Rehabilitation medical system for patient with lower limb paralysis, and kiosk included therein

Abstract

Disclosed are a rehabilitation medical system for patient with lower limb paralysis, and a kiosk included therein. The rehabilitation medical device included in the system for a patient with lower limb paralysis includes: a back plate for supporting the back of a patient; a load support unit coupled to the back plate and supporting the load of the back plate; a mounting unit physically connected to the load support unit and supporting the load support unit from the ground; and a main body unit coupled to the upper side of the back plate, configured to rotate the back plate at a predetermined angle, and extending to the lower end of the load support unit.

Description

Rehabilitation medical system for patients with lower limb paralysis and the kiosk included therein

[0001] The present invention relates to a rehabilitation medical system for a patient with lower limb paralysis and a kiosk included therein.

[0002] With the growing elderly population, the domestic rehabilitation medical device market has steadily grown, reaching over KRW 2.4 trillion in 2020. As the aging population accelerates, the elderly population is expected to continue to grow, leading to a surge in demand for senior welfare facilities and facilities for the disabled to accommodate this growing population.

[0003] Meanwhile, these elderly people are suffering from lower extremity paralysis or require rehabilitation equivalent to lower extremity paralysis due to decreased lower extremity muscle strength caused by aging. In addition to the elderly, the proportion of patients requiring rehabilitation due to lower extremity paralysis is high due to brain damage or spinal damage caused by various accidents.

[0004] Currently, most lower extremity rehabilitation medical devices use wearable straps or harnesses to secure the patient and induce walking while the patient is held up from above (or while the patient leans against a support bar). However, because they induce walking movement while the patient is fixed in an environment that is different from the actual walking environment, there is a problem in that the rehabilitation results are delayed or the efficiency is low.

[0005] In addition, some lower extremity rehabilitation medical devices induce walking movement by providing a certain incline while the patient is lying on a bed, but in this case, a wearable strap that can pull the patient from the head side due to the incline on the bed is still required, and there is a rotation axis that provides an incline at the foot side, which interferes with normal walking.

[0006] In addition, even if the patient's natural walking movement is induced, in reality, it is often the case that the patient's leg movement is only unidirectional or linear, so it is often not easy to train the patient to walk freely forward, backward, up, and down.

[0007] In addition, since existing lower extremity rehabilitation medical devices only serve to assist patients in walking, it is impossible to monitor the extent to which patients are walking independently, and guidance from experts who can observe and guide the movement is essential.

[0008] The purpose of the present invention to solve the above problems is to provide a rehabilitation medical system for patients with lower limb paralysis and a kiosk included therein.

[0009] One aspect of the present invention to achieve the above object provides a rehabilitation medical device for a patient with lower limb paralysis.

[0010] The above-mentioned rehabilitation medical device for a patient with lower limb paralysis comprises: a back plate for supporting the patient's back; a load support portion coupled to the back plate and supporting the load of the back plate; a support portion physically connected to the load support portion and supporting the load support portion on the ground; and a main body portion coupled to the upper side of the back plate and extending to the lower end of the load support portion, the main body portion rotating the back plate at a predetermined angle.

[0011] The above main body part includes an inner groove in the shape of an arc extending along the rotational direction of the back plate from the inner side adjacent to the upper side of the back plate so that the upper side of the back plate can be supported by rotation at a predetermined angle.

[0012] The above main body portion is formed in a semicircular shape with a predetermined thickness and is open toward the front.

[0013] The upper side of the above back plate is provided with a protruding rotating part configured to be fitted into the inside of the inner groove and move along the inner groove; the protruding rotating part is formed to be relatively convex on the inside of the inner groove compared to a portion in contact with the inner groove, thereby moving along the inner groove without being separated from the inner groove.

[0014] The above-mentioned rehabilitation medical device for a patient with lower limb paralysis further includes a connecting portion that physically connects the back plate to the load-bearing portion; wherein the connecting portion is formed in a cylindrical shape and can connect the back plate and the load-bearing portion.

[0015] The above connecting portion is coupled to the back plate so as to be rotatable at a predetermined angle.

[0016] When using the rehabilitation medical system for a patient with lower extremity paralysis according to the present invention and the kiosk included therein, the performance of lower extremity rehabilitation exercise can be improved because it induces exercise that is most similar to the patient's actual walking exercise.

[0017] In addition, it has the advantage of effectively establishing a rehabilitation plan and enabling rehabilitation exercise most suitable for the patient's rehabilitation level by monitoring the patient's rehabilitation exercise process and collecting data such as the patient's level of self-exercise and electromyography during this process to evaluate the patient's comprehensive exercise ability.

[0018] Figure 1 is a schematic diagram of a rehabilitation medical system for a paralyzed patient according to one embodiment.

[0019] FIG. 2 is a perspective view of a rehabilitation medical device for a paralyzed patient according to one embodiment.

[0020] FIG. 3 is a modified perspective view of a rehabilitation medical device for a paralyzed patient according to one embodiment.

[0021] FIG. 4 is a drawing showing an inner view of a first walking plate (209a) in a rehabilitation medical device for a paralyzed patient according to one embodiment.

[0022] FIG. 5 is a front view of the connection state between the first foot support part and the walking guide home in a rehabilitation medical device for a patient with lower limb paralysis according to one embodiment.

[0023] FIG. 6 is a block diagram illustrating the functional configuration of a kiosk according to one embodiment.

[0024] Fig. 7 is a diagram showing an example of a health status estimation model according to one embodiment.

[0025] FIG. 8 is a block diagram illustrating a hardware configuration of a kiosk according to one embodiment.

[0026] The present invention is susceptible to various modifications and embodiments. Specific embodiments are illustrated in the drawings and described in detail in the detailed description. However, this is not intended to limit the present invention to specific embodiments, but rather to encompass all modifications, equivalents, and alternatives falling within the spirit and technical scope of the present invention. Throughout the description of each drawing, similar reference numerals have been used to designate similar components.

[0027] Terms such as first, second, A, and B may be used to describe various components, but these components should not be limited by these terms. These terms are used solely to distinguish one component from another. For example, without departing from the scope of the present invention, a first component may be referred to as a second component, and similarly, a second component may also be referred to as a first component. The term "and / or" includes a combination of multiple related items described herein or any of multiple related items described herein.

