Intelligent gait training apparatus

Abstract

The present invention relates to an intelligent gait training apparatus and, more specifically, to an intelligent gait training apparatus comprising: a gait unit for providing a gait environment to a user; and a support unit for supporting the gait unit and the user, wherein the gait unit comprises a treadmill and an actuator module for rotating or transferring the treadmill.

Description

Intelligent gait training device

[0001] The present invention relates to an intelligent walking training device, and more specifically, to an intelligent walking training device that can provide a walking environment similar to an actual situation, such as left-right slopes, uphill or downhill slopes, shaking, perturbation, and obstacles, by applying a six-axis actuator to provide all movements forward, backward, left, right, up, and down.

[0002] When the function of only one side of the body is weakened or the muscles of the entire body are paralyzed due to anterior cruciate ligament (ACL) damage, stroke, or lower extremity muscle damage, it negatively affects the walking ability that is essential for maintaining basic social life.

[0003] When such damage occurs, patients seek rehabilitation training to restore weakened physical functions to normal and return to social life. Rehabilitation training typically involves progressive resistance training (PRT) to compensate for muscle loss, neuromuscular training (NT) for nerve rehabilitation, and treadmill training with body-weight support for gait rehabilitation. For example, Korean Patent No. 10-1454739 (October 27, 2014) discloses a treadmill with improved safety and a control method thereof.

[0004] However, in the conventional cases described above, only the control of walking speed is possible in a limited treatment room, and only repetitive performance of walking movements is performed. In addition, treadmill walking therapy, although repetitive walking training is possible, is insufficient to stimulate the interest of people with brain damage. In other words, although the training method using the principle of the 'Central Pattern Generator' has the effect of motor learning, the walking environment in actual daily life is always exposed to unexpected environments (slopes, obstacles, etc.), and there was a problem in that simple walking training did not improve the ability to respond to such walking environment.

[0005] The present invention has been devised to solve the problems of the prior art as described above, and the purpose of the present invention is to provide an intelligent walking training device that provides a walking environment similar to an actual situation such as left-right slope, uphill or downhill slope, shaking, perturbation, and obstacles by applying a six-axis actuator to provide all movements forward, backward, left, right, up, and down.

[0006] The problems to be solved by the present invention are not limited to the problems mentioned above, and other problems to be solved by the present invention that are not mentioned herein will be clearly understood by a person having ordinary skill in the technical field to which the present invention pertains from the description below.

[0007] An intelligent walking training device according to a preferred embodiment of the present invention comprises a walking unit that provides a walking environment to a user, and a support unit that supports the walking unit and the user, wherein the walking unit comprises a treadmill and an actuator module that rotates or moves the treadmill.

[0008] In addition, the actuator module according to a preferred embodiment of the present invention is characterized in that it includes a plurality of lifting actuators provided on the edge of the treadmill to raise and lower the treadmill.

[0009] In addition, the actuator module according to a preferred embodiment of the present invention is characterized in that it includes a plurality of transport actuators that are provided parallel to the treadmill and transport the treadmill in a horizontal direction.

[0010] In addition, the support unit according to a preferred embodiment of the present invention is characterized in that it includes a video unit provided on one side of the support unit to display video content to the user, and the walking unit further includes a control unit provided spaced apart from the walking unit to control the operation of the walking unit.

[0011] In addition, the control unit according to a preferred embodiment of the present invention is characterized in that it controls the operation of the walking unit in response to a walking pattern that must be walked according to the content of the video unit.

[0012] By the means for solving the above problem, the intelligent walking training device of the present invention goes beyond simply implementing an incline, and provides the user with various movements such as heave, pitch, sway, yaw, roll, surge, etc., such as instantaneous shaking, rising, falling, etc., as irregular tasks through a 6-axis actuator (6-DOF Axis Actuator), thereby improving the ability to respond to actual walking environments such as unexpected situations, thereby providing an intelligent walking training device that can provide the user with the effect of improving the ability to respond to actual walking environments such as unexpected situations.

[0013] The effects of the present invention are not limited to the effects mentioned above, and effects of the present invention not mentioned herein will be clearly understood by those skilled in the art to which the present invention pertains from the description below.

[0014] FIG. 1 is a perspective view showing the configuration of an intelligent walking training device according to one embodiment of the present invention.

[0015] FIG. 2 is a drawing showing the configuration of an actuator module (1200) of an intelligent walking training device according to one embodiment of the present invention.

