52 results about "Medial rotation" patented technology

The invention relates to a lower limb rehabilitation training exoskeleton with bionics design. An existing lower limb rehabilitation training exoskeleton is complex in driving structure, low in the response speed and not ideal in rehabilitation training effect, and lacks bionic consideration. The lower limb rehabilitation training exoskeleton comprises a waist tightening mechanism and lower limb exoskeleton leg rods, wherein the waist tightening mechanism is connected with the waist of a wearer, the left lower limb exoskeleton leg rod and the right lower limb exoskeleton leg rod respectively have four degrees of freedom and achieve three degrees of freedom of hip joints through a hip joint adduction and abduction mechanism, a hip joint bending and stretching mechanism and a hip joint medial rotation and lateral rotation mechanism. The axes of the three rotation degrees of freedom are orthogonal at the motion center of the hip joints of the human body. The rotation center of a knee joint bending and stretching mechanism moves along with the rotation center of the knee joints of the human body, so that the exoskeleton and the rotation center of the knee joints of the human body are always kept in the same axis. The hip joint bending and stretching mechanism and the knee joint bending and stretching mechanism are directly driven by a motor in cooperation with a speed reducer. The lower limb rehabilitation training exoskeleton is compact and portable in structure, man-machine interference force is avoided, damage caused by rehabilitation training to the knee joints is reduced, and the whole rehabilitation training becomes more natural and easier.

The invention provides a wearable 7-degree-of-freedom upper limb movement rehabilitation training exoskeleton which comprises a supporting rod and an exoskeleton training device which are fixed on a base, wherein the exoskeleton training device is formed by connecting a shoulder adduction / abduction joint, a shoulder flexion / extension joint, a shoulder medial rotation / lateral rotation joint, an elbow flexion / extension joint, an elbow medial rotation / lateral rotation joint, a wrist adduction / abduction joint and a wrist flexion / extension joint in series. The joints are directly driven by a motor, wherein the shoulder and elbow rotating joints are additionally provided with a spur-gear set, the structure is simple, and the response speed is high. Compared with the prior art, the exoskeleton provided by the invention has more degrees of freedom of movement and can adapt to standing and sitting training. The length of an exoskeleton rod can be adjusted according to the height of a patient, thereby ensuring the wearing comfort. A spacing structure is adopted by the joints, thereby improving the safety. Angle and moment sensors at the joint points can acquire kinematic and dynamic data of each joint in real time, thereby being convenient for physical therapists to subsequently analyze and establish a training scheme to achieve an optimal rehabilitation effect.

The invention discloses a wearable power-assisted exoskeleton lower limb mechanism which comprises a waist part, a left leg, a right leg, a hydraulic servo driving system, a real-time controller and a power supply module, wherein the right leg and the left leg have same structures and are respectively hinged to the waist part and symmetrically arranged on two sides of the waist part; the hydraulic servo driving system is connected with the left leg and the right leg respectively and controls the left leg and the right leg; the hydraulic servo driving system is connected with the real-time controller; the power supply module supplies power to the hydraulic servo driving system. Motions of hip joints, knee joints and ankle joints are cooperated to complete walking, and 7 degrees of freedom are totally realized; the hip joints and the ankle joints respectively have 3 degrees of freedom, which are respectively bending / stretching, external expanding / internal contraction and medial rotation / lateral rotation; the knee joints have one degree of freedom of bending / stretching. The wearable power-assisted exoskeleton lower limb mechanism is simple, convenient to wear and adjustable in length, and is suitable for being worn by people of different heights and weights and making all the joints of the exoskeleton move freely.

A spindle motor includes a shaft arranged in an upward / downward direction along a central axis; a base member including a substantially cylindrical holder portion arranged around the central axis; a bearing unit arranged radially inward of the holder portion; and a rotating portion arranged above the base member to rotate about the central axis. The rotating portion preferably includes a mounting surface on which a disk is to be mounted. An adhesive containing an electrically conductive material and an adhesive containing an externally stimulated curing material and / or an anaerobic curing material are arranged in a clearance space defined between an inner circumferential surface of the holder portion and an outer circumferential surface of the bearing unit. The adhesive containing the electrically conductive material is arranged above the adhesive containing the externally stimulated curing material and / or the anaerobic curing material.

