Walking rehabilitation robot and its training method

Abstract

We provide a walking rehabilitation robot. [Solution] A pair of footboards on which a trainee can place their left and right feet for walking training, a footboard support section to which the footboards are connected, and a walking drive unit for driving the footboards and the footboard support section, the walking drive unit including a motor for moving the footboards in the front-rear direction and a motor driver for controlling the motor, a control unit that controls the walking drive unit so that the footboards move and rotate according to a preset walking trajectory and speed, and a memory that stores reference values ​​for the motor state or control according to a preset walking trajectory and speed, the control unit receives at least one of the motor state value and control command value in a loaded state from the walking drive unit, and calculates the front-rear force applied to each footboard by the feet during walking training based on the difference between at least one of the received state value and command value and a reference value corresponding to the current walking trajectory and speed.

Description

Technical Field

[0001] The present invention relates to a walking rehabilitation robot and a training method thereof, and more specifically, to a method for providing feedback to a trainee (e.g., a patient) based on a horizontal force applied to a treadle by the trainee so that the trainee can actively participate in the training.

Background Art

[0002] Generally, a walking rehabilitation robot is a robot used for walking rehabilitation and the like, and is used for spinal cord injury, stroke, traumatic brain injury, muscular dystrophy, Parkinson's disease, multiple sclerosis, cerebral palsy, training for improving orthostatic sense, etc. in which the lower body is paralyzed.

[0003] Various methods such as a treadmill method, an end effector method, and an exoskeleton type method are used for walking rehabilitation robots. In fully automatic methods such as the treadmill method and the end effector, it is necessary to monitor the walking state of the trainee.

[0004] Conventionally, there has been a case where a sensor capable of measuring a force such as a load cell is attached to a treadle or the like, and a method of detecting a ground reaction force in the vertical direction of the ground and providing feedback to a patient has been applied to a walking rehabilitation robot. However, since factors related to the walking ability of the patient, such as the step width and walking speed, which are closely related elements, are the horizontal forces of the ground, there is a problem that it is difficult to achieve effective walking training by feeding back the vertical force of the ground due to the movement of the center of gravity of the body weight.

Summary of the Invention

Problems to be Solved by the Invention

[0005] To solve the aforementioned problems, the present invention aims to improve the effectiveness of gait training by estimating and providing feedback on the forward and backward force applied by the trainee to the footplate of the gait rehabilitation robot. Furthermore, once the estimation of the forward and backward force is complete, a threshold force that should be applied can be set based on the user's motor function level and communicated again in real time via image. [Means for solving the problem]

[0006] The above objective is achieved by a walking rehabilitation robot comprising: a pair of footboards on which a trainee can place their left and right feet for walking training; a pair of footboard support units connected to each of the pair of footboards; and a pair of walking drive units for driving each corresponding footboard and each corresponding footboard support unit, wherein each walking drive unit includes a motor for moving each footboard in the front-rear direction and a motor driver for controlling the motor; a control unit that controls the pair of walking drive units so that each footboard moves and rotates according to a preset walking trajectory and speed; and a memory that stores reference values ​​for at least one of the state and control of each motor according to the preset walking trajectory and speed, wherein the control unit receives at least one of the state value and control command value for each motor in a loaded state from each walking drive unit, and calculates the front-rear force applied to each footboard by each foot during walking training based on the difference between the received state value and command value and the reference value corresponding to the current walking trajectory and speed.

[0007] Furthermore, the reference value includes at least one of the current value, torque value, position value, speed value, current command value, force command value, position command value, and speed command value of the motor in an unloaded state; the state value includes at least one of the current value, torque value, position value, and speed value of the motor; and the command value may include at least one of the current command value, position command value, speed command value, and torque command value.

[0008] Furthermore, each walking drive unit further includes a current sensor for sensing the current of the motor, the reference value of the motor being a first current value of the motor measured via the current sensor in an unloaded state or a first torque value calculated based on the first current value, the state value being a second current value of the motor measured via the current sensor in a loaded state or a second torque value calculated based on the second current value, and the control unit can calculate the forward and backward force applied to each step plate by each foot based on the difference between the second current value or second torque value of each motor in the loaded state and the first current value or first torque value of each motor in the unloaded state.

[0009] Here, the reference value of the motor is a first current command value or a first torque command value applied from the motor driver in an unloaded state, the command value is a second current command value or a second torque command value applied from the motor driver in a loaded state, and the control unit can calculate the forward and backward force applied to each foot plate by each foot based on the difference between the second current command value or second torque command value of each motor in the loaded state and the first current command value or first torque command value of each motor in the unloaded state.

[0010] Furthermore, each walking drive unit further includes an encoder connected to the motor for detecting the position and speed of the motor, wherein the reference value of the motor is a first position value or first speed value of the motor in an unloaded state, and the state value is a second position value or second speed value of the motor calculated by the encoder in the loaded state, and the control unit can calculate the forward and backward force applied to each step plate by each foot based on the difference between the first position value or first speed value and the second position value or second speed value.

[0011] Furthermore, the control unit compares the forward and backward forces between the reference footplate in the first step and the training footplate in the second step to generate and provide training feedback information regarding the trainee's walking training state, and the training feedback information may include at least one of visual feedback information, auditory feedback information, and tactile feedback information.

[0012] Furthermore, the reference value may include state values ​​or control values ​​of the motor obtained in accordance with the multiple different walking trajectories and multiple different speeds, as well as control values ​​or state values ​​of the motor determined by the robot model, when each walking drive unit is controlled to operate in a no-load state with multiple different walking trajectories and multiple different speeds.

[0013] Furthermore, the control unit can synchronize at least one of the state value and command value of each motor with the reference value according to the walking cycle, and can calculate the difference between at least one of the synchronized state value and command value and the reference value for each walking cycle.

[0014] The system further includes a user interface generation unit that generates a first user interface menu for setting a target range for the forward-backward force applied to the training-side footboard in comparison to the trainee's reference-side footboard. The control unit compares the absolute value of the forward-backward force applied to the reference-side footboard in the first step with the absolute value of the forward-backward force applied to the training-side footboard in the second step. If the forward-backward force applied to the training-side footboard falls within the target range, the control unit determines that the trainee's walking training is in a normal state. If the forward-backward force applied to the training-side footboard falls outside the target range, the control unit determines that the walking training is in an abnormal state.

[0015] The system further includes a user interface generation unit that generates a first user interface menu for setting a target interval for the longitudinal force applied to the training footboard in comparison to the trainee's reference footboard, and a display, wherein the user interface generation unit can be controlled to generate a second user interface menu that expresses the magnitude of the longitudinal force applied to the reference footboard and the training footboard with respect to the target interval, and to display it on the display.

[0016] The system includes a user interface generation unit that generates a first user interface menu for setting a target value for the forward and backward force applied by the trainee to the training footboard, and the training feedback information includes virtual reality-based feedback information corresponding to each of a plurality of pre-set training states. The control unit calculates the difference between the forward and backward force applied to the training footboard and the target value, and generates and provides virtual reality-based feedback information corresponding to one of the plurality of training states according to the calculated value.

[0017] The control unit may also include a speaker, and if the forward / backward force applied to the training footplate deviates from the target interval, or if the timing of the forward / backward force applied to the training footplate deviates from normal, the control unit may generate an audio feedback signal indicating the timing of the forward / backward force that should be applied to the training footplate, and may output this signal via the speaker.

