Walking rehabilitation device and control method

Abstract

The invention belongs to the technical field of rehabilitation equipment, and particularly relates to a walking rehabilitation device and a control method. The walking rehabilitation device comprises a walking frame and at least four walking wheels installed on the lower portion of the walking frame. Two rehabilitation legs; each rehabilitation leg comprises a walking motor installed on the rear side of the walking frame, an adjustable shank mechanism arranged in a transmission mode through a walking swing arm assembly and an output shaft of the walking motor, a pedal assembly installed at the tail end of the adjustable shank mechanism and a side face connecting plate installed on one side of the walking frame. The thigh mechanism is rotationally installed between the side face connecting plate and the adjustable shank mechanism, and the thigh and shank cooperation connecting rod is installed between the side face connecting plate and the adjustable shank mechanism. The walking swing arm assembly, the side face connecting plate and the thigh and shank cooperative connecting rod are arranged to be combined with the thigh mechanism and the adjustable shank mechanism, the walking action of the rehabilitation leg in the walking space can be achieved through one walking motor, the driving error is small, control is easy, and bending and moving actions of the rehabilitation leg can be accurately conducted.

Description

Technical Field

[0001] This invention belongs to the field of rehabilitation equipment technology, specifically relating to a walking rehabilitation device and its control method. Background Technology

[0002] For elderly people or patients with mobility issues, due to insufficient leg strength, external braces are needed to support their legs so that they can walk and achieve the purpose of exercise.

[0003] Existing walking rehabilitation devices mostly use restraint straps to support the patient's lower back, which in turn enables leg movement. However, in practice, excessive restraint can cause significant discomfort, while insufficient restraint makes walking impossible. Furthermore, the rehabilitation legs in existing devices utilize multiple power sources for movement, resulting in complex and rigid designs that can easily cause secondary injuries. The numerous power sources also lead to significant cumulative errors, hindering precise rehabilitation and posing substantial safety risks. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of existing technologies, such as discomfort caused to patients by lumbar support, large cumulative errors due to multiple drive sources involved in rehabilitation leg walking, and complex structure, and to provide a walking rehabilitation device and control method that can achieve flexible and precise walking movements with a single power source.

[0005] The technical solution adopted by this invention to solve its technical problem is:

[0006] As a first aspect, a walking rehabilitation device includes:

[0007] A traveling frame and at least four traveling wheels mounted on the underside of the traveling frame;

[0008] Two rehabilitation legs symmetrically installed inside the walking frame;

[0009] The rehabilitation leg includes a walking motor installed on the rear side of the walking frame, an adjustable calf mechanism that is driven by the walking swing arm assembly and the output shaft of the walking motor, a foot pedal assembly installed at the end of the adjustable calf mechanism, a side connecting plate installed on one side of the walking frame, a thigh mechanism that is rotatably installed between the side connecting plate and the adjustable calf mechanism, and a thigh-calf coordination link installed between the side connecting plate and the adjustable calf mechanism.

[0010] The front end of the walking frame is provided with a front walking cavity, and the rear end of the walking frame is provided with a rear walking cavity. The front walking cavity and the rear walking cavity form the walking space for the rehabilitation leg to walk.

[0011] The angle β between the rotation axis of the thigh mechanism and the swing axis of the walking swing arm assembly is in the range of [30°, 75°].

[0012] Further, the walking swing arm assembly comprises:

[0013] a first swing arm and a second swing arm connected in sequence;

[0014] One end of the first swing arm is coaxially arranged with the output shaft of the walking motor, and the other end of the first swing arm is rotationally connected with the second swing arm; one end of the second swing arm away from the first swing arm is rotationally connected with the thigh mechanism and the adjustable calf mechanism through a joint.

[0015] Further, the adjustable calf mechanism comprises:

[0016] an outer rectangular tube fixedly connected with the joint;

[0017] an inner adjusting plate sleeved inside the outer rectangular tube;

[0018] at least one locking assembly arranged on the outer rectangular tube for fastening the inner adjusting plate and the outer rectangular tube in position;

[0019] In use, the foot pedal assembly is mounted at the end of the inner adjusting plate.

[0020] Further, the locking assembly comprises:

[0021] a first locking through hole opened on the outer rectangular tube;

[0022] a plurality of second locking through holes opened on the inner adjusting plate in the vertical direction;

[0023] and a locking handle pin cooperating with the first locking through hole and the second locking through hole.

