CN110237501B - Ankle joint training adapter and rehabilitation training device - Google Patents

Ankle joint training adapter and rehabilitation training device Download PDF

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Publication number
CN110237501B
CN110237501B CN201810821052.3A CN201810821052A CN110237501B CN 110237501 B CN110237501 B CN 110237501B CN 201810821052 A CN201810821052 A CN 201810821052A CN 110237501 B CN110237501 B CN 110237501B
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China
Prior art keywords
ankle
connecting rod
seat
training
pedal
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CN201810821052.3A
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Chinese (zh)
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CN110237501A (en
Inventor
任宇鹏
王卫卫
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Beijing Ltk Medical Technology Co ltd
Beijing Ltk Technology Co ltd
Jizhi Medical Equipment Hebei Co ltd
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Beijing Ltk Medical Technology Co ltd
Beijing Ltk Technology Co ltd
Jizhi Medical Equipment Hebei Co ltd
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    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H1/00Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/0266Foot
    • AHUMAN NECESSITIES
    • A63SPORTS; GAMES; AMUSEMENTS
    • A63BAPPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B21/00Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
    • A63B21/00178Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices for active exercising, the apparatus being also usable for passive exercising
    • AHUMAN NECESSITIES
    • A63SPORTS; GAMES; AMUSEMENTS
    • A63BAPPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B21/00Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
    • A63B21/00181Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices comprising additional means assisting the user to overcome part of the resisting force, i.e. assisted-active exercising
    • AHUMAN NECESSITIES
    • A63SPORTS; GAMES; AMUSEMENTS
    • A63BAPPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B23/00Exercising apparatus specially adapted for particular parts of the body
    • A63B23/035Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
    • A63B23/04Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs
    • A63B23/08Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs for ankle joints
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H2201/00Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12Driving means
    • A61H2201/1207Driving means with electric or magnetic drive
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H2201/00Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/14Special force transmission means, i.e. between the driving means and the interface with the user
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H2201/00Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16Physical interface with patient
    • A61H2201/1602Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/164Feet or leg, e.g. pedal
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H2201/00Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50Control means thereof
    • A61H2201/5058Sensors or detectors
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H2201/00Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50Control means thereof
    • A61H2201/5058Sensors or detectors
    • A61H2201/5064Position sensors
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H2201/00Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50Control means thereof
    • A61H2201/5058Sensors or detectors
    • A61H2201/5069Angle sensors
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H2205/00Devices for specific parts of the body
    • A61H2205/12Feet
    • AHUMAN NECESSITIES
    • A63SPORTS; GAMES; AMUSEMENTS
    • A63BAPPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00Measuring of physical parameters relating to sporting activity
    • A63B2220/18Inclination, slope or curvature
    • AHUMAN NECESSITIES
    • A63SPORTS; GAMES; AMUSEMENTS
    • A63BAPPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00Measuring of physical parameters relating to sporting activity
    • A63B2220/80Special sensors, transducers or devices therefor
    • AHUMAN NECESSITIES
    • A63SPORTS; GAMES; AMUSEMENTS
    • A63BAPPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2230/00Measuring physiological parameters of the user
    • A63B2230/60Measuring physiological parameters of the user muscle strain, i.e. measured on the user
    • A63B2230/605Measuring physiological parameters of the user muscle strain, i.e. measured on the user used as a control parameter for the apparatus

Landscapes

  • Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Physical Education & Sports Medicine (AREA)
  • General Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Biophysics (AREA)
  • Animal Behavior & Ethology (AREA)
  • Rehabilitation Therapy (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Pain & Pain Management (AREA)
  • Epidemiology (AREA)
  • Rehabilitation Tools (AREA)

Abstract

The invention discloses an ankle training adapter and ankle training equipment. The foot adapter comprises an adjustor, an ankle joint position adjusting mechanism, a pedal and a foot fixing piece arranged on the pedal, wherein one end of the ankle joint position adjusting mechanism is connected with the adjustor, and the other end of the ankle joint position adjusting mechanism is connected with the pedal. The motion control host comprises a driving device and a control module, the driving device comprises a motor and a speed reducer connected with the motor, the speed reducer is connected with an output shaft of the speed reducer, the speed reducer can rotate relative to the speed reducer, and the control module is connected with the motor. The control module comprises an angular position change detection module, a motor current change detection module and a mode selection module. The invention can effectively assist the patient to exercise the joints, promote the muscle strength, improve the joint mobility and draft and relax the stiff joints.

Description

Ankle joint training adapter and rehabilitation training device
Technical Field
The invention relates to the field of medical equipment, in particular to an ankle training adapter and ankle rehabilitation training equipment.
Background
In the field of popular sports rehabilitation training, cerebral apoplexy, multiple sclerosis, spinal cord injury and cerebral palsy affect the lives of millions of people. For most patients with impaired neurological function, dyskinesia is often associated with increased limb cramps, and physical therapy is the primary means of the current rehabilitation training process, but the current training technology has many limitations.
In traditional stretch treatment, physical therapists can employ stretch, assist and other physical intervention procedures to relieve spasticity and contracture of the patient's limb, restore the patient's balance, coordination and motor functions of the joints and limbs. However, traditional stretching by physical manipulation is laborious, often requiring the therapist to stretch the patient's spastic extremities with a great deal of hand effort; meanwhile, the strength of the manual stretching depends on experience of therapists and subjective feeling.
