67 results about "Lower extremity joint" patented technology

The invention provides a sports action correcting and monitoring system based on image recognition and big data, relates to the technical field of artificial intelligence, and integrates multi-source data, eliminates space-time differences and improves the accuracy and reliability of an analysis result through a data synchronization and fusion module by using a big data processing technology; the biomechanical solving module calculates a lower limb joint torque vector in real time based on a Lagrange equation, and real-time monitoring of the joint torque is achieved; the load optimization module adopts an Adam optimization algorithm, optimizes the stride width and the knee joint buckling angle through a gradient descent method, minimizes the maximum value of the joint torque, reduces the joint load of an athlete, and prevents potential injury; the feedback display module transmits the optimized action parameters to the wearable device in real time, the athlete is guided to adjust the action in real time, and the high efficiency and safety of training are ensured.

The invention discloses an active lower limb four-bar linkage heterogeneous exoskeleton and a using method thereof. The active lower limb four-bar linkage heterogeneous exoskeleton comprises a back plate, hip joints, four-bar linkage knee joints, shank rods and sole shoe covers. The back plate is connected with the hip joint shaft hole through a hip joint position rotating shaft; the hip joint and the four-bar linkage knee joint are connected with a bolt of a motor through a bracket; the four-connecting-rod knee joint is connected with the shank rod in a matched mode through a shaft hole; the shank rod is connected with the sole shoe cover through a fisheye bearing; the foot sole shoe cover is located at the tail end of the exoskeleton, and the hip joint, the four-bar linkage knee joint, the shank rod and the foot sole shoe cover are installed in a mirror image mode with the back plate as the datum plane. According to the active lower limb four-connecting-rod heterogeneous exoskeleton, through the coaxial layout form of hip and knee motors, the swing inertia of lower limb joints and elements is reduced, the torque on a knee joint rotating shaft is amplified through a knee joint four-connecting-rod driving form, and the supporting capacity of exoskeleton joints is improved.

The invention discloses a weight loss gait test evaluation and training device and method, and the device comprises a weight loss control module which is used for weighing the weight of a user in real time and automatically adjusting the air pressure of an air bag according to a set weight loss proportion; the gait information acquisition module is used for synchronously acquiring plantar pressure distribution, lower limb joint kinematics parameters and double-view video data; the multi-modal gait evaluation grading model module is used for processing plantar pressure distribution, lower limb joint kinematics parameters and double-view video data and outputting lower limb dyskinesia grades; and the training scheme generation model module is used for automatically generating a training scheme including a weight reduction proportion, a treadmill speed, single exercise time and training times per week according to the lower limb dyskinesia level and the personal information of the user.

The invention discloses a human body lower limb posture monitoring system based on a flexible sensor. The human body lower limb posture monitoring system comprises an array type flexible piezoresistive sensor module, a data acquisition and processing module, a feature selection module, a pressure data color mapping module, a wavelet neural network module and a joint bending angle result output module. An array type flexible piezoresistive sensor used for obtaining initial plantar pressure distribution data is designed, a method based on gait intervals is adopted to select data points, key feature points most related to joint angle changes are screened out based on time sequence information of gait events, the dimensionality of input data is reduced, and the accuracy of the input data is improved. And the structure and the training process of the network are optimized, and high-precision prediction of the lower limb joint angle is realized.

The invention discloses a lower limb motion capture method and device based on a flexible pressure sensor array and a medium, and the method comprises the steps: collecting foot pressure signals generated by two feet when a human body moves through the flexible pressure sensor array arranged on an insole; the collected foot pressure signals are input into a pre-trained action estimation model, coordinates of lower limb joint points are predicted and output, and then real-time human body lower limb movement conditions are obtained; wherein the predicted lower limb joint points comprise ten key points, namely hip joints, knees, ankles, heels and toes of the left limb and the right limb. By combining the flexible pressure sensor array and the motion estimation model, the motion position of the lower limb joint is estimated only based on the flexible pressure sensor on the insole, and the problems of high cost and complicated wearing in the prior art are solved. The method can be widely applied to the technical field of motion capture.

