28 results about "Plantar flexion" patented technology

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.

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.

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 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.

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.

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 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.

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.

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 utility model relates to a high-arch carbon fiber foot plate which comprises an upper foot plate, a lower foot plate and a middle main foot plate which are made of carbon fiber materials. One end of the upper foot plate is connected with the middle main foot plate through a fastener; the middle main foot plate is connected with the lower foot plate through a connecting piece; wherein the upper foot plate is positioned above the middle main foot plate; the middle main foot plate is positioned above the lower foot plate; the utility model has the advantages that the lower foot plate adopts a high arch design, so that better energy storage performance can be realized, a user can walk more easily, and higher exercise intensity can be realized; meanwhile, the high arch is combined with the long toe separating structure, so that better road surface adaptability is achieved, and the residual limb of a user can be better protected; due to the impact protection structure of plantar flexion and dorsal flexion, the product has longer service life.

The invention discloses a simple ankle pump exerciser, and relates to the technical field of orthopedics, the simple ankle pump exerciser comprises a supporting plate, two opposite sides of the upper end of the supporting plate are both provided with correction supporting tables, opposite side walls of the two correction supporting tables are both rotatably provided with turnover rods, and a connecting rod is fixed between the top ends of the opposite side walls of the two turnover rods; a blocking piece located below the connecting rod is arranged between the two overturning rods, the blocking piece can block the position, close to the toes, of the instep or the position, close to the toes, of the sole, and the overturning rods can selectively overturn clockwise and anticlockwise around the connecting positions of the overturning rods and the correction supporting table and synchronously drive the blocking piece to overturn. Therefore, the feet are poked to carry out dorsal flexion actions or plantar flexion actions. According to the invention, enough large auxiliary thrust is provided for the dorsal flexion action or plantar flexion action of the foot, so that the dorsal flexion and plantar flexion action of the foot are standardized, the scientificity of the motion amplitude and frequency is ensured, and the problem of insufficient motion amplitude caused by muscular tension or joint limitation in the traditional autonomous motion is solved.

A lower extremity orthosis includes a foot engagement portion and an elongated positioning member. The foot engagement portion is configured to engage a patient's foot and includes opposing sidewalls extending from a sole-supporting surface configured to engage with a sole of the patient's foot. The elongated positioning member includes a foot-underlying portion and a lower leg-underlying portion, with the foot-underlying portion of the elongated positioning member serving to couple the elongated positioning member to the foot engagement portion. The lower extremity orthosis may be selectively and removably engaged with a heel offloading device via the lower leg-underlying portion of the elongated positioning member, such that the lower extremity orthosis is configured to prevent or reduce plantar flexion when the heel offloading device is used and the lower extremity orthosis is applied to the patient's foot.

The present disclosure relates to the field of physical rehabilitation and fitness equipment and associated methods for performing controlled eccentric and concentric strength exercises. One embodiment relates to an exercising device for an individual in a lying or sitting position, the exercising device comprising: a base frame attachable to a structure that allows the individual to remain in a lying or sitting position, for example in a bed, a motion unit adjustably connected to the base frame, the motion unit having a telescopic arm, and a limb attachment component for receiving a foot of a limb of the individual and connected to the telescopic arm, wherein the exercising device is configured for translating the telescopic arm according to a predefined input to perform a force-time profile with eccentric and / or concentric strength exercises of the limb of the individual, and wherein the limb attachment component is configured for detecting plantar flexion in the foot.

The invention relates to a variable-rigidity metatarsophalangeal joint based on torsion spring and connecting rod combination and a foot type robot. The variable-rigidity metatarsophalangeal joint comprises a rear sole, a front sole, a metatarsophalangeal joint rotating shaft, a torsion spring, a connecting rod, a supporting and pulling rod and a driving module. The front sole is rotationally connected with the rear sole through a metatarsophalangeal joint rotating shaft; the supporting and pulling rod is connected to the driving module and the connecting rod, the metatarsophalangeal joint rotating shaft is sleeved with a spring ring of the torsional spring, the torsional spring is hinged to the other end of the connecting rod, and the other end of the torsional spring is connected with the forefoot; the driving module is fixedly arranged on the rear sole and used for driving the supporting and pulling rod to reciprocate along the rear sole. The supporting pull rod slides to drive a spring coil of the torsional spring to rotate forwards or reversely around a metatarsophalangeal joint rotating shaft through the connecting rod, and the front foot sole is driven to do back stretching or plantar flexion movement relative to the rear foot sole. The supporting and pulling rod enables the torsion spring to generate different torsion angles when the front sole bears external force at different sliding positions, the rigidity of metatarsophalangeal joints is changed, back stretching and plantar flexion movement can be actively achieved, and meanwhile the rigidity and angle adjusting capacity is achieved.

This invention relates to the field of ankle joint rehabilitation training equipment technology, and more particularly to a retractable ankle joint rehabilitation training shoe, comprising a rehabilitation training shoe-shaped support frame. The support frame includes an upper leg support sleeve, the bottom of which is movably connected to a lower leg support sleeve via a lifting component. The bottom of the lower leg support sleeve is movably connected to a footrest plate, the surface of which is provided with several anti-slip rubber rings. This invention, through a built-in variable frequency micro-motor, control module, and battery module, can drive the reciprocating linear extension and contraction movement of the extension and contraction parts. Users or therapists can preset or adjust the amplitude, speed, frequency, and training mode of the extension and contraction through the control module, achieving continuous passive exercise and assisted active exercise. It enables precise and standardized control of ankle dorsiflexion and plantar flexion angles, training intensity, and cycle, solving the problems of uncontrollable and poor repeatability of parameters in manual training or simple equipment training.

