Multi-joint robot-assisted walking training system and control method thereof

Abstract

A motion unit of a disclosed walking training system includes a support unit including an actuator support part of a predetermined height, and an actuator including a first link connected to the actuator support part at one end through a first joint, a second link connected to the other end of the first link through a second joint at one end, and a pedal connected to the other end of the second link through a third joint, and further includes a structure in which a first driving motor for rotating the first link with respect to the actuator support part is installed at the first joint, a second driving motor for rotating the second link with respect to the first link is installed at the second joint, and a third driving motor for rotating the pedal with respect to the second link is installed at the third joint.

Description

Technical Field

[0001] This disclosure relates to a multi-joint robot-assisted walking training system and training method thereof, specifically, to a walking training system and training method using the same, wherein the system uses an end effector-type robot with three-degree-of-freedom rotary joints. Background Technology

[0002] The robot-assisted walking training system is a rehabilitation training device suitable for patients who have difficulty walking due to neuromuscular dysfunction or muscle imbalance caused by various diseases or accidents. It is a walking training system used by rehabilitation experts.

[0003] The system utilizes robotics to generate or control movement to provide appropriate walking training based on the patient's physical abilities and condition. It also simulates or assists the patient's walking movements to aid in the training and detects and compensates for the patient's movements to achieve safer and more efficient walking training.

[0004] Therefore, even if patients have various physical limitations, the robot-assisted walking training system can provide safe and efficient rehabilitation training.

[0005] The motion-generating robots in this robot-assisted walking training system include exoskeleton robots and end-effector robots.

[0006] An exoskeleton robot is a wearable robot that takes up little space, but it takes a considerable amount of time for a patient to put it on.

[0007] End-effector robots provide an end-effector—a motor-driven footplate that allows the patient to stand independently or with the aid of an external support structure. These end-effector robots occupy more space than exoskeleton robots, but are more convenient to use because the patient does not need to wear them.

[0008] Korean Invention Patent No. 10-2127011 provides a fixed standing end effector type walking training system for lower limb walking training.

[0009] This system has a two-degree-of-freedom (DOF) walking drive unit including a pedal and a one-degree-of-freedom (DOF) translational motion unit for the translational motion of the drive unit. The walking drive unit generates the movement of the pedal with rotational degrees of freedom on two axes, and the translational motion unit has a reciprocating motion structure to move the walking drive unit back and forth. The reciprocating motion structure includes a guide rail for translational motion, a slider that moves along the guide rail, and a base unit for supporting the walking drive unit on the slider. Therefore, the reciprocating motion structure occupies a large area, thus increasing the system size, especially the area occupied by the system.

[0010] Because this existing system only allows patients to perform walking training in one direction, various training methods are limited. Furthermore, due to the system's complex structure and large size, rehabilitation specialists find it difficult to directly assist patients during walking training.

[0011] In such existing exercise systems, some patients are unable to adapt to the operation of the pedals and therefore cannot respond to or comply with the pedal movements. Furthermore, rehabilitation specialists find it difficult to effectively address patients' maladaptation to pedal movements due to the limited accessibility of the patients.

[0012] Therefore, preferably, there is a need for a walking training system that is smaller in size, easier to install, manage and use, and can achieve more efficient walking training by implementing a variety of walking training programs. Summary of the Invention

[0013] Technical issues

[0014] This disclosure provides a walking training system that requires less installation space, is easy to move and install, and allows rehabilitation specialists to easily approach the patient during walking training.

[0015] According to this disclosure, a walking training system is provided, which includes a chain-like structure similar to the movement of a patient's lower limbs.

[0016] This disclosure provides a walking training system that enables patients to change the direction of their walking training and facilitates access for training experts, thereby allowing for diversified walking training programs.

[0017] Technical solution

[0018] According to this disclosure,

[0019] A walking training system is provided, comprising: a walking motion unit including two left and right motion units for walking training of a patient; and electronic devices for controlling the walking motion unit.

[0020] The two motion units respectively include:

[0021] Support unit, comprising an actuator support section of predetermined height; and

[0022] An actuator includes: a first link, one end of which is connected to the actuator support via a first joint; a second link, one end of which is connected to the other end of the first link via a second joint; and a pedal, which is connected to the other end of the second link via a third joint.

[0023] It further includes the following structure: a first drive motor for rotating the first link relative to the actuator support is installed at the first joint, a second drive motor for rotating the second link relative to the first link is installed at the second joint, and a third drive motor for rotating the pedal relative to the second link is installed at the third joint.

[0024] According to one or more embodiments,

[0025] It may further include a weight support unit comprising: a saddle disposed between the two motion units for a patient undergoing walking training to sit or lean on; and a lifting device for controlling the height of the saddle.

[0026] According to one or more embodiments,

[0027] The lifting device of the weight support unit can operate synchronously with the movement of the walking movement unit.

[0028] According to one or more embodiments,

[0029] The support units for the two motion units may each further include:

[0030] Support column, which supports the actuator support portion; and

[0031] A base, which is mounted on the bottom of the support column.

[0032] According to one or more embodiments,

[0033] The support units of the two motion units can be connected to each other by an adjustable-length connecting rod for adjusting the interval between the two motion units.

[0034] According to one or more embodiments,

[0035] Each of the support units includes:

[0036] Support column, which supports the actuator support portion; and

[0037] A base, which is mounted on the bottom of the support column.

[0038] The base of the support unit can be connected to each other by an adjustable-length connecting rod for adjusting the spacing between the support units.

[0039] According to one or more embodiments,

[0040] The pedal includes:

[0041] A support segment, which is connected to the third joint;

[0042] A step portion, rotatably coupled to the support section; and

[0043] A hinge portion that rotatably connects the step portion to the support section.

