System for gait training assisted by articulated robot and control method thereof

Abstract

A motion unit of the disclosed gait training system comprises: a support unit including an actuator support portion having a predetermined height; and an actuator including a first link having one end connected to the actuator support portion by a first joint, a second link having one end connected to the other end of the first link by a second joint, and a foot plate connected to the other end of the second link by a third joint, wherein a first driving motor for rotating the first link with respect to the actuator support portion is installed at the first joint, a second driving motor for rotating the second link with respect to the first link is installed at the second joint, and a third driving motor for rotating the footrest with respect to the second link is installed at the third joint.

Description

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

[0001] The present disclosure relates to a multi-joint robot-assisted walking training system and a training method, and more specifically, to a walking training system using an end-effector type robot equipped with three degrees of freedom of rotational joints and a training method using the same.

[0002] A robot-assisted gait training system is a rehabilitation device for patients with difficulty walking due to damage to neuromuscular function or unbalanced muscle development caused by various diseases or accidents; it is a type of gait training system used by rehabilitation professionals.

[0003] This system utilizes robotic technology to generate or control exercise motions to enable appropriate gait training based on the patient's physical abilities and condition, assists in gait training by simulating or assisting the patient's walking movements, and enables safer and more efficient gait training by detecting and correcting the patient's movements.

[0004] Through this, the robot-assisted gait training system enables patients to perform safe and effective rehabilitation training even when they have various physical limitations.

[0005] Motion generation robots for such robot-assisted gait training systems include exoskeleton-type robots and end-effector-type robots.

[0006] Exoskeleton-type robots are a type of wearable robot that does not occupy much space, but they require a significant amount of time for the patient to put on.

[0007] End-effector type robots provide an end-effector—that is, a motor-driven footplate—on which the patient stands, either on their own or relying on an external support structure. Although these end-effector type robots take up more space than exoskeleton type robots, they are convenient to use because they are not cumbersome to wear.

[0008] Korean Patent Registration No. 10-2127011 presents an end-effector type gait training system as a fixed station type for lower-limb gait training.

[0009] This system comprises a walking drive unit with two degrees of freedom including a footrest and a translational unit with one degree of freedom for the translational movement of the drive unit. The walking drive unit generates movement of the footrest with two rotational degrees of freedom, and the translational unit has a reciprocating motion structure that moves the walking drive unit back and forth. The reciprocating motion structure includes a guide rail for translational movement, a slider that moves along the guide rail, and a transfer base for supporting the walking drive unit on the slider. Accordingly, the reciprocating motion structure occupies a large area and thus significantly expands the scale of the system, particularly the area occupied by the system.

[0010] These conventional systems are designed to allow patients to train in only one direction, which limits the performance of various training exercises. Furthermore, their structurally complex and large size make it difficult for rehabilitation specialists to provide direct assistance to patients undergoing gait training.

[0011] With these conventional exercise systems, some patients may fail to adapt to the operation of the paddles and thus unable to respond to or comply with the movements of the footplate; however, due to the difficulty in accessing rehabilitation specialists, it is difficult to effectively address patients' maladaptation to the footplate.

[0012] Therefore, research on a gait training system that is reduced in scale to simplify installation, management, and use, and enables more effective gait training through the implementation of a wider variety of gait training protocols, is desirable.

[0013] The present disclosure presents a gait training system that is easy to move and install due to its small installation space, and allows easy access for rehabilitation specialists during gait training.

[0014] According to the present disclosure, a gait training system having a link structure similar to the lower body movement of a patient is presented.

[0015] The present disclosure presents a gait training system that enables diversification of gait training protocols by allowing for the diversification of the direction of a patient's gait training and easy access for training specialists.

[0016] According to the present disclosure,

[0017] A gait training system comprising a gait exercise unit having two left and right exercise units for patient gait training and an electronic device for controlling the same,

[0018] Each of the two above-mentioned motion units: is

[0019] A support unit having an actuator support of a predetermined height; and

[0020] An actuator comprising: a first link, one end thereof connected to an actuator support by a first joint; a second link, one end thereof connected to the other end of the first link by a second joint; and a footrest connected to the other end of the second link by a third joint;

[0021] Herein, a walking training system is provided having a structure in which a first driving motor is installed at the first joint to rotate the first link with respect to the actuator support, a second driving motor is installed at the second joint to rotate the second link with respect to the first link, and a third driving motor is installed at the third joint to rotate the footplate with respect to the second link.

[0022] According to one or more embodiments,

[0023] A weight support unit may be further provided with a saddle provided between the two exercise units for a patient undergoing walking training to sit on or lean on, and a lifting device for controlling the height of the saddle.

[0024] According to one or more embodiments,

[0025] The lifting device of the above-mentioned weight support unit may operate in synchronization with the movement of the above-mentioned walking exercise unit.

[0026] According to one or more embodiments,

[0027] The support unit of each of the two movement units above is

[0028] A support column supporting the above actuator support, and

[0029] A support installed at the lower part of the above-mentioned support column may be further provided.

[0030] According to one or more embodiments,

[0031] The support units of each of the two movement units may be joined by a length-adjustable connecting bar for adjusting the mutual spacing between the two movement units.