In evoked active exercise training, it is difficult for a patient to achieve complete recovery of limb movement function through his own exercise efforts without the assistance of a physical therapist or device, as a patient is unable to produce continuous stable active limb movements. Furthermore, due to lack of rehabilitation knowledge or over-training, the patient may potentially exacerbate the extent of injury in attempting to perform voluntary limb movements.
Due to shortage of therapist resources, patients do not get a sufficient amount of exercise rehabilitation training, resulting in short-term rehabilitation training efficacy not being maintained for a long period of time.
Conventional passive traction training devices (CPM, continuous passive motion) are widely used in hospitals and in patients' homes. CPM primarily provides slow motion of the joint within a predetermined fixed range to prevent post-operative adhesions and reduce joint stiffness. The technical limitation is that CPM machines move a limb or joint between two preset articulation positions at a slow constant speed. Although the system can provide a large stretching moment, the preset movement range is usually smaller than the flexible movement range of the joint because the resistance of the affected limb due to the spasm cannot be detected in the whole stretching process due to the limitation of the mechanical structure, otherwise the damage risk of the joint is increased. Under such functional limitations, the passive traction function is generally unable to stretch to a location of limited high muscle tone, and this physiological location is precisely the most pronounced contracture and cramp, and is also the physiological location where safe and effective stretching is truly desired. Because of the lack of detection of human joint resistance, conventional continuous passive traction trainers cannot be used for rehabilitation of motor dysfunction due to nerve damage.
In recent years, another type of active auxiliary training equipment is mainly a multi-degree-of-freedom robot product and is used for helping to improve the control of active movement of limbs and nerve rehabilitation of patients after cerebral apoplexy and other nerve injuries. However, from a clinical point of view, for patients with high muscular tension/limb spasticity (e.g. cerebral stroke, cerebral palsy, etc.), the problem of high muscular tension/limb spasticity may be aggravated by the fact that the patient has to take into account the problem of muscular tension change or muscle group spasticity, but the existing auxiliary training equipment often ignores such pathological characteristics and directly performs auxiliary training on the patient without solving the prerequisite function of the muscular tension change or muscle group spasticity.
In addition, some training laboratory platform robots can accurately measure resistance or active movement tendencies generated by a limb spasm, but their technology is limited in that the implementation of the overall function and control relies on the use of additional precision force/moment sensors. Therefore, the structure determines the increase of the manufacturing cost of the whole system, and the price is too high, thus being not suitable for being widely used in basic communities and families. And because of the different structural compositions, the device can only provide an active auxiliary exercise training function, and on the same device, a passive stretching function with larger output moment cannot be realized at the same time, and the treatment mode of combining active/passive training and the evaluation after training are ignored.
The products on the market in China mainly comprise walking training beds, pedal bicycle type training devices, CPM devices (continuous passive exercise rehabilitation devices) and the like. The pedal bicycle type training device is suitable for active and passive training of upper and lower limbs. The product gradually improves blood circulation, increases muscle strength and endurance of affected limb, maintains flexibility of muscle, and reduces muscle tension by active training and passive training of upper limb and lower limb. The device is mainly characterized by simple function and convenient operation of staff; is suitable for simultaneous use, monitoring and management of a plurality of stations. Meanwhile, the KLW-SKF intelligent rehabilitation training system is provided with protective measures, and once the spasm occurs in the use process of a patient, the intelligent reverse movement mode can be started by the machine to relieve the symptoms of the spasm. Although having active and passive modes, only repetitive "bicycle-type" joint limb movements can be generated due to limitations in mechanical structural design and motion control techniques; the problem of limb cramping for brain injury patients cannot provide targeted joint flexible traction. The training patterns provided by such products are limited to basic exercise bicycle exercise patterns, suitable for improving cardiopulmonary ability and maintaining basic exercise ability, but very limited for alleviating and improving limb cramping problems.
Disclosure of Invention
In view of the problems of the prior art, the present invention initially provides an ankle training adapter that at least partially addresses the deficiencies of the prior art.
The ankle training adapter provided by the invention comprises a foot adapter and a motion control host. The foot adapter comprises an adjustor, an ankle joint position adjusting mechanism, a pedal and a foot fixing piece arranged on the pedal, wherein one end of the ankle joint position adjusting mechanism is connected with the adjustor, and the other end of the ankle joint position adjusting mechanism is connected with the pedal. The motion control host comprises a driving device and a control module, wherein the driving device comprises a motor and a speed reducer connected with the motor, the regulator is connected with the speed reducer and can rotate relative to an output shaft of the speed reducer, and the control module is connected with the motor; the control module comprises an angular position change detection module, a motor current change detection module and a mode selection module, wherein the angular position change detection module is used for detecting angular position change generated by the synchronous movement of the regulator driven by the active movement of the affected limb; the motor current change detection module is used for detecting current change in motor driving generated by applying torque to the regulator by the affected limb; the mode selection module is respectively connected with the angular position change detection module and the motor current change detection module to select to adopt an inherent resistance mode, a stretching mode, an auxiliary resistance mode and a resistance mode or induce an active movement mode according to the angular position change and/or the current change.
