106 results about "Plantar flexion" patented technology

The invention provides a horizontal limb joint rehabilitation physiotherapy device, and relates to the field of limb joint rehabilitation physiotherapy. A horizontal limb joint rehabilitation physical therapy device comprises a fixing plate which serves as a supporting structure for horizontal limb joint rehabilitation physical therapy, supporting seats which are evenly distributed are installed at the bottom of the fixing plate, and first ball cage type universal joints used for driving an upper limb assembly and a lower limb assembly to rotate are installed on the two sides of the fixing plate and the two sides of one end of the fixing plate; the two driving assemblies are arranged at the two ends of the top of the base correspondingly and used for driving the upper limb assembly and the lower limb assembly; and the ankle joint assembly is mounted at one end of the lower limb assembly and drives the ankle back to stretch and the plantar flexion through a servo motor. The upper limbs and the lower limbs can be driven to conduct rehabilitation training through the driving assembly, and meanwhile rehabilitation training can be conveniently conducted on one sides of the upper limbs and one sides of the lower limbs through cooperation of a first electromagnet, a first magnet, a second electromagnet and a second magnet.

A rigid-flexible integrated multifunctional lower limb rehabilitation training device comprises 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 dorsal extension and plantar flexion training mechanism (400), a hip and ankle joint inward and outward rotation autonomous training mechanism (500) and a hip joint adduction and abduction autonomous training mechanism (600). Mainly comprises a flexion and extension hand pull rope (310), a pedal plate (320) and a pedal pull rope (330); a support plate (410) and an elastic member (420); the internal and external rotation training device comprises a support frame (510), an internal and external rotation training arc-shaped track (520), an internal and external rotation roller (450) and an internal and external rotation training pull rope (530), the gear (620) is meshed with the adduction and abduction training arc-shaped track (610), and the adduction and abduction training pull rope (630) is arranged on the adduction and abduction training arc-shaped track (610). The lower limb core muscle group rehabilitation training device integrates multiple modes such as multiple joints, multiple degrees of freedom, passive, assisting and active as soon as possible in the lying position, can simulate gait training in the lying position, and effectively promotes early rehabilitation of a patient.

The invention belongs to the related technical field of robots, and discloses a leg structure assembly of a humanoid robot and the humanoid robot, and the leg structure assembly comprises a hip joint assembly and a leg structure assembly, the hip joint assembly comprises three driving modules, and three-degree-of-freedom rotation movement similar to human hips is achieved; the knee joint assembly comprises a knee joint structure, a knee joint driving module and a knee joint transmission assembly, the knee joint driving module is installed at the upper end of the thigh structure, and the knee joint transmission assembly drives the shank structure to bend and stretch; the ankle joint assembly comprises an ankle joint structure, an ankle joint driving module and an ankle joint transmission assembly, the ankle joint driving module is installed at the upper end of the thigh structure and located below the knee joint driving module, and the ankle joint transmission assembly drives the foot structure to achieve plantar flexion / dorsiflexion movement and extroversion / adduction movement. The driving modules are moved upwards to the upper ends of the thigh structures, and the humanoid robot has the advantages of being free of driving modules at the tail ends, concentrated in mass and small in rotational inertia, and the movement frequency of the humanoid robot can be improved.

The utility model discloses an auxiliary ankle pump movement device which comprises a base and two ankle exercise units, and each ankle exercise unit comprises a pedal hinge seat, a movable pedal, a universal rod, a sliding rail, a sliding block and a spring. The auxiliary ankle pump movement device is provided with a pedal hinge seat and a universal rod, the pedal hinge seat and the movable pedal are detachably installed, the pedal hinge seat rotates with the connecting shaft as a rotating shaft, and a patient can conduct back stretching or plantar flexion actions with the ankle joint as a point through the movable pedal. After the connection between the pedal hinge seat and the movable pedal is released, the movable pedal can rotate universally through the universal rod, a patient can turn inwards and outwards through the movable pedal, and rotate around toes by 360 degrees with the ankle joint as the center, and the problems that an existing ankle pump movement device is single in function, and plantar flexion, inward turning, dorsal stretching and outward turning actions cannot be conducted are solved.

Embodiments of footwear to optimize propulsion while swimming in the water and walking on land, in particular, amphibious footwear capable of duty on land and in the water as well as versions that are optimized for predominantly use in the water for swimming. The exoskeleton amphibious footwear reduces metabolic demand of walking and swimming while also improving gait speed and swim speed. This is accomplished by assisting plantar flexion during land mode, and assisting dorsiflexion in water mode.