[0018] The control unit further includes a user interface generation unit for setting a target value for the forward and backward force applied to the training footboard of the trainee, and the control unit can correct at least one of the walking trajectory and speed relating to at least one of the reference footboard and the training footboard according to the difference in the forward and backward force between the reference footboard and the training footboard, or the difference between the forward and backward force of the training footboard and the target value.

[0019] On the other hand, the above objective can also be achieved by a walking rehabilitation robot comprising: a pair of footboards on which a trainee can place their left and right feet for walking training; a pair of footboard support units connected to each of the pair of footboards; a pair of walking drive units for driving each footboard and each footboard support unit, wherein each walking drive unit includes a motor for moving each footboard in the front-rear direction, an encoder connected to the motor for detecting the position and speed of the motor, and a motor driver for controlling the motor; a control unit that controls the pair of walking drive units so that each footboard moves and rotates according to a preset walking trajectory and speed; and a memory that stores a reference value for at least one of the position and speed of each motor according to the preset walking trajectory and speed, wherein the motor driver compares at least one of the position and speed values ​​of the motor calculated by the encoder in the load state with the reference value, calculates a feedback command value according to the error and applies it to the motor, and the control unit calculates the front-rear force applied to each footboard by each foot during walking training based on the feedback command value.

[0020] On the other hand, the above objective can also be achieved by a training method for a walking rehabilitation robot, which includes a pair of footboards on which a trainee can place their left and right feet for walking training, and a pair of motors for moving each of the pair of footboards in the front-rear direction, the method comprising: storing a reference value corresponding to each motor for at least one of the control and state of each motor according to a preset walking trajectory and speed; acquiring at least one of the state value and control command value of each motor in a loaded state; and calculating the front-rear force applied to each footboard by each foot during walking training based on the difference between the at least one of the acquired state value and command value for each motor and the reference value of each motor corresponding to the current walking trajectory and speed.

[0021] The method further includes a step of comparing the forward and backward forces between the reference footplate and the training footplate to generate and provide training feedback information regarding the trainee's walking training state, wherein the training feedback information may include at least one of visual feedback information, auditory feedback information, and tactile feedback information.

[0022] The procedure further includes setting a target value for the force applied to the training footboard by the trainee, wherein the training feedback information includes virtual reality-based feedback information corresponding to each of a set of pre-configured training states, and the step of generating and providing the training feedback information may include calculating the difference between the force applied to the training footboard and the target value, and generating virtual reality-based feedback information corresponding to one of the multiple training states according to the calculated value.

[0023] Furthermore, the step of calculating the force in the forward and backward directions may include the step of synchronizing at least one of the state value and command value of the motor with the reference value according to the walking cycle.

[0024] The system may further include the steps of generating and providing a first user interface menu for setting a target range for the longitudinal force applied to the training footboard in comparison to the trainee's reference footboard, and generating and providing a second user interface menu for expressing the magnitude of the longitudinal force applied to the reference footboard and the training footboard with respect to the target value.

[0025] The method may further include the steps of setting a target value for the force applied in the forward and backward direction to the training footboard of the trainee, and correcting at least one of the walking trajectory and speed relating to at least one of the reference footboard and the training footboard according to the difference in the force in the forward and backward direction between the reference footboard and the training footboard, or the difference between the force in the forward and backward direction of the training footboard and the target value. [Effects of the Invention]

[0026] As described above, the walking rehabilitation robot and its control method according to the present invention can estimate the force in the front-rear direction applied to the tread board and determine the walking state by using the difference in the torque values of the motor driver in the no-load state and the load state. Through a training method that makes the force in the front-rear direction on the training side correspond to the force in the front-rear direction on the reference side, training for improving the propulsion force can be provided.

Brief Description of the Drawings

[0027] [Figure 1] It is a schematic diagram of a walking rehabilitation robot according to an embodiment of the present invention. [Figure 2] It is a schematic diagram of a walking drive unit of a walking rehabilitation robot according to an embodiment of the present invention. [Figure 3] It is a perspective view showing a structure of a walking rehabilitation robot according to an embodiment of the present invention. [Figure 4] It is a flowchart showing a control method of a walking rehabilitation robot according to an embodiment of the present invention. [Figure 5] It is a flowchart showing a control method of a walking rehabilitation robot according to an embodiment of the present invention. [Figure 6a] It shows the torque value of the motor in the no-load state estimated by the control unit according to an embodiment of the present invention over time. [Figure 6b] The torque value of the motor in the no-load state in FIG. 6a is separated in walking cycle units, and the separated multiple torques are arranged according to the walking cycle. [Figure 6c] It shows the average value of the torque of the motor according to the walking cycle in the no-load state in FIG. 6b. [Figure 7a] It shows the torque value of the motor in the load state estimated by the control unit according to an embodiment of the present invention over time. [Figure 7b]This shows the first torque under no-load conditions (solid line) and the second torque under load conditions (dotted line). [Figure 7c] This shows the difference between the first torque and the second torque. [Figure 8a] This diagram shows the force applied in the forward and backward direction to the left and right footplates in a walking rehabilitation robot according to one embodiment of the present invention. [Figure 8b] This diagram shows the force applied in the forward and backward direction to the left and right footplates in a walking rehabilitation robot according to one embodiment of the present invention. [Figure 9] This is an example of a feedback screen showing the walking training status of a walking training robot according to one embodiment of the present invention. [Figure 10A] An example of a feedback screen showing the gait training or propulsion force feedback state of a walking rehabilitation robot according to one embodiment of the present invention is shown. [Figure 10B] An example of a feedback screen showing the gait training or propulsion force feedback state of a walking rehabilitation robot according to one embodiment of the present invention is shown. [Figure 10C] An example of a feedback screen showing the gait training or propulsion force feedback state of a walking rehabilitation robot according to one embodiment of the present invention is shown. [Modes for carrying out the invention]

[0028] Specific embodiments of the present invention will be described below with reference to the drawings.

[0029] Preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings. However, detailed descriptions of known functions or configurations that may obscure the gist of the present invention will be omitted in the following description and accompanying drawings. It should also be noted that identical components throughout the drawings are indicated by the same reference numerals whenever possible.

[0030] The terms and words used in this specification and claims, as described below, should not be interpreted in a manner limited to their ordinary or dictionary meanings, but rather in a manner consistent with the technical idea of ​​the present invention, based on the principle that inventors may appropriately define terms as concepts to best describe their invention. Accordingly, it should be understood that the embodiments described herein and the configurations shown in the drawings represent only one of the most preferred embodiments of the present invention and do not represent the entire technical idea of ​​the present invention, and that there may be various equivalents and modifications that can substitute for them at the time of filing.

[0031] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the attached drawings 1 to 10, where the same reference numerals are assigned to identical components in Figures 1 to 10. On the other hand, in each drawing, illustrations and detailed descriptions of configurations, their operations, and effects that can be easily understood by those skilled in the art from the general art will be simplified or omitted, and the description will focus on the parts relevant to the present invention.

[0032] Figure 1 is a schematic diagram of a walking rehabilitation robot according to one embodiment of the present invention, and Figure 2 is a schematic diagram of the walking drive unit 30 of the walking rehabilitation robot according to one embodiment of the present invention.

[0033] Referring to Figures 1 and 2, a walking rehabilitation robot according to one embodiment of the present invention includes a pair of footboards 10 on which a trainee can place their left and right feet for walking training, a pair of footboard support parts 20 to which the footboards 10 are connected, a pair of walking drive units 30 for driving the corresponding footboards 10 and footboard support parts 20, and a control unit 40 for controlling the pair of walking drive units 30. In Figure 1, for the sake of explanation, only one of each of the footboards 10, footboard support parts 20, and walking drive units 30 is shown, but it should be noted that there are two of each, one on the left and one on the right.

