29 results about "Right lower limb" patented technology

The utility model provides an electric walking doll core, which comprises a trunk, a head assembly, an upper limb assembly and a lower limb assembly, a motor, a gear transmission system, a control panel and a power supply module are arranged in the trunk, the motor is connected with the power supply module through the control panel, the gear transmission system is connected with the motor, and the power supply module is connected with the head assembly. The head assembly, the upper limb assembly and the lower limb assembly are movably connected to the trunk and connected to the gear transmission system, the lower limb assembly comprises a left lower limb, a right lower limb and a pair of lower limb eccentric wheels, and one end of each lower limb eccentric wheel is provided with a shaft sleeve used for being connected with the gear transmission system through a transmission shaft. Lower limb transmission heads are arranged at the other ends of the lower limb eccentric wheels, and the lower limb transmission heads of the two lower limb eccentric wheels are inserted into the two lower limbs respectively, so that the swing directions of the left lower limb and the right lower limb are opposite. The lower limbs of the upright walking doll swing in a staggered mode through cooperation of the eccentric wheels, the structure is simple, and cost is low.

The invention relates to a four-limb linkage rehabilitation training instrument, and belongs to the technical field of rehabilitation training. Comprising a base, a seat is arranged at one end of the base, a four-limb linkage device is arranged at the other end of the base, and the four-limb linkage device comprises a left upper limb movement assembly, a right lower limb movement assembly connected with the left upper limb movement assembly, a right upper limb movement assembly and a left lower limb movement assembly connected with the right upper limb movement assembly; the amplitude adjusting assembly is used for controlling the movement amplitude of the right lower limb movement assembly and the left lower limb movement assembly. According to the four-limb linkage rehabilitation training instrument, the adjustability of the movement amplitude of the upper limb and the lower limb is achieved by improving the mechanical structure design and a transmission system.

The application provides a contralateral movement direction prediction method for heterolateral lower limb myoelectric signals and a related device, and belongs to the technical field of human biological signal processing and pattern recognition. The application uses the combined features of the surface myoelectric signals of the left and right lower limbs, the left foot plantar pressure and the right foot three-dimensional acceleration to construct a training set and a test set; a three-class gait prediction model is constructed, the three-class gait prediction model is trained based on the constructed training set, the three-class gait prediction model training result is tested based on the constructed test set, and a trained three-class gait prediction model is obtained; the combined features of the surface myoelectric signals of the left and right lower limbs, the left foot plantar pressure and the right foot three-dimensional acceleration are input into the trained three-class gait prediction model for right foot movement direction prediction, and a right foot movement direction prediction result is obtained. The application solves the problem of low accuracy of contralateral movement direction prediction for heterolateral lower limb myoelectric signals.

The invention discloses a physical exercise device for nationwide fitness, comprising: a deformable basic frame comprising columns and a folding stay bar assembly connected between the columns; the three-dimensional motion seat mechanism is movably connected with the stand column through a spherical hinge mechanism; the upper limb training system comprises a left upper limb swing arm and a right upper limb swing arm which are independently hinged to the upper portion of the stand column. The lower limb training system comprises a left lower limb pedal and a right lower limb pedal which are independently hinged to the bottom of the basic frame; the space transmission frame is of a multi-rod linkage structure, the first end of the space transmission frame is connected with rotating shafts of the left upper limb swing arm and the right upper limb swing arm, and the second end of the space transmission frame is connected with rotating shafts of the left lower limb pedal and the right lower limb pedal. The self-adaptive resistance module comprises a hydraulic damping cylinder and a piston rod, a cylinder body of the hydraulic damping cylinder is installed on the foundation frame, and the movable end of the piston rod is connected to the space transmission frame. According to the device, when a user performs push-pull or pedaling actions, the upper limbs and the lower limbs generate a synergistic movement effect, and the energy transmission efficiency is greatly improved.

A flexible exoskeleton assistive system for Kegel exercises. This invention relates to a flexible exoskeleton assistive training device. The system includes a lumbosacral support component, left and right lower limb connection components, a force transmission component, and a foot stabilization structure. The lumbosacral support component has a power connection part, and the lower limb connection component has lateral connecting ears. The force transmission component connects the power connection part and the lateral connecting ears, and in use, at least partially runs through the space between the body and the support surface. When the left and right lower limbs are abducted, the force transmission component is tensioned and applies an upward traction force to the lumbosacral support component via the power connection part, thereby providing lumbosacral support or weight reduction assistance, adaptable to users of different body types and at different training stages.