The invention provides a bionic lower limb robot artificial limb test system and method. The system comprises a humanoid robot test main body, a load module, a support module and a data acquisition module, the humanoid robot testing main body at least comprises human lower limb joints and is used for simulating human lower limb walking; the human body lower limb joint comprises at least one of a knee joint, an ankle joint and a foot modularization, and at least part of the human body lower limb joint can be replaced by an artificial limb to-be-tested unit, so that the humanoid robot test main body can drive the artificial limb to-be-tested unit to carry out a walking test; the load module is arranged on the humanoid robot test main body and is used for providing a target load for the artificial limb to-be-tested unit; the supporting module is used for providing a walking road on which the humanoid robot testing main body can carry out a walking test; the data acquisition module is used for monitoring test parameters when the artificial limb to-be-tested unit is subjected to a walking test. According to the invention, a real use scene can be simulated, and accurate detection of the multi-dimensional performance of the artificial limb can be realized.

The invention relates to a joint angle prediction method and device, wearable lower limb exoskeleton equipment and electronic equipment, and relates to the technical field of exoskeleton equipment control. The method comprises the following steps: acquiring an electromyographic signal when a user walks by wearing the wearable lower limb exoskeleton equipment; classifying the electromyographic signals according to an electromyographic signal classification model, and determining a first electromyographic signal associated with the knee joint and a second electromyographic signal associated with the ankle joint; inputting the first electromyographic signal and the second electromyographic signal into a joint angle prediction model, and determining a joint angle of a knee joint and a joint angle of an ankle joint; wherein the wearable lower limb exoskeleton equipment performs joint control according to the joint angle of the knee joint and the joint angle of the ankle joint. Therefore, the electromyographic signals are disassembled into the signals related to all the lower limb joints, then the joint angles of all the lower limb joints are predicted through the signals related to all the lower limb joints, and therefore the joint angle prediction accuracy is improved.

The utility model discloses a visual interventional therapy operation support for lower limb joints, and belongs to the technical field of adjuvant therapy. The device comprises a support frame; the first telescopic frame is rotationally installed on the supporting frame, the two telescopic frames are rotationally connected, the second telescopic frame is rotationally provided with a sliding block, and the sliding block is installed on the supporting frame in a sliding mode; the foot support is mounted on the second telescopic frame; the first fixing piece is installed on the supporting frame. The lower limbs of a patient are placed above the two telescopic frames, and the angle formed between the two telescopic frames is adjusted, so that the supporting angle between the shanks and the thighs of the patient is adjusted. Through the telescopic function between the telescopic frames, the device can adapt to patients with different lower limb sizes. The lower limbs of a patient can achieve standard treatment body position fixation, the adjusting process is simple and convenient to operate, the patient has good comfort and experience feeling, the requirement for visual guide body position placement and fixation of all joints of the lower limbs is met, and medical humanistic care is embodied.

The invention discloses a lower limb joint flexible traction rehabilitation device, and relates to the technical field of lower limb joint rehabilitation physiotherapy equipment. Comprising a leg traction mechanism and a thigh traction mechanism which are fixedly placed on the ground, the leg traction mechanism is arranged close to the right front of the thigh traction mechanism, and the thigh traction mechanism can conduct stretching and bending action training on the hip joint of a patient and conduct lower limb strength rehabilitation training on the patient at the same time. A rail adjusting assembly and a sliding assembly of the leg traction mechanism are in sliding fit, so that the lower limbs of the patient do reciprocating curvilinear motion along the arc-shaped track of an arc-shaped sliding rail plate, the stretching and bending motion range of the lower limb joints of the patient can be greatly increased, and therefore the lower limb joints of the patient can be effectively exercised; the leg traction mechanism can achieve abduction and adduction action training of the hip joint of the lower limb of the patient, and the thigh traction mechanism can achieve stretching and bending action training of the hip joint of the lower limb of the patient, so that the hip joint of the patient obtains multi-aspect action training.