The invention discloses a lasso drive based upper limb rehabilitation exoskeleton robot comprising a wrist outward swaying / inward retraction joint, a wrist forward flexion / backward extension joint, a wrist medial rotation / lateral rotation joint, an elbow forward flexion / backward extension joint, a shoulder forward flexion / backward extension joint, a shoulder forward flexion / backward extension joint, a shoulder medial rotation / lateral rotation joint and a lasso drive device. The shoulder, elbow and wrist medial rotation / lateral rotation joints are connected with motors fixed on a support through lassos, and driving moment is transmitted to all the joints through the lassos; the wrist outward swaying / inward retraction joint and the wrist forward flexion / backward extension joint are directly driven by motors; encoders are arranged in the motors and used for measuring internal posture of the exoskeleton; a six-dimensional force sensor is mounted to the wrist and used for measuring man-machine interaction force; balance springs are mounted to the shoulder and the elbow, and gravity balance of the whole mechanism can be realized. The problem of overlarge joint weight and inertia is solved, lightweight design is realized, power consumption is reduced effectively, system safety performance is improved, and multi-mode rehabilitation training can be realized.

The invention discloses a pseudo passive power assisting device for ankle joint movement, and relates to the power assisting device for ankle joint movement. The invention aims to solve the problem that the existing power assisting device is easy to interfere and short in continuous work time and wastes energy sources. According to the power assisting device provided by the invention, the front sole and the rear sole is rotatably connected, the sole is fixedly installed on the rear part of the bottom end face of the rear sole, and one end of the abduction or adducted joint is rotatably connected to the upper end of the rear sole and an energy storage mechanism is arranged at the upper end at the other end of the abduction or adducted joint. The lower end of the energy storage mechanism and the other end of the abduction or adducted joint are connected trough a movement steel wire rope. The upper end of the energy storage mechanism is sequentially provided with a clutch, a reducer and a driving motor. An outer circular frame is fixedly installed on an outer ring, and an inner circular frame is arranged in the outer circular frame. Guide rails are respectively arranged on the upper and lower parts of the inner circular frame. A medial rotation or lateral rotation fixing sleeve is arranged at the upper end of the inner circular frame, and a plurality of chutes matched with the guide rails are respectively arranged on the inner wall of the outer circular frame. The pseudo passive power assisting device for ankle joint movement provided by the invention is suitable for power assist of the ankle joint.

An article of footwear with a bladder system providing cushioning and dynamic motion control in a multi-bladder system. The bladder system gives the needed amount of motion control by stiffening a portion of the footwear in response to the individual user's side-to-side motion. When used in the heel, the bladder system takes into consideration a center-of-pressure pathway of the foot to increase medial stiffness in response to lateral-to-medial rotation of the foot, so the more a user pronates, the stiffer the medial portion of the footwear is made. The bladder system provides comfort and control without the extra weight and bulk of prior art support structures. The bladder system dynamically changes the stiffness of a portion of the footwear when pressure is applied thereto, and returns to equilibrium when the pressure is removed.

The invention discloses a seven-freedom-degree upper limb rehabilitation robot based on combination drive, and relates to the technical field of medical rehabilitation. The rehabilitation robot comprises three modules, i.e., a shoulder joint medial rotation / lateral rotation movement module, a shoulder joint extension / flexion and adduction / abduction and elbow joint extension / flexion and pronation / supination module and a wrist joint radial side flexion / ulnar side flexion and dorsal flexion / palmer flexion movement module, and the rehabilitation robot can achieve movement of seven freedom degrees. Under the coordination of the seven freedom degrees, the robot can simulate and achieve all types of movement of the upper limbs of a human body; the seven freedom degrees can singly achieve independent movement of each joint and also can achieve spatial motion through linkage motion of all the joints. The rehabilitation robot is designed to be more suitable for the structure of the human body, and the movement process of the rehabilitation robot is closer to the movement rule of human arms; a wrist joint part of the rehabilitation robot is driven by a steel wire rope, and a drive motor is moved backwards to be installed on a shoulder joint cantilever horizontal plate; thus, the weight of the wrist joint part is reduced, and the wrist joint part is more convenient to control and simpler and more compact in structure.