[0028] When a component is referred to as being "connected" or "connected" to another component, it should be understood that it may be directly connected or connected to that other component, but that there may be other components intervening. Conversely, when a component is referred to as being "directly connected" or "connected" to another component, it should be understood that there are no other components intervening.

[0029] The terminology used in this application is only used to describe specific embodiments and is not intended to limit the present invention. The singular expression includes the plural expression unless the context clearly indicates otherwise. In this application, it should be understood that the terms "comprise" or "have" indicate the presence of a feature, number, step, operation, component, part, or combination thereof described in the specification, but do not exclude in advance the possibility of the presence or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

[0030] Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. Terms defined in commonly used dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the relevant technology, and will not be interpreted in an idealized or overly formal sense unless explicitly defined herein.

[0031] Hereinafter, a preferred embodiment according to the present invention will be described in detail with reference to the attached drawings.

[0032]

[0033] Figure 1 is a schematic diagram of a rehabilitation medical system for a paralyzed patient according to one embodiment.

[0034] Referring to FIG. 1, a rehabilitation medical system (1000) for a patient with lower limb paralysis may include a rehabilitation medical device (200) that supports the patient and a kiosk (100) that monitors the patient's gait supported by the rehabilitation medical device (200).

[0035] The rehabilitation medical device (200) can support the patient's back and feet to maintain an upright posture. At this time, the rehabilitation medical device (200) can support the patient by rotating them at a predetermined angle to assist in maintaining an upright posture in patients who are unable to do so on their own. To this end, the rehabilitation medical device (200) may include a motor for rotating the patient at a predetermined angle.

[0036] In addition, the rehabilitation medical device (200) may further include a walking assistance power unit (e.g., a driving motor (224) according to FIG. 5) capable of assisting the patient's walking. The walking assistance power unit may provide power in a direction corresponding to the movement direction of the patient's feet as the patient walks. For example, the walking assistance power unit may be installed adjacent to the patient's feet to add power corresponding to the movement of the feet.

[0037] In the present invention, the patient may be a patient with a central nervous system disease such as a stroke or spinal cord injury who requires initial rehabilitation, or a patient with unstable gait who requires training.

[0038] The rehabilitation medical device (200) may be equipped with a sensing module that measures the patient's current health status. For example, the sensing module may include an electromyography sensor (EMG) that measures electrical signals generated by contraction or relaxation of the patient's skeletal muscles, and an electrocardiography sensor (ECG) that measures the heart rate of the patient's heart. The EMG sensor may be positioned to contact the patient's foot or calf, thereby detecting the contraction or relaxation of muscles in the foot or calf as electrical signals. The ECG sensor may be positioned to contact the patient's chest, thereby measuring the heart rate. The rehabilitation medical device (200) may obtain measurement data including EMG data indicating contraction or relaxation of muscles located in the patient's foot or calf, and heart rate data indicating the heart rate, by using the sensing module.

[0039] In an additional embodiment, the sensing module may further include a foot pressure measurement system (FPM) positioned on the sole of the patient's foot to measure the patient's plantar pressure (pressure in each area of ​​the sole). The measurement data may further include foot pressure data measured by the FPM.

[0040] The rehabilitation medical device (200) may further be equipped with a functional electronic stimulation (FES) device that induces functional movement by applying external electrical stimulation to paralyzed muscles of the patient to induce muscle contraction. For example, the functional electronic stimulation device may be positioned to contact the patient's foot or calf, thereby inducing functional movement of the patient's foot or calf. In other words, the rehabilitation medical device (200) may assist muscles necessary for walking to function properly by using the functional electronic stimulation device, and may prevent or delay atrophy of the corresponding muscles, thereby preventing functional deterioration of the muscles and inducing muscle development.

[0041] In addition, the rehabilitation medical device (200) may obtain electromyography change data indicating the amount of change in electromyography data due to the electrical stimulation by applying electrical stimulation to the patient's foot or calf using a functional electrical stimulator and measuring the change in electromyography according to the application of the electrical stimulation using an electromyography sensor. Accordingly, the measured data may include electromyography change data.

[0042] The kiosk (100) is placed on one side of the rehabilitation medical device (200) to take pictures of a patient supported by the rehabilitation medical device (200) and monitor the patient's walking status based on the measurement data obtained by communicating with the rehabilitation medical device (200).

[0043] A kiosk (100) may include a body frame part (101) in which a camera (102) for photographing a patient is arranged, a body support part (105) that supports the body frame part (101) on the ground, and a body connection part (104) that physically connects the body support part (105) and the body frame part (101) to each other to transfer the load of the body frame part (101) to the body support part (105).

[0044] The camera (102) can be positioned to capture the front of the kiosk (100) at the upper center of the body frame (101).

[0045] The body frame part (101) may have a display panel (103) placed thereon to display the results of monitoring the patient's walking status.

[0046] The display panel (103) may be a transparent display panel in which the front and back of the panel have a transparent area that transparently transmits light to each other.

[0047] In a specific embodiment, the display panel (103) may include a transparent display panel on which a plurality of data lines (DL to DLm) and a plurality of gate lines (GL1 to GLn) are arranged and a plurality of sub-pixels are arranged, a data driver for driving a plurality of data lines (DL to DLm), a gate driver for driving a plurality of gate lines (GL1 to GLn), and a timing controller for controlling the data driver and the gate driver. Here, the data driver and the gate driver correspond to drivers for driving sub-pixels.

[0048] The data driver drives a plurality of data lines by supplying data voltages to the data lines. The gate driver sequentially drives a plurality of gate lines by sequentially supplying scan signals to the gate lines. The timing controller controls the data driver and the gate driver by supplying various control signals to the data driver and the gate driver. The timing controller starts a scan according to the timing implemented in each frame, converts the input image data input from the outside into a data signal format used by the data driver, outputs the converted image data, and controls the data drive at an appropriate time according to the scan.

[0049] The gate driver sequentially supplies scan signals of on voltage or off voltage to multiple gate lines under the control of the timing controller, thereby sequentially driving multiple gate lines.

[0050] Depending on the driving method or the transparent display panel design method, the gate driver may be located on only one side of the transparent display panel, or in some cases, on both sides. In addition, the gate driver may include one or more gate driver integrated circuits.

[0051] Each gate driver integrated circuit may be connected to a bonding pad of a transparent display panel using a tape automated bonding (TAB) method or a chip on glass (COG) method, or may be implemented as a gate in panel (GIP) type and placed directly on the transparent display panel, or in some cases, may be placed and integrated on the transparent display panel.