The lower limb joint loosening equipment comprises a trunk plate, one end of the trunk plate is rotationally connected with two thigh plates, the ends, away from the trunk plate, of the thigh plates are rotationally connected with shank plates, and thigh sliding plate units are installed at the tops of the thigh plates in a sliding mode; a shank sliding plate unit and an ankle joint sliding plate unit are slidably mounted at the top of the shank plate, the shank sliding plate unit is located between the thigh sliding plate unit and the ankle joint sliding plate unit, and a second angle adjusting assembly is mounted between the trunk plate and the bottom of the thigh plate; according to the principle of joint loosening, mechanical force acts on joints in multiple directions, the joints are separated through axial force, the traction requirement of three large joints of the two lower limbs can be met, operation is easy, operation is convenient, and operation is convenient. The technical difficulty and physical output of lower limb joint loosening techniques can be reduced, and the practicability is high.

The utility model discloses a lower limb joint rehabilitation exerciser, which belongs to the technical field of lower limb joint rehabilitation and comprises a base, a movable frame for supporting is mounted at the top of the base, lock catch components for adjusting are mounted on two sides of the movable frame respectively, and a training component for exercising lower limb joints is mounted at the top of the movable frame. A transverse plate used for supporting is connected to one side of the movable frame, a driven assembly matched with the training assembly is installed at the top of the transverse plate, the lock catch assembly can be locked and fixed after the position of the movable frame is adjusted, the movable frame can adapt to users of different heights for rehabilitation training, and the problems that an existing training device is inconvenient to adjust the position, and the training efficiency is high are solved. The problems that in the prior art, users of different heights cannot conduct rehabilitation training conveniently, the training intensity of a training device is single, the different intensity cannot be adjusted for rehabilitation training, and the practicability of lower limb rehabilitation training of equipment is affected are solved.

The invention relates to a multi-joint layered cooperative intelligent control method for a power-assisted exoskeleton, and belongs to the field of robot exoskeletons. Comprising the following steps: acquiring a real-time hip joint angle, updating an adaptive oscillator model based on the real-time hip joint angle, and obtaining a real-time gait phase; segmenting the real-time gait phase to obtain gait phases of a plurality of first sampling points; acquiring the height, the weight, the lower limb joint center and the stride frequency of the user to construct a power-assisted curve of the relation between the lower limb joint power-assisted torque and the gait phase; and acquiring the actual torque of the lower limb joint corresponding to each first sampling point, inputting the gait phase corresponding to each first sampling point into the power-assisted curve for updating to obtain an optimized power-assisted curve, and realizing power assistance of the lower limb joint based on the optimized power-assisted curve. According to the method, the hip joint angle and the moment thereof and the knee joint angle and the moment thereof are associated through the same gait phase, cooperative assistance of the hip joint and the knee joint is achieved, the effectiveness and smoothness of exoskeleton assistance are improved, and the user experience is improved.

This invention relates to an intelligent rehabilitation device and method based on machine vision and thermotherapy technology, belonging to the field of rehabilitation medicine and medical equipment technology. It includes: a multi-angle machine vision monitoring module; an intelligent positioning and temperature control module for the thermotherapy head, including a displacement adjustment mechanism, a thermotherapy head, and a temperature control system; an auxiliary flexion-extension mechanism and linkage control module, including a knee assistive support, a strap, and a drive assembly; and a real-time feedback and remote monitoring module. The multi-angle machine vision monitoring module, the intelligent positioning and temperature control module for the thermotherapy head, and the auxiliary flexion-extension mechanism and linkage control module achieve data fusion and closed-loop linkage control through a main control chip. This invention facilitates real-time and accurate monitoring of rehabilitation movements, intelligent positioning and dynamic temperature control of the thermotherapy head, quantitative evaluation of rehabilitation effects, and closed-loop optimization of training parameters, thereby improving the accuracy, safety, and patient compliance of lower limb joint rehabilitation treatment.