[0024] Further, the walking frame comprises:

[0025] a first side frame and a second side frame arranged detachably;

[0026] a width adjusting mechanism arranged at the front end of the first side frame and the second side frame for adjusting the distance between the first side frame and the second side frame.

[0027] Further, the width adjusting assembly comprises:

[0028] a first box-shaped butt joint frame fixedly connected with the first side frame;

[0029] a second box-shaped butt joint frame fixedly mounted on the second side frame and sleeved with the first box-shaped butt joint frame;

[0030] A width adjusting motor is fixedly installed on the inner bottom surface of the first box-shaped docking frame;

[0031] A screw rod nut pair, the screw rod of the screw rod nut pair is coaxially arranged with the output shaft of the width adjusting motor, and the nut seat of the screw rod nut pair is fixedly connected with the outer bottom surface of the second box-shaped docking frame;

[0032] At least one guide rod, the second box-shaped docking frame is slidably connected with the guide rod through a guide sliding block.

[0033] Further, the thigh mechanism and the adjustable calf mechanism are both provided with a fixing piece for fastening the leg of the rehabilitation person; the fixing piece is one of a bandage, a magic tape and a lock buckle.

[0034] Further, the upper end surface of the first box-shaped docking frame is provided with a control panel, and the inside of the first box-shaped docking frame is provided with a control module.

[0035] As a second aspect, the control method of the walking rehabilitation device comprises the following steps:

[0036] The rehabilitation leg is reset to the initial position;

[0037] According to the body shape of the patient, the distance between the first side frame and the second side frame is adjusted;

[0038] The patient enters the appropriate position from the rear end of the walking frame;

[0039] According to the length of the leg of the patient, the length of the adjustable calf mechanism is adjusted;

[0040] The patient's foot is placed on the stirring assembly, and the patient's leg is fixedly arranged with the corresponding rehabilitation leg;

[0041] The walking motors on the two rehabilitation legs are started, and the leg of the patient is subjected to walking rehabilitation;

[0042] After the training is completed, the rehabilitation leg stops moving, the patient is separated from the rehabilitation leg, and the rehabilitation leg is reset.

[0043] Specifically, during walking rehabilitation, the two walking motors are not synchronized to rotate, and the two rehabilitation legs simulate human walking actions.

[0044] The walking rehabilitation device and the control method have the following beneficial effects:

[0045] The application is characterized in that two rehabilitation legs are symmetrically installed on the two inner sides of the walking frame, a walking swing arm assembly, a side connecting plate and a large-small leg cooperative connecting rod are arranged in combination with the thigh mechanism and the adjustable small leg mechanism, so that the walking movement of the rehabilitation legs in the walking space can be realized by using one walking motor, the driving error of one power source is small, easy to control, and the bending and moving actions of the rehabilitation legs can be accurately performed, the angle β between the rotation axis of the thigh mechanism and the swing axis of the walking swing arm assembly is limited in the interval [30°, 75°], the stride of the walking movement is limited in a certain range, the rehabilitation legs are prevented from striding too much to cause harm to the patient, the accuracy of rehabilitation is ensured, and the safety of the rehabilitation process is effectively improved.

[0046] The application is characterized in that two rehabilitation legs are symmetrically installed on the two inner sides of the walking frame, a walking swing arm assembly, a side connecting plate and a large-small leg cooperative connecting rod are arranged in combination with the thigh mechanism and the adjustable small leg mechanism, so that the walking movement of the rehabilitation legs in the walking space can be realized by using one walking motor, the driving error of one power source is small, easy to control, and the bending and moving actions of the rehabilitation legs can be accurately performed, the angle β between the rotation axis of the thigh mechanism and the swing axis of the walking swing arm assembly is limited in the interval [30°, 75°], the stride of the walking movement is limited in a certain range, the rehabilitation legs are prevented from striding too much to cause harm to the patient, the accuracy of rehabilitation is ensured, and the safety of the rehabilitation process is effectively improved. BRIEF DESCRIPTION OF DRAWINGS

[0047] The application will be further described in detail below in combination with the drawings and specific embodiments.

[0048] Figure 1 is the first perspective view of the walking rehabilitation device in the embodiment of the application.

[0049] Figure 2 is the second perspective view of the walking rehabilitation device in the embodiment of the application.

