescopic rods 18 are also bolted to the inner wall of the training frame 11. The output shafts of the telescopic rods 18 are all hinged to the side of their adjacent footrests 17 closest to the training frame 11. A controller is used to control the operation of the telescopic rods 18.

[0056] Specifically, the user can control the telescopic rod 18 through the controller; since the pedal 17 and the inner wall of the training frame 11 are both hinged to the hinge rod 22, when the output shaft of one side of the telescopic rod 18 extends and the output shaft of the other side of the telescopic rod 18 retracts, the pedal 17 will drive the user's foot to swing towards the side where the output shaft of the telescopic rod 18 retracts; through the regular extension and retraction of the telescopic rod 18, the pedal 17 can drive the user's foot to swing in any direction or even rotate around the ankle joint, thereby performing rehabilitation training on the foot and ankle joint.

[0057] Example 4:

[0058] like Figure 1 As shown, the difference from Embodiment 3 is that both the first adjusting rod 3 and the second adjusting rod 10 are electric cylinders, and the controller is used to control the operation of the first adjusting rod 3 and the second adjusting rod 10.

[0059] Specifically, users can activate the first adjustment lever 3 and the second adjustment lever 10 through the controller to adjust the height of the seat 4 and the training frame 11 according to their own needs, thereby ensuring the comfort and adaptability of training.

[0060] Example 5:

[0061] like Figure 1 and Figure 5 As shown, the difference from Example 4 is that a control method for a calf muscle and soft tissue rehabilitation training device includes the following steps: S1, Height Adjustment: The patient sits on the seat 4 and activates the first adjustment lever 3 and the second adjustment lever 10 through the controller to adjust the seat 4, the support body 8 and the training frame 11 to the same horizontal height.

[0062] S2, Distance Adjustment: Start the AC motor via the controller, adjust the distance between the seat 4 and the training frame 11 according to the patient's height, place the knee joint on the support body 8, place the lower leg in the training frame 11, and place the foot in the placement slot.

[0063] S3, Knee flexion training: The AC motor is started by the controller. The seat 4 moves the hips and thighs towards the training frame 11, and the training frame 11 moves the feet and lower legs towards the seat 4. At the same time, the support 8 moves the patient's knee joint upward. Then, the seat 4 moves the hips and thighs away from the training frame 11, and the training frame 11 moves the feet and lower legs away from the seat 4. At the same time, the support 8 moves the patient's knee joint downward, thus performing knee flexion training.

[0064] Specific experiments are as follows: I. Experimental Preparation Experimental group: This method was used to assist patients in flexion and extension exercises (while providing driving assistance to the patient's calf, thigh and knee joints).

[0065] Control group: Patients were assisted in flexion and extension exercises using elastic bands (the middle of the elastic band was tied to the foot, and the patient pulled the two ends of the elastic band with their hands to drive the lower leg).

[0066] II. Experimental Procedure Twenty patients requiring rehabilitation training were selected and trained for 15 minutes using the methods of the experimental group and the control group, respectively. The interval between the two rehabilitation training sessions was 24 hours to ensure the patients' physical recovery. The average number of flexion and extension movements, the average degree of completion of the movement, and the average comfort score (1-5 points, with 5 points being the best) of the patients were recorded during the two rehabilitation training sessions.

[0067] III. Experimental Results Table 1 Comparison of Training Data Group experimental group control group Average number of flexion-extension repetitions (times) 64 42 Average completion rate of the action (%) 96% 78% Average comfort score 4.6 2.9 IV. Experimental Conclusions As shown in Table 1, the average number of flexion and extension movements and the average degree of completion of the movement were significantly higher in the experimental group than in the control group. The reason for this is that the control group only provided driving assistance to the lower leg, while the experimental group was able to provide driving assistance to the lower leg, thigh, and knee joints simultaneously, without requiring the patient to exert force to drive the thigh and knee joints, thus effectively assisting the patient in completing the flexion and extension of the lower limbs.

[0068] As shown in Table 1, the average comfort score of the experimental group was significantly higher than that of the control group, indicating that the experimental group's method of simultaneously driving and assisting the patient's calf, thigh, and knee joints can significantly reduce the burden on the patient during training and improve the patient's comfort during rehabilitation training.

[0069] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A rehabilitation training device for calf muscles and soft tissues, comprising a seat (4), characterized in that, It also includes a base (1), on which a sliding groove is opened, and a first sliding seat (2) and a second sliding seat (9) are slidably fitted in the sliding groove. A first adjusting rod (3) is fixedly connected to the top of the first sliding seat (2), and the bottom of the seat (4) is fixedly connected to the top of the first adjusting rod (3). A second adjusting rod (10) is fixedly connected to the top of the second sliding seat (9), and a training frame (11) is fixedly connected to the top of the second adjusting rod (10). The base (1) is also provided with training components for driving the first sliding seat (2) and the second sliding seat (9) to move closer and further apart. Sleeves (5) are symmetrically fixedly connected in the sliding groove. Lifting rods (6) are vertically slidably fitted inside each sleeve (5). Each lifting rod (6) is rotatably fitted with a support body (8). An adjustment component for adjusting the height of the support body (8) is provided on the base (1). The training frame (11) is equipped with a support component for supporting the feet.