[0032] According to one or more embodiments,

[0033] Each of the above support units: is

[0034] A support column supporting the above actuator support; and

[0035] A support installed at the lower part of the above-mentioned support column; provided,

[0036] Here, the bases of the support units may be interconnected by a length-adjustable connecting bar for adjusting the spacing between the support units.

[0037] According to one or more embodiments,

[0038] The above footrest: is

[0039] A support piece coupled to the third joint above;

[0040] A step portion rotatably coupled to the above-mentioned support member; and

[0041] It includes a hinge portion that rotatably connects a step portion to the above-mentioned support piece; and

[0042] Here, the hinge portion may include a locking means for fixing the relative rotation angle of the step portion with respect to the upper limb support piece.

[0043] According to one or more embodiments,

[0044] Each of the two above-mentioned motion units is a first motion unit and a second motion unit installed side by side, and

[0045] Each of the support units of the two motion units is a first support unit and a second support unit on both sides thereof, with the first motion unit and the second motion unit in between;

[0046] Each of the actuators of the two motion units above is a first actuator and a second actuator, and

[0047] The first link of each of the first actuator and the second actuator is connected to the actuator support of the first support unit and the actuator support of the second support unit, and

[0048] The continuous arrangement of the first link, the second link, and the footplate of each of the first actuator and the second actuator may be configured to face downward from top to bottom to form a lower limb structure.

[0049] According to one or more embodiments,

[0050] Each of the above-mentioned first support unit and second support unit: is

[0051] A support column supporting the above actuator support; and

[0052] A support installed at the lower part of the above-mentioned support column; provided,

[0053] Here, the bases of the support units may be interconnected by a length-adjustable connecting bar for adjusting the spacing between the support units, and may have a structure in which the footplates of the first actuator and the second actuator can be arranged vertically.

[0054] According to one or more embodiments,

[0055] The above electronic device may be configured to control the walking motion unit in the forward direction and the opposite reverse direction.

[0056] According to one or more embodiments,

[0057] The above electronic device is configured to control the walking motion unit in the forward direction and the opposite reverse direction, and,

[0058] And the actuator may be configured to allow the patient to perform walking training in the forward direction and the opposite reverse direction.

[0059] According to the present disclosure, a walking training method using a walking training system comprising a walking exercise unit having two left and right exercise units for training a patient’s walking and an electronic device for controlling the same,

[0060] A first degree of freedom rotation step of rotating a first link, one end of which is connected to an actuator support provided on a support unit of a predetermined height, relative to an actuator support by means of a first rotary joint equipped with a first drive motor;

[0061] A second degree of freedom rotation step for rotating a second link connected to the other end of the first link by means of a second joint equipped with a second drive motor; and

[0062] A third degree of freedom rotation step for rotating a footplate connected to the other end of the second link by a third joint equipped with a third drive motor; comprising

[0063] A walking training method is presented in which a walking motion of three degrees of rotational freedom is generated by a footplate through the combined rotational operation of a first drive motor, a second drive motor, and a third drive motor.

[0064] A walking training method according to one or more embodiments may further include the step of controlling the height of a saddle provided between the two exercise units for a patient to sit on or lean on during walking training by means of a lifting device.

[0065] According to one or more embodiments,

[0066] The above electronic device may further include the step of operating the lifting device of the weight support member in synchronization with the movement of the walking exercise member.

[0067] A walking training method according to one or more embodiments: is

[0068] The method may further include the step of adjusting the spacing between the two movement units by connecting the support units of each of the two movement units by means of a length-adjustable connecting bar for mutual spacing adjustment.

[0069] A walking training method according to one or more embodiments: is

[0070] A step of providing a support unit comprising a support column supporting the actuator support and a support base installed at the lower part of the support column;

[0071] A step of interconnecting the bases of the support units by means of a length-adjustable connecting bar for adjusting the spacing between the support units;

[0072] And, it may further include the step of adjusting the distance between the two movement units by adjusting the distance between the two support units.

[0073] A walking training method according to one or more embodiments: is

[0074] A step of preparing a footrest comprising: a support member coupled to the third joint; a step portion rotatably coupled to the support member; and a hinge portion rotatably coupled to the support member.

[0075] A step of adjusting the relative rotation angle of the step portion with respect to the support piece by the hinge portion; and

[0076] It may further include the step of fixing the relative rotation angle of the step portion with respect to the support piece by means of a locking means.

[0077] A walking training method according to one or more embodiments: is

[0078] A step of connecting the first links of the first actuator and the second actuator of the two motion units to the actuator support of the first support unit and the actuator support of the second support unit, respectively;

[0079] A step of forming a lower limb structure by arranging a continuous array of the first link, the second link, and the footplate of each of the first actuator and the second actuator so as to face downward from top to bottom;

[0080] It may further include the step of performing walking training of a patient in a walking exercise unit equipped with a first actuator and a second actuator of the lower limb structure.

[0081] A walking training method according to one or more embodiments: is

[0082] A step of mutually connecting a support base prepared on each of the above-mentioned support units by a length-adjustable connecting bar for adjusting the spacing between the above-mentioned support units; and

[0083] It may further include the step of arranging the footplates of the first actuator and the second actuator vertically.

