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

Abstract

Disclosed are a gait training system and a gait training method. The gait training system is provided with: a gait exercise part provided with two exercise units, one on the left and one on the right, for gait training of a patient; and an electronic device for controlling same. Each of the two exercise units is provided with: an actuator as an end-effect type robot that controls the movements of both feet for gait training of the patient; and an actuator support that serves as a reference point for the movement of the actuator. The actuator of each of the two exercise units is provided with: a first joint mounted on the actuator support; a first link of which one end is connected to the support by the first joint; a second link of which one end is connected to the other end of the first link by a second joint; and a footplate connected to the other end of the second link by a third joint, wherein the footplate generates gait motions in various modes to control the movement of a foot of the patient.

Description

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

[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-effect 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 motion unit with one degree of freedom for the translational motion of the drive unit. The walking drive unit generates movement of the footrest with two rotational degrees of freedom, and the translational motion unit has a reciprocating motion structure that moves the walking drive unit back and forth.

[0010] The above-described reciprocating motion structure includes a guide rail for translational motion, a slider moving 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.

[0011] 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.

[0012] The present disclosure presents a gait training system capable of more effective gait training through the implementation of various gait training protocols.

[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 movement units comprises an actuator as an end-effect type robot that forces the movement of both feet for the patient's gait training, and an actuator support that serves as the starting point of the actuator's movement.

[0019] The actuator of each of the two motion units above:

[0020] A first joint installed on the actuator support above;

[0021] A first link, one end of which is connected to the support member by the first joint;

[0022] A second link, one end of which is connected to the other end of the first link by a second joint; and,

[0023] A footrest connected to the other end of the second link by a third joint;

[0024] A first driving motor installed in the first joint to rotate the first link relative to the support member;

[0025] A second drive motor installed in the second joint to rotate the second link relative to the first link; and

[0026] A third drive motor installed in the third joint to rotate the footplate with respect to the second link; is provided,

[0027] Here, a walking training system is provided in which the electronic device controls the first, second, and third drive motors of the actuator to move the footplate along a walking trajectory of a plurality of walking modes, thereby forcing the patient's foot to move along the walking trajectory by the footplate.

[0028] According to one or more embodiments,

[0029] The above multiple walking modes may include at least one of walking on flat ground, climbing stairs, descending stairs, climbing an incline, and descending an incline.

[0030] According to one or more embodiments,

[0031] The two actuator supports are installed on the floor, and the actuators installed on each of the two actuator supports can be arranged substantially side by side on the floor.

[0032] According to one or more embodiments,

[0033] Each of the two above-mentioned motion units is equipped with a support unit, and

[0034] Each support unit comprises a support column that supports the actuator support, and

[0035] A support base installed at the lower part of the above-mentioned support column may be provided.

[0036] According to one or more embodiments,

[0037] 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.

[0038] According to one or more embodiments,

[0039] The lifting device of the above-mentioned weight support unit may operate in synchronization with the movement of the above-mentioned walking exercise unit.

[0040] According to one or more embodiments,

[0041] The actuator support portions of the two motion units may be interconnected by a length-adjustable connecting bar for adjusting the mutual spacing between the two motion units.

[0042] According to one or more embodiments,

[0043] The actuator support portions of the two motion units may be interconnected by a length-adjustable connecting bar for adjusting the mutual spacing between the two motion units.

[0044] According to one or more embodiments,

[0045] The above footrest: is

[0046] A support piece coupled to the third joint above;

[0047] A step portion rotatably coupled to the above-mentioned support member; and

[0048] It includes a hinge portion that rotatably connects a step portion to the above-mentioned support piece; and

[0049] Here, the hinge portion may include a locking means for fixing the relative rotation angle of the step portion with respect to the support piece.

[0050] According to one or more embodiments,

[0051] The above electronic device is configured to control the walking motion unit in the forward direction and the opposite reverse direction, and,

[0052] The above actuator can be configured to allow the patient to perform walking training in the forward direction and the opposite reverse direction.

