Rigidity-flexibility integrated multifunctional lower limb rehabilitation training device

Abstract

A rigidity-flexibility integrated multifunctional lower limb rehabilitation training device, comprising a base (100), a flexion-extension support (200), a hip and knee joint flexion-extension active training control mechanism (300), an ankle joint dorsiflexion-plantarflexion training mechanism (400), a hip and ankle joint internal-external rotation active training mechanism (500) and a hip joint adduction and abduction active training mechanism (600). The device mainly comprises a flexion-extension hand pull cord (310), a foot pedal (320) and a foot pedal pull cord (330); a support plate (410) and an elastic part (420); a support frame (510), an internal-external rotation training arc-shaped track (520), an internal-external rotation roller (450) and an internal-external rotation training pull cord (530); and an adduction and abduction training arc-shaped track (610), an adduction and abduction gear (620) meshed therewith and an adduction and abduction training pull cord (630). The lower limb core muscle group rehabilitation training device enables early implementation of multi-joint and multi-degree-of-freedom training integrating passive, assistive and active modes in a supine position, and can simulate gait training in the supine position, thereby effectively promoting early rehabilitation of patients.

Description

A multifunctional lower limb rehabilitation training device that combines rigidity and flexibility Technical Field

[0001] This invention relates to a medical device, and more particularly to a multifunctional lower limb rehabilitation training device that combines rigidity and flexibility. Background Technology

[0002] With the rapid development of science and technology in today's society, people's living standards have greatly improved. China also faces the same problems as many other countries in the world: it is rapidly entering an aging society. Because many elderly people suffer from neurological or cerebrovascular diseases, the incidence of these diseases is increasing every year; among stroke patients, approximately 70% to 80% will experience varying degrees of lower limb motor dysfunction.

[0003] In recent years, with the rapid development of intelligent rehabilitation technology, lower limb rehabilitation robot technology, through weight reduction and repeated training of standardized normal physiological gait, enables patients with lower limb movement disorders to undergo scientific and effective rehabilitation training, thereby restoring their walking ability. However, in clinical practice, this training model has been found to be less effective in restoring limb function for patients with muscle strength below grade three or those with Parkinson's disease. Exoskeleton systems, based on bionic principles and with a structure close to anatomy, can organically combine robotics technology with rehabilitation therapy, assisting patients in specific joint training and improving physical function; however, only 55% of patients receiving rehabilitation therapy regain their walking ability.

[0004] Patients with neurological or cerebrovascular diseases often suffer from hip fractures due to gait abnormalities, making it extremely difficult to restore lower limb motor function. Hip fractures are also the most common lower limb fractures in the elderly. Surgery is the main treatment for hip fractures in the elderly to improve their walking ability, but only 40% to 60% of patients recover their activity level to the pre-fracture level after surgery. There are no reports on the use of robotic lower limb rehabilitation training for patients after internal fixation of hip fractures.

[0005] To better facilitate the recovery of muscle strength in patients with lower limb dysfunction before standing training, and to make lower limb walking training feasible, thereby promoting the recovery of lower limb walking function, literature reports that experts have designed training modes for lower limb rehabilitation robots with two degrees of freedom and three combined degrees of freedom. One such mode involves core muscle training in a supine position. While this training program can promote safe and early lower limb rehabilitation, it still has shortcomings. The training mode of the two-degree-of-freedom lower limb rehabilitation robot is essentially a passive hip and knee training mode, failing to consider the ankle joint's own range of motion and training status. Foot training plays a crucial role in the rehabilitation of lower limb function. Although the three-degree-of-freedom lower limb rehabilitation robot is designed to meet the rehabilitation movements of the thigh, calf, and ankle joints, its drive mechanism only uses hydraulic drive and lacks resistance training, making it very difficult to restore lower limb muscle strength.

[0006] To enable the researched and developed lower limb rehabilitation training device to be used for patients with lower limb dysfunction caused by neurological damage, hip fracture, or both stroke and hip fracture, for multi-joint, multi-range, anti-spasticity, and resistance training of the lower limbs, the applicant has also designed an intelligent multi-functional lower limb rehabilitation training all-in-one machine, with application number CN202210340685.9 and invention title "Intelligent Multifunctional Lower Limb Rehabilitation Training All-in-One Machine". However, during further research and development, the following defects were found in this all-in-one machine:

[0007] 1) Training can only be conducted under a power system. Clinical applications have shown that passive training can only be used for short periods, while active training is the best way to promote better recovery of limb function and overall physical and mental health in patients.

[0008] 2) Only single-limb training mode is available; multi-limb coordination is not supported.

[0009] 3) When performing hip adduction and abduction training, the range of motion on the transverse track should be limited to 0-5 degrees. If the range of motion is too small, the training effect will be limited.

[0010] 4) During hip and knee joint internal and external rotation training, the range of motion is small and the freedom of movement is insufficient. While performing internal and external rotation training, the ankle cannot plantarflex and can only passively perform internal and external rotation under dorsiflexion. This prevents the muscles from being in a free and relaxed state for activity, so it is easy to damage the muscles and ligaments and may cause tension in the sensory muscles of the ankle joint.

[0011] 5) The angle of the feet is fixed, making it impossible to use equipment to relax the lower limbs through foot relaxation techniques, and also impossible to use equipment for anti-spasm operations.

[0012] 6) Insufficient freedom of foot movement prevented simulation of gait training in a supine position. Summary of the Invention

[0013] The technical problem to be solved by this application is to provide a lower limb core muscle rehabilitation training device that integrates multiple joints, multiple degrees of freedom, passive, assisted, and active methods, and can simulate gait training in the supine position, effectively promoting the patient's early recovery.

[0014] To address the aforementioned technical problems, this invention provides a multifunctional lower limb rehabilitation training device that integrates rigidity and flexibility, comprising a base and a flexion-extension support. The base body is a linear guide rail connected to a head connector, and the linear guide rail has a linear groove along its length. The flexion-extension support consists of a thigh support, a lower leg support, and a foot support that are rotatably connected in sequence. The outer end of the thigh support is rotatably connected to the head connector, and the bottom end of the foot support is connected to a flexion-extension roller. The flexion-extension roller can reciprocate on the linear groove, thereby enabling the flexion-extension support to flex and extend reciprocally above the base. The multifunctional lower limb rehabilitation training device further comprises a hip and knee joint flexion-extension autonomous training control mechanism, an ankle joint dorsiflexion and plantar flexion training mechanism, a hip and ankle joint internal and external rotation autonomous training mechanism, and a hip joint adduction and abduction autonomous training mechanism.

[0015] The hip and knee joint flexion and extension autonomous training control mechanism includes: flexion and extension hand ropes, foot pedals, and foot pedal ropes; the flexion and extension hand ropes are located on both sides of the base, one end of each flexion and extension hand rope is detachably connected to the outer side of the first end connector, and the other end is connected to the bottom of the foot bracket. When both flexion and extension hand ropes are pulled simultaneously towards the first end connector of the base, the flexion and extension bracket can be flexed; the foot pedals are a pair that are slidably connected to both sides of the middle of the linear guide rail. Stepping on either foot pedal can pull the foot pedal rope, allowing the flexion and extension bracket to straighten again;

[0016] The ankle dorsiflexion and plantarflexion training mechanism includes: a support plate outside the foot support plate of the foot bracket, the lower end of the support plate is hinged to the heel of the foot support plate, and an elastic component is provided between the upper end of the support plate and the forefoot of the foot support plate. When the user's foot repeatedly steps on and releases the foot support plate, the elastic component can be compressed and released to perform ankle dorsiflexion and plantarflexion training.

[0017] The hip and ankle joint internal and external rotation self-training mechanism includes: a support frame set outside the support plate, the support frame having an internal and external rotation training arc track, the top of the internal and external rotation training arc track having a through hole, and the bottom of the support plate having a roller for internal and external rotation that can pass through the through hole and be supported and rotated on the track; one end of a pair of internal and external rotation training pull ropes is detachably connected to the outer side of the first end connector for the user to pull, and the other end can drive the internal and external rotation rollers to rotate left and right on the internal and external rotation training arc track through the support frame, thereby pulling the foot support plate to rotate left and right, realizing the user's internal and external rotation training of the foot;

[0018] The hip joint adduction and abduction self-training mechanism includes: an adduction and abduction training arc track located at the lower end of the linear guide rail within the support frame, the arc of which is the same as the trajectory of rotation about the end of the base as the center and the length of the base as the radius, and the concave surface of the arc is provided with meshing teeth; an adduction and abduction gear is rotatably and vertically connected at the corresponding position at the lower end of the linear guide rail, the adduction and abduction gear meshing with the meshing teeth; the adduction and abduction gear has a rotatable spindle, and two adduction and abduction training ropes are respectively connected to both sides of the spindle, or only one adduction and abduction training rope is fixedly connected through and to both sides of the spindle of the adduction and abduction gear, and then extends along the linear guide rail to the two sides of the connector at the beginning of the base, which can be detachably fixed for the user to pull, driving the adduction and abduction gear to mesh and roll on the meshing teeth, thereby causing the linear guide rail to swing left and right in an arc shape, realizing active training of hip joint adduction and abduction.

