CN215193464U - Rehabilitation training device - Google Patents

Abstract

The embodiment of the disclosure provides a rehabilitation training device, which comprises a driving device, a back placing device, a leg auxiliary device, a cushion device, a feedback device and a control device. The drive means is configured to adjust the rotational angles between the back placement means, the seat cushion means, and the leg assist means to achieve a posture training mode selected from a plurality of posture training modes including a standing mode, a sitting up mode, and a lying down mode. The feedback device is used for acquiring the core muscle force parameters of the human body. The control device is electrically connected with the feedback device and the driving device, and the control device is configured to acquire the core muscle force parameters and send control signals to the driving device. Above-mentioned rehabilitation training equipment can provide multiple position training mode for the user, and can adjust the position training mode according to core muscle strength parameter, realizes helping the patient to resume core muscle strength and balance fast, is favorable to shortening patient's recovery cycle.

Description

Rehabilitation training device

Technical Field

The present disclosure relates to the medical field, and more particularly, to a rehabilitation training device.

Background

Various neurological diseases such as stroke, myelitis, etc. can lead to severe dyskinesia. The early rehabilitation training can reduce the risks of venous thrombosis, falling pneumonia, pressure sore and the like of lower limbs of bedridden patients, is vital to compensatory remodeling and motor function reconstruction of the central nervous system, and is a core content for rehabilitation of central nervous system diseases. In the therapy commonly adopted at present, a therapist advocates that the abnormal posture reflex and motion pattern of the patient is prevented and the normal posture reflex and motion pattern is activated or introduced by placing hands on specific parts of the trunk and limbs of the patient and controlling the posture or motion of the parts by hands during the treatment process. The middle-lower part of the sternum is the central control point of the body, which plays a key role in maintaining the stability of the central part of the body, and secondly, the control of the shoulders, pelvis and feet is also indispensable.

The core muscle group refers to the important muscle groups around the body around the abdomen and responsible for maintaining the stability of the spine, including the abdominal muscle group, the lumbar and back muscle group, and the pelvic floor muscle group. The strength of the core muscle group is reflected in the difficulty of the patient in performing posture changes (such as lying-sitting-standing) and maintaining posture and posture balance; the patient can provide possibility for delicate exercises (such as walking, grasping and the like) controlled by four limb muscles only after the trunk balance is firstly completed in the process of motor function rehabilitation, and meanwhile, the patient can autonomously complete posture change and greatly avoid complications caused by long-term bed rest. Therefore, in the reconstruction of the whole body motor function, the training of the strength of the core muscle group should be placed in a priority and important position; in addition, for the patient lying in bed, the posture changing training process is gradual, and the patient can be further transited to the sitting-standing training after the lying-sitting training is finished.

Most of the products and patents on the market today are only suitable for patients who are still in a certain balance and upright position, and cannot be used for bedridden or mobility-impaired patients, such as: lower limb exercises such as rehabilitation pedals or upper limb training rotary wheel discs, which are only used for simply training the dry muscle strength of upper limbs or lower limbs and cannot effectively train core muscles; although few products and patents relate to the rehabilitation of the core muscle group, the functions of the products are single, the range is limited, the progressive training process is not available, the lying-sitting-standing all-directional training cannot be considered, and products which can provide a more appropriate body position training mode for patients according to the core muscle strength parameters of the patients do not exist at present, so that the existing products are boring in content during training, cannot provide rich rehabilitation environments for the patients, and cannot enable the patients to have low compliance, and cannot regularly finish the applied rehabilitation amount.

SUMMERY OF THE UTILITY MODEL

To the above-mentioned technical problem that exists among the prior art, this disclosure provides a rehabilitation training device, and it can provide multiple position training mode for the user, and can adjust the position training mode according to core muscle strength parameter, does benefit to the recovery cycle who shortens the patient.

The embodiment of the present disclosure provides a rehabilitation training device, which includes a driving device, a back placement device and a leg auxiliary device, and further includes:

a seat cushion device, opposite sides of which are respectively rotatably connected with the back mounting device and the leg auxiliary device, wherein the driving device is configured to adjust the rotation angle among the back mounting device, the seat cushion device and the leg auxiliary device so as to realize a body position training mode selected from a plurality of body position training modes including a standing mode, a sitting mode and a lying mode;

the feedback device is arranged at one or more positions of the back placement device, the leg auxiliary device or the cushion device and is configured to acquire the core muscle force parameters of the human body;

a control device electrically connected with the feedback device and the drive device, the control device configured to acquire the core muscle force parameter and send a control signal to the drive device.

In some embodiments, the drive means is further configured to adjust the rotation angle to achieve an intermediate mode as the selected posture training mode.

In some embodiments, the drive device is further configured to adjust the rotation angle to enable a transition training process between at least two posture training modes.

In some embodiments, the control device is further configured to: and under the condition that the core muscle strength performance corresponding to the core muscle strength parameter is healthier, sending a control signal indicating that the assistance degree is lower in the body position training mode to the driving device.

In some embodiments, the control device is further configured to be communicatively connected to a user terminal to receive user input from the user terminal.

In some embodiments, the rehabilitation training device further comprises a support portion, the driving device comprises a hydraulic assembly arranged on the support portion, the leg auxiliary device is fixedly arranged on one side of the support portion, the hydraulic assembly is electrically connected with the control device, one end of the hydraulic assembly is hinged to the seat cushion device, and the control device is further used for controlling the hydraulic assembly to lift up or put down the seat cushion device.

In some embodiments, the rehabilitation training device further includes a first gear assembly fixedly disposed on one side of the seat cushion device connected to the leg assist device, and a second gear assembly rotatably disposed on the supporting portion and in transmission connection with the first gear assembly, and the driving device further includes a first motor and a first output shaft in transmission connection with the second gear assembly, so that the second gear assembly and the first gear assembly are driven to rotate by the first output shaft, so that the seat cushion device rotates relative to the leg assist device.

In some embodiments, the rehabilitation training device further comprises a third gear assembly rotatably disposed on one side of the cushion device connected with the back placement device, and a fourth gear assembly fixedly disposed on the cushion device and in transmission connection with the third gear assembly, and the driving device further comprises a second motor and a second output shaft in transmission connection with the third gear assembly, so that the second output shaft drives the third gear assembly and the fourth gear assembly to rotate, so that the back placement device rotates relative to the cushion device.

