Rehabilitation training equipment

Abstract

The utility model relates to the technical field of medical rehabilitation equipment, and discloses rehabilitation training equipment which comprises an exoskeleton support worn outside the body of a user; the walking machine and / or the walking platform are / is suitable for providing support for walking of the user; the handrail is arranged on at least one side of the walking platform and / or arranged on at least one side of the walking machine; the sitting and lying device is suitable for a user to sit or lie; and the interaction module is suitable for performing man-machine interaction with a user and is in communication connection with at least one of the exoskeleton bracket and the walking machine. According to the rehabilitation training equipment provided by the utility model, the rehabilitation device is reasonably selected according to the rehabilitation state of a user, so that a patient can perform rehabilitation training by using the equipment in the whole course of disease, and rehabilitation data in each stage can be shared.

Description

Technical Field

[0001] This utility model relates to the field of medical rehabilitation equipment technology, specifically to a rehabilitation training device. Background Technology

[0002] For patients with lower limb dysfunction, numerous clinical studies have confirmed that active rehabilitation training helps with functional recovery.

[0003] To accommodate patients with different conditions and at different stages of rehabilitation, common rehabilitation training programs include treadmill suspension weight-reduction rehabilitation training, sitting training, lying training, and walking within a certain range. Each of these programs has its advantages and disadvantages and requires different training equipment. However, they can only meet the needs of specific types of patients and cannot satisfy the needs of all patients, thus failing to achieve personalized and diversified rehabilitation training. Furthermore, the rehabilitation or training data from different equipment at each stage are independent, making it impossible to achieve holistic data fusion and analysis across the entire process from lying down and sitting to walking. Utility Model Content

[0004] In view of this, the present invention provides a rehabilitation training device to solve the problem that different training programs require different training devices, which cannot meet the diverse needs of patients.

[0005] This utility model provides a rehabilitation training device, comprising:

[0006] Exoskeleton support, worn on the outside of the user's body;

[0007] Treadmills and / or walking platforms are designed to provide support for users while walking.

[0008] Handrails are provided on at least one side of the walking platform, and / or on at least one side of the treadmill;

[0009] A sitting or reclining device, suitable for the user to sit or lie down;

[0010] An interactive module is suitable for human-computer interaction with the user and is communicatively connected to at least one of the exoskeleton support and the treadmill.

[0011] Beneficial Effects: The rehabilitation training equipment provided in this embodiment of the invention consists of multiple structural units. It allows for the rational selection of rehabilitation devices based on the user's rehabilitation status, enabling personalized and diversified rehabilitation training. Patients can use this equipment throughout the entire course of their illness, ensuring data sharing across different stages and solving the data storage problem. This provides quantitative data support for the development of optimized rehabilitation plans for the next stage. By adopting the rehabilitation training equipment provided in this embodiment, patients in the early stages of rehabilitation can train in a sitting or lying position, and can also perform in-situ rehabilitation training while sitting in conjunction with a treadmill as needed. Patients in the middle stages of rehabilitation can perform in-situ rehabilitation training while holding onto the handrails on a treadmill, or walk within a certain range while holding onto the handrails on a walking platform. Patients in the later stages of rehabilitation can perform free walking training. It achieves a combination of manual and automatic training programs. It has a high degree of integration, meeting the training needs of the entire rehabilitation cycle, enabling diversified training methods, and improving equipment utilization. Furthermore, it has multiple drop protection features, ensuring high safety and reducing the workload of physicians.

[0012] In one optional implementation, the rehabilitation training device further includes:

[0013] Framework basics;

[0014] The traction device slide rail is installed at the top of the frame foundation;

[0015] The suspension load-reducing device is fixed at one end to the user and / or the exoskeleton frame and is suitable for providing compensating tension to the user.

[0016] The center of gravity adjustment traction device is connected to the suspension load reduction device and is suitable for driving the suspension load reduction device to move along the traction device slide rail.

[0017] Beneficial effects: It can automatically adjust the position of the center of gravity and the traction device on the traction device slide rail according to the user's position, so as to adjust the center of gravity in real time, improve the user's force state, facilitate the suspension load reduction device to provide better compensation tension to the user, and make it easier for the user to simulate the gait of a normal person.