[0050] Figure 3 is the internal view of the rehabilitation leg in the embodiment of the application.

[0051] Figure 4 is the external view of the rehabilitation leg in the embodiment of the application.

[0052] Figure 5 is the front view of the rehabilitation leg in the embodiment of the application.

[0053] Figure 6 is the structural schematic view of the width adjusting mechanism in the embodiment of the application.

[0054] Figure 7 is the internal structure view of the width adjusting mechanism in the embodiment of the application.

[0055] Figure 8 is the control method flow chart of the walking rehabilitation device in the embodiment of the application.

[0056] In the figure: 1, walking frame, 11, first side frame, 12, second side frame, 13, width adjustment mechanism, 131, first box type butt joint frame, 132, second box type butt joint frame, 133, width adjustment motor, 134, screw nut pair, 135, guide rod, 136, guide slider, 2, walking wheel, 3, rehabilitation leg, 31, walking motor, 32, walking swing arm assembly, 321, first swing arm, 322, second swing arm, 323, joint, 33, adjustable calf mechanism, 331, outer rectangular tube, 332, inner adjustment plate, 333, locking assembly, 34, foot pedal assembly, 35, side connecting plate, 36, thigh mechanism, 37, thigh and calf coordination link, 38, walking space, 39, fixing piece, 4, control panel. DETAILED DESCRIPTION

[0057] The application will now be described in further detail with reference to the drawings. These drawings are simplified schematic illustrations of the basic structure of the application and therefore only show the components relevant to the application.

[0058] As Figures 1-7 shown in a specific embodiment of a walking rehabilitation device of the application, comprising a walking frame 1 and at least four walking wheels 2 installed at the lower part of the walking frame 1 and two rehabilitation legs 3 symmetrically installed inside the walking frame 1, the rehabilitation leg 3 in this embodiment comprises a walking motor 31 installed at the rear side of the walking frame 1, an adjustable calf mechanism 33 driven by the output shaft of the walking motor 31 through a walking swing arm assembly 32, a foot pedal assembly 34 installed at the end of the adjustable calf mechanism 33, a side connecting plate 35 installed on one side of the walking frame 1, a thigh mechanism 36 rotatably installed between the side connecting plate 35 and the adjustable calf mechanism 33, and a thigh and calf coordination link 37 installed between the side connecting plate 35 and the adjustable calf mechanism 33, the front end of the walking frame 1 is provided with a front walking cavity, the rear end of the walking frame 1 is provided with a rear walking cavity, the front walking cavity and the rear walking cavity form a walking space 38 for the walking of the rehabilitation leg 3, and the included angle ββ between the rotation axis of the thigh mechanism 36 and the swing axis of the walking swing arm assembly 32 is in the interval [30°, 75°]

[0059] The two rehabilitation legs 3 are symmetrically installed on the two inner sides of the walking frame 1, and the walking swing arm assembly 32, the side connecting plate 35 and the thigh and small leg cooperative connecting rod 37 are combined with the thigh mechanism 36 and the adjustable small leg mechanism 33, so that the walking movement of the rehabilitation leg 3 in the walking space 38 can be realized by using one walking motor 31, the driving error is small, the control is easy, the bending and moving actions of the rehabilitation leg 3 can be accurately performed, and the angle β between the rotation axis of the thigh mechanism 36 and the swing axis of the walking swing arm assembly 32 is limited in the interval [30°, 75°], the stride of the walking movement is limited in a certain range, the rehabilitation leg 3 is prevented from striding too much and causing harm to the patient, the accuracy of rehabilitation is ensured, and the safety of the rehabilitation process is effectively improved.

