Multi-degree-of-freedom ankle rehabilitation correction multifunctional device

Abstract

The utility model provides a multi-degree-of-freedom ankle rehabilitation correction multifunctional device. The device comprises a base; the connecting piece is arranged on the base and is rotationally connected with the base; the supporting piece is rotationally connected with the connecting piece; the pedal is arranged on the supporting piece; the driving pieces are respectively arranged between the base and the connecting piece, between the connecting piece and the supporting piece and between the supporting piece and the pedal, and are used for driving the connecting piece, the supporting piece and the pedal to do rotary reciprocating motion in the horizontal plane, the sagittal plane and the coronal plane; and the feet are driven to realize adduction, abduction, dorsiflexion, plantar flexion, introversion and extroversion in a horizontal plane, a sagittal plane and a coronal plane. The driving part adopts a bag body, the movement state is measured in real time through a pressure sensor and an attitude sensor, the flow and frequency of fluid charging and discharging of the bag body are controlled, the amplitude and speed of foot movement are controlled, targeted training is carried out, the structure is simple, and the training effect is good.

Description

Technical Field

[0001] The utility model belongs to the technical field of rehabilitation and correction devices, and particularly relates to a multi-degree-of-freedom ankle rehabilitation and correction multifunctional device. Background Art

[0002] With the development of the economic level and the improvement of the living standard, stroke, cerebral hemorrhage, cerebral infarction, and cerebral thrombosis have become common diseases in China. Their sequelae mostly include foot stiffness, spasm, muscle weakness, inability to walk normally, etc. Cerebral palsy, burns, scalds, and other various accidents will also cause the above sequelae, seriously affecting the normal life of patients. In addition, due to the special position and structure of the ankle joint, it is prone to injury during daily exercise and movement. For the elderly, not only is there a situation of sports injury in the ankle joint, but also with the growth of age, there is a problem of decreased joint mobility and coordination, which also affects normal life and requires rehabilitation treatment and correction of the feet. There is also a problem that thrombosis is prone to occur in the lower extremities in groups with less bed rest or activity.

[0003] Foot rehabilitation and correction need to be carried out step by step. At present, there is still a lack of a better three-dimensional adjustable correction device. Although the existing rehabilitation devices have a certain training effect, they do not have an active driving mechanism, the structure is cumbersome, resulting in too large a volume of the device, or single function, high cost, inconvenient movement and use. Most of them are used in hospitals and cannot meet the needs of patients' personal training. Therefore, it is necessary to develop a foot rehabilitation and correction device with a simple structure, low cost, convenient to carry, capable of achieving a better rehabilitation and correction effect and convenient for home use. At the same time, there are few existing ankle movement instruments, and there is a lack of effective ankle movement training, making it difficult to prevent the generation of lower extremity thrombosis. Summary of the Utility Model

[0004] In view of the above-mentioned disadvantages of the prior art, the purpose of the present utility model is to provide a multi-degree-of-freedom ankle rehabilitation and correction multifunctional device with a simple structure and good rehabilitation effect.

[0005] To achieve the above purpose and other related purposes, the present utility model provides a multi-degree-of-freedom ankle rehabilitation and correction multifunctional device, including:

[0006] A base;

[0007] A connecting piece, arranged on the base and rotatably connected to the base;

[0008] A support piece, arranged on the side of the connecting piece away from the base, and one end of which is rotatably connected to the connecting piece;

[0009] Driving members are respectively arranged between the base and the connecting member, between the connecting member and the supporting member, and on the plane of the supporting member away from the base, and are used to drive the reciprocating motion of the connecting member and the supporting member.

[0010] According to an embodiment of the present invention, the driving members include:

[0011] A first driving member is arranged between the base and the connecting member to drive the connecting member to perform a reciprocating rotational motion in a horizontal plane;

[0012] A second driving member is arranged between the connecting member and the supporting member to drive the supporting member to perform a reciprocating rotational motion in a sagittal plane;

[0013] A third driving member is arranged on the plane of the supporting member away from the base.

[0014] According to an embodiment of the present invention, it further includes a pedal, and the pedal is arranged on the side of the supporting member away from the base and is connected to the driving members;

[0015] The pedal realizes reciprocating motion in a horizontal plane, a sagittal plane and a coronal plane under the action of the driving members.

[0016] According to an embodiment of the present invention, the pedal includes a first pedal and a second pedal, and the third driving members are symmetrically distributed on both sides of the first pedal and the second pedal respectively, driving the first pedal and the second pedal to perform a reciprocating rotational motion in a coronal plane.

[0017] According to an embodiment of the present invention, the first driving member is a first bladder, and the first bladder is respectively connected to the base and the connecting member, or the first driving member is a telescopic rod, one end of the telescopic rod is connected to the base, and the other end is connected to the connecting member.

