CN107822833B - Foot-operated multiple training mode rehabilitation device for lower limbs - Google Patents
Foot-operated multiple training mode rehabilitation device for lower limbs Download PDFInfo
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- CN107822833B CN107822833B CN201711165805.1A CN201711165805A CN107822833B CN 107822833 B CN107822833 B CN 107822833B CN 201711165805 A CN201711165805 A CN 201711165805A CN 107822833 B CN107822833 B CN 107822833B
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- rehabilitation device
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
- A63B22/04—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable multiple steps, i.e. more than one step per limb, e.g. steps mounted on endless loops, endless ladders
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/04—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
- Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change
Abstract
The application provides a pedal type lower limb multi-training mode rehabilitation device which comprises a pedal rotating mechanism, an information acquisition mechanism, a control display mechanism and a supporting mechanism, wherein the pedal rotating mechanism comprises a pedal, a crank, a planetary reduction gearbox and a servo stepping motor, the information acquisition mechanism comprises a pressure sensor and a photoelectric encoder, the control display mechanism comprises a control panel and a display, the planetary reduction gearbox, the servo stepping motor, the photoelectric encoder, the control panel and the display are all arranged on the supporting mechanism, the pedal is connected with the crank, the crank is connected with a first gear, the planetary reduction gearbox is connected with a second gear, the second gear is meshed with the first gear, the servo stepping motor is connected with the planetary reduction gearbox, the pressure sensor is arranged on the pedal, the photoelectric encoder is connected with a third gear, the third gear is meshed with the first gear, and the control panel is connected with the display. The application has simple operation and accords with the ergonomic design.
Description
Technical Field
The application relates to the field of rehabilitation medical appliances, in particular to a pedal type lower limb multi-training mode rehabilitation device.
Background
In recent years, as the trend of aging population increases, cases of balance coordination dysfunction due to stroke, hemiplegia, and the like have been in an increasing trend.
Modern medical theory holds that the balance coordination function of the human body is closely related to factors such as visual and spatial perception capability of the human body, central nervous system function, coordination capability of active muscles and antagonistic muscles, muscle strength and endurance. A large number of case statistics indicate that patients with dysequilibrium coordination often cannot be conscious of the spatial position and posture of the body and thus lose reasonable motor responses, such as motor decomposition, muscle contraction and untimely relaxation. Modern physical therapy practices have demonstrated that the inhibited neural pathways can be restarted by physical training, gradually restoring or improving the balance coordination function of the patient. Physical training can be divided into freehand training and training with the aid of instruments, which generally have faster and better therapeutic effects than freehand training.
At present, many research institutions have developed different forms of sitting and lying type lower limb rehabilitation robots successively, scientific researches prove that uninterrupted limb training is very effective in maintaining the physical robustness and life quality of the old, and a plurality of limb training devices are provided for most old activities. However, the conventional limb training device adopts a counterweight load adjustment mode, and the following problems generally exist: most training devices are designed for physically robust persons, and are neither comfortable nor suitable for the patient; load regulation is difficult and discontinuous; the training ability of the old is judged without providing the safety protection function.
Disclosure of Invention
In view of the above, the application provides a pedal type multi-training-mode lower limb rehabilitation device capable of continuously adjusting load, safety and comfort.
The application provides a pedal type lower limb multi-training mode rehabilitation device which comprises a pedal rotating mechanism, an information acquisition mechanism, a control display mechanism and a supporting mechanism, wherein the pedal rotating mechanism comprises a pedal, a crank, a planetary reduction gearbox and a servo stepping motor, the information acquisition mechanism comprises a pressure sensor and a photoelectric encoder, the control display mechanism comprises a control panel and a display, the planetary reduction gearbox, the servo stepping motor, the photoelectric encoder, the control panel and the display are all arranged on the supporting mechanism, the pedal is connected with the crank, the crank is connected with a first gear, the planetary reduction gearbox is connected with a second gear, the second gear is meshed with the first gear, the servo stepping motor is connected with the planetary reduction gearbox, the pressure sensor is arranged on the pedal, the photoelectric encoder is connected with a third gear, the third gear is meshed with the first gear, the control panel is connected with the display, the pressure sensor is used for acquiring the pressure received by the pedal and transmitting the pressure value to the control display mechanism, the photoelectric encoder is used for acquiring the rotating information of the pedal, transmitting the rotating information of the acquired pedal to the control panel to the crank is connected with the crank, the second gear is meshed with the first gear, the second gear is meshed with the second gear, the second gear is meshed with the first gear, the third gear is meshed with the first gear, the pressure sensor is meshed with the first gear, and the pedal is meshed with the first gear, and the pressure sensor is used for displaying the rotating information of the pedal is received and the pedal is driven by the pedal.