[0060] As shown in Figure 3 The walking swing arm assembly 32 in the embodiment includes the first swing arm 321 and the second swing arm 322 which are sequentially rotationally connected, one end of the first swing arm 321 is coaxially arranged with the output shaft of the walking motor 31, the other end of the first swing arm 321 is rotationally connected with the second swing arm 322, one end of the second swing arm 322 away from the first swing arm 321 is rotationally connected with the thigh mechanism 36 and the adjustable small leg mechanism 33 through the joint 323, the walking motor 31 in the walking swing arm assembly 32 is arranged at the upper rear end of the walking frame 1, in the initial position, the thigh mechanism 36 and the adjustable small leg mechanism 33 are located on a vertical plane, a certain angle β is arranged between the rotation axis of the thigh mechanism 36 and the swing axis of the walking swing arm assembly 32, that is, the upper end of the thigh mechanism 36, the upper end of the adjustable small leg mechanism 33 and the first end of the first swing arm 321 form a triangular structure, the rotation of the first swing arm 321 and the second swing arm 322 drives the thigh mechanism 36 to rotate relative to the side connecting plate 35, that is, the hip joint is realized to be forwardly extended and rearwardly bent, the relative movement between the thigh mechanism 36 and the adjustable small leg mechanism 33 realizes the forward extension and rearward bending of the knee joint, and only relying on the rotation connection of the joint 323 and the second swing arm 322, the adjustable small leg mechanism 33 has no constraint force and is prone to over-rotation, which is easy to cause harm to the patient, the thigh and small leg cooperative connecting rod 37 is arranged in the embodiment to limit the rotation of the adjustable small leg mechanism 33 and avoid the problem of over-rotation of the adjustable small leg mechanism 33.

[0061] As a preferred embodiment, refer to Figure 4The adjustable lower leg mechanism 33 comprises an outer rectangular tube 331 fixedly connected with the joint 323, an inner adjusting plate 332 sleeved in the outer rectangular tube 331, and at least one locking assembly 333 arranged on the outer rectangular tube 331 and used for fastening the inner adjusting plate 332 with the outer rectangular tube 331. In the embodiment, the locking assembly 333 is provided in two groups, but can also be provided in three groups, four groups, or the like, and the number of the locking assembly 333 is not absolutely limited.

[0062] In use, the foot pedal assembly 34 is mounted at the end of the inner adjusting plate 332. As a preferred embodiment, the foot pedal assembly 34 in the embodiment adopts a folding foot pedal.

[0063] The locking assembly 333 in the embodiment comprises first locking through holes arranged on the outer rectangular tube 331, a plurality of second locking through holes arranged on the inner adjusting plate 332 in the vertical direction, and a locking handle pin matched with the first locking through holes and the second locking through holes. When the length of the adjustable lower leg mechanism 33 needs to be adjusted, the locking handle pin is loosened, the inner adjusting plate 332 is adjusted to the appropriate position of the outer rectangular tube 331, the first locking through holes are corresponded to the corresponding second locking through holes, and then the locking handle pin is inserted into the first locking through holes and the second locking through holes to positionally fix the inner adjusting plate 332 with the outer rectangular tube 331.

[0064] The walking frame 1 in the embodiment comprises a first side frame 11 and a second side frame 12 arranged in a detachable manner and a width adjusting mechanism 13 arranged at the front ends of the first side frame 11 and the second side frame 12 and used for adjusting the spacing between the first side frame 11 and the second side frame 12. Specifically, as shown in Figure 6 and Figure 7 The width adjusting mechanism 13 comprises a first box-shaped butt joint frame 131 fixedly connected with the first side frame 11, a second box-shaped butt joint frame 132, a width adjusting motor 133, a screw-nut pair 134, and at least one guide rod 135. The second box-shaped butt joint frame 132 is fixedly mounted on the second side frame 12 and is sleeved in the first box-shaped butt joint frame 131, the width adjusting motor 133 is fixedly mounted on the inner bottom surface of the first box-shaped butt joint frame 131, the screw rod of the screw-nut pair 134 is coaxially arranged with the output shaft of the width adjusting motor 133, the nut seat of the screw-nut pair 134 is fixedly connected with the outer bottom surface of the second box-shaped butt joint frame 132, and the second box-shaped butt joint frame 132 is slidably connected with the guide rod 135 through a guide sliding block 136.

[0065] The first box type butt joint frame 131 is provided with an opening on the left side in the embodiment, and the second box type butt joint frame 132 is sleeved in the first box type butt joint frame 131 from the opening. When the distance between the two side frames needs to be adjusted, only the width adjusting motor 133 needs to be started, and the position of the second box type butt joint frame 132 sleeved in the first box type butt joint frame 131 is adjusted under the driving of the screw nut pair 134, so that the size adjustment of the distance between the two side frames is realized, and the distance adjustment between the two rehabilitation legs 3 is realized to adapt to patients with different fatness.

[0066] The two guide rods 135 are parallel to the screw rod of the screw nut pair 134 and are located on both sides of the screw rod, so as to ensure the stability of the relative sliding of the first box type butt joint frame 131 and the second box type butt joint frame 132.