[0018] According to an embodiment of the present invention, the second driving member is a second bladder, the second bladder is respectively connected to the connecting member and the supporting member, and the third driving member is a third bladder, and the third bladder is connected to the supporting member and the pedal.

[0019] According to an embodiment of the present invention, it further includes a fixing device, and the fixing device is located above the pedal and is connected to the supporting member.

[0020] According to an embodiment of the present invention, the first driving member is slidably connected between the base and / or the connecting member, and the second driving member is slidably connected between the connecting member and / or the supporting member.

[0021] According to an embodiment of the present utility model, the first bladder or telescopic rod, the second bladder, and the third bladder are connected to a control device, and the control device includes a pressure sensor for detecting the pressures of the first bladder or telescopic rod, the second bladder, and the third bladder and / or a force sensor for detecting the magnitudes of the corresponding driving forces.

[0022] According to an embodiment of the present utility model, an attitude sensor is provided on the pedal.

[0023] The multi-degree-of-freedom ankle rehabilitation and correction multifunctional device of the present utility model respectively sets driving members between the base and the connecting member, between the connecting member and the supporting member, and between the supporting member and the pedal to support and connect each component, and drives the connecting member, the supporting member, and the pedal to move in the horizontal plane, sagittal plane, and coronal plane, respectively driving the foot to reciprocate in three anatomical planes, realizing the movement training of adduction and abduction, dorsiflexion and plantar flexion, and inversion and eversion. It has a comprehensive rehabilitation function, promotes blood circulation of the patient, and prevents muscle atrophy; it is controlled by a bladder or a fluid actuator, is light in weight, convenient to carry, has sufficient power, good safety, is easy to adjust, has high comfort, and can adapt to various rehabilitation training forms such as passive training and active training, enriching the rehabilitation treatment forms; it measures the movement speed in real time through an attitude sensor, feeds back the movement information, and combines with the control device to control the fluid filling and discharging flow rate and frequency of the bladder, and specifically adjusts the amplitude and speed of the foot movement to perform ankle pump movement and multi-dimensional training with a specified amplitude; it is convenient to adjust in the case of low speed or low frequency, is easy to adjust the posture of the ankle joint, replaces manual pressing and other operations of people, and is easy to correct; the magnitudes of the driving forces can be measured by a pressure sensor and / or a force sensor; an adjustable fixing device is added to the connecting plate to adjust and fix the bladder to change the wearing method and can also be used as a tibiofibular and ankle joint fixator, with strong practicability; the overall structure is simple, the training effect is good, it is convenient to carry and use, and it is very suitable for home rehabilitation training. Description of the Drawings

[0024] In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the drawings required for describing the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present utility model. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0025] Figure 1 It is a three-dimensional structure diagram of an embodiment provided by the present utility model;

[0026] Figure 2 It is a three-dimensional structure diagram of an embodiment provided by the present utility model;

[0027] Figure 3The bottom view of an embodiment in which the first driving member provided by the present utility model is a telescopic rod;

[0028] Figure 4 The bottom view of an embodiment in which the first driving member provided by the present utility model is a bladder;

[0029] Figure 5 The three-dimensional structure diagram of another embodiment provided by the present utility model.

[0030] Label description:

[0031] 100, base; 200, connecting member; 300, supporting member; 400, pedal; 500, driving member; 600, fixing device;

[0032] 110, stopper;

[0033] 210, connecting plate; 220, side plate; 230, baffle;

[0034] 310, supporting plate; 320, arc plate;

[0035] 410, first pedal; 420, second pedal;

[0036] 510, first driving member; 520, second driving member; 530, third driving member;

[0037] 610, rivet; 620, adjusting buckle; 630, fixing belt; 631, composite fabric. Detailed implementation manners

[0038] The following uses specific specific examples to illustrate the implementation manners of the present utility model. Those skilled in the art can easily understand other advantages and effects of the present utility model from the content disclosed in this specification. The present utility model can also be implemented or applied through other different specific implementation manners. Various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present utility model.

[0039] It should be noted that the diagrams provided in this embodiment only illustrate the basic concept of the present utility model in a schematic manner. Therefore, only the components related to the present utility model are shown in the diagrams, rather than being drawn according to the number, shape, and size of the components in actual implementation. The types, quantities, and proportions of the components in actual implementation can be arbitrarily changed, and the component layout type may also be more complex.

[0040] For ankle injuries and decreased movement coordination, gradual rehabilitation training and treatment are required. However, most of the current rehabilitation training equipment has a cumbersome structure and high cost, or the rehabilitation training method is imperfect and cannot meet the needs of daily home training. Therefore, the present utility model proposes a multi-degree-of-freedom ankle rehabilitation and correction multifunctional device that can drive the foot to perform adduction and abduction, inversion and eversion, and dorsiflexion and plantar flexion training, with good rehabilitation effects and a simple structure.