This invention provides a biomimetic lower limb robot prosthesis testing system and method, comprising: a humanoid robot testing body, a load module, a support module, and a data acquisition module; the humanoid robot testing body includes at least human lower limb joints for simulating human lower limb walking; the human lower limb joints include at least one of a knee joint, an ankle joint, and a foot module, and at least a portion of the human lower limb joints can be replaced with a prosthesis test unit, enabling the humanoid robot testing body to drive the prosthesis test unit for walking tests; the load module is disposed on the humanoid robot testing body for providing a target load to the prosthesis test unit; the support module provides a walking path for the humanoid robot testing body to perform walking tests; and the data acquisition module monitors the test parameters of the prosthesis test unit during walking tests. This invention can simulate real-world usage scenarios and achieve accurate testing of multi-dimensional prostheses.

The invention relates to the technical field of rehabilitation training, and relates to an evaluation and training method and system based on a lower limb joint rehabilitation apparatus, and the method comprises the steps: obtaining multi-dimensional motion data points of a target joint at each moment when a patient carries out training in a preset type of training mode; obtaining a first angle-angular velocity mapping curve and a second angle-angular velocity mapping curve according to the multi-dimensional action data points of the target joint from the first moment to the nth moment; constructing a time sliding window, and inputting the multi-dimensional action data points after the nth moment into the time sliding window; and calculating an evaluation coefficient of each moment after the (n + m) th moment, and determining a training mode of training the patient at each moment according to the evaluation coefficient of each moment. According to the invention, intelligent closed-loop regulation and control of the training difficulty are realized, safety risk and efficiency reduction caused by adjustment lag are avoided, and the automation level and the overall effect of rehabilitation training are remarkably improved.

The auxiliary lower limb stress position CT shooting device comprises an upper base plate, a lower base plate, a sliding adjusting supporting plate and a pressure applying displayer, a telescopic adjusting rod is fixed to the end of the upper base plate, and the telescopic adjusting rod is inserted into the lower base plate and fixed into the lower base plate through a locking screw. Two sliding adjusting grooves are formed in a horizontal supporting plate of the sliding adjusting supporting plate, foundation bolts are fixed to the lower base plate and penetrate through the sliding adjusting grooves, and the sliding adjusting grooves of the horizontal supporting plate can relatively slide along the foundation bolts and are fixed to the lower base plate through locking nuts. A pressure applying displayer is detachably fixed to the front face of the vertical supporting plate. The device can simulate the position of a joint when a person stands at a load-bearing position, so that CT shooting of the load-bearing position of the lower limb joint, including ankle joints, knee joints and hip joints, is simulated, and important reference data are provided for evaluation of joint diseases of clinical patients and pre-operation and post-operation evaluation.

1. The name of the product of this design: Lower limb joint rehabilitation trainer. 2. Purpose of the product of this design: medical equipment used for lower limb joint rehabilitation training. 3. The design key point of this appearance design product lies in the shape. 4. The picture or photo that best illustrates the design points: three-dimensional picture.

The invention discloses a rehabilitation exoskeleton driving optimization method based on lower limb energy transfer characteristics, which comprises the following steps: firstly, acquiring and analyzing kinematics and dynamics data of a user during walking, and calculating lower limb joint torque, power and energy transfer efficiency between joints; secondly, constructing a high-fidelity man-machine coupling dynamic model fusing human muscle-bone and exoskeleton mechanisms and man-machine contact interaction; and finally, constructing a target function according to key indexes such as energy transfer efficiency and the like, and automatically generating an exoskeleton personalized driving strategy matched with the individual gait characteristics of the user through a simulation optimization algorithm. According to the method, the energy flow reference of the hip-knee-ankle joint of a normal person is established through calculation, the energy transfer deviation of an individual patient is analyzed, an exoskeleton driving curve is simulated and optimized based on man-machine coupling dynamics, the patient gradually recovers to be close to a normal energy transfer mode under the safety constraint, and the energy transfer efficiency is improved. Therefore, gait symmetry, propelling capability and comfort are improved.

