M311442 八、新型說明 【新型所屬之技術領域】 ^作係有關於-種踝關節復健裝置，特別是有關於 可自動引導患者進行復健的踝關節復健裝置。 【先前技術】 、、、jl 6¾床經驗得知，由中風志的 〇九 伃由T風心者的早側肢體偏癱所導致的 動作p早礙包括：被動關節活動範圍變小、患肢無力、高張性 =:協調性差、痙攣·及協同模式。這些障礙導致患者無法 獨兀成早一肌肉群收縮，因而影響曰常生活動作。 -般復健治療師會以徒手方式或利用輔助器具來引導 患者做出連續性的被動運動（CGntinucmsm。㈣， 而患者在做主動動作時，治療師會料患侧助力或阻力去訓 ，患者，以達到復健效果。然而，在單_療程中，復健治療 師需長時間且持續重複地來引導單一患者的動作，因而相當 耗費人力和時間，且患者復健程度係依據復健治療師的個人 主觀意見來評估，因而無法客觀評估患者復健程度。 另外$知的復健益材針對患者的下肢部位進行復健 時，基於復健過程令之穩定性的考量，通常係使座椅和復健 益材設計成-整體’因而增加復健器材的體積和重量，導致 復健器材*方便於移動，故患者僅能在特定場所進行復健， 增加患者的不便。 【新型内容】 5 M311442 因此，本創作之_ -hr ύτ , 罢.. 面係在於提供一種踝關節復健裝 地對患者進行復健引導動： 因而可長時間持續 丁復健引導動作，避免人力和時間的耗費。 储护t創：之X t面係在於提供一種可攜式的踝關節復 、，糟以方便患者於任何場所進行復健，且可對應患 者的體型和復健姿勢來㈣，因而增加使轉度和方便性。 —、本創作之又—方面係、在於提供—種踩關節復健裝置， 藉乂在復健過私中隨時記錄足部相對於踩關節復健裝置 的=值’以作為患者復健情況的評估，建立客觀的評 心h並可在復健過程中根據患者的復健情形，來對 應修正復健引導動作。 本創作之又再一方面係在於提供一種踝關節復健裝置 $其應用m藉以進行被動式地流n主動式地復健 流程，來增加足部的被動關節範圍（R〇M)和主要肌群肌力 (Strength)，因而改善患者的動作障礙。 根據本創作之一實施例，本創作之踩關節復健裝置至 少包含有基座、轉動板、致動器、控制單元及扭力感測器。 基座没有支撐架、第一支撐件及第二支撐件，第一支撐件係 用以支撐並固定患者之大腿部位，第二支撐件係用以支撐並 固定患者之小腿部位，其中支撐架、第一支撐件及第二支撐 件之配置係可對應於患者的體型而調整。轉動板係樞接於基 座之支撐架’轉動板設有一夾具，用以固持患者之足部。致 動器固接於基座之支撐架，其中致動器設有傳動轴，用以轉 動轉動板。控制單元電性連接致動器，以控制致動器對於轉 M311442 ， 動板之轉動。扭力感測器設置於轉動板和致動器之間，並電 性連接至控制單元，用以感測傳動軸所承受之一扭力值，並 傳送扭力值至控制單元。 因此’本創作之踝關節復健裝置可模擬復健治療師的 復健治療手法，來長時間重複地引導患者做出復健動作，以 • 節省人力和時間，並可在復健過程中不斷地記錄足部相對於 . 致動器的扭力值，以作為復健評估的依據，建立起客觀的量 化指標，因而可增益臨床復健評估。另外，本創作之踩關節 • 復健裝置可進行被動式地流程或主動式地復健流程，並 可根據患者的復健情形來對應設定復健流程，因而可增進 復健效果。再者，本創作之踝關節復健裝置方便於任何場 所進行復健’並可對應患者的體型和復健姿勢來調整。 【實施方式】 明參妝第1圖，其緣示依照本創作一實施例之踝關節 復健裝置的側面示意圖。本實施例之踝關節復健裝置包括 • 有基座100、轉動板200、致動器300、扭力感測器4〇〇及 控制單元500。轉動板200係可相對於基座1〇〇轉動，用以 ^套置固定患者（例如中風患者，其具有部分動作障礙）的足部 、a，藉以對患者的踝關節進行復健行為。患者的足部a可主 動地或被動地藉由轉動板200内往復轉動，以達到復健效 果。致動器300係用以提供患者在復健時的助力或阻力，^ 模擬復健治療師的人力引導復健方法。當患者的足部&在進 行轉動復健時，扭力感測器400可感測足部a相對於致動器 7 M311442 300的一扭力值，並藉由此扭力值來客觀地評估患者的復健 程度。控制單元500可預先控制致動器300對於患者的復健 引導動作，並根據扭力感測器400所感測之扭力值來評估患 者的復健程度，而對應修正致動器300的復健引導。另外， 本創作之踩關節復健裝置為可攜式的復健裝置，因而患 者可方便於任何場所進行復健。 ”月參照第2圖和第3圖，第2圖係繪示依照本創作一實 施例之踝關節復健裝置的立體示意圖，第3圖係繪示依照 本創作一實施例之踝關節復健裝置之基座的立體示意圖。 本實施例之踝關節復健裝置的基座i 〇〇例如係矩形基座， 並叮配5 座椅（未標示）來進行復健。基座100設有支撐架 110第支撐件120、第二支撐件130、複數個腳柱14〇 及複數個組合孔150。支撐架11〇係橫向設置於基座1〇〇, 並可對應於患者的足部a來調整位置，用以供轉動板2〇〇、 致動器300來進行組設。第一支撐件12〇、第二支撐件13〇 係汉置基座100上，並可對應於患者的復健姿勢來調整設置 位置，第一支撐件120係用以支撐並固定患者之大腿部位， 第二支撐件130係用以支撐並固定該患者之小腿部位，因 此，第一支撐件120、第二支撐件13〇可在復健時穩固地支 =和=定患者的下肢部位，以避免造成患者的不適，並增加 復健L疋丨生。且由於第一支撐件i 、第二支撐件丄W可對 應於患者的體型和復健姿勢來調整，因而增加使用裕度和方 便=。此些腳柱14〇係設置於基座ι〇〇之底部，以支撐整體 重里且可對應患者的體型來調整基座丨〇〇的高度。此些組 M311442 合孔係開設於基座⑽±，例如係螺紋孔或長槽孔設 計，用以供支撐架110 '第一支撐件12〇、第二支撐件13〇 來進行組設，因而支撐架110、第—支撐件120、第二支撐 件130可藉由組合孔150來對應患者的體型和復健姿勢，而 調整位置。 * 請參照第2圖和第4圖，第4圖係繪示依照本創作一實 ，施例之踝關節復健裝置的部分***示意圖。本實施例之踝 關節復健裝置的轉動板200係枢設於基座1〇〇的支撐架 # 11〇，並可對應於患者的體型和復健姿勢來調整位置。轉動 板200設有夹具210和抵撐部22〇，夾具21〇例如係固定皮 帶，用以固定患者的足部a，抵撐部22〇係對應於足部a的 尺寸設置，以進一步抵撐固定足部a。當進行復健時，足部 a係先固定於轉動板2〇〇，再由致動器3〇〇來轉動轉動板 200，而進行復健引導。 如第2圖和第4圖所示，本實施例之踝關節復健裝置 的致動器300係固接於基座1〇〇的支撐架11〇，並電性連接 •於控制單元5〇0,藉由控制單元500來控制致動器300的致 動動作。致動器300設有馬達3 1〇、轉動軸32〇及重置計數 .器33〇，轉動軸320之一端係連接至馬達31〇，轉動軸32() 、之另一端係連接至轉動板200,因而當致動器300之馬達31() 運轉時，轉動軸320即可轉動轉動板2〇〇。重置計數器33〇 固接於基座1〇〇的支撐架11〇，重置計數器33〇設有弧形滑 軌3 3 1和光遮断态3 3 2，光遮斷器3 3 2係固設於弧形滑軌3 3 j 之一端，藉以使光遮斷器可對應於該病患或受測者足部的自 9 M311442 ， 然位置（natural position)而調整其固定位置，並感測轉動板 200在轉動後是否重置回原點，以記錄轉動板2〇〇的轉動次 數’來做為復健情形的評估依據。 如第4圖所示，本實施例之踝關節復健裝置的扭力感 測器400係設置於轉動板200和致動器3〇〇之間，且電性連 ^ 接於控制單元50〇，用以感測轉動軸320所承受的扭力值， • 並傳送此扭力值訊號至控制單元500。扭力感測器4〇〇設有 複數個滑環410、隔絕件420及感測電路（未繪示）。隔絕件 • 420例如係以工程塑膠製成，設置於馬達31〇和扭力感測器 400之間，以隔絕馬達3丨〇和扭力感測器4〇〇之間的訊號干 擾。 