[0052] Each gate driver integrated circuit can be implemented in a chip-on-film (COF) manner. In this case, the gate driving chip corresponding to each gate driver integrated circuit is mounted on a flexible film, and one end of the flexible film can be bonded to a transparent display panel.

[0053] The data driver drives multiple data lines by converting image data received from the timing controller into analog data voltages and supplying them to multiple data lines when a specific gate line is opened.

[0054] A data driver can drive multiple data lines, including at least one source driver integrated circuit.

[0055] Each source driver integrated circuit may be connected to a bonding pad of a transparent display panel by a tape automated bonding (TAB) method or a chip on glass (COG) method, or may be placed directly on the transparent display panel, or in some cases may be placed and integrated on the transparent display panel.

[0056] Additionally, each source driver integrated circuit can be implemented in a chip-on-film (COF) manner. In this case, a source driving chip corresponding to each source driver integrated circuit is mounted on a flexible film, one end of the flexible film is bonded to at least one source printed circuit board (SPC), and the other end is bonded to a transparent display panel.

[0057] The source printed circuit board is connected to the control printed circuit board via a connection medium such as a flexible flat cable (FFC) or a flexible printed circuit (FPC).

[0058] A timing controller is arranged on the control printed circuit board. A power controller (not shown) that supplies various voltages or currents to, or controls various voltages or currents to be supplied to, a transparent display panel, a data driver, a gate driver, etc. may be further arranged on the control printed circuit board.

[0059] The source printed circuit board and the control printed circuit board mentioned above may be formed as a single printed circuit board. The display panel (103) according to the present embodiments may be a liquid crystal display device, an organic light emitting display device (OLED), etc. More preferably, the display panel (103) may be an organic light emitting display device (OLED).

[0060] Meanwhile, the transparent display panel may be composed of a transparent area having multiple transparent portions and a non-transparent opaque area, and the multiple transparent portions are arranged in a matrix type in the transparent area. Here, with respect to the multiple transparent portions being arranged in a matrix type, multiple transparent portions arranged in the same row are referred to as one transparent portion row, and multiple transparent portions arranged in the same column are referred to as one transparent portion column. The opaque area is composed of a light-emitting area where light is emitted and a non-light-emitting area where light is not emitted. The non-light-emitting area may have a column line area (CLA) where column lines (Column Lines) are arranged.

[0061] The column wiring area is the area between the rows of transparent portions. That is, the column wirings are arranged between each row of transparent portions. The column wirings include data lines and various voltage wirings that are arranged in the column direction. The light-emitting area may include a light-emitting unit of each subpixel. Each subpixel may be, for example, a red subpixel that emits red light, a green subpixel that emits green light, a blue subpixel that emits blue light, or, in some cases, a subpixel that emits light of a color other than red, green, and blue (e.g., white, yellow, etc.). Each subpixel includes a light-emitting unit that emits light of the corresponding color and a circuit unit in which circuit elements such as transistors are arranged to allow light to be emitted from the light-emitting unit. For example, when there are subpixels of three colors (a first color, a second color, and a third color) in the transparent display panel according to the present embodiments, the first color subpixel may include a first color light-emitting portion and a first color circuit portion, the second color subpixel may include a second color light-emitting portion and a second color circuit portion, and the third color subpixel may include a third color light-emitting portion and a third color circuit portion.

[0062] The light-emitting portion of each subpixel may refer to an area that emits light of a high-resolution color for each subpixel, may refer to a pixel electrode (e.g., an anode) that exists for each subpixel, or may refer to an area where the pixel electrode is arranged. The circuit portion of each subpixel may refer to a circuit that includes a transistor that supplies voltage or current to the pixel electrode of each subpixel to cause the light-emitting portion to emit light, or may refer to an area where such a circuit is arranged.

[0063] In the transparent display panel according to the present embodiments, the light-emitting portion of at least one color subpixel among subpixels of various colors (e.g., red, green, blue, etc.) may be positioned in the column wiring area. For example, when subpixels of three colors are arranged in the transparent display panel according to the present embodiments, at least one of the first color light-emitting portion, the second color light-emitting portion, and the third color light-emitting portion may be positioned in the column wiring area or may be positioned to overlap with the column wiring area.

[0064] The body frame portion (101) may be formed integrally with the transparent display panel of the display panel (103), or may be formed to extend along the outline of the transparent display panel so as to be integrally combined with the transparent display panel, and may be formed of a transparent material (e.g., glass or PVC).

[0065] The camera (102) may be composed of at least one or a plurality of cameras. For example, the camera (102) may be composed of a pair of camera modules arranged to be spaced apart from each other by a certain distance in the left and right or up and down. At this time, the pair of camera modules may generate distance data by matching the image data captured by each of them based on the separation distance between them. For example, the camera (102) may be a depth camera that captures a two-dimensional image of a subject (e.g., a patient) and captures the distance corresponding to each pixel constituting the two-dimensional image. However, the present invention is not limited thereto, and in addition to the depth camera, a known camera module that captures a general two-dimensional planar image may also be utilized.

[0066] The display panel (103) can display the patient's current walking state based on a video image of the patient captured by the camera (102). For example, the display panel (103) can display the patient's current walking state by modeling the patient's current walking state through a virtual 3D avatar and reproducing the patient's current walking state through the modeled 3D avatar.

[0067] The kiosk (100) can check the current rehabilitation exercise status of a patient using a rehabilitation medical device (200) and perform an analysis on the patient's walking status according to the patient's rehabilitation exercise.

[0068] For example, the kiosk (100) can determine the patient's walking posture based on a video image of the patient, and determine the patient's current walking posture's magnetic force level based on the patient's walking posture and measurement data. Here, the magnetic force level is an indicator of the degree to which the patient's own strength contributes to walking, and the magnetic force level when the patient walks purely under his or her own strength can be defined as 100%.

[0069] In a specific embodiment, the kiosk (100) compares the walking posture and measurement data when the magnetic level is 100% with the patient's walking posture and measurement data at the current point in time, and sets the magnetic level closer to 0% as the combined value of the difference in walking posture and difference in measurement data according to the comparison result is larger, thereby defining the magnetic level as a ratio representing the degree to which the patient's own power contributes to walking based on 100%.