[0019] A pair of foot pedals are fixedly connected to the lower center of the linear guide rail via a fixed connecting block between them; the fixed connecting block contains a pair of parallel fixed pulleys; the first end of each foot pedal rope is fixedly connected to the outer end of a foot pedal, then sleeved in the fixed pulley, then passes over one groove of a double-groove fixed pulley, and finally is fixedly connected to the shaft of the extension roller; the double-groove fixed pulley is fixedly connected to an empty groove in the end of the linear guide rail;

[0020] The foot pedal and the fixed connecting block are rotatably foldable, so that the foot pedal can be opened and folded and fit into the receiving groove in the linear guide rail.

[0021] A retractable resistance mechanism is provided along at least one side of each of the linear grooves, including a resistance surface facing into the linear groove. The resistance surface is attached to a base plate. A push rod that can be pressed to achieve the retraction function passes through the linear guide rail from the side and is connected to the base plate. Pressing the push rod can push the resistance surface and its base plate to move inward, rubbing against the flexion and extension roller, increasing the resistance of active flexion and extension training. Pressing the push rod again can release the friction between the resistance surface and the flexion and extension roller.

[0022] The two extension ropes on each side of the base are combined into one rope inside the linear guide rail, and the ends are connected to the bottom of the foot bracket.

[0023] The thigh support and calf support each have four telescopic rods arranged in a near-matrix pattern to form a channel to accommodate the thigh and calf. A flexible fabric is connected between the two bottom telescopic rods, and an elastic restraint strap is connected between the two top telescopic rods. The upper and lower telescopic rods are connected by a vertical support rod.

[0024] The base's first end connector consists of a central T-shaped insertion slot and two near-L-shaped insertion pieces. The main insertion slot of the T-shaped insertion slot is fitted outside the linear guide rail, with one insertion piece inserted into each side. The insertion depth can be adjusted by pressing the depth adjustment button. The ends of the two telescopic rods at the bottom of the thigh support are connected to the top through holes of the two insertion pieces via a pivot. Pressing the depth adjustment button can adjust the distance between the two telescopic rods at the bottom to accommodate different leg circumferences.

[0025] The thigh support and the lower leg support are rotatably engaged by a chuck that limits the upper limit of the rotation angle and a first degree wheel with rotation degree markings. The first degree wheel with degree markings is provided with a first parallel pointer, which can indicate the rotation angle when the flexion and extension support flexes and extends.

[0026] Each pair of the flexion-extension pull ropes, internal-external rotation training pull ropes, and adduction-external abduction training pull ropes are distinguished by different colors, and their ends can be hung on the fixing positions or hanging rings on both sides of the first end connector of the base, respectively, corresponding to the color of the rope.

[0027] The first end connector is also equipped with a hook to secure the rope when it is pulled to a certain extent and needs to be positioned.

[0028] The middle portion of each of the internal and external rotation training ropes and the inward and outward extension training ropes passes through the rope fixing tubes set on both sides of the linear guide rail.

[0029] The foot support plate at the heel is rotatably connected to the lower leg support connecting rod of the lower leg bracket via a foot hinge shaft; in the initial state, the connection between the two is limited to a foot support plate dorsiflexion of -5°; this dorsiflexion angle limitation can be maintained or released during use.

[0030] The release function is achieved by using a push-button type push-button structure: when the push-button is pressed, it passes through the lower leg support connecting rod and extends into the foot hinge shaft, locking the two together to form the initial state; when the push-button is pressed again, it will spring back and disengage from the foot hinge shaft, remaining only in the lower leg support connecting rod, thereby releasing the foot support plate from the -5° dorsiflexion state.

[0031] The lower leg support connecting rod, which is hinged to the foot support plate, is provided with a second degree wheel with degree markings and a second parallel pointer on the outside, so as to display the rotation angle of the foot support plate.

[0032] The heel area of ​​the footrest is equipped with a pressure sensor, which is electrically connected to a pressure display screen, which is exposed on the side of the footrest.

[0033] The main body of the foot support is a foot-shaped hollow metal plate covered with a foot memory foam pad, and it is equipped with a detachable instep restraint strap and a heel support with a memory foam pad connected to the heel; the foot memory foam pad is also equipped with a replaceable openable pressure plate.

[0034] An encapsulation shell is used to encapsulate the elastic component between the foot support plate and the support plate.

[0035] The elastic component is a spring or a hydraulic rod.

[0036] On both sides of the linear guide rail, near the support frame, a vertical connecting plate extends laterally. The inner side of the support frame is rotatably connected to the outer side of the vertical connecting plate. An arc track extends forward from the outer edge of each vertical connecting plate, with the groove facing upward and a return spring built into its lowest point. A rigid vertical slide rod extends forward vertically from both sides of the support frame, and the outer end of each vertical slide rod slides within the arc track. In the initial state without external force, the support frame is upright, the outer end of the vertical slide rod is at the top of the arc track, and the spring is in a free state. When the user actively, passively, or assistedly performs plantar flexion training, the foot support plate and support plate press down on the support frame, causing the support frame to tilt forward. The outer end of the vertical slide rod slides down within the arc track, compressing the return spring. When the plantar flexion force is removed, the restoring force of the return spring causes the outer end of the vertical slide rod to rise, restoring the support frame upright again.

[0037] Each of the vertical connecting plates is connected to a hydraulic rod connecting seat at the rear, from which a hydraulic rod extends and connects to the support frame.

[0038] The circular track is a quarter circle.

[0039] Pull ropes are connected to both sides of the bottom of the support frame.

[0040] The support frame includes triangular brackets on both sides; each triangular bracket consists of a telescopic rod, a support rod, and a bottom connecting rod; the telescopic rod is located on the inner side, close to the vertical connecting plate, and is rotatably connected to the vertical connecting plate through a rotating shaft; the upper end of the support rod is fitted over the telescopic rod to allow it to extend and retract; the bottom connecting rod is fixedly connected between the bottom of the telescopic rod and the support rod; the top end of the telescopic rod is connected to the inner and outer rotating training arc track to form an arched support frame.

[0041] On the outside of each of the vertical connecting plates, a support frame housing is used to protect the lower part of the arc track, vertical slide bar and telescopic rod; the top and bottom of the support frame housing are provided with narrow openings to allow the telescopic rod to swing back and forth; the support rod and bottom connecting rod are located outside the support frame housing.

[0042] A pair of inner and outer rotation training ropes ascend from the narrow openings at the bottom of the support frame housing on both sides, and are directly or indirectly connected to the inner and outer rotation rollers. When both inner and outer rotation training ropes are pulled simultaneously, the support frame will tilt forward. When the pulling force is removed, the support frame will rebound under the action of the hydraulic rod returning to its original position and the return spring of the arc track, thereby realizing active plantar flexion and extension training controlled by the ropes.

[0043] The inner and outer rotation training arc track has a through hole with a tension ring that can be slidably locked inside the track. The inner and outer rotation rollers are fitted inside the tension ring, and the two inner and outer rotation training ropes are respectively connected to both sides of the tension ring.

[0044] The inner and outer rotation training arc track is provided with roller grooves to accommodate inner and outer rotation rollers and support rails to support the operation of the rollers. The through hole faces the support plate and accommodates the inner and outer rotation rollers to enter and exit the roller grooves. On the side near the support plate, there is also a tension ring running groove rail parallel to the roller grooves.

[0045] The gear for inward and outward movement is an I-shaped gear, with gears at the upper and lower ends and a spindle in the middle. Correspondingly, the meshing teeth are two parallel rows. The I-shaped gear for inward and outward movement is engaged in the I-shaped groove of the linear guide rail.

[0046] Each of the two foot hinge axes has a built-in second motor for automatic dorsiflexion and plantarflexion training. The two second motors are electrically connected to the control system and are controlled synchronously.

[0047] The flexion and extension roller has a built-in first motor for automatic flexion and extension training;

[0048] The inner and outer rotation rollers have a built-in third motor for automatic inner and outer rotation training;

[0049] The spindle of the gear for adduction and abduction has a built-in fourth motor for automatic adduction and abduction training.

[0050] The first motor, the third motor, and the fourth motor are electrically connected to the control system to achieve control.

[0051] The first motor, the second motor, the third motor, and the fourth motor are electrically connected to an electrical control box.

[0052] The electrical control box is connected to the end of the linear guide rail. The control box has a built-in power supply or can be connected to a power supply, and is equipped with a control display screen and control buttons. The wire interface extending from the electrical control box is electrically connected to the circuit connector at the hollow part under the linear guide rail. The electrical control box is plugged into the interface on the linear guide rail through a plug-in post.