The invention relates to a two-degree-of-freedom series elastic drive lower limb rehabilitation apparatus which comprises a left lower limb rehabilitation assembly and a right lower limb rehabilitation assembly which are arranged side by side, and each of the left lower limb rehabilitation assembly and the right lower limb rehabilitation assembly comprises a supporting base and a leg fixing mechanism. The linear series elastic element driving mechanism and the rotary series elastic element driving mechanism are used for driving the knee joints and the ankle joints to bend and stretch respectively, and the airwave pressure air bags are worn on the legs. According to the technical scheme, the rotary series elastic element driving mechanism drives the foot pedal to rotate through gear transmission, and the linear series elastic element driving mechanism drives the leg fixing mechanism to integrally move through a ball screw, so that rehabilitation training of the ankle joint and the knee joint is achieved, and reliable safety is achieved; the rehabilitation time of the patient can be effectively shortened, and the rehabilitation training efficiency of the patient is improved.

The application discloses a stroke passive training instrument, which comprises a moving support, first and second leg training connecting rod groups, first and second arm training connecting rod groups and a back adjusting connecting rod group, wherein the first leg training connecting rod group and the first arm training connecting rod group are located on one limb side, the second leg training connecting rod group and the second arm training connecting rod group are located on the other limb side, the leg training connecting rod group is used for simulating the lower limb gait when walking, and the arm training connecting rod group is used for simulating the upper limb swing when walking; the first leg training connecting rod group and the second arm training connecting rod group are drivingly connected through the back adjusting connecting rod group, and the second leg training connecting rod group and the first arm training connecting rod group are drivingly connected, so that the left upper limb and the right lower limb form a linkage relationship, the left lower limb and the right upper limb form a linkage relationship, and then the rehabilitation training task of the diseased side limb driven by the healthy side limb is realized.

The utility model discloses a postoperative patient right lower limb braking device, which is applied to the field of medical equipment and comprises an upper leg plate, one side of the upper leg plate is hinged with a lower leg plate through a hinge, the other side of the upper leg plate is welded with a back plate, and the top of the upper leg plate and the top of the lower leg plate are respectively bolted with a first fixing plate and a fixing frame. A rotating block is rotationally connected to the interior of the fixing frame, a first screw rod is welded to the top of the rotating block, a through hole is formed in the top of the first fixing plate, the other end of the first screw rod extends to the top of the first fixing plate and is in threaded connection with a first nut, and a supporting plate is arranged on the other side of the lower leg plate. The limiting effect of the device can be improved, the bearing capacity of the lower leg plate to the legs is improved, the stability of a patient in the using process is guaranteed, meanwhile, the adjustable foot supporting function can be achieved, proper adjustment can be conducted according to the length of the legs of the patient, operation is easy and convenient, and practicability is high.

A horizontal lower limb rehabilitation robot includes a horizontal rigid chassis, left and right lower limb training mechanisms symmetrically arranged on both sides of the rigid chassis, an electrical control unit, and a multimodal sensing system located at key locations. The left and right lower limb training mechanisms have identical symmetrical structures. The electrical control unit coordinates the movement timing and amplitude of the hip and knee joint drive units, enabling simultaneous flexion training of the hip, knee, and ankle joints, bridging training to activate the lower limb trunk and gluteal muscles, and gait training simulating natural walking. This robot features a rational structure, convenient adjustment, safety, comfort, and intelligence. Through intelligent control and multiple rehabilitation training modes, it can meet the training needs of patients at different rehabilitation stages and with different body types, achieving integrated rehabilitation training and effect evaluation, and providing a more efficient and safer intelligent device for lower limb rehabilitation treatment.

This invention provides a centralized battery structure for the lower limbs of a humanoid robot. The battery modules are completely removed from the torso and centrally located at the ends of the lower limbs, thus freeing up internal torso space and overcoming the drawbacks of existing torso-based battery placement, such as space occupation, thermal interference, power transmission loss, torso vibration, and cumbersome maintenance. This centralized battery structure for the lower limbs includes multiple battery modules and battery compartments corresponding to each module. The battery modules are located only at the ends of the lower limbs, which include the lower thigh, the lower middle section of the calf, and the foot. The battery compartments are integrated with the corresponding skeletal structure at the lower limb ends, forming mounting cavities to accommodate and secure the corresponding battery modules. The battery modules are symmetrically arranged at the ends of the left and right lower limbs.