[0070] The kiosk (100) can determine the patient's rehabilitation direction using the measurement data and the walking posture, or using the measurement data and the walking posture and the magnetic force level. For example, the kiosk (100) can determine, as the rehabilitation direction, correction data for the walking posture (data indicating the corrected position of the foot, calf, or waist center based on the currently measured position of the patient's foot, calf, or waist center), the amount of power energy to be provided from the walking assistance power unit (e.g., the driving value of the power motor constituting the walking assistance power unit), and / or the patient's rehabilitation training scheduling data (data indicating the number of rehabilitation training sessions and time per week or month, etc.).

[0071]

[0072] FIG. 2 is a perspective view of a rehabilitation medical device for a patient with lower extremity paralysis according to one embodiment. FIG. 3 is a modified perspective view of a rehabilitation medical device for a patient with lower extremity paralysis according to one embodiment.

[0073] The directions shown in FIGS. 2 and 3 below, namely front, rear, left, right, upper, and lower, can be interpreted as directions indicated with respect to the patient when the patient is fixedly supported on the rehabilitation medical device (200). For example, front may be the direction the patient is facing, and left may be the direction toward the patient's left.

[0074] Referring to FIGS. 2 and 3, a rehabilitation medical device (200) for a patient with lower limb paralysis may include a back plate (204) that supports the patient's back, a load support member (205) that is coupled to the back plate (204) and supports the load of the back plate (204), a mounting member (202) that is physically connected to the load support member (205) and supports the load support member (205) on the ground, and a main body member (201) that is coupled to the upper side of the back plate (204) and rotates the back plate (204) at a predetermined angle and extends to the lower end of the load support member (205).

[0075] The back plate (204) is a plate that extends from the back of the patient's head to the buttocks to stably support the patient's back, and may be formed in a rectangular shape. In this case, the back plate (204) may be formed with gently rounded corners.

[0076] The rehabilitation medical device (200) may further include a connecting portion (207) that physically connects the back plate (204) to the load support portion (205). The connecting portion (207) may be formed in a cylindrical shape to connect the back plate (204) and the load support portion (205), and the load support portion (205) may include a protrusion (not shown in the drawing) that protrudes rearward so as to be coupled with the connecting portion (207). The cylindrical connecting portion (207) may be fitted into a groove formed in the protrusion at a predetermined angle (for example, an angle between 0 and 30 degrees) in the ground direction.

[0077] The connecting portion (207) can be coupled to the back plate (204) so ​​as to be rotatable at a predetermined angle. For example, the connecting portion (207) can be coupled to the back plate (204) through a rotational shaft arranged in a rotational shaft coupling portion (not shown) formed on the lower rear surface of the back plate (204). In one embodiment, the rotational shaft may be rotated by physically contacting a power motor that rotates and returns at a predetermined angle, or may be configured integrally with the rotational shaft of the power motor.

[0078] Accordingly, the back plate (204) may be configured to be rotatable at a predetermined angle along the rotation axis arranged at the rotation axis coupling portion. At this time, an angle measuring sensor that measures the rotation angle of the back plate (204) may be arranged. For example, the angle measuring sensor may be arranged adjacent to the rotation axis of the rotation axis coupling portion to directly measure the rotation angle of the rotation axis, or a method may be used to measure the relative rotation angle using acceleration or angular velocity by using an acceleration sensor or a gyro sensor installed at the upper end of the back plate (204). The measurement data may include rotation angle data of the back plate (204) measured using the angle measuring sensor. Here, the rotation angle of the back plate (204) may be defined as 0 degrees when the back plate (204) is in a standing state (i.e., a state in which the patient is supported in a vertical state parallel to the back while standing), and as 90 degrees when the back plate is rotated parallel to the ground (i.e., a state in which the patient is lying down parallel to the ground).

[0079] At this time, in order to prevent damage to the connecting portion (207) due to the load caused by the rotation of the back plate (204) being concentrated on the connecting portion (207) and to stably assist the rotation of the back plate (204), the main body portion (201) may include an inner groove (203) in the shape of an arc formed along the rotational direction of the back plate (204) on the inner side adjacent to the upper side of the back plate (204) so ​​that the upper side of the back plate (204) can be supported by rotation at a predetermined angle.

[0080] The main body portion (201) may be formed in an arc shape that is longer than the inner groove (203) so as to correspond to the inner groove (203). For example, the main body portion (201) may be formed in a semicircular shape that has a predetermined thickness and is open toward the front. In a specific implementation example, the main body portion (201) may be formed such that one end and the other end of the semicircle face each other in the upper and lower directions, respectively.

[0081] The upper side of the back plate (204) may further include a protruding rotating part (not shown in the drawing symbol) configured to be fitted into the inside of the inner groove (203) and move along the inner groove (203). For example, the protruding rotating part may be configured to be relatively convex on the inside of the inner groove (203) than the part in contact with the inner groove (203), so as to move along the inner groove (203) without coming off from the inner groove (203). In an additional implementation example, the protruding rotating part may be configured to move stably along the inner groove (203) without shaking by having a circular gear arranged at the part in contact with the inner groove (203) and having the gear rotate along the teeth formed along the inner groove (203). To this end, the protruding rotating part may be gradually formed to be convex in the upper and lower directions centered on the part in contact with the inner groove (201).

[0082] That is, as the patient shown in Fig. 2 rotates in a lying position as shown in Fig. 3, the upper part of the back plate (204) is fitted into the inside of the inner groove (203), so that the weight of the patient according to the rotation of the back plate (204) is distributed and shared with the connecting part (207), thereby assisting in enabling very smooth rotation.

[0083] In addition, since the weight of the patient is not shared in the lower direction of the back plate (204), but only in the upper side of the back plate (204) and the lower back side of the back plate (204), the patient's legs are free from the load, and therefore, when the patient walks, the weight is not affected by the structure for sharing the patient's load, enabling free walking.

[0084] In addition, when the back plate (204) is in a standing position (rotation angle of 0 degrees), the patient's magnetic force is the greatest to maintain the standing position, but as the back plate (204) rotates closer to 90 degrees, the patient becomes lying down, so the patient's magnetic force required to stand during walking can be greatly reduced.

[0085] The rehabilitation medical device (200) may further include a fixing part for fixing the patient to the back plate (204). In one embodiment, the fixing part may include a first fixing part (213a) and a second fixing part (213b) that protrude in the front direction from the left and right sides of the back plate (204). The fixing part may be positioned at a position passing through the armpit of the patient supported by the back plate (204), thereby fixing the patient to the back plate (204) while supporting the patient's weight in a standing state. At this time, in order to enable more stable support, the rehabilitation medical device (200) may further include a belt that is coupled to the first fixing part (213a) and the second fixing part (213b) from the front of the patient. The belt may be fastened and coupled to the first fixing part (213a) and the second fixing part (213b) that protrude in the front direction from the left and right sides of the back plate (204).