The invention discloses a buffer and walking integrated landing device. Several buffer and walking integrated mechanisms are installed on the side wall of the landing device, and each buffer and walking integrated mechanism includes a body connecting plate assembly, a mechanical leg assembly, a buffering and driving integrated primary vibration reducer, buffering and driving integrated auxiliary vibration reducers, a knee joint locking device and a foot pad. Each body connecting plate assembly has the degree of freedom on medial rotation and lateral rotation; each mechanical leg assembly has the degree of freedom on the external swinging, retraction, anteflection and backward extension of hip joints, the stretching and bending of knee joints and the like; each buffering and driving integrated primary vibration reducer, each left buffering and driving integrated auxiliary vibration reducer, and each right buffering and driving integrated auxiliary vibration reducer achieve buffering or driving between the corresponding mechanical leg assembly and the corresponding body connecting plate assembly; the knee joint locking devices achieve flexible movement. The buffer and walking integrated landing device makes up for the shortcomings of a current movable landing device in the aspects of movement flexibility, use convenience and the like, and is extremely excellent in landing device body posture control capability and obstacle surmounting capability in the movement process.

A method and apparatus for exercise of the gluteus medius and gluteus minimus muscle complex against resistance in internal rotation, the tibialis posterior in internal rotation and inversion, the piriformis muscle and its synergists in external rotation and the peroneal muscles in external rotation and eversion is disclosed. The apparatus is comprised of a stable base having a rotatable foot support plate mounted on the base upward at a predetermined angle from the horizontal in order to dorsiflex the user's foot. Means to adjust the rotational resistance of the rotatable foot support plate is provided. The device includes a back support to assist in maintaining the user's pelvis in a neutral position. The device provides internal and external resistance to isolate and exercise the gluteus medius and gluteus minimus muscle complex or the piriformis and synergists while the user is in a standing position. It further provides internal and external resistance to exercise the tibialis posterior and the peroneals in either the standing or seated position.

A sport shoe provides a set of four rings each one of the rings separately engaged with the shoe and free to rotate between opposing positions abutting the exterior surface of the shoe on opposite sides of the ring. A frontal ring is centered on the instep and, when rotated to a medial rotational attitude, is aligned vertically and with a longitudinal axis of symmetry of the shoe. An inside ring, when rotated to its medial rotational attitude is aligned horizontally and centered relative to the height of the inside of the shoe. An outside ring, when rotated to its medial rotational attitude is aligned horizontally and centered relative to the height of the outside of the shoe. A rear ring is centered on the back of the shoe and, when rotated to its medial rotational attitude, is aligned vertically and with the longitudinal axis of symmetry.

One embodiment of an exercise device for the chest wherein to a base two large rotating sheaves are placed in a horizontal plane, turned by poles in the vertical plane to which rotating handles are attached. A cord attached to a pulley wraps around each sheave as the poles are rotated from a position of from behind the back to in front of the chest of the exerciser (or vice versa). The sheaves are placed in horizontal planes above or below the exerciser. Thus two functions of the chest, transverse adduction and medial rotation of the arms are multiplexed into one movement.

The invention discloses a foot device used for a wearable lower limb exoskeleton robot. The foot device comprises a first execution mechanism, a driving gear mechanism, a driven gear mechanism, a shank connecting rod, a ball cage type universal joint, a rotating adjusting device, a second execution mechanism, a motor fixing supporting plate, a first reset spring, an ankle joint controlling plate, a foot shoe, a round rod and second reset springs. Three-freedom-degree adjustable rotation of ankle joints is achieved, active training is achieved for ankle joints of different patients or the ankle joint of the same patient at different stages, the movement freedom degree is high, and practicability is high. The adopted ball cage type universal joint can achieve medial rotation / lateral rotation movement for the ankle joints when plantar flexions / dorsal flexions move by different angles and can also guarantee that the rotation speed of a motor and the rotation speed of the ankle joints are always kept uniform, and the arranged reset springs improve the stability of joint movement; a harmonic reducer is adopted for effectively adjusting the rotation speed of the joints and improving man-machine coupling.

The invention discloses a six-degree-of-freedom wearable lower limb exoskeleton rehabilitation robot which comprises a waist supporting mechanism, hip joint exoskeleton mechanisms, knee joint exoskeleton mechanisms and ankle joint exoskeleton mechanisms, the waist supporting mechanism is connected with the hip joint exoskeleton mechanisms, the hip joint exoskeleton mechanisms are connected with the knee joint exoskeleton mechanisms, and the ankle joint exoskeleton mechanisms are connected with the knee joint exoskeleton mechanisms. The knee joint exoskeleton mechanisms are connected with the ankle joint exoskeleton mechanisms. According to the invention, three-degree-of-freedom movement of hip joint anteflexion / backward extension, adduction / abduction and internal rotation / external rotation, single-degree-of-freedom movement of knee joint flexion / extension and two-degree-of-freedom movement of ankle joint dorsal flexion / plantar flexion and introversion / extroversion are realized. Movement of the hip joint and the knee joint is driven by a motor, the knee joint exoskeleton mechanisms adopt bionic human knee joint design, and elastic element design is added to the ankle joint exoskeleton mechanisms. The six-degree-of-freedom wearable lower limb exoskeleton rehabilitation robot is well attached to joints of a patient, comfortable rehabilitation training of the patient is facilitated, and the rehabilitation training effect is improved.