[0084] A walking training method according to one or more embodiments: is

[0085] The electronic device may further include the step of controlling the walking motion unit in the forward direction and the opposite reverse direction to generate a forward walking motion or a reverse walking motion by the footplate.

[0086] The gait training system according to the present disclosure is a gait rehabilitation robot used for lower limb rehabilitation treatment, and the system's size can be reduced or expanded through a left-right width adjustment function, making installation and movement easy. In addition, by applying a 3-degree-of-freedom link robot and a Body Weight Support (BWS) capable of bidirectional boarding, it is possible to generate forward and backward walking trajectories, as well as use external measurement / treatment equipment and perform various rehabilitation treatments, thereby enabling the simultaneous provision of diverse patient-specific treatments. Furthermore, the footplate, acting as an end effector, is configured to move along the walking trajectory while allowing for angle adjustment around the axis of the walking direction, thereby accommodating the inversion and inversion of the patient's foot to ensure that the patient's foot can step on the footplate stably.

[0087] The attached drawings and photographs show a walking training system according to the present disclosure in whole or in part, or some elements individually, and the embodiments illustrated in these drawings do not limit the technical scope of the present disclosure.

[0088] FIG. 1 is a schematic perspective view of a gait training system according to one embodiment of the present disclosure, and

[0089] FIG. 2 is a perspective view from a slightly different angle from the perspective view of FIG. 1, showing a state in which the covers of the drive motors are partially removed, and

[0090] FIG. 3 is a left side view of the training system illustrated in FIG. 1 and FIG. 2, and

[0091] FIG. 4 is a schematic excerpt perspective view showing joints, links, and connecting bars, which are key elements of the walking motion unit of a training system according to the present disclosure, and

[0092] FIG. 5 is a plan view showing a state (a) in which both movement units are unfolded and in a state (b) in which both movement units are folded close together in a state where walking training is possible, in a walking training system according to one embodiment of the present disclosure.

[0093] FIG. 6 is a front view showing a state (a) in which both movement units are unfolded and in a state (b) in which both movement units are folded close together in a state where walking training is possible, in a walking training system according to one embodiment of the present disclosure.

[0094] FIG. 7 is an excerpted side view schematically showing an exercise unit in a walking exercise section of a training system according to the present disclosure, and

[0095] FIG. 8 (a) and (b) are a schematic perspective view and a side view illustrating a forward walking training state as a method of using the training system (10) according to the present disclosure, and

[0096] FIG. 9 (a) and (b) are a schematic perspective view and a side view illustrating a reverse walking training state as a method of using the training system (10) according to the present disclosure, and

[0097] FIG. 10 (a) and (b) are excerpted front and perspective views of an embodiment of a footplate that can be adapted to inversion / eversion of a patient's foot in a training system according to the present disclosure, and,

[0098] FIG. 11 is a block diagram illustrating the electronic control structure of a walking training system according to the present disclosure.

[0099] Hereinafter, preferred embodiments of the concept of the present invention will be described in detail with reference to the accompanying drawings. However, embodiments of the concept of the present invention may be modified in various different forms, and the scope of the concept of the present invention should not be interpreted as being limited by the embodiments described below. It is preferable to interpret the embodiments of the concept of the present invention as being provided to more completely explain the concept of the present invention to those with average knowledge in the art. Identical reference numerals denote identical elements throughout. Furthermore, various elements and areas in the drawings are depicted schematically. Accordingly, the concept of the present invention is not limited by the relative sizes or spacing depicted in the accompanying drawings.

[0100] Terms such as first, second, etc. may be used to describe various components, but said components are not limited by said terms. These terms are used solely for the purpose of distinguishing one component from another. For example, without departing from the scope of the concept of the present invention, the first component may be named the second component, and conversely, the second component may be named the first component.

[0101] The terms used in this application are used merely to describe specific embodiments and are not intended to limit the concept of the invention. The singular expression includes the plural expression unless the context clearly indicates otherwise. In this application, expressions such as "comprising" or "having" are intended to indicate the existence of the features, number, steps, actions, components, parts, or combinations thereof described in the specification, and should be understood as not precluding the existence or addition of one or more other features, numbers, actions, components, parts, or combinations thereof.

[0102] Unless otherwise defined, all terms used herein, including technical and scientific terms, have the same meaning as commonly understood by those skilled in the art to which the concept of the present invention pertains. Furthermore, it will be understood that commonly used terms, such as those defined in advance, should be interpreted as having meanings consistent with their intent in the context of the relevant technology, and should not be interpreted in an overly formal sense unless explicitly defined herein.

[0103] Where an embodiment can be implemented differently, a specific process or process sequence may be performed differently from the order described. For example, two processes or steps described in succession may be performed substantially simultaneously or in the reverse order of the description.

[0104] A walking training system according to one or more embodiments is described below.

[0105] A gait training system according to the present disclosure comprises a gait exercise unit having two left and right exercise units for gait training of a patient and an electronic device for controlling the same, and includes the following basic components.

[0106] That is, each of the two above-mentioned motion units: is

[0107] A support unit having an actuator support of a predetermined height; and

[0108] An actuator comprising: a first link, one end thereof connected to an actuator support by a first joint; a second link, one end thereof connected to the other end of the first link by a second joint; and a footrest connected to the other end of the second link by a third joint;

[0109] Here, the structure has a first drive motor installed at the first joint to rotate the first link relative to the actuator support, a second drive motor installed at the second joint to rotate the second link relative to the first link, and a third drive motor installed at the third joint to rotate the footplate relative to the second link.

