58 results about "Thigh part" patented technology

The application provides a leg-ski type desert robot, which can realize switching between foot end contact and ski plate contact, so that the robot has two advancing modes, i.e. hoof step advancing and ski plate sliding advancing. The robot comprises a head, a body connected with the head, a wind and sand prevention mechanism arranged on the body, and a leg-ski mixed leg arranged on the body. The leg-ski mixed leg comprises a hip joint part fixedly connected with the body, a thigh joint part rotatably connected with the hip joint part, a lower leg joint part rotatably connected with the thigh joint part, a thigh part fixedly connected with the lower leg joint part, a lower leg part rotatably connected with the thigh part, and a leg-ski switching mechanism. The leg-ski switching mechanism comprises a ski plate and an electric push rod. One end of the electric push rod is hinged to the middle part of the lower leg part, and the other end of the electric push rod is hinged to the front end of the ski plate. The rear end of the ski plate is hinged to the tail end of the lower leg part.

The application discloses an anti-mold impact-resistant negative oxygen ion foaming material knee pad, which comprises a connecting mechanism, the connecting mechanism comprising an elastic protection pad and a connecting part, the outer surface of the elastic protection pad being fixedly connected with an elastic bottom strip, the connecting part being arranged on the elastic protection pad, and a protection mechanism, the protection mechanism comprising an elastic protection strip and a protection part. In the application, when in use, the user is ensured to be in a standing state, and then the elastic protection pad is attached to the knee part of the user, and then the second binding belt is attached to the thigh part of the user, the second elastic extension strip is stretched, the second female magic tape and the second male magic tape can be adhered to each other, the one end of the elastic protection pad can be stably connected to the thigh part of the user, the first binding belt is attached to the calf part of the user, the first elastic extension strip is stretched, and the first female magic tape and the first male magic tape can be adhered to each other.

The utility model relates to an exoskeleton, in particular to a rope-driven auxiliary power-assisted lower limb exoskeleton, which is provided with a joint module for controlling a shank part to simulate the walking of a human leg part, and further comprises a rope-driven energy storage mechanism. The rope-driven energy storage mechanism comprises a pull wire and a spring energy storage part, the spring energy storage part is arranged on the shank part, one end of the pull wire is restrained to the spring energy storage part, the other end of the pull wire is restrained to the thigh part, and in the walking process, when the shank part moves downwards, the pull wire pulls the spring energy storage part to compress and store energy, otherwise, the spring energy storage part releases energy; and the auxiliary joint module drives the shank part to move upwards. The lower limb exoskeleton with the energy storage mechanism provided by the embodiment of the utility model is provided with the driving module of the knee joint, and is additionally provided with the passive power assisting structure for assisting the knee joint by utilizing gravitational potential energy of the leg, so that compared with the lower limb exoskeleton driven by the existing module, the driving module and the passive power assisting structure are combined, and the driving module and the passive power assisting structure are combined; the power requirement for the driving module can be effectively lowered, and meanwhile the battery life can be prolonged.

The invention discloses a hip joint replacement operation leg supporting instrument which is placed on an operating bed during use and sequentially comprises a leg fixing support, an upper universal joint, a telescopic supporting rod, a lower universal joint and a support structure from top to bottom. The leg fixing support is used for at least supporting the thigh part, close to the knee joint, of the affected side leg; the telescopic supporting rod telescopically moves and is used for completing inward folding and outward unfolding actions, and the support structure forms a containing space for containing lower legs and is arranged on a bed body when used; the upper universal joint independently rotates to complete the actions of internal rotation and external rotation; and the lower universal joint and the upper universal joint are matched to rotate so as to complete buckling and stretching actions. The two universal joints are matched with one telescopic supporting rod to complete the actions of buckling and stretching, adduction and abduction, and internal rotation and external rotation; and when the telescopic supporting rod is in the locking state, the supporting effect is achieved, and when the two universal joints rotate independently or rotate together, an operator only needs to easily control the joints to rotate.