[0053] Compared with the prior art, the main advantages of the present invention are:

[0054] 1. Combining rigidity and flexibility, it adds hand-held ropes, foot pedals, and foot-operated ropes for flexion and extension training, as well as ropes for internal and external rotation training, and adduction and abduction training. Whether it's flexion and extension training, hip and knee joint internal and external rotation training, or hip joint adduction and abduction training, the healthy limb can actively assist the affected limb in the training. It allows for active training with two, three, or even four limbs working together, greatly improving the training effect.

[0055] 2. The hip joint adduction and abduction training mechanism adopts an arc-shaped track. The arc shape is the same as the trajectory of rotation with the end of the base as the center and the length of the base as the radius, which expands the range of adduction and abduction to 0-45 degrees and further improves the training effect.

[0056] 3. This invention employs an elastic component supported outside the foot bracket, with a rotatable connection at the heel. The foot is not fixed at one angle but can change angle and rebound with each step, increasing the foot's freedom of movement. Whether in internal / external rotation training, flexion / extension training, or adduction / abduction training, the foot can freely dorsiflex and plantarflex, resulting in greater ankle joint relaxation. This not only avoids sports injuries but also significantly improves training effectiveness and aligns with the ankle pump training mode for preventing deep vein thrombosis in the lower extremities. Many elderly people have poor adherence to ankle pump training after knee surgery; this machine can replace active training and also achieve the effect of preventing deep vein thrombosis in the lower extremities.

[0057] Furthermore, utilizing the rebound assistance of this structure, relaxation exercises of the entire lower limb muscles can be easily achieved. This method realizes the relaxation training of the five meridians in traditional Chinese medicine, providing patients with a comfortable experience and relaxing lower limb muscles. As it is also a meridian therapy, it can unblock the meridians, promote smooth blood circulation, and further effectively prevent deep vein thrombosis in the lower limbs. In clinical practice, it has been found that assisting patients in performing whole-body lower limb movements in a supine position through manual techniques can promote the rapid recovery of muscle strength and muscle tone.

[0058] 4. The device of this invention can mimic the hip, knee, ankle, and toe joint movements of the human body during walking, realizing a supine walking training mode. This avoids the limitations of existing lower limb robotic exercises that forcibly train patients with lower limb muscle strength below grade 3 (i.e., through the suspension device, exoskeleton support, and walking device—three major mechanical structures) to stand. Such training modes only emphasize mimicking normal human function training, neglecting the pathological conditions of lower limb dysfunction and failing to address various manual training methods for the lower limbs. Practice has shown that this has not enabled patients with lower limb muscle strength below grade 3 to achieve lower limb functional rehabilitation. However, through the supine walking simulation training mode of this invention, the applicant has enabled two patients with high-level paraplegia and muscle strength of grade 1 or below to achieve standing and walking function in a short-term trial.

[0059] 5. The device of the present invention facilitates anti-spasticity treatment. In particular, in the further optimized technical solution, the design of the foot dorsiflexion at -5° in the initial state is adopted, which is very convenient for anti-spasticity training. The initial state is also very easy to unlock.

[0060] 6. The device of the present invention can pull the rope to a certain extent and fix it, maintaining a body position for a certain period of time, and lower limb raising training is also very convenient. In particular, the addition of a telescopic rod on the support frame makes passive raising training very convenient.

[0061] 7. The device of this invention is based on the applicant's successful experience in various manual therapy methods, integrating multiple functional training modes, multi-joint training, and a human walking simulation mode into one machine. This machine is also small and easy to carry, making it very convenient to operate for medical staff, caregivers, and patients themselves. Moreover, it has a clever and simple structure and low cost.

[0062] 8. In a further technical solution, the present invention also adopts electric control. When the patient is completely unable to perform active training or assisted training, the motor can be started to start rehabilitation training as soon as possible. It can also start a whole set of holistic rehabilitation training functions with one click. Attached Figure Description

[0063] Figure 1 is a three-dimensional schematic diagram of the multifunctional lower limb rehabilitation training device that integrates rigidity and flexibility according to the present invention.

[0064] Figure 2 is a three-dimensional schematic diagram of the multifunctional lower limb rehabilitation training device that integrates rigidity and flexibility according to the present invention from another angle.

[0065] Figure 3 is a three-dimensional schematic diagram of the base of the multifunctional lower limb rehabilitation training device that integrates rigidity and flexibility according to the present invention.

[0066] Figure 4 is a schematic diagram of the foot pedal and the direction of the pull rope of the multifunctional lower limb rehabilitation training device that integrates rigidity and flexibility according to the present invention.

[0067] Figure 5 is a partial cross-sectional view of the front end of the multifunctional lower limb rehabilitation training device that integrates rigidity and flexibility according to the present invention.

[0068] Figure 6 is a partially enlarged three-dimensional schematic diagram of the front end of the multifunctional lower limb rehabilitation training device that integrates rigidity and flexibility according to the present invention.

[0069] Figure 7 is a partially enlarged three-dimensional schematic diagram of the front end of the multifunctional lower limb rehabilitation training device that integrates rigidity and flexibility according to the present invention from another angle.

[0070] Figure 8 is a three-dimensional schematic diagram of the lower leg support at the connection point between the rigid-flexible multifunctional lower limb rehabilitation training device of the present invention and the foot support.

[0071] Figure 9 is a partial cross-sectional view of the connection between the calf support and the foot support of the multifunctional lower limb rehabilitation training device that integrates rigidity and flexibility according to the present invention.

[0072] Figure 10 is a three-dimensional schematic diagram of the hip and ankle joint internal and external rotation training mechanism of the multifunctional lower limb rehabilitation training device that integrates rigidity and flexibility according to the present invention.

[0073] Figure 11 is a magnified view of part A in Figure 5.

[0074] Figure 12 is a schematic diagram of the adduction and abduction track of the multifunctional lower limb rehabilitation training device that integrates rigidity and flexibility according to the present invention.

[0075] Figure 13 is a schematic diagram of the gear installation for adduction and abduction in the multifunctional lower limb rehabilitation training device of the present invention, which combines rigidity and flexibility.

[0076] Figure 14 is a schematic diagram of the structure of the bending and stretching roller of the present invention, which is equipped with a first motor.

[0077] Figure 15 is a schematic diagram of the structure of the inner and outer rotating rollers of the present invention, which have a third motor built in.

[0078] Figure 16 is a schematic diagram of the structure of the inward and outward gear of the present invention, which is equipped with a fourth motor.

[0079] Figure 17 is a schematic diagram of the structure of the second motor for plantar flexion and dorsiflexion installed at the foot support plate of the present invention. Detailed Implementation

[0080] The technical solutions of the preferred embodiments of this application will be further described in detail below with reference to the accompanying drawings.

[0081] For ease of description, referring to Figure 1, the thigh support end of the device is defined as the head end, and the end with the electrical control box and foot support is defined as the tail end. When describing the direction of movement, refer to the feeling when a person's leg is placed on the training device. Moving the foot towards the electrical control box is defined as forward, and moving the foot towards the thigh is defined as backward.

[0082] As shown in Figures 1-13, the multifunctional lower limb rehabilitation training device of the present invention, which integrates rigidity and flexibility, mainly includes a base 100, a flexion and extension support 200, a hip and knee joint flexion and extension autonomous training control mechanism 300, an ankle joint dorsiflexion and plantar flexion training mechanism 400, a hip and ankle joint internal and external rotation autonomous training mechanism 500, and a hip joint adduction and abduction autonomous training mechanism 600.

[0083] As shown in Figures 1-3, the base 100 consists of a linear guide rail 110 and a head connector 120. The flexion-extension support 200 consists of a thigh support 210, a lower leg support 220, and a foot support 230, which are rotatably connected in sequence. The flexion-extension rollers 231, hinged at the end of the thigh support to the head connector 120 and below the foot support, are supported in a linear groove 111 on the upper surface of the linear guide rail 110, thus supporting the entire flexion-extension support 200 above the base. This base also supports and accommodates the aforementioned training mechanisms. This is the basic structure of the device.