[0018] In one optional implementation, the rehabilitation training device further includes an interactive module slide rail, wherein the interactive module is slidably connected to the interactive module slide rail to adjust the relative position of the interactive module.

[0019] Beneficial effects: By sliding the interactive module to the interactive module rail, the position of the interactive module can be adjusted as needed, facilitating timely interaction with the user.

[0020] In one alternative implementation, the rehabilitation training equipment includes a treadmill, with a sitting / lying device positioned close to the treadmill so that the user can use the treadmill while seated.

[0021] In one alternative embodiment, the rehabilitation training equipment includes a walking platform, which is constructed as a straight track, an arc track, a curved track, a zigzag track, or an irregularly shaped track.

[0022] In one alternative embodiment, the sitting / reclining device is adapted to adjust the backrest angle to switch between a sitting, reclining, or tilted position; the bottom of the sitting / reclining device is provided with casters, and the bottom of the sitting / reclining device is also provided with a locking mechanism to lock the sitting / reclining device in the target position.

[0023] In one alternative implementation, the rehabilitation training equipment includes a treadmill and a walking platform, which are arranged sequentially.

[0024] In one alternative implementation, the suspension unloading device is communicatively connected to the interaction module.

[0025] In one alternative embodiment, the rehabilitation training device further includes: a push-along balance bike, which is communicatively connected to the exoskeleton frame, and the balance bike is adapted to assist the user in walking while wearing the exoskeleton frame; or,

[0026] Rehabilitation training equipment also includes: interactive canes, which are connected to the exoskeleton frame and are suitable for assisting users in walking when wearing the exoskeleton frame.

[0027] Beneficial effects: The hand-push balance bike and exoskeleton frame are connected via communication, and through their coordinated operation, they provide a safety and fall-prevention function. The interactive cane and exoskeleton frame are also connected via communication, and through their coordinated operation, they provide a safety and fall-prevention function.

[0028] In one alternative embodiment, the exoskeleton frame is detachably connected to the sitting / lying device, and the exoskeleton frame is engaged with the sitting / lying device when the user is sitting, and the engagement is disengaged when the user is standing. Attached Figure Description

[0029] To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0030] Figure 1 This is a schematic diagram of the overall structure of the rehabilitation training equipment of this utility model;

[0031] Figure 2 This is a schematic diagram of the exoskeleton support of this utility model;

[0032] Figure 3 This is a schematic diagram of the wheelchair of this utility model;

[0033] Figure 4 This is a schematic diagram of the hand-pushed balance scooter of this utility model.

[0034] Explanation of reference numerals in the attached figures:

[0035] 1. Walking platform; 2. Walking machine; 3. Sitting / lying device; 4. Exoskeleton support; 5. Interactive module; 6. Handrail; 7. Interactive module slide rail; 8. Suspension load reduction device; 9. Center of gravity adjustment traction device; 10. Traction device slide rail; 11. Hand-push balance bike; 12. Frame foundation. Detailed Implementation

[0036] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0037] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model 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, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0038] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" 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 utility model according to the specific circumstances.

[0039] Furthermore, the technical features involved in the different embodiments of this utility model described below can be combined with each other as long as they do not conflict with each other.

[0040] For patients with lower limb dysfunction, numerous clinical studies have confirmed that active rehabilitation training helps with functional recovery.

[0041] To accommodate patients with varying conditions and at different stages of rehabilitation, different training programs need to be developed. For example, patients in the early stages of rehabilitation can train in a sitting or lying position; those in the pre-rehabilitation stage can perform in-situ rehabilitation training on a treadmill with a suspension and weight reduction system; patients in the mid-rehabilitation stage can perform walking training within a certain range with the assistance of fall protection devices; and patients in the late stages of rehabilitation can perform free walking training. Each of these training programs has its advantages and disadvantages and requires different training equipment. However, various independent training devices often only meet the needs of one or a few specific types of patients, failing to meet the needs of all patients and hindering personalized and diversified rehabilitation training. Furthermore, for patients who need to start training in a sitting or lying position, the rehabilitation or training data from different equipment used at different stages are independent, making it impossible to achieve overall data fusion and analysis, which is not conducive to tracking or evaluating the patient's data or effects throughout the entire rehabilitation cycle.