[0053] According to another aspect of the present disclosure,

[0054] A gait training method is presented using a gait training system comprising a gait exercise unit having two left and right movement units for gait training of a patient and an electronic device controlling the same, and this method:

[0055] A first degree of freedom rotation step of rotating a first link, one end of which is connected to an actuator support, relative to an actuator support by means of a first rotary joint equipped with a first drive motor;

[0056] 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

[0057] 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

[0058] By the combined rotational operation of the first drive motor, the second drive motor, and the third drive motor, the footplate can be moved along the walking trajectories of multiple walking modes based on a walking motion of three rotational degrees of freedom, thereby forcing the patient's foot to move along the walking trajectory by the footplate.

[0059] According to one or more embodiments,

[0060] The above method may include at least one of the plurality of walking modes, walking on flat ground, climbing stairs, descending stairs, climbing an incline, and descending an incline.

[0061] According to one or more embodiments,

[0062] The above method may further include the step of the electronic device controlling the walking motion unit in a forward direction and a reverse direction opposite thereto to generate a forward walking motion or a reverse walking motion according to the walking mode by the footplate.

[0063] According to one or more embodiments,

[0064] In the above method, the two actuator supports are installed on the floor, and the actuators installed on each of the two actuator supports can be arranged substantially side by side on the floor.

[0065] According to one or more embodiments,

[0066] The above method: is

[0067] The step of controlling the height of a saddle provided between the two exercise units so that the lifting device allows the patient undergoing walking training to sit or lean on it; and

[0068] 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.

[0069] According to one or more embodiments,

[0070] The above 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.

[0071] According to one or more embodiments,

[0072] The above method: is

[0073] 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.

[0074] A step of adjusting the relative rotation angle of the step portion with respect to the support piece by the hinge portion; and

[0075] 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.

[0076] According to one or more embodiments,

[0077] The above method: is,

[0078] A step of installing the first actuator support member and the second actuator support member on the first support unit and the second support unit;

[0079] A step of connecting the first link of the first actuator and the first link of the second actuator to the first actuator support and the second actuator support, respectively;

[0080] A step of arranging the continuous arrangement of the first link, the second link, and the footplate of each of the first actuator and the second actuator so as to face from top to bottom to form a lower limb structure;

[0081] It may further include the step of performing walking training of a patient in a walking exercise unit equipped with the first actuator and the second actuator.

[0082] According to one or more embodiments,

[0083] The above method comprises the step of mutually connecting a support base prepared on each of the support units by a length-adjustable connecting bar for adjusting the spacing between the support units; and

[0084] It may further include the step of arranging the footplates of the first actuator and the second actuator vertically.

[0085] According to one or more embodiments,

[0086] The above method may further include the step of the electronic device 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.

[0087] 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 gait trajectories, as well as use external measurement / treatment equipment and perform various rehabilitation treatments, thereby enabling the simultaneous provision of various patient-specific treatments. Furthermore, the footplate, acting as an end effector, is configured to move along various modes of gait trajectories while allowing for angle adjustment around the axis of the gait direction, thereby optimizing for the inversion / inversion of the patient's foot to ensure the patient's foot steps on the footplate stably.

[0088] 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.

[0089] FIG. 1 is a schematic perspective view of a first walking training system according to one embodiment of the present disclosure.

[0090] Figure 2 is a perspective view from a slightly different angle than the perspective view of Figure 1, showing the drive motors with their covers partially removed.

[0091] Figure 3 is a left side view of the training system illustrated in Figures 1 and 2.

[0092] 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 of the first walking training system according to the present disclosure.

[0093] FIG. 5 is a plan view showing a state (a) in which both movement units are unfolded and (b) in which both movement units are folded close together in a state where walking training is possible in a first walking training system according to one embodiment of the present disclosure.

[0094] 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 first walking training system according to one embodiment of the present disclosure.

[0095] FIG. 7 is an excerpted side view schematically showing an exercise unit in the walking exercise section of the first training system according to the present disclosure.