[0084] Hip and knee flexion-extension training involves placing the affected limb on a flexion-extension support and applying force to the flexion-extension roller 231, causing it to reciprocate within the linear groove 111. This, in turn, drives the flexion-extension support 200 to repeatedly flex and extend, thus achieving hip and knee flexion-extension training. The flexion-extension roller 231 can have a built-in first motor 710, as shown in Figure 14, for passive flexion-extension training when the patient lacks the strength to flex and extend the hip and knee joints independently. To facilitate better patient recovery, this device, based on the prior art, incorporates a hip and knee joint flexion-extension autonomous training control mechanism 300. The most important components of this mechanism include: a flexion-extension hand rope 310, a foot pedal 320, and a foot-operated pull rope 330. The flexion-extension pull ropes 310 are located on both sides of the base, one end of each rope is detachably connected to the outer side of the first end connector 120, and the other end is connected to the bottom of the foot bracket. The outer side of the first end connector 120 has a dedicated fixing point or hanging loop for detachable connection of the flexion-extension pull rope 310. Alternatively, the two flexion-extension pull ropes 310 on both sides of the first end connector 120 can also be inserted directly into the linear guide rail 110 from the side surface of the first end connector, and combined into one rope, with the end connected to the bottom of the foot bracket. When the patient pulls both flexion-extension pull ropes 310 simultaneously with both hands, the flexion-extension bracket can be flexed. As shown in Figures 1, 2, and 4, the linear guide rail 110 is hollow, and each of its two sides has a long groove 150. The foot pedals 320 are a pair, located at the grooves 150 on both sides of the linear guide rail 110. A fixed connecting block 321 is rotatably connected between the two foot pedals 320, and this fixed connecting block 321 is fixedly connected to the center of the linear guide rail. A pair of fixed pulleys 3211 are arranged side-by-side inside the fixed connecting block. The first end of each foot pedal pull rope 330 is fixedly connected to the outer end of one foot pedal 320, then fitted into the fixed pulley, and then passes over one groove of a double-groove fixed pulley 322, finally being fixedly connected to the shaft of the extension roller 231. The double-groove fixed pulley 322 is fixedly connected to an empty groove at the end of the linear guide rail 110 (as shown in Figure 5). Thus, stepping on any foot pedal will pull the foot pedal rope 330, causing the extension roller 231 to move forward (i.e., towards the end of the linear guide rail 110), and the extension bracket will straighten again. The direction of rope movement is shown in Figure 4. Each foot pedal 320 is telescopic in length, with a limit at the front. It can only be rotated forward to open and rotated backward to fold and store. When not in use, the foot pedal can be folded into the receiving groove 150 on the side of the linear guide rail 110. A switch door 151 can be provided to close it. When a foot pedal is needed, this switch door 151 is opened, and the foot pedal is rotated and pulled out. The switch door is preferably a sliding door, which is hidden inside the hollow interior of the linear guide rail when opened.

[0085] Due to the aforementioned hip and knee joint flexion and extension self-training control mechanism 300, flexion and extension training using this device can achieve single-limb training, three-limb coordination, or four-limb coordination. If the patient needs training for a single lower limb, and that affected limb has the strength to voluntarily flex and extend on the flexion and extension frame, the foot pedal and flexion and extension hand rope can be omitted. If the affected limb cannot complete flexion and extension training voluntarily, the flexion and extension hand rope 310 can be removed, and the flexion and extension hand rope can be pulled with one or both hands to assist the flexion and extension frame in flexing the affected limb. Then, the healthy foot can step on the foot pedal to straighten the flexion and extension frame forward. This process can be repeated.

[0086] When the patient has strong strength and requires more intense training, the resistance mechanism on the side of the linear groove 111 can be used to increase the friction of the flexion-extension roller 231 during operation. As shown in Figures 1-3, and referring to Figures 6 and 13, the resistance mechanism is set along the side of the linear groove 111. It can be set on only one side of the linear groove, on both sides, or on both sides of both linear grooves 111. The resistance mechanism mainly faces the resistance surface 140 inside the linear groove. The resistance surface is attached to a base plate, which is relatively hard and rigid. The actuating rod 141 passes through the linear guide rail 110 from the side and connects to the base plate, so that the extension and retraction function can be achieved by pressing. When the actuating rod 141 is pressed, it pushes the resistance surface and its base plate inward to the set position, rubbing against the flexion-extension roller 231, increasing the resistance of active flexion-extension training; pressing the actuating rod 141 again causes the actuating rod to retract, the resistance surface to return, and the friction with the flexion-extension roller 231 to be released. The actuating rod structure can be set according to the conventional technology.

[0087] On the side of the first end connector 120, there is also a hook 125, which is used to fix the rope that needs to be positioned when pulled to a certain extent. For example, when the above-mentioned flexion and extension rope pulls the flexion and extension bracket to a suitable angle or height, the flexion and extension rope can be hung on the hook 125 and tied up for a certain period of time to perform calf raise training.

[0088] The most basic feature of the ankle dorsiflexion and plantarflexion training mechanism 400 of the present invention is that it allows the heel to rock back and forth and provides elastic components on the sole of the foot. A further preferred embodiment is that it can perform dorsiflexion and plantarflexion movements while training the internal and external rotation of the hip and ankle joints. The movements are natural and flexible. Combined with the aforementioned flexion and extension movements, it is the walking gait in a lying position.

[0089] As shown in Figures 1, 2, and 5-10, the most basic structure of the ankle dorsiflexion and plantarflexion training mechanism 400 includes: a support plate 410 disposed outside the foot support plate 232 of the foot bracket 230; the lower end of the support plate 410 is hinged to the heel of the foot support plate 232; and an elastic component 420 is disposed between the upper end of the support plate and the forefoot of the foot support plate 232. The elastic component can be a spring or a hydraulic rod; in this embodiment, nine hydraulic rods are preferably arranged in a circular pattern. The elastic component 420 is encapsulated between the foot support plate 232 and the support plate 410 using a housing 421. In the initial natural state, the hydraulic rods are stretched. Due to the elastic component at the bottom of the foot support plate, the foot has room to move after being placed in the foot support plate, allowing for free, dynamic, and comfortable adjustment according to the required range of motion of the ankle joint. When the user repeatedly steps on and releases the footrest, the elastic component can be compressed and released to perform ankle dorsiflexion and plantar flexion training. Due to the restoring force of the elastic component, the training is easier.

[0090] The foot support 232 is rotatably connected to the calf support connecting rod 223 of the calf support 220 at the heel via a foot hinge shaft 430, as shown in Figures 8 and 9. In the initial state, the connection is limited to a -5° dorsiflexion angle for the foot support. This dorsiflexion angle limitation can be maintained or released during use. A push-button mechanism enables this release: pressing the push-button 440 causes it to pass through the calf support connecting rod 223 and extend into the foot hinge shaft 430, locking the two together and forming the initial -5° dorsiflexion angle of the foot support; pressing the push-button 440 again causes it to spring back out of the foot hinge shaft 430, remaining only within the calf support connecting rod 223, thus releasing the -5° dorsiflexion angle. Fixing the foot support in the -5° dorsiflexion angle position can help prevent spasms. When a patient experiences lower limb contractures or spasticity, passive training is still necessary. The footplate can be fixed at -5° dorsiflexion (adjusting this angle requires ensuring there is no ankle fracture or soft tissue injury). Then, the first motor 710 built into the flexion / extension roller 231 can be activated to passively perform hip and knee flexion / extension exercises for 5-10 minutes. This training method can promote the lengthening of contracted muscles and relieve lower limb spasticity. When used for assisted training, the first motor 710 should be stopped. If the patient does not have lower limb spasticity, press the actuating column 440 to release the footplate from the -5° dorsiflexion position, allowing the ankle joint to be in a free and comfortable state after the foot is placed in the footplate for training.

[0091] As shown in Figures 1, 2, 6, and 7, the main body of the foot support plate 232 is a foot-shaped perforated metal plate, covered with a foot memory foam pad 2327, and equipped with a detachable instep restraint strap 2328. A heel support 2329 with a memory foam pad is connected to the heel. It is also equipped with an openable pressure plate 23271 for easy installation and replacement of the foot memory foam pad 2327. A pressure sensor 233 is located in the heel area of ​​the foot support plate 232, which can be placed below the foot memory foam pad 2327. The pressure sensor is electrically connected to a pressure display screen 234, which protrudes from the side of the foot support plate.

[0092] For individuals unable to actively perform dorsiflexion and plantarflexion exercises, the present invention incorporates two second motors 720 on the two hinge shafts 430 connecting the heel of the foot support plate 232 and the two lower leg support connecting rods 223 of the lower leg support 220, as shown in Figure 17. The two second motors synchronously control forward and reverse rotation to perform passive dorsiflexion and plantarflexion exercises.

[0093] Using the device of the present invention, autonomous dorsiflexion and plantarflexion training can also be performed, and the control mechanism for autonomous dorsiflexion and plantarflexion training is integrated with the autonomous internal and external rotation training of the hip and ankle joints.