[0034] The footboards 10 are provided on both the left and right sides to allow for stable gait training by placing both of the trainee's feet on them. As long as they have a structure that allows for easy separation of the trainee's feet in the event of rigidity of the trainee or abnormal movement of the gait rehabilitation robot, a variety of configurations are possible without any special restrictions on shape or structure.

[0035] The tread support section 20 is connected to each of the pair of treads 10 and is for supporting the treads 10, and is provided on each of the left and right treads 10.

[0036] The walking drive unit 30 drives the movement and rotation of the corresponding step plate 10 and step plate support 20 based on the control of the control unit 40, which will be described later, in order to realize a walking trajectory, and is provided on both the left and right sides. Each walking drive unit 30 includes a first drive unit 31 that causes the corresponding step plate 10 to move in the front-rear direction, and may further include a second drive unit 32 that causes the corresponding step plate support 20 to rotate, and a third drive unit 33 that causes the corresponding step plate 10 to rotate.

[0037] The first drive unit 31 includes a motor 312b for the forward and backward translational motion of the corresponding footplate 10 and a motor driver 313 for controlling the motor 312b.

[0038] The motor driver 313 controls the motor 312b's movement, such as its position, speed, current, and / or torque, according to a pre-set control algorithm. This can be implemented by a control algorithm, control circuit, microcontroller, and / or processor that conforms to the motor 312b's specifications or a predetermined robot model.

[0039] A first drive unit according to one embodiment of the present invention may further include a current sensor for sensing the current of the motor 312b. The current sensor can be implemented including a resistor or the like for sensing the output current of the motor 312b. The motor driver 313 can receive the current value detected by the current sensor and calculate the torque value of the motor 312b based on this. The motor driver 313 can calculate the torque value from the current value using the torque constant of the motor 312b.

[0040] A first drive unit according to one embodiment of the present invention may further include an encoder connected to the motor 312b for detecting the position and speed of the motor 312b. The motor driver 313 receives the position value or speed value detected by the encoder, compares it with a preset target position value (position command value) or target speed value (speed command value), calculates a command value (current command value, torque command value) for feedback control so as to minimize the difference (error), and applies it to the motor 312b.

[0041] The control unit 40 controls each walking drive unit 30 so that each step plate 10 moves and rotates according to a preset walking trajectory and speed, and analyzes walking using state values ​​or control command values ​​related to the state of each motor 312b, and includes a memory that stores control program code and data, and a processor that executes the control program code.

[0042] The memory may consist of a recording medium readable by a computing device, including non-volatile memory such as ROM (Read Only Memory), EPROM (Erasable Programmable ROM), EEPROM (Electrically Erasable Programmable ROM), and flash memory; storage such as HDD (Hard Disk Drive), SSD (Solid State Disk), and removable disks; volatile memory such as RAM (Random Access Memory); or any form of computer-readable recording medium well known in the art to which this invention belongs. The memory can store at least one computer program code executed by a processor. Such computer program code can also be loaded into the memory from a floppy drive, disk, memory card, etc., separate from the memory built into the device. The memory can store software for gait analysis and trainee gait data, etc.

[0043] The processor is used to perform basic logic, calculations, and arithmetic operations, and to execute and process instructions for a computer program. It may consist of at least one of a CPU (Central Processing Unit), an MPU (Micro Processor Unit), an MCU (Micro Controller Unit), a GPU (Graphic Processing Unit), or any other form of processor well known in the art of the present invention. Computer program code stored in memory is loaded into the processor and executed. The processor can execute algorithms stored in memory to analyze walking in real time and perform a series of functions such as correcting walking trajectories and speed.

[0044] On the other hand, reference values ​​relating to the state or control of the motor 312b operating under no-load conditions are stored in memory. The reference values ​​include at least one of the following: current value, torque value, position value, speed value, current command value, force command value, position command value, and speed command value of the motor 312b under no-load conditions.

[0045] According to one embodiment of the present invention, the control unit 40 can drive each walking drive unit 30 according to a preset walking trajectory and speed in an unloaded state, acquire reference values, and store them in memory. An unloaded state means a state in which no person is riding in the walking rehabilitation robot.

[0046] As described above, the current value is detected by the current sensor, the torque value is calculated by the motor driver 313, and the position and speed values ​​are calculated by the encoder. The current command value, force command value, position command value, and speed command value are values ​​applied from the motor driver 313 to the motor 312b and can be obtained via the motor driver 313.

[0047] In the walking rehabilitation robot according to the present invention, the walking trajectory and speed are predetermined values ​​according to the training mode, and since the walking trajectory and speed differ depending on the training mode, the control unit 40 can operate the walking drive unit 30 in an unloaded state in multiple training modes, acquire reference values ​​for the state or control of the motor 312b according to each training mode, and store these in memory.

[0048] According to another embodiment of the present invention, the reference value may be a control value or state value of the motor 312b, which is predetermined according to the specifications of the motor 312b or the robot model. In this case, the reference value is stored in the memory of the motor driver 313 or the memory of the control unit 40 during the manufacture of the walking rehabilitation robot and can be updated by the control unit 40.

[0049] The memory in which the reference value is stored can be configured as being included in the motor driver 313 or the control unit 40, or it can be provided separately.

[0050] The control unit 40 receives at least one of the state values ​​and control command values ​​from each walking drive unit 30 in a loaded state, and calculates the forward and backward force applied to the footboard 10 by the foot during walking training based on the difference between at least one of the received state values ​​and command values ​​and the reference value of the motor 312b corresponding to the current walking trajectory and speed.

[0051] The term "loaded state" refers to the condition in which a trainee is riding in a walking rehabilitation robot and performing walking training.

[0052] The state values ​​related to the state of the motor 312b include at least one of the position value, speed value, current value, and torque value of the motor 312b, and can be detected or calculated by an encoder, current sensor, or motor driver 313.

[0053] As described above, the current value is detected by the current sensor, the motor driver 313 can calculate the torque value based on the current value, the position value and speed value are calculated by the encoder, and the control unit 40 can receive the status values ​​of the motor 312b via the current sensor, encoder, and motor driver 313.

[0054] In another embodiment, if the motor driver 313 is connected to a current sensor and an encoder for controlling the motor 312b and knows the status values ​​of the motor 312b, the control unit 40 can receive status values ​​such as current value, torque value, position value, and speed value of the motor 312b via the motor driver 313.

[0055] In another embodiment, the motor driver 313 can receive a position value or velocity value of the motor 312b from the encoder and calculate a current value or torque value of the motor 312b from it. For example, during walking training, the motor driver 313 can apply a target command value (position command value or velocity command value) to the motor 312b to achieve a walking trajectory and velocity according to the training mode, receive the position value or velocity value detected by the encoder, compare it with the target command value, and calculate a current command value or torque command value to overcome the difference (error). Similarly, in the case of feedback control, the motor driver 313 applies the calculated current command value or torque command value to the motor 312b. Based on the target command value and the command value calculated to overcome the difference (error), the motor driver 313 can calculate the current value or torque value of the motor 312b under load and transmit the calculated current value or torque value of the motor 312b to the control unit 40.

[0056] The control unit 40 receives state values ​​and / or command values ​​for control related to the state of each motor 312b acquired by the method described above, compares these with corresponding reference values ​​stored in memory, and calculates the forward and backward force applied to each foot plate 10 by the trainee's feet when under load.