The utility model discloses a flexible ankle wrapping type movable ankle orthosis which comprises a shank supporting part, a foot support, an elastic ankle hinge and a foot wrapping part. The lower end of the shank supporting part is rotationally connected with the rear end of the foot support through an elastic ankle hinge; the lower end face of the foot wrapping part is attached to the upper end face of the foot support, and the upper end of the foot wrapping part is sleeved with the lower end of the shank supporting part. The outer side of the lower end of the shank supporting part is detachably connected with a first nylon fastener tape used for fixing the shank supporting part and the foot wrapping part. The utility model has the advantages that the foot wrapping part is made of a high-elasticity, soft and durable polyethylene flexible material and can wrap the heel, the ankle, the instep and the sole, the stability and the supporting force of the ankle are kept, and the foot position is effectively controlled; compared with a traditional movable ankle orthosis, inward and outward turning of the ankle joint can be more effectively controlled, the ankle joint can have the motion range of partial dorsiflexion and plantar flexion, the orthosis effect can be better and more effectively achieved, and meanwhile motion of the ankle joint is not completely limited.

The utility model discloses an ankle joint trainer, contain casing, movable footboard, movable footboard drive mechanism and leg support plate, and the leg support plate is fixed on the casing upside, and movable footboard articulates on the casing upside and is connected with movable footboard drive mechanism and is driven along the rotation of hinged axle by movable footboard drive mechanism drive. The utility model discloses through drive motor control movable footboard rotates back and forth along the hinged axle to promote the plantar flexion and dorsiflexion movement of ankle joint, has improved blood flow rate, can better prevent thrombus.

The invention provides a multifunctional thrombus-preventing foot drop exercise rehabilitation apparatus, and relates to the field of rehabilitation apparatuses, the multifunctional thrombus-preventing foot drop exercise rehabilitation apparatus comprises a bottom seat, a main frame is arranged above the bottom seat, an auxiliary frame is arranged in the main frame, a supporting foot plate is arranged in the auxiliary frame, and the rear end of the supporting foot plate is fixedly connected with the middle position of the auxiliary frame; the ankle pump surrounding mechanism comprises a main shaft, and one end of the main shaft is fixedly connected with the middle position of the main frame. Longitudinal tiptoe hooking and stretching are achieved through the stretching and retracting assembly, dorsal flexion and plantar flexion movement are completed, surrounding movement driven by the main shaft is matched, the two kinds of movement can be synchronously carried out under driving of double motors, and the natural ankle pump movement track of the human body is better, more comprehensively and more completely simulated; the elastic band is installed on the supporting foot plate, the elastic band is automatically tightened through the built-in roll shaft, manual binding is not needed, the whole wearing process consumes less time, and the device is particularly suitable for paralyzed patients who are inconvenient to move.

The utility model discloses an infrared ray ankle pump motion counter which comprises two supports and a flexible piece arranged between the two supports, and a training area for a foot sole to be placed in is formed between the two supports. The support is provided with an upper sliding rail, a lower sliding rail and a counting circuit, the upper sliding rail and the lower sliding rail are distributed up and down, the upper sliding rail is slidably provided with a back stretching infrared induction part, the lower sliding rail is slidably provided with a plantar flexion infrared induction part, and the induction end of the back stretching infrared induction part and the induction end of the plantar flexion infrared induction part both face the training area. The back stretching infrared induction part and the plantar flexion infrared induction part are both electrically connected with the counting circuit, and when the back stretching infrared induction part and the plantar flexion infrared induction part both induct the foot sole within one movement period, the counting circuit completes counting once. By the adoption of the arrangement, a patient can do back stretching and plantar flexion actions, whether the actions are in place or not can be checked, and the use safety and the auxiliary exercise effect can be improved.

The invention relates to the technical field of air pressure therapeutic apparatuses, and discloses an air pressure therapeutic apparatus combining air pressure therapy with ankle joint movement therapy and a control method thereof.The air pressure therapeutic apparatus comprises a main machine and is characterized by further comprising a body part arranged on the main machine and used for conducting air pressure therapy on legs; the training part is arranged on the main machine and is used for performing exercise treatment on the ankle joints; the anti-falling part is arranged on the host and is used for fixing the body part; wherein the control body part controls the training part. By arranging the training part, the problems that most of traditional devices can only achieve single air pressure treatment through external extrusion of air bags, ankle joints are inconvenient to synchronously drive to conduct active and passive movement of dorsal flexion and plantar flexion, consequently, the blood circulation improvement effect depends on air pressure intensity, cooperative driving of joint movement to a muscle pump is lacked, and the rehabilitation effect is poor are solved. The increase amplitude of blood flow velocity is limited, and the deep vein thrombosis prevention efficiency is difficult to break through the bottleneck.

