60 results about "Plantar flexion" patented technology

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 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.

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.

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 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 present invention provides an electric ankle pump exerciser, which relates to the field of rehabilitation exercise technology. The electric ankle pump exerciser includes a base plate and an air box. Both sides of the top of the base plate are fixedly connected to vertical rails. The interior of the vertical rails is rotatably connected to a first ball screw. The outer side of the first ball screw is threadedly connected to a connecting arm. One end of the connecting arm extends to the outer side of the vertical rail and is fixedly connected to a guide rail. The interior of the guide rail is slidably connected to a first drive block. In the above scheme, the electric ankle pump exerciser can realize plantar flexion, dorsiflexion and circumferential movement of the patient's foot by providing a guide rail, a drive rail and a limit sleeve, so that the calf muscle group contracts and relaxes rhythmically, plays the role of a muscle joint pump, promotes venous blood return in the lower limbs, and does not require medical staff to manually assist patients in exercising, thereby freeing up human resources.

The utility model discloses an ankle pump exercise training device which comprises a bottom plate and linear motors installed on the left side and the right side of the rear portion of the upper end of the bottom plate respectively, ball head assemblies are arranged on the left side and the right side of the upper end of the bottom plate and correspond to the positions in front of the linear motors, and a pedal is arranged at the upper end of each ball head assembly. A plurality of first notches are formed in one side of the front end of the outer wall of each pedal, a plurality of first bandages are arranged on the other side of the front end of the outer wall of each pedal, an electric push rod is installed between the upper end of each linear motor and the rear end of the corresponding pedal in a matched mode, and cushion blocks are arranged on the left side and the right side of the front end of the bottom plate; the edge of the front end of the upper end of each cushion block is detachably connected with a leg supporting assembly, and a control panel is arranged in the middle of the front end of the upper end of the bottom plate. According to the ankle pump training device, the complete action process of dorsal stretching, plantar flexion and surrounding movement of ankle pump movement of a patient can be achieved, the training effect is improved, and meanwhile the applicability of the ankle pump training device can be improved.

The invention discloses an ankle rehabilitation effect recognition method and system based on time feature enhancement, and belongs to the technical field of ankle rehabilitation training recognition, and the specific steps are as follows: 1) collecting electromyographic signals of selected muscles in four ankle rehabilitation postures of dorsiflexion, plantar flexion, adduction and abduction; 2) sequentially performing filtering, normalization and sliding window processing on the surface electromyogram signals; 3) extracting key features of the surface electromyogram signals by using a continuous wavelet transform driven time-frequency feature analysis method formula; (4) according to the extracted key features, an HDOCNN model is adopted to capture sEMG time scale features under the ankle rehabilitation effect, identification of the ankle rehabilitation effect is obtained, the HDOCNN model is achieved through a deep residual shrinkage network module, and a DO-Conv and ECA attention mechanism is introduced into the deep residual shrinkage network. The ankle rehabilitation training effect recognition precision can be improved.

This invention discloses a source-tracing auxiliary system and method for ankle joint motor control disorders. The source-tracing auxiliary system includes an electromyography (EMG) acquisition system, a database, and a main control device. The main control device further includes an EMG processing and feature value extraction module and a muscle state assessment module. The source-tracing auxiliary method includes the following steps: acquiring surface EMG signals of the ankle-related muscles during active dorsiflexion and plantar flexion, static standing, and passive stretch reflex; extracting relevant feature values ​​from the acquired surface EMG signals; autonomously and accurately classifying the state types of each ankle-related muscle based on the feature values, and generating a report. This invention can assess and determine the state type of the ankle-related muscles on the affected side and generate a source-tracing auxiliary report, providing assistance for the source-tracing diagnosis of ankle joint motor control disorders and improving the accuracy and efficiency of source-tracing diagnosis of ankle joint motor control disorders.

This application discloses a control method and system for an electrohydraulic active ankle prosthesis, relating to the fields of lower limb gait recognition and prosthesis control. The method includes: extracting plantar pressure features based on plantar pressure signals; obtaining the division results of four gait stages—passive plantar flexion, passive dorsiflexion, active plantar flexion, and active dorsiflexion—based on the plantar pressure features and a trained SVM model; deriving the real-time gait stages based on the division results of the four gait stages, combined with the state division of a finite state machine based on ankle angle signals and plantar switches, through a weighted decision model; generating control signals for prosthesis movement based on the real-time gait stages and fluid pressure signals; and controlling the movement of the electrohydraulic active ankle prosthesis based on the control signals. This application can accurately identify lower limb gait, thereby achieving accurate control of the prosthesis based on the lower limb gait.