[0041] Please refer to Figures 1 to 4 , the present utility model proposes a multi-degree-of-freedom ankle rehabilitation and correction multifunctional device, including: a base 100, a connecting member 200, a supporting member 300, a pedal 400, a driving member 500, and a fixing device 600. The base 100 is used to support and connect other components; the connecting member 200 is disposed on the base 100 and is rotatably connected to the base 100 for realizing rotational reciprocating motion in the horizontal plane; the supporting member 300 is disposed on the side of the connecting member 200 away from the base 100, and one end thereof is rotatably connected to the connecting member 200 for realizing rotational reciprocating motion in the sagittal plane and being able to move in the horizontal plane under the drive of the connecting member 200; the driving member 500 is respectively disposed between the base 100 and the connecting member 200, between the connecting member 200 and the supporting member 300, and on the plane of the supporting member 300 away from the base 100 for driving the reciprocating motion of the connecting member 200 and the supporting member 300; the pedal 400 is disposed on the side of the supporting member 300 away from the base 100 and is connected to the driving member 500, capable of realizing rotational reciprocating motion in the coronal plane and moving in the sagittal plane and the horizontal plane under the drive of the supporting member 300 and the connecting member 200. The pedal 400 bears the foot and drives the foot to realize multi-degree-of-freedom movement; the fixing device 600 is located above the pedal 400 and is connected to the supporting member 300 for fixing the foot on the pedal 400 during movement; the pedal 400 realizes reciprocating motion in the horizontal plane, the sagittal plane, and the coronal plane under the action of the driving member 500, thereby driving the foot to perform adduction and abduction, dorsiflexion and plantar flexion, and inversion and eversion movement training. In addition, for correction, appropriate foot postures can be obtained by adjusting each driving member 500, and then the supporting member 300 and / or the pedal 400 can be fixed for use as a fixed brace.

[0042] Please refer to Figures 1 to 4 , according to an embodiment provided by the present utility model, the lower end of the base 100 is provided with a support column or bracket for providing support and a movement space for the driving member 500. There are connection holes on the base 100 for rotatably connecting with the connecting member 200. The upper plane of one end of the base 100 is an inclined plane, providing a certain movement space for the supporting member 300 to ensure the training effect. In other embodiments, the base 100 can also be other structures such as a structure with a cavity inside, and the driving member 500 moves inside the cavity, and the connecting member 200 and other components are disposed on its upper bottom surface and connected thereto.

[0043] Please refer to Figures 1 to 4 According to an embodiment provided by the present utility model, the connecting member 200 includes a connecting plate 210 and side plates 220. A rotating shaft is fixedly connected to the connecting plate 210. The rotating shaft is rotatably connected to the base 100 through a bearing, and the connecting plate 210 is horizontally arranged on the upper plane of the base 100, so that the connecting plate 210 can rotate on the horizontal plane with the rotating shaft as the rotation center; side plates 220 are arranged on both sides of the connecting plate 210 in the width direction. The side plates 220 are fixedly connected to or integrated with the connecting plate 210, and are located at one end of the connecting plate 210 away from the tail of the base 100, providing a larger movement space for the rotational movement of the pedal 400. There are connecting holes on the side plates 220 for rotatably connecting with the support member 300. Under the action of the driving member 500, the connecting member 200 can rotate reciprocally in the horizontal plane around the rotating shaft, thereby driving the connected support member 300 and the pedal 400 connected to the support member 300 to move in the horizontal plane, realizing the adduction and abduction movements of the foot in the horizontal plane. In other embodiments, the connecting member 200 can also be an integral U-shaped plate or other shaped structures, rotatably connected to the support member 300 in the sagittal plane, and the support member 300 is fixed in the horizontal plane by the driving member 500, capable of driving the support member 300 to reciprocate in the horizontal plane and realizing the rotation of the support member 300 in the sagittal plane.

[0044] Please refer to Figures 1 to 4 According to an embodiment provided by the present utility model, the support member 300 is a structure in which a support plate 310 is connected to an arc plate 320. The support plate 310 is arranged on the connecting plate 210 and is connected through the driving member 500; the arc plate 320 is located at one end of the support plate 310 and is rotatably connected to the side plate 220 by means of bolts or bearings. Through the arc plate 320, the support member 300 can reciprocally rotate in the sagittal plane and can provide certain support and limitation during movement. Under the action of the driving member 500, the support member 300 can rotate reciprocally in the sagittal plane around the rotating shaft, thereby driving the connected pedal 400 to move in the sagittal plane, realizing the dorsiflexion and plantar flexion movements of the foot in the sagittal plane. It should be noted that the support member 300 can also be a plate-like structure or other structures directly rotatably connected to the connecting member 200 in the sagittal plane and connected through the driving member 500, rotating reciprocally in the sagittal plane under the action of the driving member 500 and reciprocally rotating in the horizontal plane under the drive of the connecting member 200.