[0044] The hinge portion may include a locking means for fixing the relative rotation angle of the step portion relative to the support segment.

[0045] According to one or more embodiments,

[0046] The two motion units are a first motion unit and a second motion unit installed side by side.

[0047] The support units for the two motion units are a first support unit and a second support unit located between the first motion unit and the second motion unit and on both sides thereof.

[0048] The actuators of the two motion units are the first actuator and the second actuator, respectively.

[0049] The first links of the first actuator and the second actuator are respectively connected to the actuator support portion of the first support unit and the actuator support portion of the second support unit.

[0050] The first link, second link, and pedal of each of the first actuator and the second actuator are arranged continuously from top to bottom to form a lower limb structure.

[0051] According to one or more embodiments,

[0052] The first support unit and the second support unit each include:

[0053] Support column, which supports the actuator support portion; and

[0054] A base, which is mounted on the bottom of the support column.

[0055] The base of the support unit is connected to each other by an adjustable-length connecting rod for adjusting the interval between the support units, and may include a structure for arranging the pedals of the first actuator and the second actuator upward and downward.

[0056] According to one or more embodiments,

[0057] The electronic device can be configured to control the walking motion unit to move in the forward direction and in the opposite direction.

[0058] According to one or more embodiments,

[0059] The electronic device is configured to control the walking motion unit to move in the forward direction and in the opposite direction.

[0060] The actuator can be configured to enable the patient to perform walking training along the forward direction and the opposite direction.

[0061] According to this disclosure, a walking training method using a walking training system is provided. The walking training system includes: a walking motion unit comprising two left and right motion units for walking training of a patient; and an electronic device for controlling the walking motion unit, and further includes:

[0062] The first degree of freedom rotation step involves rotating a first link, which is connected at one end to the actuator support of a support unit set at a predetermined height, relative to the actuator support via a rotary first joint having a first drive motor.

[0063] The second degree of freedom rotation step involves rotating the second link connected to the other end of the first link via a second joint having a second drive motor; and

[0064] The third degree of freedom rotation step involves rotating the pedal connected to the other end of the second link via a third joint equipped with a third drive motor.

[0065] Thus, the pedal generates a walking motion with three rotational degrees of freedom through the combined rotational operation of the first drive motor, the second drive motor and the third drive motor.

[0066] The walking training method according to one or more embodiments may further include the following steps: controlling the height of a saddle positioned between the two motion units using a lifting device, thereby allowing a patient undergoing walking training to sit down or lean on it.

[0067] According to one or more embodiments, the following steps may be further included:

[0068] The electronic device synchronizes the lifting mechanism of the weight support unit with the movement of the walking movement unit.

[0069] The walking training method according to one or more embodiments may further include the following steps:

[0070] The support units of the two motion units are connected to each other by an adjustable-length connecting rod for adjusting the interval between the two motion units.

[0071] The walking training method according to one or more embodiments may further include the following steps:

[0072] The support unit includes: a support column that supports the actuator support portion; and a base that is mounted on the bottom of the support column.

[0073] The bases of the support units are connected to each other by adjustable-length connecting rods for adjusting the spacing between the support units; and

[0074] The interval between the two motion units is adjusted by adjusting the interval between the two support units.

[0075] The walking training method according to one or more embodiments may further include the following steps:

[0076] A foot pedal is prepared, comprising: a support section coupled to the third joint; a step portion rotatably coupled to the support section; and a hinge portion rotatably coupled to the support section.

[0077] The relative rotation angle of the step section relative to the support section is adjusted via the hinge; and

[0078] The relative rotation angle of the step section with respect to the support section is fixed by a locking mechanism.

[0079] The walking training method according to one or more embodiments may further include the following steps:

[0080] The first actuator and the first link of the second actuator of the two motion units are respectively connected to the actuator support part of the first support unit and the actuator support part of the second support unit;

[0081] The first link, second link, and pedal of each of the first and second actuators are arranged continuously from top to bottom to form a lower limb structure; and

[0082] Walking training is performed on the patient using the walking motor part, which includes the first actuator and the second actuator of the lower limb structure.

[0083] The walking training method according to one or more embodiments may further include the following steps:

[0084] The bases respectively disposed on the support units are connected to each other by adjustable-length connecting rods for adjusting the spacing between the support units; and

[0085] The pedals of the first and second actuators are arranged upwards and downwards, respectively.

[0086] The walking training method according to one or more embodiments may further include the following steps:

[0087] The electronic device controls the walking motion unit to move in the forward direction and the opposite direction, thereby causing the pedal to generate a forward walking motion or a reverse walking motion.

[0088] Beneficial effects

[0089] The walking training system disclosed herein is a walking rehabilitation robot for lower limb rehabilitation. It achieves ease of installation and movement by adjusting the left and right width to reduce or increase the system's size. Furthermore, by utilizing a robot with a three-degree-of-freedom link structure and a bidirectional body weight support (BWS), it can not only generate forward and backward walking trajectories but also simultaneously perform multiple rehabilitation treatments using external measurement / treatment devices, thus enabling diverse and personalized combined treatments for different patients. Additionally, the pedals, acting as end effectors, move along the walking trajectory and are angle-adjustable around the axis of walking direction to accommodate the patient's inversion / eversion of the foot, allowing the patient's foot to stably rest on the pedals. Attached Figure Description

[0090] The accompanying drawings and photographs illustrate, in whole or in part, the walking training system according to the present disclosure, and some elements are shown individually; the embodiments shown in these drawings do not limit the technical scope of the present disclosure.

[0091] Figure 1 This is a schematic perspective view of a walking training system according to an embodiment of the present disclosure.

[0092] Figure 2 From Figure 1 The perspective view, viewed from a slightly different angle, shows the state where part of the cover for the drive motor has been removed.