A brace includes a lower leg shell configured to wrap around at least a portion of a lower leg of a wearer, a foot shell pivotally coupled to, and configured to rotate in relation to, the lower leg shell, a ROM limiting assembly configured to set upper and lower limits for the desired range of angles of plantarflexion and / or dorsiflexion, and an outer sole assembly hingedly coupled to an anterior edge of the foot shell. The brace is configured to hinge at a ball of the wearer's foot. When worn, the toes and ball of the wearer's foot are disposed on an anterior portion of the outer sole assembly, and portions of the wearer's foot proximal of the ball are disposed on the foot shell and within the desired range of angles of plantarflexion and / or dorsiflexion. A wedge spacer is also provided. Related methods are also provided.

An integral power-assisting exoskeleton device and power-assisting method, wherein the shoulder fixing frame of the shoulder joint assembly realizes free movement of the upper limb exoskeleton through a ball head connector; the forearm support of the upper limb exoskeleton is hinged to the upper arm support, and the upper limb cylinder for driving the forearm support to swing relative to the upper arm support is fixed to the upper arm support; the lower end of the thigh plate is rotatably installed with the knee joint rotation axis, and one end of the piston cylinder assembly for assisting in increasing the angle between the thigh plate and the calf plate is hinged to the large push plate, and the other end is hinged to the cantilever rocker on the outer periphery of the knee joint rotation axis; one end of the connecting plate of the foot exoskeleton is fixedly connected to the calf plate of the lower limb exoskeleton, and the other end is connected to the sole sleeve assembly, and energy is stored through the passive power-assisting component when the human foot structure performs plantar flexion movement for power-assisting walking, and the power-assisting function of the exoskeleton is realized on the basis of reducing system cost by adopting the minimum active power-assisting method, so that the power-assisting effect is better.

PRPRThe invention relates to a biological fusion type parallel ankle joint rehabilitation robot which comprises a parallel mechanism module, a leg supporting module, a rack module and an operation panel module. The robot adopts a 2PRRS / RPRS parallel mechanism configuration, is not provided with a mechanical rotation center, and is combined with a human body biological joint to form a 2PRRS / RPRS / S equivalent parallel mechanism. In the mechanism, the biological joint serves as the only rotation center, the problem that the man-machine rotation centers are inconsistent is fundamentally solved, and complex center adjusting operation needed by traditional rehabilitation equipment is avoided. In addition, the robot can assist the patient in rehabilitation training in dorsiflexion / plantar flexion, introversion / extroversion, adduction / abduction and multiple composite motion modes.

The invention relates to the field of tail end driving type lower limb rehabilitation robots, and discloses a mechanical branch chain suitable for a lower limb rehabilitation system, the mechanical branch chain comprises a moving pair and four rotating pairs which are connected in sequence, and the mechanical branch chain is connected with a shank of a human body through a protector assembly to assist human joints in rehabilitation exercise. The mechanical branch chains can assist the hip joint of the human body in adduction / abduction and flexion / extension movement and limit the inward rotation / outward rotation movement of the hip joint; the flexion / extension movement of the knee joint of the human body can be realized. The invention further provides a lower limb rehabilitation system which comprises a machine frame and the mechanical branch chain, and lateral lane changing walking of the human body in the rehabilitation training process is achieved. The invention further provides a lower limb rehabilitation robot which comprises a running machine and the lower limb rehabilitation system, so that motions such as dorsiflexion / plantar flexion, introversion / extroversion, adduction / abduction and the like of ankle joints are controlled by the mechanical branch chains connected with the legs.

Disclosed is a device that positions the foot with respect to one or more surfaces to manipulate the foot and, optionally, the ankle and lower leg for stretching and strengthening of the muscles, tendons, and ligaments of the foot, ankle, and lower leg. The device includes a base configured to provide support for the device against a surface. The device also includes one or more of a first portion having a first surface shaped to compliment a heel of the at least one foot, with the heel against the first surface; a second portion having a second surface shaped to position a forefoot of the at least one foot in plantar flexion with the forefoot against the second surface; and one or more of a third portion having a third surface shaped to position one or more toes of the at least one foot in extension with the one or more toes against the third surface.