The utility model discloses a pressure-adjustable sitting and lying dual-purpose pressure sore prevention cushion, and relates to the technical field of cushions, the pressure-adjustable sitting and lying dual-purpose pressure sore prevention cushion comprises a cushion body, the bottom of the cushion body is fixedly provided with a silica gel bottom cushion, and the outer side of the cushion body is fixedly provided with an air inlet pipe and an air outlet pipe. An electric telescopic rod drives a connecting plate to perform reciprocating motion, so that a second rack moves along with the connecting plate, a second gear is driven to rotate back and forth in an engaged mode, a rotating shaft rotates back and forth along with the connecting plate, a plurality of first gears are driven to rotate together, and first racks on the two sides of the first gears are driven to perform reciprocating up-down motion; and the plurality of massage heads can perform point pressure massage on thighs of a human body through the plurality of massage convex points, so that the condition that the thighs are pressed for a long time to cause numbness when people sit for a long time and blood cannot circulate is effectively prevented, and the using effect of the cushion is improved.

The utility model relates to the technical field of hoof trimming limiting equipment, in particular to a hoof trimming limiter. The structure is more reasonable, the leg of the livestock is effectively supported and limited, meanwhile, the knee joint of the livestock is effectively protected, the accident rate of knee joint injury in the hoof trimming operation process of the livestock is reduced, and the comfort degree is improved; comprising a cart and a first leg restraining limiting piece installed on the cart, and the first leg restraining limiting piece comprises an installation frame, an upper supporting frame fixedly installed on the installation frame and matched with the shape of the thigh of the livestock, a lower supporting frame hinged to the upper supporting frame and matched with the shape of the shank of the livestock and a first telescopic cylinder; a U-shaped opening allowing the legs of the livestock to enter is formed in the cart, one end of the first telescopic cylinder is hinged to the bottom of the cart, the other end of the first telescopic cylinder is hinged to the lower supporting frame, a knee supporting plate is arranged on the lower supporting frame, and the upper supporting frame and the lower supporting frame are both bound and wound with first binding belts.

The utility model belongs to the rehabilitation assisting technology, and particularly relates to a lower limb rehabilitation training walking assisting device which comprises a walking assisting frame and an exoskeleton part, and the exoskeleton part comprises a leg skeleton composed of a thigh part, a shank part and a foot part. The exoskeleton part further comprises a driving module arranged behind the leg skeleton and a rocking handle driven by the driving module, and the rocking handle is hinged to a driving arm arranged on the upper portion of the shank part. The exoskeleton part further comprises a moving part, the moving part can control the hip joint or the driving module to move on a connecting line of the hip joint and the driving module, when the distance between the hip joint and the driving module is closest, the leg skeleton is in a sitting posture state, and when the distance between the hip joint and the driving module is farthest, the leg skeleton is in a standing state. Movement of the leg skeleton adopted by the device is driven by a rear module, cost is reduced by reducing use of the modules, in addition, the leg skeleton can freely change postures, rehabilitation actions are increased, a user can wear the device conveniently, and the device can also be used as a wheelchair or a shifting machine through deformation.

The utility model belongs to the technical field of rehabilitation auxiliary equipment, and particularly relates to an orthopedic rehabilitation training device. The thigh sheath and the shank sheath in the orthopedic rehabilitation training device can be worn on the thigh and the shank of a patient respectively, the thigh sheath and the shank sheath are restrained by the orthopedic rehabilitation training device, in the initial state, the shank of the patient bends towards the rear portion of the thigh to form a V shape, in the training process, the patient does not need assistance of other people, and the training efficiency is improved. When in use, a good exercise effect can be achieved only by means of cooperative movement of muscles of the shank and the thigh, overcoming of tension of the elastic part for stretching, driving of the shank to act by means of restoring force of the elastic part after relaxation, recovery to the initial state and repeating of the steps.

This utility model discloses a lifting device for a sewing machine presser foot, including a drive mechanism, a transmission assembly, and a presser foot connecting component. The drive mechanism is located below the sewing machine, with its bottom engaging with the operator's thigh to convert the pushing action of the thigh into driving force. The transmission assembly has a rotatable shaft located at the bottom of the sewing machine on the side away from the presser foot. The top of the drive mechanism is connected to the first end of the transmission assembly, and the second end of the transmission assembly has the presser foot connecting component. When the drive mechanism is pushed along the length of the sewing machine, it rotates around the transmission assembly as its central axis, causing the presser foot connecting component to move up and down along the height of the sewing machine. This utility model's drive mechanism, located below the sewing machine and engaging with the thigh to convert the pushing action into driving force, drives the presser foot connecting component to rise and fall via the transmission assembly. This frees up the hands, has a compact structure, smooth transmission, and improves operational convenience and efficiency.