Preferably, the ankle position adjusting mechanism is a cross connecting rod which is formed by connecting a first connecting rod and a second connecting rod in a cross mode.
Preferably, the crossing position of the first connecting rod and the second connecting rod is adjustable, the pedal is adjustably connected to one end of the first connecting rod away from the crossing position, and the adjuster is connected to one end of the second connecting rod away from the crossing position.
Preferably, the second connecting rod is provided with an adjusting chute along the length direction thereof, the first connecting rod is sleeved on the second connecting rod and can slide along the length direction of the first connecting rod, and the first connecting rod is provided with a positioning hole corresponding to the adjusting chute and used for the positioning locking piece to pass through.
Preferably, the pedal is connected with the first connecting rod through a pedal fixing piece, the pedal fixing piece is adjustably arranged on the first connecting rod, and the adjusting direction of the pedal fixing piece is up and down.
Preferably, a limiting mechanism for limiting the rotation of the motor is arranged between the regulator and the speed reducer, the limiting mechanism comprises a limiting groove and a limiting block, the limiting groove and the limiting block are arranged on the end face, opposite to the speed reducer, of the regulator, and a roller corresponding to the limiting groove is arranged on the end face, opposite to the regulator, of the speed reducer.
Preferably, the foot mount has a shoe shape; or, the foot fixing piece comprises an instep fixing band and a heel limiting band, and the instep fixing band and the heel limiting band are directly arranged on the pedal.
The invention further provides ankle rehabilitation training equipment which comprises a sliding base with a sliding rail, a height adjusting mechanism, the ankle training adapting piece, a display device and a rotary training seat. The height adjusting mechanism is arranged on the sliding base. The ankle training adapter is mounted on the height adjustment mechanism. The display device is adjustably supported above the motion control host through a screen bracket. The rotary training seat is arranged on the sliding rail and is adjustable in position relative to the ankle training adapter.
Preferably, the rotary training seat comprises a seat body, a seat body bottom plate and a seat lifting mechanism, wherein the seat body is installed at the upper end of the seat lifting mechanism through the seat body bottom plate.
Preferably, the seat lifting mechanism comprises a lifting driving hydraulic cylinder, a telescopic strut and a pedal type operating rod, wherein the telescopic strut is connected with the lifting driving hydraulic cylinder, and the pedal type operating rod is connected with the lifting driving hydraulic cylinder.
Preferably, the lift drive hydraulic cylinder is arranged on a seat pan which is locked to the slide rail by a seat position locking member.
Preferably, the rotary training seat further comprises a leg support device comprising:
the leg support frame comprises a telescopic support rod with adjustable length, and one end of the telescopic support rod is pivotally connected with the seat bottom support plate; and
the leg supporting plate is pivotally connected to one end, far away from the leg supporting frame, of the telescopic supporting rod.
Preferably, the leg rest includes a foot rest plate for supporting the feet of the patient and a foot fixing strap provided on the foot rest plate.
Preferably, thigh straps are provided on the seat body.
Preferably, the sliding base is locked on the sliding rail by a host position lock located on a side of the sliding base facing away from the swivel training seat.
Preferably, the sliding rail comprises a first sliding rail and a second sliding rail, and the first sliding rail and the second sliding rail are in butt joint to form a T-shaped sliding rail.
The invention further provides a control method for performing ankle rehabilitation training by adopting the ankle rehabilitation training device, which comprises the following steps:
inherent resistance mode control: the angular position change detection module detects angular position change generated by the synchronous motion of the foot adapter driven by the active motion of the affected limb, the mode selection module controls the motor to drive to generate current control quantity along the same direction as the angular position change according to the angular position change in unit time, and the motor is driven to drive the foot adapter to move along the same direction as the motion direction of the affected limb by overcoming mechanical resistance;
stretch mode control: the motor current change detection module detects current changes in motor drive generated by the affected limb applying moment to the foot adapter, and the mode selection module adjusts the motor rotation speed and range according to the current changes so as to adjust the rotation speed and range of the affected limb for stretching muscles of the affected limb;
assistance and resistance mode control: the angular position change detection module detects the angular position change of the foot adapter, the mode selection module calculates the auxiliary force which is required to be the same as the movement direction of the affected limb or the resistance opposite to the movement direction of the affected limb according to the angular position change so as to control the motor to apply the auxiliary force or the resistance to the foot adapter, so that the affected limb can carry out auxiliary training or resistance training;
active motion mode control is induced: the angular position change detection module detects current changes generated by applying torque to the foot adapter by the affected limb, the mode selection module calculates moment changes generated by autonomous movement of the affected limb according to the detected current changes, controls the motor to drive the affected limb to perform exemplary passive movement when the moment changes are smaller than a certain specific value, feeds back the movement of the limb to a patient in a visual or audible mode, enables the patient to perform autonomous movement, and feeds back the moment changes after the proportion change to the patient.