In some embodiments, the back placement device comprises a backrest and a plurality of upper body fastening straps elastically connected to the backrest for fastening the upper body of the human body, and the plurality of upper body fastening straps are arranged at intervals along the length direction of the backrest.

In some embodiments, the back placement device further includes a plurality of movable installation seats for installing the upper body fixing strap, the movable installation seats are disposed corresponding to the upper body fixing strap, a plurality of installation grooves corresponding to the movable installation seats are formed in the backrest, and each installation groove is provided with an elastic member connected to the corresponding movable installation seat.

In some embodiments, the rehabilitation training device further includes a desktop assembly disposed in front of the backrest and telescopic brackets disposed at opposite sides of the backrest, respectively, the desktop assembly includes a desk board pivoted with the two telescopic brackets and an operating handle disposed on the desk board, and the operating handle is electrically connected with the control device to send an operating signal for controlling a posture training mode of the rehabilitation training device to the control device.

In some embodiments, the leg assisting device includes a leg supporting assembly and a lower body fixing strap elastically connected to the leg supporting assembly to fix the lower body of the human body, the leg supporting assembly includes a leg supporting plate, a toe cap corresponding to the toe of the human body, a plurality of fixing plates corresponding to the instep of the human body, and a heel cap corresponding to the heel of the human body, the heel cap is connected to the leg supporting plate, and the plurality of fixing plates are detachably disposed on the heel cap and the toe cap, respectively.

In some embodiments, the toe cap has an insertion shaft extending in the direction of the heel cap, the heel cap is provided with a slot corresponding to the insertion shaft, the outer wall of the heel cap is provided with a locking slot communicated with the slot, and the locking slot is internally provided with a locking member for abutting the insertion shaft in the slot;

the leg supporting plate comprises a vertical plate and a transverse plate which are arranged from top to bottom and can be relatively close to or far away from the supporting portion, the vertical plate is fixedly connected with the supporting portion, and the transverse plate is used for supporting the toe sleeve and the heel sleeve.

In some embodiments, the feedback device includes a pressure sensor and/or a torque sensor.

Compared with the prior art, the beneficial effects of the embodiment of the present disclosure are that: the control device of the rehabilitation training device can adjust the rehabilitation training device to enter the body position training mode matched with the core muscle strength parameter of the patient according to the core muscle strength parameter of the human body acquired by the feedback device, so that the rehabilitation training device can dynamically adjust the body position training mode according to different body conditions of the patient, and realize the rapid help of the paralyzed patient to recover the core muscle strength and balance, is beneficial to shortening the recovery period of the patient.

Drawings

In the drawings, which are not necessarily drawn to scale, like reference numerals may describe similar components in different views. Like reference numerals having letter suffixes or different letter suffixes may represent different instances of similar components. The drawings illustrate various embodiments generally by way of example and not by way of limitation, and together with the description and claims serve to explain the disclosed embodiments. The same reference numbers will be used throughout the drawings to refer to the same or like parts, where appropriate. Such embodiments are illustrative, and are not intended to be exhaustive or exclusive embodiments of the present apparatus or method.

Fig. 1 is a schematic structural view of a rehabilitation training device in a lying mode according to an embodiment of the disclosure;

FIG. 2 is a schematic structural diagram of a rehabilitation training device in a sitting-up mode according to an embodiment of the present disclosure;

FIG. 3 is a schematic structural diagram of a rehabilitation training device in a standing mode according to an embodiment of the disclosure

FIG. 4 is a state diagram of posture change of a rehabilitation training device according to an embodiment of the present disclosure;

FIG. 5 is a schematic structural diagram of a rehabilitation training device according to an embodiment of the disclosure;

FIG. 6 is a first partial exploded view of a rehabilitation training device according to an embodiment of the present disclosure;

FIG. 7 is a second partial exploded view of a rehabilitation training device according to an embodiment of the present disclosure;

FIG. 8 is a third partial exploded view of a rehabilitation training device according to an embodiment of the present disclosure;

FIG. 9 is an exploded view of the desktop assembly of the rehabilitation training device of the disclosed embodiment;

fig. 10 is a partial exploded view of a leg assist device of a rehabilitation training apparatus according to an embodiment of the present disclosure.

The members denoted by reference numerals in the drawings:

1-a drive device; 101-a hydraulic assembly; 102-a first electric machine; 103-a first output shaft; 104-a second electric machine; 105-a second output shaft; 2-back placement of the device; 201-backrest; 202-upper body securing straps; 203-movable mounting seat; 204-mounting grooves; 205-a resilient member; 3-a leg aid; 301-leg rest assembly; 302-lower body securing straps; 303-leg supporting plate; 3031-riser; 3032-transverse plate; 304-toe cap; 305-a fixed plate; 306-heel cap; 307-plug shaft; 308-slot; 309-fixing sleeve; 4-a cushion device; 5-a control device; 6-a support part; 7-a first gear assembly; 8-a second gear assembly; 9-a third gear assembly; 10-a fourth gear assembly; 11-a desktop component; 1101-a table; 1102-an operating handle; 1103-long arm support; 1104-a table top support; 1105-transition support; 1106-control panel; 12-a telescopic bracket; 13-support frame.

Detailed Description

For a better understanding of the technical aspects of the present disclosure, reference is made to the following detailed description taken in conjunction with the accompanying drawings. Embodiments of the present disclosure are described in further detail below with reference to the figures and the detailed description, but the present disclosure is not limited thereto.

The use of "first," "second," and similar terms in this disclosure is not intended to indicate any order, quantity, or importance, but rather are used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that the element preceding the word covers the element listed after the word, and does not exclude the possibility that other elements are also covered. "upper", "lower", "left", "right", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships may also be changed accordingly.

In the present disclosure, when a specific device is described as being located between a first device and a second device, there may or may not be intervening devices between the specific device and the first device or the second device. When a particular device is described as being coupled to other devices, that particular device may be directly coupled to the other devices without intervening devices or may be directly coupled to the other devices with intervening devices.

All terms (including technical or scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs unless specifically defined otherwise. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate.