[0096] 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 first walking training system according to the present disclosure.

[0097] 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 first walking training system according to the present disclosure.

[0098] 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 first gait training system according to the present disclosure.

[0099] FIG. 11 is a block diagram illustrating the electronic control structure of a walking training system according to the present disclosure.

[0100] Figure 12 illustrates the regulations regarding the position of the foot in a walking pattern.

[0101] FIG. 13 illustrates the movement trajectory of a footplate moving according to various walking modes trained by a walking training system according to the present disclosure.

[0102] FIG. 14 is a schematic perspective view of a second walking training system according to another embodiment of the present disclosure.

[0103] FIG. 15 is a perspective view showing only the first and second actuators of the second walking training system illustrated in FIG. 14.

[0104] FIG. 16 illustrates the planar arrangement structure of the first and second actuators shown in FIG. 15.

[0105] Figures 17 (A) and (B) illustrate various walking modes by footplates of the first walking training system and the second walking training system, respectively, according to the present disclosure.

[0106] FIG. 18 individually illustrates walking motions of various walking modes of a footplate in a first walking training system and a second walking training system according to the present disclosure.

[0107] 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.

[0108] 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.

[0109] 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.

[0110] 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.

[0111] 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.

[0112] A walking training system according to one or more embodiments is described below.

[0113] The walking training system according to the present disclosure has a structure different from that of a general walking assistance robot. Known walking assistance robots have a structure that forces movement of hip joints, knee joints, ankle joints, etc., and a motor that forces movement of the joint is installed at each joint.

[0114] However, the gait training system according to the present disclosure does not force joints but trains foot movements in various modes and does not force movements of joints other than the foot.

[0115] Figure 12 illustrates the regulations for foot position in a general walking pattern. Training is performed in various modes of walking within this walking pattern.

[0116] Within the walking pattern, three tasks are performed in one cycle as follows.

[0117] 1. Weight Acceptance

[0118] This period consists of an initial contact phase where the foot first touches the ground and a loading response phase (the moment the sole of the foot steps on the ground).

[0119] 2. Single Limb Support

[0120] During this period, the sole of the foot touches the ground, the mid-stance at the moment the foot of the opposite leg lifts off the ground, and the heel rises while the opposite leg swings.

[0121] 3. Limb Advancement

[0122] This period is a period during which the other foot is placed, and includes the free swing, during which the back foot lifts off the ground and the front foot touches the ground; the mid swing, during which the foot that previously touched the ground begins to lift while the feet are together; and the terminal swing, during which the heel of the front foot begins to touch the ground while pushing off the back foot that is touching the ground.

[0123] The above walking pattern is a normal walking pattern, and patients are trained to obtain this normal walking pattern. However, in the case of patients who have difficulty walking normally, the patient's feet may become discoordinated during walking training, not matching each cycle, and the walking training system according to the present disclosure performs walking training in a way that reduces such discoordinates.

[0124] The gait training system according to the present disclosure trains the movement of a patient's foot in various walking environments, such as walking on flat ground, climbing stairs, descending stairs, and climbing inclines. At this time, the patient's joints are not constrained, and the gait pattern is controlled stepwise by controlling the movement of the footplate, which acts as an end effector, so that the patient adapts to the movement of the footplate. If necessary, the shoes worn by the patient may be secured by a cleat structure provided on the footplate or by a foot fixing band.

[0125] In addition, during walking training, if an external force exceeding a certain level is applied between the shoe and the footplate, the shoe can be separated from the footplate.

[0126] To this end, the footplate, which is an end effector described below, moves according to all of the various walking modes selected above. The movement of the footplate in the various modes follows a trajectory in the form of a closed loop.

[0127] FIG. 13 illustrates various gait training trajectories in a gait training system according to the present disclosure, by mode. The trajectories shown in FIG. 13 may correspond to the center of movement of the foot, for example, near the ankle joint, where the left direction of all trajectories is the direction of movement and the right direction is the direction the patient is facing away from. The various trajectories shown in FIG. 13 are the movement trajectories of the footplate, and the patient performs gait training in accordance with the trajectories of the footplate.

