CN110801238A - Lower limb multi-joint constant-speed training testing device - Google Patents

Lower limb multi-joint constant-speed training testing device Download PDF

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Publication number
CN110801238A
CN110801238A CN201911140044.3A CN201911140044A CN110801238A CN 110801238 A CN110801238 A CN 110801238A CN 201911140044 A CN201911140044 A CN 201911140044A CN 110801238 A CN110801238 A CN 110801238A
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connecting rod
joint
rotating motor
extension
link
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CN110801238B (en
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刘洪海
周子良
刘金标
陈汉威
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Jiaopu Technology Shenzhen Co ltd
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Shanghai Jiaotong University
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    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00Measuring for diagnostic purposes; Identification of persons
    • A61B5/22Ergometry; Measuring muscular strength or the force of a muscular blow
    • A61B5/224Measuring muscular strength
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00Measuring for diagnostic purposes; Identification of persons
    • A61B5/22Ergometry; Measuring muscular strength or the force of a muscular blow
    • A61B5/221Ergometry, e.g. by using bicycle type apparatus
    • 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
    • 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
    • A61H2201/16Physical 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
    • A61H2201/1642Holding means therefor
    • 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
    • A61H2205/10Leg
    • 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

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • General Health & Medical Sciences (AREA)
  • Pathology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
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  • Biomedical Technology (AREA)
  • Engineering & Computer Science (AREA)
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  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Rehabilitation Therapy (AREA)
  • Rehabilitation Tools (AREA)

Abstract

The invention discloses a lower limb multi-joint constant velocity training test device, which relates to the field of rehabilitation equipment and comprises a backrest, a multi-joint constant velocity device and a seat; the backrest is adjustably installed on the seat, the multi-joint constant-speed device comprises a fixing block, a driving system and a connecting rod system, the fixing block is detachably and fixedly installed on the seat, the driving system is a six-degree-of-freedom driving system, and the connecting rod system is sequentially and fixedly connected with the driving system and fixedly installs the driving system on the fixing block. The device provided by the invention can be used for multi-joint constant-speed training test without using an adapter, has multiple functional modes and a compact structure, and is simpler and faster in functional mode conversion and higher in overall efficiency.