The present disclosure provides a rehabilitation training apparatus, as shown in fig. 1 to 4, the rehabilitation training apparatus includes a driving device 1, a back placement device 2, and a leg portion assisting device 3, and further includes a seat cushion device 4, a feedback device (not shown in the drawings), and a control device 5. Opposite sides of the seat cushion device 4 are rotatably connected with the back placement device 2 and the leg assist device 3, respectively, and the driving device 1 is configured to adjust a rotation angle among the back placement device 2, the seat cushion device 4, and the leg assist device 3 to realize a posture training mode selected from a plurality of posture training modes including a standing mode, a sitting up mode, and a lying down mode. The feedback device is arranged at one or more positions of the back placement device 2, the leg auxiliary device 3 or the cushion device 4 and is configured to acquire the core muscle force parameters of the human body. The control device 5 is electrically connected with the feedback device and the driving device 1, and the control device 5 is configured to acquire the core muscle force parameter and send a control signal to the driving device 1.

It will be appreciated that the back placement device 2 is used to support the back of a patient, the cushion device 4 is used to support the pelvis of a patient, and the leg assist device 3 is used to support the legs of a patient.

As shown in fig. 1 and 4, when the upper limbs and the pelvis of the patient are in a lying state, the back placement device 2 and the seat cushion device 4 are in a lying state, and the rehabilitation training device is in a lying mode; as shown in fig. 2 and 4, when the cushion device 4 is horizontally placed and the back positioning device 2 rotates upward by a certain angle relative to the cushion device 4, the overall structure of the rehabilitation training device is chair-shaped, and the rehabilitation training device is in a sitting-up mode; as shown in fig. 3 and 4, when the back placement device 2 and the seat cushion device 4 are rotated to the standing positions, respectively, the patient can stand on the leg assist device 3 while the rehabilitation training apparatus is in the standing mode. Therefore, the rehabilitation training device can enable the patient to perform horizontal-sitting-standing training in sequence, so as to achieve the purposes of early-stage sitting-up and standing for rehabilitation and strengthening core muscles, and avoid the occurrence of long-term bedridden complications and abnormal recovery modes.

It will be appreciated that the degree of paralysis will vary from patient to patient, and that for patients with lesser degrees of paralysis, after the feedback device obtains the core muscle force parameters of the patient, the control device 5 can analyze and process the core muscle force parameters with stronger intensity of the patient, provide a training mode with low assistance degree for the patient, thereby effectively adjusting the body position training mode dynamically according to the real-time condition of the core muscle force parameter of the patient during the rehabilitation training, realizing that the driving device 1 adjusts the body position training mode more suitable for the patient, when the lying-sitting training is carried out in the previous period, stronger auxiliary force can be provided for the patient through the rehabilitation training device, when sitting-standing training is carried out in the later stage, the auxiliary force provided by the rehabilitation training equipment can be reduced, and the patient can quickly recover the body through the rehabilitation training by training through the strength of the patient. By means of the mode, the rehabilitation training equipment can provide a rehabilitation training plan for the patient pertinently, and users with different core muscle strength parameters do not adopt the same body position training mode, so that the problems of low training efficiency and long patient rehabilitation period are solved.

The back placement device 2, the cushion device 4 and the leg auxiliary device 3 are adjusted by the driving device 1, so that the rehabilitation training equipment can realize the training in a body position training mode selected from a plurality of body position training modes including a standing mode, a sitting mode and a lying mode, and a patient can finish a plurality of body position training modes without help of other people, thereby saving the labor cost and being beneficial to enriching the rehabilitation environment of the patient, and the control device 5 of the rehabilitation training equipment disclosed by the application can adjust the rehabilitation training equipment to enter the body position training mode matched with the core muscle force parameter of the patient according to the core muscle force parameter of the human body acquired by the feedback device, so that the rehabilitation training equipment can dynamically adjust the body position training mode according to different body conditions of the patient, thereby realizing the rapid help of the paralyzed patient to recover the core muscle force and balance, is beneficial to shortening the recovery period of the patient.

In some embodiments, the drive device 1 is further configured to adjust the rotation angle to achieve an intermediate mode as the selected posture training mode. The intermediate mode can be understood as a mode between a standing mode and a sitting mode or a mode between the sitting mode and a lying mode, more body position training modes are provided for the patient, and the patient can select the body position training mode more suitable for himself to recover according to actual requirements.

It can be understood that when the rehabilitation training device is in the above-mentioned intermediate mode, the posture of the patient can at least comprise an intermediate position which enables the patient to be in a sitting-standing position or a lying-sitting position, that is, the rotation angle between the back placement device 2 and the cushion device 4 and the rotation angle between the cushion device 4 and the leg auxiliary device 3 can be adjusted, so as to provide a richer position training mode for the patient, and when the patient needs to do the targeted training, to more fit different requirements of the patient.

In some embodiments, the drive device 1 is further configured to adjust the rotation angle to enable a transition training process between at least two posture training modes.

Specifically, the above training process for realizing the conversion between the at least two body position training modes may be to select at least two body position training modes to switch among a plurality of body position training modes including a standing mode, a sitting mode, a lying mode and an intermediate mode, for example, a user switches between the standing mode and the sitting mode to train, or a user switches between the standing mode, the sitting mode and the lying mode to train, so that the patient can select a plurality of body position training modes to make a training plan, thereby achieving the purposes of quick rehabilitation and efficient training.

In some embodiments, the control device 5 is further configured to: when the core muscle strength performance corresponding to the core muscle strength parameter is healthier, a control signal indicating that the degree of assistance is lower in the body position training mode is transmitted to the drive device 1.

It can be understood that the core muscle strength parameter can represent the difficulty degree of the patient in posture change (such as lying-sitting-standing), when the paralysis degree of the patient is lighter, the core muscle strength performance corresponding to the core muscle strength parameter of the patient is healthier, at the moment, the driving device 1 does not need to provide higher auxiliary degree for the patient, the patient can complete training under the lower auxiliary degree provided by combining the strength of the patient and the rehabilitation training device, and the body can be quickly recovered through rehabilitation training by combining the core muscle strength parameter of the patient. When the paralytic degree of the patient is heavier, the more unhealthy the core muscle strength performance corresponding to the core muscle strength parameter of the patient is, at this time, the driving device 1 needs to provide a higher degree of assistance to the patient, and the patient can complete the training with the higher degree of assistance provided by the rehabilitation training device. The above-mentioned core muscle force parameters are varied with the patient during the rehabilitation process, and therefore, the control device 5 acquires the real-time core muscle force parameters to rapidly assist the patient in training according to the real-time condition of the patient to recover the health.

In some embodiments, the control device 5 is further configured to be communicatively connected to a user terminal to receive user input from the user terminal.