The invention discloses an orthopedic insole design method based on lower limb IMU dynamic data, and relates to the technical field of insole design, and the method comprises the steps: obtaining IMU data recorded by an IMU during the walking or running period of a subject; wherein the IMU data comprises acceleration, angular velocity and attitude quaternion; dividing the IMU data into gait cycle data; wherein the gait cycle data comprises a plurality of right lower limb gait cycle data, a plurality of left lower limb gait cycle data or a plurality of left and right lower limb gait cycle data; biomechanical parameters of the subject are extracted from the gait cycle data; the biomechanical parameters are converted into insole parameters for designing an orthopedic insole for the subject. The orthopedic insole is designed on the basis of the IMU data when the subject walks or runs, the kinematics and dynamics influences are considered when the orthopedic insole is designed, and the orthopedic insole more suitable for the subject can be designed, so that the orthopedic insole can provide the correction service more comprehensively.

The application provides a mine exoskeleton robot with shoulder-carrying and shoulder-carrying material carrying functions, comprising a back plate, a hip joint assembly, a left lower limb, a right lower limb, a first driving device and a second driving device. The back plate, the first driving device, the second driving device, the left and right lower limbs are transmitted to the ground to complete the function of carrying materials. The hip joint assembly comprises a left hip and a right hip; the left hip and the right hip are mounted on the back plate. The first driving device is additionally arranged between the left lower limb and the left hip, and the second driving device is additionally arranged between the right lower limb and the right hip. The first driving device, the left hip and the left lower limb, and the second driving device, the right hip and the right lower limb form a triangle. The first driving device and the second driving device provide additional power between the hip joint assembly and the lower limb by utilizing the stability of the triangle, so that the exoskeleton can provide sufficient power to support the weight of the material in the mine scene, and meet the mine demand.

The embodiment of the invention provides a motion control method and device of a walking aid, electronic equipment and a storage medium, and relates to the technical field of intelligent walking aid. In the embodiment of the invention, in response to a walking aid request of a target object, lower limb point cloud data of the target object is acquired; performing arc fitting on a plurality of lower limb position coordinates included in the lower limb point cloud data to obtain a left lower limb position coordinate and a right lower limb position coordinate of the target object under a coordinate reference system set for the walking aid; obtaining object position coordinates of the target object based on the left lower limb position coordinates and the right lower limb position coordinates; and determining motion data of the target object based on the object position coordinates and a motion parameter threshold set set for the walking aid, and controlling the walking aid to move based on the motion data. In this way, motion control of the walking aid is achieved according to the motion data of the target object, and the actual motion requirement of the target object can be better met.

The utility model discloses a walking aid with a foot rehabilitation training function, and relates to the technical field of rehabilitation medical equipment. The walking aid comprises armrest supports which are symmetrically arranged left and right, the same sides of the two armrest supports are fixed through a connecting rod to form the walking aid, and a training piece for exercise is movably arranged on the connecting rod. The device provides a simple and effective foot exercise mode, the rehabilitation process is accelerated, the device is simple and easy to operate, and the exercise intensity can be adjusted according to actual conditions; the training piece is connected with the walking aid through the movable connecting piece, so that mounting and dismounting are convenient, the horizontal position of the training piece is convenient to adjust, and a patient can exercise left and right lower limbs conveniently; through the cooperative arrangement of a top bead A and a top bead hole and the arrangement of a storage piece, the training piece can be partially detached and fixed, and walking is facilitated; through cooperation of the top beads B and the different top bead holes, the ground clearance of the training piece is adjusted, so that the training piece can meet the requirements of different patients and different rehabilitation stages, and the optimal exercise effect is achieved.

The utility model relates to the technical field of rehabilitation instruments, and provides a hip adjusting device and an exoskeleton robot. The hip adjusting device comprises a hip support, a left hip component, a right hip component and an adjusting assembly. The hip support comprises a mounting plate and an adapter, the adapter is arranged on the rear side face of the mounting plate, and the adapter is used for being connected with a supporting rack of the exoskeleton robot; the left hip component and the right hip component are arranged side by side and movably arranged on the front side face of the mounting plate in the horizontal direction. The left hip component and the right hip component are used for being connected with the left lower limb and the right lower limb of the exoskeleton robot in a one-to-one correspondence mode. The adjusting assembly is arranged on the rear side face of the mounting plate and connected with the left hip component and the right hip component so as to adjust the distance between the left hip component and the right hip component. The hip adjusting device is compact in structure and small in occupied space, the distance between the left hip component and the right hip component can be conveniently adjusted, and miniaturization and ingenious design of the exoskeleton robot can be achieved.