The invention combines the designs of the foot adapter and the motion control host, can effectively assist a patient to exercise joints, improve muscle strength, improve joint mobility and draft and relax stiff joints; in addition, because the change of the muscle tension is monitored according to the change of the angular position and the change of the current, the flexible self-adaptive traction treatment is implemented, namely, the joint motion parameters are dynamically monitored, and the force of the speed and the traction joint motion degree can be accurately adjusted to the maximum extent on the basis of ensuring the safety and the effectiveness, and the flexible self-adaptive traction treatment device is economical, practical and simple in structure. Can be used by patients at home comfortably, increase the training treatment frequency and shorten the rehabilitation period. Compared with the prior training equipment, the invention can greatly reduce the volume, weight and manufacturing cost of the rehabilitation training system, and patients can use the low-cost training equipment at home and in local clinics; for patients in the acute phase, the patients can get necessary and convenient rehabilitation training in the early bedridden rehabilitation period.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention.
FIG. 1 is an overall schematic view of an ankle rehabilitation training device of the present invention;
FIG. 2 is a schematic view of the ankle rehabilitation training device of the present invention with the rotary training seat removed;
FIG. 3 is a schematic view of two emergency stops of the ankle rehabilitation training device of the present invention;
FIG. 4 is a schematic view of the ankle rehabilitation training device of the present invention with a main machine position locking member provided on the sliding base;
FIGS. 5A, 5B, 5C, 5D, 5E are schematic illustrations of a foot adapter of the ankle training adapter of the invention;
FIG. 6 is a block diagram of the control module of the ankle training adapter of the present invention;
FIGS. 7A and 7B are schematic sliding views of the ankle rehabilitation training device according to the present invention;
FIG. 8A is an overall schematic view (from another direction) of the ankle rehabilitation training device of the present invention;
FIG. 8B is a schematic view of the rotational limit of the seat of the ankle rehabilitation training device according to the present invention;
FIG. 9 is a partial schematic view of the ankle rehabilitation training device of the present invention;
FIG. 10 is a partial schematic view of a swivel training seat of the ankle rehabilitation training device of the present invention;
FIG. 11 is an overall schematic view (from another direction) of the ankle rehabilitation training device of the present invention;
FIG. 12 is a schematic view (side view) of a knee adjustment configuration of the ankle rehabilitation training device according to the present invention;
fig. 13 is a schematic view (side view) of a straight knee adjustment configuration of the ankle rehabilitation training device of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, exemplary embodiments according to the present invention will be described in detail with reference to the accompanying drawings. It should be apparent that the described embodiments are only some embodiments of the present invention and not all embodiments of the present invention, and it should be understood that the present invention is not limited by the example embodiments described herein. Based on the embodiments of the invention described in the present application, all other embodiments that a person skilled in the art would have without inventive effort shall fall within the scope of the invention.
In the description of the present invention, it should be noted that terms such as "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," "outer," "front," and "rear," and the like, indicate terms of orientation or positional relationship with respect to an observer or patient standing around the ankle rehabilitation training device, are merely for convenience in describing the present invention and for simplifying the description, and do not indicate or imply that the device or element to be referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. For the electrical and communication fields, either a wired connection or a wireless connection is possible. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
As shown in fig. 1, the present invention provides an ankle rehabilitation training device, which comprises a sliding base 800 with a sliding rail, a height adjusting mechanism 300, an ankle training adapter 1000, a display device 400 and a rotary training seat 500. The height adjustment mechanism 300 is mounted on the slide base 800. Ankle training adapter 1000 is mounted on height adjustment mechanism 300. The display device 400 is adjustably supported above the motion control host of the ankle training adapter by a screen bracket. The rotary exercise seat 500 is positioned on the sled 600 with adjustable positions relative to the ankle training adapter. The slide base 800 is locked on the slide rail 600 by a host position lock (i.e., the slider 302 mentioned below) located on the side of the slide base 800 facing away from the rotary exercise seat 500. The slide rail 600 includes a first slide rail 601 and a second slide rail 602, the first slide rail 601 and the second slide rail 602 being abutted into a T-shaped slide rail.
Specifically, referring to fig. 1, ankle training adapter 1000 includes foot adapter 100 and a motion control host. The motion control host includes a drive 200 and a control module 700.
Referring to fig. 2, a schematic diagram of a motion control host is shown. The sliding base 800 comprises a base 307 and a T-shaped slide rail 600, wherein the base 307 is arranged on the shoulder of the T-shaped slide rail 600, the lifting column 301 is arranged on the base, and the motion control host is arranged on the lifting column 301, and as mentioned above, the motion control host mainly comprises the control module 700 and the driving device 200. On the base 307, a slider 302 for host adjustment, a lifting column power switch 303, a main power socket 304, a nameplate 305, and a hand-held emergency stop switch 306 are provided in this order on the back side opposite to the seat. The drive device 200 is provided with an emergency stop switch 201A and a hand-held emergency switch 201B, and the emergency stop switch 201A and the hand-held emergency switch 201B have the same action 306 as the hand-held emergency switch described above. An input port 204 and a data connection serial port 205 are designed on the back surface opposite to the user.
As shown in fig. 3, there are partial detail views of two emergency stop switches. An emergency stop switch 201A is shown as well as a hand held emergency switch 201B, which functions the same, the latter being convenient for the patient.