It can be understood that the user terminal may be a notebook computer, a smart phone or a user PC, a doctor or a patient who makes a rehabilitation plan for the patient may input a required posture training mode on the user terminal, and the control device 5 receives a control instruction input by the user on the user terminal so as to control the driving device 1 to adjust the rotation angle among the back placement device 2, the cushion device 4 and the leg auxiliary device 3 according to the posture training mode under the set training plan.

In some embodiments, as shown in fig. 5 to 6, the rehabilitation training device further comprises a support part 6, the driving device 1 comprises a hydraulic assembly 101 disposed on the support part 6, the leg assisting device 3 is fixedly disposed on one side of the support part 6, the hydraulic assembly 101 is electrically connected with the control device 5, and one end of the hydraulic assembly 101 is hinged to the seat cushion device 4, and the control device 5 is further used for controlling the hydraulic assembly 101 to lift or lower the seat cushion device 4.

It can be understood that, the lower extreme of hydraulic pressure unit 101 is articulated through the hinge ear and is installed at the upper surface of supporting part 6, the upper end of hydraulic pressure unit 101 is articulated through the hinge ear and is installed at the lower surface of cushion device 4, when making cushion device 4 rotate under hydraulic pressure unit 101's drive, hydraulic pressure unit 101 can not only support cushion device 4, hydraulic pressure unit 101 can also cushion device 4's rotation when cushion device 4 rotates, make cushion device 4's rotation more stable, thereby make things convenient for the patient to carry out the rehabilitation training more. The hydraulic assembly 101 may be a multi-stage hydraulic cylinder having a stroke sufficient to support the rotation of the seat cushion apparatus 4 to the upright position.

In some embodiments, as shown in fig. 7, the rehabilitation training device further comprises a first gear assembly 7 fixedly disposed on one side of the seat cushion device 4 connected to the leg assist device 3, and a second gear assembly 8 rotatably disposed on the supporting portion 6 and in transmission connection with the first gear assembly 7, and the driving device 1 further comprises a first motor 102 and a first output shaft 103 in transmission connection with the second gear assembly 8, so as to drive the second gear assembly 8 and the first gear assembly 7 to rotate through the first output shaft 103, so that the seat cushion device 4 rotates relative to the leg assist device 3. The first motor 102 may be a screw motor, and the first output shaft 103 may be a screw shaft.

It will be appreciated that, as shown in fig. 7, the first gear assembly 7 may comprise two first gears, and the second gear assembly 8 may comprise two second gears respectively engaged with the two first gears and a first input gear for engaging with the first output shaft 103, wherein the two second gears and the first input gear are both mounted on the first mounting shaft, and the first output shaft 103 can drive the first input gear to rotate so as to drive the first mounting shaft to drive the two second gears to rotate, thereby rotating the cushion device 4 relative to the foot assisting device. In addition, a support frame 13 can be arranged on the support part 6, and two ends of the first mounting shaft can be arranged on the support part 6 through the support frame 13.

In some embodiments, the rehabilitation training device further comprises a third gear assembly 9 rotatably disposed on one side of the seat cushion device 4 connected to the back placement device 2, and a fourth gear assembly 10 fixedly disposed on the seat cushion device 4 and in transmission connection with the third gear assembly 9, and the driving device 1 further comprises a second motor 104 and a second output shaft 105 in transmission connection with the third gear assembly 9, so as to drive the third gear assembly 9 and the fourth gear assembly 10 to rotate through the second output shaft 105, so that the back placement device 2 rotates relative to the seat cushion device 4. The second motor 104 may be a screw motor capable of converting a rotational motion into a linear motion, and the second output shaft 105 may be a screw shaft capable of being in transmission connection with the third gear assembly 9.

It is understood that, as shown in fig. 6, the fourth gear assembly 10 may include two fourth gears, the two fourth gears may be connected by a second mounting shaft, the two fourth gears are respectively disposed at two ends of the second mounting shaft, the third gear assembly 9 may include two third gears respectively engaged with the two fourth gears and a second input gear engaged with the second output shaft 105, the two third gears and the second input gear are both mounted on the third mounting shaft, and the second output shaft 105, when rotating, can drive the second input gear to rotate so as to drive the third mounting shaft to drive the two third gears and the second mounting shaft to rotate, so that the back placement device 2 rotates relative to the seat cushion device 4.

It is understood that the second motor 104 may be fixedly mounted on the lower surface of the seat cushion device 4 by screws, the second motor 104 and the second output shaft 105 may be connected by a coupling, and the axial direction of the second output shaft 105 is parallel to the horizontal direction.

In some embodiments, as shown in fig. 5, the back placement device 2 includes a backrest 201 and a plurality of upper body fastening straps 202 elastically connected to the backrest 201 to fasten the upper body of the human body, wherein the plurality of upper body fastening straps 202 are arranged at intervals along the length direction of the backrest 201. Wherein, the upper width of the backrest 201 should be larger than the upper width of the back of the patient, so that the patient can conveniently place the shoulders during the rehabilitation training.

It can be understood that, as shown in fig. 5, the upper end of the backrest 201 can be fixedly provided with a pillow and two frame bodies for supporting the pillow, in order to be suitable for patients with different neck lengths, the frame bodies can adopt a telescopic structure, thereby conveniently adjusting the height of the pillow and making the patients more comfortable during rehabilitation training.

It can be understood, as shown in fig. 5, cushion device 4 can include the cushion board that is used for bearing patient's buttock, a plurality of above-mentioned upper part of the body fixed band 202 of mountable on back 201 and the cushion board, a plurality of upper part of the body fixed band 202 on the back 201 are arranged along the length direction interval of back 201, a plurality of upper part of the body fixed band 202 are located the upper and lower both ends of back 201 respectively, and the upper part of the body fixed band 202 that is located the back 201 upper end mainly is used for fixing patient's chest, and the upper part of the body fixed band 202 that is located the back 201 lower extreme mainly is used for fixing patient's waist, cooperate jointly through a plurality of upper part of the body fixed bands 202, thereby realize fixing patient's upper part of the body, prevent that the patient from falling prone and being injured when carrying out rehabilitation training and standing.

Further, upper part of the body fixed band 202 also can set up on the cushion board, and the upper part of the body fixed band 202 on the cushion board mainly used fixes patient's thigh part, prevents that the patient from standing at the rehabilitation training, and patient's thigh position slides down because of can't obtain the support to reach the fixed more firm purpose to the patient.