[0057] For the sake of clarity, the following explanation will clarify that the first state value, first current value, first torque value, first position value, first speed value, first command value, first current command value, first torque command value, first position command value, and first speed command value of motor 312b are values ​​relating to the state or control of motor 312b under no-load conditions, while the second state value, second current value, second torque value, second position value, second speed value, second command value, second current command value, second torque command value, second position command value, and second speed command value of motor 312b are values ​​relating to the state or control of motor 312b under load conditions.

[0058] According to the first embodiment, the control unit 40 receives a second current value or a second torque value from a current sensor or motor driver 313 under load conditions, compares the second current value (second torque value) with a first current value (or first torque value) stored in memory, and calculates the forward and backward force applied to each foot plate 10 by the foot based on the difference.

[0059] According to the second embodiment, the control unit 40 receives a second position value or a second speed value from the encoder or motor driver 313 in a loaded state, compares this value with the first position value (or first speed value) stored in memory, and can calculate the forward and backward force applied to each foot plate 10 by each foot based on the difference. The control unit 40 can calculate a current value (or torque value) based on the difference (error) between a reference value in an unloaded state and a state value in a loaded state, and can calculate the forward and backward force applied to each foot plate 10 by each foot based on the calculated current value (torque value).

[0060] According to the third embodiment, the control unit 40 can receive a second current command value (or second torque command value) or a second position command value (or second speed command value) from the motor driver 313 in a loaded state, compare it with the first current command value (or first torque command value) or first position command value (or first speed command value) stored in memory, and calculate the forward and backward force applied to each foot plate 10 by each foot based on the difference.

[0061] According to the fourth embodiment, the control unit 40 can receive command values ​​(current command values ​​or torque command values) related to feedback control from the motor driver 313 in a loaded state, and can calculate the forward and backward force applied to each foot plate 10 by each foot based on the command values ​​for feedback control. Since the command values ​​for feedback control are values ​​that overcome the difference (error) between the current state value of the motor 312b and the target command value, these can be estimated as the forward and backward force applied to each foot plate 10 by each foot.

[0062] The control unit 40 generates and provides training feedback information regarding the walking training state according to the difference in force in the front-rear direction between the reference footplate 10 in the first step and the training footplate 10 in the second step. The training feedback information includes at least one of visual feedback information, auditory feedback information, and tactile feedback information.

[0063] The control unit 40 can provide the trainee with visual, auditory, or tactile feedback on the difference in forward and backward forces between the reference footplate 10 in the first step and the training footplate 10 in the second step, and can guide the training so that the forward and backward forces between the reference and training sides are symmetrical. It can also generate and provide feedback information to the trainee on the timing at which forward and backward forces should be generated.

[0064] A walking rehabilitation robot according to an embodiment of the present invention may further include a display 50 for displaying data and images, a speaker 60 for outputting audio, and a user interface unit 70 for receiving user input. The user interface unit 70 may include, for example, an input device such as a microphone, keyboard, or mouse. It may also include a vibration sensor for providing tactile feedback information to the trainee.

[0065] On the other hand, the control unit 40 may include a user interface generation unit that generates a first user interface menu for setting a target range of the anterior-posterior force that the trainee should generate on the training-side footplate 10. Here, the target range means the magnitude or ratio of the anterior-posterior force of the training-side footplate 10 compared to the anterior-posterior force of the reference-side footplate 10, and the user can select one range from 30% to 100% in the first user interface menu. The target range can be set by the user, who is a therapist, and can be set appropriately according to the trainee's walking health condition. For example, if the user selects 50% in the first user interface menu, the control unit 40 sets the target range to 50% to 100%. According to another embodiment of the present invention, the first user interface menu of the user interface generation unit may further include an item for setting a target value of the anterior-posterior force that should be generated on the training-side footplate 10.

[0066] The user interface generation unit can generate a second user interface menu that compares and displays the magnitude of the forward and backward forces applied to the reference footplate 10 and the training footplate 10. The control unit 40 generates a second user interface menu that visually represents the magnitude of the forward and backward forces applied to the reference footplate 10 and the training footplate 10 during gait training, and displays it on the display so that the trainer or therapist can confirm it. In addition, the second user interface menu can display the forward and backward forces applied to the reference footplate 10 and the training footplate 10 in different colors, and can also display the target range for the forward and backward force on the training footplate 10, visually indicating whether the current forward and backward force applied to the training footplate 10 falls within the target range, is insufficient, or exceeds it. This allows the trainer or therapist to understand whether the force applied to the training footplate 10 is appropriate or if more force needs to be applied, thereby making the training more effective.

[0067] In another embodiment of the present invention, the control unit 40 can be controlled to generate an audio feedback signal and output it via a speaker, or generate a tactile feedback signal and output it via a vibration sensor, if the forward and backward force applied to the training footplate 10 deviates from a set target interval, or if the timing of the forward and backward force applied to the training footplate 10 deviates from normal. This allows the trainee to know when to apply force to the training foot, thereby helping to ensure that gait training is performed correctly.

[0068] Figure 3 is a perspective view showing one structure of a walking rehabilitation robot according to one embodiment of the present invention. Although Figure 3 shows an end-effector type as an example of a walking rehabilitation robot, it should be noted that the present invention is not limited to this and is applicable to various types of footboard 10 walking rehabilitation devices, such as treadmill type devices.

[0069] Referring to Figure 3, a walking rehabilitation robot according to one embodiment of the present invention includes a weight support unit 1 for supporting the weight of a trainee such as a trainee who requires walking rehabilitation training, a pair of footboards 10 and a pair of footboard support units 20 arranged symmetrically on both sides of the weight support unit 1 so that a trainee riding on the weight support unit 1 can substantially perform walking rehabilitation training, and a pair of walking drive units 30 for moving and rotating the footboards 10 and the footboard support units 20.

[0070] Each footplate support section 20 is formed in an arm shape, with one end connected to a transport mechanism (described later) and the other end to which a footplate 10 is attached. It consists of a support link connected to the output terminal of the support section reduction device and a support section housing coupled to this support link.

[0071] Each walking drive unit 30 consists of a first drive unit 31 that moves the tread support unit 20 in the forward and backward direction, a second drive unit 32 that rotates the tread support unit 20, and a third drive unit 33 that rotates the tread 10. The first drive unit 31 is not mounted on a structure installed on the floor surface, but rather the drive unit hanger member 24 is configured to be installed in a manner that it is suspended from the side.

[0072] Regarding the structure of the end-effector type walking rehabilitation robot, a similar structure is described in Korean Registered Patent Nos. 10-1623686 and 10-2127011, etc., so the specific structure will be described separately, and only the first drive unit 31 that drives the translational motion of the foot plate 10 will be further examined.

[0073] Each first drive unit 31 can be a drive unit that performs a movement operation in the front-rear direction of the footplate support unit 20, and can consist of a transport mechanism unit to which the footplate support unit 20 is connected, and a transport drive unit 312 that applies driving force to the transport mechanism unit.

[0074] Each transport mechanism may include a guide rail installed in a manner that suspends it along the direction of translational motion, a slider connected to the guide rail, and a transport base on which the slider and the footplate support 20 are installed. Here, the guide rail and slider can be selected and applied without special restrictions as long as they are linear motion mechanism guide means that can effectively guide linear motion.