As shown in fig. 4, the system mainframe is provided with a lockable sliding block 302, and based on the arrangement of the sliding rail 600, the position of the mainframe can be adjusted according to the positions of the left leg and the right leg, so that rehabilitation training of the left lower limb or the right lower limb can be obtained. And the sliding block 302 is loosened, and the equipment host can slide left and right on the sliding rail, so that the equipment can be conveniently moved.
Referring to fig. 5A-5E in combination, the driving device 200 has a decelerator 202A and a motor 202B inside, and the foot adapter 100 is connected to the decelerator 202A and rotatable about A-A central axis.
As shown in fig. 5A, 5B, and 5C, the internal structure of the driving device with the connecting rod is shown. The driving device 200 includes a decelerator 202A and a motor 202B inside, and is connected to the foot adapter by screws at the front of the decelerator. Fig. 5B shows the spacing mechanism 140 in front of the decelerator in front of the motor. For example, when the patient performs training, the limiting mechanism 140 is adjusted, and as the foot adapter is adjusted, the angle of the pedal is adjusted, so that the training effect of different foot ankles is achieved. Fig. 5C is a perspective view of the drive device.
In one particular embodiment, foot adapter 100 includes an adjuster 102, a pedal 101, and a foot mount. The pedal 101 is used to provide support to the foot of the patient. The pedal 101 is rotatable about an axis by the ankle position adjusting mechanism 104 under the drive of the drive device 200. Foot mounts are on the pedal 101 for securing a patient's foot to the pedal 101. In particular embodiments, the foot mounts may include an instep strap 105 and a heel strap 106 for securing a left foot (or right foot) to the pedal 101. Instep securing strap 105 may be used to secure and restrain the patient's instep, preventing the patient's foot from falling off pedal 101. Heel strap 106 may be used to restrain and limit the patient's heel, preventing the patient's heel from sliding off pedal 101 during use. Alternatively, the instep-securing strap 105 and the heel-restraining strap 106 may be provided as a unitary structure. In addition, the foot fixing member may have other structures, for example, a structure similar to a shoe, as long as the foot of the patient can be fixed to the pedal 101. An ankle position adjusting mechanism 104 has one end connected to the adjuster 102 and the other end connected to the pedal 101. The ankle position adjusting mechanism 104 is a crisscross connecting rod that is cross-connected together by a first connecting rod 1041 and a second connecting rod 1042. The intersection position of the first connecting rod and the second connecting rod can be adjusted, the pedal 101 is adjustably connected to an end of the first connecting rod 1041 away from the intersection position, and the adjuster 102 is connected to an end of the second connecting rod 1042 away from the intersection position. The second connecting rod 1042 is provided with an adjusting chute 10421 along the length direction thereof, the first connecting rod 1041 is sleeved on the second connecting rod 1042 and can slide along the length direction of the first connecting rod 1041, and the first connecting rod 1041 is provided with a positioning hole 10411 corresponding to the adjusting chute 10421 for passing through the positioning locking member 107. The pedal 101 is connected to the first connecting rod 1041 through a pedal fixing member 103, the pedal fixing member 103 is adjustably disposed on the first connecting rod 1041, and an adjustment direction of the pedal fixing member 103 is an up-down direction. Referring to fig. 5B and 5C, a limiting mechanism 140 for limiting the rotational movement of the motor is disposed between the regulator 102 and the speed reducer 202A, the limiting mechanism 140 includes a limiting groove 141 and a limiting block 142, the limiting groove 141 and the limiting block 142 are disposed on an end face of the regulator 102 opposite to the speed reducer 202A, and a roller 2021 corresponding to the limiting groove 141 is disposed on an end face of the speed reducer 202A opposite to the regulator 102.
Referring to fig. 6 in combination, the control module 700 includes an angular position change detection module 710, a motor current change detection module 720 and a mode selection module 730, where the angular position change detection module 710 is configured to detect an angular position change generated by an active motion of a patient limb driving the regulator to move synchronously; the motor current change detection module 720 is used for detecting current change in motor driving caused by torque applied by a patient limb to the regulator; the mode selection module 730 is connected to the angular position change detection module 710 and the motor current change detection module 720, respectively, to select to use the intrinsic resistance mode, the stretch mode, the auxiliary and resistance modes or to induce the active motion mode according to the angular position change and/or the current change.
Specifically, referring to fig. 1 again, in the passive training mode, the driving device 200 drives the foot adapter 100 to move, so as to drive the foot of the patient to train the ankle joint; in the active training mode, the driving device 200 is not operated, and the foot adapter is driven to move by the autonomous movement of the patient, so that the ankle joint of the foot of the patient is trained. Preferably, after a period of passive training of the patient, the active training may be selected again after the test has reached the requirements.
As shown in fig. 7a,7b, a top view of the device of the present invention is shown in different states of left and right leg training. The device can train according to the left ankle joint or the right ankle joint. For example, the motion control host is pushed into place relative to the swivel exercise chair 500, when left or right ankle exercises are desired, the left or right thigh is placed on the leg support, the thigh straightens, the left or right foot is placed on the pedal, and the slider lock slide is then adjusted.