[0094] As shown in Figures 2, 3, 6, 7, and 11, the most basic structure of the hip and ankle joint internal and external rotation self-training mechanism 500 of the present invention includes: a support frame 510 disposed outside the support plate 232, an internal and external rotation training arc track 520 on the support frame, a through hole 521 at the top of the internal and external rotation training arc track 520, and a corresponding position of the support bottom plate having a roller 450 for internal and external rotation that can pass through the through hole and be supported and rotated on the track; one end of a pair of internal and external rotation training pull ropes 530 is detachably connected to the outer side of the first end connector 120 for the user to pull, and the other end can drive the roller 450 for internal and external rotation to rotate left and right on the internal and external rotation training arc track 520 through the support frame 510, thereby pulling the foot support plate 232 to rotate left and right, realizing the internal and external rotation training of the user's foot. If used solely for internal and external rotation training, the support frame can be of various types, as long as it has an arc-shaped track 520 for internal and external rotation training at the top, providing support for the internal and external rotation rollers 450 to roll left and right. The internal and external rotation training rope 530 can be directly or indirectly connected to the internal and external rotation rollers 450, as long as it can drive them to roll left and right. As a preferred embodiment, a triangular support frame can be used. For example, the support frame 510 includes triangular supports on both sides; each triangular support consists of a telescopic rod 550, a support rod 560, and a bottom connecting rod 570; the telescopic rod 550 is located on the inner side, close to the vertical connecting plate 130, and is rotatably connected to the vertical connecting plate 130 through a rotating shaft 580; the upper end of the support rod 560 is fitted over the telescopic rod 540 to allow it to extend and retract; the bottom connecting rod 560 is fixedly connected between the bottom of the telescopic rod 550 and the support rod 560; the top end of the telescopic rod 550 is connected to the arc-shaped track 520 for internal and external rotation training, forming an arc-shaped support frame. Since the telescopic bar 550 can be shortened by extending and retracting on the triangular support, it can also be used for calf raise training.

[0095] To integrate active dorsiflexion and plantar flexion training with an internal / external rotation self-training mechanism, this invention optimizes the support scheme, employing a support frame structure that can tilt forward and return to its original position. Specifically:

[0096] On both sides of the linear guide rail 110, near the support frame 510, a vertical connecting plate 130 extends laterally. The inner side of the support frame 510 is rotatably connected to the outer side of the vertical connecting plate 130, specifically through a rotating shaft 580. An arc track 131, preferably a quarter arc, extends forward from the outer edge of each vertical connecting plate 130, with the groove facing upward and a return spring (not shown in the figure) built into its lowest point. A rigid vertical slide rod 540 extends forward vertically from the telescopic rods 550 on both sides of the support frame 510, and the outer end of each vertical slide rod is limited to slide within the arc track 131 at the corresponding position. In order to more stably hold the support frame and more forcefully restore the vertical state of the support frame, a hydraulic rod connecting seat 132 is connected to the back of each vertical connecting plate 130, and a hydraulic rod 133 extends from it and connects to the telescopic rod 550 of the support frame 510. In the initial state without external force, the support frame is upright, the outer end of the vertical slide bar 540 is at the top of the arc track 131, and the spring is in a free state. When the user's foot is actively, passively, or assisted in plantar flexion training, the foot support plate 232 and the support plate 410 press down on the support frame 510, the telescopic rod 550 and the support frame 510 tilt forward, and the outer end of the vertical slide bar 540 slides down in the arc track 131, compressing the return spring. When the plantar flexion force is removed, the restoring force of the return spring and the hydraulic rod causes the outer end of the vertical slide bar 540 to rise, making the support frame 510 upright again.

[0097] As shown in Figures 1-3, a support frame housing 501 is used on the outside of each vertical connecting plate 130 to protect the lower part of the arc track 131, the vertical slide bar 540 and the telescopic rod 550; the top and bottom of the support frame housing 501 are provided with narrow openings to allow the telescopic rod 550 to swing back and forth; the support rod 560 and the bottom connecting rod 570 are located outside the support frame housing 501.

[0098] To enable autonomous plantar flexion and extension training, the tilting of the support frame needs to be controlled. This can be achieved by simply connecting pull ropes to both sides of the bottom of the support frame, extending to the two ends of the connector 120 at the base. Pulling these ropes manually tilts the support frame forward; releasing the pull returns it to its upright position. However, to share the pull ropes with internal and external rotation training, the preferred solution in this embodiment is shown in Figures 6, 7, and 10: a pair of internal and external rotation training pull ropes 530 are inserted upwards from the narrow openings at the bottom of the support frame housing 501 on both sides, connecting to the internal and external rotation rollers 450. The connection can be direct or indirect. When both internal and external rotation training pull ropes 530 are pulled simultaneously, the support frame tilts forward. When the pull is released, the support frame rebounds under the return force of the hydraulic rod 133 and the return spring of the arc track 131, thus achieving active plantar flexion and extension training controlled by the pull ropes. As shown in Figure 10, a tension ring 525 is slidably mounted inside the track at the through hole 521 of the inner and outer rotation training arc track 520. The inner and outer rotation roller 450 is fitted inside the tension ring 525. Two inner and outer rotation training ropes 530 are respectively connected to both sides of the tension ring. This means that the inner and outer rotation training ropes 530 indirectly drive the inner and outer rotation roller 450. Referring to Figure 11, the inner and outer rotation training arc track 520 is provided with a roller groove 522 for accommodating the inner and outer rotation roller 450 and a support rail 523 for supporting the roller's movement. The through hole 521 faces the support plate 410 and accommodates the inner and outer rotation roller 450 entering and exiting the roller groove 522. On the side near the support plate 410, there is also a tension ring running groove rail 524 parallel to the roller groove 522. When the trainee pulls the internal and external rotation training rope 530 with their left hand, the tension ring 525 pulls the internal and external rotation roller 450 to rotate to the left on the internal and external rotation training arc track 520, causing the hip joint of the affected leg to rotate to the left. When the trainee pulls the internal and external rotation training rope 530 with their right hand, the hip joint of the affected leg rotates to the right. When both hands pull the internal and external rotation training ropes 530 simultaneously, the support frame tilts forward and then returns to its original position, thus achieving voluntary internal and external rotation training combined with voluntary plantar flexion and dorsiflexion training. At the same time, the foot can also step on the elastic component 420 for more comfortable and free training. These structures allow the supine position to simulate a more natural gait, greatly improving the training effect. For patients who are not yet able to train independently, early and timely training is necessary. A third motor 730 is built into the internal and external rotation roller 450 to provide passive training, as shown in Figure 15.

[0099] As shown in Figures 1-3, 5, 12, and 13, the hip joint adduction and abduction self-training mechanism 600 of the present invention includes: an adduction and abduction training arc-shaped track 610 located at the lower end of the linear guide rail 110 within the support frame 510, the arc of which is the same as the trajectory of rotation about the end of the base as the center and the length of the base as the radius, and the concave surface of the arc is provided with meshing teeth 611, preferably two parallel rows of meshing teeth; and an I-shaped adduction and abduction gear 620 is rotatably and vertically engaged in an I-shaped groove 622 at the corresponding position at the lower end of the linear guide rail 110, with gears at the upper and lower ends and a spindle 621 in the middle. Its gear surface meshes with the meshing teeth 611; the adduction and abduction gear 620 has a rotatable spindle 621, and two adduction and abduction training ropes 630 are respectively connected to both sides of the spindle, or only one adduction and abduction training rope 630 is fixedly connected to both sides of the spindle of the adduction and abduction gear 620 through it, and then extends along the linear guide rail 110 to both sides of the first end connector 120 of the base for detachable fixing, so that the user can pull it with his left and right hands alternately, driving the adduction and abduction gear 620 to roll back and forth on the meshing teeth 611, thereby driving the linear guide rail 110 to swing left and right in an arc, realizing active training of hip joint adduction and abduction. Patients who are not yet able to train independently need early and timely training. A fourth motor 740 for automatic adduction and abduction training is built into the spindle 621 of the adduction and abduction gear 620, which can provide passive training, as shown in Figure 16.

[0100] For ease of control, a commonly used control method in existing technology can be adopted. For example, as shown in the figure, an electrical control box 700 is connected to the end of the linear guide rail 110. The control box has a built-in power supply or can be connected to a power supply, and has a display screen 701 and control buttons 702. The display screen 701 can display parameters such as rotation angle and speed during passive rehabilitation training; the control buttons 702 can turn the machine on and off and start the four passive rehabilitation training modes of the first, second, third, and fourth motors, and can also start the overall rehabilitation training function with one button; the wire interface 703 extending from the electrical control box is electrically connected to the circuit connector 113 at the lower hollow part of the linear guide rail 110; the electrical control box 700 is plugged into the connector 112 on the linear guide rail 110 through the plug-in post 704. The first motor 710, the second motor 720, the third motor 730, and the fourth motor 740 are electrically connected to the electrical control box to achieve control.

[0101] For ease of use, each pair of flexion / extension pull ropes 310, inward / outward rotation training pull ropes 530, and adduction / abduction training pull ropes 630 are distinguished by different colors, and their ends can be hung on the fixing positions or hanging rings of the corresponding colors on both sides of the first end connector 120 of the base. The middle part of each inward / outward rotation training pull rope 530 and adduction / abduction training pull rope 630 passes through the pull rope fixing tubes 160 set on both sides of the linear guide rail 110.