[0128] Referring to FIG. 13, in the walking mode of walking on flat ground (M1, hereinafter the first mode), the stride length (left-right width of the trajectory in the drawing) is long, and the up-and-down movement of the foot (up-down width in the drawing) is not large.

[0129] In the stair-climbing walking mode (M2, hereinafter referred to as Mode 2), the stride is short and the vertical movement of the foot is large.

[0130] The walking mode for stair descending (M3, hereinafter referred to as the third mode) is tilted as the entire trajectory is lower overall and there is no significant change in height.

[0131] The walking mode for slope climbing (M4, hereinafter referred to as the 4th mode) is similar to the trajectory of stair climbing, but sharper than that.

[0132] The walking mode of slope down (M5, 5th mode) has a trajectory that is inclined like going down stairs, and the up-and-down movement of the foot is less compared to going down stairs.

[0133] This walking mode is generated by an end-effect type robot having a three-degree-of-freedom rotational joint according to the present disclosure.

[0134] The above walking mode can be generated by three-degree-of-freedom motion units according to two embodiments of the present disclosure.

[0135] There are three types of end-effect type robots equipped with three degrees of freedom rotational joints: a first type described in FIGS. 1 to 10 and a second type described in FIGS. 14 to 16.

[0136] The first type is positioned vertically on a link structure equipped with a first link and a second link, as in the lower limb structure of a humanoid, and has a structure in which its upper end is rotatably connected to a support member and a footplate is fixed to its lower end. Although the first type has the lower limb structure of a humanoid, this lower limb structure generates various walking motions solely through the movement of the footplate; therefore, it can be understood that it differs from an exoskeleton-type robot that is worn over the entire lower body and directly forces the movement of the lower body joints.

[0137] The second type has a structure in which a link structure equipped with a first link and a second link is arranged in a horizontal direction, and one end is rotatably positioned on a support installed on the floor, and the other end is connected to a footrest located near the floor.

[0138] The detailed structures of the first and second types described above without reference to drawings will be clearly understood through the detailed description below.

[0139] A more specific gait training system is described below, and through this explanation, the gait training method defined above can be understood.

[0140] FIG. 1 is a schematic perspective view of a first walking training system (10A) 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.

[0141] The first walking training system (10A) has a left-right symmetrical structure. In the first walking training system (10A), 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.

[0142] As illustrated in FIGS. 1 and 2, the first gait training system (10A) comprises an electronic apparatus (100), a body weight support part (200), and a gait motion part (300).

[0143] Specifically, the electronic device (100) controls the overall operation of the first walking training system (10A) 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.

[0144] The 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 various modes of gait motion or gait training motion, including the first to fifth modes as described above, for training to force the movement of the patient's foot. These gait motions, specifically the gait motions according to the first to fifth modes, appear 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.

[0145] 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.

[0146] 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) is an end-effect type robot having at least three rotational joints, and is equipped with a first actuator (310L) and a second actuator (310R) of a multi-link structure, and a first support unit (320L) and a second support unit (320R) that support each of them.

[0147] First, a first walking training system (10A) equipped with actuators (310L, 310R) of the first type of robot structure is described.

[0148] Each of the above two actuators (310L, 310R) has a structure similar to that of a lower limb as a first type of robot structure. That is, the two actuators (310L, 310R) are equipped with a first joint (314a) corresponding to the patient's 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 each of the above joints (314a, 314b, 314c) to induce or force the movement of the corresponding joint with a constant force.

[0149] Here, a first link (311) corresponding to the patient's 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). Thus, although the two actuators (310L, 310R) have a structure similar to the lower limbs, they do not force movement of the joints of the patient's lower limbs, but only force movement of the footplate (313) to form a walking motion corresponding to any one of the first to fifth modes. This motion of the footplate (313) forces the patient to walk so that the intended walking training is performed. Here, the first joint (314a) and the second joint (314b) are each designed to be spaced apart from the patient's hip and knee joints, so that the gait trainer's or medical professional's hand can access the lower limb of the patient being trained laterally from the side of the first actuator (310L) or the second actuator (310R).