The invention provides a method for predicting the same-side motion direction of different-side lower limb electromyographic signals and a related device, and belongs to the technical field of human body biological signal processing and mode recognition. The method comprises the following steps: constructing a training set and a test set by utilizing corresponding combined characteristics of surface electromyogram signals of left and right lower limb muscles, left foot sole pressure and right foot three-dimensional acceleration; constructing a three-classification gait prediction model, training the three-classification gait prediction model based on the constructed training set, and testing a training result of the three-classification gait prediction model based on the constructed test set to obtain a trained three-classification gait prediction model; and inputting the corresponding combined features of the surface electromyogram signals of the left and right lower limb muscles to be predicted, the left foot sole pressure and the right foot three-dimensional acceleration into the trained three-classification gait prediction model for right foot motion direction prediction to obtain a right foot motion direction prediction result. According to the method, the problem that the prediction accuracy of the same-side motion direction of the different-side lower limb electromyographic signals is not high is solved.

The utility model belongs to the technical field of medical instruments, and particularly relates to a right lower limb fixing instrument which is mainly used for restraining the right lower limb of a patient after a temporary pace-making electrode catheter is implanted after the right lower limb of the patient is punctured. The first restraining part is connected with the first connecting edge, and the first restraining part is provided with a restraining opening; the second restraining part is connected with the second connecting edge, and the second restraining part can partially penetrate through the restraining opening so as to form a crossed state with the first restraining part; the problems that after the right lower limb of a patient is restrained clinically at present, the right lower limb of the patient can still bend, a wire between a pulse generator (a temporary pacemaker) and a temporary pace-making electrode catheter is too long, the wire is prone to being pulled in the wearing process, and the temporary pace-making electrode catheter shifts or falls off are solved.

The present application discloses a walking aid device and a control method thereof, the walking aid device comprising: a stepping assembly; a functional bracket, comprising a first bracket, a second bracket and a third bracket; a first lifting bracket and a second lifting bracket, respectively cross-hinged with the second bracket and the third bracket in an X shape, and connected to the stepping assembly at intervals; a fixing fixture, comprising a waist support and a strap, the opposite ends of the waist support are elastically connected to the first lifting bracket and the second lifting bracket respectively; a driving assembly; a detection assembly, for detecting the user's weight and center of gravity position, so as to send a first feedback signal to the driving assembly, so that the driving assembly drives the first lifting bracket and / or the second lifting bracket to move closer to or away from the stepping assembly, so as to drive the waist support and the strap corresponding to the user's left lower limb and / or right lower limb to move closer to or away from the stepping assembly. The walking aid device of the present application can automatically adjust the weight reduction ratio according to the user's landing situation, so as to effectively increase the user's walking ability.

A method and device for describing the human body structure relationship based on spatial transformation, belonging to the field of medical information processing. It is set that each rigid component of the human body is represented by a spatial triangular surface formed by three adjacent bone feature points. Typical rigid components include the upper triangular plane of the shoulder, the left and right scapula planes, the thoracic vertebrae, the lumbar vertebrae, the pelvic plane, and the left and right lower limb planes. An independent local coordinate system of its own is established for each rigid component. The local coordinate system of its own of the rigid component pelvic plane is established as the base coordinate system, and the coordinate system where the upper camera is located is the global world coordinate system. The spatial rotation transformation matrix of each rigid component relative to the pelvic base coordinate system is obtained through the coordinate transformation under the local coordinate system of its own of each rigid component and the global world coordinate system. The singular value decomposition method is used to solve the relative spatial rotation transformation matrix, and a mathematical expression for describing the spatial position relationship between the bone parts of the human body with abnormal postures is constructed. The present invention is used to accurately detect the abnormal body postures and structures of the human body.

The utility model provides a hand-operated rotating miscellaneous playing toy, and relates to the technical field of toy artware. The hand-operated rotating miscellaneous playing toy comprises an operating rod and an action unit. The action unit comprises a main body part and four limbs, and the main body part and the four limbs jointly form a character image. The four limbs comprise a left upper limb assembly, a right upper limb assembly, a left lower limb and a right lower limb. And the upper end part of the operating rod is connected with the main body part. A first rotating shaft is rotationally arranged at the upper end part of the main body part, and the left upper limb assembly and the right upper limb assembly are fixedly connected with the first rotating shaft. The directions of the hands of the left upper limb assembly and the right upper limb assembly are different. And the left lower limb and the right lower limb are rotationally connected with the main body part respectively. The utility model provides the manual rotating miscellaneous playing toy, which not only meets the requirements of interestingness and sense of participation of the toy, but also is low in operation difficulty and convenient to play, and can meet the playing requirements of children of all ages.