Further, the pedal rotating mechanism and the information acquisition mechanism are two groups, and the pedal rotating mechanism is symmetrically distributed along the center of the supporting mechanism.
Further, supporting mechanism includes backup pad and lower backup pad, the lower backup pad is placed subaerial, the fixed motor base that sets up in centre of going up the backup pad, place planetary reduction case and servo step motor on the motor base, the fixed support that sets up in the last backup pad, the support is used for fixed photoelectric encoder, but go up between backup pad and the lower backup pad through a plurality of height-adjusting's bracing piece connection, the bracing piece is established bracing piece upper end and the bracing piece lower extreme of connection including the cover, the bracing piece lower extreme is equipped with the hasp, the hasp is used for the junction of fixed bracing piece upper end and bracing piece lower extreme.
Further, the control display mechanism further comprises a telescopic support column, one end of the support column is connected with the upper support plate, and the other end of the support column is connected with the control plate.
Further, the crank includes crank upper end and crank lower extreme, the crank upper end is connected with the footboard, be equipped with the bearing frame between crank and the first gear, the bearing frame includes bearing frame upper end and bearing frame lower extreme, bearing frame lower extreme and last backup pad fixed connection, the bearing frame upper end is located between crank lower extreme and the first gear, the crank lower extreme passes the round hole of bearing frame upper end and is connected with the center cooperation of first gear.
Further, the pedal comprises an upper flat plate and a lower flat plate, the pressure sensor is arranged between the upper flat plate and the lower flat plate, the upper flat plate and the lower flat plate are made of polylactic acid materials, and the upper flat plate and the lower flat plate deform after being stressed.
Further, the reduction ratio of the planetary reduction gearbox is 1:36.
Further, the transmission ratio of the second gear to the first gear is 1: and 1, wherein the transmission ratio of the third gear to the first gear is 1:2.
Further, the control board controls the servo stepping motor to output torque in the same or opposite direction as the patient movement.
Further, when the control board receives that the pressure born by the pedal is 0, the control board controls the servo stepping motor to stop running.
The technical scheme provided by the application has the beneficial effects that:
1. the rehabilitation device provided by the application can set a plurality of training modes according to the physical condition of a patient, and better assist the patient to complete a rehabilitation training plan; the rehabilitation device provided by the application has high safety coefficient;
2. the rehabilitation device provided by the application is simple to operate, has a better humanized visual interface, and can effectively ensure that a patient can safely complete a rehabilitation training plan no matter the patient is in a sitting state or a lying state;
3. the rehabilitation device provided by the application accords with the ergonomic design, and the height can be adjusted through the support rod, so that the requirements of patients are met;
4. the rehabilitation device provided by the application improves the output torque of the servo stepping motor through the planetary reduction gearbox, provides better use experience for patients, reduces the burden of the servo stepping motor, reduces the possibility of damage of the servo stepping motor, and prolongs the service life of the servo stepping motor; the servo stepping motor is controlled by the control board, so that the load can be continuously and reasonably adjusted, and a better rehabilitation training effect is provided for patients.
Drawings
Fig. 1 is a schematic structural view of a pedal type lower limb multi-training mode rehabilitation device.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present application more apparent, embodiments of the present application will be further described with reference to the accompanying drawings.
Referring to fig. 1, an embodiment of the present application provides a pedal-type lower limb multi-training-mode rehabilitation device, including two sets of pedal rotating mechanisms, two sets of information acquiring mechanisms, a control display mechanism 7 and a supporting mechanism, wherein the pedal rotating mechanisms are symmetrically distributed along the center of the supporting mechanism, the pedal rotating mechanisms include a pedal 1, a crank 2 connected with the pedal, a first gear 23 connected with the crank 2, a planetary reduction box 3, a second gear 31 connected with the planetary reduction box 3 and a servo stepping motor 4, the first gear 23 is meshed with the second gear 31, the planetary reduction box 3 and the servo stepping motor 4 are both arranged on the supporting mechanism, the servo stepping motor 4 is connected with the planetary reduction box 3, the planetary reduction box 3 is used for increasing the torque of the servo stepping motor 4 and reducing the rotation speed of the servo stepping motor 4, so that the load of the servo stepping motor 4 is reduced, after the servo stepping motor 4 is started, the torque is increased by the planetary reduction box 3, under the action of the torque, the second gear 31 rotates, the second gear 31 drives the first gear 23 to rotate, and the pedal 1 can be driven to rotate after the first gear 23 rotates; in one embodiment, the reduction ratio of the planetary reduction gearbox 3 is 1:36, and the transmission ratio of the second gear 31 to the first gear 23 is 1:1.
the crank 2 includes a crank upper end 21 and a crank lower end 22, the crank upper end 21 is connected with the pedal 1, and the crank lower end 22 is cooperatively connected with the center of the first gear 23.