[0042] The rehabilitation training equipment provided by the embodiments of this utility model can meet the needs of patients with different conditions and at different stages of rehabilitation, realize personalized and diversified rehabilitation training, and enable patients to use the rehabilitation training equipment provided by this embodiment for rehabilitation training throughout the entire course of the disease. It ensures that rehabilitation data at each stage can be shared. For patients who need to start training from a sitting or lying position, the rehabilitation or training data of different training equipment used at different training periods are correlated with each other, so as to achieve overall data fusion and analysis. This is conducive to tracking or evaluating the data or effects of the patient's entire rehabilitation cycle, thereby providing quantitative data support for the formulation of an optimized rehabilitation plan for the next stage.

[0043] The following combination Figures 1 to 4 The following describes embodiments of the present invention.

[0044] According to an embodiment of the present invention, a rehabilitation training device is provided, comprising:

[0045] Exoskeleton support 4, worn on the outside of the user's body;

[0046] The treadmill 2 and / or the walking platform 1 are adapted to provide support for the user's walking;

[0047] Handrail 6 is provided on at least one side of the walking platform 1, and / or on at least one side of the treadmill 2;

[0048] The sitting or reclining device 3 is suitable for the user to sit or lie down;

[0049] The interaction module 5 is adapted to interact with the user and is communicatively connected to at least one of the exoskeleton support 4 and the treadmill 2.

[0050] The rehabilitation training equipment provided in this embodiment of the invention consists of multiple structural units. It allows for the rational selection of rehabilitation devices based on the user's rehabilitation status, enabling personalized and diversified rehabilitation training. Patients can use this equipment throughout the entire course of their illness, ensuring data sharing across different stages and solving the data storage problem. This provides quantitative data support for the development of optimized rehabilitation plans for the next stage. Using the rehabilitation training equipment provided in this embodiment, patients in the early stages of rehabilitation can train in a sitting or lying position, and can also perform in-situ rehabilitation training while sitting in conjunction with a treadmill as needed. Patients in the middle stages of rehabilitation can perform in-situ rehabilitation training while holding onto the handrail 6 on the treadmill 2, or walk within a certain range while holding onto the handrail 6 on the walking platform 1. Patients in the later stages of rehabilitation can perform free walking training. It combines manual and automatic training methods. The high integration meets the training needs of the entire rehabilitation cycle, enabling diversified training methods and improving equipment utilization. Furthermore, it has multiple drop protection features, ensuring high safety and reducing the workload of physicians.

[0051] Furthermore, the rehabilitation training equipment provided in the embodiments of this utility model has a high degree of integration, reducing the need for separate procurement of different equipment, lowering maintenance costs, avoiding data incompatibility and parameter inconsistencies between different equipment, reducing the learning cost for users, and ensuring that the data interface for each training stage is unified, facilitating data sharing.

[0052] The exoskeleton frame 4 provided in this embodiment can have various structural forms, capable of binding the user's waist, hip, leg, and foot, or one or more of these parts. As an example, the exoskeleton frame 4 may include components such as a waist binding component, hip straps, leg binding components, and foot straps, which respectively bind the user's waist, hip, leg, and foot. The strap structures at different locations have wearing spaces for binding the corresponding parts of the user, achieving effective fixation between the exoskeleton and the user. When binding the user's waist and hip, the waist binding component and hip straps can restrict the movement of the hip joint component relative to the center of rotation of the human hip, preventing the joint rotation axis of the hip joint component from becoming misaligned with the rotation axis of the human joint. The leg binding component and foot straps can maintain the user's alignment with the rotation axes of the knee and ankle joints of the rehabilitation exoskeleton, allowing the rehabilitation exoskeleton to match the user's limb movements, achieving the purpose of supporting and assisting the user in limb movements, ultimately improving the user's rehabilitation effect. Furthermore, by employing quick-connect and disassembly components, the waist and leg binding components can be connected, improving the efficiency of wearing and disassembling the rehabilitation exoskeleton, reducing its wear time, and meeting the user's wearing needs. Regarding the specific structural form of the exoskeleton support 4, there is a wealth of technical literature available for reference, and it will not be elaborated upon here.