[0045] It can be understood that, in order to ensure the effect of rehabilitation training, the rotation center between the connecting member 200 and the support member 300 is basically coincident with the ankle joint. In this embodiment, the side plate 220 can be arranged to extend away from the base 100 in the height direction, for example, arranged as a long strip structure, one end of which is fixed to the connecting plate 210, and the other end is rotatably connected to the support member 300.

[0046] Please refer to Figures 1 to 4 , according to an embodiment provided by the present invention, the pedal 400 is arranged on a surface of the support member 300 away from the base 100 and is connected to a driving member 500 on a plane of the support member 300 away from the base 100. The pedal 400 includes a first pedal 410 and a second pedal 420. The first pedal 410 and the second pedal 420 are parallel and arranged along the length direction of the support member 300. Along the width direction of the support member 300, driving members 500 are symmetrically distributed on both sides of the first pedal 410 and the second pedal 420 respectively. The first pedal 410 and the second pedal 420 are respectively connected to the support member 300 through the driving members 500 and can perform a reciprocating rotational motion in the coronal plane under the action of the driving members 500, so as to realize the inversion and eversion movements of the foot in the coronal plane.

[0047] In other embodiments, the pedal 400 can also be an integral structure, with driving members 500 symmetrically arranged on both sides respectively, and can perform a reciprocating rotational motion in the coronal plane under the action of the driving members 500, so as to realize the inversion and eversion movements of the foot in the coronal plane.

[0048] Please refer to Figures 1 to 4 , according to an embodiment provided by the present invention, an attitude sensor is arranged on the pedal 400, which can detect the motion attitude of the user's foot on the pedal 400 in three-dimensional space in real time, feedback motion information, and adjust the training method and training speed according to the feedback.

[0049] Please refer to Figures 1 to 4, according to an embodiment provided by the present utility model, the driving member 500 includes a first driving member 510, a second driving member 520 and a third driving member 530. The first driving member 510 is disposed between the base 100 and the connecting member 200, and drives the connecting member 200 to perform a reciprocating rotational motion in the horizontal plane; the second driving member 520 is disposed between the connecting member 200 and the supporting member 300, and drives the supporting member 300 to perform a reciprocating rotational motion in the sagittal plane; the third driving member 530 is disposed on the plane of the supporting member 300 away from the base 100, symmetrically distributed on both sides of the supporting member 300, and drives the pedal 400 or itself as a stepping member to drive the foot to perform a reciprocating rotational motion in the coronal plane. The first driving member 510 and / or the second driving member 520 and / or the third driving member 530 are detachably connected, and the corresponding driving member 500 can be set according to the required training mode. By driving the driving member 500 to drive each component to drive the foot to perform reciprocating rotational motions in the horizontal plane, sagittal plane and coronal plane and motions in other directions, the adduction and abduction, dorsiflexion and plantar flexion, inversion and eversion of the foot and other forms of rehabilitation training are realized; in addition, the driving member 500 can also be finely adjusted in multiple directions to adjust the foot posture. After obtaining a suitable correction posture, the supporting member 300 and / or the pedal 400 are fixed, and at this time, it can be used as a fixed brace during correction.

[0050] Please refer to Figures 1 to 4 , according to an embodiment provided by the present utility model, the first driving member 510 is slidably connected between the base 100 and / or the connecting member 200, and the second driving member 520 is slidably connected between the connecting member 200 and / or the supporting member 300. For example, the corresponding grooves and protrusions can be respectively provided on the two sliders for connection, so as to increase the force-bearing area, ensure the stability of the action of the driving member 500, and at the same time facilitate installation and disassembly.

[0051] Please refer to Figures 1 to 4 , according to an embodiment provided by the present utility model, the first driving member 510 is a first bladder, and the first bladder is respectively connected to the base 100 and the connecting member 200, and drives the connecting member 200 to perform a reciprocating rotational motion in the horizontal plane. Specifically, a baffle 230 is provided on the rotating shaft of the connecting member 200, and stoppers 110 are fixed on both sides of the base 100. The first bladder is located between the baffle 230 and the stoppers 110, and is respectively located on both sides of the baffle 230, and is fixed or not fixed to the baffle 230 and the stoppers 110. While one side bladder discharges the fluid, the other side bladder fills the fluid, and the two bladders interact to push the baffle 230 to move and fix the position of the baffle 230, so as to realize the rotational control of the connecting member 200 in the horizontal plane. In other embodiments, the first bladder can also be located on one side of the baffle 230 and connected to the baffle 230 and the stoppers 110, and the baffle 230 is pushed or pulled by filling or discharging the fluid in the first bladder, so as to realize the reciprocating rotational motion of the connecting member 200 in the horizontal plane.