The application provides a lower limb rehabilitation exoskeleton robot control method and system, which comprises the following steps: collecting joint torque, lower limb joint angle, joint angular velocity and plantar pressure data of a patient to calculate a rehabilitation state evaluation index; collecting the angle difference of left and right hip joints, identifying the current gait type and the expected trajectory under the corresponding gait based on the gait phase variable, and optimizing the expected trajectory based on the rehabilitation state evaluation index to obtain a target optimized trajectory; calculating the nominal torque based on the acceleration of the trajectory and the parameters of the dynamics model, designing a sliding surface through the implementation of monitoring trajectory tracking error, generating a compensation torque, and calculating a control torque vector. By identifying the gait type and generating a personalized trajectory, and then decomposing the nominal torque and the compensation torque through the U-K controller, high-precision tracking is realized while the model uncertainty disturbance is inhibited, and the naturalness of human-machine cooperation and the safety of rehabilitation training are significantly improved.

To provide a knee supporter capable of allowing a user to get at an ideal walking style and suppressing the abrasion of the articular cartilage of the leg due to the extension of the knee.SOLUTION: A knee supporter 1 includes a body part 2 which is substantially cylindrically attached from the femoral region to the crural region. The knee supporter comprises stretchable belts 3a and 3b which are spanned between the upper portion and the lower portion of the body part 2 and restrict extension of the knee by a tensile force, and stays 4a and 4b which vertically extend on at least one side of the left and right sides of the body part 2 and are rotatable around hinges 13 in response to bending of the knees. The rotation of the stays 4a and 4b is restricted so as not to be in a non-flexible state, that is, a fully extended state where an upper stay 11 and a lower stay 12 are linearly arranged in the vertical direction so that a flexion angle θ is 0°.SELECTED DRAWING: Figure 4

The utility model discloses a nursing bed convenient for post-operation rapid rehabilitation of lower limb joints, which comprises a bed frame, a bed board structure mounted on the bed frame and a bed board driving device connected between the bed frame and the bed board structure, and the bed board driving device is used for driving the bed board structure to swing relative to the bed frame. The bed board structure comprises a lower limb supporting plate, an upper limb supporting plate hinged to one end of the lower limb supporting plate and a swing driving mechanism driving the upper limb supporting plate to rotate relative to the lower limb supporting plate. The nursing bed provided by the utility model can assist a patient in completing the stooping action, and post-operation exercise of the lower limb joints of the patient is improved, so that post-operation rehabilitation of the damaged lower limb joints of the patient is accelerated.

The invention relates to the field of biomedical engineering, in particular to a method for calculating counter-acting force borne by a human body in the sitting posture kicking training process, and provides a method for calculating counter-acting force based on human body dynamics modeling and the counter weight motion state of a fixing instrument. In order to avoid the use of a traditional three-dimensional dynamometer, the invention provides a novel counter-acting force calculation method for a fixed instrument sitting posture kicking trainer, the method applies a human body dynamics modeling method, and the counter-acting force is calculated by collecting the movement state of a counter weight in the movement process. Human body and outside interaction force in the training process is obtained by combining a human body lower limb dynamic model. The method comprises the following steps: step 1, measuring lower limb parameters of a trainee; 2, according to the lower limb parameters of the trainee, the lower limb joint angle of the trainee in the sitting posture kicking training process is calculated; and step 3, according to the lower limb joint angle of the trainee, calculating the counter-acting force applied to the lower limbs of the trainee in the sitting posture kicking training process.