[0110] Walking training methods using this walking training system:

[0111] A walking training method using a walking training system comprising a walking exercise unit having two left and right movement units for patient walking training and an electronic device for controlling the same,

[0112] A first degree of freedom rotation step of rotating a first link, one end of which is connected to an actuator support provided on a support unit of a predetermined height, relative to an actuator support by means of a first rotary joint equipped with a first drive motor;

[0113] A second degree of freedom rotation step for rotating a second link connected to the other end of the first link by means of a second joint equipped with a second drive motor; and

[0114] A third degree of freedom rotation step for rotating a footplate connected to the other end of the second link by a third joint equipped with a third drive motor; comprising

[0115] A walking motion of 3 degrees of rotational freedom is generated by the footrest through the combined rotational operation of the first drive motor, the second drive motor, and the third drive motor.

[0116] A more specific gait training system is described below, and through this explanation, the gait training method defined above can be understood.

[0117] FIG. 1 is a schematic perspective view of a walking training system (10) according to one embodiment of the present disclosure. FIG. 2 is a perspective view from a slightly different angle from the perspective view of FIG. 1 and shows a state in which the covers of the driving motors described below are partially removed.

[0118] The above-mentioned walking training system (10) has a left-right symmetrical structure. In the walking training system (10), the same reference number is assigned to elements or parts of the same function, but L and R are added to some reference numbers to distinguish between left and right.

[0119] As illustrated in FIGS. 1 and 2, the gait training system (10) comprises an electronic apparatus (100), a body weight support (200), and a gait motion part (300).

[0120] Specifically, the electronic device (100) controls the overall operation of the training system (10) and is equipped with a cabinet (120) and a system control unit (110) inside it, and a caster (100c) may be optionally provided at the bottom.

[0121] The above-mentioned system control unit (110) has a computer-based structure that controls the mechanical operation of the gait exercise unit (300), for example, a plurality of drive motors described later. The system control unit (110) generates a gait motion or gait training motion for training that forces the movement of the patient's foot. This gait motion appears as the movement trajectory of the footplate (313) of the gait exercise unit (300). In addition, the system control unit (110) also controls the weight support unit (200) described later.

[0122] The above-mentioned weight support member (200) is of the sitting type or seat type and is equipped with a dynamic saddle (220) on which a patient undergoing walking training can sit or be supported, a lifting frame (240) on which the dynamic saddle (220) is mounted and which has a vertical protective fence (230) in the middle, and a lifting device (210) for lifting and lowering the frame (240). The lifting device (210) is controlled by a system control unit (110) to statically or dynamically adjust the height of the dynamic saddle (220) on which the patient sits or relies, and in particular, can generate a dynamic saddle motion linked to the patient's lower body movement or the walking training motion of the walking exercise unit (300) during walking training.

[0123] The above walking movement unit (300) includes two left and right movement units, namely a first movement unit (300L) and a second movement unit (300R), which are symmetrically arranged on both sides of the dynamic saddle (220). Each of these two movement units (300L, 300R) has a first actuator (310L) and a second actuator (310R) of a multi-link structure having at least three rotational joints, and a first support unit (320L) and a second support unit (320R) that support each of them.

[0124] Each of the two actuators (310L, 310R) is a structure similar to the structure of the lower limb and is equipped with a first joint (314a) corresponding to the hip joint, a second joint (314b) corresponding to the knee joint, and a third joint (314c) corresponding to the ankle joint. A driving motor (315a, 315b, 315c) is installed in the joints (314a, 314b, 314c) to induce or force the movement of the corresponding joint with a constant force.

[0125] Here, a first link (311) corresponding to the thigh is positioned between the first joint (314a) and the second joint (314b), a second link (312) corresponding to the lower leg is positioned between the second joint (314b) and the third joint (314c), and a dynamic footplate (313) close to the ground is rotatably connected to the bottom of the second link (312) through the third joint (314c). Here, it is necessary for the first joint (314a) and the second joint (314b) to be designed so as to be spaced at a constant distance from the patient's hip and knee joints, so that the hand of the gait trainer or medical professional can access the lower limb of the patient being trained laterally next to the first actuator or the second actuator.

[0126] This approach by the gait trainer is necessary because it assists in the training by observing the patient's training status during the gait training, and especially when the lower limbs do not move properly, the trainer directly corrects the posture of the lower limb area with their hands. In this way, when the first joint (314a) and the second joint (314b) are misaligned with the patient's hip and knee joints, the first link and the second link are also misaligned with the patient's thigh and lower leg, respectively, and thus the hands of the gait trainer or medical professional can easily pass these links to access the patient's lower limb area. Similarly, the third joint (314c) is close to the footplate (313), so it is difficult to increase the separation distance, but it is not difficult to access because it is the distal end of the lower limb.

[0127] As described above, the first actuator and the second actuator of the gait training system according to the present disclosure are similar in basic form to the lower limb portion of the patient but have substantially different forms.

