Apparatus for multi-joint lower limb exercise

Abstract

An apparatus for multi-joint lower limb exercise disclosed, which comprises: a first supporting part; a second supporting part, rotatably connected to the first supporting part; a driving device, connected to the second supporting part, for providing a driving force to push the second supporting part to rotate about the first supporting part while simultaneously providing a resistance exerting on the second supporting part for damping the rotation of the same. As a user is fitted with the aforesaid apparatus to perform a lower limb exercise, such as exercising its knee joint or ankle joint, a comparatively better exercise effect can be achieved as the driving force of the driving device is able to reinforce the lower limb exercise performed by the user no matter it is actively performed by the user or is passively driven by the driving device.

1 . An apparatus for multi-joint lower limb exercise, adapted for supporting 
 a lower limb of a user, comprising: 
 a first supporting part;  
 a second supporting part, rotatably connected to the first supporting part; and  
 a driving device, connected to the second supporting part, for providing a driving force to push the second supporting part to rotate about the first supporting part.  
   
   
   
       2 . The apparatus of  claim 1 , wherein the first supporting part, further comprising: 
 a rotatable frame; and    a supporting frame with adjustable length, having an end thereof connected to the rotatable frame.    
   
   
       3 . The apparatus of  claim 1 , wherein the second supporting part includes a rotatable plate.  
   
   
       4 . The apparatus of  claim 1 , wherein the driving device, further comprising: 
 at least a rotor wheel;    a motor, for proving the driving force; and    a steering booster, connected to the motor and each rotor wheel for controlling the rotation direction of each rotor wheel.    
   
   
       5 . The apparatus of  claim 4 , wherein the motor is a constant-speed motor.  
   
   
       6 . The apparatus of  claim 4 , wherein the motor is a variable-speed motor.  
   
   
       7 . The apparatus of  claim 1 , further comprising a third supporting part, rotatably connected to the second supporting part.  
   
   
       8 . The apparatus of  claim 7 , wherein the third supporting part, further comprising: 
 a rotatable frame; and    a supporting frame with adjustable length, having an end thereof connected to the rotatable frame.    
   
   
       9 . An apparatus for multi-joint lower limb exercise, adapted for supporting a lower limb of a user, comprising: 
 a first supporting part;    a second supporting part, rotatably connected to the first supporting part; and    a driving device, connected to the second supporting part, for proving a resistance exerting on the second supporting part for damping the rotation of the same.    
   
   
       10 . The apparatus of  claim 9 , wherein the first supporting part, further comprising: 
 a rotatable frame; and    a supporting frame with adjustable length, having an end thereof connected to the rotatable frame.    
   
   
       11 . The apparatus of  claim 9 , wherein the second supporting part includes a rotatable plate.  
   
   
       12 . The apparatus of  claim 9 , wherein the driving device, further comprising: 
 at least a rotor wheel;    a motor, for providing the resistance;    a steering booster, connected to the motor and each rotor wheel for controlling the rotation direction of each rotor wheel; and    at least a force detector, each being arranged on a corresponding rotor wheel, for detecting and measuring the magnitude of a pushing force exerting on the second supporting part by the lower limb.    
   
   
       13 . The apparatus of  claim 12 , wherein the motor is used to provide an adjustable torque resistance.;  
   
   
       14 . The apparatus of  claim 9 , further comprising a third supporting part, rotatably connected to the second supporting part.  
   
   
       15 . The apparatus of  claim 14 , wherein the third supporting part further comprises: 
 a rotatable frame; and    a supporting frame with adjustable length, having an end thereof connected to the rotatable frame.    
   
   
       16 . The apparatus of  claim 12 , wherein each force detector, further comprising: 
 a rotation shaft, connected to the rotor wheel by a bearing;    an elastic member, arranged to ensheathe the rotation shaft;    a rotation angle sensor, enabled to detect and measure a relative displacement angle between the rotor wheel and the rotation shaft;    a coupling, connected to the rotation shaft and the rotation angle sensor; and    a shaft sleeve, arranged to ensheathe the rotation shaft, the elastic member, and the coupling.    
   
   
       17 . An apparatus for multi-joint lower limb exercise, adapted for supporting 
 a lower limb of a user, comprising: 
 a first supporting part;  
 a second supporting part, rotatably connected to the first supporting part; and  
 a driving device, connected to the second supporting part, for proving a resistance exerting on the second supporting part for damping the rotation of the same, the driving device further comprising: 
 at least a rotor wheel;  
 a motor, for providing the resistance;  
 a steering booster, connected to the motor and each rotor wheel for controlling the rotation direction of each rotor wheel; and  
 at least a force detector, each being arranged on a corresponding rotor wheel, for detecting and measuring the magnitude of a pushing force exerting on the second supporting part by the lower limb.  
 
   
   
   
       18 . The apparatus of  claim 17 , wherein the first supporting part, further comprising: 
 a rotatable frame; and    a supporting frame with adjustable length, having an end thereof connected to the rotatable frame.    
   
   
       19 . The apparatus of  claim 17 , wherein the second supporting part includes a rotatable plate.  
   
   
       20 . The apparatus of  claim 17 , wherein the motor is used to provide an adjustable torque resistance.  
   
   
       21 . The apparatus of  claim 17 , further comprising a third supporting part, rotatably connected to the second supporting part.  
   
   
       22 . The apparatus of  claim 21 , wherein the third supporting part, further comprising: 
 a rotatable frame; and    a supporting frame with adjustable length, having an end thereof connected to the rotatable frame.    
   
   
       23 . The apparatus of  claim 17 , wherein each force detector, further comprising: 
 a rotation shaft, connected to the rotor wheel by a bearing;    an elastic member, arranged to ensheathe the rotation shaft;    a rotation angle sensor, enabled to detect and measure a relative displacement angle between the rotor wheel and the rotation shaft;    a coupling, connected to the rotation shaft and the rotation angle sensor; and    a shaft sleeve, arranged to ensheathe the rotation shaft, the elastic member, and the coupling.