[0016] FIG. 3 is a drawing showing a treadmill inclined by the operation of an actuator module of an intelligent walking training device according to one embodiment of the present invention.

[0017] FIG. 4 is a drawing showing a treadmill swinging due to the operation of an actuator module of an intelligent walking training device according to one embodiment of the present invention.

[0018] FIG. 5 (a) is a drawing showing a state in which gait training for a heave motion is performed using an intelligent gait training device according to an embodiment of the present invention, FIG. 5 (b) is a drawing showing a state in which gait training for a pitch motion is performed, FIG. 5 (c) is a drawing showing a state in which gait training for a roll motion is performed, FIG. 5 (d) is a drawing showing a state in which gait training for a sway motion is performed, FIG. 5 (e) is a drawing showing a state in which gait training for a yaw motion is performed, and FIG. 5 (f) is a drawing showing a state in which gait training for a surge motion is performed.

[0019] The terms used in this specification will be briefly explained, and the present invention will be described in detail.

[0020] The terms used in this invention have been selected from widely used, common terms, taking into account their functions. However, these terms may vary depending on the intentions of those skilled in the art, precedents, the emergence of new technologies, etc. Therefore, the terms used in this invention should be defined based on their meaning and the overall content of the invention, rather than simply their names.

[0021] When a part of a specification is said to “include” a component, this does not mean that it excludes other components, but rather that it may include other components, unless otherwise stated.

[0022] Below, with reference to the attached drawings, embodiments of the present invention are described in detail so that those skilled in the art can easily implement the invention. However, the present invention may be implemented in various different forms and is not limited to the embodiments described herein.

[0023] Specific details, including the problems to be solved, means of solving them, and the effects of the invention, are included in the embodiments and drawings described below. The advantages and features of the present invention, and methods for achieving them, will become clearer with reference to the embodiments described below in detail, along with the accompanying drawings.

[0024] Hereinafter, the present invention will be described in more detail with reference to the attached drawings.

[0025] Referring to FIGS. 1 and 2, an intelligent walking training device according to a preferred embodiment of the present invention includes a walking unit (1000) that provides a walking environment to a user, and a support unit (2000) that supports the walking unit (1000) and the user.

[0026] First, the above-mentioned walking unit (1000) is provided. The walking unit (1000) allows the user to experience various external factors in various environments and perform walking training, thereby improving the ability of patients with brain damage to cope with unexpected factors.

[0027] More specifically, the walking unit (1000) includes a treadmill (1100) and an actuator module (1200) that rotates or moves the treadmill (1100). The treadmill (1100) is an exercise machine for running and walking indoors, and may commonly be a running machine. That is, the floor of a conventional walking training device is fixed like a typical treadmill, and walking training is performed thereon. For example, the treadmill (1100) may be formed to have a rectangular cross-section like a typical treadmill, or may be formed to have a polygonal cross-section or a circular cross-section.

[0028] In contrast, the actuator module (1200) of the intelligent walking training device of the present invention is provided at the bottom of the treadmill (1100) and serves to raise and lower the treadmill (1100) to incline it, or to temporarily move the treadmill (1100) left and right or forward and backward so that the user feels a momentary shaking.

[0029] More specifically, the actuator module (1200) is provided at the edge of the treadmill (1100) and includes a plurality of lifting actuators (1210) that raise and lower the treadmill (1100). For example, the plurality of lifting actuators (1210) may be provided in a direction perpendicular to the ground and may be provided in a form such as a hydraulic cylinder that is extended and withdrawn according to the flow of hydraulic pressure so as to raise and lower at least a portion of the treadmill (1100). That is, when only the plurality of lifting actuators (1210) arranged at the front side among the plurality of lifting actuators (1210) raise, the treadmill (1100) is provided to be inclined with the front side raised.

[0030] In addition, the actuator module (1200) includes a plurality of transport actuators (1220) that are installed at the lower portion of the treadmill (1100) and parallel to the treadmill (1100) to move the treadmill (1100) in a horizontal direction. For example, the plurality of transport actuators (1220) may be installed in a direction horizontal to the ground and may be provided in a form such as a hydraulic cylinder that is extended and withdrawn according to the flow of hydraulic pressure so as to cause the treadmill (1100) to move back and forth in a straight line. That is, when only the transport actuator (1220) that is coupled to the treadmill (1100) in a left-right direction among the plurality of transport actuators (1220) operates, the treadmill (1100) swings once in the left-right direction.