Description

Lower limb multi-joint constant-speed training testing device
Technical Field
The invention relates to the field of rehabilitation equipment, in particular to a lower limb multi-joint constant velocity training testing device.
Background
Isokinetic movement is a new test training concept. In isokinetic training, the angular velocity of the limb rotating around a certain axis of the joint is unchanged due to muscle contraction, the length of muscle fiber is shortened or stretched, and obvious joint motion is caused, so that the isokinetic contraction is similar to isotonic contraction. However, in isokinetic motion, isokinetic instruments provide a compliant resistance, the magnitude of which varies with the magnitude of the muscle contraction tension, resembling isometric contraction. Therefore, isokinetic muscle contraction combines the characteristics of isotonic contraction and isometric contraction, and is a special muscle contraction form. The isokinetic muscle strength test result can be used for auxiliary diagnosis, rehabilitation treatment, curative effect evaluation and prevention of motor system injury caused by various reasons. Clinically, isokinetic muscle force tests are increasingly used for quantitatively evaluating muscle dysfunction of patients suffering from Knee Osteoarthritis (KOA) or dysfunction, stroke, Anterior Cruciate Ligament (ACL) reconstruction and the like, and specific rehabilitation targets and plans are formulated to provide scientific basis for systematic rehabilitation treatment.
The existing lower limb constant velocity testing device generally uses a single motor as a power source and is matched with a constant velocity motion control algorithm to carry out constant velocity motion on different single joints of the lower limb. When different joints are selected for testing, the poses of the driving motors are adjusted, and the structures are combined, disassembled and assembled by using the specific adapters, so that the pose testing device is suitable for the poses of the different joints. However, since the commercial lower limb constant velocity testing device has few product types, a constant velocity device capable of simultaneously performing a constant velocity motion test on multiple joints does not exist at present, so that the problems of low testing efficiency and poor effect are caused, and the device also has the defects of large volume, heavy weight and high selling price.
Therefore, those skilled in the art have endeavored to develop a lower limb multi-joint isokinetic training test device. The device not only can realize the test of single joint, also can realize that the combination carries out the synchronous test between the different joints, still has simple structure, small advantage.
Disclosure of Invention
In view of the above-mentioned defects of the prior art, the technical problem to be solved by the invention is that the existing lower limb constant velocity testing device cannot perform multi-joint synchronous testing and has the defects of large volume and heavy weight.
In order to achieve the aim, the invention provides a lower limb multi-joint constant velocity training test device, which comprises a backrest, a multi-joint constant velocity device and a seat; the backrest is adjustably installed on the seat, the multi-joint constant-speed device comprises a fixing block, a driving system and a connecting rod system, the fixing block is detachably and fixedly installed on the seat, the driving system is a six-degree-of-freedom driving system, and the connecting rod system is sequentially and fixedly connected with the driving system and fixedly installs the driving system on the fixing block.
Further, the driving system comprises a hip joint inward and outward turning rotary motor, a hip joint flexion and extension rotary motor, a thigh inward and outward turning rotary motor, a knee joint flexion and extension rotary motor, an ankle joint flexion and extension rotary motor and a shank inward and outward turning rotary motor; the connecting rod system comprises a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a fifth connecting rod, a sixth connecting rod and a pedal; the first connecting rod is connected with the fixed block and the hip joint inward and outward turning rotating motor, the second connecting rod is connected with the hip joint inward and outward turning rotating motor and the hip joint flexion and extension rotating motor, the third connecting rod is connected with the hip joint flexion and extension rotating motor and the thigh inward and outward turning rotating motor, the fourth connecting rod is connected with the thigh inward and outward turning rotating motor and the knee joint flexion and extension rotating motor, the fifth connecting rod is connected with the knee joint flexion and extension rotating motor and the ankle joint flexion and extension rotating motor, the sixth connecting rod is connected with the ankle joint flexion and extension rotating motor and the shank inward and outward turning rotating motor, and the pedal is connected with the shank inward and outward turning rotating motor.
Further, the hip varus and valgus rotation motor is configured to drive the first link and the second link to rotate relatively, the hip flexion and extension rotation motor is configured to drive the second link and the third link to rotate relatively, the thigh valgus and valgus rotation motor is configured to drive the third link and the fourth link to rotate relatively, the knee flexion and extension rotation motor is configured to drive the fourth link and the fifth link to rotate relatively, the ankle flexion and extension rotation motor is configured to drive the fifth link and the sixth link to rotate relatively, the shank valgus and valgus rotation motor is configured to drive the sixth link and the pedal to rotate relatively, and the pedal is configured to support a sole plate.
Furthermore, the rotation axes of the hip joint internal and external rotation motor and the hip joint flexion and extension rotation motor are vertically intersected at a point, and the rotation axes of the thigh internal and external rotation motor are both vertical to the rotation axis of the hip joint internal and external rotation motor and the rotation axis of the hip joint flexion and extension rotation motor.