The utility model relates to exoskeleton technology, concretely is knee joint power-assisted walking device, including thigh part and shank, both are connected through knee joint, wherein the knee joint includes the hinge part I of setting in the lower extreme of thigh part, and the hinge part II of hinge connection with hinge part I, the drive module for driving knee joint is set in the upper end of thigh part, and drive module is driven the hinge part II deflection through the rope drive structure, power-assisted walking device is used for knee joint power assistance, and the hip joint needs the user to exert force alone, and the drive module for driving knee joint movement is not set in the knee joint, but moves to the upper part of thigh part, that is, the position close to the hip joint, and realizes the purpose of driving knee joint through the rope drive structure, this scheme can improve the gravity center of whole leg assembly, compared with the scheme that the existing drive module is set in the knee joint, when walking, the user, overcomes the leg assembly gravity work less, can effectively reduce the fatigue degree of hip joint.

The utility model relates to the technical field of portable leg massage devices, in particular to a full-wrapping type leg massager which comprises a soft leg sleeve and a driving control unit, the soft leg sleeve comprises an instep area, an ankle area, a shank area and a thigh area, air bags are arranged on the inner walls of all the areas, and the driving control unit is connected with the driving control unit. And the air bags are alternately or simultaneously inflated and deflated under the control action of the driving control unit. A user puts the whole legs into the soft leg sleeves in a mode of wearing trousers, insteps, ankles, shanks, knees and thighs abut against the air bags at the corresponding positions of the inner sides of the soft leg sleeves, after the driving control unit is started, under the driving action of the driving control unit, all the air bags are alternately inflated and deflated in a staggered mode, and then the soft leg sleeves are inflated and deflated in a staggered mode. Therefore, different areas of the whole leg can be jacked and relaxed alternately in a staggered mode, blood circulation of the leg is promoted while different parts of the leg are pressed in a staggered mode, leg pressure generated by long-time static sitting of the leg is relieved, the possibility of varicosity is effectively reduced, and practicability is high.

The invention belongs to the technical field of robots, provides a variable-form wheel foot mechanism and a robot, and aims to solve the problem that a leg type structure of an existing agricultural robot is easy to wear. The robot comprises a thigh part, a shank part and a supporting part which are rotationally connected in sequence, the thigh part is provided with a space for containing the shank part, the shank part can rotate along the thigh part and is contained in the thigh part, and the thigh part is provided with a driving wheel used for wheel type movement. The thigh parts are further provided with supporting rods capable of stretching out and drawing back in the length direction of the thigh parts. According to the leg type structure, the stress of the leg type structure during extension and contraction can be reduced, abrasion to joints of the leg type structure is reduced, the leg type structure can keep high-precision movement for a long time, and then the working stability of the whole robot is improved.

The invention relates to a robot lower limb device and a robot. The robot lower limb device comprises thighs, shanks, transmission assemblies, driving assemblies and feet. The thigh part and the shank part are rotationally connected through the transmission assembly; the driving assembly is used for driving the transmission assembly to drive the thigh part and the shank part to relatively bend or stretch; the foot part is connected to one end, far away from the thigh part, of the shank part; the robot further comprises an electromagnetic acceleration assembly, and the electromagnetic acceleration assembly is used for driving the transmission assembly to move in an accelerated mode within preset time so as to drive the shank part to bend or stretch in an accelerated mode relative to the thigh part. The method has the advantage that the simulation accuracy and the operation stability are improved.

The present application relates to the field of rehabilitation equipment. The purpose is to provide a traction system for orthopedic rehabilitation, comprising a lying plate, the middle part of the lying plate is provided with a concave mounting cavity, the mounting cavity is provided with a thigh support plate, the lying plate on both sides of the thigh support plate is respectively provided with a hip support area and a foot support area; the foot support area is provided with a moving plate which can move along the length direction of the lying plate under the drive of a drive mechanism, the moving plate is provided with a foot pedal for fixing the foot of a patient; the thigh support plate can swing obliquely upward around the center line of the plate shaft when the moving plate moves toward the hip support area to form support for the thigh of the patient. When the present application is used for knee joint rehabilitation traction of a patient, it can form active support for the thigh of the patient, guide the bending direction of the thigh and the calf, and reduce the impact on the knee joint.