[0093] Figure 3 yes Figure 1 and Figure 2 The left-hand view of the training system shown.

[0094] Figure 4 This is a schematic truncated perspective view showing the main elements of the walking movement section of the training system according to this disclosure—joints, links, and connecting rods.

[0095] Figure 5The diagram shows two states in a walking training system according to an embodiment of the present disclosure: (a) in which both motion units are unfolded for walking training, and (b) in which the two motion units are folded together in a manner close to each other.

[0096] Figure 6 This is a front view showing two states in a walking training system according to an embodiment of the present disclosure: (a) both motion units are in an unfolded state for walking training, and (b) the two motion units are folded together in a manner close to each other.

[0097] Figure 7 It is a side view that schematically shows the motion unit in the walking motion section of the training system according to this disclosure.

[0098] Figure 8 (a) and (b) are schematic perspective and side views, which show a walking training state in the forward direction as a method of using the training system 10 according to the present disclosure.

[0099] Figure 9 (a) and (b) are schematic perspective and side views, which show the walking training state in the reverse direction as a method of using the training system 10 according to the present disclosure.

[0100] Figure 10 (a) and (b) are cut-out front and perspective views of an embodiment of the pedal, which can be adapted to the inversion / eversion of a patient's foot in a training system according to the present disclosure.

[0101] Figure 11 This is a block diagram illustrating the electronic control structure of the walking training system according to the present disclosure. Detailed Implementation

[0102] Preferred embodiments of the invention will be described in detail below with reference to the accompanying drawings. However, embodiments of the invention may be modified in various forms, and the scope of the invention should not be construed as limited to the following embodiments. Preferably, embodiments of the invention are provided to provide a more comprehensive explanation of the invention to those skilled in the art. The same reference numerals always denote the same elements. Further, various elements and regions in the drawings are shown schematically. Therefore, the invention is not limited to the relative dimensions or spacing shown in the drawings.

[0103] The terms "first" and "second," etc., can be used to describe various constituent elements, but the constituent elements are not limited to these terms. These terms are only used to distinguish one constituent element from other constituent elements. For example, without departing from the scope of the invention, a first constituent element may be named a second constituent element, and vice versa.

[0104] The terminology used in this application is for illustrative purposes only and is not intended to limit the invention. Unless the context clearly indicates otherwise, singular expressions include plural expressions. In this application, terms such as "comprising" or "having" are intended to indicate the presence of features, quantities, steps, actions, constituent elements, components, or combinations thereof as described in the specification, but it should be understood that this does not preclude the possibility of the presence or addition of one or more other features, quantities, steps, actions, constituent elements, components, or combinations thereof.

[0105] Unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art. Furthermore, it should be understood that generic terms as defined in dictionaries have the same meaning in the relevant technical context, and terms should not be interpreted as having an overly formal meaning unless explicitly defined in this application.

[0106] Where certain embodiments can be implemented differently, a particular process or technology sequence may be performed differently than the described sequence. For example, two processes or technologies described consecutively may be performed actually simultaneously, or may be performed in the reverse order of the described sequence.

[0107] The following describes a walking training system according to one or more embodiments.

[0108] The walking training system according to this disclosure includes: a walking motion unit, which includes two left and right motion units for walking training of a patient; and an electronic device for controlling the walking motion unit, which includes the following basic components.

[0109] In other words, the two motion units each include:

[0110] Support unit, comprising an actuator support section of predetermined height; and

[0111] An actuator includes: a first link, one end of which is connected to the actuator support via a first joint; a second link, one end of which is connected to the other end of the first link via a second joint; and a pedal, which is connected to the other end of the second link via a third joint.

[0112] It further includes the following structure: a first drive motor for rotating the first link relative to the actuator support is installed at the first joint, a second drive motor for rotating the second link relative to the first link is installed at the second joint, and a third drive motor for rotating the pedal relative to the second link is installed at the third joint.

[0113] A walking training method using a walking training system.

[0114] The walking training system includes: a walking motion unit comprising two left and right motion units for the patient's walking training; and electronic devices for controlling the walking motion unit, and includes:

[0115] The first degree of freedom rotation step involves rotating a first link, which is connected at one end to the actuator support of a support unit set at a predetermined height, relative to the actuator support via a rotary first joint having a first drive motor.

[0116] The second degree of freedom rotation step involves rotating the second link connected to the other end of the first link via a second joint having a second drive motor; and

[0117] The third degree of freedom rotation step involves rotating the pedal connected to the other end of the second link via a third joint equipped with a third drive motor.

[0118] Thus, the pedal generates a walking motion with three rotational degrees of freedom through the combined rotational operation of the first drive motor, the second drive motor and the third drive motor.

[0119] The walking training system will be described in more detail in the finer details, which will help in understanding the defined walking training method.

[0120] Figure 1 This is a schematic perspective view of a walking training system 10 according to an embodiment of the present disclosure. Figure 2 From Figure 1 The perspective view, viewed from a slightly different angle, shows the state in which part of the cover of the drive motor, described later, has been removed.

[0121] The walking training system 10 has a symmetrical structure. In the walking training system 10, the same reference number is assigned to elements or parts with the same function, but L and R are added to the part reference number to distinguish the left and right directions.

[0122] like Figure 1 and Figure 2As shown, the walking training system 10 includes an electronic device 100, a body weight support 200, and a walking motion part 300.

[0123] Specifically, the electronic device 100 controls the entire drive of the training system 10 and includes a cabinet 120 and a system control unit 110 located inside it, and may optionally be equipped with casters 100c at its bottom.