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

This invention relates to the field of nursing rehabilitation technology, and in particular provides a rehabilitation device for stroke hemiplegia care. This rehabilitation device includes a rehabilitation bed frame, a massage adjustment component, a lower limb adjustment component, and a lower limb training component. This invention enables mechanically assisted adjustment for stroke patients to smoothly transition from a supine position to a sitting and standing position, effectively reducing the workload of rehabilitation technicians, providing patients with self-rehabilitation training methods, and providing massage rehabilitation for the back and buttocks. It also allows for precise adjustment of massage intensity to help promote blood circulation, relieve muscle stiffness, reduce pain, and promote rehabilitation. Furthermore, it provides mechanical assistance for rehabilitation training such as bridging exercises, lower body abduction training, standing training, and plantar flexion training, thereby ensuring the accuracy of the patient's movements, avoiding distorted movements, and maximizing the rehabilitation effect.

A brace includes a lower leg shell configured to wrap around at least a portion of a lower leg of a wearer, a foot shell pivotally coupled to, and configured to rotate in relation to, the lower leg shell, a ROM limiting assembly configured to set upper and lower limits for the desired range of angles of plantarflexion and / or dorsiflexion, and an outer sole assembly hingedly coupled to an anterior edge of the foot shell. The brace is configured to hinge at a ball of the wearer's foot. When worn, the toes and ball of the wearer's foot are disposed on an anterior portion of the outer sole assembly, and portions of the wearer's foot proximal of the ball are disposed on the foot shell and within the desired range of angles of plantarflexion and / or dorsiflexion. A wedge spacer is also provided. Related methods are also provided.

The present invention relates to the technical field of ankle joint rehabilitation equipment, and specifically to a single-degree-of-freedom spherical passive ankle joint rehabilitation mechanism, comprising a base, a bracket, a spherical four-bar mechanism, a U-shaped frame, an ankle placement seat, a connecting plate, an expansion module and two sets of fixing modules. A motor is provided to drive the single-degree-of-freedom rotation of the spherical four-bar mechanism, thereby driving the ankle placement seat to rotate up and down and the U-shaped frame to rotate left and right, thereby realizing spatial compound movement of ankle dorsiflexion / plantar flexion, inversion / eversion, and internal rotation / external rotation; the expansion module meets the treatment needs of patients with different foot shapes, thereby further expanding the applicable population; the two sets of fixing modules enhance the stability of the ankle and effectively prevent the risk of secondary ankle injury; the mechanism has the characteristics of simple structure, easy operation, low cost, etc., and can achieve adaptation to different foot shapes of patients with ankle joint injuries without relying on a complex control system, while being effectively tightened and performing passive rehabilitation training simultaneously.

The utility model discloses an ankle pump exercise training device which is used for automatically counting plantar flexion and dorsal flexion respectively and improving the training accuracy and efficiency. The device comprises a pedal plate, a bottom plate, a connecting column, a first counter, a second counter and an elastic assembly, a connecting column is arranged at one end of the bottom plate, the first end of the pedal plate is movably connected with the connecting column, and the pedal plate can rotate around the connecting column; the elastic assembly is arranged between the second end of the pedal plate and the bottom plate and connected with the second end and the bottom plate, and the elastic assembly is used for providing elastic force between the second end and the bottom plate; the first counter and the second counter are arranged on the two sides of the first end of the pedal respectively, the first counter is used for recording the number of times of compression of the elastic assembly, and the second counter is used for recording the number of times of stretching of the elastic assembly.

The invention provides an ankle joint brace, and belongs to the technical field of medical tools. Comprising a first foot supporting plate and a second foot supporting plate, the tops of the first foot supporting plate and the second foot supporting plate are fixedly connected with connecting plates through screws, and the tops of the connecting plates are fixedly connected with dorsal stretching (plantar flexion) adjusters through screws; a first adjusting plate and a second adjusting plate are rotationally connected to the dorsal stretching (plantar flexion) adjusters on the tops of the first foot supporting plate and the second foot supporting plate respectively, and the adjusting assembly is used for adjusting the use state of the ankle joint brace. According to the ankle joint brace, by arranging the adjusting assembly, medical staff can adjust the angle of ankle joint introversion and extroversion of a patient, so that the angle of ankle joint introversion or extroversion when the patient uses the ankle joint brace is adjusted according to the injury condition of the patient, and the medical staff can adjust the angle of ankle joint overturning towards the side direction by arranging the sole air bag; therefore, the universality of the ankle joint fixing angle of the patient is further improved, and the fixing effect of the ankle joint brace is improved.