The utility model belongs to the related technical field of robots, and discloses a robot leg structure and a biped robot, a hip joint module in the leg structure comprises a side expansion driving module, a turnover driving module and a pitching driving module, one ends of the three modules are installed on a hip joint installation frame in a series connection mode, and the other ends of the three modules are installed on a hip joint installation frame. The other end of the connecting rod is connected with the thigh part; the knee joint module is located in the containing cavity of the thigh part, the knee joint module comprises a linear driving module, the fixed end of the linear driving module is rotationally connected with the upper portion of the thigh part, the movable end of the linear driving module is in transmission connection with the top of the shank part, and the linear driving module drives the shank part to do pitching motion through linear telescopic movement; the bottom of the shank part is hinged to the foot bottom part through a cross shaft structure, and the ankle joint module is arranged on the shank part and is in transmission connection with the foot bottom part so as to complete pitching and side stretching movement. The design of hybrid driving of the linear and rotary joint modules gives consideration to the requirements of high robustness and low energy consumption of the foot-type robot in a real scene.

The invention discloses a joint fixing device for bone joint surgical nursing, and relates to the technical field of bone joint surgical nursing equipment, the joint fixing device comprises a front fixing protector and a rear fixing protector for fixing a lower limb thigh and a lower limb shank; the two movable angle adjusting devices are symmetrically arranged at the butt joint points of the two sides of the front fixing protective tool and the rear fixing protective tool; the movable angle adjusting device comprises a connecting assembly arranged at the butt joint point of the front fixing protection tool and the rear fixing protection tool, and the front fixing protection tool and the rear fixing protection tool are connected through the connecting assembly and rotate by multiple angles with the connecting point as the axis. An angle adjusting assembly is arranged at the side end of the connecting assembly, and a locking assembly is arranged at the side end of the angle adjusting assembly. According to the leg bending training device, the effects that the legs of the patient can be effectively fixed and cannot move, when bending training is needed, the bending angle range is adjusted in real time according to the training process, and operation is convenient and fast are achieved.

The invention discloses a treading type leg scraping device which comprises a vertical rod type auxiliary walking device and a leg scraping piece, a first binding piece is connected to the leg scraping piece, a leg scraping protruding block is arranged on the inner side of the leg scraping piece, the vertical rod type auxiliary walking device comprises a pedal and a second binding piece, and a supporting device is connected to the pedal. A rotating frame is rotationally connected to the upper portion of the supporting device, a connecting structure is arranged between the rotating frame and the leg scraping piece, and when a patient conducts normal walking gait training through the pedal and the second binding piece, the device can synchronously drive the leg scraping protruding block to scrape the thigh. The mechanical stimulation of the leg scraping bumps on the thigh skin and subcutaneous tissues can induce the human body to generate benign stress response and repair response, so that the walking ability is recovered, local and whole body blood circulation is effectively promoted, metabolic waste discharge is accelerated, and muscular pain and stiffness caused by long-term braking or sport injury are relieved.

The application discloses an electrically-driven explosion-proof quadruped robot. The robot comprises a trunk frame, a battery cavity and an electrical cavity arranged in the middle of the trunk frame, four hip joint driving modules arranged on the left and right sides of the outer end surfaces of the battery cavity and the electrical cavity, four thigh driving modules arranged at the four corners of the trunk frame, outer circumferential surfaces of the thigh driving module housings connected with rotors of the adjacent hip joint driving modules, four shank driving modules arranged on the outer sides of the thigh driving modules and connected with the rotors of the adjacent thigh driving modules, four thigh parts with inner upper end surfaces connected with outer end surfaces of the adjacent shank driving modules, and four shank parts with upper parts hingedly connected with lower ends of the adjacent thigh parts. The robot has the advantages that the thigh parts and the shank parts are driven by the hip joint driving modules, the thigh driving modules and the shank driving modules, the leg parts have good load bearing capacity, and the motion flexibility is good.

To prevent a liquid leaking from an absorbent pad during menstruation or urine leakage from oozing out to an outer garment even in a standing position, a lying position, a sitting position or a large movement from a waist part to a thigh part.SOLUTION: In the underwear composed of a fabric having stretchability in the vertical and horizontal directions in the abdominal part, the buttock part, the crotch part and the thigh part and closely adhering to the body, a fabric having water-absorbing properties on one surface and liquid-impermeable waterproof properties on the opposite surface is installed on the skin side of the crotch part and the buttock part and the thigh part adjacent to the crotch part.SELECTED DRAWING: Figure 3