Referring now to fig. 8A-10 in combination, the main components of a rotary exercise seat 500 are shown: the seat body 510, the seat body bottom plate 511, the seat lifting mechanism 512 and the movable seat arm rest 503, the seat body 510 is mounted at the upper end of the seat lifting mechanism 512 through the seat body bottom plate 511, and the thigh strap 502 is provided on the seat body 510. The seat lifting mechanism 512 includes a lift drive hydraulic cylinder 509, a telescopic strut 508, and a foot-operated lever 505, the telescopic strut 508 being connected to the lift drive hydraulic cylinder 509, the foot-operated lever 505 being connected to the lift drive hydraulic cylinder 509. The lift drive hydraulic cylinder 509 is provided on the seat pan 513, and the seat pan 513 is locked to the slide rail 600 by the seat position locking member 507. The rotary training seat 500 further comprises a leg support device 501, wherein the leg support device 501 comprises a leg supporting frame 5011 and a leg supporting tray 5012, the leg supporting frame 5011 comprises a telescopic supporting rod with adjustable length, and one end of the telescopic supporting rod is pivotally connected with the bottom supporting plate 511 of the seat body. The leg rest 5012 is pivotally connected to an end of the telescopic support bar remote from the leg rest 5011. The leg tray 5012 includes a foot rest 50121 for supporting the feet of the patient and a foot fixing strap 50122 provided on the foot rest 50121.
For example, the chair armrests 503 and chair backs may be adjustable for patient convenience. The seat body 510 carries the upper body strap 504 and thigh strap 502 for patient sitting stability. The present invention provides a leg support 501 pivotally connected to the seat by a link for supporting the thigh of the patient. The term "thigh" in the present invention refers to a portion between the knee joint and the root of the thigh, and therefore, the leg support device may also be referred to as a thigh support device. The leg support 501 may allow for proper support of the patient's thigh throughout the movement of the foot adapter 100. Fig. 8B is a view of the internal structure of the swivel limit of the exercise seat.
As shown in fig. 9, a partial schematic view of the leg support device shows a connection mode adjustment knob 501A, a length knob 501B, and an adjustment knob 501C of the leg support device. For example, after the patient sits, the adjusting knob 501A is pressed down, the rotating shaft is rotated to hold up the thigh of the patient, the rotating angle is adjusted according to the straightening degree of the knee joint of the patient, and after the adjusting angle is adjusted to a proper angle, the adjusting knob is released to fasten the position of the leg support 501; loosening and adjusting a knob 501B at the middle part of the support frame, and adjusting along the leg direction according to the seat height and the patient's leg length, wherein the knob 501B is fastened after the adjustment; loosening and adjusting the leg supporting disc knob 501C, and performing proper inclination adjustment according to the actual conditions of different patients; the adjustment is based on the principle of comfortably supporting the patient's lower leg.
As shown in fig. 10, the internal structure of the seat lifting mechanism 512 is shown, the lifting driving hydraulic cylinder 509 is a passive foot-operated lifting cylinder, and the lifting driving hydraulic cylinder 509 is connected with four telescopic struts 508. The passive pedal type lifting oil cylinder is safe and reliable and convenient to use. The four telescoping struts 508 are added to enhance the stability of the seat 500. The leg rest rotating part a, the leg rest telescoping part B and the leg rest support lever rotating part C in fig. 10 are enlarged. The leg tray 5012 can rotate, and limiting is realized through a knob A1; the leg support 5011 is telescopic, and is locked by rotating the knob B1 after being adjusted to the target length; pressing the "button C1" leg rest 5011 can achieve selection in the up-down direction, and locking is achieved after the button is released.
As shown in fig. 11, the display device 400 may be used to display various data (including foot motion data and various other information) of the control device 700. In connection with fig. 1, the display apparatus 400 may include a display 401 and/or an image projection device (projector) support bar 402, the projection device support bar 402 being disposed behind a control module 700 of the body control mechanism, opposite the seat 500, for convenient viewing by a patient. Preferably, the support bar rotatable by 360 degrees is provided at the upper rear portion of the main body control mechanism. Preferably, the display 401 may be a touch screen, and has a function of an input part of the control device.
As shown in fig. 12 and 13, the bending angle of the knee joint during ankle training can be adjusted by adjusting the front-rear position and the high-low position of the seat 500, while the leg supporting means 501 can adjust the rotation angle and length to support the lower leg to fit different knee joint bending angles. That is, this structure may be such that the user performs ankle training in different manners under different knee fixing angles.