在另一實施例中，扭力感測器400之感測電路係形成於 轉動軸320上，例如係在轉動軸32〇上設有複數個應變規（未 、、、曰示），並使此些應變規形成一全橋電路（未繪示），以感測 轉動軸320在承受扭力時的應變量，並將應變量以電壓訊號 輸出’因而量得此扭力值。 _ 如第1圖所示，本實施例之踝關節復健裝置的控制單 π 5 00例如係可程式控制晶片或電腦，控制單元可預先 ’控制致動器300來轉動轉動板200，以引導患者做出復健動 、 作。或者，並在復健過程中根據扭力感測器400所感測之扭 力值來評估患者的復健程度，而對應修正致動器300的復健 引導。控制單元500設有一顯示器51〇，用以顯示一復健軌 跡2 b，患者可根據此復健執跡點b來主動地做出復健動 作，因而可模擬復健治療師的治療手法。 10 M311442 請參照第5圖，其繪示依照本創作一實施例之踝關節 復健裝置的復健流程圖。本創作之踝關節復健裝置係可攜 式的，而方便於任何場所進行復健，並可進行被動式地 流程或主動式地復健流程，當進行被動式地復健流程 時，患者的足部a係固定於轉動板2〇〇，並調整支撐件 來支撐患者的身體，而呈現放鬆狀態，而由致動器3〇〇來緩 慢地轉動轉動板200,以引導患者做出復健動作。首先，評 估患者的足部a之狀況，例如係評估足部a之最大關節活動 範圍（Full Range)和肌肉張力（Muscle T〇ne)，以判斷患者是 否適合進行復健和可進行的復健程度，並決定轉動板2〇〇 可轉動的最大角度，例如係最大可容許的背屈（D〇rsiflexi〇n) 和疏屈（Plantarflexion)角度。接著，利用致動器3〇〇來緩慢 地轉動轉動板200，其可漸進地增加一特定角度，直到轉動 板200轉動至最大角度，轉動板2〇〇即持續維持$秒，接著， 再使足部a回復初始姿勢，然後再重複進行上述被動式地 復健流程。在被動式地復健流程中，扭力感測器4〇〇會不 斷地感測記錄扭力值，以評估患者之踝關節的被動剛性和 肌肉張力，且此扭力值亦可用於判斷復健裝置是否出力過 大，以避免傷害患者。因此，本創作之踝關節復健裝置可 模擬復健冶療師的復健治療手法，而增加患者之踝關節的 被動關節範圍（ROM)，並降低被動剛性與張力。 如第1圖所示，當進行主動式地復健流程時，控制單 兀5 00之顯不器5 1 〇可顯示復健軌跡點b，患者可追蹤此復 健執跡點b來主動地轉動轉動板2〇〇，在主動式地復健流 11 M311442 程中，致動器300會施予患者的足部a轉動助力或阻力（即 致動益300之轉動方向相同或相反於足部a的轉動方向）， 以辅助患者轉動或增加轉動的困難度，因而可增加患者之 踝關節的主要肌群肌力（Strength)，改善患者之動作障礙。 由上述本創作之實施例可知，本創作之踝關節復健裝置 可模擬復健治療師的復健治療手法，而長時間重複地引導* 者做出復健動作，以節省人力和時間，並可在復健過程中= 斷地記錄；1部相對於致動器的扭力值，以作為復健評估的依 據’建立起客觀的量化指#，因@可增益臨床復健評估。另 外，本創作之踩關節復健裝置可進行被㈣地流程或主動 式地復健流程’並可根據患者的復健情形來對應設定復健 流程，因而可大幅地增進復健效果。再者，本創作之踝關節 鍾裝置方便靠何場料行復健，並可對應患者的體型 和復健安勢來調整’ @而增加使用裕度和方便性。 雖然本創作已以一較祛音綠办丨植七， 罕乂仫具轭例揭露如上，然其並非用以 限定本創作，任何熟習此技蓺者， 衣者在不脫離本創作之精神和 範圍内，^可作各種之更動盥 告視後附之π*丨- 飾 本創作之保護範圍 田視後附之申明專利鸵圍所界定者為準。 【圖式簡單說明】 弟1圖係緣示根據本創作 的側面示意圖。 第2圖係繪示根據本創作 的立體示意圖。 一實施例之踝關節復健裝置 一實施例之踩關節復健裝置 12 M311442 之基座的立體康本創作-實施例之踝關節復健裝置 第4圖係繪示根攄太& 的部分***示意圖。 彳作一實施例之踝關節復健裝置 第5圖係繪示根據 的復健流程圖。 I匐作一實施例之踩關節復健裝置 主要元件符號說明】 a :足部 1 〇 〇 ·基座 120 :第一支撐件 140 :腳柱 200 :轉動板 2 2 0 :抵撐部 300 :致動器 3 2 0 _轉動轴 331 :弧形滑軌 400 :扭力感测器 5 00 :控制單元 b :復健執跡點 110 :支撐架 13 0 :第一支撐件 1 5 0 :組合孔 210 :夾具 3 10 :馬達 330 :重置計數器 3 3 2 :光遮斷器 410 ·隔絕件 5 10 :顯示器 13M311442 VIII. New description [New technical field] The system has an ankle joint rehabilitation device, especially an ankle rehabilitation device that can automatically guide patients for rehabilitation. [Prior technology], ,, jl 63⁄4 bed experience, the action caused by the early limb limb hemiplegia of T. , high tension =: poor coordination, 痉挛 · and synergy mode. These obstacles lead to the inability of the patient to contract as early as the muscle group, thus affecting the normal life movements. The general rehabilitation therapist will guide the patient to make continuous passive movements (CGntinucmsm.) (4), while the patient is active, the therapist will expect side help or resistance to train, the patient In order to achieve a rehabilitation effect, however, in a single treatment, the rehabilitation therapist needs to guide the movement of a single patient for a long time and repeatedly, which is quite labor-intensive and time-consuming, and the degree of patient rehabilitation is based on rehabilitation therapy. The teacher's personal subjective opinion is evaluated, so it is impossible to objectively assess the patient's degree of rehabilitation. In addition, if the known rehabilitation material is used to rehabilitate the patient's lower limbs, the stability consideration based on the rehabilitation process is usually a seat. The chair and rehabilitation benefits are designed to be 'integral' thus increasing the size and weight of the