The utility model discloses a pair of 3D ergonomic golf sports trousers, which relates to the field of clothes, and is characterized in that the pair of 3D ergonomic golf sports trousers comprises a front piece and two rear trouser cutting pieces which are symmetrically arranged left and right, and each rear trouser cutting piece comprises a thigh part, a shank part and a knee part located between the thigh part and the shank part; an obtuse angle is formed between the length direction of the thigh part and the length direction of the shank part, and the side edge of the shank part and the edge of the front piece are integrally formed. The length direction of the thighs and the length direction of the shanks are arranged at the obtuse angles, and after the front piece and the two rear trouser cutting pieces which are symmetrically arranged left and right are sewn and fixed, the knee positions of the golf sports trouser are naturally bent, so that the golf sports trouser conforms to 3D human engineering, and the golf sports trouser is more comfortable to wear. The trouser body is more suitable for the standing posture that the two feet stretch when a golf player hits a ball, so that the exercise is more comfortable.

The application relates to a robot lower limb device and a robot, which comprises a thigh part, a shank part, a transmission assembly, a driving assembly and a foot part; the thigh part is rotationally connected with the shank part through the transmission assembly; the driving assembly is used for driving the transmission assembly to drive the thigh part and the shank part to bend or stretch oppositely; the foot part is connected to one end of the shank part far away from the thigh part; the robot further comprises an electromagnetic acceleration assembly, which is used for driving the transmission assembly to accelerate movement within a preset time, so as to drive the shank part to accelerate bending or accelerating stretching relative to the thigh part. The robot has the advantages of improving simulation accuracy and operation stability.

A prosthetic limb includes: a socket as a thigh part; a thigh joint part provided on a side of the socket; a lower leg part coupled to the thigh joint part and provided to be rotatable around a knee shaft; a thigh part inclination angle acquisition unit that acquires an inclination angle Ψ formed by the socket relative to a vertical line passing through the knee shaft; and a rotational resistance control unit that weakens a rotational resistance of the knee shaft in accordance with a transition from a positive inclination angle formed when the socket is inclined rearward relative to the vertical line to a negative inclination angle formed when the socket is inclined forward relative to the vertical line.

The utility model relates to medical nursing equipment technical field, especially a medical bed leg part bed surface lifting structure. Including a push rod, a support sheet, in this structure, push rod sets up at the two sides of the thigh part bed surface place and is between the lug and drive motor, through the edge department waist type hole and lug articulates, through the edge department connecting hole and drive motor's output end connection, and the one side of support sheet and push rod pin joint, the other side and thigh part bed surface articulate, then the edge department waist type hole and middle part waist type hole between push rod, support sheet and thigh part bed surface between constitute a triangle structure, structure is more stable, leg part bearing is more excellent, can through drive motor push -and -pull push rod and adjust triangle size, to realize bed surface lifting. Install push rod and support sheet in the two sides of the thigh part bed surface place, and the space utilization is high, has reduced the space waste below the bed surface, has set up the bed surface more lowly while improved the security of medical bed.

The application provides a multifunctional exoskeleton device, and belongs to the technical field of wearable auxiliary equipment, specifically, a hip joint locking mechanism is arranged on a hip joint module, and a knee joint locking mechanism is arranged on a knee joint module; a first roller is arranged on the rear of a waist module through a folding support, a folding locking mechanism for locking the folding support in a folded state or an unfolded state is arranged on the folding support, a second roller is connected to the knee joint module or a lower leg part through a supporting rod, the supporting rod is rotatably arranged on the knee joint module or the lower leg module, and a supporting locking mechanism for locking the position of the supporting rod is arranged on the knee joint module or the lower leg part; a plurality of connecting rods are detachably mounted on a thigh part, a first connecting seat is arranged on the end of the thigh part close to the knee joint, a second connecting seat is arranged on the end of the lower leg part away from the knee joint, the first connecting seat and the second connecting seat are used for detachably clamping the end of the connecting rod, and the multifunctional exoskeleton device comprises a standing mode and a trolley mode.

The present invention discloses a novel modular rigid-flexible hip joint system, wherein a quick-release unit is used to realize the rapid disassembly and assembly of the hip joint system and an external exoskeleton system, one end of the flexible adjustment unit is connected to the quick-release unit, and the other end is connected to the rotation unit, for fitting with the hip joint and adapting to the movement of the hip joint; the flexible adjustment unit is connected to the leg unit via the rotation unit, wherein the rotation unit is used to realize the connection with the leg unit and provide the directional restoring force of the hip joint; the leg unit is used to connect with the thigh. This solution realizes the rapid adjustment of the exoskeleton leg through positioning and locking through a simple structural design, increases the high reliability of the adjustment, enhances the load transmission capacity of the hip joint, reduces the local concentration of the load on the upper limbs, realizes the decoupling of the hip joint's degrees of freedom, enhances the adaptability to the human body's movement, does not interfere with the human body's movement, and improves the wearing comfort.