[0086] In an additional embodiment, the fixing part (213) may further include a third fixing part (not shown) that protrudes in the front direction from the lower end of the back plate (204), and the third fixing part may be additionally fastened and connected to a belt. In addition, the fixing part (213) may further include a fourth fixing part and a fifth fixing part that protrude in the front direction from the left and right sides of the back plate (204) and are positioned on the upper ends of the first fixing part (213a) and the second fixing part (213b), respectively. The fourth and fifth fixing parts may be fastened and connected to a belt. The fourth and fifth fixing parts may be respectively protruded in the direction of the patient's both shoulders, thereby allowing the patient to feel more securely fastened.

[0087] The rehabilitation medical device (200) may further include a display device (211) supported by a display holder (212) extended toward the front from the left or right side of the back plate (204).

[0088] The display device (211) can display measurement data of the kiosk (100) or at least some of the data displayed by the kiosk (100).

[0089] The rehabilitation medical device (200) may include a foot support (210) that supports the patient's foot from the sole side. The foot support (210) may include a first foot support (210a) that supports the patient's right foot and a second foot support (210b) that supports the patient's left foot. The first foot support (210a) and the second foot support (210b) may be fixed to the patient's foot using a belt, strap, or other fixing fastener so as not to be detached from the patient's foot.

[0090] The rehabilitation medical device (200) may further include a walking plate (209) coupled to the foot support (210) on the outer side of the foot support (210).

[0091] The walking plate (209) may include a first walking plate (209a) coupled to the first foot support (210a) on the right side of the first foot support (210a) and a second walking plate (209b) coupled to the second foot support (210b) on the left side of the second foot support (210b).

[0092] The first walking plate (209a) and the second walking plate (209b) may be arranged to face each other with the foot support (210) as the center, and may have shapes that are symmetrical to each other. For example, the first walking plate (209a) and the second walking plate (209b) may be formed in the shape of a flat plate having a predetermined thickness, with the upper side formed in a gently protruding curve, and the lower side formed in a straight line parallel to the foot support (210).

[0093] The walking plate (209) can be fixed to a plate fixing member (208) that is formed to extend downwardly from the back plate (204) by being coupled to the back plate (204) from the lower side of the back plate (204). The plate fixing member (208) can be formed in a bar shape with a width of a predetermined length or less so as not to interfere with the patient's walking movement, and the lower ends of the plate fixing member (208) can be formed to extend left and right and be fixedly coupled to the first walking plate (209a) and the second walking plate (209b).

[0094] In an optional embodiment, the plate fixing member (208) may be configured to be longitudinally stretchable. For example, the plate fixing member (208) may be configured to be stretchable in such a way that a plurality of rods having different radii (or inner diameters) are interlocked, such that the plurality of rods are inserted or discharged into the inner space of the radii (or inner diameters) while being interlocked. Since the plate fixing member (208) is configured to be longitudinally stretchable, it may be advantageous in fixing the patient's foot to the foot support member (210) according to the patient's height.

[0095]

[0096] FIG. 4 is a drawing showing an inner view of a first walking plate (209a) in a rehabilitation medical device for a paralyzed patient according to one embodiment.

[0097] Referring to FIG. 4, the foot support (210) can be combined with the walking plate (209) so as to be able to move along the walking guide groove (221) formed on the inner surface of the walking plate (209).

[0098] For example, as illustrated in FIG. 4, the first foot support member (210a) may be coupled with the first walking plate (209a) so as to be movable along a walking guide groove (221) formed on the inner surface of the first walking plate (209a). For example, the first foot support member (210a) may be movable along a path in the direction of an arrow indicated on the walking guide groove (221).

[0099] The first foot support portion (210a) can be fitted into the walking guide groove (221) and can include a fitting portion (222) on one side thereof having a width longer than the width of the walking guide groove (221) so as not to be detached from the walking guide groove (221). That is, the fitting portion (222) can be inserted into the inside of the walking guide groove (221) so that the first foot support portion (210a) can be fitted into the walking guide groove (221). In one example, the fitting portion (222) can be formed in a spherical shape, but is not limited thereto.

[0100] In the same manner, the second foot support member (210b) can be coupled with the second walking plate (209b) so as to be able to move along the walking guide groove (221) formed on the inner surface of the second walking plate (209b).

[0101] Here, in the drawing, one walking guide groove (221) is illustrated as being formed on the inner surface of the first walking plate (209a), but this is not limited thereto. For example, in order to reflect various walking patterns according to the patient's height and habits, a plurality of walking guide grooves (221) may be formed on the inner surface of the first walking plate (209a), and at least one connecting groove may be formed to connect two adjacent walking guide grooves among the plurality of walking guide grooves. The connecting groove may be configured to connect two adjacent walking guide grooves to allow the first foot support part (210a) to move, and may be selectively closed between the two walking guide grooves to block the movement of the first foot support part (210a). By configuring the connecting grooves to be selectively closed, the walking guide groove (221) for which walking movement is desired can be set.

[0102]

[0103] FIG. 5 is a front view of the connection between the first foot support and the walking guide groove in a rehabilitation medical device for a patient with lower extremity paralysis according to one embodiment. Furthermore, the enlarged left portion of FIG. 5 is an enlarged view of the circular dotted line area viewed from the left side where the first foot support (210a) is located.

[0104] Because many patients have difficulty walking on their own, assistance with the strength needed for walking is required depending on the patient.

[0105] To this end, in one embodiment of the present invention, a rotation gear (223) that rotates along the walking guide groove (221) inside the walking guide groove (221) can be coupled to the first foot support part (210a).

[0106] Referring to FIG. 5, the first foot support member (210a) can be combined with a rotary gear (223) that comes into contact with a contact surface (226) that forms the inner thickness of the walking guide groove (221).

[0107] The rotary gear (223) can be connected to each other so as to share a driving motor (224) and a driving shaft (225). The driving motor (224) can be placed inside the fitting part (222), but is not limited thereto, and can also be placed inside the first foot support part (210a).