rehabilitation equipment, resulting in the rehabilitation equipment* being convenient for movement, so the patient can only rehabilitate in a specific place, increasing the inconvenience of the patient. [New content] 5 M311442 Therefore, the _-hr ύτ of this creation, the sequel is to provide an ankle rehabilitation site to reinvigorate the patient: thus it can be long Continued Ding Fujian to guide the action, avoiding the labor and time. The protection of the X-face is to provide a portable ankle joint, which is convenient for patients to rehabilitate in any place, and can correspond to patients. The body shape and the rehabilitation posture come to (4), thus increasing the degree of rotation and convenience. - The second aspect of the creation is to provide a type of joint rehabilitation device, and record the relative position of the foot at any time during rehabilitation. The value of the stepping joint rehabilitation device is used as an evaluation of the patient's rehabilitation condition, and an objective evaluation is established, and the rehabilitation guidance action can be corrected according to the patient's rehabilitation situation during the rehabilitation process. Yet another aspect is to provide an ankle rehabilitation device that uses a passive flow n to actively rehabilitate the process to increase the passive joint range (R〇M) of the foot and the main muscle strength ( Strength, thus improving the patient's movement disorder. According to one embodiment of the present invention, the pedal joint rehabilitation device of the present invention comprises at least a base, a rotating plate, an actuator, a control unit and a torque sensor. There is no support frame, a first support member for supporting and fixing the thigh portion of the patient, and a second support member for supporting and fixing the calf portion of the patient, wherein the support frame is first The arrangement of the support member and the second support member can be adjusted according to the body shape of the patient. The rotating plate is pivotally connected to the support frame of the base. The rotating plate is provided with a clamp for holding the foot of the patient. The support frame of the base, wherein the actuator is provided with a transmission shaft for rotating the rotating plate. The control unit is electrically connected to the actuator to control the rotation of the actuator for the rotation M311442, the rotating plate. The torque sensor setting Between the rotating plate and the actuator, and electrically connected to the control unit for sensing one of the torque values received by the transmission shaft and transmitting the torque value to the control unit. Therefore, the ankle rehabilitation device of the present invention can be Simulating the rehabilitation therapist's rehabilitation treatment to repeatedly guide the patient to make rehabilitation exercises for a long time, to save manpower and time, and to continuously record the foot relative to the actuator during the rehabilitation process. Twist The force value is used as a basis for rehabilitation assessment to establish an objective quantitative indicator, thus enhancing the clinical rehabilitation assessment. In addition, the articulation of the creation • The rehabilitation device can perform a passive process or an active rehabilitation process, and can set