The pedal 1 comprises an upper plate 11 and a lower plate 12, wherein the upper plate 11 and the lower plate 12 are made of polylactic acid materials, and the upper plate 11 and the lower plate 12 deform after being stressed.
The information acquisition mechanism comprises a pressure sensor 5, a photoelectric encoder 6 and a third gear 61 connected with the photoelectric encoder 6, the third gear 61 is meshed with the first gear 23, the first gear 23 rotates to drive the third gear 61 to rotate, the photoelectric encoder 6 is positioned on the supporting mechanism, the photoelectric encoder 6 acquires the rotation information of the pedal 1 according to the rotation information of the third gear 61 and transmits the acquired rotation information of the pedal 1 to the control display mechanism 7, the pressure sensor 5 is positioned between the upper plate 11 and the lower plate 12, and the pressure sensor 5 is used for acquiring the pressure born by the pedal 1 and transmitting the pressure value to the control display mechanism 7; in one embodiment, the ratio of the third gear 61 to the first gear 23 is 1:2.
The supporting mechanism comprises an upper supporting plate 8 and a lower supporting plate 9, the lower supporting plate 9 is placed on the ground, the upper supporting plate 8 and the lower supporting plate 9 are connected through a plurality of supporting rods 83 with adjustable heights, a motor base 81 is fixedly arranged in the middle of the upper supporting plate 8, a planetary reduction gearbox 3 and a servo stepping motor 4 are placed on the motor base 81, a support 82 is fixedly arranged on the upper supporting plate 8, the support 82 is used for fixing a photoelectric encoder 6, the supporting rods 83 comprise a supporting rod upper end 831 and a supporting rod lower end 832 which are sleeved and connected, a lock catch 84 is arranged at the lower end 832 of the supporting rod, and the lock catch 84 is used for fixing the joint of the supporting rod upper end 831 and the supporting rod lower end 832.
The control display mechanism 7 comprises a control panel 71, a display 72 and a telescopic support column 73, wherein the display 72 is connected with the control panel 71, one end of the support column 73 is connected to the upper support panel 8, the other end of the support column 73 is connected with the control panel 71, the heights of the display 72 and the control panel 71 can be adjusted through the support column 73, the control panel 71 is used for receiving rotation information of the pedal 1 transmitted by the photoelectric encoder 6 and pressure values acquired by the pressure sensor 5, and carrying out data fusion processing on the rotation information of the pedal 1 and the received pressure values so as to obtain the speed and the moment of the two servo stepping motors 4, and controlling the moment output by the servo stepping motors 4 according to the obtained speed and moment; the display 72 is used for displaying the pressure applied to the pedal 1 and the rotation angle of the pedal 1; in one embodiment, the display 72 is a liquid crystal display.
A bearing seat 24 is arranged between the crank 2 and the first gear 23, the bearing seat 24 comprises an upper end 241 and a lower end 242, the lower end 242 is fixedly connected with the upper supporting plate 8, the upper end 241 is positioned between the lower end 22 of the crank and the first gear 23, and the lower end 22 of the crank passes through a round hole of the upper end 241 of the bearing seat and is connected with the first gear 23.
In this embodiment, taking a patient sitting on a wheelchair or a patient bed and two feet on the pedal 1 as an example, the pedal-type lower limb multi-training-mode rehabilitation device is described to realize three training modes of passive training, active assistance and active damping for the patient.
(1) Passive training mode
The threshold value of the pressure applied to the pedal 1 is set on the control board 71 according to the physical condition of a patient, when the pressure value applied to the pedal 1 received by the control board 71 is smaller than the threshold value, the control board 71 controls the servo stepping motor 4 to output a moment with a certain size to drive the second gear 31 to rotate, the second gear 31 rotates to drive the first gear 23 to rotate, the first gear 23 rotates to drive the feet of the patient positioned on the pedal 1 to complete the stepping action, at the moment, the stepping speed of the feet of the patient is controlled by the control board 71, and the patient can obtain experience close to the normal stepping process through a passive training mode, so that the recovery of the strength of the patient and the exercise of balance coordination ability are facilitated.