In one embodiment, as shown in fig. 8A, the movable chair armrest 503 is lifted to allow the patient to sit on the chair body 510, the patient's lower leg is placed on the leg support 501, the support is adjusted forward/backward to ensure the patient's leg is straight, the upper body strap 504 on the chair is used to secure the upper body of the person, and the chair armrest 503 can be adjusted up and down. The leg supporting device 501 under the seat can be adjusted back and forth and adjusted in a pitching mode, after adjustment, the sliding block can be locked, the seat 500 can slide back and forth on the sliding rail 600 in a anticlockwise mode, and the seat 500 can be moved back and forth to a proper position according to the lengths of legs of different patients. And after the adjustment, locking the sliding block. By repeatedly pressing the foot pedal lever 505, the telescoping post 508 under the chair is adjusted (see fig. 10), and the chair is adjusted to a proper height according to the height of the patient. The seat can be rotated, and the rotary locking handle D1 is firstly released (as shown in fig. 8B), and after the seat is rotated to a certain angle, the locking handle D1 is released. The backrest of the chair can be adjusted in a pitching mode back and forth according to the needs of a patient, and when the backrest is adjusted, the handle on the side face of the chair is pressed down, and the handle on the side face is locked after the backrest is pushed to a certain angle. The chair is provided with the safety belt and the thigh binding belt, so that the upper body and the thigh of a patient can be fixed on the chair, and the chair is not easy to shake. The chair armrest can adjust the inclination angle according to the needs of patients, the armrest position is fixed by clockwise screwing, and the armrest fastening position is loosened by anticlockwise screwing.
In the control mode, the invention can set the activity angle and can set 3 position parameters respectively: ankle joint movement zero, maximum dorsiflexion, maximum plantarflexion. The stretching strength can set the maximum dorsiflexion and maximum plantarflexion data of the stretching ankle according to the actual condition of the ankle of a patient. The maximum dorsiflexion setting range of the training device for the ankle joint is 0-25 degrees, and the maximum plantarflexion setting range is 0-45 degrees.
The control module 700 of the present invention can flexibly adjust the pulling strength, speed and range of motion by monitoring the change of limb resistance or muscle tension, thereby safely and effectively reducing muscle tension, and alleviating and inhibiting spasticity. Can provide effective ankle dorsiflexion/buckling motion guidance, induce autonomous ankle motion and strengthen muscle strength.
The invention also provides a method for performing ankle rehabilitation training by using the device, which comprises the following steps: one or more of the following modes are performed according to the needs of the affected limb training: 1) Counteracting the natural drag mode of the system. In the mode, the angular position change detection module detects the angular position change generated by the synchronous motion of the foot adapter driven by the active motion of the affected limb, the mode selection module controls the motor to drive to generate current control quantity along the same direction as the angular position change direction according to the angular position change in unit time, and the motor is driven to drive the foot adapter to move along the same direction as the motion direction of the affected limb by overcoming mechanical resistance so as to enable the affected limb to move freely. 2) Stretching mode. In this mode, the motor current change detection module detects a current change in the motor drive due to the torque applied to the foot adapter by the affected limb, the detected current change is low-pass filtered to obtain a smoothed value, and the mode selection module adjusts the motor rotation speed and range according to the current change to adjust the rotation speed and range of the affected limb for stretching the muscle of the affected limb. 3) Assistance and resistance control modes. In this mode, the angular position change detection module detects the angular position change of the foot adapter, and the mode selection module calculates the required auxiliary force in the same direction as the movement direction of the affected limb or the resistance opposite to the movement direction of the affected limb according to the angular position change so as to control the motor to apply the auxiliary force or the resistance to the foot adapter, so that the affected limb can perform auxiliary training or resistance training. 4) An active motion mode is induced. In this mode, the angular position change detection module detects a current change generated by applying a moment to the foot adapter by the affected limb, the mode selection module calculates a moment change generated by autonomous movement of the affected limb from the detected current change, controls the motor to drive the affected limb to perform an exemplary passive movement when the moment change is smaller than a specific value, and feeds back the movement of the limb to the patient in a visual or audible manner, and then allows the patient to perform autonomous movement and feeds back the moment change after the ratio change to the patient.
The beneficial effects of the invention are as follows:
1. by monitoring the change of limb resistance or muscle tension, the product can flexibly adjust the traction strength, speed and movement range, thereby safely and effectively reducing the muscle tension, and relieving and inhibiting the spasm.
2. On the premise of ensuring limb safety, the ankle dorsiflexion limit position flexibility and the like Zhang Qianla are realized, and the joint movement range is enlarged.
3. The product focuses on the problem of foot drop in rehabilitation, provides effective ankle dorsiflexion/buckling motion guidance, induces autonomous ankle motion, and strengthens muscle strength.
4. Can realize the training of various ankle strengthening modes simultaneously: free drag-free motion, auxiliary and drag-resistant motion, flexible draft, and interactive play induces an active motion pattern.
5. The novel mode of inducing and sensing the active movement is emphasized, intelligent voice guidance and interaction are provided, and interesting limbs sense game interaction is realized.
6. By using the novel control system patent technology, the cost of the core component is greatly reduced, and a feasible equipment solution is provided for future home use and community rehabilitation.
Although the illustrative embodiments have been described herein with reference to the accompanying drawings, it is to be understood that the above illustrative embodiments are merely illustrative and are not intended to limit the scope of the present invention thereto. Various changes and modifications may be made therein by one of ordinary skill in the art without departing from the scope and spirit of the invention. All such changes and modifications are intended to be included within the scope of the present invention as set forth in the appended claims.
In the description provided herein, numerous specific details are set forth. However, it is understood that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
Similarly, it should be appreciated that in order to streamline the invention and aid in understanding one or at least two of the various inventive aspects, in the description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof. However, the method of the present invention should not be construed as reflecting the following intent: i.e., the claimed invention requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.