[0052] Please refer to Figures 1 to 4 , in another embodiment, the first driving member 510 is a telescopic rod. One end of the telescopic rod is connected to the base 100, and the other end is connected to the connecting member 200. A connecting block is fixed on the base 100. One end of the telescopic rod is rotatably installed on the connecting block of the base 100, and one end is rotatably installed on the rotating shaft of the connecting member 200. The telescopic movement of the telescopic rod drives the rotating shaft to perform a reciprocating rotational movement, thereby realizing the reciprocating rotational movement of the connecting member 200 in the horizontal plane.

[0053] Please refer to Figures 1 to 4 , according to an embodiment provided by the present invention, the second driving member 520 is a second bladder. The second bladder is respectively connected to the connecting member 200 and the supporting member 300. The second bladder is filled with or discharged of fluid, acting on the supporting member 300 to make it perform a reciprocating rotational movement in the sagittal plane.

[0054] Please refer to Figures 1 to 4 , according to an embodiment provided by the present invention, when the second bladder is located at a position close to the front end of the foot sole, a small deformation of the bladder can achieve a large-angle rotation of the supporting member 300, but at this time the torque is small and it is difficult to rotate the supporting member 300; when the second bladder is located at a position close to the heel, the bladder needs a large deformation to achieve the same-angle rotation of the supporting member 300, but at this time the torque is greater under the same acting force and the supporting member 300 is easier to rotate. The relative position of the second bladder is determined through experimental tests to ensure that it can drive the supporting member 300 to rotate well in the sagittal plane.

[0055] Please refer to Figures 1 to 4 , according to an embodiment provided by the present invention, the third driving members 530 are symmetrically distributed on both sides of the first pedal 410 and the second pedal 420 respectively, driving the first pedal 410 and the second pedal 420 to perform a reciprocating rotational movement in the coronal plane. In a specific embodiment, the third driving member 530 is a third bladder. The third bladder is connected to the supporting member 300 and the pedal 400 and is distributed on both sides of the pedal 400. The two side bladders are filled with or discharged of fluid at the same time to realize the adjustment of the relative height of the pedal 400, ensuring that the ankle and the rotation center of the sagittal plane rotation movement are at the same height during movement. When one side bladder is filled with fluid and the other side bladder is discharged of fluid at the same time, the pedal 400 can be driven to perform a reciprocating movement or other movements in the coronal plane.

[0056] Please refer to Figures 1 to 4, according to an embodiment provided by the present utility model, there are two sets of the third bladder. One set is symmetrically distributed on the first pedal 410, and the other set is symmetrically distributed on the second pedal 420. The bladders on the same side of the first pedal 410 and the second pedal 420 are simultaneously filled with fluid, and the bladders on the other side are simultaneously drained of fluid. The two sides of the first pedal 410 and the second pedal 420 are simultaneously raised and lowered respectively in the coronal plane, so that the pedal 400 rotates reciprocally in the coronal plane, realizing the inversion or eversion of the foot; when the bladders on the first pedal 410 and the bladders on the second pedal 420 are simultaneously filled with fluid and drained of fluid respectively, the first pedal 410 and the second pedal 420 are simultaneously raised and lowered respectively in the sagittal plane, so that the pedal 400 rotates reciprocally in the sagittal plane, driving the foot to achieve dorsiflexion or plantar flexion; in addition, other combined controls of the bladders can also be used to synergistically drive the pedal 400 to realize various foot movement forms, enrich the training forms, and exercise the foot muscles well.

[0057] Please refer to Figures 1 to 4 , in a specific embodiment, there may be four third bladders, and two are provided on each of the first pedal 410 and the second pedal 420 and arranged along the width direction. By controlling the filling and draining of fluid in the four bladders, training for inversion and eversion, dorsiflexion and plantar flexion of the foot, and other movements can be realized, and the foot muscles can be exercised well.

[0058] In other embodiments, the pedal 400 may also be an integral structure. Correspondingly, one set of the third bladders is symmetrically arranged on the front side of the pedal 400, and the other set is symmetrically arranged on the rear side of the pedal 400. Similarly, various movement modes can be realized through different control methods of the bladders.