[0124] The system control unit 110 has a computer-based structure and controls the mechanical operation of the walking motion unit 300, such as controlling a plurality of drive motors described later. The system control unit 110 generates gait motion or gait training motion for training, to forcibly drive the movement of the patient's feet. This gait motion is manifested as the movement trajectory of the footplate 313 of the walking motion unit 300. Additionally, the system control unit 110 also controls the weight support unit 200, described later.

[0125] The weight support unit 200 is a seated or chair-type structure, comprising: a dynamic saddle 220 for the patient to sit on or be supported during walking training; a lifting frame 240 on which the dynamic saddle 220 is mounted and a vertical guardrail 230 is provided at its center; and a lifting device 210 for raising and lowering the frame 240. The lifting device 210 is controlled by a system control unit 110 to statically or dynamically adjust the height of the dynamic saddle 220 on which the patient sits or leans. In particular, during walking training, dynamic saddle movements can be generated in conjunction with the patient's lower limb movement or the walking training movements of the walking movement unit 300.

[0126] The walking motion unit 300 includes two left and right motion units—a first motion unit 300L and a second motion unit 300R—which are symmetrically arranged on both sides of the dynamic saddle 220. Each of the two motion units (300L and 300R) includes a first actuator 310L and a second actuator 310R with a multi-link structure having at least three rotary joints, and a first support unit 320L and a second support unit 320R respectively supporting the first actuator 310L and the second actuator 310R.

[0127] The two actuators (310L and 310R) are structures similar to those of the lower limb, each having a first joint 314a corresponding to the hip joint, a second joint 314b corresponding to the knee joint, and a third joint 314c corresponding to the ankle joint. Drive motors 315a, 315b, and 315c are installed in joints 314a, 314b, and 314c, which induce or force the movement of the corresponding joints with a constant force.

[0128] Here, the first link 311 corresponding to the thigh is positioned between the first joint 314a and the second joint 314b, and the second link 312 corresponding to the lower leg is positioned between the second joint 314b and the third joint 314c. A dynamic pedal 313 near the ground is rotatably connected to the lower end of the second link 312 via the third joint 314c. Here, the first joint 314a and the second joint 314b are designed to maintain a certain distance from the patient's hip and knee joints, respectively, and are not matched to each other, thus requiring the hands of the walking trainer or medical personnel to be able to approach the patient's lower limbs laterally from the side of the first or second actuator during training.

[0129] The need for the proximity of a walking trainer is necessary because, during walking training, he or she monitors the patient's progress and assists with the training. Specifically, when lower limb movement is abnormal, the walking trainer can manually correct the lower limb posture. As described above, when the first joint 314a and the second joint 314b are misaligned with the patient's hip and knee joints, the first and second links are also misaligned with the patient's thigh and calf. Therefore, the hands of the walking trainer or medical personnel can easily pass through these links to access the patient's lower limbs. Similarly, while it is difficult to increase the distance between the third joint 314c and the pedal 313 due to its proximity, it is easily accessible because it is located at the end of the lower limb.

[0130] As described above, the first and second actuators of the walking training system according to this disclosure are substantially similar in shape to the patient's lower limbs, but their shapes are actually misaligned.

[0131] For the pedal-assisted walking training exercise, the first and second chain links, which are arranged to be misaligned with the patient's lower limbs, and the pedal can be operated by a drive motor to form the pedal-assisted walking training exercise required by each patient.

[0132] Additionally, both the joints and links include a basic skeleton component and a suitable cover or shell for protecting the basic skeleton component, such as... Figure 4 As shown.

[0133] The first support unit 320L and the second support unit 320R each include a base 321 located at the bottom, a support column 322 vertically rising from the base 321, and an actuator support 323 disposed on top of the support column 322. Casters 300c used to support the entire walking motion unit 300 and assist its movement can be attached to the bottom of the base 321.

[0134] The bases 321 of the first support unit 320L and the second support unit 320R are the foundations for supporting the respective actuators (310L and 310R), and the actuator support 323 corresponds to the hip and is the portion connected to the first joint 314a. Therefore, the first link 311 is rotatably connected to the actuator support 323 via the first joint 314a. The two bases 321 can be combined to adjust their spacing via an adjustable-length, for example, frame-type telescopic connection bar 324. Therefore, the connection bar 324 can include two or more separable and connectable connecting portions and can be implemented in various forms.

[0135] According to the structure described above, actuators 310L and 310R are respectively suspended on actuator support portions 323 of the first support unit 320L and the second support unit 320R. Therefore, the first actuator 310L and the second actuator 310R corresponding to the lower limb are arranged towards the ground relative to the actuator support portion 323 corresponding to the hip, and the footboard 313 for the patient to stand on is arranged close to the ground.

[0136] According to the structure, since the movement of the first actuator 310L and the second actuator 310R is similar to the movement of the patient's lower limbs, the movement trajectory of the pedal 313—walking motion—matches the target trajectory set for the patient's walking training.

[0137] A first drive motor 315a, a second drive motor 315b, and a third drive motor 315c are installed in the joints 314a, 314b, and 314c, which force the movement of the corresponding joints with a constant force, and they are protected by covers 316a, 316b, and 316c, respectively.

[0138] The first drive motor 315a controls the rotation of the first link 311 relative to the actuator support 323, the second drive motor 315b controls the rotation of the second link 312 relative to the first link 311, and the third drive motor 315c controls the rotation of the pedal 313 relative to the second link 312.

[0139] Here, the first cover 316a covering the first drive motor 315a can be replaced by the head housing 323h of the actuator support 323. According to another embodiment, the first cover 316a and the head housing 323h can be provided separately. For example, the first drive motor 315a can be protected by the first cover 316a or completely protected by the head housing 323h, but only one head housing 323h is shown in the figure.