The invention discloses a rope-driving elbow-wrist rehabilitation robot. The rope-driving elbow-wrist rehabilitation robot is characterized by comprising a moving supporting system, a driving system, a large-arm supporting system, an elbow training system, a small-arm supporting system and a wrist training system; both the driving system and the large-arm supporting system are installed on the moving supporting system; the large-arm supporting system is connected with the small-arm supporting system through the elbow training system; the wrist training system is installed on the small-arm supporting system. According to the rope-driving elbow-wrist rehabilitation robot, elbow-wrist-injured patients are subjected to all-around rehabilitation training, and rotating of three freedom degrees of medial rotation / lateral rotation, internal bending / extending and adduction / abduction of the wrist joints and rotating of a freedom degree of buckling / extending of the elbow joints can be achieved. Single-freedom-degree training can be carried out, multiple-freedom-degree cooperative training can also be carried out, the requirements of comfortable performance, the safety and the flexibility and elasticity of the patients are met, and meanwhile the rope-driving elbow-wrist rehabilitation robot has the advantages of being light in weight, good in continuity and small in movement impact.

A support device provides elevation and support for a patient's foot and limits lateral and medial rotation of the foot relative to the knee. This protects the knee from injury during healing. The device includes a generally flat main body, two spaced-apart lateral ridges, and a medial depression between the lateral ridges that provides a support surface on which the foot may be positioned. The lateral ridges can extend to a height above the support surface so that inner side surfaces of the lateral ridges are adjacent to a majority of a foot placed in the medial depression. The support surface can include a heel aperture extending through the main body to provide a continuous heel pocket allowing the heel to remain freely suspended when the foot is placed in the device. The device can additionally or alternatively include a slidable base allowing the device to better slide on a surface enabling the user to perform therapeutic exercises.

Various orthopaedic brace configurations and elements to be applied to the lower leg and foot are disclosed here, which include a rigid monocoque exoskeleton, foam padded interior, a plurality of retention devices, a plurality of stabilizers extendable through a spring loaded ratcheting mechanism, and a plurality of smaller stabilizer structures. This orthopaedic brace limits inversion, eversion and planterflexion of the ankle and limits flexion, extension, medial rotation and lateral rotation of the knee and hip joint.

The invention discloses a lasso drive based upper limb rehabilitation exoskeleton robot comprising a wrist outward swaying / inward retraction joint, a wrist forward flexion / backward extension joint, a wrist medial rotation / lateral rotation joint, an elbow forward flexion / backward extension joint, a shoulder forward flexion / backward extension joint, a shoulder forward flexion / backward extension joint, a shoulder medial rotation / lateral rotation joint and a lasso drive device. The shoulder, elbow and wrist medial rotation / lateral rotation joints are connected with motors fixed on a support through lassos, and driving moment is transmitted to all the joints through the lassos; the wrist outward swaying / inward retraction joint and the wrist forward flexion / backward extension joint are directly driven by motors; encoders are arranged in the motors and used for measuring internal posture of the exoskeleton; a six-dimensional force sensor is mounted to the wrist and used for measuring man-machine interaction force; balance springs are mounted to the shoulder and the elbow, and gravity balance of the whole mechanism can be realized. The problem of overlarge joint weight and inertia is solved, lightweight design is realized, power consumption is reduced effectively, system safety performance is improved, and multi-mode rehabilitation training can be realized.

A golf downswing guide which prevents medial rotation (rotation towards the center of the body) of the right arm for a right handed golfer during the backswing but more specifically during the downswing.The device consists of a lower and an upper elongated member joined together by an elbow joint which allows pivoting on a single plane. The device attaches to the right arm (for a right handed golfer)A counter acting elongated member is mounted on the upper elongated member. A holding device with an elongated opening is attached to the torso of the golfer. During the backswing but more specifically the downswing, the counter acting elongated member stays inside the elongated opening of the holding device and prevents the counter acting elongated member from moving out of the elongated opening and consequently prevents the tight arm from medially rotating during the downswing.