[0108] A plurality of protrusions may be arranged on the contact surface (226) forming the inner thickness of the walking guide groove (221) to engage with gear grooves formed on the outer side of the rotation gear (223), and when the rotation gear (223) rotates, the first foot support part (210a) coupled to the rotation gear (223) may move along the contact surface (226) forming the inner thickness of the walking guide groove (221).

[0109] At this time, the contact surface (226) forming the inner thickness of the walking guide groove (221) may be a surface located above and below the rotation gear (223), and therefore, the rotation gear (223) can rotate while engaging with the protrusions formed on each of the contact surfaces (226) located above and below.

[0110] Meanwhile, although not shown in the drawing, the driving motor (224) can be supplied with power by being electrically connected to a separate power supply unit, and the rotational force (torque) can be controlled according to the size of the current or voltage supplied from the power supply unit.

[0111] Therefore, by appropriately adjusting the rotational power of the driving motor (224) according to the patient's walking strength level, the most optimal lower extremity rehabilitation training can be provided for each patient.

[0112] In addition, the rehabilitation medical device (200) may further include a torque detection sensor that measures the rotational force of the rotation gear (223). The torque detection sensor may be placed on the inside of the walking guide groove (221) adjacent to the rotation gear (223), but may be applied in various ways depending on the design. The measurement data may include the rotational force of the rotation gear (223) measured using the torque detection sensor.

[0113]

[0114] FIG. 6 is a block diagram illustrating the functional configuration of a kiosk according to one embodiment.

[0115] Referring to FIG. 6, the kiosk (100) may include a patient data collection unit (101) that collects patient data in conjunction with a rehabilitation medical device (200), a magnetic force level estimation unit (102) that estimates a magnetic force level for a patient's walking motion using the collected patient data, a posture simulation unit (103) that determines a patient's walking posture using the estimated magnetic force level and patient data, a health status determination unit (104) that determines a patient's health status using the determined walking posture, magnetic force level, and patient data, a rehabilitation scheduling unit (105) that determines a personalized rehabilitation schedule for the patient using the determined health status, and a display unit (106) that displays the walking posture, magnetic force level, patient data, and health status through a display panel.

[0116] Patient data may include measurement data obtained using a rehabilitation medical device (200) and short-range wireless communication or wired communication, and image data obtained by photographing the patient's walking using a camera (102).

[0117] The measurement data may include electromyography data indicating contraction or relaxation of muscles located in the patient's foot or calf using a sensing module, heart rate data indicating heart rate, plantar pressure data measured using a plantar pressure measuring device, electromyography change data indicating the amount of change in electromyography data according to electrical stimulation, a rotational angle of a back plate (204) measured using an angle measuring sensor, and / or a rotational force of a rotational gear (223) measured using a torque detection sensor.

[0118] The magnetic level estimation unit (102) can estimate the magnetic level using patient data.

[0119] For example, the magnetic level estimation unit (102) can determine the first magnetic level of the patient based on the ratio between the rotational force measured using the torque detection sensor and the rotational force of the driving motor (224) corresponding to the magnitude of the current or voltage supplied to the driving motor (224) from the power supply. The rotational force of the driving motor (224) corresponding to the magnitude of the current or voltage supplied to the driving motor (224) from the power supply is the rotational force of the driving motor (224) generated when a current or voltage having a predetermined magnitude is applied in a state in which no separate external force is applied, and can be determined by creating a data table by measuring a plurality of rotational forces corresponding to the current or voltage, storing the created data table in advance in the kiosk (100), and referring to it.

[0120] The first magnetic force level determined here can be expressed as a percentage value between 0 and 100 as an indicator of how much the patient contributes to the direction of walking movement. For example, a value exceeding 100% in the ratio of the rotational force measured using a torque detection sensor to the rotational force of the driving motor (224) corresponding to the magnitude of the current or voltage supplied from the power supply can be determined as the first magnetic force level.

[0121]

[0122] In mathematical expression 1, Tsp is the rotational force of the driving motor (224) corresponding to the magnitude of the current or voltage supplied from the power supply, Tss is the rotational force measured using a torque detection sensor, and FS1 is the first magnetic force level.

[0123] In addition, the magnetic level estimation unit (102) can determine the second magnetic level based on the rotation angle of the back plate (204). For example, when the rotation angle is 0 degrees (i.e., the back plate (204) is in a standing state), the second magnetic level can be set to 0%, and when the rotation angle is closer to 90 degrees, the second magnetic level can be determined to correspond to 100%. For example, the second magnetic level can be determined according to the following mathematical formula.

[0124]

[0125] In mathematical expression 1, θ is the rotation angle (unit: degree) of the back plate (204) and is a value between 0 and 90, and Fs is the second magnetic force level.

[0126] The magnetic force level estimation unit (102) can determine the overall magnetic force level contributing to the patient's walking movement using the first and second magnetic force levels. For example, the overall magnetic force level can be determined as shown in the following mathematical expression 3.

[0127]

[0128] The gait posture simulation unit (103) can generate skeleton data corresponding to the patient based on image data of the patient's walking appearance, generate a 3D virtual avatar including the generated skeleton data, and 3D model the gait movement of the feet, calves, knees, and thighs from the skeleton data of the generated 3D virtual avatar.

[0129] Here, the skeleton data is specific data of each joint part and the stick-shaped skeleton connecting the joint part in the patient's walking image. Since the source code for extracting the skeleton data from the image is disclosed through various currently known libraries, a person skilled in the art can obtain it by utilizing the known source code.

[0130] For example, the walking motion of a virtual avatar can be 3D modeled by simulating the patient's walking posture by inputting skeleton data corresponding to the patient generated from image data into the skeleton data of the feet, calves, knees, and thighs of the virtual avatar.

[0131] At this time, the gait posture simulation unit (103) can correct the gait motion of the 3D modeled virtual avatar using the first magnetic force level and the second magnetic force level. For example, the correction values ​​(position correction values) of the skeleton data according to the first and second magnetic force levels are created and stored in advance as an internal data table, and then the skeleton data is corrected using the correction values ​​according to the determined first and second magnetic force levels to 3D model the gait motion of the virtual avatar. Through this, the part where the gait posture changes according to the magnetic force level is reflected in the virtual avatar, so that the administrator can check how the patient's gait posture changes as the magnetic force level improves, and through this, it may be possible to induce effective rehabilitation exercise.

[0132] The health status determination unit (104) can determine the patient's health status using the walking posture, magnetic force level, and patient data.