[0128] The gait training motion of the footplate can form the desired individual patient gait training motion of the footplate by operating the first and second links and the footplate, which are positioned offset from the patient's lower limbs, by drive motors.

[0129] And each of the above joints and links is equipped with a basic frame member and a suitable cover or housing to protect it, and the basic frame member is described in FIG. 4 below.

[0130] The first support unit (320L) and the second support unit (320R) each have a base (321) on the floor, a support column (322) standing vertically upright from the base (321), and an actuator support (323) provided at the top of the support column (322). A caster (300c) that supports the entire walking movement unit (300) and assists in its movement may be attached to the lower part of the base (321).

[0131] The base (321) of each of the first support unit (320L) and the second support unit (320R) is a base portion that supports the corresponding actuator (310L, 310R), and the actuator support portion (323) is a portion corresponding to the hip and is the portion to which the first joint (314a) is connected. Accordingly, the first link (311) is rotatably connected to the actuator support portion (323) by the first joint (314a). The two bases (321) can be connected so as to be mutually spaced apart by a length-adjustable, for example, frame-type telescopic connection bar (324). Accordingly, the connection bar (324) may include two or more connection sections that can be separated and connected, and this can be implemented in various forms.

[0132] According to the above structure, the actuators (310L, 310R) are suspended from the actuator support portion (323) of each of the first support unit (320L) and the second support unit (320R). Accordingly, the first actuator (310L) and the second actuator (310R) corresponding to the lower limbs are positioned toward the floor from the actuator support portion (323) corresponding to the hip, and thus the footrest (313) on which the patient stands is placed near the floor.

[0133] According to this structure, the movement of the first actuator (310L) and the second actuator (310R) appears in a form similar to the movement of the patient's lower limbs, and thereby the movement trajectory of the footplate (313), that is, the walking motion, matches the target trajectory set for the patient's walking training.

[0134] First, second, and third drive motors (315a, 315b, 315c) that force the movement of the joint with a constant force are installed in the joints (314a, 314b, 314c), and these are protected by respective covers (316a, 316b, 316c), etc.

[0135] The first drive motor (315a) controls the rotation of the first link (311) relative to the actuator support (323), the second drive motor (315b) controls the rotation of the second link (312) relative to the first link (311), and the third drive motor (315c) controls the rotation of the footrest (313) relative to the second link (312).

[0136] Here, the first cover (316a) covering the first drive motor (315a) can be replaced with the head housing (323h) of the actuator support (323), and according to another embodiment, the first cover (316a) and the head housing (323h) may be provided separately, for example, the first drive motor (315a) may be protected by the first cover (316a) and may be entirely protected by the head housing (323h), although only the head housing (323h) is shown in the drawing.

[0137] FIG. 3 is a left side view of the training system (10) shown in FIG. 1 and FIG. 2.

[0138] Referring to FIG. 3, the walking exercise unit (300) is supported by a support unit (320L, 320R), and the dynamic saddle (220) of the weight support unit (200) is positioned above the footrest (313) of the walking exercise unit (300).

[0139] The above dynamic saddle (220) is fixed to a frame (240) that moves up and down by a lifting device (210), and is equipped with a protective fence (230) that a patient standing on the footrest (313) in the forward direction can lean their chest against or hold with their hands.

[0140] The forward direction defined in the present disclosure refers to the direction in which a patient standing on the footrest (313) faces the electronic device (100) or the weight support (200), and the reverse direction refers to the direction in which a patient stands on the footrest (313) with their back to them.

[0141] The lifting device (210) of the aforementioned weight support member (200) operates in synchronization with the walking training motion generated by the walking exercise member (300). The walking exercise member (300), controlled by the electronic device (100), generates a forward walking motion or a reverse walking training motion according to the direction in which the patient is standing on the footrest. The lifting device (210) is operated according to the forward or reverse walking training motion to stably support the buttocks of the patient undergoing walking training by the dynamic saddle (220).

[0142] The selection of whether to operate or use the lifting device (210) is made according to the condition of the patient who is the subject of walking training, and this selection may be made by a walking training expert or medical staff. The electronic device (100) controls the weight support part (200) and the walking exercise part (300) according to a training protocol determined by a walking training expert or medical staff for each individual patient, thereby generating a forward or reverse walking training motion that is suitable for each individual patient.

[0143] In this training system (10), the electronic device (100) and the weight support member (200) can be combined as one unit so as to be separable, and the walking exercise member (300) can be created as an independent structure so as to be positioned adjacent to the weight support member (200) and freely adjust the distance from it. However, according to another embodiment, the walking exercise member (300) with the distance adjusted from the weight support member (200) can be temporarily fixed so as to be separable from the electronic device (100) or the weight support member (200).

[0144] FIG. 4 is a schematic excerpt perspective view showing the joints, links, and connecting bars, which are the main elements of the walking exercise unit (300) of the training system (10) according to the present disclosure.

[0145] Referring to FIG. 4, two parallel supports (321) are joined in a roughly "U" shape by a connecting bar (324), and a number of casters (300c) are joined to the lower part.

[0146] Each support column (322) of the first support unit (320L) and the second support unit (320R) is installed vertically in the center of the corresponding support (321), and each of these support columns (322) is equipped with a first column member (322a) and a second column member (322b).