[0053] In this embodiment, handrails 6 are located on both sides of the walking platform 1 and the treadmill 2, so that users can hold onto the handrails 6 during rehabilitation training, which helps to balance the force and prevent falls. This is to meet the usage needs of patients in the middle stage of rehabilitation.

[0054] In this embodiment, the sitting / lying device 3 allows users to train in a sitting or lying position, thus meeting the needs of patients in the early stages of rehabilitation.

[0055] In this embodiment, the interaction module 5 may include a host, a display screen, and a handheld control unit, facilitating human-computer interaction, emergency stop, mode switching, and other operations. Furthermore, the interaction module 5 is communicatively connected to at least one of the exoskeleton support 4, the suspension and load-reducing device 8, and the treadmill 2, thereby facilitating the acquisition of data from each device, ensuring the sharing of rehabilitation data at each stage, solving the storage problem of rehabilitation data at each stage, and providing quantitative data support for the development of an optimized rehabilitation plan for the next stage.

[0056] In some embodiments, combined with Figure 1 As shown, the rehabilitation training equipment also includes:

[0057] Framework Basics 12;

[0058] The traction device slide rail 10 is installed on the top of the frame foundation 12;

[0059] The suspension load-reducing device 8 is fixed at one end to the user and / or the exoskeleton frame 4, and is suitable for providing compensating tension to the user;

[0060] The center of gravity adjustment traction device 9 is connected to the suspension load reduction device 8 and is suitable for driving the suspension load reduction device 8 to move along the traction device slide rail 10.

[0061] For patients in the early stages of rehabilitation, weight reduction compensation can be achieved through the suspension unloading device 8, so that they can perform in-situ rehabilitation training on the treadmill 2.

[0062] In this embodiment, the suspension load-reducing device 8 is fixed to the user and / or the exoskeleton support 4, providing the user with a vertically upward compensating pull for pitching or tilting movements, allowing the user to move forward or backward relative to the treadmill 2. In some embodiments, the suspension load-reducing device 8 may include a force sensor to measure the specific magnitude of the compensating pull, facilitating training under set weight-reduction conditions. This serves two purposes: firstly, it prevents falls; secondly, it allows for the reasonable adjustment of the compensating pull based on the user's rehabilitation progress, adapting to the needs of different rehabilitation stages and meeting the usage needs of patients in the early stages of rehabilitation.

[0063] In some embodiments, the suspension load reduction device 8 is communicatively connected to the interaction module 5.

[0064] In this embodiment, the position of the center of gravity adjustment traction device 9 on the traction device slide rail 10 can be automatically adjusted according to the user's position, so as to adjust the center of gravity in real time, improve the user's force state, facilitate the suspension load reduction device 8 to provide better compensation pull to the user, and make it easier for the user to simulate the gait of a normal person.

[0065] Additionally, the center-of-gravity adjustment traction device 9 in this embodiment can also be communicatively connected to the interaction module 5 to adjust its position on the traction device slide rail 10 according to the user's real-time position. For example, the rehabilitation training device in this embodiment can also acquire the user's position in real time through components such as a camera or position sensor, so that the center-of-gravity adjustment traction device 9 can adjust its position on the traction device slide rail 10 in real time, achieving real-time following of the user. Regarding how the camera or position sensor acquires the user's position information, and how the interaction module 5 determines the user's real-time position based on the user's position information while controlling the movement of the center-of-gravity adjustment traction device 9, there are many related technologies in the prior art that can achieve the above steps, which are not the focus of this utility model and will not be elaborated here.

[0066] In some embodiments, combined with Figure 1As shown, the rehabilitation training equipment also includes: an interactive module slide rail 7, with the interactive module 5 slidably connected to the interactive module slide rail 7 to adjust the relative position of the interactive module 5.

[0067] By sliding the interaction module 5 to the interaction module slide rail 7, the position of the interaction module 5 can be adjusted as needed, facilitating timely interaction with the user.