A support device provides elevation and support for a patient's foot, including ankle and heal, and limits lateral and medial rotation of the foot. This protects the knee from injury while healing. The device includes a generally flat main body, two spaced-apart lateral ridges, and a medial depression between the lateral ridges that provides a support surface on which the foot may be positioned. The lateral ridges can extend to a height above the support surface so that inner side surfaces of the lateral ridges are adjacent to a majority of a foot placed in the medial depression. The lateral ridges can terminate below a top of the foot to permit unrestricted ventilation and access to the foot. The lateral ridges can be spaced apart to facilitate placement of a foot onto and removal of the foot from the support surface without manual manipulation of the device.

The invention is a semi-rigid adjustable diving toot pocket with a damping system to allow simple attachment and detachment of a multitude of various flippers / blades. This foot pocket is adjustable to the foot and is semi-rigid to allow partial medial rotation, but very limited lateral rotation. The flippers secured to the foot-pocket by a system utilizing clamping pressure to hold the flipper in place. This system allows for the flipper to be attached and detached easily, with no damage occurring to either the invention or the flipper.

The invention relates to a serial-parallel artificial wrist joint with three degrees of freedom. The device is in a serial-parallel structure, has the three degrees of freedom and can be used for achieving movements of medial rotation, lateral rotation, flexion, extension and lateral deviation of an artificial wrist joint. The device comprises a base, a rotating platform, a first driving branch chain, a second driving branch chain, a constraint branch chain and a movable platform. The rotating platform is in key connection with a motor, so that the movements of medial rotation and lateral rotation of the artificial wrist joint can be achieved; through the extension and retraction of the first driving branch chain and the second driving branch chain, the movable platform is enabled to rotate around two axes of a Hooke pair in the constraint branch chain, and the movements of flexion and extension are achieved. The device has the advantages of being high in rigidity, strong in carrying capacity, high in accuracy, strong in bio-imitability and functionality, and on the like.

The invention provides a wearable 7-degree-of-freedom upper limb movement rehabilitation training exoskeleton which comprises a supporting rod and an exoskeleton training device which are fixed on a base, wherein the exoskeleton training device is formed by connecting a shoulder adduction / abduction joint, a shoulder flexion / extension joint, a shoulder medial rotation / lateral rotation joint, an elbow flexion / extension joint, an elbow medial rotation / lateral rotation joint, a wrist adduction / abduction joint and a wrist flexion / extension joint in series. The joints are directly driven by a motor, wherein the shoulder and elbow rotating joints are additionally provided with a spur-gear set, the structure is simple, and the response speed is high. Compared with the prior art, the exoskeleton provided by the invention has more degrees of freedom of movement and can adapt to standing and sitting training. The length of an exoskeleton rod can be adjusted according to the height of a patient, thereby ensuring the wearing comfort. A spacing structure is adopted by the joints, thereby improving the safety. Angle and moment sensors at the joint points can acquire kinematic and dynamic data ofeach joint in real time, thereby being convenient for physical therapists to subsequently analyze and establish a training scheme to achieve an optimal rehabilitation effect.

A support device provides elevation and support for a patient's foot, including ankle and heal, and limits lateral and medial rotation of the foot. This protects the knee from injury while healing. The device includes a generally flat main body, two spaced-apart lateral ridges, and a medial depression between the lateral ridges that provides a support surface on which the foot may be positioned. The lateral ridges can extend to a height above the support surface so that inner side surfaces of the lateral ridges are adjacent to a majority of a foot placed in the medial depression. The lateral ridges can terminate below a top of the foot to permit unrestricted ventilation and access to the foot. The lateral ridges can be spaced apart to facilitate placement of a foot onto and removal of the foot from the support surface without manual manipulation of the device.

The invention is a semi-rigid adjustable diving foot pocket with a clamping system to allow simple attachment and detachment of a multitude of various flippers / blades. This foot pocket is adjustable to the foot and is semi-rigid to allow partial medial rotation, but very limited lateral rotation. The flippers secured to the foot-pocket by a system utilizing clamping pressure to hold the flipper in place. This system allows for the flipper to be attached and detached easily, with no damage occurring to either the invention or the flipper.