[0102] The preferred embodiments of the base and the flexure support of the present invention are further described below, which are substantially similar to those in the background art.

[0103] The base's first-end connector 120 consists of a central T-shaped insertion slot 122 and two near-L-shaped connectors 123. The main insertion slot of the T-shaped insertion slot 122 is fitted outside the linear guide rail 110, with one connector 123 inserted into each side. The insertion depth can be adjusted by pressing the depth adjustment button 124, thereby adjusting the width of the first-end connector 120. The ends of the two telescopic rods at the bottom of the thigh support are connected to the top through holes of the two connectors 123 via pivots. Pressing the depth adjustment button 124 allows adjustment of the distance between the two telescopic rods at the bottom to accommodate different leg circumferences. The linear guide rail is hollow inside, with grooves on its upper surface, sides, and front for accommodating or connecting other components. On the upper surface of the linear guide rail, there are two parallel straight grooves 111 along the length direction. The bending and stretching rollers 231 connected to the bottom of the foot bracket are I-shaped and are supported in the straight grooves 111, which can move back and forth, thereby realizing the bending and stretching bracket to bend and stretch back and forth above the base.

[0104] As shown in Figures 1-2, the thigh support 210 and calf support 220 each have four telescopic rods arranged in a roughly matrix-like pattern, forming a channel to accommodate the thigh and calf along the direction of the telescopic rods. A lateral telescopic sheet connects the two bottom telescopic rods, and the outside of the lateral telescopic sheet is covered with a flexible fabric 212. The flexible fabric can be woven fabric, plastic, or leather. Adjusting the distance between the two bottom telescopic rods allows the telescopic sheet to expand and contract adaptively. The main function of the lateral telescopic sheet is to support the thigh and prevent it from sagging. If each telescopic rod is divided into two telescopic sections, the flexible fabric 212 can be divided into two pieces, one connected to the front section and the other to the rear section, thus preventing the flexible fabric from affecting the telescopic rod's expansion and contraction. An elastic restraint strap 213 connects the two top telescopic rods. The upper and lower telescopic rods are connected by a vertical support rod 214. The thigh support and the calf support are rotatably engaged by a chuck 241 that limits the upper limit of the rotation angle and a first degree wheel 242 with rotation degree markings. A first parallel pointer 243 is provided on the outside of the first degree wheel with degree markings. When the flexion and extension support 200 flexes and extends, it can indicate the rotation angle. This structure is the same as the prior art.

[0105] The connection between the calf support and the foot support can be further referred to in Figures 8, 9, and 15. The foot support plate 232 and the connecting rods 223 of the two calf supports are connected by the foot hinge shaft 430 set on the foot support plate, which can limit the range of rotation degrees. Each calf support connecting rod 223 is also provided with a second degree wheel 2324 with degree markings on the outside. The second degree wheel 2324 is also provided with a second parallel pointer 2325 on the outside, which can display the rotation angle of the foot support plate.

[0106] Taking the left lower limb as an example, the working process of the rigid-flexible lower limb rehabilitation robot training device of the present invention is illustrated below:

[0107] Step 1: Preparation stage. The patient lies supine. The training device is placed parallel to the patient's affected limb. The affected limb is placed into the device according to the position of the thigh, calf, and foot. The device is adjusted according to the size and length of the affected limb.

[0108] Step 2: Hip and knee joint training. When performing passive training, operate the electrical control box to start the corresponding first motor 710, allowing the patient's hip and knee joints to be trained by flexing and extending the flexion and extension frame. This method is suitable for passive exercise without assistance, such as when the patient is 6 hours post-surgery for the lower limbs or 24 hours after the condition has stabilized due to stroke or paraplegia.

[0109] When a patient has lower limb contractures or spasticity, passive training is still necessary. The footplate of the ankle joint training device can be fixed at dorsiflexion -5° (adjusting this degree requires ensuring that there is no fracture or soft tissue injury in the ankle joint), and then the corresponding motor can be turned on to perform hip and knee joint flexion and extension training for 5-10 minutes (this training method can promote the lengthening of contracted muscles and relieve lower limb spasticity).

[0110] Active training is the most recommended training program in rehabilitation. When performing assisted training, the motor should not be turned on. If there is no lower limb spasticity, there is no need to emphasize the footplate's fixed dorsiflexion-5° position. After placing the footplate, ensure the ankle joint is in a free and comfortable state. Use both healthy upper limbs to pull the flexion-extension hand rope 310 in a centripetal direction, causing the device to flex the knee under rope drive. Instruct the patient to forcefully push against the footplate with their left lower limb (after lower limb fracture surgery, apply force according to the degree of pain and muscle tension to avoid excessive force causing internal bone displacement or wound dehiscence). If the affected limb's strength cannot change the device from a flexed to an extended knee position, then the right lower limb should step on the foot pedal 320, and both lower limbs should each apply appropriate force towards the toes, thereby promoting... With the left lower limb straight, and the ankle joint in a free position, the force exerted by the foot promotes the coordinated movement of the hip, knee, ankle, and toe joints during straightening. This movement pattern also mimics the range of motion of the four joints when the human body is walking. Due to the elastic components of the support plate at the bottom of the footrest and the return mechanism of the support frame, the ankle and toe joints can move together during the flexion and extension of the hip and knee joints. When the hip and knee joints are flexed, the rebound device of the support frame promotes the dorsiflexion of the ankle and toe joints. When the hip and knee joints are straightened, the toes gently press the elastic components on the sole of the footrest, promoting the plantar flexion of the ankle and toe joints. Therefore, this movement pattern is also called gait training in a supine position or lower limb core muscle training.

[0111] Step 3: Ankle Dorsiflexion and Plantar Flexion Training. Release the footplate with dorsiflexion at -5°, keeping the left lower limb straight and the foot in a free position. For passive training, operate the control box to start the corresponding second motor 720. The left lower limb ankle will passively dorsiflex and plantarflex with the dorsiflexion and plantar flexion of the footplate. For assisted training, stop the motor and perform the exercise manually. The patient can use their unaffected right foot to press down on the footplate, causing plantar flexion of the left ankle. After releasing the footplate with the unaffected right foot, the elastic component 234 at the sole of the footplate, the return spring of the support frame, and the rebound force of the hydraulic rod 133 will promote dorsiflexion of the left ankle. When used for active training, the elastic component 234 of the footplate and the rebound force of the return spring and hydraulic rod 133 of the support frame keep the left ankle joint in a dorsiflexed state. At this time, only a small amount of force is needed to press the footplate with each toe to achieve ankle-toe joint plantar flexion training. When the toes are released without force, the rebound effect promotes ankle-toe joint dorsiflexion training.

[0112] Step Four: Hip and Ankle Internal and External Rotation Training. With the left lower limb extended, during passive training, activate the corresponding third motor 730. The footplate is plantarflexed, allowing the roller 450, which passes through the through-hole 521, to support the internal and external rotation of the left lower limb and roll back and forth within the arc-shaped track, thus passively training the hip and ankle joints to internal and external rotate. During assisted training, stop the motor and pull the corresponding internal and external rotation training ropes 530 with both upper limbs. This, through the tension ring 525, drives the rollers to roll back and forth within the arc-shaped track, achieving assisted training for hip and ankle joint internal and external rotation. During active training of the affected limb, simply perform the internal and external rotation movements of the left foot to easily and freely rotate the hip and ankle joints within the track.

[0113] Step 5: Hip abduction and adduction training. While the left lower limb is extended, for passive training, with the lower limb extended, activate the corresponding fourth motor 740. This drives the I-shaped gear to move inward and outward on the arc-shaped track, achieving hip abduction and adduction training. For assisted training, stop the motor and use both upper limbs to pull the adduction and abduction training rope 630, assisting the device in moving on the arc-shaped track, achieving assisted hip abduction and adduction training. For active training, simply place the left lower limb on the device of this invention, and use appropriate force to move the left lower limb inward and outward on the arc-shaped track, achieving active hip abduction and adduction training.

[0114] Step Six: Lower Limb Relaxation Training. Keep the left lower limb straight and the foot in a free position. Continue to keep the left lower limb straight, plantarflex the footplate, and use roller 450 to connect the internal and external rotation training arc track 520. Press each toe of the left foot downwards at a radius of 5-10° and quickly step on the footplate for 1-2 minutes (20-30 times / minute). Through the rebound force, achieve rapid dorsiflexion and plantarflexion of the ankle joint, which can drive the rapid vibration of the entire lower limb anterior and posterior muscle groups. Through the support frame, swing the left foot rapidly to the left and outwards at a radius of 5-10° for 1-2 minutes (20-30 times / minute), which achieves rapid vibration of the left lower limb internal and external muscle groups. These two movements realize the lower limb relaxation treatment of traditional Chinese medicine techniques.