[0031] At this time, the actuator module (1200) may further include a driving unit (not shown in the drawing) that generates hydraulic force with a pump or the like to provide driving force so that the actuator module (1200) can operate, and a link unit (not shown in the drawing) that connects the actuator module (1200) and the treadmill (1100) so that the operation of the plurality of lifting actuators (1210) and the transport actuators (1220) is transmitted to the treadmill (1100). For example, the link unit may be provided in multiple numbers, each of the plurality of lifting actuators (1210) and the transport actuators (1220). That is, the first lifting actuator (1211) to be described later is connected to one edge of the treadmill (1100) by a first link part (not shown in the drawing), and one edge of the treadmill (1100) is raised and lowered according to the raising and lowering of the first lifting actuator (1211) to be described later.

[0032] Here, the actuator module (1200) lowers the boarding height of the user (patient) getting on and off the treadmill (1100) to 300 mm or less by horizontally arranging two actuators to change the position of the damper required for the six actuators, rather than the conventional method of setting up six actuators, thereby preventing safety accidents that may occur when the user (patient) gets on and off the treadmill (1100).

[0033] Meanwhile, the walking unit (1000) further includes a control unit (1300) that is provided spaced apart from the walking unit (1000) and controls the operation of the walking unit (1000). At this time, the control unit (1300) controls the operation of the treadmill (1100) and the actuator module (1200), thereby providing the user with various walking environments. In addition, the control unit (1300) can control the operation of the walking unit (1000) in response to a walking pattern that the user must walk according to the content of the video unit (2200) to be described later. In addition, the control unit (1300) analyzes the user's walking and stores it as data, and controls the speed, incline, and intensity of weight load adjustment of the treadmill (110) for walking training customized for the user based on the stored walking data.

[0034] In addition, the walking unit (1000) further includes a camera unit (1400) that is provided spaced apart from the treadmill (1100) and captures the treadmill (1100) and the user, and transmits the captured image to the control unit (1300). At this time, the control unit (1300) can analyze the user's posture, etc. based on the captured image of the camera unit (1400). That is, the control unit (1300) can control the video unit (2200), which will be described later, to display an alarm message when the user's walking speed deviates from a preset speed range based on the captured image of the camera unit (1400). For example, in the content provided through the monitor, if the pedestrian's walking speed is slower than usual, a message window requesting the pedestrian to walk faster can be provided to provide motivation and visual feedback. In addition, if the pedestrian's speed is excessively fast, a message such as asking the pedestrian to walk a little slower can be displayed.

[0035] In addition, the control unit (1300) analyzes and stores the position and range of motion of the pedestrian's joints based on the captured image of the camera unit (1400). That is, the control unit (1300) may be a computer or the like, and analyzes the position of the joints in the captured image of the camera unit (1400) through an image analysis program, measures the range of motion of the joints, and stores the results in a database.

[0036] In addition, the support part (2000) includes a harness part (2132) worn near the user's thigh muscle, and the harness part (2132) measures the user's thigh muscle electromyography and transmits the measured value to the control part (1300). That is, data is collected through an electromyography sensor provided inside the harness part (2132), and the collected data is transmitted to the control part (1300) to be stored in a database.

[0037] And, the treadmill (1100) includes a pressure sensor unit (1110) provided inside the treadmill (1100), and the pressure sensor unit (1110) is composed of a plurality of pressure sensors to measure pressure changes on the upper side of the treadmill (1100) according to the user's walking, and transmits the measured values ​​to the control unit (1300). That is, the control unit (1300) analyzes the pressure changes of the treadmill (1100) through the measured values ​​of the pressure sensor unit (1110), and based on this, analyzes the pedestrian's walking pattern and stores retaliation, etc. in a database.

[0038] Based on the data stored in this way, that is, the control unit (1300) controls the speed or incline of the treadmill (1100) based on the transmitted photographed image or measured value. For example, by adjusting the operating parameters such as the speed and incline (left-right incline, front-back incline) of the treadmill (1100) according to the learning theory or Decision Maker, intelligent control can be performed for speed control and incline control that can affect the improvement of the pedestrian's function. In addition, based on the pedestrian's previous walking data, it is possible to implement a function such as increasing or decreasing the incline toward the walking direction where the pressure was not properly transmitted during walking so that the walking of the corresponding part can automatically progress more.

