The invention relates to a parallel
structure type ankle joint
rehabilitation training device, which comprises a
thigh support, an inner
thigh support rod, an outer
thigh support rod, a shank connecting sleeve, a foot support plate, a base plate, a flexible first movement
branch chain, a flexible second movement
branch chain and a third movement
branch chain. The upper ends of the first movement branch chain and the second movement branch chain are connected with the foot support plate through ball hinges, and the lower ends of the first movement branch chain and the second movement branch chain are connected with the base plate through hook hinges; and one end of the third movement branch chain can rotate around the extension direction of the third movement branch chain, and the upper end and the lower end of the third movement branch chain are respectively connected with the foot support plate and the base plate through hook hinges. The 2-UPS / UCU / S type parallel structure is adopted,
three degrees of freedom of rotation can be provided, the center of rotation is the
ankle joint, the dorsiflexion /
plantar flexion, inward turning / outward turning and inward rotation / outward rotation of the
ankle joint can be truly realized, and the bionic performance is good. Moreover, the device has a
symmetric structure, and the movement can be realized easily.