| 摘要 |
The invention concerns a therapeutic device comprising a mechanical orthotic element (2, 3, 4) designed to constitute a contact surface with at least the patient's lower limbs and a neuromuscular stimulation element (33) including at least a pair of electrodes (37, 38) designed to act on the muscle or muscular group concerned of said patient's limb. The orthotic element comprises two orthoses including each three segments (2, 3, 4) designed to co-operate (11, 13; 12, 14; 15) with respectively the patient's thigh, leg and foot. The first segment is connected at one of its ends through a first motorised articulation (9) to an element (10) designed to co-operate with the patient's body at his hips and at its other end through a second motorised articulation (7) to one of the ends of the second segment. The other end of the second segment is linked through a third motorised articulation (8) to the third segment. Each of the articulations (6, 7, 8) is provided with an angular sensor and force and torque sensors, coupled to the control member (31) of the stimulation device so as to enable feedback control by closed loop adjustment of the stimulation device. |