[0039] Next, the support member (2000) is provided. The support member (2000) supports the user walking while standing on the upper part of the treadmill (1100) so that the user does not fall, and supports the treadmill (1100) and the actuator module (1200).

[0040] More specifically, the support member (2000) includes a plurality of vertical frames (2110) placed in a direction perpendicular to the ground, a horizontal frame (2120) placed parallel to the ground in a direction perpendicular to the vertical frames (2110), and a plurality of support columns (2150) connecting and joining the plurality of vertical frames (2110) and the horizontal frame (2120). At this time, the horizontal frame (2120) is provided spaced apart from the upper portion of the treadmill (1100) so that the horizontal frame (2120) is positioned above the user's head when the user is on the treadmill (1100).

[0041] In addition, the support member (2000) further includes a support rope (2130) extending downward from the horizontal frame (2120) and a safety vest (2131) worn by the user, so that the support rope (2130) is fastened to the safety vest (2131) to prevent the user from falling.

[0042] In addition, the support member (2000) further includes a handle (2140) formed to protrude upward on both sides of the treadmill (1100), and the handle (2140) is formed in the shape of a pair of parallel bars so that the user can hold the handle (2140) with each hand. That is, the support rope (2130), the safety vest (2131), and the handle (2140) prevent the user from falling during walking training, thereby preventing safety accidents.

[0043] In addition, the support unit (2000) further includes a video unit (2200) provided in front of the treadmill (1100) to display video content to the user. The video unit (2200) displays video content provided from the control unit (1300) so that the user can provide various videos, such as walking training content according to a type-specific scenario, balance training content that cultivates lower body ability based on balance control ability and muscle strength, and street walking training content that includes content to prepare for situations that may occur when walking on the street, thereby increasing the user's immersion in walking training.

[0044] Hereinafter, the operation of the intelligent walking training device of the present invention will be described in detail with reference to the attached drawings.

[0045] Referring to FIG. 2, when the treadmill (1100) is formed to have a rectangular cross-section, the plurality of lifting actuators (1210) are arranged in numbers of four near each of the four corners of the treadmill (1100).

[0046] For example, the plurality of lifting actuators (1210) are composed of a first lifting actuator (1211) provided on the upper left side of the treadmill (1100), a second lifting actuator (1212) provided on the upper right side, a third lifting actuator (1213) provided on the lower left side, and a fourth lifting actuator (1214) provided on the lower right side, and the four lifting actuators (1210) operate individually to raise and lower the treadmill (1100) in the vertical direction.

[0047] That is, referring to FIG. 3, when the first lifting actuator (1211) and the second lifting actuator (1212) maintain a lowered state and the third lifting actuator (1213) and the fourth lifting actuator (1214) rise, the treadmill (1100) is tilted upward to the right, so that walking training on an inclined road can be performed.

[0048] In addition, the plurality of transport actuators (1220) are configured with a first transport actuator (1221) provided on the left side of the treadmill (1100), a second transport actuator (1222) provided on the right side, and a third transport actuator (1223) provided in the center of the treadmill (1100), and the plurality of transport actuators (1220) are configured to operate individually so that the first transport actuator (1221) and the second transport actuator (1222) can reciprocate the treadmill (1100) in a left-right direction, and the third transport actuator (1223) can move the treadmill (1100) in the transport direction of the first transport actuator (1221) and the second transport actuator (1222). It is configured to be able to move back and forth in a vertical forward and backward direction.

[0049] That is, referring to FIG. 4, the rear part of the treadmill (1100) moves in a reciprocating linear direction parallel to the ground by the first transfer actuator (1221), thereby enabling walking training for instantaneous shaking to be performed.

[0050] In this way, the actuator module (1200) can provide training for various walking environments such as sloped ground, shaking, and up and down, in addition to walking training for six directions. More specifically, referring to (a) of FIG. 5, the control unit (1300) controls the first lifting actuator (1211), the second lifting actuator (1212), the third lifting actuator (1213), and the fourth lifting actuator (1214) to simultaneously lift and lower, thereby enabling the user to undergo walking training for the heave movement.

[0051] In addition, referring to (b) of FIG. 5, the second lifting actuator (1212) and the fourth lifting actuator (1214) are controlled to descend, and the first lifting actuator (1211) and the third lifting actuator (1213) are controlled to ascend, thereby enabling walking training for pitch movement to proceed.