the rehabilitation process according to the patient's rehabilitation situation, thereby enhancing the rehabilitation effect. Furthermore, the ankle rehabilitation device of the present invention is convenient for rehabilitation in any field and can be adjusted according to the size and rehabilitation posture of the patient. [Embodiment] Fig. 1 is a side view showing an ankle joint rehabilitation device according to an embodiment of the present invention. The ankle rehabilitation device of the present embodiment includes a base 100, a rotating plate 200, an actuator 300, a torque sensor 4, and a control unit 500. The rotating plate 200 is rotatable relative to the base 1 to secure a foot, a, of the patient (e.g., a stroke patient having a partial dysfunction), thereby performing a rehabilitation action on the ankle of the patient. The patient's foot a can be reciprocally rotated by rotating the plate 200 either actively or passively to achieve a healing effect. The actuator 300 is used to provide assistance or resistance to the patient during rehabilitation, and simulates the rehabilitation therapy of the rehabilitation therapist. When the patient's foot & is performing rotational rehabilitation, the torque sensor 400 can sense a torque value of the foot a relative to the actuator 7 M311442 300, and thereby objectively evaluate the patient's The degree of rehabilitation. The control unit 500 may previously control the rehabilitation guiding action of the actuator 300 for the patient, and evaluate the degree of rehabilitation of the patient based on the torque value sensed by the torque sensor 400, and correspondingly to the rehabilitation guidance of the correction actuator 300. In addition, the pedal rest rehabilitation device of the present invention is a portable rehabilitation device, so that the patient can easily recover in any place. Referring to FIG. 2 and FIG. 3, FIG. 2 is a perspective view showing an ankle joint rehabilitation device according to an embodiment of the present invention, and FIG. 3 is a view showing an ankle joint rehabilitation according to an embodiment of the present invention. A perspective view of the base of the device. The base i of the ankle rehabilitation device of the present embodiment is, for example, a rectangular base, and is equipped with 5 seats (not shown) for rehabilitation. The base 100 is provided with support. The support member 120, the second support member 130, the plurality of legs 14A and the plurality of combination holes 150. The support frame 11 is laterally disposed on the base 1 并可 and corresponds to the foot a of the patient. The position is adjusted for the rotation plate 2〇〇 and the actuator 300. The first support member 12〇 and the second support member 13 are disposed on the base 100 and can correspond to the rehabilitation of the patient. Positioning to adjust the setting position, the first support member 120 is for supporting and fixing the thigh portion of the patient, and the second support member 130 is for supporting and fixing the lower leg portion of the patient, and therefore, the first support member 120 and the second support member Piece 13〇 can be firmly supported during rehabilitation; = and = the patient's lower limbs, to avoid The patient's discomfort is not caused, and the rehabilitation L is increased. And since the first support member i