A golf downswing guide which prevents medial rotation (rotation towards the centre of the body) of the right arm for a right handed golfer during the backswing but more specifically during the downswing.The device consists of a lower and an upper elongated member joined together by an elbow joint which allows pivoting on a single plane. The device attaches to the right arm (for a right handed golfer)A counter acting elongated member is mounted on the lower and upper elongated members by means of pivoting joints.A holding device consisting of a pivoting arm with an elongated opening at the non- pivoting end is attached to a ratchet device which is attached to a base section which in turn attaches to the waist area of the golfer.During the backswing but more specifically the downswing, the counter acting elongated member stays inside the elongated opening of the pivoting arm of the holding device and prevents the counter acting elongated member from moving out of the elongated opening and consequently prevents the right arm from medially rotating during the downswing. The ratchet device allows the pivoting arm to rotate only in one direction.

The invention relates to an exoskeleton sub-assembly (30) comprising: —a leg part (32) to be attached to a leg of a user, and —a foot part (33) to be attached to a shoe of the user; the leg part (32) comprises a tibial segment (321) extending below the knee, along the tibia of the user, when the leg part (32) is attached to the leg, and the tibial segment (321) comprises a first component (325), a second component (326) connected to the foot part (33), and a first joint (327) connecting the second component (326) to the first component (325), the first joint (327) permitting a rotation of the second component (326) with respect to the first component (325) caused by an internal or external rotation of the user's foot with respect to the leg.

The present disclosure relates to an assisted exoskeleton rehabilitation device, comprising: a back structure comprising a back crossbeam, a back supporting panel with an adjustable length, and a shoulder pneumatic muscle element mounted on the back supporting panel; an arm structure; a shoulder joint assembly, by which the arm structure is connected to an upper end of the back structure; and a waist structure. An upper end of the back supporting panel is fixedly connected to the back crossbeam, and a lower end thereof is fixedly connected to the waist structure. The shoulder joint assembly comprises a curved shoulder joint connecting panel, a shoulder traction wheel, a shoulder traction line, a first hinge mechanism and a second hinge mechanism. One end of the shoulder joint connecting panel is connected to the upper end of the arm structure by the first hinge mechanism to form a bend-stretch revolute pair of the shoulder joint, and the other end of the shoulder joint connecting panel is connected to the back crossbeam by the second hinge mechanism to form an abduction-adduction revolute pair and a medial rotation-lateral rotation revolute pair of the shoulder joint assembly, and the shoulder traction wheel is fixed to the upper end of the arm structure. The shoulder traction line is connected at one end to the shoulder traction wheel, and connected to the shoulder pneumatic muscle element at the other end.

The invention relates to the technical field of rehabilitation medical treatment, in particular to a two-degree-of-freedom wrist rehabilitation device which comprises a rack assembly, a palmar flexion / dorsal flexion mechanism and an internal rotation / external rotation mechanism, a first motor is used for driving an upper circular ring sliding block and a lower circular ring sliding block to rotate at the same time, so that an internal rotation / external rotation guide rail, a side circular ring sliding block on the internal rotation / external rotation guide rail and a grip rotate along with the internal rotation / external rotation guide rail; the upper circular ring sliding block and the lower circular ring sliding block form double-side driving on the internal rotation guide rail and the external rotation guide rail, so that the palmar flexion / dorsal flexion movement is more stable and smoother, and the clamping stagnation phenomenon is avoided; the second motor is used for driving the side circular ring sliding block to rotate, and the grip rotates along with the side circular ring sliding block, so that inward rotation / outward rotation of the wrist is realized; the guide rails and the sliding blocks are each of an annular structure, it can be guaranteed that the rotation center of the rehabilitation device coincides with the rotation center of wrist movement, the movement range is expanded, meanwhile, the overall structure is more reasonable and compact in spatial layout, the structural strength is high, and safety is high.

The invention discloses an ankle joint rehabilitation device, and the device comprises a base, a fixing assembly and a driving device; the fixing assembly comprises two wearing parts for two feet to wear, and the wearing parts are movably installed on the base and have the movement strokes of overturning forwards and backwards along the left-right axis, overturning leftwards and rightwards along the front-back axis and horizontally swinging along the up-down axis respectively; the driving device is used for driving the two wearing parts to turn over front and back along the left-right axis, turn over left and right along the front-back axis and horizontally swing along the up-down axis. According to the invention, under the driving of the driving device, when the wearing part turns back and forth along the left-right axis, the feet of a user can be driven to carry out dorsiflexion training and plantar flexion training; when the wearing part is overturned leftwards and rightwards alongthe front-back axis, the feet of the user can be driven to perform introversion training and extroversion training; and when the wearing part horizontally swings along the vertical axis, the feet of the user can be driven to perform internal rotation training and external rotation training, so that the training form of the ankle joint rehabilitation device is enriched.