[0115] Step 7: Lower leg elevation training. Instruct the patient to pull the flexion-extension rope 310 upwards with both healthy upper limbs, so that the knee of the flexion-extension bracket 200 is flexed (30-60°). Wrap the rope around the hook 125 on the side of the first end connector 120 of the base; fix the rope, and instruct the patient to perform knee extension exercises (second-level or above muscle strength is sufficient for active knee extension exercises), which achieves lower leg elevation training. This training program can quickly restore muscle strength to level three.

[0116] The present invention provides a multifunctional lower limb rehabilitation training device that integrates rigidity and flexibility. Its electrical control box is equipped with a one-button start function for overall rehabilitation training. With one-button start, the device first performs 10 minutes of hip and knee joint flexion and extension training, then 10 minutes of ankle joint dorsiflexion and plantar flexion training, followed by 3 minutes of hip and ankle joint internal and external rotation training, then 3 minutes of hip joint abduction and adduction training, and finally 1-2 minutes of relaxation training. The entire process takes about 30 minutes and is fully automatic.

Claims

1. A multifunctional lower limb rehabilitation training device integrating rigidity and flexibility, comprising a base (100) and a flexion-extension support (200); the main body of the base (100) is a linear guide rail (110), which is connected to a head connector (120), and a linear groove (111) is provided on the linear guide rail along its length; the flexion-extension support (200) is composed of a thigh support (210), a lower leg support (220), and a foot support (230) that are rotatably connected in sequence; the outer end of the thigh support (210) is rotatably connected to the head connector (120), and the bottom end of the foot support (230) is connected to a flexion-extension roller (231), which can reciprocate on the linear groove (111) to realize the reciprocating flexion-extension of the flexion-extension support above the base; characterized in that, The multifunctional lower limb rehabilitation training device that integrates rigidity and flexibility also includes a hip and knee joint flexion and extension autonomous training control mechanism (300), an ankle joint dorsiflexion and plantar flexion training mechanism (400), a hip and ankle joint internal and external rotation autonomous training mechanism (500), and a hip joint adduction and abduction autonomous training mechanism (600). The hip and knee joint flexion and extension autonomous training control mechanism (300) includes: flexion and extension hand ropes (310), foot pedals (320), and foot pedal ropes (330); the flexion and extension hand ropes (310) are located on both sides of the base, one end of each flexion and extension hand rope is detachably connected to the outer side of the first end connector (120), and the other end is connected to the bottom of the foot bracket. When the two flexion and extension hand ropes (310) are pulled simultaneously towards the first end connector (120) of the base, the flexion and extension bracket can be flexed; the foot pedals (320) are a pair slidably connected to the middle of the linear guide rail (110) on both sides. Stepping on either foot pedal can pull the foot pedal rope (330) to straighten the flexion and extension bracket again; The ankle dorsiflexion and plantarflexion training mechanism (400) includes: a support plate (410) outside the foot support plate (232) of the foot bracket (230), the lower end of the support plate (410) is hinged to the heel of the foot support plate (232), and an elastic component (420) is provided between the upper end of the support plate and the forefoot of the foot support plate (232). When the user's foot repeatedly steps and releases the foot support plate, the elastic component can be compressed and released to perform ankle dorsiflexion and plantarflexion training. The hip and ankle joint internal and external rotation self-training mechanism (500) includes: a support frame (510) set outside the support plate (232), the support frame having an internal and external rotation training arc track (520), the top of the internal and external rotation training arc track (520) having a through hole (521), the bottom of the support plate having an internal and external rotation roller (450) that can be inserted into the through hole and supported to rotate on the track; one end of a pair of internal and external rotation training pull ropes (530) is detachably connected to the outer side of the first end connector (120) for the user to pull, and the other end can drive the internal and external rotation roller (450) to rotate left and right on the internal and external rotation training arc track (520) through the support frame (510), thereby pulling the foot support plate (232) to rotate left and right, realizing the internal and external rotation training of the user's feet; The hip joint adduction and abduction self-training mechanism (600) includes: an adduction and abduction training arc track (610) located at the lower end of the linear guide rail (110) within the support frame (510), the arc of which is the same arc as the trajectory of rotation about the end of the base as the center and the length of the base as the radius, and the concave surface of the arc is provided with meshing teeth (611); an adduction and abduction gear (620) is rotatably vertically connected at the corresponding position at the lower end of the linear guide rail (110), the adduction and abduction gear (620) meshing with the meshing teeth (611); the adduction and abduction gear (620) meshes with the meshing teeth (611); the adduction and abduction gear (620) meshes with the meshing teeth (611). 20) There is a rotatable spindle (621), and two adduction and abduction training ropes (630) are respectively connected to both sides of the spindle, or only one adduction and abduction training rope (630) is fixedly connected to both sides of the spindle of the adduction and abduction gear (620) through, and then extends along the linear guide (110) to both sides of the first end connector (120) of the base for detachable fixing, so that the user can pull it by hand to drive the adduction and abduction gear (620) to mesh and roll on the meshing teeth (611), thereby driving the linear guide (110) to swing left and right in an arc, so as to realize the active training of hip joint adduction and abduction.

2. The multifunctional lower limb rehabilitation training device integrating rigidity and flexibility according to claim 1, characterized in that: A pair of foot pedals (320) are fixedly connected to the middle of the lower part of the linear guide rail by a fixed connecting block (321) between them; a pair of fixed pulleys are provided in the fixed connecting block; the first end of each foot pedal rope is fixedly connected to the outer end of a foot pedal (320), then sleeved in the fixed pulley, then passing over a groove of a double-groove fixed pulley (322), and finally fixedly connected to the shaft of the bending and stretching roller (231); the double-groove fixed pulley (322) is fixedly connected in the empty groove at the end of the linear guide rail (110); The foot pedal (320) is rotatably and foldably connected to the fixed connecting block (321), so that the foot pedal can be opened and folded and attached to the receiving groove (150) in the linear guide rail (110).

3. The multifunctional lower limb rehabilitation training device integrating rigidity and flexibility according to claim 1, characterized in that: A retractable resistance mechanism is provided along at least one side of each of the linear grooves (111), including a resistance surface (140) facing into the linear groove. The resistance surface is attached to a base plate. A push rod (141) that can be extended by pressing passes through the linear guide (110) from the side and is connected to the base plate. Pressing the push rod (141) can push the resistance surface and its base plate to move inward, rubbing against the flexion and extension roller (231) to increase the resistance of active flexion and extension training. Pressing the push rod (141) again can release the friction between the resistance surface and the flexion and extension roller (231).

4. The multifunctional lower limb rehabilitation training device integrating rigidity and flexibility according to claim 1, characterized in that: The two extension and retractable hand ropes (310) on both sides of the base are combined into one rope inside the linear guide rail, and the ends are connected to the bottom of the foot bracket.

5. The multifunctional lower limb rehabilitation training device integrating rigidity and flexibility according to claim 1, characterized in that: The thigh support (210) and calf support (220) each have four telescopic rods arranged in a near-matrix pattern to form a channel for accommodating the thigh and calf. A flexible fabric (212) is connected between the two bottom telescopic rods, and an elastic restraint strap (213) is connected between the two top telescopic rods. The upper and lower telescopic rods are connected by a vertical support rod (214). The base's first end connector (120) consists of a central T-shaped insertion slot (122) and two near-L-shaped insertion pieces (123). The main insertion slot of the T-shaped insertion slot (122) is fitted outside the linear guide rail (110), and one of the insertion pieces (123) is inserted into each side. The insertion depth can be adjusted by pressing the depth adjustment button (124). The ends of the two telescopic rods at the bottom of the thigh support are connected to the top through holes of the two insertion pieces (123) via a pivot. Pressing the depth adjustment button (124) can adjust the distance between the two telescopic rods at the bottom to accommodate different leg circumferences. The thigh support and the calf support are rotatably engaged by a chuck (241) that limits the upper limit of the rotation angle and a first degree wheel (242) with rotation degree markings. A first parallel pointer (243) is provided on the outside of the first degree wheel with degree markings, which can indicate the rotation angle when the flexion and extension support (200) flexes and extends.

6. The multifunctional lower limb rehabilitation training device integrating rigidity and flexibility according to claim 1, characterized in that: Each pair of the flexion and extension pull ropes (310), internal and external rotation training pull ropes (530), and adduction and abduction training pull ropes (630) are distinguished by different colors, and their ends can be hung on the fixing positions or hanging rings of the corresponding colors on both sides of the first end connector (120) of the base.

7. The multifunctional lower limb rehabilitation training device integrating rigidity and flexibility according to claim 1, characterized in that: The first end connector (120) is also provided with a hook (125) for fixing the rope that needs to be positioned when pulled to a certain extent.