[0068] Additionally, the rehabilitation training device in this embodiment can also acquire the user's position in real time through components such as cameras or position sensors, so that the interaction module 5 can adjust its position on the interaction module slide rail 7 in real time, thus realizing that the interaction module 5 is equivalent to the user following in real time.

[0069] In some embodiments, combined with Figure 1 As shown, the rehabilitation training equipment includes a treadmill 2 and a sitting / lying device 3 positioned close to the treadmill 2 so that the user can use the treadmill 2 while seated.

[0070] The treadmill 2 allows users to easily train by walking in place.

[0071] The treadmill 2 in this embodiment can be driven by a motor and the rolling speed of the walking belt can be adjusted to adapt to the user's walking speed.

[0072] In some embodiments, the rehabilitation training equipment includes a walking platform 1, which is configured as a straight track, an arc track, a curved track, a zigzag track, or an irregular track.

[0073] By placing handrails 6 on both sides of the walking platform 1, users can easily hold onto the handrails 6 and perform walking training within a certain range on the walking platform 1.

[0074] Additionally, the walking platform 1 can be detached, allowing for easy replacement with runways of different structures as needed to meet diverse user requirements.

[0075] In some embodiments, combined with Figure 3 As shown, the sitting / reclining device 3 is adapted to adjust the backrest angle to switch between sitting, reclining, or tilted states; the bottom of the sitting / reclining device 3 is equipped with casters, and the bottom of the sitting / reclining device 3 is also equipped with a locking mechanism to lock the sitting / reclining device 3 in the target position.

[0076] In this embodiment, the sitting / lying device 3 can be a wheelchair, or more specifically, a dual-purpose sitting / lying wheelchair, with an adjustable backrest angle.

[0077] In some embodiments, combined with Figure 1 As shown, the rehabilitation training equipment includes a treadmill 2 and a walking platform 1, which are set up continuously.

[0078] By continuously setting up the treadmill 2 and the walking platform 1, the user's need to freely switch between the treadmill 2 and the walking platform 1 for training can be met, thus achieving training diversity.

[0079] In some embodiments, the suspension load-reducing device 8 includes a suspension load-reducing rope adapted to be fixed to the outside of the user's body.

[0080] In some embodiments, combined with Figure 4 As shown, the rehabilitation training equipment also includes: a push balance bike 11, which is connected to the exoskeleton frame 4 for communication. The push balance bike 11 is suitable for assisting the user in walking when the user is wearing the exoskeleton frame 4.

[0081] For patients in the later stages of rehabilitation, once muscle strength training reaches a certain stage, they can stand independently. When conducting free walking training, they can also use a push balance bike 11. The push balance bike 11 is connected to the exoskeleton frame 4, and through the coordination of the two, it plays a role in preventing falls.

[0082] In some embodiments, the rehabilitation training device further includes: an interactive cane (not shown in the figure), which is communicatively connected to the exoskeleton support 4 and is adapted to assist the user in walking when the user wears the exoskeleton support 4.

[0083] For patients in the later stages of rehabilitation, if outdoor use is required, an interactive cane can be configured. The interactive cane is equipped with buttons that interact and control with the exoskeleton support 4. Through the coordination of the two, it plays a role in preventing falls.

[0084] In some embodiments, the exoskeleton support 4 is detachably connected to the sitting / lying device 3, and when the user is sitting, the exoskeleton support 4 is combined with the sitting / lying device 3, and when the user is standing, the exoskeleton support 4 is decoupled from the sitting / lying device 3 during the process of standing up.

[0085] When the user is sitting, the combination of the exoskeleton frame 4 and the sitting / lying device 3 can better protect and restrain the user; when the user is standing, the combination of the exoskeleton frame 4 and the sitting / lying device 3 is released during the process of standing up, thereby releasing the restraint on the user, allowing the user to move freely, and enabling the exoskeleton frame 4 and the sitting / lying device 3 to work together better, reducing the complexity of operation.