The invention discloses a thrombus prevention device combining dual effects of movement and air pressure, which comprises a host, an ankle joint trainer and at least one air pressure sleeve, the ankle joint trainer is electrically connected with an output port of the host, the at least one air pressure sleeve is connected with an air supply port of the host through an air pipe, and the air pressure sleeve adopts an air pressure foot sleeve and / or an air pressure glove. According to the ankle joint training device, plantar flexion and dorsal flexion movement of the ankle joint is promoted through the ankle joint training device, meanwhile, limbs are pressurized through the air pressure foot sleeve and the air pressure glove in the plantar flexion and dorsal flexion movement process of the ankle joint, and therefore the blood flow rate is increased, and thrombus can be better prevented.

The present application relates to the field of foot and ankle injury rehabilitation apparatus, especially to a portable resistance training device for foot and ankle injury rehabilitation, and provides a portable resistance training device for foot and ankle injury rehabilitation which can realize multi-directional resistance training of ankle dorsiflexion, plantar flexion, internal rotation and external rotation, and is convenient to carry and flexible to use. The portable resistance training device for foot and ankle injury rehabilitation comprises a Velcro hook surface arranged on the left front side of a fixing belt and a Velcro loop surface arranged on the right rear side of the fixing belt, etc. The present application hangs the hanging buckle on the training piece to the hanging ring, and then fixes the training piece to the joint of the five toes of the user. When resistance training is performed, the hanging buckle on the training piece is hung to the hanging ring at different positions, and then the winding path of the training piece is changed to realize multi-directional resistance training, so that the multi-directional resistance training of ankle dorsiflexion, plantar flexion, internal rotation and external rotation can be realized, and the portable resistance training device for foot and ankle injury rehabilitation is convenient to carry and flexible to use.

SOLUTION: The present invention relates to a rehabilitation system for lower or upper limbs. A limb rehabilitation system comprises an ankle-assist or wrist-assist rehabilitation device (300) and an intermittent pneumatic compression (IPC) device (305). The limb rehabilitation device (300) which is constituted by a soft elongation actuator assembly (410) is operable so as to minimize joint contracture, while the IPC device (305) is operable so as to increase venous blood flow in a patient at risk and contribute to the prevention of deep vein thrombosis and pulmonary embolism. For lower-limb rehabilitation, the rehabilitation device (300) assists dorsiflexion and plantar flexion, as well as eversion or inversion of the ankle, to improve mobility of the ankle of the user.SELECTED DRAWING: Figure 3B

The present invention concerns an ankle holder (200, 200') for maintaining an ankle (A) and a foot (F) of a patient (P) on an operating table, the ankle holder (200, 200') comprisinga base plate (210) configured to be secured to the operating table (140); a holder (220, 220') configured to maintain the ankle (A) and the foot (F) while a surgical zone comprising a malleolar region of the foot remains accessible for surgery, the holder (220, 220') comprising; a body part (221, 221') in connection with the base plate (210) along a longitudinal axis (X), and a supporting part (222, 222') configured to support the foot (F) and the ankle (A) of the patient (P), wherein the supporting part (222, 222') and the body part (221, 221') of the holder (220, 220') are linked to one another by a pivoting arrangement (223, 223'), the holder (220, 220') being configured to adjust the ankle (A) between a plantar flexion position and a dorsiflexion position, by a rotation of the supporting part (222, 222') around a pivoting axis (T) of the pivoting arrangement (223, 223').