[0052] And, referring to (c) of FIG. 5, the first lifting actuator (1211) and the second lifting actuator (1212) are controlled to descend, and the third lifting actuator (1213) and the fourth lifting actuator (1214) are controlled to ascend, thereby enabling walking training for a roll motion to proceed.

[0053] In addition, referring to (d) of FIG. 5, the first transfer actuator (1221) makes a linear reciprocating motion in the left-right direction, thereby allowing walking training to be performed for a sway motion in which the rear part of the treadmill (1100) swings in the left-right direction.

[0054] And, referring to (e) of FIG. 5, the first transfer actuator (1221) and the second transfer actuator (1222) perform a linear reciprocating motion out of alignment with each other, so that the treadmill (1100) as a whole rotates left and right, thereby enabling walking training to be performed for a yaw motion.

[0055] In addition, referring to (f) of FIG. 5, the treadmill (1100) as a whole swings in the forward and backward direction as the third transfer actuator (1223) reciprocates linearly in the forward and backward direction, thereby enabling walking training for a surge movement to be performed.

[0056] As a result, the intelligent walking training device of the present invention has the advantage of being able to present to the user, through a 6-DOF Axis Actuator, not only simply implementing inclination, but also various movements such as heave, pitch, sway, yaw, roll, and surge, as well as movements in six directions (back and forth, left and right, up and down) similar to real situations, as irregular tasks, such as shaking, rising, and falling.

[0057] In this way, it will be understood by those skilled in the art that the technical configuration of the present invention described above can be implemented in other specific forms without changing the technical idea or essential features of the present invention.

[0058] Therefore, the embodiments described above should be understood as being exemplary and not restrictive in all respects, and the scope of the present invention is indicated by the claims described below rather than the detailed description above, and all changes or modifications derived from the meaning and scope of the claims and their equivalent concepts should be interpreted as being included in the scope of the present invention.

Claims

1. A walking section that provides a walking environment to users; and Including a support member that supports the above walking member and the user; The above walking part, Treadmill; and An intelligent walking training device characterized by including an actuator module that rotates or moves the treadmill.

2. In paragraph 1, The above actuator module, An intelligent walking training device characterized by including a plurality of lifting actuators provided on the edge of the treadmill to raise and lower the treadmill.

3. In paragraph 2, The above actuator module, An intelligent walking training device characterized by comprising a plurality of transport actuators arranged parallel to the treadmill and transporting the treadmill in a horizontal direction.

4. In paragraph 3, The above actuator module is an intelligent walking training device characterized in that it improves the safety of the user by lowering the user's boarding height to 300 mm or less by horizontally arranging two actuators instead of the existing method of erecting six actuators.

5. In paragraph 1, The above support part, A video unit is provided on one side of the support unit and displays video content to the user; The above walking part, An intelligent walking training device characterized in that it further includes a control unit provided separately from the walking unit and controlling the movement of the walking unit.

6. In paragraph 5, The above control unit, An intelligent walking training device characterized in that it controls the movement of the walking unit in response to a walking pattern that must be walked according to the content of the video unit.

7. In paragraph 5, The above walking part, A camera unit is provided spaced apart from the treadmill, and photographs the treadmill and the user, and transmits the photographed image to the control unit; An intelligent walking training device characterized in that the control unit controls the video unit to display an alarm message when the user's walking speed exceeds a preset speed range based on the captured image of the camera unit.

8. In paragraph 7, The above control unit, An intelligent walking training device characterized in that it analyzes and stores the position and range of motion of the pedestrian's joints based on the captured image of the camera unit.

9. In paragraph 5, The above support part, Includes a harness part worn near the thigh of the user; The above harness part, An intelligent gait training device characterized in that it measures the electromyography of the thigh muscle of the user and transmits the measured value to the control unit.

10. In paragraph 5, The above treadmill, A pressure sensor unit provided inside the treadmill; An intelligent walking training device characterized in that the pressure sensor unit measures pressure changes according to the user's walking and transmits the measured values ​​to the control unit.

11. In paragraphs 7 to 10, An intelligent walking training device characterized in that the control unit controls the speed or incline of the treadmill based on the transmitted photographed image or measured value.

12. In paragraphs 7 to 10, An intelligent gait training device characterized in that the control unit analyzes the user's gait and stores it as data, and controls the speed, incline, and intensity of weight load adjustment of the treadmill for customized gait training for the user based on the stored gait data.

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