The thigh internal and external rotation motor is characterized by further comprising an external gear and a turntable bearing, wherein the external gear is fixedly connected with an output shaft of the thigh internal and external rotation motor, an inner ring of the turntable bearing and a body of the thigh internal and external rotation motor are fixedly arranged on the third connecting rod, an outer ring of the turntable bearing is fixedly arranged on the fourth connecting rod, and the external gear and the outer ring of the turntable bearing form gear transmission.
Furthermore, the rotating axes of the hip joint internal and external rotation motor and the hip joint flexion and extension rotation motor and the rotating central axis of the turntable bearing are intersected at one point.
Further, the rotation axis of the knee flexion and extension rotation motor is configured to pass through the rotation center of the knee joint of the patient, and the rotation center axes of the knee flexion and extension rotation motor and the turntable bearing intersect at a point.
Furthermore, the motion axes of the ankle joint flexion and extension rotating motor and the shank internal and external rotation rotating motor are intersected at one point.
Further, one or more of the first link, the second link, the third link, the fourth link, the fifth link, and the sixth link may be adjustable in length.
Furthermore, a dovetail groove is formed in the fixing block, a guide rail matched with the dovetail groove is arranged on the seat, and the dovetail groove and the guide rail are fastened through screws or bolts.
Further, the multi-joint constant velocity device controls the driving system to rotate through a constant velocity model.
Compared with the prior art, the invention has the following beneficial technical effects:
1. the invention adopts a plurality of independent driving motors, and can realize the combination of different rotating motors to finish the multi-joint constant-speed motion test without using an adapter;
2. the length of the connecting rod system can be adjusted, so that the connecting rod system can adapt to individual differences of different test patients, and the experience degree and the test efficiency of the test patients are improved;
3. the invention is provided with the turntable bearing, and each joint adopts the axis intersection principle, so that the discomfort caused by the motion interference and deviation of each joint is reduced;
4. the invention has simple structure, small volume and easy popularization and application.
The conception, the specific structure and the technical effects of the present invention will be further described with reference to the accompanying drawings to fully understand the objects, the features and the effects of the present invention.
Drawings
FIG. 1 is an overall schematic view of a preferred embodiment of the present invention;
figure 2 is a schematic view of a multi-joint constant velocity device in accordance with a preferred embodiment of the present invention.
The device comprises a backrest 1, a multi-joint constant-speed device 2, a seat 3, a fixed block 21, a hip joint inward-outward turning rotating motor 22, a hip joint flexion-extension rotating motor 23, a thigh inward-outward turning rotating motor 24, an outer gear 25, a turntable bearing 26, an outer ring 261, an inner ring 262, a knee joint flexion-extension rotating motor 27, an ankle joint flexion-extension rotating motor 28, a shank inward-outward turning rotating motor 29, a first connecting rod 201, a second connecting rod 202, a third connecting rod 203, a fourth connecting rod 204, a fifth connecting rod 205, a sixth connecting rod 206 and a pedal 207.
Detailed Description
The technical contents of the preferred embodiments of the present invention will be more clearly and easily understood by referring to the drawings attached to the specification. The present invention may be embodied in many different forms of embodiments and the scope of the invention is not limited to the embodiments set forth herein.
In the drawings, structurally identical elements are represented by like reference numerals, and structurally or functionally similar elements are represented by like reference numerals throughout the several views. The size and thickness of each component shown in the drawings are arbitrarily illustrated, and the present invention is not limited to the size and thickness of each component. The thickness of the components may be exaggerated where appropriate in the figures to improve clarity.
As shown in fig. 1 and 2, the present embodiment provides a lower limb multi-joint constant velocity training test device, which comprises a backrest 1, a multi-joint constant velocity device 2 and a seat 3; the backrest 1 is adjustably installed on the seat 3, the multi-joint constant velocity device 2 comprises a fixing block 21, a driving system and a connecting rod system, the fixing block 21 is detachably and fixedly installed on the seat 3, the driving system is a six-degree-of-freedom driving system, and the connecting rod system is sequentially and fixedly connected with the driving system and fixedly installs the driving system on the fixing block 21.
The lower part of the seat 3 is provided with a fixed supporting leg, and the bottom of the supporting leg is provided with a circular fixed base; the fixed block 21 is provided with a dovetail groove, the seat 3 is provided with a guide rail matched with the dovetail groove, the fixed block 21 can slide relative to the seat 3 to adjust the position of the fixed block on the seat 3 through the matching of the dovetail groove and the guide rail, and the dovetail groove and the guide rail are fastened through screws or bolts.