[0147] These first column members (322a) and second column members (322b) support each other and reinforce the overall mechanical strength. Additionally, among these column members, the first column member (322a) is connected to the first bracket (323a) of the actuator support (323) on which the first drive motor (315a) is mounted, and the second column member (322b), which is fixed alongside the first column member (322a), is of the tube type and provides part of the passage path for wiring connected to the first to third drive motors (314a, 314b, 314c).

[0148] The passage path of the above wiring leads to the interior of the second column member (322b) and to the wiring space provided by a cover or housing, etc., that protects the first joint (314a) and the second joint (314b).

[0149] That is, the wiring bundles start from the system control unit (110, FIG. 1) of the electronic device (100) and reach the interior of the actuator support (323) through the second pillar member (322b), and one group of the wirings is connected to the first drive motor (315a), and the remaining two groups of wirings proceed through a series of wiring paths provided by a cover or housing protecting the first link (311) and the second link (312) and are connected to the second drive motor (315b) and the third drive motor (315c), respectively.

[0150] In the installation structure of the first to third drive motors (315a, 315b, 315c) above, the body of the first drive motor (315a) located at the first joint (314a) is fixed to the inner surface of the second bracket (323b) which extends in a direction orthogonal to the first bracket of the actuator support (323), and the rotation axis of the first drive motor (315a) is coupled to the upper end of the first link (311). Accordingly, the first link (311) rotates relative to the actuator support (323) by the first drive motor (315a).

[0151] The body of the second drive motor (315b) located at the second joint (314b) is fixed to the lower end of the first link (311), and its axis of rotation is connected to the upper end of the second link (312). Accordingly, the second link (312) rotates relative to the first link (311) by the second drive motor (315b).

[0152] The body of the third drive motor (315c) located at the third joint (314c) is fixed to the lower end of the second link (312), and its rotation axis is connected to the footrest (313). Accordingly, the footrest (313) rotates relative to the second link (312) by the third drive motor (315c).

[0153] Meanwhile, as previously described, the connecting bar (324) can be adjusted in length, and thus the distance between the two supports (321) can be narrowed or widened by adjusting the length of the connecting bar (324). In this way, the distance between the two support units (320L, 320R) including the supports (321) can be adjusted, and thus the distance between the two actuators (310L, 310R) can be adjusted. This distance adjustment function is advantageous when transporting or relocating the training system (10) and can also adjust the distance between the footrests (313, 313) to fit the patient's body as illustrated in FIG. 5. Of course, the spacing can be adjusted using both footrests (313, 313) without movement of the support units (320L, 320R) due to the function of the footrest itself, and the spacing adjustment by the connecting bar is helpful for moving / installing the system. FIG. 5 is a plan view showing a state (a) in which both movement units are unfolded and a state (b) in which both movement units are folded close together in a state where walking training is possible in a walking training system according to one embodiment of the present disclosure.

[0154] FIG. 6 is a front view showing a state (a) in which both movement units are unfolded and in a state (b) in which both movement units are folded close together in a state where walking training is possible, in a walking training system according to one embodiment of the present disclosure.

[0155] Referring to FIG. 5(a) and FIG. 6(a), when the connecting bar (324) connecting the two supports is extended, the two exercise units (300L, 300R) are positioned in a state where walking training is possible.

[0156] Referring to FIG. 5(b) and FIG. 6(b), when the connecting bar (324) connecting the two supports is retracted short, the two exercise units (300L, 300R) are folded close together, and at this time, the two footrests (313) are overlapped vertically. This state is a state in which walking training cannot be performed, which is advantageous for storing the training system (10) in a non-use state or transporting it to another installation location.

[0157] Furthermore, the training system (10) according to the present disclosure can separate the walking exercise unit (300) so that it can be managed or transported separately from the electronic device (100) and the weight support unit (200).

[0158] FIG. 7 is an excerpted side view schematically showing the exercise units (300L, 300R) in the walking exercise section (300) of the training system (10) according to the present disclosure.

[0159] As illustrated in FIG. 7, the walking movement unit (300) according to the present disclosure is equipped with first and second actuators (310L, 310R) resembling the lower limb structure of a humanoid.

[0160] From the high-position actuator support (323) corresponding to the buttocks, which is the starting point of the lower limb, a first link (311) corresponding to the thigh, a second link (312) corresponding to the lower leg, and a footplate (313) corresponding to the foot are arranged downward in succession toward the ground, and these are connected in order by a first joint (314a) as a thigh joint, a second joint (314b) as a knee joint, and a third joint (314c) as an ankle joint, each having a driving motor installed therein.

[0161] The shape of these actuators (310L, 310R) has an external appearance similar to the lower limb of a patient performing actual walking training, and thus, during walking training, the movement of the actuators (310L, 310R) follows the shape of the patient's lower limb.

[0162] Meanwhile, according to the present disclosure, the actuators (310L, 310R) can generate walking motion in the forward direction as well as in the reverse direction. Such walking motion can be generated by the actuators (310L, 310R) by the control of the electronic device (100).

[0163] FIG. 8 (a) and (b) are a schematic perspective view and a side view illustrating a forward walking training state as a method of using the training system (10) according to the present disclosure.