[0067] In order to fix the legs of the patient and the rehabilitation legs 3, the fixing members 39 for fastening the legs of the rehabilitation person are arranged on the thigh mechanism 36 and the adjustable calf mechanism 33. The fixing members 39 are one of a bandage, a magic tape and a lock buckle, as long as the fixing members 39 can fix the legs of the patient on the corresponding rehabilitation legs 3. The specific structure of the fixing members 39 is not described in detail here.

[0068] As shown in Figure 6 In order to facilitate the control of the patient on the rehabilitation legs 3, the control panel 4 is arranged on the upper end face of the first box type butt joint frame 131 in the embodiment. The control panel 4 is located in front of the patient, and the patient can directly operate.

[0069] Referring to Figure 8 Based on the above walking rehabilitation device, the control method of the walking rehabilitation device in the embodiment includes the following steps:

[0070] Step one: reset the rehabilitation legs 3 to the initial position;

[0071] Step two: adjust the distance between the first side frame 11 and the second side frame 12 according to the body type of the patient;

[0072] Step three: the patient enters the appropriate position from the rear end of the walking frame 1;

[0073] Step four: adjust the length of the adjustable calf mechanism 33 according to the length of the legs of the patient;

[0074] Step five: the patient's feet are placed on the stirring assembly, and the patient's legs are fixed with the corresponding rehabilitation legs 3;

[0075] Step six: start the walking motor 31 on the two rehabilitation legs 3 to perform walking rehabilitation on the legs of the patient;

[0076] Step seven: after the training is completed, the rehabilitation leg 3 stops moving, the patient is separated from the rehabilitation leg 3, and the rehabilitation leg 3 is reset.

[0077] During the walking rehabilitation process, the two walking motors 31 need to be set to rotate asynchronously, and the two rehabilitation legs 3 need to be controlled to imitate the human body walking action. It should be further explained that steps three and four in the embodiment can be exchanged in order, which does not affect the overall rehabilitation process.

[0078] The whole use process is as follows: start the power supply, reset the rehabilitation leg 3 to the initial position, that is, reset to the vertical setting of the thigh mechanism 36 and the adjustable calf mechanism 33, and the two mechanisms are on the same vertical straight line, according to the body type of the patient, start the width adjusting motor 133 in the width adjusting mechanism 13, thereby adjusting the distance between the first side frame 11 and the second side frame 12, after adjusting to the appropriate position, adjust the length of the adjustable calf mechanism 33 according to the length of the patient's leg, after the adjustment is completed, fix the inner adjusting plate 332 and the outer rectangular tube 331 through the locking handle pin, the patient enters the appropriate position from the rear end of the walking frame 1, the patient's feet are placed on the stirring assembly, the patient's legs are fixed and arranged with the corresponding rehabilitation leg 3, the walking motor 31 on the two rehabilitation legs 3 is started, the patient's leg is trained for walking rehabilitation, after the training is completed, the rehabilitation leg 3 stops moving, the patient is separated from the rehabilitation leg 3, and the rehabilitation leg 3 is reset.

[0079] The embodiment is provided with a width adjusting assembly for adjusting the distance between the two rehabilitation legs 3, so as to adapt to patients of different fat and thin body types, and an adjustable calf mechanism 33 is used to adjust the length of the whole rehabilitation leg 3, so as to adapt to patients with different leg lengths, so that the walking rehabilitation device of the application has wider applicability.

[0080] It should be understood that the specific embodiments described above are only used to explain the application and not to limit the application. The obvious changes or modifications derived from the spirit of the application are still within the protection scope of the application.

Claims

1. A walking rehabilitation device, characterized by, The application relates to a walking frame (1) and at least four walking wheels (2) mounted at the lower part of the walking frame (1). Two rehabilitation legs (3) are symmetrically mounted at the inner side of the walking frame (1). The rehabilitation leg (3) comprises a walking motor (31) mounted at the rear side of the walking frame (1), an adjustable calf mechanism (33) provided in transmission with the output shaft of the walking motor (31) through a walking swing arm assembly (32), a foot pedal assembly (34) mounted at the tail end of the adjustable calf mechanism (33), a side connecting plate (35) mounted at one side of the walking frame (1), a thigh mechanism (36) rotatably mounted between the side connecting plate (35) and the adjustable calf mechanism (33), and a thigh-calf cooperative connecting rod (37) mounted between the side connecting plate (35) and the adjustable calf mechanism (33). The front end of the walking frame (1) is provided with a front walking cavity, the rear end of the walking frame (1) is provided with a rear walking cavity, and the front walking cavity and the rear walking cavity form a walking space (38) for the walking of the rehabilitation leg (3). The included angle beta between the rotation axis of the thigh mechanism (36) and the swing axis of the walking swing arm assembly (32) is in the range of [30 DEG, 75 DEG]. The walking swing arm assembly (32) comprises:

2. The walking rehabilitation device according to claim 1, wherein a first swing arm (321) and a second swing arm (322) connected in sequence. One end of the first swing arm (321) is coaxially arranged with the output shaft of the walking motor (31), and the other end of the first swing arm (321) is rotatably connected with the second swing arm (322); the end, away from the first swing arm (321), of the second swing arm (322) is rotatably connected with the thigh mechanism (36) and the adjustable calf mechanism (33) through a joint (323). The adjustable calf mechanism (33) comprises:

3. The walking rehabilitation device of claim 1, wherein, an outer rectangular tube (331) fixedly connected with the joint (323); an inner adjusting plate (332) sleeved in the outer rectangular tube (331); at least one locking assembly (333) arranged on the outer rectangular tube (331) and used for fastening the inner adjusting plate (332) and the outer rectangular tube (331) in position; In use, the foot pedal assembly (34) is mounted at the tail end of the inner adjusting plate (332). The locking assembly (333) comprises:

4. The walking rehabilitation device and control method according to claim 3, wherein a first locking through hole formed in the outer rectangular tube (331); a plurality of second locking through holes formed in the inner adjusting plate (332) in the vertical direction; and a locking handle pin matched with the first locking through hole and the second locking through hole. The walking frame (1) comprises:

5. The walking rehabilitation device of claim 1, wherein, a first side frame (11) and a second side frame (12) arranged in a detachable mode; a width adjusting mechanism (13) arranged at the front end of the first side frame (11) and the second side frame (12) and used for adjusting the spacing of the first side frame (11) and the second side frame (12). The width adjusting assembly comprises:

6. The walking rehabilitation device of claim 5, wherein, a first box type butt joint frame (131) fixedly connected with the first side frame (11); ​ A second box butt joint frame (132) is fixedly installed on the second side frame (12) and is sleeved with the first box butt joint frame (131); A width adjustment motor (133) is fixedly installed on the inner bottom surface of the first box butt joint frame (131); A screw nut pair (134) is coaxially arranged with the output shaft of the width adjustment motor (133), and the nut seat of the screw nut pair (134) is fixedly connected with the outer bottom surface of the second box butt joint frame (132); At least one guide rod (135) is slidably connected with the guide sliding block (136) through the guide rod (135).

7. The walking rehabilitation device of claim 1, wherein, The thigh mechanism (36) and the adjustable calf mechanism (33) are both provided with a fixing piece (39) for fastening the legs of the rehabilitation person; the fixing piece (39) is one of a bandage, a magic tape, and a lock buckle.

8. The walking rehabilitation device of claim 6, wherein, A control panel (4) is arranged on the upper end surface of the first box butt joint frame (131), and a control module is arranged in the first box butt joint frame (131).

9. The control method of a walking rehabilitation device according to any one of claims 1 to 8, characterized in that, The method comprises the following steps: Reset the rehabilitation leg (3) to the initial position; Adjust the distance between the first side frame (11) and the second side frame (12) according to the body type of the patient; The patient enters the appropriate position from the rear end of the walking frame (1); Adjust the length of the adjustable calf mechanism (33) according to the length of the patient's leg; Place the patient's feet on the stirring assembly, and fix the patient's legs with the corresponding rehabilitation legs (3); Start the walking motor (31) on the two rehabilitation legs (3) to perform walking rehabilitation on the patient's legs. After the training is completed, the rehabilitation leg (3) stops moving, the patient is separated from the rehabilitation leg (3), and the rehabilitation leg (3) is reset.

10. The control method of a walking rehabilitation device according to claim 9, wherein When walking rehabilitation is performed, the two walking motors (31) are not synchronized to rotate, and the two rehabilitation legs (3) simulate the walking action of the human body.

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