(2) Active assist mode
When the forces of the lower limbs on two sides of a patient are different, the feet of the patient apply forces of different magnitudes to the pedals 1, the pressure sensor 5 collects pressure values received by the pedals 1 and transmits the collected pressure values to the control board 71, the pedals 1 rotate to drive the first gear 23 to rotate, the first gear 23 rotates to drive the third gear 61 to rotate, the photoelectric encoder 6 collects rotation information of the pedals 1 according to rotation information of the third gear 61 and transmits the rotation information to the control board 71, the control board 71 performs data fusion processing according to the received pressure values and rotation information to obtain rotating speeds and moments of the two servo stepping motors 4, then the servo stepping motor 4 on one side with lower rotation speed and moment control the pedals 1 outputs the moment identical to the moving direction of the patient according to the rotating speeds and the moment of the servo stepping motor 4, so that the pressure values received by the two pedals 1 keep consistent, and the lower limbs with weaker force of the patient are helped to normally complete the pedaling action, so that rehabilitation training of the lower limbs is realized, and the cranks 2 on two sides of the pedals 1 keep parallel all the time.
(3) Active damping mode
When a patient needs to perform intensive training, the pressure sensor 5 collects the pressure value received by the pedal 1 and transmits the collected pressure value to the control board 71, the pedal 1 rotates to drive the first gear 23 to rotate, the first gear 23 rotates to drive the third gear 61 to rotate, the photoelectric encoder 6 collects the rotation information of the pedal 1 according to the rotation information of the third gear 61 and transmits the rotation information to the control board 71, the control board 71 performs data fusion processing according to the received pressure value and the rotation information to obtain the rotation speed and torque of the two servo stepping motors 4, and then controls the servo stepping motors 4 to output the torque opposite to the movement direction of the patient according to the rotation speed and torque of the servo stepping motors 4 to transmit the torque to the pedal 1, so that the pedal 1 is subjected to resistance force to force the patient to complete the stepping action with larger force, the intensive training is realized, the lower limb strength of the patient is helped, and the patient strength is exercised under the condition that the normal body function of the patient is not influenced.
In the three training modes of passive training, active assistance and active damping of the patient, when the control board 71 detects that the pressure on the pedal 1 is 0, which means that the patient has a training stopping intention or the leg cannot flex and stretch due to other reasons, the servo stepping motor 4 is stopped by the control board 71, so that the safety of the patient is ensured.
The rehabilitation device provided by the application can set a plurality of training modes according to the physical condition of a patient, and better assist the patient to complete a rehabilitation training plan; the rehabilitation device provided by the application has high safety coefficient; the rehabilitation device provided by the application is simple to operate, has a better humanized visual interface, and can effectively ensure that a patient can safely complete a rehabilitation training plan no matter the patient is in a sitting state or a lying state; the rehabilitation device provided by the application accords with the ergonomic design, and the height can be adjusted through the support rod 83, so that the requirements of patients are met; the rehabilitation device provided by the application improves the output torque of the servo stepping motor 4 through the planetary reduction gearbox 3, provides better use experience for patients, reduces the burden of the servo stepping motor 4, reduces the possibility of damage of the servo stepping motor 4, and prolongs the service life of the servo stepping motor 4; the servo stepping motor 4 is controlled by the control board 71, so that the load can be continuously and reasonably adjusted, and a better rehabilitation training effect is provided for patients.
In this document, terms such as front, rear, upper, lower, etc. are defined with respect to the positions of the components in the drawings and with respect to each other, for clarity and convenience in expressing the technical solution. It should be understood that the use of such orientation terms should not limit the scope of the claimed application.
The embodiments described above and features of the embodiments herein may be combined with each other without conflict.
The foregoing description of the preferred embodiments of the application is not intended to limit the application to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and scope of the application are intended to be included within the scope of the application.