Further, for making the upper part of the body of patient better with the laminating effect of back 201 after fixed, and conveniently fix the fat thin patient of difference, can set the one end of upper part of the body fixed band 202 to have elastic structure, make the patient after being fixed, upper part of the body fixed band 202 can be laminated with patient's health, make the patient more comfortable when the rehabilitation training is stood.

Further, the backrest 201 may be provided with two fixed shoulder straps (not shown), the two fixed shoulder straps are symmetrically arranged along the central axis of the backrest 201, and the fixed shoulder straps may have elasticity to better fix the shoulders of the patient. Shoulder to the patient is fixed jointly through two above-mentioned fixed baldrics, makes the patient when carrying out the rehabilitation training stand, and patient's upper limbs are more stable, can not only prevent that the patient from because of the action of gravity lapse when standing, and makes the patient stand at the rehabilitation training, and patient's upper part of the body is better with the laminating effect of back 201, makes the patient more stable when the rehabilitation training stands.

In some embodiments, as shown in fig. 8, the back placement device 2 further includes a plurality of movable installation seats 203 for installing the upper body fastening strap 202, the movable installation seats 203 are disposed corresponding to the upper body fastening strap 202, the backrest 201 is formed with a plurality of installation grooves 204 disposed corresponding to the plurality of movable installation seats 203, and each installation groove 204 is provided with an elastic member 205 connected to the corresponding movable installation seat 203.

It can be understood that, as shown in fig. 8, upper body fixing band 202 is installed on movable installation seat 203, elastic member 205 is installed between movable installation seat 203 and the groove bottom of installation groove 204, the opening width of installation groove 204 is smaller than the groove bottom width of installation groove 204, and movable installation seat 203 is fitted with installation groove 204.

Further, when the number of the upper body fixing straps 202 on the backrest 201 is plural, the number and the positions of the movable mounting seats 203 correspond to those of the upper body fixing straps 202 on the backrest 201 one by one, the mounting groove 204 is opened on the leaning surface of the backrest 201, and the width of the opening of the mounting groove 204 is set to be smaller than the width of the groove bottom of the mounting groove 204, so that the movable mounting seats 203 cannot fall off from the mounting groove 204 after being mounted in the mounting groove 204.

Further, through installing elastic component 205 between the tank bottom with movable mounting seat 203 and mounting groove 204, make movable mounting seat 203 can have certain activity in mounting groove 204, make the patient when the rehabilitation training, can train patient's balancing ability, make patient's rehabilitation training effect better.

In some embodiments, as shown in fig. 5 and 9, the rehabilitation training device further includes a desktop assembly 11 disposed in front of the backrest 201 and two telescopic brackets 12 respectively disposed at two opposite sides of the backrest 201, the desktop assembly 11 includes a desk 1101 pivotally connected to the two telescopic brackets 12 and an operating handle 1102 disposed on the desk 1101, and the operating handle 1102 is electrically connected to the control device 5 to send an operating signal for controlling the posture training mode of the rehabilitation training device to the control device 5.

It can be understood that, one side that the table 1101 is close to the patient is the arc structure, make things convenient for table 1101 and patient's health laminating, it is more comfortable when the rehabilitation training to make the patient, and can place control panel 1106 on the table 1101, operating handle 1102 is connected with control panel 1106 electricity, make the patient when carrying out the rehabilitation training, the content of the display screen on the control panel 1106 is watched to accessible control panel 1106, operating handle 1102 can send command signal to controlling means 5, thereby control the mode of rehabilitation training equipment, make the patient when the rehabilitation training, the patient can select different rehabilitation modes according to self health condition, thereby increase patient's recovered enjoyment. In addition, in order to prevent the operating handle 1102 from slipping when being held, the outer surface of the operating handle 1102 may be provided with anti-slip lines.

It will be appreciated that one end of the telescoping support 12 may be mounted with the long arm support 1103, the long arm support 1103 may be hinged with a transition support 1105, the lower surface of the table 1101 may be mounted with a table top support 1104, and the transition support 1105 may be hinged with the table top support 1104. The other end of telescopic bracket 12 can articulate on back 201, make telescopic bracket 12 rotate on back 201, telescopic bracket 12 and long arm support 1103 articulated, long arm is articulated and transition support 1105 articulated between, and transition support 1105 and desktop support 1104 between articulated all through friction hinged joint, can not only make things convenient for people to rotate table 1101 at will, and make table 1101 after adjusting the position, table 1101 can not rotate at will, place stably. The tabletop support 1104 is a fixed shaft fixedly supported on the lower surface of the tabletop 1101, and the transition support 1105 is frictionally hinged with the fixed shaft, so that the tabletop 1101 is more stably installed.

It can be understood that the armrests can be arranged on both sides of the cushion plate, and the armrests and the cushion plate can be detachably arranged, and are convenient for a patient to support during rehabilitation training. In addition, in order to facilitate the patients to tightly hold the handrails during rehabilitation training, the handrails can be provided with anti-skidding threads, so that the patients are prevented from sweating due to hands and slipping due to the handrails.

In some embodiments, as shown in fig. 10, the leg assisting device 3 includes a leg supporting member 301 and a lower body fixing strap 302 elastically connected to the leg supporting member 301 to fix the lower body of the human body, the leg supporting member 301 includes a leg supporting plate 303, a toe cap 304 corresponding to the toe of the human body, a plurality of fixing plates 305 corresponding to the instep of the human body, and a heel cap 306 corresponding to the heel of the human body, the heel cap 306 is connected to the leg supporting plate 303, and the heel cap 306 may have an L-shape, the height of the heel cap 306 in the vertical direction may be extended to a position corresponding to the ankle joint of the patient, and the plurality of fixing plates 305 are detachably provided on the heel cap 306 and the toe cap 304, respectively.

It will be appreciated that the lower body securing straps 302 are used to secure the lower leg portion of the patient and are removably attached to the leg rest assembly 301. Heel cover 306 is used for fixing patient's heel portion, and toe cover 304 is used for fixing patient's tiptoe portion, and when the patient carried out rehabilitation training, patient's foot can directly be dressed in tiptoe cover 304 and heel cover 306, and patient's shank is fixed on holding in the palm leg subassembly 301 by lower part of the body fixed band 302 to effectively fixing patient's lower half of the body, above-mentioned structure can reach better fixed effect, and does benefit to and train patient's foot strength.