[0075] Each transport drive unit 312 can consist of a belt-shaped transport belt fixed at both ends to the vertical base of the transport base via a fixed bracket and installed to move along the arrangement path of the guide rail, a motor 312b that generates and provides driving force for the movement of the transport belt, a transport unit reduction device connected to the motor shaft of the motor 312b and performing a reduction function, a transport unit drive pulley installed at the output end of the transport unit reduction device on which one side of the transport belt is engaged, and a transport unit driven pulley positioned spaced apart from the transport unit drive pulley on which the other side of the transport belt is engaged. The motor 312b is assembled to the drive unit hanger member 24 via a coupling bracket, and a motor-side drive pulley is installed on the motor shaft. The transport unit reduction device is assembled to the drive unit hanger member 24 via a coupling bracket, and a reduction-side electric pulley is installed on which the other side of a belt (not shown) is engaged, with one side of the belt engaged on the motor-side electric pulley, and a transport unit drive pulley can be installed at the output end. The transport unit driven pulley can be rotatably mounted on a coupling bracket assembled to the drive unit hanger member 24.

[0076] When the motor 312b is driven, the rotational force of the motor-side drive pulley is transmitted to the reduction-side drive pulley via a belt (not shown) in each first drive unit 31. After the rotational force is reduced by the conveyor unit reduction device, it is output to the conveyor unit drive pulley and transmitted to the conveyor belt that is wound between it and the conveyor unit driven pulley. As a result, when the conveyor belt moves in forward and reverse orbital motion, the conveyor base, which is fixed to the conveyor belt via a fixed bracket, moves in the front-rear direction, and the foot plate support unit 20, which includes the foot plate 10 coupled to this conveyor base, also moves in the front-rear direction.

[0077] Each transport drive unit 312 can be configured, in addition to the belt drive system described above, as a component that applies driving force for the movement of the slider (not shown), with a servo motor (not shown) attached to a guide rail that generates driving force and a ball screw (not shown) connected to this servo motor that rotates and moves the slider in the front-rear direction.

[0078] Each motor driver 313 applies a command value to control the drive of the motor 312b of the first drive unit, and the command values ​​applied from the motor drivers 313 can be monitored by the control unit 40. Furthermore, the motor driver 313 according to one embodiment of the present invention can continuously or periodically calculate the torque value of the motor 312b, and the calculated value is transmitted to the control unit 40.

[0079] The following describes a control method for a walking rehabilitation robot according to one embodiment of the present invention, with reference to Figure 4. Figure 4 is a flowchart showing the control method for a walking rehabilitation robot according to one embodiment of the present invention.

[0080] The control unit 40 drives the walking rehabilitation robot in an unloaded state, acquires reference values ​​related to the state or control of the motors 312b of each first drive unit 31, and stores them in memory (S10). The reference values ​​may include a first current value detected from a current sensor, a first torque value calculated according to the first current value, or a first position value or first velocity value detected by an encoder, and may include a first current command value or first torque command value, a first position command value or a first velocity command value applied from each motor driver 313. As described above, the reference values ​​can be calculated based on predetermined specifications of each motor 312b and a robot model.

[0081] Reference values ​​can be acquired continuously or periodically according to the gait cycle. After repeatedly acquiring values ​​for each gait cycle, the average value can be calculated and set as the reference value.

[0082] The control unit 40 acquires a second state value or second command value for each motor 312b from the walking drive unit 30, for example, each motor driver 313, when under load (i.e., during walking training) (S11), and estimates the force applied to each step plate 10 in the forward and backward direction based on the difference between the two values ​​compared with the corresponding reference value (S13).

[0083] The second state value under load conditions may include a second current value detected from a current sensor, a second torque value calculated according to the second current value, or a second position value or second speed value detected by an encoder, and may also include a second current command value or second torque command value, a second position command value or a second speed command value applied from the motor driver 313.

[0084] The control unit 40 calculates the difference between the second state value or second command value of each motor 312b acquired under load conditions and a reference value, synchronized with the walking cycle. Therefore, the forward and backward force applied to each step plate 10 by each foot is calculated as a continuous value over time.

[0085] The control unit 40 compares the forward and backward forces of the reference footplate 10 in the first step and the training footplate 10 in the second step (S15), and generates and provides the comparison result as training feedback information (S17).

[0086] Hereinafter, with reference to Figures 5 to 9, a control method for a walking rehabilitation robot according to an embodiment of the present invention will be described. In the following embodiment, as an example, the motor driver 313 calculates the torque value of the motor 312b based on the current value detected from the current sensor, or the position value or velocity value detected from the encoder, etc.

[0087] Figure 5 is a flowchart showing a control method for a walking rehabilitation robot according to one embodiment of the present invention.

[0088] The control unit 40 drives the walking rehabilitation robot in an unloaded state, and the motor driver 313 calculates a first torque value for the motor 312b (S20). An unloaded state means a state in which no trainee is on the walking training device. The control unit 40 controls the walking drive unit 30 to be driven in multiple walking training modes according to a preset walking training program in the unloaded state, and the motor driver 313 calculates the torque value of the motor 312b periodically or continuously. The control unit 40 receives the torque value of the motor 312b according to each walking training mode calculated by the motor driver 313 and stores it as a reference value, i.e., a first torque value.

[0089] Specifically, under the control of the control unit 40, the motors 312b of each first drive unit 31 move in the forward and backward directions to translate the footboard support unit 20, the motors of each second drive unit 32 move in the forward and backward directions to rotate the footboard support unit 20, and the motors 312b of each third drive unit 33 move in the forward and backward directions to rotate the footboard 10. At this time, the control unit 40 considers the torque value of each motor 312b transmitted from each motor driver 313 as the first torque value in the no-load state.

[0090] Figure 6a shows the torque value of motor 312b in an unloaded state calculated by motor driver 313 according to one embodiment of the present invention, as it is observed over time. It can be seen that in an unloaded state, the torque value of motor 312b remains constant according to the walking cycle.

[0091] The control unit 40 can calculate the forward and backward force applied to each foot plate 10 by directly utilizing the torque values ​​of each motor 312b, or it can estimate or directly measure the current value based on the torque values ​​of each motor 312b calculated from each motor driver 313, and use this to calculate the forward and backward force. In the following embodiment, the control unit 40 will be described as directly utilizing the torque values ​​calculated by the motor driver 313 as an example.

[0092] Figure 6b shows the torque values ​​of motor 312b in the no-load state of Figure 6a separated by gait cycle units, with the separated torques arranged according to the gait cycle. Since the control unit 40 stores gait cycle data according to the gait training program, it can separate and arrange the torque values ​​of motor 312b calculated by motor driver 313 according to the gait cycle, as shown in Figure 6b.

[0093] Figure 6c shows the average torque of motor 312b according to the walking cycle in the no-load state shown in Figure 6b, and the control unit 40 determines this average value as the first torque value in the no-load state.

[0094] Here, the walking program separates and calculates the average value of only the anterior-posterior forces that have the same walking cycle or walking trajectory, on a walking cycle basis.

[0095] On the other hand, since the torque value of the motor 312b changes according to the walking trajectory and speed, if the walking training program includes multiple walking training modes corresponding to various walking trajectories and walking speeds, the control unit 40 operates the walking drive unit 30 in multiple walking training modes, calculates a first torque value of the motor 312b corresponding to the various walking trajectories and walking speeds, and stores this in memory as a data table.

[0096] The control unit 40 drives the walking rehabilitation robot under load conditions according to the walking training program selected by the user during walking training, and the motor driver 313 calculates the torque value of the motor 312b of the first drive unit 31 (S21).