[0140] Figure 3 yes Figure 1 and Figure 2 The left-hand view of the training system 10 shown.

[0141] See Figure 3 The walking motion unit 300 is supported by support units 320L and 320R, and the dynamic saddle 220 of the weight support unit 200 is arranged above the pedal 313 of the walking motion unit 300.

[0142] The dynamic saddle 220 is fixed to a frame 240 that is raised and lowered by a lifting device 210, and is equipped with a guardrail 230 that allows patients standing on the footplate 313 to lean against or hold onto it.

[0143] As defined in this disclosure, "forward" means the direction in which the patient stands on the footboard 313 facing the electronic device 100 or the weight support 200, and "reverse" means the direction in which the patient stands on the footboard 313 with their back to the electronic device 100 or the weight support 200.

[0144] The lifting device 210 of the weight support unit 200 operates synchronously with the walking training movements generated by the walking movement unit 300. The walking movement unit 300, controlled by the electronic device 100, generates forward or reverse walking training movements depending on the direction the patient is standing on the footplate. The lifting device 210 operates according to the forward or reverse walking training movements, thereby stably supporting the patient's hips during walking training through the dynamic saddle 220.

[0145] Whether to operate or use the lifting device 210 depends on the condition of the patient receiving walking training, and this choice can be made by a walking training expert or medical personnel. The electronic device 100 controls the weight support unit 200 and the walking movement unit 300 according to the training plan determined by the walking training expert or medical personnel for each patient, thereby generating forward or reverse walking training movements suitable for each patient.

[0146] In this training system 10, the electronic device 100 and the weight support 200 can be detachably combined into a single unit, and the walking motion unit 300 can be generated as an independent structure to be arranged adjacent to the weight support 200, while allowing for free adjustment of the distance from the weight support 200. However, according to another embodiment, the walking motion unit 300, with its distance from the weight support 200 already adjusted, can be temporarily and detachably fixed to either the electronic device 100 or the weight support 200.

[0147] Figure 4 This is a schematic truncated perspective view showing the main elements of the walking motion unit 300 of the training system 10 according to this disclosure—joints, links, and connecting rods.

[0148] See Figure 4 Two side-by-side bases 321 are joined together by connecting rods 324 to form a roughly "U" shape, and multiple casters 300c are attached to their bottoms.

[0149] The support columns 322 of the first support unit 320L and the second support unit 320R are each vertically installed at the center of the corresponding base 321, and their support columns 322 respectively include a first column member 322a and a second column member 322b.

[0150] These first column members 322a and second column members 322b support each other, thereby enhancing the overall mechanical strength. In addition, among these column members, the first column member 322a is connected to the first bracket 323a of the actuator support 323 on which the first drive motor 315a is mounted, and the second column member 322b is fixed side by side with the first column member 322a and, as a tubular member, provides a partial path for the wires connected to the first to third drive motors (314a, 314b and 314c).

[0151] The path of the wire extends from the interior of the second post member 322b to the wire space provided by the cover or housing that protects the first joint 314a and the second joint 314b.

[0152] In other words, the wiring harness originates from the system control unit 110 of the electronic device 100 ( Figure 1The second column member 322b extends into the interior of the actuator support 323, wherein one set of wire harnesses is connected to the first drive motor 315a, and the remaining two sets of wire harnesses are connected to the second drive motor 315b and the third drive motor 315c respectively through a series of wire paths provided by the cover or housing protecting the first link 311 and the second link 312.

[0153] In the mounting structure of the first to third drive motors (315a, 315b, and 315c), the main body of the first drive motor 315a, located at the first joint 314a, is fixed to the inner surface of the second bracket 323b, which extends in a direction perpendicular to the first bracket of the actuator support 323, and the rotation shaft of the first drive motor 315a is coupled to the upper end of the first link 311. Therefore, the first link 311 rotates relative to the actuator support 323 via the first drive motor 315a.

[0154] The main body of the second drive motor 315b located at the second joint 314b is fixed to the lower end of the first link 311, and its rotation shaft is connected to the upper end of the second link 312. Therefore, the second link 312 rotates relative to the first link 311 via the second drive motor 315b.

[0155] The main body of the third drive motor 315c, located at the third joint 314c, is fixed to the lower end of the second link 312, and its rotation shaft is connected to the pedal 313. Therefore, the pedal 313 rotates relative to the second link 312 via the third drive motor 315c.

[0156] On the other hand, as described above, the length of the connecting rod 324 can be adjusted, thereby allowing the gap between the two bases 321 to be reduced or increased. This allows adjustment of the gap between the two support units (320L and 320R) including the bases 321, and consequently, the gap between the two actuators (310L and 310R). This ability to adjust the gap is beneficial for the transport or relocation of the training system 10. Furthermore, as... Figure 5 As shown, the spacing between the pedals (313 and 313) can be adjusted according to the patient's body. Of course, due to the function of the pedals themselves, the spacing can be adjusted via the two pedals (313 and 313) without moving the support units (320L and 320R), and the spacing adjustment via the connecting rod facilitates the movement / installation of the system. Figure 5 The diagram shows two states in a walking training system according to an embodiment of the present disclosure: (a) in which both motion units are unfolded for walking training, and (b) in which the two motion units are folded together in a manner close to each other.

[0157] Figure 6 This is a front view showing two states in a walking training system according to an embodiment of the present disclosure: (a) both motion units are in an unfolded state for walking training, and (b) the two motion units are folded together in a manner close to each other.

[0158] See Figure 5 (a) and Figure 6 In (a), with the connecting rod 324 connecting the two bases in the extended state, the two motion units (300L and 300R) are arranged in a state where walking training can be performed.