2. The calf muscle and soft tissue rehabilitation training device according to claim 1, characterized in that, The training component includes an upper rack (12) and a lower rack (13). The upper rack (12) is fixedly connected to the side wall of the first sliding seat (2), and the lower rack (13) is fixedly connected to the side wall of the second sliding seat (9). A gear (14) is provided between the upper rack (12) and the lower rack (13). The upper and lower sides of the gear (14) mesh with the upper rack (12) and the lower rack (13) respectively. A drive component for driving the gear (14) to rotate is provided on the base (1).

3. The calf muscle and soft tissue rehabilitation training device according to claim 2, characterized in that, The drive assembly includes a controller and a drive unit (15) fixedly connected to the base (1). The output shaft of the drive unit (15) is coaxially fixedly connected to the gear (14). The controller is used to control the operation of the drive unit (15).

4. The calf muscle and soft tissue rehabilitation training device according to claim 1, characterized in that, The adjustment assembly includes a piston box (16) fixedly connected to the base (1) on the side near the second sliding seat (9); all sleeves (5) are connected to the side wall of the piston box (16), and the bottom of each lifting rod (6) is fixedly connected to a lifting plate (19), which slides vertically with the inner side wall of the sleeve (5); the piston box (16) is provided with a piston assembly for driving the lifting plate (19) to slide vertically along the inner side wall of the sleeve (5).

5. The calf muscle and soft tissue rehabilitation training device according to claim 4, characterized in that, The piston assembly includes a piston rod (20) fixedly connected to the second sliding seat (9) on the side near the piston box (16). The piston rod (20) passes through the side wall of the base (1) and the side wall of the piston box (16) in sequence and is fixedly connected to a piston plate (21). The piston plate (21) and the inner side wall of the piston box (16) are in lateral sliding fit. The piston rod (20) and the side wall of the base (1) and the side wall of the piston box (16) are in lateral sliding fit. A vent hole is opened on the side of the piston box (16) away from the base (1).

6. The calf muscle and soft tissue rehabilitation training device according to claim 1, characterized in that, The support assembly includes several hinge rods (22) that are ball-jointed to the inner wall of the training frame (11). Each hinge rod (22) has a foot pedal (17) ball-jointed to its other end. Each foot pedal (17) has a groove for placing feet.

7. The calf muscle and soft tissue rehabilitation training device according to claim 3, characterized in that, Several telescopic rods (18) are also fixedly connected to the inner wall of the training frame (11). The output shafts of the telescopic rods (18) are all hinged to the side of the adjacent pedal (17) near the training frame (11). The controller is used to control the operation of the telescopic rods (18).

8. The calf muscle and soft tissue rehabilitation training device according to claim 1, characterized in that, The lifting rod (6) is fixedly connected to the side wall with a bent rod (7), and the other end of the bent rod (7) is rotatably engaged with the side wall of its adjacent support (8).

9. The calf muscle and soft tissue rehabilitation training device according to claim 3, characterized in that, Both the first adjusting rod (3) and the second adjusting rod (10) are electric cylinders, and the controller is used to control the operation of the first adjusting rod (3) and the second adjusting rod (10).

10. A control method for a calf muscle and soft tissue rehabilitation training device, comprising any one of the calf muscle and soft tissue rehabilitation training devices described in claims 1-9, characterized in that, Includes the following steps: S1, Height adjustment: The patient sits on the seat (4) and activates the first adjustment lever (3) and the second adjustment lever (10) through the controller to adjust the seat (4), the support (8) and the training frame (11) to the same horizontal height; S2, Distance Adjustment: Start the drive unit (15) through the controller, adjust the distance between the seat (4) and the training frame (11) according to the patient's height, place the knee joint on the support (8), place the lower leg in the training frame (11), and put the foot into the placement slot; S3, Knee flexion training: The controller starts the drive unit (15), and the seat (4) drives the hips and thighs to move closer to the training frame (11). The training frame (11) drives the feet and lower legs to move closer to the seat (4). At the same time, the support (8) drives the patient's knee joint to move upward. Then, the seat (4) drives the hips and thighs to move away from the training frame (11). The training frame (11) drives the feet and lower legs to move away from the seat (4). At the same time, the support (8) drives the patient's knee joint to move downward, and knee flexion training is performed.

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