It can be understood that, with reference to fig. 10, the number of the fixing plates 305 corresponding to a single foot can be two, two fixing plates 305 are sequentially arranged along the length direction of the foot surface of the patient, the leg assisting device 3 can further include a fixing sleeve 309 arranged on the leg supporting plate 303 corresponding to the ankle joint of the patient, and the fixing effect on the foot of the patient can be better achieved by the cooperation between the fixing sleeve 309 and the fixing plates 305.

Further, in order to facilitate the installation of the fixing plate 305, the upper edges of the toe cap 304 and the heel cap 306 can be provided with a boss which is turned outwards, the fixing plate 305 is provided with a connecting part corresponding to the boss, the boss and the connecting part can be provided with corresponding through holes respectively, when the fixing plate 305 is installed, the fixing plate 305 can be stably installed on the toe cap 304 and the heel cap 306 through the bolt penetrating through the two through holes, and the structure is convenient to disassemble and assemble and is convenient for a patient to use.

Further, in order to fix the patient conveniently, the upper body fixing band 202, the fixed shoulder straps and the fixed sleeve 309 can be set into a belt structure, namely, one end is fixedly installed, the other end is fixed through the buckle fastening machine shell, the patient can be fixed conveniently, and the patient can be separated from the leg supporting plate 303, the cushion plate and the backrest 201 after the rehabilitation training is finished. In addition, the width of the upper body fixing band 202 on the backrest 201 is not less than 20 cm, the width of the upper body fixing band 202 on the cushion plate is not less than 10 cm, and the width of the shoulder straps is not less than 10 cm.

In some embodiments, as shown in fig. 10, the toe cap 304 has an insertion shaft 307 extending toward the heel cap 306, the heel cap 306 has a slot 308 corresponding to the insertion shaft 307, and the outer wall of the heel cap 306 has a locking slot (not shown) communicating with the slot 308, and the locking slot has a locking member (not shown) for tightly pressing the insertion shaft 307 into the slot 308; the leg supporting plate 303 includes a vertical plate 3031 and a horizontal plate 3032 (shown in fig. 7) which are disposed up and down and can be relatively close to or far away from each other, the vertical plate 3031 is fixedly connected to the supporting portion 6, and the horizontal plate 3032 is used for supporting the toe sleeve 304 and the heel sleeve 306.

It can be understood that, as shown in fig. 7 and 10, the supporting and pushing plate is L-shaped, and specifically includes a vertical plate 3031 and a horizontal transverse plate 3032, the lower body fixing strap 302 is mounted on the vertical plate 3031, the toe sleeve 304 and the heel sleeve 306 are disposed on the horizontal plate 3032, and the fixing sleeve 309 is disposed on the vertical plate 3031. Above-mentioned riser 3031 fixed mounting is on supporting part 6, and can be equipped with the spread groove on the downside of fixed part, the upside of diaphragm 3032 can be equipped with the diaphragm 3032 connecting axle that can peg graft the spread groove, above-mentioned diaphragm 3032 and riser 3031 accessible spread groove and connecting axle are fixed, above-mentioned structure realizes that the distance between diaphragm 3032 and the riser 3031 is adjustable, make the patient when rehabilitation training, can adjust the distance between diaphragm 3032 and the riser 3031 to patient's leg length, make the patient all can have the comfortable experience of preferred under sitting up the mode and the mode of standing, fixed effect to patient's shank is better, avoid the patient to be injured knee in rehabilitation training process.

Further, the connecting grooves and the connecting shafts of the transverse plates 3032 are arranged in a one-to-one correspondence manner, the number of the connecting grooves and the connecting shafts of the transverse plates 3032 may be multiple, the multiple connecting grooves are arranged at intervals along the width direction of the vertical plate 3031, and preferably, the number of the connecting grooves and the connecting shafts of the transverse plates 3032 may be two.

Further, locking screws may be respectively disposed on opposite sides of the vertical plate 3031 in the width direction thereof, and the locking screws are inserted into the vertical plate 3031 and abut against the connecting shaft to abut the connecting shaft in the connecting grooves, so that the vertical plate 3031 and the horizontal plate 3032 can maintain a stable relative positional relationship.

It will be appreciated that the receptacle 308 is provided on the side of the heel cover 306 opposite the toe cover 304, the shaft 307 is provided on the side of the toe cover 304 opposite the side, and the locking member is capable of acting on the release shaft by passing through the locking slot, so that when the distance between the heel cover 306 and the toe cover 304 is matched to the size of the ball of the foot of the patient, the receptacle 307 is held tightly in the receptacle 308 by the locking member, thereby maintaining the relative position of the heel cover 306 and the toe cover 304.

Further, the slots 308 and the insertion shafts 307 are arranged in a one-to-one correspondence, the number of the slots 308 and the insertion shafts 307 may be multiple, and multiple insertion holes are arranged at intervals along the width direction of the heel cover 306, and preferably, as shown in fig. 10, the number of the slots 308 and the insertion shafts 307 may be two.

The toe sleeve 304 can enable the toe sleeve 304 to be relatively close to or far away from the heel sleeve 306 through the matching of the plug shaft 307 and the slot 308 so as to adapt to the sizes of feet of different patients, so that the toe sleeve 304 and the heel sleeve 306 can be suitable for patients with different sole sizes, and the situation that the ankle of the patient is injured due to unstable feet of the patient when the patient stands is prevented from happening. In some embodiments, the feedback device includes a pressure sensor and/or a torque sensor (not shown).

It is understood that the pressure sensor and/or the torque sensor may be disposed at one or more of the back support device 2, the leg support device 3 or the cushion device 4, and the pressure sensor and/or the torque sensor is electrically connected to the control device 5, and the control device 5 receives the pressure information related to the core muscle strength parameter of the patient from the pressure sensor and/or the torque sensor, analyzes the pressure information, and provides the body position training mode more suitable for the body condition of the patient based on the analysis result, thereby facilitating the recovery of the patient.

When the rehabilitation training device of the embodiment of the present disclosure is used, as shown in fig. 4 and 5, when a patient needs rehabilitation training, the patient sits on the cushion device 4 first, then places the foot of the patient in the toe sleeve 304 and the heel sleeve 306, then adjusts the distance between the toe sleeve 304 and the heel sleeve 306 to fit the size of the foot of the patient, when the toe sleeve 304 and the heel sleeve 306 are adjusted to proper positions, the toe sleeve 304 and the heel sleeve 306 are locked by screwing the locking piece, and finally, the foot of the patient is fixed by the fixing plate 305 and the fixing sleeve 309 on the heel sleeve 306 and the toe sleeve 304.