To provide a muscle force estimation device and a muscle force estimation method capable of estimating muscle forces of individual muscle groups classified by function in a lower thigh part.SOLUTION: The muscle force estimation device causes a subject to exert end forces in four directions in a two-dimension plane, and measures the end forces exerted in the respective directions by a detection unit. The end force exerting position is estimated based on the measured end force and the moment around the z-axis orthogonal to the two-dimension plane detected by the detection unit when the end force is measured. Each measured end force is converted into a joint torque based on the estimated end force exerting position. On the basis of the converted joint torque, the output distribution of the hexagonal joint torque in which the lengths of all opposite sides are equal is plotted on a torque plane with the joint torque relating to the knee joint as one axis and the joint torque relating to the foot joint as the other axis perpendicular to the one axis. Based on the output distribution drawn by the drawing unit, the muscle group torque of each muscle group of the crus is estimated.SELECTED DRAWING: Figure 5

The invention discloses a knee joint hyperextension prevention rehabilitation corrector, and belongs to the technical field of knee joint hyperextension prevention, the knee joint hyperextension prevention rehabilitation corrector comprises a thigh part and a shank part, the thigh part comprises an upper-layer first clamping block and an upper-layer second clamping block which are used for being attached to the thigh of a patient and located on the upper layer; the lower-layer part comprises an upper-layer first clamping block and an upper-layer second clamping block which are used for being attached to the lower legs of the patient and are located on the upper layer, and a lower-layer first clamping block and a lower-layer second clamping block which are used for being attached to the lower legs of the patient and are located on the lower layer; and magic tape sleeve blocks are mounted on one side surfaces of the two upper-layer first clamping blocks and the two lower-layer first clamping blocks of the thigh part and the shank part. When the knee joint hyperextension-preventing rehabilitation corrector is used, the positions of the upper-layer first clamping block or the lower-layer first clamping block and the mother-son hook-and-loop fastener do not need to be adjusted, and operation is simplified for a patient to use the knee joint hyperextension-preventing rehabilitation corrector next time.

1. The name of the design product: knee joint exoskeleton thigh component. 2. The use of the design product: as a thigh module of a knee joint exoskeleton, binding the thigh part for assisting walking. 3. The design points of the design product: in shape. 4. The picture or photo that best indicates the design points: perspective view.

The utility model discloses a kind of children's suitcases, it is related to the field of suitcases, and its technical scheme main points are as follows: including box and drawbar, the bottom surface of box is equipped with several gyro wheel, it is characterized by: box is short and long, the groove for accommodating children's thighs is respectively arranged in the both sides of box, and the groove is compatible with children's thigh part;Drawbar is arranged in U shape, the top surface edge of box is equipped with the storage groove for storing drawbar, and the both ends of drawbar are rotatably connected with the both ends of one edge of the top surface of box, and can be turned over into storage groove;Box is equipped with fixing member for fixing drawbar in storage state.The utility model turns over to the front of box by drawbar, children can ride on box and thigh is placed in the both sides groove, and parent can move box and riding children by holding the holding crossbar of drawbar, meet the composite demand of "riding auxiliary+conveniently push" when children travel.

The utility model discloses a knee bending exercise auxiliary training device, which belongs to the technical field of rehabilitation training, and comprises a first supporting part, a second supporting part and a third supporting part, the second supporting part is used for supporting the knee joint, and the second supporting part rotates relative to the first supporting part; a bearing cavity; the sliding grooves are formed in the two side faces of the bearing cavity. One end of the crank connecting rod is mounted on two sides of the joint of the first supporting part and the second supporting part, and the other end of the crank connecting rod slides in the chute in a limited manner; and the rail bodies are symmetrically mounted in the bearing cavity. Through the hinge design of the second pedal plate and the elastic support of the compression spring, self-adaptive adjustment can be carried out according to the actual pressure of the legs and the feet of a patient. The personalized adaptation not only ensures the accuracy of training, but also remarkably improves the comfort level of the patient, reduces the discomfort in the training process, and a stable limiting and fixing mechanism is formed through the cooperation of the arc-shaped supporting plate, the locking concave block, the friction plate and the limiting block.