The invention relates to the technical field of rehabilitation training, and provides a lower limb rehabilitation robot with an electric wheelchair function, the lower limb rehabilitation robot comprises a frame assembly, a lower limb rehabilitation training assembly and a seat plate assembly, the lower limb rehabilitation training assembly adopts a crank connecting rod and plane four-connecting-rod transmission structure; the seat plate assembly can move front and back and be locked through a guide rail, the frame assembly comprises a left frame and a right frame, the left frame and the right frame are connected through a pair of upper rectangular pipes and a pair of lower rectangular pipes, and aluminum plates are arranged at the upper ends of the left frame and the right frame. The seat plate assembly comprises a pair of limiting blocks and a pair of chromium-plated rod guide rails which are fixed on the inner side walls of the two aluminum plates, sliding blocks are connected to the chromium-plated rod guide rails in a sliding mode, a U-shaped pull rod is movably arranged between the tops of the sliding blocks, and limiting clamps matched with the limiting blocks are fixed to the U-shaped pull rod. The lower limb rehabilitation training assembly is of a middle structure, the structure is simple, left and right lower limb rehabilitation training can be conducted simultaneously, the training effect is good, and rehabilitation time is shortened.

The invention discloses wearable multi-lead Parkinson's disease motion symptom and sleep disorder monitoring equipment and a signal processing method. The equipment comprises a head, a left upper limb, a right upper limb, a left lower limb, a right lower limb, independent waist wireless sensing nodes and a waist base box, the head node collects EOG and chin muscle sEMG signals, the upper and lower limb nodes integrate nine-axis IMU and sEMG electrodes to collect motion and electromyographic signals, the waist node collects trunk position signals, the base box achieves microsecond hardware synchronization, signal preprocessing and fusion and feature extraction of all the nodes, and local caching and self-adaptive transmission are supported when the network is abnormal. The method comprises the steps of self-inspection initialization, synchronous acquisition preprocessing, multi-modal signal matrix construction, single symptom feature vector set extraction, self-adaptive transmission and cloud analysis. The problems that existing equipment is single in monitoring, poor in environment adaptability and low in compliance are solved, and objective continuous data support is provided for clinical diagnosis and treatment adjustment of the Parkinson's disease.

The invention discloses a lower limb exoskeleton robot for hemiplegia rehabilitation and a control method. The robot comprises a supporting framework, a driving device, a signal collecting device and a control unit. The supporting framework comprises left and right lower limb supporting assemblies and a waist support. The driving device comprises independent controllable driving units corresponding to hip joints, knee joints and ankle joints on the two sides respectively. The signal acquisition device comprises a motion signal acquisition module, a mechanical signal acquisition module and a physiological signal acquisition module. The control unit identifies the healthy side limb and the affected side limb of a user based on the multi-mode signal, and carries out differential control: the healthy side corresponding driving device is controlled to operate in a low-impedance mode to comply with an active movement intention; and controlling the driving device corresponding to the affected side to operate in a high-impedance mode, and outputting an auxiliary torque to guide the affected side to move according to the standard gait. Accurate and personalized rehabilitation training of the limbs on the two sides of the hemiplegic patient is achieved, and neural function reconstruction and motion function recovery are effectively promoted.

The utility model discloses a seal type surgical site identification structure, and aims to solve the problems that when a doctor draws an identification on a surgical site by using a marking pen at present, the identification is not equal in size, not uniform in thickness and not attractive, and the surgical identification on the left upper limb, the left lower limb, the right upper limb and the right lower limb is not clear, so that the identification on the surgical site is not clear, and the operation is inconvenient. And a doctor can open a wrong part. The mark structure comprises a seal shell and four seal plates, a seal name is arranged at the top end of the seal shell, and round marks and surgical site marks are arranged on the seal plates. The operation identification stamp is used as an operation identification, the operation identification stamp is uniform and more attractive, part identifications are arranged on the left upper limb, the left lower limb, the right upper limb and the right lower limb, the hidden danger of operation part errors is reduced, and due to the fact that the operation part identifications of the four stamp plates are the left upper limb, the left lower limb, the right upper limb and the right lower limb respectively, the operation accuracy is improved. Medical staff can check the surgical site clearly at a glance, and errors of the surgical site can be prevented.