and the second support member 丄W can be adjusted corresponding to the patient's body shape and rehabilitation posture, the use margin and convenience are increased. The footrests 14 are disposed at the bottom of the base 〇〇 to support the overall weight and adjust the height of the base 对应 according to the body shape of the patient. The group M311442 is installed on the base (10) ±, for example, a threaded hole or a long slot design for the support frame 110 'the first support member 12 〇 and the second support member 13 〇 to be assembled, thus the support frame 110, the first support member 120, the second The support member 130 can adjust the position by combining the hole 150 to correspond to the body shape and the rehabilitation posture of the patient. * Please refer to Fig. 2 and Fig. 4, and Fig. 4 is a diagram showing the practice according to the present invention. A schematic diagram of a partial explosion of the joint rehabilitation device. The rotating plate 200 of the ankle joint rehabilitation device of the present embodiment is pivotally mounted on the support frame 11 of the base 1 and can correspond to the patient's body shape and rehabilitation posture. Adjusting the position. The rotating plate 200 is provided with a clamp 210 and abutting portion 22〇, a clamp 21〇 is, for example, a fixed belt for fixing the foot a of the patient, and the abutting portion 22 corresponds to the size of the foot a to further support the fixed foot a. When the rehabilitation is performed, the foot a is Firstly fixed to the rotating plate 2〇〇, and then rotated by the actuator 3〇〇 to perform the rehabilitation guidance. As shown in FIGS. 2 and 4, the ankle joint rehabilitation device of the present embodiment The actuator 300 is fixed to the support frame 11A of the base 1 and electrically connected to the control unit 5〇0, and the control unit 500 controls the actuation action of the actuator 300. 300 is provided with a motor 3 1 , a rotating shaft 32 〇 and a reset counter 33 〇 , one end of the rotating shaft 320 is connected to the motor 31 〇, and the other end of the rotating shaft 32 ( ) is connected to the rotating plate 200 , thus When the motor 31 () of the actuator 300 is operated, the rotating shaft 320 can rotate the rotating plate 2''. The reset counter 33 is fixedly connected to the support frame 11 of the base 1 , and the reset counter 33 is provided with a curved slide 3 3 1 and a light blocking state 3 3 2 , and the light interrupter 3 3 2 is fixed. At one end of the curved slide 3 3 j , the photointerrupter can adjust the fixed position of the patient or the subject's foot from 9 M311442, and adjust the position and sense the rotation. Whether the plate 200 is reset back to the origin after the rotation to record the number of rotations of the rotating plate 2' is used as a basis for evaluation of the rehabilitation situation. As shown in FIG. 4, the torsion sensor 400 of the ankle joint rehabilitation device of the present embodiment is disposed between the rotating plate 200 and the actuator 3A, and is electrically connected to the control unit 50A. The torque value received by the rotating shaft 320 is sensed, and the torque value signal is transmitted to the control unit 500. The torsion sensor 4 is provided with a plurality of slip rings 410, an insulating member 420, and a sensing circuit (not shown). Insulations • The 420 is, for example, made of engineering plastic and is disposed between the motor 31〇 and the torsion sensor 400 to isolate signal interference between the motor 3丨〇 and the torsion sensor 4〇〇. In another embodiment, the sensing circuit of the torsion sensor 400 is formed on the rotating shaft 320. For example, a plurality of strain gauges (not, ,, and display) are disposed on the rotating shaft 32A. The strain gauges form a full bridge circuit (not shown) to sense the amount of strain of the rotating shaft 320 when subjected to the torque, and output the strain to the voltage signal 'and thus the torque value. As shown in FIG. 1, the control unit π 5 00 of the ankle rehabilitation device of the present embodiment is, for example, a programmable wafer or a computer, and the control unit can pre-control the actuator 300 to rotate the rotating plate 200 to guide The patient makes a rehabilitation exercise. Alternatively, and during the rehabilitation process, the degree of rejuvenation of the patient is evaluated based on the torque value sensed by the torque sensor 400, and the rehabilitation guidance of the correction actuator 300 is corresponding. The control unit 500 is provided with a display 51A for displaying a rehabilitation track 2b, and the patient can actively make a rehabilitation operation based on the rehabilitation point b, thereby simulating the treatment of the rehabilitation therapist. 10 M311442 Please refer to FIG. 5, which is a flowchart of rehabilitation of the ankle joint rehabilitation device according to an embodiment of the present invention. The ankle rehabilitation device of the present invention is portable, and is convenient for rehabilitation in any place, and can perform a passive process or an active rehabilitation process. When performing a passive rehabilitation process, the patient's foot The a is fixed to the rotating plate 2〇〇, and the support is adjusted to support the patient's body to assume a relaxed state, and the rotating plate 200 is slowly rotated by the actuator 3 to guide the patient to make a rehabilitation action. First, assess the condition of the patient's foot a, for example, to assess the maximum range of motion of the foot a (Full Range) and muscle tension (Muscle T〇ne) to determine whether the patient is suitable for rehabilitation and rehabilitation. Degree, and determines the maximum angle at which the rotating plate 2 can be rotated, for example, the maximum allowable dorsiflexion (D〇rsiflexi〇n) and the Planarflexion angle. Next, the rotating plate 200 is slowly rotated by the actuator 3, which can be incrementally increased by a certain angle until the rotating plate 200 is rotated to the maximum angle, and the rotating plate 2 is continuously maintained for $ seconds, and then, The foot a returns to the initial posture, and then repeats the above passive rehabilitation process. In the passive rehabilitation process, the torque sensor 4 continually senses the recorded torque value to evaluate the passive stiffness and muscle tension of the patient's ankle joint, and the torque value can also be used to determine whether the rehabilitation device is output. Too large to avoid hurting patients. Therefore, the ankle rehabilitation device of this creation simulates the rehabilitation therapy of the rehabilitation therapist, increases the passive joint