[0133] In one embodiment, the health status determination unit (104) can determine the health status of a patient by comparing the walking posture, magnetic force level, and patient data within a preset period. For example, the health status determination unit (104) can determine whether the health status is improving or worsening based on the amount of change in skeleton data according to the walking posture (amount of change in the position of each part), amount of change in magnetic force level, and electromyography data, heart rate data, plantar pressure data, electromyography change data included in the patient data, the rotational angle of the back plate (204) measured using an angle measuring sensor, and / or the amount of change in the rotational force of the rotational gear (223) measured using a torque detection sensor.

[0134] For example, if the magnetic field level is on an increasing trend, the amount of change in the skeleton data is maintained within the error range, and the electromyography data, heart rate data, and plantar pressure data are within the preset range corresponding to good health, the health condition can be determined to be good.

[0135] The health status determination unit (104) can determine the health status by dividing the patient's health status into multiple stages preset as good / good / bad / worsening, presetting the range of change in gait posture, magnetic force level, and patient data for each of the classified stages, and determining which range among the set ranges the gait posture, magnetic force level, and patient data currently measured for the patient fall into.

[0136] Meanwhile, the health status determination unit (104) may generate input data using at least some of the walking posture, magnetic force level, and patient data within a preset period, input the generated input data into a health status estimation model (10) based on a pre-trained artificial neural network, and determine the health status based on the output of the health status estimation model (10).

[0137] To this end, the health status estimation model (10) can be pre-trained using training data composed of pairs of training input values ​​and training output values. At this time, the training input values ​​are obtained by collecting at least some of the gait posture, self-power level, and patient data of patients within a preset period, and the training output values ​​can be configured by defining the health status of the patient as one of multiple preset stages such as good / good / bad / worsening using the results of a precise health examination that can represent the actual health status of the patients during the same period.

[0138] The health status estimation model (10) can be supervised to compute a loss function using the output data obtained when training input values ​​are input and the training output values ​​provided as the correct answer, and to minimize the resulting value of the computed loss function. Here, the process of supervised learning to minimize the loss function may be a process of readjusting the weights of the nodes constituting each layer of the health status estimation model (10) so that the resulting value of the loss function is minimized.

[0139] The health status estimation model (10) is a deep learning-based artificial neural network, and can utilize Recurrent Neural Network (RNN), Long Short-Term Memory (LSTM), Autoencoder, Variational Autoencoder (VAE), Deep Residual Network (DRN), Generative Adversarial Network (GAN), etc., and it may be desirable to utilize an artificial neural network based on Recurrent Neural Network (RNN) or Long Short-Term Memory (LSTM). At this time, since various source codes of artificial neural networks based on Recurrent Neural Network (RNN) or Long Short-Term Memory (LSTM) are already open and accessible, ordinary technicians can select and utilize one of these already known artificial neural networks through performance evaluation. However, since the health status is estimated based on data for a certain period of time, an artificial neural network based on Long Short-Term Memory (LSTM), which is advantageous for predicting time-series data, may be desirable.

[0140] Additionally, the health status determination unit (104) can provide health management information based on the patient's health status by linking with a separately paired mobile terminal of the patient or guardian. For example, by referencing pre-stored health status-specific recommended foods, recommended training intensity, recommended training volume, etc., health management information corresponding to the patient's current health status can be generated and provided to the mobile terminal.

[0141] The kiosk (100) can determine the patient's rehabilitation direction using the measurement data and the walking posture, or using the measurement data and the walking posture and the magnetic force level. For example, the kiosk (100) can determine, as the rehabilitation direction, correction data for the walking posture (data indicating the corrected position of the foot, calf, or waist center based on the currently measured position of the patient's foot, calf, or waist center), the amount of power energy to be provided from the walking assistance power unit (e.g., the driving value of the power motor constituting the walking assistance power unit), and / or the patient's rehabilitation training scheduling data (data indicating the number of rehabilitation training sessions and time per week or month, etc.).

[0142] Meanwhile, throughout this specification, at least some of the operations or functions of the kiosk (100) may be integrated with the rehabilitation medical device (200) and configured as a single unit. That is, the kiosk may operate using a control box installed inside the rehabilitation medical device (200), and the control box may be implemented to include all or part of the operations or hardware configuration of the kiosk (100).

[0143]

[0144] Fig. 7 is a diagram showing an example of a health status estimation model according to one embodiment.

[0145] Referring to FIG. 7, the health status estimation model (10) may include an input layer (11) that sequentially receives each column of a matrix constituting the input data as an input vector (X), and is composed of input nodes having a number (N) equal to the number of component values ​​of the input vector (X) received, a hidden layer (12) that transmits the output vector (Y`) calculated using the output values ​​transmitted from the input layer (11) to the output layer (13), and an output layer (13) that applies an activation function to the output vector (Y`) to determine a probability (p) corresponding to the output vector (Y`), and outputs the output vector (Y`) with the highest determined probability (p). In the present invention, each of the nodes constituting the artificial neural network (10) may also be referred to interchangeably by the term “neuron,” which is a commonly used expression in the technical field to which the present invention belongs.

[0146] Specifically, the health status estimation model (10) sequentially receives each column of the matrix provided as a training input value as an input vector (X), calculates a loss function using the training output vector (Y) generated by vectorizing the training output value and the output vector (Y`) obtained as the output of the hidden layer (12), and performs supervised learning so that the result value of the calculated loss function is minimized.

[0147] For example, the loss function (H(Y,Y`)) can be a cross entropy function. The cross entropy (H(Y,Y`)) between the output vector (Y`) and the training output vector (Y) can be defined as in the following mathematical expression 4.

[0148]

[0149] In mathematical expression 4, Ym may be the mth component (m is a natural number greater than or equal to 1) of the training output vector (Y), and Y`m may be the mth component of the output vector (Y`).

[0150] The input layer (11) receives an input vector (X) and, for each component of the input vector (X), can apply one or more connection strength values ​​corresponding to input nodes and transmit them to the hidden layer (12).

[0151] For example, one or more connection strength values ​​corresponding to each of the input nodes are formed into a first connection strength matrix (W) having a size of N×M. N×M ) can be expressed as. At this time, N can be the same number of input nodes, and M is set to be sufficiently small, less than 1 / 10 times smaller than N. The first connection strength matrix (W N×M ) can be a parameter that is set to an arbitrary initial value and then continuously updated through supervised learning.