The intelligent accompanying robot comprises a vehicle body, a traction mechanism and a control device, and is characterized in that the traction mechanism is mainly composed of a waistband, a sensing power assisting device and a traction connecting device; the sensing power assisting device comprises two walking power assisting motors installed on the waistband, a left lower limb binding belt, a right lower limb binding belt, a left walking power assisting connecting rod and a right walking power assisting connecting rod, each lower limb binding belt is connected with the corresponding walking power assisting motor through the corresponding walking power assisting connecting rod, and when a user walks, the thighs drive the walking power assisting connecting rods to move through the lower limb binding belts; the walking assistance motor is twisted to rotate to generate current, the current serves as a sensing signal to be output to the control device, and the control device judges the walking intention of a user, controls the walking assistance motor to move to provide walking assistance and meanwhile controls the vehicle body to conduct following movement. While accompanying traction assistance is achieved, walking assistance can be provided, and the single-person heavy-load transportation and assistance requirements under field complex terrains can be met.

A diagnostic method, a treatment method and a medical system are capable of selecting reasonably and effectively a favorable order of treatments capable of achieving desired effects when lesion areas in both left and right lower limb arteries are treated in order from an artery of an arm. The method of treating a patient having lesion areas X in both left and right lower limb arteries involves determining the lesion area X to be treated first, based on at least the two pieces of selected comparative information on each of the lesion areas X.

The application discloses a kind of limbs linkage rehabilitation training system, it is related to the technical field of rehabilitation treatment, including linkage mechanism, left lower limb pivot is connected with left foot connecting rod, and is rotatably connected with second transmission shaft by first driving arm assembly, left upper limb pivot is rotatably connected with left arm connecting rod, and is rotatably connected with first transmission shaft by second transmission shaft connection;Right lower limb pivot is connected with right foot connecting rod, and is rotatably connected with first transmission shaft by second driving arm assembly, right upper limb pivot is rotatably connected with right arm connecting rod, and is rotatably connected with first transmission shaft by first transmission shaft connection;First adjusting part is arranged on left lower limb pivot, to realize the connection of first driving arm assembly with any position on left lower limb pivot left lower limb swing rod;Second adjusting part is arranged on right lower limb pivot, to realize the connection of second driving arm assembly with any position on right lower limb pivot right lower limb swing rod;The flexible adjustment of upper and lower limb rotation angle proportion can be realized, and the use demand of different rehabilitation treatment conditions can be satisfied.

The invention discloses a lower limb structure and a robot. The lower limb structure comprises a mounting mechanism; the waist mechanism is arranged on the mounting mechanism; the two lower limb mechanisms are respectively a left lower limb mechanism and a right lower limb mechanism, and the waist mechanism is located between the left lower limb mechanism and the right lower limb mechanism; each lower limb mechanism comprises a first joint module, a first joint module and a leg mechanism, the first joint modules are arranged on the mounting mechanism, the first joint modules are connected with the output ends of the first joint modules, and the leg mechanisms are connected with the output ends of the first joint modules; when the first joint module of one lower limb mechanism works independently, the corresponding leg mechanism can be driven to swing back and forth; when the first joint modules of the two lower limb mechanisms work at the same time, the waist mechanism can be driven to do pitching action. According to the technical scheme provided by the invention, the design can be simplified, the assembly difficulty is reduced, the weight of the whole machine is effectively reduced, the power consumption is reduced, and the resource waste is reduced.

To provide a lower limb restraint device that can be easily installed even when it is difficult to secure mounting space, and that can accurately restrain the lower limbs of an occupant seated in a seat. [Solution] This is a lower limb protection device S1 positioned in front of the left and right lower limbs ML of an occupant MD seated in a vehicle seat. It comprises a lower limb restraint part 20, a holding member 10 that holds the lower limb restraint part, and a moving means 50 that can move the lower limb restraint part from a standby position P0 to a receiving position P1 when activated. The lower limb restraint part is a flat plate divided into at least two sections in the vertical direction, and is positioned flat along the rear surface of the holding member in the standby position. When the moving means is activated, each section 22U, 22C, 22D is moved relative to the holding member so that the adjacent edge areas of each section protrude rearward, so that in the receiving position the upper and lower intermediate portions protrude rearward relative to the rear surface of the holding member.