[0097] The load state refers to the state in which a trainee is on board the walking training robot and performing walking training. The control unit 40 controls the walking drive unit 30 so that it is driven according to a preset walking training program while the trainee is on board the walking training robot, and considers the torque value of the motor 312b of the first drive unit 31, calculated by the motor driver 313, as the second torque, which is the torque value of the motor 312b in the load state.

[0098] Referring to Figure 3, when a trainee is about to receive walking training, they move to the entrance of the access space between the cover members where the left and right walking drive units 30 are located, stop in close proximity to the footboard 10, then get into the wheelchair with their buttocks positioned on the saddle, fix their feet in place on the footboard 10 of the walking drive unit 30, and then perform walking rehabilitation according to the walking training program selected by the user, using the walking drive unit 30 which is operated under the control of the control unit 40.

[0099] When a trainee sits on the seat and their feet are positioned on the footboards 10, the walking drive unit 30, under the control of the control unit 40, operates the motors 312b of each first drive unit 31 in response to an input signal, causing each footboard support unit 20 to move in the forward and backward directions, while the motors 312b of each second drive unit 32 operate, causing each footboard support unit 20 to rotate, and the motors 312b of each third drive unit 33 operate, causing each footboard 10 to rotate, thereby enabling the trainee to practice walking. At this time, the control unit 40 considers the torque value of the motor 312b transmitted from the motor driver 313 as the second torque value of the motor 312b under load.

[0100] Figure 7a shows the torque value of motor 312b under load conditions estimated by the control unit 40 according to one embodiment of the present invention, as it is determined over time, and it can be confirmed that a second torque value of motor 312b is calculated over time. The motor driver 313 calculates the second torque value of motor 312b in real time for each walking cycle during walking training.

[0101] Under no-load conditions, the torque value is separated by walking cycle and the average value is calculated. However, under load conditions, it is separated in real time by walking cycle and a second torque value, which is the torque value of motor 312b for that walking cycle, is calculated.

[0102] The control unit 40 searches for a first torque value corresponding to the current walking training mode from the reference values ​​stored in memory, compares this with a second torque value, and estimates the forward and backward force applied to each step plate 10 at the moment (S23).

[0103] The control unit 40 synchronizes the first torque value and the second torque value with the walking cycle, then calculates a first difference value which is the difference between the first torque value and the second torque value in the synchronized walking cycle, and estimates the forward and backward force applied to each foot tread 10 by each foot in that walking cycle based on the first difference value.

[0104] Figure 7b shows the first torque value (solid line) under no-load conditions and the second torque value (dotted line) under load conditions, while Figure 7c shows the difference between the first and second torque values.

[0105] The control unit 40 continuously monitors the torque value of the motor 312b during walking training, and uses the walking cycle data to calculate the difference in torque value of the motor 312b in the loaded state and the unloaded state for each walking cycle, thereby calculating the forward and backward forces applied to the reference side footplate 10 and the training side footplate 10, respectively, i.e., the forward force and the forward and backward forces.

[0106] As described above, if the walking training program includes multiple walking training modes having multiple different walking cycles or walking trajectories, the control unit 40 extracts a first torque in an unloaded state corresponding to the walking trajectory and speed according to the currently selected walking training mode from memory, compares this with the currently estimated second torque value to calculate the force applied in the forward and backward direction to each step plate 10.

[0107] The control unit 40 compares the forward and backward forces applied to the reference footplate 10 and the training footplate 10 respectively (S25), generates training feedback information regarding the walking training state based on the difference, and provides it to the trainee (S27).

[0108] The reference footplate 10 refers to the footplate on which a healthy foot, such as a non-paralyzed foot, is placed, and the training footplate 10 refers to the footplate on which an unhealthy foot, such as a paralyzed foot, is placed. The user can set the reference side and the training side of the pair of footplates 10 via the user interface unit 70.

[0109] The control unit 40 compares the absolute value of the force applied to the reference footplate 10 in the forward and backward direction in the first step with the absolute value of the force applied to the training footplate 10 in the forward and backward direction in the second step. If the force applied to the training footplate 10 falls within the target range when compared to the force applied to the reference footplate 10, the control unit 40 determines that the walking training is being performed normally. If the force applied to the training footplate 10 falls outside the target range, the control unit 40 determines that the walking training is being performed abnormally.

[0110] As mentioned above, the target range of force applied to the training footplate 10 in the forward and backward direction can be set by the user via the first user interface menu.

[0111] On the other hand, if no target interval is set, the control unit 40 can determine that the trainee's walking training is normal to the extent that the force applied to the reference footplate 10 and the force applied to the training footplate 10 are symmetrical.

[0112] Figures 8a and 8b show the forward and backward forces applied to the left and right footplates 10 in a walking training robot according to one embodiment of the present invention.

[0113] Referring to Figures 8a and 8b, the solid lines represent the force in the forward and backward direction of the training-side footboard 10, and the dotted lines represent the force in the forward and backward direction of the reference-side footboard 10. During walking training, both feet cross as they step, so the directions of those forces are shown intersecting.

[0114] The following assumes that the target range of force applied to the training footboard 10 is set to 90% to 100%.

[0115] In Figure 8a, the absolute value B of the force applied to the training footboard 10 in the current step does not reach 90% of the target interval, compared to the absolute value A of the force applied to the reference footboard 10 in the previous step. Therefore, the control unit 40 determines that the gait training is not in a normal state.

[0116] Similarly, in Figure 8b, the absolute value B of the force applied to the training footboard 10 is approximately the same as the absolute value A of the force applied to the reference footboard 10 in the previous step, and since it falls within the target range of 90% to 100%, the control unit 40 determines that the gait training is in a normal state.

[0117] The control unit 40 determines that the training is being conducted normally if the forward-backward force applied to the training footplate 10 falls within a preset target range, compared to the forward-backward force applied to the reference footplate 10 during walking training. If no target range is set, the control unit 40 can determine that the walking training is normal if the forward-backward force on the training footplate 10 falls within a range of 90-100% compared to the reference footplate.

[0118] The control unit 40 can generate and provide training feedback information regarding the trainee's gait training state based on the forward and backward forces applied to the reference footplate 10 and the training footplate 10. For example, the control unit can provide the user with at least one of the following: visual feedback using the display 50, audio feedback using a speaker, or tactile feedback using a vibration sensor or the like. This allows the trainee or training instructor to know whether the gait training at each step belongs to the set target section and is being performed normally, and if the training has not reached the target section, they can guide the trainee to apply more force to the training foot to train correctly. In addition, if the timing of the force applied to the training footplate 10 is off, the control unit 40 can generate and output a timing audio signal, which can guide the user to correctly apply force to the training foot at the right time.

[0119] Figure 9 shows an example of a feedback screen for the gait training state of a gait training robot according to one embodiment of the present invention. Referring to Figure 9, the anterior-posterior forces applied to the reference and training footplates are displayed synchronously according to the gait cycle, making the difference more intuitive to understand. Furthermore, displaying the anterior-posterior forces numerically provides more accurate data. In Figure 9, the vertical axis of the graph represents torque, the horizontal axis represents the gait cycle, and the target value TF (e.g., -150) of the anterior-posterior force set on the graph can be seen. The lower left corner of the feedback screen includes the reference leg, the target value of the anterior-posterior force, and / or multiple user interface items for setting the audio feedback timing, while the right side includes user interface items for setting the gait training.

[0120] When the trainee is a hemiplegic patient, the efficiency and effectiveness of the training can be improved by comparing the anterior-posterior forces of the reference side and the trained side during gait training and providing visual and / or auditory feedback to increase the anterior-posterior force of the trained side.