The driving system comprises a hip joint inward and outward turning rotary motor 22, a hip joint flexion and extension rotary motor 23, a thigh inward and outward turning rotary motor 24, a knee joint flexion and extension rotary motor 27, an ankle joint flexion and extension rotary motor 28 and a shank inward and outward turning rotary motor 29; the link system includes a first link 201, a second link 202, a third link 203, a fourth link 204, a fifth link 205, a sixth link 206, and a pedal 207; the first connecting rod 201 is a rectangular component, one end of the first connecting rod 201 is connected with the fixed block 21, the other end of the first connecting rod 201 is connected with the body of the hip joint inward and outward turning rotating motor 22, the second connecting rod 202 is a rectangular component, one end of the second connecting rod 202 is connected with the output shaft of the hip joint inward and outward turning rotating motor 22, the other end of the second connecting rod 202 is connected with the body of the hip joint flexion and extension rotating motor 23, the third connecting rod 203 is a rectangular component, one end of the third connecting rod 203 is connected with the output shaft of the hip joint flexion and extension rotating motor 23, and the other end of the third connecting rod 203 is connected with the body of the thigh inward and outward turning rotating motor 24, as shown in fig. 1, the rotating axes of the hipIs orthogonal to O1Point; the hip joint varus-valgus rotating motor 22 is configured to drive the first connecting rod 201 and the second connecting rod 202 to rotate relatively, and the hip joint flexion-extension rotating motor 23 is configured to drive the second connecting rod 202 and the third connecting rod 203 to rotate relatively; the outer gear 25 is fixedly mounted on an output shaft of the inner and outer thigh rotation motor 24, the turntable bearing 26 includes an inner ring 262 and an outer ring 261, the inner ring 262 is fixedly mounted on the third link 203, the outer gear 25 and the outer ring 261 of the turntable bearing 26 constitute a gear transmission, the fourth link 204 is a plate-shaped member, the fourth link 204 is fixedly mounted on the outer ring 261, and the inner and outer thigh rotation motor 24 is configured to drive the fourth link 204 to rotate relative to the third link 203 by driving the gear transmission of the outer gear 25 and the outer ring 261; the center axis of the slewing bearing 26 passes through O1The point is perpendicular to the rotation axes of the hip joint internal and external overturning rotating motor 22 and the hip joint flexion and extension rotating motor 23; the body of the knee joint flexion and extension rotating motor 27 is fixedly arranged on the fourth connecting rod 204, and the rotation axis of the knee joint flexion and extension rotating motor 27 is vertically intersected with the central axis of the turntable bearing 26 at the position O2The rotation axis of the knee joint flexion-extension rotating motor 27 is configured to pass through the rotation center of the knee joint of the patient, the fifth link 205 is a rectangular member, one end of the fifth link 205 is connected with the output shaft of the knee joint flexion-extension rotating motor 27, the other end of the fifth link 205 is connected with the body of the ankle joint flexion-extension rotating motor 28, the sixth link 206 is a rectangular member, one end of the sixth link 206 is connected with the output shaft of the ankle joint flexion-extension rotating motor 28, the other end of the sixth link 206 is connected with the body of the internal and external rotation rotating motor 29 for the lower leg, the pedal 207 is a plate-shaped member, one end of the pedal 207 is connected with the output shaft of the internal and external rotation motor 29 for the lower leg, and the motion axes of the ankle flexion-extension rotating3Point; the knee joint flexion and extension rotating motor 27 is configured to drive the fourth link 204 and the fifth link 205 to rotate relatively, the ankle joint flexion and extension rotating motor 28 is configured to drive the fifth link 205 and the sixth link 206 to rotate relatively, the shank internal and external rotation rotating motor 29 is configured to drive the sixth link 206 and the pedal 207 to rotate relatively, and the pedal 207 is configured to support the sole plate.
One or more of the first link 201, the second link 202, the third link 203, the fourth link 204, the fifth link 205, and the sixth link 206 may have an adjustable length, and in this embodiment, it is preferable that the second link 202, the third link 203, and the fifth link 205 have an adjustable length.
In the embodiment, the multi-joint constant speed device 2 controls the rotation of each motor of the driving system through a constant speed model, the multi-joint constant speed device 2 in the embodiment performs constant speed control by using an analysis method based on a rotation theory, selects a proper base coordinate system, calculates a motion rotation coordinate and a matrix index corresponding to each joint to obtain a corresponding kinematics and kinetic equation, and performs constant speed motion analysis and control by defining the concepts of rotation constant speed, tail end constant speed and the like. The drive system of the multi-joint constant velocity device 2 is provided with 6 independent drive motors which are arranged together in series through a mechanical structure.
The fixing block 21 is movably adjustable and fixable on the seat 3 and is detachable. When a test patient sits on the test seat 3, the joints of the lower limbs correspond to the joints of the device, the lengths of the second connecting rod 202, the third connecting rod 203 and the fifth connecting rod 205 among the joints are adjusted to adapt to different lengths of the lower limbs, the rotating centers of the joints are overlapped with the rotating axes of the motor of the device to reduce the inadaptability in the movement process, then the lower limbs are fixed, and the fixed block 22 and the backrest 1 are adjusted to adapt to the posture of the test patient by adjusting the multi-joint constant-speed device 2. During test training, the device can select the degree of freedom of required motion according to the demand and adjust other irrelevant degrees of freedom to a certain position and then lock and control the corresponding motor to work in a specific rotating speed and a specific angle range according to the demand, and multi-joint constant-speed test training is carried out on a tested patient. Meanwhile, in the testing process, the motor torque information is detected and recorded in real time.
The whole device can be adjusted and disassembled on the seat, the connecting rods among all joints can be adjusted and fixed to adapt to different testing and training crowds, three shafts of the hip joints are intersected at one point, and two rotating shafts of the ankle joints are intersected at one point, so that the inadaptability generated in the movement process is reduced.
The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.