The utility model discloses a lower limb correction rehabilitation instrument, and particularly relates to the technical field of lower limb correction instruments, which comprises a base, a water tank is fixedly arranged at the top end of the base, water is stored in the water tank, a detachable correction rehabilitation component is fixedly arranged on the inner wall of the bottom of the water tank, and a first stair is fixedly arranged on one side of the water tank. The correction rehabilitation assembly comprises a mounting plate, two pedal plates are movably connected to the mounting plate, and bandages are fixedly arranged on the two pedal plates. The pedal plate assists a hemiplegic patient in performing correction rehabilitation exercise, meanwhile, a hydrotherapy mode is adopted, buoyancy of water can support the lower limbs of the hemiplegic patient, pressure of joints and bones of the lower limbs is reduced, meanwhile, water can increase resistance borne by the lower limbs of the hemiplegic patient during exercise, muscle strength and endurance of the lower limbs can be enhanced, and the hemiplegic patient is helped to perform rehabilitation exercise. In addition, the exercise in water can improve the heart rate, enhance the functions of the heart and the lungs and reduce the blood pressure, and the correction rehabilitation exercise effect is better.

The utility model discloses a humanoid robot based on pneumatic tendons, which comprises a skeleton, an abdomen system, a thoracolumbar fascia and trapezius muscle system, a lower limb system, a neck system and a shoulder system, and the neck system, the shoulder system, the abdomen system and the lower limb system are all mounted on the skeleton from top to bottom. The thoracolumbar fascia and trapezius muscle system is mounted on the skeleton. A plurality of groups of pneumatic tendons are used for driving the joint, so that the joint can move in multiple directions at the same time; the pneumatic tendon similar to the human muscle in shape is utilized, and the pneumatic tendon has the advantages of being larger in power / mass ratio, high in adaptability, large in output force and the like. The neck joint, the shoulder joint, the belly joint, the waist joint and the lower limb joint of the product respectively have three degrees of freedom, two degrees of freedom, two degrees of freedom, two degrees of freedom and six degrees of freedom, various actions of human joints can be vividly simulated, and the effect of each muscle in joint movement can be known.

The present invention discloses an active lower limb four-bar linkage heterogeneous exoskeleton and a method of using the same, comprising a back plate, a hip joint, a four-bar linkage knee joint, a shank rod, and a sole shoe cover; the back plate is connected to the hip joint shaft hole through a hip joint position shaft; the hip joint and the four-bar linkage knee joint are connected to the bolts of a motor through a bracket; the four-bar linkage knee joint is connected to the shank rod through a shaft hole; the shank rod is connected to the sole shoe cover through a fisheye bearing; the sole shoe cover is at the end of the exoskeleton, and the hip joint, the four-bar linkage knee joint, the shank rod, and the sole shoe cover are mirror-mounted with the back plate as a reference plane. The active lower limb four-bar linkage heterogeneous exoskeleton provided by the present invention reduces the swing inertia of the lower limb joints and components through the coaxial layout of the hip and knee motors, and the knee joint four-bar linkage drive form amplifies the torque on the knee joint shaft, thereby improving the support capacity of the exoskeleton joint.

The present invention discloses a method, device, medium and equipment for monitoring force lines of lower limbs, and the method comprises the following steps: generating a target detection action corresponding to a target object; generating a prompt instruction to drive the target object to complete the corresponding continuous lower limb joint movement according to the target detection action; obtaining spatial position data respectively sent by a first sensing device and a second sensing device during the continuous lower limb joint movement; calculating a first distance of the knee joint center relative to the femoral head center, a second distance of the ankle joint center relative to the femoral head center, and a third distance of the ankle joint center relative to the knee joint center according to the spatial position data, and calculating the knee valgus angle of the target object. The present invention can monitor the force lines of lower limbs and the deviation angle of the force lines of lower limbs in real time, without the need for traditional complex clinical measurement devices, and is not only highly accurate and safe to use, but also simple to operate and easy to use.