Claims (9)
1. The pedal type lower limb multi-training mode rehabilitation device is characterized by comprising a pedal rotating mechanism, an information acquisition mechanism, a control display mechanism and a supporting mechanism, wherein the pedal rotating mechanism comprises a pedal, a crank, a planetary reduction gearbox and a servo stepping motor, the information acquisition mechanism comprises a pressure sensor and a photoelectric encoder, the control display mechanism comprises a control panel and a display, the planetary reduction gearbox, the servo stepping motor, the photoelectric encoder, the control panel and the display are all arranged on the supporting mechanism, the pedal is connected with the crank, the crank is connected with a first gear, the planetary reduction gearbox is connected with a second gear, the second gear is meshed with the first gear, the servo stepping motor is connected with the planetary reduction gearbox, the pressure sensor is arranged on the pedal, the photoelectric encoder is connected with a third gear, the third gear is meshed with the first gear, the control panel is connected with the display, the pressure sensor is used for collecting pressure born by the pedal and transmitting a pressure value to the control display mechanism, the photoelectric encoder is used for collecting rotation information of the pedal and transmitting the collected rotation information of the pedal to the control display mechanism, the control panel is used for receiving the rotation information of the pedal and the pressure born by the pedal and controlling the magnitude of torque output by the servo stepping motor, the display is used for displaying the pressure born by the pedal and the rotation angle of the pedal, the pedal rotation mechanism and the information acquisition mechanism are two groups, and the pedal rotation mechanism is symmetrically distributed along the center of the supporting mechanism;
the control method of the pedal type lower limb multi-training mode rehabilitation device comprises the following steps: when the forces of the lower limbs on two sides of a patient are different, the feet of the patient apply forces of different magnitudes to the pedals, the pressure sensors collect pressure values received by the pedals and transmit the collected pressure values to the control board, the pedals rotate to drive the first gear to rotate, the first gear rotates to drive the third gear to rotate, the photoelectric encoder collects rotation information of the pedals according to the rotation information of the third gear and transmits the rotation information to the control board, the control board performs data fusion processing according to the received pressure values and the rotation information to obtain rotating speeds and moments of the two servo stepping motors, then the servo stepping motors on one side, which is slower in rotation, control the rotating speeds and moments of the servo stepping motors to control the pedal to be smaller in pressure values and the moments, output the moments the same as the moving directions of the patient, are transmitted to the pedals, so that the pressure values received by the two pedals are kept consistent, at the moment, the lower limbs, which are weaker in force of the patient, are subjected to the compensation force, thus helping the patient to normally complete the stepping action, the rehabilitation training of the lower limbs is realized, and the cranks on two sides are kept parallel all the time.
2. The pedal-type lower limb multi-training-mode rehabilitation device according to claim 1, wherein the supporting mechanism comprises an upper supporting plate and a lower supporting plate, the lower supporting plate is placed on the ground, a motor base is fixedly arranged in the middle of the upper supporting plate, a planetary reduction gearbox and a servo stepping motor are placed on the motor base, a support is fixedly arranged on the upper supporting plate and used for fixing a photoelectric encoder, the upper supporting plate and the lower supporting plate are connected through a plurality of supporting rods with adjustable heights, the supporting rods comprise upper ends and lower ends of the supporting rods which are sleeved and connected, and a lock catch is arranged at the lower ends of the supporting rods and used for fixing the connecting positions of the upper ends and the lower ends of the supporting rods.
3. The foot-operated multi-training-mode lower limb rehabilitation device according to claim 2, wherein the control display mechanism further comprises a telescopic support column, one end of the support column is connected with the upper support plate, and the other end of the support column is connected with the control plate.
4. The foot-operated lower limb multi-training mode rehabilitation device according to claim 2, wherein the crank comprises an upper end and a lower end, the upper end of the crank is connected with the pedal, a bearing seat is arranged between the crank and the first gear, the bearing seat comprises an upper end of the bearing seat and a lower end of the bearing seat, the lower end of the bearing seat is fixedly connected with the upper supporting plate, the upper end of the bearing seat is positioned between the lower end of the crank and the first gear, and the lower end of the crank passes through a round hole at the upper end of the bearing seat to be matched and connected with the center of the first gear.
5. The foot-operated multi-training-mode lower limb rehabilitation device according to claim 1, wherein the pedal comprises an upper plate and a lower plate, the pressure sensor is positioned between the upper plate and the lower plate, the upper plate and the lower plate are made of polylactic acid materials, and the upper plate and the lower plate deform after being stressed.
6. The foot-operated multi-training-mode lower limb rehabilitation device according to claim 1, wherein the reduction ratio of the planetary reduction gearbox is 1:36.
7. The foot-operated lower limb multi-training mode rehabilitation device according to claim 1, wherein the transmission ratio of the second gear to the first gear is 1: and 1, wherein the transmission ratio of the third gear to the first gear is 1:2.
8. The foot-operated multi-training-mode lower limb rehabilitation device according to claim 1, wherein the control board controls the servo stepping motor to output a moment in the same or opposite direction as the patient's movement.
9. The foot-operated multi-training-mode lower limb rehabilitation device according to claim 1, wherein the control board controls the servo stepping motor to stop running when the control board receives the pressure applied to the pedal is 0.
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| CN201711165805.1A CN107822833B (en) | 2017-11-21 | 2017-11-21 | Foot-operated multiple training mode rehabilitation device for lower limbs |
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| CN201711165805.1A CN107822833B (en) | 2017-11-21 | 2017-11-21 | Foot-operated multiple training mode rehabilitation device for lower limbs |
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