[0150] This approach by the gait trainer is necessary to assist the training while observing the patient's training status during the gait training process, and is particularly necessary for the trainer to directly correct the posture of the lower limbs with their hands when the patient's lower limbs do not move properly. 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 and second links are also misaligned with the patient's thigh and lower leg, respectively, allowing the hands of the gait trainer or medical professional to easily pass these links and access the patient's lower limbs. Similarly, since the third joint (314c) is close to the footplate (313), it is difficult to increase the distance between them, but since it is the end of the lower limb, it is not difficult to access.

[0151] 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 of a patient but have substantially different forms.

[0152] 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 driving motors.

[0153] 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.

[0154] 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).

[0155] 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.

[0156] 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.

[0157] 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.

[0158] The joints (314a, 314b, 314c) are equipped with first, second, and third drive motors (315a, 315b, 315c) that force the movement of the joints with a constant force, and these are protected by respective covers (316a, 316b, 316c), etc.

[0159] 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 footplate (313) relative to the second link (312).

[0160] 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) can be provided separately, for example, the first drive motor (315a) may be protected by the first cover (316a) and the entire structure may be protected by the head housing (323h), although only the head housing (323h) is shown in the drawing.

[0161] FIG. 3 is a left side view of the first walking training system (10A) shown in FIG. 1 and FIG. 2.

[0162] 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).

[0163] 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.

[0164] 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.

[0165] 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 in accordance with 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).

[0166] The selection of whether to operate or use the lifting device (210) is made according to the condition of the patient being trained for gait training, and this selection may be made by a gait training expert or medical staff. The electronic device (100) controls the weight support member (200) and the gait exercise member (300) according to a training protocol determined by a gait training expert or medical staff for each individual patient, thereby generating a forward or reverse gait motion that corresponds to each individual patient. The gait motion may correspond to any one of the first to fifth modes illustrated in FIG. 13.

[0167] In this first walking training system (10A), 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 formed 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).

[0168] FIG. 4 is a schematic excerpt perspective view showing joints, links, and connecting bars, which are key elements of the walking exercise unit (300) of the first walking training system (10A) according to the present disclosure.

[0169] 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.

[0170] Each of the first support unit (320L) and the second support unit (320R) has a support column (322) that is vertically installed 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).

[0171] 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).

[0172] The passage path of the above wiring leads to the interior of the second column member (322b) and to a wiring space provided by a cover or housing, etc., that protects the first joint (314a) and the second joint (314b).

[0173] 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 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.

[0174] 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).

[0175] 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 rotation axis 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).

[0176] 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).

[0177] 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 first gait training system (10A) and also allows the distance between the footrests (313, 313) to be adjusted to fit the patient's body as exemplified in FIG. 5. Of course, the distance can also be adjusted using both footrests (313, 313) without movement of the support units (320L, 320R) through the function of the footrests themselves, and the distance adjustment by the connecting bar is helpful for moving / installing the system. FIG. 5 is a plan view showing a state in which both movement units are unfolded (a) and both movement units are folded close together (b) in a state in which walking training is possible in a walking training system according to one embodiment of the present disclosure. Here, FIG. 5 (b) is not simply a folded state, but rather the two footplates are completely overlapped vertically to facilitate positional movement.

[0178] FIG. 6 is a front view showing a state (a) in which both movement units are unfolded and both movement units are folded close together in a state (b) in which walking training is possible in a first walking training system (10A) according to one embodiment of the present disclosure.

[0179] 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.

[0180] 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 first walking training system (10A) in a non-use state or transporting it to another installation location.

[0181] Furthermore, the first walking training system (10A) 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).

[0182] FIG. 7 is an excerpted side view schematically showing the exercise units (300L, 300R) in the walking exercise section (300) of the first walking training system (10A) according to the present disclosure.