[0164] As shown in FIG. 8 (a) and (b), the patient performs training by standing on the left and right footrests (313) of the walking exercise unit (300) in a direction facing the electronic device (100) or the weight support unit (200).

[0165] In this forward training, the actuators (310L, 310R) generate a walking motion suitable for forward walking training, and thus the footplate (313) moves along a forward walking trajectory accordingly.

[0166] FIG. 9 (a) and (b) are a schematic perspective view and a side view illustrating a reverse walking training state as a method of using the training system (10) according to the present disclosure.

[0167] As shown in FIG. 9 (a) and (b), the patient stands on the left and right footrests (313) of the walking exercise unit (300) with their back to the electronic device (100) or the weight support unit (200) and in the opposite direction to perform training.

[0168] In this reverse training, the actuators (310L, 310R) generate a reverse walking motion opposite to the forward walking motion, and thus the footplate (313) moves in a reverse walking trajectory accordingly. Therefore, a patient who steps onto the footplate (313) in the reverse direction can perform walking training by means of the footplate with the reverse walking motion.

[0169] FIG. 10 (a) and (b) are excerpted front and perspective views of an embodiment of a footplate that can be adapted to the inversion / eversion of a patient's foot in a training system according to the present disclosure.

[0170] Among patients undergoing gait training, there may be inversion or eversion of the foot. In this case, the patient cannot stand on a footrest that has a step portion parallel to the ground. Accordingly, in the embodiment according to the present disclosure, an angle adjustment portion is installed on the footrest to accommodate inversion or eversion.

[0171] As illustrated in FIG. 10, the footrest (313) comprises a stepping portion (313a) on which a patient steps, a supporting segment (313b) physically connected between the stepping portion (313a) and a third joint (314c), and a locking hinge portion (313c) that rotatably fixes the stepping portion (313a) to the supporting segment (313b).

[0172] The hinge portion (313c) is formed by a complementary rotational coupling structure formed between the step portion (313a) and the support piece (313b), and may be provided with a locking means for fixing the relative rotation angle of the step portion (313a) with respect to the support piece (313b).

[0173] FIG. 11 is a block diagram illustrating the electronic control structure of a walking training system (10) according to the present disclosure.

[0174] As illustrated in FIG. 11, the walking training system (10) comprises an electronic device (100), a weight support member (200), and a walking exercise member (300).

[0175] As described above, the electronic device (100) is equipped with a computer-based control system, namely a system control unit (110), that controls the walking movement unit (300) and the weight support unit (200).

[0176] The above system control unit (110) controls the first to third drive motors (315a, 315b, 315c) of the walking motion unit (300) to generate walking motion.

[0177] The walking exercise unit (300) equipped with two actuators (310L, 310R) fitted with the above-mentioned drive motors (315a, 315b, 315c) generates a walking motion by a dynamic footrest (313) with a three-degree-of-freedom operating link structure. The walking motion is a forward walking motion or a reverse walking motion, and this motion is selected according to the direction in which the patient steps onto the walking exercise unit (300), as described above.

[0178] Additionally, the walking exercise unit (300) controls the lifting device (210) of the weight support unit (200) to generate a saddle motion by a dynamic saddle synchronized with the walking motion. Whether the dynamic saddle (220) moves is determined by the electronic device (100).

[0179] The gait training system according to the present disclosure described above is a gait rehabilitation robot used for lower limb rehabilitation treatment, and is easy to install and move by reducing and expanding the size of the system through a left-right width adjustment function. In addition, it is possible to generate forward and reverse walking motions with a robot having a 3-degree-of-freedom link structure and a weight support member capable of bidirectional boarding.

[0180] Furthermore, the application of a gait exercise unit with a structurally simple lower limb structure facilitates easy access to patients undergoing training, making it easy to use external measurement / treatment equipment and allowing for the simultaneous use of various rehabilitation therapies, thereby enabling diverse patient-tailored treatments.

[0181] Although various embodiments of the present invention have been described in detail above, a person skilled in the art will be able to modify and implement the present invention in various ways without departing from the spirit and scope of the invention as defined in the appended claims. Accordingly, future modifications to the embodiments of the present invention will not depart from the technology of the present invention.

Claims

1. A gait training system comprising a gait exercise unit having two left and right exercise units for patient gait training and an electronic device for controlling the same, Each of the two above-mentioned motion units: is A support unit having an actuator support of a predetermined height; and An actuator having a first link, one end of which is connected to the actuator support by a first joint; a second link, one end of which is connected to the other end of the first link by a second joint; and a footrest connected to the other end of the second link by a third joint; A walking training system having a structure in which, wherein a first driving motor for rotating the first link with respect to the actuator support is installed at the first joint, a second driving motor for rotating the second link with respect to the first link is installed at the second joint, and a third driving motor for rotating the footplate with respect to the second link is installed at the third joint.

2. In Paragraph 1, A gait training system further comprising a weight support member having a saddle provided between the two exercise units for a patient to sit on or lean on during gait training, and a lifting device for controlling the height of the saddle.

3. In Paragraph 2, A walking training system in which the lifting device of the above-mentioned weight support unit operates in synchronization with the movement of the above-mentioned walking exercise unit.