[0159] See Figure 5 (b) and Figure 6 In (b), with the connecting rod 324 connecting the two bases shortened, the two motion units (300L and 300R) fold together close to each other, at which point the two pedals 313 overlap vertically. This state is unsuitable for walking training, which facilitates the storage of the training system 10 in its non-use state or its relocation to other installation locations.

[0160] Furthermore, since the walking movement unit 300 can be separated from the training system 10 according to this disclosure, it can be managed or transferred separately from the electronic device 100 and the weight support unit 200.

[0161] Figure 7 It is a side view that schematically shows the motion units (300L and 300R) in the walking motion section 300 of the training system 10 according to the present disclosure.

[0162] like Figure 7 As shown, the walking motion unit 300 according to this disclosure includes a first actuator 310L and a second actuator 310R that are similar to the lower limb structure of a humanoid.

[0163] Starting from the high-position actuator support 323 located at the starting point of the lower limb and corresponding to the buttocks, a first link 311 corresponding to the thigh, a second link 312 corresponding to the lower leg, and a pedal 313 corresponding to the foot are arranged continuously in the direction toward the ground, and they are connected in sequence by thigh joints—first joint 314a, knee joints—second joint 314b, and ankle joints—third joint 314c, which are respectively equipped with drive motors.

[0164] Because the shape of these actuators (310L and 310R) is similar to that of the lower limbs of patients actually undergoing walking training, the movement of the actuators (310L and 310R) will follow the shape of the patient's lower limbs during walking training.

[0165] On the other hand, according to this disclosure, the actuators (310L and 310R) can generate forward and reverse walking movements. Under the control of the electronic device 100, such walking movements can be generated by the actuators (310L and 310R).

[0166] Figure 8 (a) and (b) are schematic perspective and side views, which show a walking training state in the forward direction as a method of using the training system 10 according to the present disclosure.

[0167] like Figure 8 As shown in (a) and (b), the patient stands on the left and right pedals 313 of the walking movement unit 300 facing the electronic device 100 or the weight support unit 200 for training.

[0168] In this positive training, as the actuators (310L and 310R) generate walking motions suitable for positive walking training, the pedal 313 moves accordingly along the positive walking trajectory.

[0169] Figure 9 (a) and (b) are schematic perspective and side views, which show the walking training state in the reverse direction as a method of using the training system 10 according to the present disclosure.

[0170] like Figure 9 As shown in (a) and (b), the patient stands on the left and right pedals 313 of the walking movement unit 300 in the opposite direction from the electronic device 100 or the weight support unit 200 for training.

[0171] In this reverse training, because the actuators (310L and 310R) generate a reverse walking motion opposite to the forward walking motion, the pedal 313 moves accordingly along the reverse walking trajectory. Therefore, a patient standing on the reverse pedal 313 can perform walking training using the pedal of the reverse walking motion.

[0172] Figure 10 (a) and (b) are cut-out front and perspective views of an embodiment of the pedal, which can be adapted to the inversion / eversion of a patient's foot in a training system according to the present disclosure.

[0173] Patients undergoing walking training may experience inversion / eversion of the feet. In this case, the patient is unable to stand on a footrest parallel to the ground. Therefore, in one embodiment according to this disclosure, an angle adjustment feature is installed on the footrest to accommodate inversion / eversion.

[0174] like Figure 10As shown, the pedal 313 includes: a stepping portion 313a on which the patient stands; a supporting segment 313b physically connected between the stepping portion 313a and the third joint 314c; and a locking hinge portion 313c rotatably fixing the stepping portion 313a to the supporting segment 313b.

[0175] The hinge portion 313c is formed by a complementary rotational coupling structure between the step portion 313a and the support segment 313b, and may include a locking means for fixing the relative rotation angle of the step portion 313a with respect to the support segment 313b.

[0176] Figure 11 This is a block diagram showing the electronic control structure of the walking training system 10 according to the present disclosure.

[0177] like Figure 11 As shown, the walking training system 10 includes an electronic device 100, a weight support unit 200, and a walking movement unit 300.

[0178] As described above, the electronic device 100 includes a computer-based control system—a system control unit 110—which controls the walking motion unit 300 and the weight support unit 200.

[0179] The system control unit 110 controls the first drive motor 315a, the second drive motor 315b, and the third drive motor 315c of the walking motion unit 300.

[0180] The walking motion unit 300 includes two actuators (310L and 310R) on which the drive motors (315a, 315b and 315c) are mounted, and generates walking motion caused by the dynamic pedal 313 through a three-rotational-degree-of-freedom operating link structure. The walking motion refers to forward walking motion or reverse walking motion, as described above, the motion depends on the direction in which the patient stands in the walking motion unit 300.

[0181] Furthermore, the walking motion unit 300 controls the lifting device 210 of the weight support unit 200, thereby generating saddle movement caused by the dynamic saddle in sync with the walking motion. Whether the dynamic saddle 220 moves is determined by the electronic device 100.

[0182] As described above, the walking training system according to this disclosure is a walking rehabilitation robot for lower limb rehabilitation therapy. It achieves ease of installation / movement by adjusting the left and right width to reduce or expand the system's size. Furthermore, forward and reverse walking movements can be generated using a robot with a three-degree-of-freedom link structure and a weight-bearing unit that allows for bidirectional riding.

[0183] Furthermore, the walking motor unit, with its simple lower limb structure, is easy to access for patients undergoing training, thus facilitating the use of external measurement / treatment devices for these patients. It also allows for the simultaneous administration of various rehabilitation therapies, enabling diverse and personalized combined treatments for a wide range of patients.