The invention discloses a platform type ankle joint rehabilitation robot, and belongs to the field of rehabilitation medical instruments, the platform type ankle joint rehabilitation robot is characterized in that the lower end of a third driving device is mounted on a fixed support, and a driving shaft faces upwards; the adduction and abduction mechanism is mounted on a driving shaft of the third driving device; the first driving device is installed on the upper portion of the inward-folding and outward-unfolding mechanism, and a driving shaft is horizontal. The inward-turning and outward-turning mechanism is arranged on a driving shaft of the first driving device; the second driving device is arranged on the side face of the inward-turning and outward-turning mechanism, and a driving shaft faces inwards. The front end of the dorsiflexion and plantar flexion mechanism is arranged on a driving shaft of the second driving device; and a pedal is arranged in the dorsiflexion and plantar flexion mechanism and is driven by a fourth driving device. The robot is compact in structure, convenient to install, easy to control and capable of conducting four-degree-of-freedom movement so as to assist ankle joint rehabilitation.

The invention relates to an ankle foot orthosis (1) comprising a shank element (4), a foot element (2) coupled to the shank element (4) in a pivotable manner about a pivot axis, and a first energy storage unit, the first energy storage unit is configured such that movement of the foot element (2) relative to the shank element (4) in the dorsiflexion direction from a position where the amount of energy stored in the first energy storage unit is minimal can load energy to the first energy storage unit; characterized in that the first energy storage unit is adapted to increase the amount of energy stored therein by first moving the foot element (2) relative to the shank element (4) in the plantar flexion direction from a first position, in which the amount of energy stored in the first energy storage unit is minimal, to a second position, in which the amount of energy stored in the second energy storage unit is minimal, in the plantar flexion direction. And then displacing the foot element (2) relative to the shank element (4) in the dorsiflexion direction from the second position back to the first position.

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 application discloses a high-strength passive ankle exoskeleton suitable for people with a weight of more than 75 kg, which comprises a proximal shank binding assembly, left-right symmetrical carbon fiber anti-torsion support strips, a rear integrated carbon fiber energy storage spring piece, an ankle adjustable angle mechanical hinge, a semi-enclosed rigid foot bottom support shell and a multi-point locking binding system. The device realizes weight load shunting through proximal shank bearing, and can reduce ankle joint load by 15%-30%. The carbon fiber spring piece realizes energy storage, buffering and ground-pushing assistance in a gait cycle. The bilateral carbon fiber support forms a wrapped anti-torsion cage, effectively limiting ankle joint varus, eversion and horizontal torsion. The mechanical hinge can realize adjustable dorsiflexion and plantar flexion angles, and has a mountain climbing locking gear. The overall structure safety factor is greater than or equal to 5.0, and the lightweight passive design can meet the high-intensity sports requirements such as running, jumping, sudden stopping and turning, outdoor mountaineering and the like, and solves the problems of large ankle joint load, easy sprain and insufficient stability of people with a large weight during sports.

The utility model provides a contact pressure measuring device in total ankle joint replacement surgery, which relates to the technical field of total ankle joint replacement surgery, and comprises a prosthesis, a plantar flexion sensor is fixedly connected in the prosthesis, a median position pressure sensor is fixedly mounted in the prosthesis, a dorsal extension sensor is fixedly mounted in the prosthesis, and the median position pressure sensor and the dorsal extension sensor are fixedly connected in the prosthesis. A middle hole is formed in the upper face of the prosthesis, a tibia side assembly connecting block is fixedly installed on the upper face of the prosthesis, an inserting groove is formed in the upper face of the tibia side assembly connecting block, and a limiting groove is formed in the edge of the tibia side assembly connecting block. Through the prosthesis, the plantar flexion pressure sensor, the median position pressure sensor and the dorsal extension pressure sensor, the contact pressure of inner and outer joints of a patient during plantar flexion, median position and dorsal extension can be detected, so that the accuracy of an operation is improved, and the difficulty of the operation is greatly reduced.

The invention provides an active ankle pump training monitoring device based on infrared induction, and relates to a medical training device.The active ankle pump training monitoring device comprises a support and further comprises an adjusting mechanism and a training mechanism, the adjusting mechanism comprises two sliding blocks and two pushing assemblies, and the training mechanism comprises a counter, an infrared proximity sensor, a cotton sleeve, an elastic telescopic assembly and two connecting ropes; the infrared proximity sensor is fixedly arranged on the outer wall of the cotton sleeve, a supporting plate is fixedly arranged at the top of one end of the support, and the counter is fixedly arranged on the outer wall of the supporting plate. The active ankle pump training monitoring device based on infrared induction can meet the training requirements of patients with different heights, the individualized training effect is achieved, and the training efficiency is improved. Meanwhile, the ankle pump training device adapts to dorsal stretching or plantar flexion angles of different patients, and the flexibility of ankle pump training is improved.

This application relates to the technical field of medical devices, and in particular to a multimodal collaborative lower limb ankle pump motion assistive device, which includes a main controller, a foot drive module composed of bilinear push rods and universal ball joints, a calf gradient pressurization module with a multi-chamber airbag, and a carbon fiber support structure. This application achieves precise timing coordination of mechanical drive and pneumatic pressurization through the main controller. During plantar flexion, sequential pressurization is applied to the calf muscle group from distal to proximal, and pressure is simultaneously released during dorsiflexion, thus highly simulating the physiological muscle pump effect. The device supports multiple movement modes such as dorsiflexion, plantar flexion, and compound circumduction, and integrates pressure, angle, and hemodynamic monitoring units to achieve closed-loop feedback control and risk warning. This application can significantly improve the efficiency of lower limb venous blood return, effectively prevent deep vein thrombosis, reduce the workload of medical staff, and is suitable for various scenarios such as ICU critical care, postoperative rehabilitation, and long-distance travel.