The invention belongs to the technical field of robots, and discloses a mechanical leg with a bionic hydraulic ankle joint and a structure thereof, and the mechanical leg comprises a thigh, a shank oil cylinder, a shank, an achilles tendon oil cylinder and an ankle joint; a traditional mechanism such as a connecting rod speed reducer for achieving inward turning and outward turning movement is simplified into the ankle joint capable of being actively driven through the arc-shaped oil cylinder, and by means of the design, the advantage of large driving force of a hydraulic system is brought into play, and meanwhile the flexibility of the joint is improved; all linear velocities on the long edge of the square piston are kept consistent, and the problem that the oil cylinder is stuck due to rolling of a sealing ring caused by inconsistent linear velocities of all points on the lower round edge of the round section can be avoided; the designed oil cylinder serves as a joint main body to be embedded in the joint, compared with a traditional joint, redundant externally-loaded accessory mechanisms are not needed, the design is more compact, the size is smaller, meanwhile, a buffering mechanism is designed in the dorsal stretching and plantar flexion movement directions, and the bionic kinematics principle is better met.

Embodiments of footwear, in particular, a shoe, sandal or boot, that have the unexpected benefit of reducing the pressure on the plantar surface of the foot while also reducing metabolic demand of walking while also gait speed and improving walking, running, hiking, as well as jumping, hopping, and other motion involving the ankle, lower leg and Achilles tendon, through integration of force-carrying mechanisms within footwear that manage the forces and energy associated with such motion by productively harvesting and storing energy during dorsiflexion motion and releasing and returning energy during plantar flexion and limiting range of motion that conduce towards ankle inversion and eversion. Such footwear may comprise a yoke connected to footwear at a pivot region in parallel to the axis of rotation of the ankle and a tension spring region suspended between the yoke and the posterior portion of the footwear sidewalls or sole.

The invention relates to the technical field of rehabilitation training instruments, and discloses an ankle pump movement counter which comprises a support, and a foot support is rotatably mounted on the support. Through cooperation of the rocker arm, the sliding block and the swing arm, swing of the rocker arm is converted into reciprocating deflection of the foot support, then the ankle joint of a user is accurately dragged to complete standard ankle pump movement actions of dorsal stretching and plantar flexion, and normalization of rehabilitation training is ensured; by means of the matched design of the sliding plate and the combined groove, the swing angle of the swing arm is gradually increased, the characteristic that the initial joint movement capacity of a rehabilitation patient is weak is achieved, the patient can be guided to complete training step by step, joint injuries or body feeling discomfort caused by direct large-angle movement are reduced, and the safety and comfort of rehabilitation training are greatly improved; and counting is triggered only when the foot support drives the ankle joint to complete ankle pump movement with the standard amplitude and the sliding plate slides to the arc groove and makes contact with the travel switch, so that wrong counting of non-standard actions is effectively eliminated, and the accuracy and effectiveness of counting are ensured.

The invention discloses an ankle joint rehabilitation device, and belongs to the field of rehabilitation medical instruments. Comprising a support, a three-axis linkage driving assembly, an ankle joint precise positioning assembly, a plantar pressure monitoring and regulating assembly, a strength-adjustable massage and muscle force monitoring assembly and a cold and hot compress assembly. The intensity-adjustable massage and muscle force monitoring assembly is used for fitting the lower limb position of the patient to carry out lower limb muscle massage and muscle force measurement; the three-axis linkage driving assembly is used for simulating the ankle joint motion state in the motion process and comprises a plantar flexion / dorsal flexion motion driving unit, an inward rotation / outward rotation motion unit and a pair of inward turning / outward turning motion units. The accurate ankle joint positioning assembly is used for bearing the pelma of the patient, positioning the center of the ankle joint of the patient and assisting the posture adjustment of the ankle joint; the plantar pressure monitoring and regulating assembly is integrated on the ankle joint precise positioning assembly; the cold and hot compress assembly is detachably installed on the three-axis linkage driving assembly and attached to the rear side of the ankle joint of the patient.

The invention discloses a gyromagnetic massage training device for middle-aged and elderly rehabilitation, which comprises a shell, a right foot fixing piece, a left foot fixing piece, a left leg swinging mechanism, a right leg swinging mechanism and a plantar flexion and dorsal flexion training mechanism, and is characterized in that the right foot fixing piece and the left foot fixing piece are arranged at the tail end of the upper surface of the shell; the left leg swinging mechanism is arranged below the left foot fixing piece and located in the shell, the right leg swinging mechanism is arranged below the right foot fixing piece and located in the shell, and the plantar flexion and dorsiflexion training mechanisms are arranged on the back of the right foot fixing piece and the back of the left foot fixing piece. Manual internal and external rotation massage manipulations are simulated, foot plantar flexion and dorsal flexion training is performed through the plantar flexion and dorsal flexion training mechanism, traditional manual massage is replaced, and the foot massager is small in size and suitable for household use.