[0183] 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 standing humanoid. From an actuator support (323) at a high position 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 sequence 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.

[0184] 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.

[0185] Meanwhile, according to the present disclosure, the actuators (310L, 310R) can generate walking motions in the forward direction as well as in the reverse direction corresponding to any one of the first to fifth walking modes (M1-M5). Such walking motions can be generated by the actuators (310L, 310R) under the control of the electronic device (100). The walking modes (M1-M5) shown in FIG. 7 represent a walking trajectory in the reverse direction (see FIG. 8) in which a patient performs training with their back to the actuators (310L, 310R), and when the patient stands in the forward direction, the walking trajectory is reversed (see FIG. 9).

[0186] 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 first walking training system (10A) according to the present disclosure.

[0187] As shown in FIG. 8 (a) and (b), the patient performs training by standing on the left and right footrests (313) of the exercise unit (300) while looking at the first walking training system (10A) and the walking exercise unit (300).

[0188] In this forward training, the left and right actuators (310L, 310R) of the exercise unit (300) generate a walking motion suitable for forward walking training, and thus the left and right footplates (313) move in a forward walking trajectory accordingly.

[0189] 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 first walking training system (10A) according to the present disclosure.

[0190] 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 exercise unit (300) and performs training.

[0191] In this reverse training, the actuators (310L, 310R) generate a reverse walking motion opposite to the forward walking motion, and thus the left and right footplates (313) move 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.

[0192] 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 first gait training system according to the present disclosure.

[0193] 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.

[0194] 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).

[0195] 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).

[0196] FIG. 11 is a block diagram illustrating the electronic control structure of a first walking training system (10A) and a second walking training system (10B) according to the present disclosure.

[0197] As illustrated in FIG. 11, the walking training systems 10A and 10B are equipped with an electronic device (100), a weight support member (200), and a walking exercise member (300).

[0198] 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).

[0199] The system control unit (110) controls the first to third drive motors (315a, 315b, 315c) of the walking motion unit (300) to generate the walking motion of the first to fifth modes illustrated in FIG. 13.

[0200] 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.

[0201] 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).

[0202] FIGS. 13 and FIGS. 14 illustrate the schematic structure of a second walking training system (10B) according to the present disclosure.

[0203] In the following description, some of the components of the second walking training system (10B), particularly those having the same function as each element of the first walking training system (10A) described above, are given the same reference numerals, even though they have slight design differences.

[0204] Unlike the first type of actuator adopted by the first walking training system (10A), the second walking training system (10B) is equipped with first and second actuators (310L, 310R) that resemble the lower limb structure of a lying humanoid.

[0205] The second walking training system (10B) also includes a weight support member (200) and a walking exercise member (300), and includes an electronic device (100, see FIG. 1) having a structure as shown in FIG. 11 for controlling the weight support member (200) and the walking exercise member (300).

[0206] Specifically, the electronic device (100) is equipped with a system control unit (110, see FIG. 1) as described above, and the system control unit (110) has a computer-based structure that controls the mechanical operation of the walking exercise unit (300) as in the first walking training system (10A) by controlling the overall operation of the second walking training system (10B). That is, the system control unit (110) generates walking motions or walking training motions of various modes, including the first to fifth modes, for training that force the movement of the patient's foot. These walking motions, specifically the walking motions according to the first to fifth modes, appear as the movement trajectory of the footplate (313) of the walking exercise unit (300). In addition, the system control unit (110) also controls the weight support unit (200).

[0207] 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 the 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.

[0208] 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) is an end-effect type robot having at least three rotational joints, and is equipped with a first actuator (310L) and a second actuator (310R) of a multi-link structure, and a first support unit (320L) and a second support unit (320R) that support each of them.

[0209] First, the two actuators (310L, 310R) of the second type of robot structure described above will be explained.