The present application relates to the technical field of exoskeleton robots, and particularly relates to a lower limb exoskeleton with a shock absorption function, which comprises an ankle joint exoskeleton structure and a sole shock absorption mechanism; the ankle joint exoskeleton structure comprises a leg fixing device, a pneumatic muscle driving structure and a foot wearable mechanism; the leg fixing device is used for fixing with a human lower leg to ensure the comfort and overall stability of the exoskeleton; the pneumatic muscle driving structure is arranged between the leg fixing device and the foot wearable mechanism and is mainly used for assisting the foot ankle joint to produce a plantar flexion movement; the foot wearable mechanism is used for bearing the foot of the human body; the sole shock absorption mechanism is arranged below the foot wearable mechanism and is used for buffering and absorbing shocks of the foot, enhancing the elasticity of the arch of the foot and improving the stability of the foot ankle movement. The present application can realize efficient energy transmission between the knee joint and the ankle joint, assist the ankle joint to perform a plantar flexion and the knee joint to bend, and significantly improve the foot ankle ground climbing efficiency and gait economy.

The invention discloses a correction exercise device for preventing foot drop, relates to the technical field of medical instruments, and aims to solve the problems that an existing device is single in function and can only assist active exercise. The device comprises a base, a thigh base plate, a shank base plate, a lifting mechanism, a supporting rod and a correcting mechanism. One end of the thigh base plate is rotationally mounted on the base, the other end of the thigh base plate is rotationally connected with the shank base plate, and the two sides are rotationally sleeved with the supporting rods; the lifting mechanism comprises a first push rod, a support and the like and can assist in lifting the straight legs. The supporting rod is matched with the lifting mechanism to replace a lower limb lifting pillow for use; a correcting mechanism is arranged at the tail end of the shank base plate and comprises a pull rod, a second threaded rod and the like to assist plantar flexion and dorsiflexion movement. The length of the thigh base plate can be adjusted, limbs are fixed through the restraint strap, the device adapts to different patients, the functions of prevention, correction and rehabilitation exercise are integrated, the occurrence rate of disuse syndromes and foot drop can be reduced, and the patients are assisted to rapidly recover and return to the society.

The invention provides a wearable ultrasonic and robot-assisted fused ankle instability assessment method and rehabilitation system, and the method comprises the steps: 1, enabling an ankle rehabilitation robot to drive a tester to do dorsal flexion, introversion, plantar flexion and introversion, and dorsal flexion and extroversion motions, and obtaining an ankle motion curve; 2, arranging a wearable ultrasonic device on a tester, and collecting muscle change data of muscle parts of the tester through the wearable ultrasonic device; 3, extracting ankle motion stability evaluation index features, wherein the features specifically comprise an overall offset condition index MD for measuring a track, a fluctuation amplitude RMSD for reflecting deviation and a unified measurement standard NRMSD; 4, extracting muscle strength stability evaluation index characteristics; 5, performing rehabilitation grade evaluation according to the ankle movement stability evaluation index characteristics; and 6, performing rehabilitation grade evaluation according to the muscle strength stability evaluation index characteristics. By applying the technical scheme, the instability of the ankle joint can be evaluated more objectively, comprehensively and accurately.

The invention discloses a flexible self-adaptive ankle joint active and passive rehabilitation training device which comprises a first motor assembly, a spring assembly, a second motor assembly and a third motor assembly. The base with the groove is fixedly connected with the first motor through screws, and the output end of the first motor is connected with the spring assembly in a fastened mode. The spring assembly is connected with the sole plate through a tension spring, a universal joint and a spherical joint with a groove, and the sole plate is connected with the second motor assembly through a first Z-shaped connecting rod; the second motor assembly is connected with the third motor assembly through a first T-shaped motor fixing assembly, a second U-shaped connecting rod and a bearing. The three-degree-of-freedom active and passive rehabilitation training device can realize three-degree-of-freedom active and passive rehabilitation training of ankle joint retraction / abduction, dorsiflexion / plantar flexion and introversion / extroversion. By adopting the mechanical limiting design, the safety of rehabilitation training can be effectively guaranteed, the risk of secondary injury is reduced, and the labor intensity of medical staff is relieved.

The utility model relates to the field of rehabilitation treatment, in particular to a postoperative ankle pump movement device for patients with cardiovascular diseases. When a cardiovascular disease patient lies in bed for resting after an operation, ankle pump movement can be carried out through the movement device, and thrombus formation is reduced. The rehabilitation training device comprises a machine frame, a motor, a speed change mechanism, an equal-width cam mechanism and a pedal mechanism are arranged on the machine frame, the motor, the speed change mechanism, the equal-width cam mechanism and the pedal mechanism are sequentially connected in a transmission mode, power provided by the motor is transmitted to a pedal, the pedal swings, and plantar flexion and dorsal flexion movement is conducted by connecting the feet of a patient with the pedal. Therefore, ankle pump movement is achieved, and thrombus is reduced.