[0121] Furthermore, if the difference in force between the reference side and the training side in the forward and backward directions continuously deviates from the target interval, or if the target value set for the training side footplate is not met, the control unit can change to a walking training mode at a different training level than the current walking training mode, or correct at least one of the walking trajectory and speed related to at least one of the reference side footplate and the training side footplate. In this way, the control unit changes to an appropriate walking training mode according to the trainee's training status, enabling the trainee to perform more effective walking training.

[0122] On the other hand, in other embodiments of the present invention, virtual reality-based visual, auditory, and / or tactile feedback can be provided. For example, by using a software program that provides a VR (Virtual Reality) environment and a device such as an HMD (Head Mounted Display) or display screen, visual feedback can be expressed during walking training by changing the speed of virtual reality-based images or backgrounds in accordance with the anterior-posterior forces of the reference side and the training side, thereby promoting an improvement in the trainee's understanding of the training situation. For example, the virtual reality-based feedback information includes feedback information corresponding to each of a plurality of pre-set training states, and during walking training, virtual reality-based feedback information corresponding to one of the plurality of training states can be generated and provided in accordance with the difference in anterior-posterior forces between the reference side and the training side. For example, the present invention can divide the training state into multiple levels of training states according to the difference in anterior-posterior forces generated by the legs of the reference side and the training side, or the extent to which the anterior-posterior force by the training leg satisfies a target interval or target value. For example, the control unit can compare the anterior-posterior force of the training leg with the anterior-posterior force of the reference leg or a target value, classify it into seven levels such as very insufficient, insufficient, slightly insufficient, normal, slightly excessive, excessive, and very excessive (or three or five levels such as insufficient, normal, and excessive are also possible), and generate and provide virtual reality feedback information corresponding to the training state.

[0123] Figures 10A, 10B, and 10C show three examples of feedback screens that display the gait training or propulsion force feedback state of a walking rehabilitation robot according to one embodiment of the present invention. In each of Figures 10A, 10B, and 10C, (a) shows only the graph from the feedback screen of Figure 9, and, similar to Figure 9, the torque value is displayed on the vertical axis and the gait cycle is displayed on the horizontal axis. Furthermore, the feedback screen in (a) displays both the waveform of the torque value of the training side (e.g., paretic side) leg and the waveform of the torque value of the reference side (e.g., non-paretic side) leg over the gait cycle. In addition, the set target force TF value is displayed on the graph so that the user can confirm whether the target force has been reached. For the sake of explanation, only the graph is shown in (a) of Figures 10A to 10C, but the feedback screen may have the same configuration as in Figure 9.

[0124] In Figures 10A, 10B, and 10C, (b) represents virtual reality-based feedback information corresponding to (a). For example, a scene is shown in which an avatar wearing shorts and a hoodie walks along a path with several dogs. In the upper left corner of the virtual reality-based feedback screen, three values ​​are displayed: distance, speed, and posterior force. "Distance" shows the distance walked by the subject in meters, "Speed" shows the subject's current speed (meters per second), and "Posterior Force" shows the posterior force (propulsive force) exerted by the subject. For the sake of explanation, the feedback screen is shown separated into (a) and (b), but it goes without saying that (a) and (b) can be arranged side by side or top and bottom on a single screen.

[0125] Referring to the feedback screen in Figure 10A(a), it can be confirmed that the target force value is set to -150, which is the same as the backward force applied to the reference footboard. However, the feedback screen in Figure 10A(a) shows that the subject's training side backward force does not reach the target force value (-150). In the virtual reality-based right-side feedback screen in (b), the control unit 40 shows the avatar not holding the lead and the dogs walking considerably ahead of the avatar. Such a virtual reality-based feedback screen shows that the propulsive force of the training side (paralyzed side) leg is asymmetrical with that of the reference side, and guides the subject to generate more force with the paralyzed leg. In summary, if the target training side backward force is less than the target force TF, the lack of propulsive force generation can be represented in virtual reality by having the dogs run ahead of the person without a lead.

[0126] In Figure 10B, the feedback screen in (a) reflects that the subject has achieved the target force (-150). Accordingly, the virtual reality-based feedback screen in (b) shows the avatar holding one leash of a dog beside it, with the other two dogs walking ahead of the avatar. This feedback screen reflects normal gait, indicating that the propulsive force of the paralyzed leg is symmetrical, or that the subject is generating sufficient force with the paralyzed leg.

[0127] The feedback screen in Figure 10C (a) reflects that the subject has achieved a target force (-150) that is more than twice the target force. The torque waveform of the paralyzed leg drops to below -300, which corresponds to twice the target force of -150. Accordingly, the virtual reality-based feedback screen in (b) shows an avatar holding multiple lead dogs and jogging with dogs beside it, with no dogs walking ahead. Such virtual reality-based feedback screens reflect the symmetrical or superior gait of the propulsive force provided, confirming that the paralyzed leg is exerting a force far exceeding the target force. In summary, when the posterior force of the trained leg significantly exceeds the target force (e.g., about twice), it is possible to represent the generation of a very strong propulsive force in virtual reality by showing multiple lead dogs and a person holding all the lead dogs and running ahead of them.

[0128] In this way, virtual reality-based feedback information allows trainees to more intuitively understand their own walking state by visualizing backward forces in real time within the virtual environment.

[0129] In the embodiment described above, the torque value (first torque value or second torque value) is calculated from the current value of the motor 312b to estimate the force in the forward and backward direction applied to the foot plate 10. However, it should be noted that the force in the forward and backward direction can be estimated using the current value or torque value obtained by the various methods described above.

[0130] In the embodiment described above, the force in the longitudinal direction was estimated by utilizing the difference between the torque of motor 312b in an unloaded state and the torque of motor 312b in a loaded state. However, it should be noted that by storing the torque pattern of motor 312b in an unloaded state, the force in the longitudinal direction can be estimated without any further measurements.

[0131] In the embodiment described above, torque was used in the motor driver 313, but it should be noted that since the robot's controller uses a feedback controller such as a proportional, integral, or differential controller, the current command value and torque command value corresponding to the position difference (error) caused by the forward / backward force generated by the trainee can be estimated. Alternatively, the difference between the current command or force command generated by the controller under load and the current command or torque command calculated by a previously known robot model can be compared, and that difference can be estimated to be caused by the forward / backward force generated by the trainee.

[0132] In the above-described embodiment, it was explained that the control unit 40 receives a status value or command value of the motor 312b from the motor driver 313. It goes without saying that the control unit 40 can also receive a status value of the motor 312b from the current sensor and encoder and calculate the torque value and control command value of the motor 312b from this value. The state estimation and control of the motor 312b can be performed by the motor driver 313 and / or the control unit 40.

[0133] The present invention can also be implemented using various computer-readable recording media, such as magnetic storage media, optical reading media, and digital storage media, which store a computer program for performing the method according to the present invention when executed on a computer. Furthermore, the order of the steps expressed in the claims is not limited to those steps.