[0210] Each of the two actuators (310L, 310R) is a second type of robot structure and, as previously described, has a structure similar to the lower limb structure of a lying humanoid and has an overall inverted V shape. That is, the two actuators (310L, 310R) are equipped with a first joint (314a) located near the floor, a second joint (314b) located at a height slightly away from the floor, and a third joint (314c) located near the floor. A driving motor (315a, 315b, 315c) is installed in each of the joints (314a, 314b, 314c) to induce or force the movement of the corresponding joint with a constant force.

[0211] Here, a first link (311) is positioned between the first joint (314a) and the second joint (314b), a second link (312) is positioned between the second joint (314b) and the third joint (314c), and a dynamic footrest (313) close to the ground is rotatably connected to the bottom of the second link (312) through the third joint (314c).

[0212] In this way, the two actuators (310L, 310R) do not force movement of the joints of the patient's lower limbs, but only force movement of the footplate (313) to form a walking motion corresponding to any one of the first to fifth modes. This walking training motion of the footplate can form a walking training motion of the footplate for the individual patient by operating the first and second links and the footplate by drive motors.

[0213] The first support unit (320L) and the second support unit (320R) each have a support member (325) that fixes the actuator to the floor. This support member (325) may be completely fixed to the floor, but may also be designed as a stable structure with casters that allow it to move on the floor, as in the first walking training system (10A).

[0214] The actuator support (325) serves as the starting point for movement of the entire actuator and is the part where the first joint (314a) is mounted. Accordingly, the first link (311) is rotatably coupled to the actuator support (323) by the first joint (314a). The actuator support (324) may have a structure similar to the base (321) of the first walking training system (10A), and may also be coupled so as to allow mutual spacing adjustment by, for example, a frame-type telescopic connecting bar (324, see FIG. 1) that is adjustable in length like the base (321).

[0215] According to the above structure, the actuator (310L, 310R) is fixed to the floor by the actuator support (324) and has a basic inverted V shape as if a humanoid lying on the floor is bending its knees.

[0216] The first actuator (310L) and the second actuator (310R) are positioned substantially parallel to each other on the floor, and also the footrest (313) on which the patient stands is placed near the floor as an extension thereof.

[0217] According to this structure, the movement of the first actuator (310L) and the second actuator (310R) corresponds to the walking motion for patient walking training as described above.

[0218] That is, the movement trajectory of the footplate (313) by the first actuator (310L) and the second actuator (310R), i.e., the walking motion, matches the target trajectory determined for the patient's walking training.

[0219] In each of the above joints (314a, 314b, 314c), first, second, and third drive motors (315a, 315b, 315c) are installed to force the movement of each joint with a constant force.

[0220] The first drive motor (315a) controls the rotation of the first link (311) relative to the actuator support (324), 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 footplate (313) relative to the second link (312).

[0221] FIG. 15 shows the planar arrangement of the first actuator (310L) and the second actuator (310R) of the second walking training system (10B). As shown in FIG. 15, the first actuator (310L) and the second actuator (310R) are symmetrically arranged on the left and right sides, so that the two footplates (313) on which the patient stands are placed close together. The two footplates (313) move in accordance with the selected walking mode. At this time, the first actuator (310L) on the left side forces the motion of the left foot in the case of forward movement (see posture in FIG. 8), or forces the walking motion of the right foot in the case of reverse movement (see posture in FIG. 9). In addition, the second actuator (310R) on the right side forces a walking motion of the right foot in the case of forward movement, or forces a walking motion of the left foot in the case of reverse movement.

[0222] The substantial difference between the second walking training system (10B) described above and the first walking training system (10A) described previously lies in the difference in the position of the first joint (314a) equipped with the first drive motor (315a). That is, the first joint (314a) of the first walking training system (10A) is positioned high above the floor, whereas the first joint (314a) of the second walking training system (10B) is positioned near the floor.

[0223] Despite these differences, the footrest (313) of the first walking training system (10A) and the footrest (313) of the second walking training system (10B) can be controlled in the same way in walking motion as illustrated in FIG. 17.