Further, the height of the leg supporting plate 303 is adjusted according to the length of the lower leg of the patient, specifically, the locking screw is loosened to lose the locking force of the connecting shaft, at this time, the vertical plate 3031 and the horizontal plate 3032 of the leg supporting plate 303 are moved according to the length of the lower leg of the patient, so that the distance between the vertical plate 3031 and the horizontal plate 3032 is adjusted, when the distance between the vertical plate 3031 and the horizontal plate 3032 is matched with the length of the lower leg of the patient, the locking screw is tightened to lock the connecting shaft, and then, the lower leg of the patient is fixed through the fixing sleeve 309 on the vertical plate 3031 of the leg supporting plate 303.

Then, the thighs of the patient are fixed by the upper body fixing straps 202 on the cushion plate, the waist of the patient is fixed by the upper body fixing straps 202 at the lower end of the backrest 201, the chest of the patient is fixed by the upper body fixing straps 202 at the upper end of the backrest 201, and the shoulders of the patient are fixed by the two shoulder straps, based on which the patient is fixed on the rehabilitation training device.

After the patient is fixed on the rehabilitation training device, the height of the pillow can be adjusted according to the height of the head of the patient, and particularly, the height of the pillow can be adjusted through the adjusting frame body, so that the head of the patient can be supported.

When the patient needs to adopt the lying mode for rehabilitation training, the second motor 104 rotates forward and drives the second output shaft 105 to rotate, the third gear assembly 9 is driven to rotate through the second output shaft 105, and the fourth gear assembly 10 is driven to rotate, so that the backrest 201 rotates synchronously with the fourth gear assembly 10, and when the backrest 201 rotates to be horizontal to the cushion plate, the patient can lie on the cushion plate and the backrest 201 (as shown in fig. 1 and 4).

When the patient needs to adopt the sitting-up mode to carry out rehabilitation training, the second motor 104 rotates reversely and drives the second output shaft 105 to rotate, the third gear assembly 9 is driven to rotate through the second output shaft 105, and the fourth gear assembly 10 is driven to rotate, so that the backrest 201 rotates synchronously with the fourth gear assembly 10, and when the backrest 201 rotates to be vertical to the cushion plate, the patient can sit straight on the rehabilitation training device (as shown in fig. 2 and 4). When the patient performs rehabilitation training in the sitting-up mode, the backrest 201 can maintain a certain inclination angle with the cushion plate, that is, the rehabilitation training device is in an intermediate mode between the lying mode and the sitting-up mode.

When a patient needs to perform rehabilitation training in a standing mode, firstly, the backrest 201 rotates to be in a vertical state, specifically, the second motor 104 rotates reversely, the second motor 104 rotates and drives the second output shaft 105 to rotate, the third gear assembly 9 is driven to rotate through the second output shaft 105, and the fourth gear assembly 10 is driven to rotate, so that the backrest 201 rotates synchronously with the fourth gear assembly 10, and when the backrest 201 rotates to be vertical to a cushion plate, the patient sits straight on the rehabilitation training device (as shown in fig. 2 and 4); then, the cushion plate is rotated to the vertical state, the first motor 102 rotates reversely, the first motor 102 rotates to drive the first output shaft 103 to rotate, the first output shaft 103 is meshed with the second gear assembly 8 and drives the first gear assembly 7 to rotate, so that the cushion plate rotates synchronously with the first gear assembly 7, while the second motor 104 rotates, the hydraulic assembly 101 works synchronously, so that the hydraulic assembly 101 can synchronously support the cushion plate when the cushion plate rotates, when the cushion plate rotates to the vertical state, the vertical plate 3031 of the leg supporting plate 303, the cushion plate and the backrest 201 are positioned on the same vertical line, so that the patient is in the standing state (as shown in fig. 3 and 4).

During the rehabilitation training process of the patient, the patient or the rehabilitation trainer can adjust the telescopic bracket 12, the long arm support 1103 and the transition support 1105 to enable the control panel 1106 to correspond to the patient; meanwhile, in the process of patient rehabilitation, when the patient needs to change the body position, the patient or a rehabilitation trainer can select the adjusted body position, body position training mode, training game or watching video on the control panel 1106 by controlling the operating handle 1102, so that the interestingness of the patient in the process of balance training is improved.

When the patient needs to perform the "lying-sitting" training, that is, when the patient switches between the lying mode and the sitting-up mode, the backrest 201 is rotated by the forward rotation or the reverse rotation of the second motor 104, so that the backrest 201 is parallel to or perpendicular to the seat cushion plate. When the patient needs to perform the "sit-stand" exercise, that is, to switch between the sitting mode and the standing mode, the backrest 201 is rotated or the backrest 201 and the seat cushion plate are relatively rotated by adjusting the second motor 104 or the first motor 102 and the hydraulic assembly 101, so that the seat cushion plate and the backrest 201 are relatively rotated to switch between the sitting mode and the standing mode for the exercise.

According to the balance rehabilitation training concept and the human engineering characteristics of the core muscle group, the body key points of the patient are controlled, so that the patient is helped to recover the core muscle strength and balance; meanwhile, the body position change of the patient is assisted by training the body position change of 'lying-sitting-standing' or 'lying-sitting' or 'sitting-standing' and the intermediate body position between the 'lying-sitting' or 'sitting-standing' in sequence, so that the generation of the complication of lying in bed is avoided, and the purposes of early sitting up, standing and early rehabilitation of the patient are achieved.

During the training, the patient can carry out 'lying-sitting' training in the initial stage and 'sitting-standing' training in the later stage according to the recovery condition of the patient; meanwhile, the training intensity of the patient can be adjusted according to the working conditions of the first motor 102 and the second motor 104, and the patient is helped to complete the training sequentially under the help of the trainer according to the core muscle force parameter of the patient.

In the training process, because the posture training mode is diversified, the training interest is increased, and the compliance of a patient is improved; meanwhile, when a patient is fixed, the patient is fixed through the matching of the fixing sleeve 309, the fixing plate 305, the upper body fixing band 202, the lower body fixing band 302 and the fixing shoulder straps, so that the comfort and the safety of the patient in the rehabilitation training process are improved, and the patient can be helped to introduce the correct posture and reflection.