[0059] Please refer to Figures 1 to 4 , according to an embodiment provided by the present utility model, the third driving member 530 directly supports and drives the foot movement as a stepping member, and no pedal 400 is provided thereon. At this time, the third driving member 530 is arranged on the surface of the support member 300 away from the base 100, with at least two sets and symmetrically distributed. The third driving member 530 serves as a foot support surface and directly drives the foot to achieve reciprocating movement or other movements in the coronal plane. Specifically, for example, the third driving member 530 may be a third bladder, and the number thereof may be four, divided into two groups, arranged along the width direction and symmetrically distributed with respect to the sagittal plane at the ankle center. By controlling the filling and draining of fluid in the bladder, the foot placed on the third bladder is driven to achieve reciprocating movement and other movements in the coronal plane, and the specific driving method is the same as that in the above embodiment.

[0060] Please refer to Figures 1 to 4, according to an embodiment provided by the present utility model, the first bladder or telescopic rod, the second bladder, and the third bladder are connected to the control device. The control device includes a pressure sensor for detecting the pressures of the first bladder or telescopic rod, the second bladder, and the third bladder and / or a force sensor for detecting the magnitudes of the corresponding driving forces, which can measure the magnitudes of the driving forces and control the frequency and flow rate of the fluid filling and discharging of the bladder, and control the driving force and the movement angle by controlling the pressure of the bladder or telescopic rod; it can also adjust the fluid filling and discharging speed of the bladder or telescopic rod according to the feedback information of the attitude sensor to achieve the adjustment of the training speed and angle. Multiple groups of bladders can be controlled separately to achieve various training methods, promote blood circulation in the feet, and prevent muscle atrophy. In other embodiments, the fluid filling and discharging control of the first bladder, the second bladder, and the third bladder can also be achieved through a manual device.

[0061] It can be understood that the first bladder, the second bladder, and the third bladder in the above embodiments include, but are not limited to, air bladders or other fluid bladders, and the bladder deforms by filling and discharging fluid inside the bladder to push or pull the moving parts to achieve movement. Similarly, the telescopic rod can also be a pneumatic rod or a hydraulic rod, etc.

[0062] In other embodiments, the driving member 500 can also be a fluid actuator such as a bellows or a linkage mechanism, a pneumatic spring, or other movement mechanisms, which can drive the connecting member 200, the support member 300, and the pedal 400 to perform reciprocating rotational movements in the horizontal plane, sagittal plane, and coronal plane respectively, so as to achieve the adduction and abduction, dorsiflexion and plantar flexion, inversion and eversion of the feet, and other various forms of movement.

[0063] Please refer to Figures 1 to 4 , according to an embodiment provided by the present utility model, the fixing device 600 includes a rivet 610, an adjustment buckle 620, and a fixing strap 630. The rivet 610 is fixedly connected to the side surface of the support member 300; the adjustment buckle 620 is arranged on the side of the support member 300 away from the rivet 610; one end of the fixing strap 630 is connected to the rivet 610, and the other end is connected to the adjustment buckle 620. The tightness of the fixing strap 630 can be adjusted through the adjustment buckle 620; the fixing strap 630 can be a binding strap, which can fix the relative position of the feet during movement, and a composite cloth 631 is also arranged thereon to improve the wearing comfort. It can be understood that multiple groups of the fixing device 600 can be provided, and among them, the fixing straps 630 in each group can be arranged in parallel or crosswise.

[0064] Please refer to Figures 1 to 4, according to an embodiment provided by the present utility model, by controlling the device to control the first bladder to inflate or deflate fluid, or the telescopic rod to expand or contract, the driving connector 200 is driven to perform a reciprocating rotational motion in the horizontal plane, driving the supporting member 300 connected thereto and the pedal 400 connected to the supporting member 300 to simultaneously perform a reciprocating motion in the horizontal plane, thereby realizing the adduction and abduction movements of the foot in the horizontal plane; controlling the second bladder to inflate or deflate fluid, driving the driving connector 200 to perform a reciprocating rotational motion in the sagittal plane, driving the pedal 400 connected thereto to perform a reciprocating motion in the sagittal plane, thereby realizing the dorsiflexion and plantar flexion movements of the foot in the sagittal plane; controlling one side of the third bladder to inflate fluid and the other side to deflate fluid, driving the pedal 400 to perform a reciprocating motion in the coronal plane, thereby realizing the adduction and abduction movements of the foot in the coronal plane; in addition, by setting different inflation and deflation fluid settings for the bladders at different positions in the third bladder, the pedal 400 can be driven to move at different angles in a coordinated manner, realizing multi-degree-of-freedom training. The first pedal 410 and the second pedal 420 are separately arranged and act on the sole of the foot through the bladder respectively, which conforms to the ergonomic design, is more comfortable to use, and is convenient for adjustment according to different foot shapes; the height of the foot on the pedal 400 can also be finely adjusted through the third bladder between the supporting member 300 and the pedal 400 to ensure that the ankle and the rotation center are at the same height, ensuring the training effect and comfort; the motion posture can be detected in real time through the posture sensor arranged on the pedal 400, and the motion data is fed back; the pressure of each bladder is detected through the pressure sensor, and the flow rate and speed of the fluid inflow and outflow of the bladder are controlled through the control device, realizing the adjustment of the motion angle and speed.