Claims (10)

1. A lower limb multi-joint constant velocity training test device is characterized by comprising a backrest, a multi-joint constant velocity device and a seat; the backrest is adjustably installed on the seat, the multi-joint constant-speed device comprises a fixing block, a driving system and a connecting rod system, the fixing block is detachably and fixedly installed on the seat, the driving system is a six-degree-of-freedom driving system, and the connecting rod system is sequentially and fixedly connected with the driving system and fixedly installs the driving system on the fixing block.
2. The lower limb multi-joint constant velocity training test device of claim 1, wherein the drive system comprises a hip joint in-out rotation motor, a hip joint flexion and extension rotation motor, a thigh internal and external rotation motor, a knee joint flexion and extension rotation motor, an ankle joint flexion and extension rotation motor and a shank internal and external rotation motor; the connecting rod system comprises a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a fifth connecting rod, a sixth connecting rod and a pedal; the first connecting rod is connected with the fixed block and the hip joint inward and outward turning rotating motor, the second connecting rod is connected with the hip joint inward and outward turning rotating motor and the hip joint flexion and extension rotating motor, the third connecting rod is connected with the hip joint flexion and extension rotating motor and the thigh inward and outward turning rotating motor, the fourth connecting rod is connected with the thigh inward and outward turning rotating motor and the knee joint flexion and extension rotating motor, the fifth connecting rod is connected with the knee joint flexion and extension rotating motor and the ankle joint flexion and extension rotating motor, the sixth connecting rod is connected with the ankle joint flexion and extension rotating motor and the shank inward and outward turning rotating motor, and the pedal is connected with the shank inward and outward turning rotating motor.
3. The lower limb multi-joint constant velocity training test device of claim 2, the hip joint varus and valgus rotating motor is configured to drive the first connecting rod and the second connecting rod to rotate relatively, the hip joint flexion and extension rotating motor is configured to drive the second connecting rod and the third connecting rod to rotate relatively, the thigh internal-external rotation rotating motor is configured to drive the third link and the fourth link to rotate relatively, the knee joint flexion and extension rotating motor is configured to drive the fourth connecting rod and the fifth connecting rod to rotate relatively, the ankle flexion and extension rotating motor is configured to drive the fifth link and the sixth link to rotate relatively, the shank internal-external rotation rotating motor is configured to drive the sixth connecting rod and the pedal to rotate relatively, and the pedal is configured to support a foot bottom plate.
4. The lower limb multi-joint constant velocity training test device according to claim 3, further comprising an external gear and a turntable bearing, wherein the external gear is fixedly connected with an output shaft of the thigh internal and external rotation electric machine, an inner ring of the turntable bearing and a body of the thigh internal and external rotation electric machine are fixedly mounted on the third connecting rod, an outer ring of the turntable bearing is fixedly mounted on the fourth connecting rod, and the external gear and the outer ring of the turntable bearing form gear transmission.
5. The device for training and testing the multi-joint constant velocity of the lower limbs according to claim 4, wherein the rotation axes of the hip joint varus-valgus rotary motor and the hip joint flexion-extension rotary motor intersect with the rotation central axis of the turntable bearing at a point.
6. The device as claimed in claim 5, wherein the axis of rotation of the knee flexion-extension rotary motor is configured to pass through the center of rotation of the knee joint of the patient, and the central axes of rotation of the knee flexion-extension rotary motor and the turntable bearing intersect at a point.
7. The device for testing the isokinetic training of the multi-joint of the lower limbs according to claim 6, wherein the motion axes of the ankle flexion and extension rotating motor and the lower leg internal and external rotation rotating motor are intersected at a point.
8. The device of claim 7, wherein one or more of the first link, the second link, the third link, the fourth link, the fifth link, and the sixth link is adjustable in length.
9. The lower limb multi-joint constant velocity training test device according to claim 8, wherein a dovetail groove is formed in the fixing block, a guide rail matched with the dovetail groove is arranged on the seat, and the dovetail groove and the guide rail are fastened through screws or bolts.
10. The lower limb multi-joint constant velocity training test device of claim 9, wherein the multi-joint constant velocity device controls the drive system to rotate through a constant velocity model.
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Cited By (3)

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Publication number Priority date Publication date Assignee Title
CN111449910A (en) * 2020-04-24 2020-07-28 梁伟阳 Shank stretching device that orthopedics was used
CN113952677A (en) * 2021-11-08 2022-01-21 武汉可德医疗器械有限公司 Treatment and rehabilitation equipment for knee joint degenerative disease based on KOAPT therapy
WO2023004680A1 (en) * 2021-07-29 2023-02-02 刘楠 Fitness and rehabilitation device converting motor torque into resistance load

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