[0086] Specifically, the detachable connection structure between the exoskeleton frame 4 and the sitting / lying device 3 can be a combination of a guide block and a guide groove. For example, the exoskeleton frame 4 is provided with a guide block, and the sitting / lying device 3 is provided with a guide groove. When the user sits, the guide block is embedded in the guide groove, achieving a stable connection between the exoskeleton frame 4 and the sitting / lying device 3. The direction of the guide groove is roughly vertical, so there is generally no vertical movement when the user sits on the sitting / lying device 3 for rehabilitation. When the user stands, the guide block disengages from the guide groove, thereby separating the exoskeleton frame 4 from the sitting / lying device 3. Of course, this embodiment does not specifically limit the detachable connection structure between the exoskeleton frame 4 and the sitting / lying device 3; it can also be a snap-fit ​​structure, a magnetic structure, a pin engagement, or other detachable structures.

[0087] Obviously, the above embodiments are merely examples for clear illustration and are not intended to limit the implementation. Although embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the present invention, and all such modifications and variations fall within the scope defined by the present invention.

Claims

1. A rehabilitation training device, characterized in that, include: Exoskeleton support (4), worn on the outside of the user's body; A treadmill (2) and / or a walking platform (1) adapted to provide support for the user's walking; Handrails (6) are provided on at least one side of the walking platform (1) and / or on at least one side of the treadmill (2); A sitting or lying device (3) is suitable for the user to sit or lie down; The interaction module (5) is adapted to interact with the user and is communicatively connected to at least one of the exoskeleton support (4) and the treadmill (2).

2. The rehabilitation training equipment according to claim 1, characterized in that, The rehabilitation training equipment also includes: Framework Basics (12); The traction device slide rail (10) is located on top of the frame foundation (12); The suspension load-reducing device (8), one end of which is fixed to the user and / or the exoskeleton frame (4), is adapted to provide compensating tension to the user; The center of gravity adjustment traction device (9) is connected to the suspension load reduction device (8) and is adapted to drive the suspension load reduction device (8) to move along the traction device slide rail (10).

3. The rehabilitation training equipment according to claim 1, characterized in that, The rehabilitation training equipment further includes an interactive module slide rail (7), wherein the interactive module (5) is slidably connected to the interactive module slide rail (7) to adjust the relative position of the interactive module (5).

4. The rehabilitation training equipment according to claim 1, characterized in that, The rehabilitation training equipment includes the treadmill (2), and the sitting / lying device (3) is set close to the treadmill (2) so that the user can use the treadmill (2) while sitting.

5. The rehabilitation training device according to claim 1, characterized in that, The rehabilitation training equipment includes the walking platform (1), which is constructed as a straight track, an arc track, a curved track, a broken track, or an irregular track.

6. The rehabilitation training equipment according to claim 1, characterized in that, The sitting / lying device (3) is adapted to adjust the backrest angle to switch between sitting, lying or tilting states; the bottom of the sitting / lying device (3) is provided with wheels, and the bottom of the sitting / lying device (3) is also provided with a locking mechanism to lock the sitting / lying device (3) in the target position.

7. The rehabilitation training device according to claim 1, 4, or 5, characterized in that, The rehabilitation training equipment includes the treadmill (2) and the walking platform (1), which are arranged continuously.

8. The rehabilitation training equipment according to claim 2, characterized in that, The suspension load reduction device (8) is communicatively connected to the interaction module (5).

9. The rehabilitation training device according to any one of claims 1 to 6, characterized in that, The rehabilitation training equipment further includes: a push-along balance bike (11), which is communicatively connected to the exoskeleton frame (4), and the push-along balance bike (11) is adapted to assist the user in walking when the user wears the exoskeleton frame (4); or, The rehabilitation training device also includes an interactive cane, which is communicatively connected to the exoskeleton frame (4) and is adapted to assist the user in walking when the user wears the exoskeleton frame (4).

10. The rehabilitation training device according to any one of claims 1 to 6, characterized in that, The exoskeleton support (4) is detachably connected to the sitting and lying device (3). When the user is sitting, the exoskeleton support (4) is combined with the sitting and lying device (3). When the user is standing, the exoskeleton support (4) is disconnected from the sitting and lying device (3) during the process of standing up.

Images