[0065] In addition, by slightly adjusting the structure of the present utility model, the rotational connection relationships described in the above embodiments, such as between the base 100 and the driving connector 200, and between the driving connector 200 and the supporting member 300, can be locked by adding a fixed locking device, and an adjusting and fixing device 600 such as a strap or Velcro is arranged on the arc plate 320 and the support plate 310. When worn, the foot is placed on the pedal 400 and the calf is abutted against the arc plate 320, and the bladder is adjusted to a suitable position. The relative positions of the various components are fixed through the above fixed locking device, and the foot and the calf are fixed to the rehabilitation machine through an elastic strap or Velcro. At this time, it can be used as a simple fixator for the tibia and fibula or the ankle joint.

[0066] Please refer to Figure 5, According to another embodiment provided by the present utility model, the base 100 is rotatably connected to the connecting member 200 to form a rotational movement in the sagittal plane; the connecting member 200 is rotatably connected to the support member 300 to form a rotational movement in the horizontal plane. The second driving member 520 is disposed between the base 100 and the connecting member 200, and the front and back flipping of the connecting member 200 and the support member 300 is realized by controlling the second driving member 520, so as to perform a reciprocating movement in the sagittal plane; the first driving member 510 is disposed between the connecting member 200 and the support member 300, and under its driving action, the support member 300 performs a reciprocating rotational movement in the horizontal plane; the third driving member 530, the pedal 400, etc. are arranged similar to the above embodiment; under the driving of the driving member 500, the foot on the pedal 400 or the third driving member 530 can be driven to perform reciprocating movements in the horizontal plane, sagittal plane and coronal plane, so as to realize adduction and abduction, dorsiflexion and plantar flexion, inversion and eversion, and other forms of training, and control the training mode and training intensity.

[0067] Please refer to Figures 1 to 4 , When in use, the patient places the foot on the pedal 400. The third bladder can be finely adjusted through the control device to ensure that the ankle and the rotation center of the rotational movement in the sagittal plane are at the same height. The tightness of the fixing belt 630 is adjusted through the adjusting buckle 620 in the fixing device 600 and fixed. Control the first bladder to fill or drain the fluid, or the telescopic rod to extend or retract, and drive the connecting member 200 to perform a reciprocating rotational movement in the horizontal plane, thereby driving the pedal 400 to perform a reciprocating rotational movement in the horizontal plane, realizing the adduction and abduction of the foot in the horizontal plane; control the second bladder to fill or drain the fluid, drive the support member 300 to perform a reciprocating rotational movement in the sagittal plane, thereby driving the pedal 400 to perform a reciprocating rotational movement in the sagittal plane, realizing the dorsiflexion and plantar flexion of the foot in the sagittal plane; control the two sides of the third bladder to fill and drain the fluid respectively, drive the pedal 400 to perform a reciprocating rotational movement in the coronal plane, realizing the inversion and eversion of the foot in the coronal plane; through the control of filling and draining the fluid of different positions of the third bladder respectively, various movement forms can also be realized, exercising the foot muscles, and the treatment effect is more remarkable. It can be understood that when the pedal 400 is not provided, the third airbag directly drives the foot as a stepping member, and the movement mode remains unchanged. During the movement process, the movement speed of the foot can be detected in real time, and through the control of filling and draining the fluid of the bladder, all-round and targeted training of the foot can be realized, promoting blood circulation of the patient's foot and preventing muscle atrophy. After use, just remove the fixing belt 630 connected to the rivet 610, and it can be easily taken off. When used for correction, a suitable foot posture can be obtained through each driving member 500, and then the support member 300 and / or the pedal 400 can be fixed and used as a fixed brace.

[0068] The present utility model can also be used for active training. During active training, the fluid is not filled or discharged from the bladder. The user wears the multi-degree-of-freedom ankle rehabilitation and correction multifunctional device of the present utility model and actively makes walking movements. During walking, the foot exerts a force on the pedal 400 and the support member 300, thereby squeezing the bladder. When the bladder elastically deforms, it exerts a reaction force on the foot through the support member 300 and the pedal 400, stimulating the foot and enabling the patient to better perceive the movement states of dorsiflexion and plantar flexion of the foot, increasing the realism of walking, and achieving good exercise effects.