[0152] In summary, the input layer (11) adds the first connection strength matrix (W) to the input vector (X) received. N×M ) can be transmitted to the hidden layer (12) by performing matrix multiplication operation on the intermediate operation vector (X).

[0153] The hidden layer (12) can generate an output vector (Y`) by applying one or more connection strengths corresponding to each of the hidden nodes to the feature vector (F) obtained from the intermediate operation vector (X) received from the input layer (11), and can transfer the generated output vector (Y`) to the output layer (13).

[0154] For example, the hidden layer (12) can obtain a feature vector (F), which is a diagonal matrix satisfying the following mathematical expression 5, from the intermediate operation vector (X).

[0155]

[0156] In mathematical expression 5, R is a matrix that reversibly satisfies the relationship according to mathematical expression 5 between the feature vector (F), which is a diagonal matrix, and the intermediate operation vector (X), and corresponds to a coordinate transformation matrix. The operation according to mathematical expression 5 can be referred to as one of the diagonalization operations, and since it is easily understandable to those skilled in the art, a detailed explanation is omitted.

[0157] At this time, one or more connection strength values ​​corresponding to each of the hidden nodes are included in a second connection strength matrix (U) having a size of M×Q. M×Q ) can be expressed as . That is, the second connection strength matrix (UM × Q) increases the feature vector (F) mapped to M dimensions again to Q dimensions. Q is set to a value sufficiently larger than M by at least 10 times.

[0158] Meanwhile, the second link strength matrix (U M×Q ) is set to an arbitrary value, and then the feature vector (F) and the second connection strength matrix (U M×Q ) can be continuously updated so that the output vector (Y`) generated by the matrix multiplication operation between them becomes the training output vector (Y), which is the training output value. That is, the second connection strength matrix (U M×Q ) can also be a parameter that is updated as training data is continuously supervised.

[0159] That is, the hidden layer (12) converts the intermediate operation vector (X) received from the input layer (11) into a feature vector and applies a connection strength to the feature vector to generate an output vector (Y`), so that the hidden layer (12) can be configured to perform a function similar to a convolutional layer responsible for feature extraction of a CNN (convolutional neural network).

[0160] The output layer (13) can determine the probability (p) corresponding to the output vector (Y`) by applying an activation function to the output vector (Y`) received from the hidden layer (12), and output the output vector (Y`) with the highest determined probability (p). The activation function has the effect of converting values ​​in various ranges into probabilities by expanding or reducing them to values ​​between 0 and 1. For example, the activation function may be, but is not limited to, a ReLU function or a Softmax function.

[0161]

[0162] FIG. 7 is a block diagram illustrating a hardware configuration of a kiosk according to one embodiment.

[0163] Referring to FIG. 7, the kiosk (100) may include at least one processor (110) and a memory (120) that stores instructions that instruct the at least one processor (110) to perform at least one operation.

[0164] The above at least one operation may include at least one operation or function of the kiosk (100) described above.

[0165] Here, at least one processor (110) may refer to a central processing unit (CPU), a graphics processing unit (GPU), or a dedicated processor on which methods according to embodiments of the present invention are performed. The memory (120) may be composed of at least one of a volatile storage medium and a non-volatile storage medium. For example, the memory (120) may be one of a read-only memory (ROM) and a random access memory (RAM).

[0166] The kiosk (100) may further include a storage device (160) that stores temporary data, input data, intermediate processing data, output data, etc. for performing at least one of the above operations. The storage device (160) may be a flash memory, a hard disk drive (HDD), a solid state drive (SSD), or various memory cards (e.g., a micro SD card).

[0167] In addition, the kiosk (100) may include a transceiver (130) that performs communication via a wireless network. In addition, the kiosk (100) may further include an input interface device (140), an output interface device (150, which may be the same as the display panel (103), for example). Each component included in the kiosk (100) may be connected by a bus (170) and communicate with each other.

[0168]

[0169] The methods according to the present invention may be implemented in the form of program instructions that can be executed by various computer means and recorded on a computer-readable medium. The computer-readable medium may include program instructions, data files, data structures, etc., either singly or in combination. The program instructions recorded on the computer-readable medium may be those specifically designed and constructed for the present invention, or may be known and available to those skilled in the computer software art.

[0170] Examples of computer-readable media may include hardware devices specifically configured to store and execute program instructions, such as ROM, RAM, and flash memory. Examples of program instructions may include not only machine language codes generated by a compiler, but also high-level language codes that can be executed by a computer using an interpreter, etc. The hardware devices described above may be configured to operate with at least one software module to perform the operations of the present invention, and vice versa.

[0171] Additionally, the above-described method or device may be implemented by combining all or part of its configuration or function, or may be implemented separately.

[0172] Although the present invention has been described above with reference to preferred embodiments thereof, it will be understood by those skilled in the art that various modifications and changes may be made to the present invention without departing from the spirit and scope of the present invention as set forth in the claims below.

Claims

1. As a rehabilitation medical device for patients with lower limb paralysis, Back plate to support the patient's back; A load supporting member coupled to the above back plate and supporting the load of the above back plate; A support member physically connected to the load-bearing member and supporting the load-bearing member on the ground; and A main body part, which is coupled to the upper side of the back plate and rotates the back plate at a predetermined angle and extends to the lower end of the load supporting member; Rehabilitation medical devices for patients with lower limb paralysis.

2. In claim 1, The above main body part, Including an inner groove in the shape of an arc extending along the rotational direction of the back plate on the inner side adjacent to the upper side of the back plate so that the upper side of the back plate can be supported by rotation at a predetermined angle. Rehabilitation medical devices for patients with lower limb paralysis.

3. In claim 2, The above main body part is formed in a semicircular shape with a predetermined thickness and is open toward the front. Rehabilitation medical devices for patients with lower limb paralysis.

4. In claim 3, The upper side of the above back plate is provided with a protruding rotating part configured to fit into the inside of the inner groove and move along the inner groove; The above protruding rotation portion is formed relatively convexly on the inside of the inner groove than the portion in contact with the inner groove, so that it moves along the inner groove without departing from the inner groove. Rehabilitation medical devices for patients with lower limb paralysis.

5. In claim 4, Further comprising a connecting member physically connecting the back plate to the load supporting member; wherein the connecting member is formed in a cylindrical shape and can connect the back plate and the load supporting member. The above connecting part is connected to the back plate so as to be rotatable at a predetermined angle. Rehabilitation medical devices for patients with lower limb paralysis.

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