[0184] While various embodiments of the present invention have been described in detail above, those skilled in the art will understand that the invention can be modified and implemented in various ways without departing from the spirit and scope of the invention as defined in the appended claims. Therefore, future modifications to the embodiments of the present invention will not depart from the technical scope of the invention. Claims (as amended under Article 19 of the Treaty) 1. A walking training system, the walking training system comprising: a walking motion unit including left and right motion units for walking training of a patient; and an electronic device for controlling the walking motion unit. The two motion units respectively include: Support unit, having an actuator support including a bracket; and An actuator includes: a first link, one end of which is connected to the actuator support via a first joint; a second link, one end of which is connected to the other end of the first link via a second joint; and a pedal, which is connected to the other end of the second link via a third joint. Furthermore, it includes the following structure: a first drive motor is mounted at the first joint for rotating the first link relative to the actuator support; a second drive motor is mounted at the second joint for rotating the second link relative to the first link; and a third drive motor is mounted at the third joint for rotating the pedal relative to the second link. The actuator support bracket is connected to each other by an adjustable-length connecting rod for adjusting the interval between the two motion units. 2. The walking training system according to claim 1, further comprising: The weight support includes: a saddle disposed between the two motion units for a patient undergoing walking training to sit or lean on; and a lifting device for controlling the height of the saddle. 3. The walking training system according to claim 2, wherein, The lifting device of the weight support unit operates synchronously with the movement of the walking movement unit. 4. The walking training system according to claim 1, wherein, The support units of the two motion units further include: Support column, which supports the actuator support portion; and A base, which is mounted on the bottom of the support column. 5. The walking training system according to claim 1, wherein, The pedal includes: A support segment, which is connected to the third joint; A step portion, rotatably coupled to the support section; and A hinge portion that rotatably connects the step portion to the support section. The hinge portion includes a locking means for fixing the relative rotation angle of the step portion relative to the support segment. 6. The walking training system according to claim 1, wherein, The two motion units are a first motion unit and a second motion unit installed side by side. The support units for the two motion units are a first support unit and a second support unit located between the first motion unit and the second motion unit and on both sides thereof. The actuators of the two motion units are the first actuator and the second actuator, respectively. The first links of the first actuator and the second actuator are respectively connected to the actuator support portion of the first support unit and the actuator support portion of the second support unit. The first link, second link, and pedal of each of the first actuator and the second actuator are arranged continuously from top to bottom to form a lower limb structure. 7. The walking training system according to claim 6, wherein, The first support unit and the second support unit each include: The support column supports the actuator support section. The walking training system has a structure in which the pedals of the first and second actuators are arranged upward and downward relative to each other via an adjustable-length connecting rod for adjusting the interval between the support units. 8. The walking training system according to claim 1, wherein, The electronic device is configured to control the walking motion unit to move in the forward direction and in the opposite direction. 9. The walking training system according to claim 1, wherein, The electronic device is configured to control the walking motion unit to move in the forward direction and in the opposite direction. The actuator is configured to enable the patient to perform walking training in the forward direction and the opposite direction. 10. A method for walking training using a walking training system, the walking training system comprising: a walking motion unit including left and right motion units for walking training of a patient; and an electronic device for controlling the walking motion unit, and comprising: A support unit is provided, which has a bracket that supports the actuator support part; The supports of the support units are joined together by an adjustable-length connecting rod used to adjust the interval between the two motion units. Adjust the interval between the two support units to adjust the interval between the two motion units; The first degree of freedom rotation step involves rotating a first link, which is connected at one end to the actuator support of a support unit set at a predetermined height, relative to the actuator support via a rotary first joint having a first drive motor. The second degree of freedom rotation step involves rotating the second link connected to the other end of the first link via a second joint having a second drive motor; and The third degree of freedom rotation step involves rotating the pedal connected to the other end of the second link via a third joint equipped with a third drive motor. Thus, the pedal generates a walking motion with three rotational degrees of freedom through the combined rotational operation of the first drive motor, the second drive motor and the third drive motor. 11. The walking training method according to claim 10, further comprising the following steps: The lifting device controls the height of the saddle located between the two motion units, allowing the patient undergoing walking training to sit or lean on it. 12. The walking training method according to claim 11, further comprising the following steps: The electronic device synchronizes the lifting mechanism of the weight support unit with the movement of the walking movement unit. 13. The walking training method according to claim 10, further comprising the following steps: The support units of the two motion units are connected to each other by an adjustable-length connecting rod for adjusting the interval between the two motion units. 14. The walking training method according to claim 10, further comprising the following steps: A foot pedal is prepared, comprising: a support section coupled to the third joint; a step portion rotatably coupled to the support section; and a hinge portion rotatably coupled to the support section. The relative rotation angle of the step section relative to the support section is adjusted via the hinge; and The relative rotation angle of the step section with respect to the support section is fixed by a locking mechanism. 15. The walking training method according to claim 10, further comprising the following steps: The first actuator and the first link of the second actuator of the two motion units are respectively connected to the actuator support part of the first support unit and the actuator support part of the second support unit; The first link, second link, and pedal of each of the first and second actuators are arranged continuously from top to bottom to form a lower limb structure; and Walking training is performed on the patient using the walking motor part, which includes the first actuator and the second actuator of the lower limb structure. 16. The walking training method according to claim 15, further comprising the following steps: The bases respectively disposed on the support units are connected to each other by adjustable-length connecting rods for adjusting the spacing between the support units; and The pedals of the first and second actuators are arranged upwards and downwards, respectively. 17. The walking training method according to claim 10, further comprising the following steps: The electronic device controls the walking motion unit to move in the forward direction and the opposite direction, thereby causing the pedal to generate a forward walking motion or a reverse walking motion.