Moreover, although exemplary embodiments have been described herein, the scope thereof includes any and all embodiments based on the disclosure with equivalent elements, modifications, omissions, combinations (e.g., of various embodiments across), adaptations or alterations. The elements of the claims are to be interpreted broadly based on the language employed in the claims and not limited to examples described in the present specification or during the prosecution of the application, which examples are to be construed as non-exclusive. It is intended, therefore, that the specification and examples be considered as exemplary only, with a true scope and spirit being indicated by the following claims and their full scope of equivalents.

The above description is intended to be illustrative and not restrictive. For example, the above-described examples (or one or more versions thereof) may be used in combination with each other. For example, other embodiments may be used by those of ordinary skill in the art upon reading the above description. In addition, in the foregoing detailed description, various features may be grouped together to streamline the disclosure. This should not be interpreted as an intention that a disclosed feature not claimed is essential to any claim. Rather, the subject matter of the present disclosure may lie in less than all features of a particular disclosed embodiment. Thus, the following claims are hereby incorporated into the detailed description as examples or embodiments, with each claim standing on its own as a separate embodiment, and it is contemplated that these embodiments may be combined with each other in various combinations or permutations. The scope of the disclosure should be determined with reference to the appended claims, along with the full scope of equivalents to which such claims are entitled.

The above embodiments are merely exemplary embodiments of the present disclosure, which is not intended to limit the present disclosure, and the scope of the present disclosure is defined by the claims. Various modifications and equivalents of the disclosure may occur to those skilled in the art within the spirit and scope of the disclosure, and such modifications and equivalents are considered to be within the scope of the disclosure.

Claims (14)

1. A rehabilitation training apparatus comprising a driving device, a back placement device, and a leg assist device, the rehabilitation training apparatus further comprising:

a seat cushion device, opposite sides of which are respectively rotatably connected with the back mounting device and the leg auxiliary device, wherein the driving device is configured to adjust the rotation angle among the back mounting device, the seat cushion device and the leg auxiliary device so as to realize a body position training mode selected from a plurality of body position training modes including a standing mode, a sitting mode and a lying mode;

the feedback device is arranged at one or more positions of the back placement device, the leg auxiliary device or the cushion device and is configured to acquire the core muscle force parameters of the human body;

a control device electrically connected with the feedback device and the drive device, the control device configured to acquire the core muscle force parameter and send a control signal to the drive device.

2. The rehabilitation training device of claim 1, wherein the drive means is further configured to adjust the angle of rotation to achieve an intermediate mode as the selected posture training mode.

3. The rehabilitation training device of claim 1 or 2, wherein the driving means is further configured to adjust the rotation angle to enable a transition training process between at least two posture training modes.

4. The rehabilitation training device of claim 1, wherein the control device is further configured to: and under the condition that the core muscle strength performance corresponding to the core muscle strength parameter is healthier, sending a control signal indicating that the assistance degree is lower in the body position training mode to the driving device.

5. The rehabilitation training device of claim 1, wherein the control device is further configured to be communicatively connected to a user terminal to receive user input from the user terminal.

6. The rehabilitation training device according to claim 1, further comprising a support portion, wherein the driving device comprises a hydraulic assembly disposed on the support portion, the leg assisting device is fixedly disposed on one side of the support portion, the hydraulic assembly is electrically connected to the control device, and one end of the hydraulic assembly is hinged to the cushion device, and the control device is further configured to control the hydraulic assembly to raise or lower the cushion device.

7. The rehabilitation training device of claim 6, further comprising a first gear assembly fixedly disposed on a side of the cushion device connected to the leg assist device, and a second gear assembly rotatably disposed on the supporting portion and in transmission connection with the first gear assembly, wherein the driving device further comprises a first motor and a first output shaft in transmission connection with the second gear assembly, so that the second gear assembly and the first gear assembly are driven by the first output shaft to rotate, so that the cushion device rotates relative to the leg assist device.

8. The rehabilitation training device of claim 1, further comprising a third gear assembly rotatably disposed on one side of the cushion device connected to the back placement device, and a fourth gear assembly fixedly disposed on the cushion device and in transmission connection with the third gear assembly, wherein the driving device further comprises a second motor and a second output shaft in transmission connection with the third gear assembly, so that the third gear assembly and the fourth gear assembly are driven to rotate by the second output shaft, and the back placement device rotates relative to the cushion device.

9. The rehabilitation training device of claim 1, wherein the back placement device comprises a backrest and a plurality of upper body securing straps elastically coupled to the backrest for securing the upper body of the human body, the plurality of upper body securing straps being arranged at intervals along a length direction of the backrest.

10. The rehabilitation training device according to claim 9, wherein the back placement device further comprises a plurality of movable mounting seats for mounting the upper body fixing straps, the movable mounting seats are disposed corresponding to the upper body fixing straps, a plurality of mounting grooves corresponding to the movable mounting seats are formed on the backrest, and each mounting groove is provided with an elastic member connected to the corresponding movable mounting seat.

11. The rehabilitation training device of claim 9, further comprising a desktop assembly disposed in front of the backrest and two telescopic brackets disposed at opposite sides of the backrest, respectively, wherein the desktop assembly comprises a desk board pivotally connected to the two telescopic brackets and an operating handle disposed on the desk board, and the operating handle is electrically connected to the control device to send an operating signal for controlling a posture training mode of the rehabilitation training device to the control device.

12. The rehabilitation training device according to claim 6, wherein the leg supporting device includes a leg supporting member and a lower body fixing strap elastically coupled to the leg supporting member to fix the lower body of the human body, the leg supporting member includes a leg supporting plate, a toe cap corresponding to the toe of the human body, a plurality of fixing plates corresponding to the instep of the human body, and a heel cap corresponding to the heel of the human body, the heel cap is coupled to the leg supporting plate, and the plurality of fixing plates are detachably provided on the heel cap and the toe cap, respectively.

13. The rehabilitation training device according to claim 12, wherein the toe sleeve has an insertion shaft extending in the direction of the heel sleeve, the heel sleeve is provided with an insertion slot corresponding to the insertion shaft, the outer wall of the heel sleeve is provided with a locking slot communicated with the insertion slot, and a locking member for tightly abutting the insertion shaft in the insertion slot is arranged in the locking slot;

the leg supporting plate comprises a vertical plate and a transverse plate which are arranged from top to bottom and can be relatively close to or far away from the supporting portion, the vertical plate is fixedly connected with the supporting portion, and the transverse plate is used for supporting the toe sleeve and the heel sleeve.

14. The rehabilitation training device of claim 1, wherein the feedback device comprises a pressure sensor and/or a torque sensor.

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