It will be understood by those skilled in the art that all of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or means of any method or apparatus so disclosed, may be combined in any combination, except combinations where the features are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings), may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.
Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features but not others included in other embodiments, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the claims, any of the claimed embodiments may be used in any combination.
It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of at least two such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the device claim enumerating several means, several of these means may be embodied by one and the same item of hardware. The use of the words first, second, third, etc. do not denote any order. These words may be interpreted as names.
The foregoing description is merely illustrative of specific embodiments of the present invention and the scope of the present invention is not limited thereto, and any person skilled in the art can easily think about variations or substitutions within the scope of the present invention. The protection scope of the invention is subject to the protection scope of the claims.

Claims (11)

1. An ankle training adapter, comprising:
the foot adapter comprises an adjustor, an ankle joint position adjusting mechanism, a pedal and a foot fixing piece arranged on the pedal, wherein one end of the ankle joint position adjusting mechanism is connected with the adjustor, and the other end of the ankle joint position adjusting mechanism is connected with the pedal; and
the motion control host comprises a driving device and a control module, wherein the driving device comprises a motor and a speed reducer connected with the motor, the speed reducer is connected with the speed reducer and can rotate relative to an output shaft of the speed reducer, and the control module is connected with the motor;
the ankle joint position adjusting mechanism is a cross connecting rod formed by connecting a first connecting rod and a second connecting rod in a cross mode, the cross position of the first connecting rod and the cross position of the second connecting rod can be adjusted, the pedal can be adjustably connected to one end, far away from the cross position, of the first connecting rod, the adjuster is connected to one end, far away from the cross position, of the second connecting rod, an adjusting sliding groove is formed in the second connecting rod along the length direction of the second connecting rod, the first connecting rod is sleeved on the second connecting rod and can slide along the length direction of the first connecting rod, a positioning hole, corresponding to the adjusting sliding groove, for a positioning locking piece to pass through is formed in the first connecting rod, the pedal is adjustably arranged on the first connecting rod through a pedal fixing piece, the adjusting direction of the pedal fixing piece is in the up-down direction, a limiting mechanism for limiting motor rotation movement is arranged between the adjuster and the speed reducer, the limiting mechanism comprises a limiting groove, a limiting stopper and a limiting stopper, and a limiting stopper are arranged on the end face opposite to the end face of the speed reducer, and the limiting stopper are correspondingly arranged on the end face of the speed reducer;
the control module includes:
the angular position change detection module is used for detecting angular position changes generated by the synchronous movement of the regulator driven by the active movement of the affected limb;
the motor current change detection module is used for detecting current change in motor driving generated by applying torque to the regulator by the affected limb; and
and the mode selection module is respectively connected with the angular position change detection module and the motor current change detection module so as to select to adopt an inherent resistance mode, a stretching mode, an auxiliary and resistance mode or an active motion induction mode according to the angular position change and/or the current change.
2. The ankle training adapter according to claim 1, wherein the foot fixing has a shoe shape; or, the foot fixing piece comprises an instep fixing band and a heel limiting band, and the instep fixing band and the heel limiting band are directly arranged on the pedal.
3. An ankle rehabilitation training device, comprising:
a sliding base with a sliding rail;
the height adjusting mechanism is arranged on the sliding base;
the ankle training adapter of any of claims 1-2, the ankle training adapter mounted on the height adjustment mechanism;
the display device is adjustably supported above the motion control host through a screen bracket; and
the rotary training seat is arranged on the sliding rail and is adjustable in position relative to the ankle training adapter.
4. The ankle rehabilitation training device according to claim 3, wherein the rotary training seat comprises a seat body, a seat body bottom plate and a seat lifting mechanism, and the seat body is installed at an upper end of the seat lifting mechanism through the seat body bottom plate.
5. The ankle rehabilitation training device according to claim 4, wherein the seat lifting mechanism includes a lift driving hydraulic cylinder, a telescopic strut connected to the lift driving hydraulic cylinder, and a foot operated lever connected to the lift driving hydraulic cylinder.
6. The ankle rehabilitation training device according to claim 5, wherein a lift drive hydraulic cylinder is provided on a seat pan, the seat pan being locked to the slide rail by a seat position locking member.
7. The ankle rehabilitation training device according to claim 4, wherein the rotary training seat further comprises a leg support means, the leg support means comprising:
the leg support frame comprises a telescopic support rod with adjustable length, and one end of the telescopic support rod is pivotally connected with the seat bottom support plate; and
the leg supporting plate is pivotally connected to one end, far away from the leg supporting frame, of the telescopic supporting rod.
8. The ankle rehabilitation training device according to claim 7, wherein the leg tray includes a foot support plate for supporting a patient's foot and a foot fixing band provided on the foot support plate.
9. The ankle rehabilitation training device according to claim 4, wherein the seat body is provided with thigh straps thereon.
10. The ankle rehabilitation training device according to claim 3, wherein the sliding base is locked on the slide rail by a host position lock on a side of the sliding base facing away from the swivel training seat.
11. The ankle rehabilitation training device according to claim 3, wherein the rail comprises a first rail and a second rail, the first rail and the second rail being abutted into a T-shaped rail.
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