Claims

1. A walking training system, the walking training system comprising: The walking motor unit includes two motor units, left and right, for patients to train their walking. And electronic devices for controlling the walking motion unit, The two motion units respectively include: Support unit, comprising an actuator support section of predetermined height; and An actuator includes: a first link, one end of which is connected to the actuator support via a first joint; a second link, one end of which is connected to the other end of the first link via a second joint; and a pedal, which is connected to the other end of the second link via a third joint. It further includes the following structure: a first drive motor for rotating the first link relative to the actuator support is installed at the first joint, a second drive motor for rotating the second link relative to the first link is installed at the second joint, and a third drive motor for rotating the pedal relative to the second link is installed at the third joint.

2. The walking training system according to claim 1, further comprising: The weight support includes: a saddle disposed between the two motion units for a patient undergoing walking training to sit or lean on; and a lifting device for controlling the height of the saddle.

3. The walking training system according to claim 2, wherein, The lifting device of the weight support unit operates synchronously with the movement of the walking movement unit.

4. The walking training system according to claim 1, wherein, The support units of the two motion units further include: Support column, which supports the actuator support portion; and A base, which is mounted on the bottom of the support column.

5. The walking training system according to claim 1, wherein, The support units of the two motion units are connected to each other by an adjustable-length connecting rod for adjusting the interval between the two motion units.

6. The walking training system according to claim 1, wherein, Each of the support units includes: Support column, which supports the actuator support portion; and A base, which is mounted on the bottom of the support column. The base of the support unit is connected to each other by an adjustable-length connecting rod for adjusting the spacing between the support units.

7. The walking training system according to claim 1, wherein, The pedal includes: A support segment, which is connected to the third joint; A step portion, rotatably coupled to the support section; and A hinge portion that rotatably connects the step portion to the support section. The hinge portion includes a locking means for fixing the relative rotation angle of the step portion relative to the support segment.

8. The walking training system according to claim 1, wherein, The two motion units are a first motion unit and a second motion unit installed side by side. The support units for the two motion units are a first support unit and a second support unit located between the first motion unit and the second motion unit and on both sides thereof. The actuators of the two motion units are the first actuator and the second actuator, respectively. The first links of the first actuator and the second actuator are respectively connected to the actuator support portion of the first support unit and the actuator support portion of the second support unit. The first link, second link, and pedal of each of the first actuator and the second actuator are arranged continuously from top to bottom to form a lower limb structure.

9. The walking training system according to claim 8, wherein, The first support unit and the second support unit each include: Support column, which supports the actuator support portion; and A base, which is mounted on the bottom of the support column. The base of the support unit is connected to each other by an adjustable-length connecting rod for adjusting the interval between the support units, and includes a structure for arranging the pedals of the first actuator and the second actuator upward and downward.

10. The walking training system according to claim 1, wherein, The electronic device is configured to control the walking motion unit to move in the forward direction and in the opposite direction.

11. The walking training system according to claim 1, wherein, The electronic device is configured to control the walking motion unit to move in the forward direction and in the opposite direction. The actuator is configured to enable the patient to perform walking training along the forward direction and the opposite direction.

12. A walking training method using a walking training system, the walking training system comprising: The walking motor unit includes two motor units, left and right, for patients to train their walking. And electronic devices for controlling the walking motion unit, and including: The first degree of freedom rotation step involves rotating a first link, which is connected at one end to the actuator support of a support unit set at a predetermined height, relative to the actuator support via a rotary first joint having a first drive motor. The second degree of freedom rotation step involves rotating the second link connected to the other end of the first link via a second joint having a second drive motor; and The third degree of freedom rotation step involves rotating the pedal connected to the other end of the second link via a third joint equipped with a third drive motor. Thus, the pedal generates a walking motion with three rotational degrees of freedom through the combined rotational operation of the first drive motor, the second drive motor and the third drive motor.

13. The walking training method according to claim 12, further comprising the following steps: The lifting device controls the height of the saddle located between the two motion units, allowing the patient undergoing walking training to sit or lean on it.

14. The walking training method according to claim 13, further comprising the following steps: The electronic device synchronizes the lifting mechanism of the weight support unit with the movement of the walking movement unit.

15. The walking training method according to claim 12, further comprising the following steps: The support units of the two motion units are connected to each other by an adjustable-length connecting rod for adjusting the interval between the two motion units.

16. The walking training system according to claim 11, further comprising the following steps: The support unit includes: a support column that supports the actuator support portion; and a base that is mounted on the bottom of the support column. The bases of the support units are connected to each other by adjustable-length connecting rods for adjusting the spacing between the support units; and The interval between the two motion units is adjusted by adjusting the interval between the two support units.

17. The walking training method according to claim 12, further comprising the following steps: A foot pedal is prepared, comprising: a support section coupled to the third joint; a step portion rotatably coupled to the support section; and a hinge portion rotatably coupled to the support section. The relative rotation angle of the step section relative to the support section is adjusted via the hinge; and The relative rotation angle of the step section with respect to the support section is fixed by a locking mechanism.

18. The walking training method according to claim 12, further comprising the following steps: The first actuator and the first link of the second actuator of the two motion units are respectively connected to the actuator support part of the first support unit and the actuator support part of the second support unit; The first link, second link, and pedal of each of the first actuator and the second actuator are arranged in a continuous arrangement from top to bottom to form a lower limb structure; as well as Walking training is performed on the patient using the walking motor part, which includes the first actuator and the second actuator of the lower limb structure.

19. The walking training method according to claim 18, further comprising the following steps: The bases respectively disposed on the support units are connected to each other by adjustable-length connecting rods for adjusting the spacing between the support units; and The pedals of the first and second actuators are arranged upwards and downwards, respectively.

20. The walking training method according to claim 12, further comprising the following steps: The electronic device controls the walking motion unit to move in the forward direction and the opposite direction, thereby causing the pedal to generate a forward walking motion or a reverse walking motion.

Images