[0069] The present utility model provides a multi-degree-of-freedom ankle rehabilitation and correction multifunctional device. The driving member 500 drives the connecting member 200, the support member 300, and the pedal 400 to perform rotational reciprocating motions in the horizontal plane, sagittal plane, and coronal plane, thereby realizing adduction and abduction, dorsiflexion and plantar flexion, and inversion and eversion of the foot, as well as movements at other angles. The rehabilitation training function is comprehensive, capable of realizing multi-degree-of-freedom training with good training effects. The pedal 400 is provided in two parts separated front and rear, and the height of the pedal 400 can be finely adjusted. By adjustment, it is ensured that the ankle position and the rotation center of the rotational motion in the sagittal plane are at the same height, and the ankle joint coincides with the rotation center in the sagittal plane, which is more in line with the ergonomic design, has good training effects and is more comfortable. At the same time, it can adapt to different people and has a wider application range. The motion conditions are detected and fed back in real time through the attitude sensor, and the air pressure and the fluid filling and discharging speed of the bladder are adjusted through the control device to achieve targeted training. The bladder and the telescopic rod are light and elastic, capable of elastic deformation, avoiding secondary injuries to the patient during the rehabilitation process, being safer to use, and capable of realizing multiple training modes such as passive training and active training. The active training mode enables the patient to better perceive the flexion and extension states of the foot during walking. By finely adjusting the structure and changing the wearing method, it can also be used as a tibiofibular and ankle fixator, with strong practicability and a wide application range. Moreover, the entire device has a simple structure, is easy to use, and is suitable for daily home rehabilitation training.

[0070] The above-described embodiments are only used to illustrate the technical solutions of the present utility model and are not intended to limit it. Although the present utility model has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features. These modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the various embodiments of the present utility model and should all be included within the protection scope of the present utility model.

[0071] Except for the technical features described in the specification, the remaining technical features are known to those skilled in the art. To highlight the innovative features of the present utility model, the remaining technical features are not described herein again.

Claims

1. A multifunctional ankle rehabilitation and correction device with multiple degrees of freedom, characterized in that: include: Base; A connecting member, disposed on the base and rotatably connected to the base; A support member, arranged on a side of the connecting member away from the base, and one end of which is rotatably connected to the connecting member; The driving member is respectively arranged between the base and the connecting member, between the connecting member and the supporting member, and on a plane of the supporting member away from the base, and is used to drive the reciprocating motion of the connecting member and the supporting member.

2. The multi-degree-of-freedom ankle rehabilitation and correction multifunctional device according to claim 1, characterized in that: The driving member comprises: A first driving member, disposed between the base and the connecting member, driving the connecting member to perform a rotational reciprocating motion in a horizontal plane; A second driving member, disposed between the connecting member and the supporting member, driving the supporting member to perform a rotational reciprocating motion in the sagittal plane; The third driving member is arranged on a plane of the supporting member away from the base.

3. The multi-functional ankle rehabilitation and correction device with multiple degrees of freedom according to claim 2 is characterized in that: It also includes a pedal, which is arranged on a side of the support member away from the base and connected to the driving member; The pedal realizes reciprocating motion in the horizontal plane, sagittal plane and coronal plane under the action of the driving member.

4. The multi-degree-of-freedom ankle rehabilitation and correction multifunctional device according to claim 3, characterized in that: The pedal comprises a first pedal and a second pedal. The third driving member is symmetrically distributed on both sides of the first pedal and the second pedal respectively, and drives the first pedal and the second pedal to perform rotational reciprocating motion in the coronal plane.

5. The multi-functional ankle rehabilitation and correction device with multiple degrees of freedom according to claim 3, characterized in that: The first driving member is a first capsule, which is connected to the base and the connecting member respectively, or the first driving member is a telescopic rod, one end of which is connected to the base and the other end is connected to the connecting member.

6. The multi-degree-of-freedom ankle rehabilitation and correction multifunctional device according to claim 5, characterized in that: The second driving member is a second capsule, which is connected to the connecting member and the supporting member respectively. The third driving member is a third capsule, which is connected to the supporting member and the pedal.

7. The multi-functional ankle rehabilitation and correction device with multiple degrees of freedom according to claim 3, characterized in that: It also includes a fixing device, which is located above the pedal and connected to the support member.

8. The multi-functional ankle rehabilitation and correction device with multiple degrees of freedom according to claim 2, characterized in that: The first driving member is slidably connected to the base and / or the connecting member, and the second driving member is slidably connected to the connecting member and / or the supporting member.

9. The multi-functional ankle rehabilitation and correction device with multiple degrees of freedom according to claim 6, characterized in that: The first capsule or telescopic rod, the second capsule and the third capsule are connected to a control device, which includes a pressure sensor for detecting the pressure of the first capsule or telescopic rod, the second capsule and the third capsule and / or a force sensor for detecting the size of the corresponding driving force.

10. The multi-functional ankle rehabilitation and correction device with multiple degrees of freedom according to claim 3, characterized in that: A posture sensor is arranged on the pedal.

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