Individually adapted, rotatable footplate with inlays. In rowing and canoeing, the footplate is essential for transferring leg and overall body power, and is indispensable for stabilizing and thus propelling the boat. Conventional footplates do not accommodate the individual, genetically diverse physiques of each person, resulting in various disadvantages and problems during use. Furthermore, the joints of the lower extremities are not fully mobile. The innovative, rotatable footplate, optionally equipped with a tilting mechanism, is customized in material type, thickness, and stiffness to the user's foot position. Only with this rotatable footplate is safe use without risk of injury to the user's body possible.The rotating footplate is custom-made in various formats through milling, casting, and laminating of the respective materials, ensuring a perfect fit for each individual user. The rotating footplate provides safety and comfort, minimizes injuries, increases boat speed, and boosts the user's performance when rowing, canoeing, or using an ergometer. The individual adaptation of the rotating footplate reduces stress on the human body and prevents injury.

The present invention provides an ankle pump exercise training device and training method to assist users in completing ankle pump exercises safely and effectively. The device includes: an electromechanical control module, which is used to respond to user needs according to a preset exercise strategy, form an electromechanical control signal sequence, and control the movement of the corresponding action mechanism; an electromechanical action structure, which is used to form an action mechanism that supports the lower limb joints at the ankle, and drive the ankle movement or follow-up ankle movement according to the control signal sequence. By effectively utilizing the degrees of freedom of movement and control dimensions formed by the electromechanical action structure, ankle pump exercises in active mode, passive mode, and follow-up mode are constructed, and an overall hardware architecture and training control process of control-acquisition-feedback are established. It can promote venous return in the lower limbs, prevent deep vein thrombosis in the lower limbs, and enhance lower limb muscle strength and lower limb muscle mass. This can increase physical activity and energy consumption, and improve indicators such as blood pressure, blood sugar, blood lipids, and body fat.

The lower limb joint direct-drive type load-bearing exoskeleton robot comprises a back assembly, a waist assembly, thigh and shank assemblies and ankle joint and foot assemblies, the waist assembly comprises a waist tripod, hip joint shafts and hip joint connecting rods, and the hip joint connecting rods and the waist tripod are in bearing connection through the hip joint shafts to form rotating pairs; the back component is connected with the waist component; the thigh and shank assembly comprises a hip joint motor module, a thigh rod, a knee joint motor module and a shank rod, the thigh rod is rotationally connected with the hip joint motor module, the shank rod is rotationally connected with the knee joint motor module, and the hip joint motor module is connected with the hip joint connecting rod; the ankle joint and foot assembly comprises a shank ankle joint connecting rod, an ankle joint sole connecting piece and a sole metal connecting piece, the shank ankle joint connecting rod and the ankle joint sole connecting piece are connected to form a rotating pair, and the shank ankle joint connecting piece is connected with the shank rod. And the flexibility and the degree of freedom of the robot are improved.

The invention relates to the technical field of medical instruments, and discloses a foldable lower limb joint rehabilitation training device which comprises a shell, a screw is arranged on the surface of the shell, a nut is in threaded connection with the inner wall of the screw, and an inductor is arranged on the surface of the side, away from the nut, of the shell. A control panel is arranged on the surface of the side, away from the shell, of the inductor. After the device is installed on a patient needing to use the device, the two shells are installed along the surfaces of the nuts, the screws are rotated, the two shells are fixed to each other, at the moment, the ends are fixed into the parts, after the shells are placed at the needed positions, the rope rotating plate is rotated along the inner wall of the rope box, and when the rope rotating plate rotates, the rope rotating plate is rotated to rotate. When the pull rope moves, the pull rope is driven to slide and move along the surface of the rope groove, when the pull rope moves, the pull sleeve plate is driven to move along the surface of the fixed arc rod, the pull sleeve plate drives the elastic rope to move, when the elastic rope moves, the elastic rope contracts inwards, and when the elastic rope contracts, the elastic rope slides and moves along the surface of the telescopic pull rod.