[0134] Although several embodiments of the present invention have been described, those with ordinary skill in the art will understand that it is possible to modify or substitute some of the embodiments without departing from the technical spirit of the present invention. Therefore, the scope of protection of the present invention should be understood to extend to the invention described in the claims and its equivalents. [Explanation of symbols]

[0135] 1: Weight-bearing section 5: Cover component 10: Stepping board 20: Tread support section 30: Walking drive unit 31: First drive unit 312: Conveyor drive unit 312b: Motor 313: Motor Driver 32: Second drive unit 33: Third drive unit 40: Control Unit 50: Display 60: Speaker 70: User Interface Section

Claims

1. In walking rehabilitation robots, A pair of footboards on which the trainee can place their left and right feet for walking training, A pair of tread support parts connected to each of the pair of treads, A pair of walking drive units for driving each corresponding step and each corresponding step support, each walking drive unit including a motor for moving each step in the front-rear direction and a motor driver for controlling the motor, A control unit controls the pair of walking drive units so that each of the footplates moves and rotates according to a preset walking trajectory and speed, Includes a memory that stores a reference value for at least one of the states and controls of each motor according to the preset walking trajectory and speed, The walking rehabilitation robot is characterized in that the control unit receives at least one of the state values ​​and control command values ​​for each motor in a loaded state from each walking drive unit, and calculates the forward and backward force applied to each step plate by each foot during walking training based on the difference between the received state value and at least one of the command values ​​and the reference value corresponding to the current walking trajectory and speed.

2. The aforementioned reference value includes at least one of the following: current value, torque value, position value, speed value, current command value, force command value, position command value, and speed command value of the motor under no-load conditions. The aforementioned state value includes at least one of the motor's current value, torque value, position value, and speed value. The walking rehabilitation robot according to claim 1, characterized in that the command value includes at least one of a current command value, a position command value, a speed command value, and a torque command value.

3. Each of the aforementioned walking drive units further includes a current sensor that senses the current of the motor, The reference value of the motor is a first current value of the motor measured via the current sensor in an unloaded state, or a first torque value calculated based on the first current value. The state value is a second current value of the motor measured via the current sensor in the load state, or a second torque value calculated based on the second current value. The walking rehabilitation robot according to claim 1, characterized in that the control unit calculates the forward and backward force applied to each foot by each foot to each foot plate based on the difference between the second current value or second torque value of each motor in the loaded state and the first current value or first torque value of each motor in the unloaded state.

4. The reference value of the motor is the first current command value or the first torque command value applied from the motor driver in an unloaded state. The command value is a second current command value or a second torque command value applied from the motor driver under the load conditions. The walking rehabilitation robot according to claim 1, characterized in that the control unit calculates the forward and backward force applied to each foot by each foot to each foot plate based on the difference between the second current command value or the second torque command value of each motor in the loaded state and the first current command value or the first torque command value of each motor in the unloaded state.

5. Each of the aforementioned walking drive units further includes an encoder connected to the motor for detecting the position and speed of the motor, The reference value of the motor is the first position value or first speed value of the motor in an unloaded state. The state value is a second position value or a second speed value of the motor calculated by the encoder in the load state. The walking rehabilitation robot according to claim 1, characterized in that the control unit calculates the force in the forward and backward direction applied to each foot by each foot to each foot plate based on the difference between the first position value or the first velocity value and the second position value or the second velocity value.

6. The control unit compares the forward and backward forces between the reference footplate in the first step and the training footplate in the second step, and generates and provides training feedback information regarding the trainee's walking training state. The walking rehabilitation robot according to claim 1, characterized in that the training feedback information includes at least one of visual feedback information, auditory feedback information, and tactile feedback information.

7. The aforementioned reference value includes the motor state value or control value obtained according to the multiple different walking trajectories and multiple different speeds, which are controlled so that each walking drive unit operates in a no-load state with multiple different walking trajectories and multiple different speeds. The walking rehabilitation robot according to claim 1, characterized in that it includes control values ​​or state values ​​of the motor determined by the robot model.

8. The walking rehabilitation robot according to claim 1, characterized in that the control unit synchronizes at least one of the state value and command value of each motor with the reference value according to the walking cycle, and calculates the difference between at least one of the synchronized state value and command value and the reference value for each walking cycle.

9. The system includes a user interface generation unit that generates a first user interface menu for setting a target range for the force applied to the training footplate in the forward and backward direction in comparison to the trainee's reference footplate, The walking rehabilitation robot according to claim 1, characterized in that the control unit compares the absolute value of the force applied in the forward and backward direction to the reference footplate in the first step with the absolute value of the force applied in the forward and backward direction to the training footplate in the second step, determines that the trainee's walking training is in a normal state if the force applied in the forward and backward direction to the training footplate falls within the target range, and determines that the walking training is in an abnormal state if the force applied in the forward and backward direction to the training footplate falls outside the target range.

10. A user interface generation unit generates a first user interface menu for setting a target range of force applied to the training footboard in the forward and backward direction in comparison to the trainee's reference footboard, Includes a display, and further, The walking rehabilitation robot according to claim 1, characterized in that the user interface generation unit generates a second user interface menu that expresses the magnitude of the force applied in the forward and backward directions to the reference footplate and the training footplate with respect to the target interval, and controls the user interface generation unit to display it on the display.

11. A user interface generation unit generates a first user interface menu for setting a target value for the force applied in the forward and backward direction to the training foot plate of the trainee, The aforementioned training feedback information includes virtual reality-based feedback information corresponding to each of a set of pre-configured training states. The walking rehabilitation robot according to claim 6, characterized in that the control unit calculates the difference between the force applied in the forward and backward direction to the training foot plate and the target value, and generates and provides virtual reality-based feedback information corresponding to one of the plurality of training states according to the calculated value.

12. Including speakers, The walking rehabilitation robot according to claim 10, characterized in that the control unit generates an audio feedback signal to indicate the timing of the forward-backward force to be applied to the training foot plate when the forward-backward force applied to the training foot plate deviates from the target interval or the timing of the forward-backward force applied to the training foot plate deviates from the normal, and controls the control unit to output the audio feedback signal via the speaker.

13. It includes a user interface generation unit for setting a target value for the force applied in the forward and backward direction to the training foot plate of the trainee, The walking rehabilitation robot according to claim 1, characterized in that the control unit corrects at least one of the walking trajectory and speed relating to at least one of the reference footplate and the training footplate according to the difference in the front-rear force between the reference footplate and the training footplate, or the difference between the front-rear force of the training footplate and the target value.

14. In walking rehabilitation robots, A pair of footboards on which the trainee can place their left and right feet for walking training, A pair of tread support parts connected to each of the pair of treads, A pair of walking drive units for driving each step and each step support, wherein each walking drive unit includes a motor for moving each step in the front-rear direction, an encoder connected to the motor for detecting the position and speed of the motor, and a motor driver for controlling the motor, A control unit controls the pair of walking drive units so that each of the footplates moves and rotates according to a preset walking trajectory and speed, The memory includes a memory that stores a reference value for at least one of the position and speed of each motor, corresponding to the aforementioned preset walking trajectory and speed. The motor driver compares at least one of the motor's position value and speed value calculated by the encoder under the load condition with the reference value, calculates a feedback command value corresponding to the error, and applies it to the motor. The control unit is characterized by calculating the forward and backward force applied to each foot on each step plate during walking training based on the feedback command value, thereby enabling walking rehabilitation robot.

15. A training method for a walking rehabilitation robot, which includes a pair of footboards on which a trainee can place their left and right feet for walking training, and a pair of motors for moving each of the pair of footboards in the front-rear direction, A step of storing a reference value corresponding to each motor for at least one of the control and state of each motor according to the preset walking trajectory and speed, A step of acquiring at least one of the status value and control command value of each motor under load conditions, A training method for a walking rehabilitation robot, comprising the step of calculating the forward and backward force applied to each foot on each step plate during walking training, based on the difference between at least one of the state values ​​and command values ​​acquired for each of the motors and a reference value for each of the motors corresponding to the current walking trajectory and speed.

Images