range (ROM) of the ankle of the patient, and reduces passive rigidity and tension. As shown in Fig. 1, when the active rehabilitation process is performed, the control unit 5 1 显 display 5 1 〇 can display the rehabilitation track point b, and the patient can track the rehabilitation track point b to actively Rotating the rotating plate 2〇〇, in the active regenerative flow 11 M311442, the actuator 300 will apply the patient's foot a rotation assist or resistance (ie, the direction of rotation of the actuation benefit 300 is the same or opposite to the foot The direction of rotation of a) assists the patient in turning or increasing the difficulty of rotation, thereby increasing the muscle strength of the main muscles of the patient's ankle joint and improving the movement disorder of the patient. It can be seen from the above embodiments of the present invention that the ankle rehabilitation device of the present invention can simulate the rehabilitation therapy of the rehabilitation therapist, and repeatedly guides the person to make a rehabilitation action for a long time, thereby saving manpower and time, and Can be recorded during the rehabilitation process; 1 part of the torque value relative to the actuator, as a basis for rehabilitation assessment to establish an objective quantitative index #, because @ can gain clinical rehabilitation assessment. In addition, the artificial joint rehabilitation device of the present invention can perform the rehabilitation process by the (four) process or the active rehabilitation process, and can correspondingly set the rehabilitation process according to the patient's rehabilitation situation, thereby greatly improving the rehabilitation effect. Moreover, the ankle joint device of the present invention is convenient for relying on the rehabilitation of the field, and can be adjusted according to the patient's body shape and rehabilitation health to increase the use margin and convenience. Although this creation has been carried out in a relatively vocal green, the yoke has been exposed as above, but it is not intended to limit the creation. Anyone who is familiar with this technique can not be separated from the spirit of this creation. Within the scope, ^ can be used as a variety of 盥 后 后 饰 饰 饰 饰 饰 饰 饰 饰 饰 饰 饰 饰 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 [Simple description of the drawing] The picture of the brother 1 is based on the side view of the creation. Fig. 2 is a perspective view showing the creation according to the present invention. An ankle joint rehabilitation device according to an embodiment of the present invention, a stereoscopic Kangben creation of the base of the joint restoring device 12 M311442 - an ankle joint rehabilitation device of the embodiment is shown in Fig. 4 Schematic diagram of the explosion. An ankle rehabilitation device of an embodiment is shown in Fig. 5 for a rehabilitation flowchart according to the following. I 匐 一 一 踩 踩 踩 踩 踩 踩 踩 踩 踩 踩 踩 踩 踩 踩 踩 踩 踩 基座 基座 基座 基座 基座 基座 基座 基座 基座 基座 基座 基座 基座 基座 基座 基座 基座 基座 基座 基座 基座 基座 基座 基座 基座 基座 基座Actuator 3 2 0 _Rotary shaft 331 : Curved slide rail 400 : Torque sensor 5 00 : Control unit b : Rehabilitation trace point 110 : Support frame 13 0 : First support member 1 5 0 : Combination hole 210: clamp 3 10 : motor 330 : reset counter 3 3 2 : photointerrupter 410 · insulation 5 10 : display 13