8. The multifunctional lower limb rehabilitation training device integrating rigidity and flexibility according to claim 1, characterized in that: The middle portion of each of the internal and external rotation training ropes (530) and the inward and outward extension training ropes (630) passes through the rope fixing tubes (160) set on both sides of the linear guide rail (110).

9. The multifunctional lower limb rehabilitation training device integrating rigidity and flexibility according to claim 1, characterized in that: The foot support plate (232) at the heel is rotatably connected to the calf support connecting rod (223) of the calf support (220) via a foot hinge shaft (430); in the initial state, the connection between the two is limited to a foot support plate back extension of -5°; this back extension angle limitation can be maintained or released during use.

10. A multifunctional lower limb rehabilitation training device integrating rigidity and flexibility according to claim 9, characterized in that: The release function is achieved by using a push-button type push-button structure: when the push-button (440) is pressed, it passes through the calf support connecting rod (223) and extends into the foot hinge shaft (430), locking the two together to form the initial state; when the push-button (440) is pressed again, it will spring back and disengage from the foot hinge shaft (430), remaining only in the calf support connecting rod (223), thereby releasing the foot support plate from the -5° dorsiflexion state.

11. The multifunctional lower limb rehabilitation training device integrating rigidity and flexibility according to claim 1, characterized in that: The lower leg support connecting rod (223) hinged to the foot support plate (232) is provided with a second degree wheel (2324) with degree markings and a second parallel pointer (2325) on the outside, so as to display the rotation angle of the foot support plate.

12. A multifunctional lower limb rehabilitation training device integrating rigidity and flexibility according to claim 9, characterized in that: The heel area of ​​the footrest (232) is provided with a pressure sensor (233), which is electrically connected to a pressure display screen (234) exposed on the side of the footrest.

13. The multifunctional lower limb rehabilitation training device integrating rigidity and flexibility according to claim 1, characterized in that: The main body of the foot support plate (232) is a foot-shaped hollow metal plate covered with a foot memory foam pad (2327), and is equipped with a detachable instep restraint strap (2328). A heel support (2329) with a memory foam pad is connected to the heel. The foot memory foam pad (2327) is also equipped with a replaceable openable pressure plate (23271).

14. The multifunctional lower limb rehabilitation training device integrating rigidity and flexibility according to claim 1, characterized in that: The elastic component (420) is encapsulated in a shell (421) between the foot support plate (232) and the support plate (410).

15. A multifunctional lower limb rehabilitation training device integrating rigidity and flexibility according to claim 1, characterized in that: The elastic component (420) is a spring or a hydraulic rod.

16. A multifunctional lower limb rehabilitation training device integrating rigidity and flexibility according to claim 10, characterized in that: On both sides of the linear guide rail (110), near the support frame (510), a vertical connecting plate (130) extends laterally. The inner side of the support frame (510) is rotatably connected to the outer side of the vertical connecting plate (130). An arc track (131) extends forward from the outer edge of each vertical connecting plate (130), with the groove facing upward and a return spring built into its lowest point. A rigid vertical slide rod (540) extends forward vertically from both sides of the support frame (510), and the outer end of each vertical slide rod is limited to slide within the arc track (131). In the initial state of external force, the support frame is in an upright state, the outer end of the vertical slide bar (540) is at the top of the arc track (131), and the spring is in a free state. When the user's foot is actively or passively or assisted in plantar flexion training, the foot support plate (232) and the support plate (410) press down on the support frame (510), the support frame (510) tilts forward, and the outer end of the vertical slide bar (540) slides down in the arc track (131), squeezing the return spring. When the plantar flexion force is removed, the restoring force of the return spring causes the outer end of the vertical slide bar (540) to rise, making the support frame (510) upright again.

17. A multifunctional lower limb rehabilitation training device integrating rigidity and flexibility according to claim 16, characterized in that: Each of the vertical connecting plates (130) is connected to a hydraulic rod connecting seat (132) at the rear, from which a hydraulic rod (133) extends and is connected to the support frame (510).

18. A multifunctional lower limb rehabilitation training device integrating rigidity and flexibility according to claim 16, characterized in that: The circular track (131) is a quarter circle.

19. A multifunctional lower limb rehabilitation training device integrating rigidity and flexibility according to claim 16, characterized in that: Pull ropes are connected to both sides of the bottom of the support frame.

20. A multifunctional lower limb rehabilitation training device integrating rigidity and flexibility according to claim 16, characterized in that: The support frame (510) includes triangular supports on both sides; each triangular support consists of a telescopic rod (550), a support rod (560), and a bottom connecting rod (570); the telescopic rod (550) is located on the inner side, close to the vertical connecting plate (130), and is rotatably connected to the vertical connecting plate (130) through a rotating shaft (580); the upper end of the support rod (560) is fitted over the telescopic rod (540) to allow it to extend and retract; the bottom connecting rod (560) is fixedly connected between the bottom of the telescopic rod (550) and the support rod (560); the top end of the telescopic rod (550) is connected to the inner and outer rotating training arc track (520) to form an arc-shaped support frame.

21. A multifunctional lower limb rehabilitation training device integrating rigidity and flexibility according to claim 20, characterized in that: On the outside of each of the vertical connecting plates (130), a support frame housing (501) is used to protect the lower part of the arc track (131), the vertical slide bar (540) and the telescopic rod (550); the top and bottom of the support frame housing (501) are provided with narrow openings for the telescopic rod (550) to swing back and forth; the support rod (560) and the bottom connecting rod (570) are located outside the support frame housing (501).

22. The multifunctional lower limb rehabilitation training device integrating rigidity and flexibility according to claim 20, characterized in that: A pair of inner and outer rotation training ropes (530) ascend from the narrow openings at the bottom of the support frame housing (501) on both sides, and are directly or indirectly connected to the inner and outer rotation rollers (450); when the two inner and outer rotation training ropes (530) are pulled at the same time, the support frame will tilt forward. When the pulling force is removed, the support frame will rebound under the action of the return of the hydraulic rod (133) and the return spring of the arc track (131), thereby realizing active plantar flexion and extension training controlled by ropes.

23. A multifunctional lower limb rehabilitation training device integrating rigidity and flexibility according to claim 1 or 22, characterized in that: The inner and outer rotation training arc track (520) has a tension ring (525) that can be slidably locked inside the track at the through hole (521). The inner and outer rotation roller (450) is fitted inside the tension ring (525), and the two inner and outer rotation training ropes (530) are respectively connected to the two sides of the tension ring.

24. A multifunctional lower limb rehabilitation training device integrating rigidity and flexibility according to claim 23, characterized in that: The inner and outer rotation training arc track (520) is provided with a roller groove (522) for accommodating the inner and outer rotation roller (450) and a support rail (523) for supporting the roller. The through hole (521) faces the support plate (410) and accommodates the inner and outer rotation roller (450) entering and exiting the roller groove (522). On the side near the support plate (410), there is also a tension ring running groove rail (524) parallel to the roller groove (522).

25. The multifunctional lower limb rehabilitation training device integrating rigidity and flexibility according to claim 1, characterized in that: The inward and outward gear (620) is an I-shaped gear with gears at the upper and lower ends and a spindle (621) in the middle. Correspondingly, the meshing teeth are two parallel rows of upper and lower teeth. The I-shaped inward and outward gear (620) is engaged in the I-shaped groove (622) of the linear guide rail (110).

26. The multifunctional lower limb rehabilitation training device integrating rigidity and flexibility according to claim 9, characterized in that: The two foot hinge shafts (430) each have a built-in second motor (720) for automatic dorsiflexion and plantarflexion training. The two second motors are electrically connected to and synchronously controlled by the control system.

27. A multifunctional lower limb rehabilitation training device integrating rigidity and flexibility according to claim 26, characterized in that: The flexion and extension roller (231) has a built-in first motor (710) for automatic flexion and extension training; The inner and outer rotation roller (450) has a built-in third motor (730) for automatic inner and outer rotation training; The spindle (621) of the gear (620) for adduction and abduction has a built-in fourth motor (740) for automatic adduction and abduction training; The first motor (710), the third motor (730) and the fourth motor (740) are electrically connected to the control system to achieve control.

28. A multifunctional lower limb rehabilitation training device integrating rigidity and flexibility according to claim 27, characterized in that: The first motor (710), the second motor (720), the third motor (730) and the fourth motor (740) are electrically connected to an electrical control box (700).

29. A multifunctional lower limb rehabilitation training device integrating rigidity and flexibility according to claim 28, characterized in that: The electrical control box (700) is connected to the end of the linear guide rail (110). The control box has a built-in power supply or can be connected to a power supply, and has a control display screen (701) and control buttons (702). The electrical control box has an extended wire interface (703) that is electrically connected to the circuit connector (113) at the lower hollow part of the linear guide rail (110). The electrical control box (700) is plugged into the plug interface (112) on the linear guide rail (110) through the plug post (704).

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