4. In Paragraph 1, The support unit of each of the two movement units above is A support column supporting the above actuator support, and A walking training system further comprising a support installed at the lower part of the above-mentioned support column.

5. In Paragraph 1, A walking training system in which the support units of the two above-mentioned movement units are interconnected by a length-adjustable connecting bar for adjusting the mutual spacing between the two movement units.

6. In Paragraph 1, Each of the above support units: is A support column supporting the above actuator support; and A support installed at the lower part of the above-mentioned support column; provided, A walking training system wherein, the supports of the support units are interconnected by a length-adjustable connecting bar for adjusting the spacing between the support units.

7. In Paragraph 1, The above footrest: is A support piece coupled to the third joint above; A step portion rotatably coupled to the above-mentioned support member; and It includes a hinge portion that rotatably connects a step portion to the above-mentioned support piece; and Here, the hinge portion includes a locking means for fixing the relative rotation angle of the step portion with respect to the upper limb support piece, in a walking training system.

8. In Paragraph 1, Each of the two above-mentioned motion units is a first motion unit and a second motion unit installed side by side, and Each of the support units of the two motion units is a first support unit and a second support unit on both sides thereof, with the first motion unit and the second motion unit in between; Each of the actuators of the two motion units above is a first actuator and a second actuator, and The first link of each of the first actuator and the second actuator is connected to the actuator support of the first support unit and the actuator support of the second support unit, and A walking training system in which the continuous arrangement of the first link, the second link, and the footplate of each of the first actuator and the second actuator is configured to face from top to bottom to form a lower limb structure.

9. In Paragraph 8, Each of the above-mentioned first support unit and second support unit: is A support column supporting the above actuator support; and A support installed at the lower part of the above-mentioned support column; provided, Herein, the supports of the support units are interconnected by a length-adjustable connecting bar for adjusting the spacing between the support units, and the walking training system has a structure in which the footplates of the first actuator and the second actuator can be arranged vertically.

10. In Paragraph 1, A walking training system in which the above electronic device is configured to control the walking movement unit in the forward direction and the opposite reverse direction.

11. In Paragraph 1, The above electronic device is configured to control the walking motion unit in the forward direction and the opposite reverse direction, and, A gait training system in which the above actuator is configured to enable a patient to train walking in the forward direction and the opposite reverse direction.

12. A walking training method using a walking training system comprising a walking exercise unit having two left and right movement units for patient walking training and an electronic device for controlling the same, A first degree of freedom rotation step of rotating a first link, one end of which is connected to an actuator support provided on a support unit of a predetermined height, relative to an actuator support by means of a first rotary joint equipped with a first drive motor; A second degree of freedom rotation step for rotating a second link connected to the other end of the first link by means of a second joint equipped with a second drive motor; and A third degree of freedom rotation step for rotating a footplate connected to the other end of the second link by a third joint equipped with a third drive motor; comprising Walking training method that generates a walking motion of 3 rotational degrees of freedom by means of a footplate through the combined rotational operation of a first drive motor, a second drive motor and a third drive motor.

13. In Paragraph 12, A walking training method further comprising the step of controlling the height of a saddle provided between the two exercise units for a patient to sit on or lean on using a lifting device during walking training.

14. In Paragraph 13, A walking training method comprising the step of the above electronic device operating the lifting device of the weight support part in synchronization with the movement of the walking exercise part.

15. In Paragraph 12, A walking training system further comprising the step of adjusting the spacing between the two movement units by connecting the support units of each of the two movement units by means of a length-adjustable connecting bar for mutual spacing adjustment.

16. In Paragraph 11, A step of providing a support unit comprising a support column supporting the actuator support and a support base installed at the lower part of the support column; A step of interconnecting the bases of the support units by means of a length-adjustable connecting bar for adjusting the spacing between the support units; A walking training system further comprising the step of adjusting the distance between the two movement units by adjusting the distance between the two support units.

17. In Paragraph 12, A step of preparing a footrest comprising: a support member coupled to the third joint; a step portion rotatably coupled to the support member; and a hinge portion rotatably coupled to the support member. A step of adjusting the relative rotation angle of the step portion with respect to the upper limb support piece by the above hinge portion; and A walking training method further comprising the step of fixing the relative rotation angle of the stepping member with respect to the support member by means of a locking means.

18. In Paragraph 12, A step of connecting the first links of the first actuator and the second actuator of the two motion units to the actuator support of the first support unit and the actuator support of the second support unit, respectively; A step of forming a lower limb structure by arranging a continuous array of the first link, the second link, and the footplate of each of the first actuator and the second actuator so as to face downward from top to bottom; A gait training method further comprising the step of performing gait training of a patient in a gait exercise unit equipped with a first actuator and a second actuator of the lower limb structure.

19. In Paragraph 18, A step of mutually connecting a support base prepared on each of the above-mentioned support units by a length-adjustable connecting bar for adjusting the spacing between the above-mentioned support units; and A walking training method further comprising the step of arranging the footplates of the first actuator and the second actuator vertically.

20. In Paragraph 12, A walking training method comprising the step of further including the step of controlling the walking motion unit in the forward direction and the opposite reverse direction using the electronic device to generate a forward walking motion or a reverse walking motion by the footplate.

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