[0224] Figure 17 (A) shows the walking motion of the footplate (313) in the first walking training system (10A), and (B) shows the walking motion of the footplate (313) in the second walking training system (10B). As illustrated in Figures 17 (A) and (B), the footplate (313) of each of the first walking training system (10A) and the second walking training system (10B) can take the same walking motion of the M1 to M5 walking modes defined in Figure 13.

[0225] FIG. 18 individually illustrates various modes of movement of the footplate in the first walking training system (10A) and the second walking training system (10B).

[0226] The first and second walking training systems (10A, 10B) according to the present disclosure may include additional modes other than the walking modes illustrated in FIG. 18.

[0227] 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.

[0228] 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.

[0229] 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 movement units comprises an actuator as an end-effect type robot that forces the movement of both feet for the patient's gait training, and an actuator support that serves as the starting point of the actuator's movement. The actuator of each of the two motion units above: A first joint installed on the actuator support above; A first link, one end of which is connected to the support member by the first joint; A second link, one end of which is connected to the other end of the first link by a second joint; A footrest connected to the other end of the second link by a third joint; A first driving motor installed in the first joint to rotate the first link relative to the support member; A second drive motor installed in the second joint to rotate the second link relative to the first link; and A third drive motor installed in the third joint to rotate the footplate with respect to the second link; is provided, Herein, the electronic device controls the first, second, and third drive motors of the actuator to move the footplate along a walking trajectory of a plurality of walking modes, thereby forcing the patient's foot to move along the walking trajectory by the footplate, a walking training system.

2. In Paragraph 1, A walking training system in which the above plurality of walking modes include at least one of walking on flat ground, climbing stairs, descending stairs, climbing an incline, and descending an incline.

3. In Paragraph 1, A walking training system in which the two actuator supports are installed on the floor, and the actuators installed on each of the two actuator supports are arranged substantially parallel to each other on the floor.

4. In Paragraph 1, Each of the two above-mentioned motion units is equipped with a support unit, and Each support unit comprises a support column that supports the actuator support, and A walking training system comprising a support installed at the lower part of the above-mentioned support column.

5. 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.

6. In Paragraph 5, 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.

7. In Paragraph 1, A walking training system in which the actuator support members 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.

8. In Paragraph 2, A walking training system in which the actuator support members 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.

9. 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 A walking training system, wherein the hinge portion includes a locking means for fixing the relative rotation angle of the step portion with respect to the support piece.

10. 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 configured such that the actuator enables a patient to perform gait training in the forward direction and the opposite reverse direction.

11. 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, 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 A walking training method that causes the footplate to move along a walking trajectory of multiple walking modes based on a walking motion of three rotational degrees of freedom by the combined rotational operation of a first drive motor, a second drive motor, and a third drive motor, thereby forcing the patient's foot to move along the walking trajectory by the footplate.

12. In Paragraph 11, A walking training method in which the above-mentioned plurality of walking modes include at least one of walking on flat ground, climbing stairs, descending stairs, climbing an incline, and descending an incline.

13. 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 according to the walking mode by the footplate.

14. In Paragraph 11, A walking training method in which the two actuator supports are installed on the floor, and the actuators installed on each of the two actuator supports are arranged substantially parallel to each other on the floor.

15. In Paragraph 11, The step of controlling the height of a saddle provided between the two exercise units so that the lifting device allows the patient undergoing walking training to sit or lean on it; and A walking training method further comprising the step of the electronic device operating the lifting device of the weight support member in synchronization with the movement of the walking exercise member.

16. In Paragraph 11, A walking training method 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.

17. In Paragraph 11, 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 support piece by the 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 11, A step of installing the first actuator support member and the second actuator support member on the first support unit and the second support unit; A step of connecting the first link of the first actuator and the first link of the second actuator to the first actuator support and the second actuator support, respectively; A step of arranging the continuous arrangement of the first link, the second link, and the footplate of each of the first actuator and the second actuator so as to face from top to bottom to form a lower limb structure; A walking training method further comprising the step of performing walking training of a patient in a walking exercise unit equipped with the first actuator and the second actuator.

19. In Paragraph 17, 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 11, 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.

Images