KR102229125B1 - Multi-degree of freedom robot for gait rehabilitation - Google Patents

Abstract

The present invention relates to a multi-degree of freedom walking rehabilitation robot, comprising: a pair of footrests on which four users' feet are seated; A stride driving unit for controlling the stride length by periodically moving forward and backward in opposite directions of the pair of scaffolds; An elevating driver for controlling the walking height by periodically raising and lowering the pair of scaffolds in opposite directions; A pitching driving unit for controlling the rolling angle and the stepping angle of the ankle by periodically pitching the pair of footboards in opposite directions in the walking direction; And a control unit for controlling driving of the stride driving unit, the elevation driving unit, and the pitching driving unit, based on a walking protocol programmed for the gait movement.

Description

{MULTI-DEGREE OF FREEDOM ROBOT FOR GAIT REHABILITATION}

The present invention relates to an end effector type multi-degree of freedom walking rehabilitation robot.

In general, a scaffold-based robot focuses only on the movement of controlling the stride length by moving both feet forward and backward, and controlling the step height by raising and lowering both feet.

However, in the normal walking pattern, not only various movements of both feet, but also movements of the toes occurring in toe off occur.

Therefore, if the limited movement of the ankle joint and the toe movement are not taken into account, the user may feel a sense of disparity during training for the normal gait pattern learning, and there is a limitation in providing adequate feedback for learning the normal gait pattern.

In addition, in the related art, after the user requests the operator to determine the gait pattern and speed, and the start and end of training, there is a limitation in that the operator reflects the intention of the user through additional manipulation.

Accordingly, the present applicant has come to develop a multi-degree of freedom walking rehabilitation robot that can minimize the sense of heterogeneity that occurs during walking rehabilitation using a robot by covering the movement of the toe that occurs when the toe is removed while walking.

Korean Registered Patent Publication No. 10-1937482

The present invention is to solve the above problems, and an object of the present invention is a multi-degree of freedom walking rehabilitation robot capable of not only implementing various movements of an ankle joint, but also learning a more natural gait pattern when teaching a normal gait pattern to a user Is to provide.

In addition, another object of the present invention is, without additional manipulation of the start and end of gait training, the change in gait speed and gait pattern during gait training, and by grasping the intention of the user, it is possible to actively move the footrest to multi-degree of freedom for gait training. It is to provide a walking rehabilitation robot with a multi-liberty degree.

In addition, another object of the present invention is to provide a multi-degree of freedom gait rehabilitation robot capable of gait training while minimizing the sense of heterogeneity generated during gait training by implementing the movement of the toe that occurs when the tip of the toe is removed while walking. .

An object of the present invention, a pair of footrests on which the user's feet are seated; A stride driving unit for controlling the stride length by periodically moving forward and backward in opposite directions of the pair of scaffolds; An elevating driver for controlling the walking height by periodically raising and lowering the pair of scaffolds in opposite directions; A pitching driving unit for controlling the rolling angle and the stepping angle of the ankle by periodically pitching the pair of footboards in opposite directions in the walking direction; And, based on the gait protocol programmed for the gait movement, comprising a control unit for controlling the drive of the stride driving unit, the elevation driving unit and the pitching driving unit, it can be achieved by a multi-degree of freedom walking rehabilitation robot.

Here, the foot plate, the sole plate on which the user's foot is seated; And a toe plate on which the user's toe is seated by being hinged to the sole plate so as to be inclined or horizontal with respect to the sole plate.

After the user toe-off while walking, it may further include an elastic member for providing an elastic force to the sole plate so that the sole plate and the toe plate to form a horizontal.

It may further include one or more pressure sensors provided on the sole plate to measure the user's foot pressure.

The pressure sensor is provided in three, one of the three pressure sensors is disposed at a position corresponding to the user's heel, and the other pair of pressure sensors is the rest of the sole area excluding the user's heel and arch It may be disposed opposite to the center axis in the longitudinal direction of the scaffold at a position corresponding to.

It may include a footrest angle adjustment unit for controlling the angle of the footrest in response to the user's foot lift inward and lateral lift.

The pitching driving unit may include a driving motor for pitching connected to the scaffold, rotating forward and backward, and pitching the scaffold.

A connection arm supporting the pitching drive motor; A connecting link pivotally connected to the connecting arm; And a first frame pivotably supporting the connection link, wherein the elevating driver comprises: a driving motor for elevating forward and backward rotating; An elevating screw shaft formed with a male screw on the outer periphery and connected to the elevating driving motor to rotate forward and backward; And forming a female thread screwed to the lifting screw shaft on the inner periphery, supported by the first frame, and converting the forward and reverse rotational motion of the lifting screw shaft into a linear reciprocating motion to move the first frame linearly and reciprocally. It includes a nut part, and as the first frame moves linearly and reciprocally, the connecting link rotates in a forward-reverse direction and at the same time, the connecting arm rotates in a forward-reverse direction, so that the footrest can be raised and lowered.

And a second frame pivotably supporting the connection arm, and the stride driving unit includes: a driving motor for a stride that rotates forward and backward; A screw shaft for a stride that forms a male screw on the outer periphery and is connected to the driving motor for stride length and rotates forward and backward; And forming a female thread screwed with the screw shaft for stride length on the inner periphery, supported by the second frame, and converting the forward and reverse rotational motion of the screw shaft for stride into a linear reciprocating motion to move the second frame linearly and reciprocally. It includes a nut part, and as the first frame linearly reciprocates, the connection arm may linearly reciprocate to move the scaffold forward and backward.

Based on the foot pressure data measured by the pressure sensor, the control unit determines whether the footrest is seated, the seated foot state, and the user's gait state, and controls the driving of the stride driving unit, the elevation driving unit, and the pitching driving unit. can do.

Further comprising a torque sensor provided in the pitching drive motor, the lift drive motor and the stride drive motor, respectively, to detect torque generated by the pitching drive motor, the lift drive motor and the stride drive motor The control unit may determine a user's walking intention based on torque data detected by each of the torque sensors, and control driving of the stride driving unit, the elevation driving unit, and the pitching driving unit.

The control unit may control the footrest angle adjustment unit to adjust the angle of the footrest according to the seated foot state of the footrest based on the foot pressure data measured by the pressure sensor.

A main frame defining a walking area for a user to walk, and including the footrest, the stride driving unit, the elevating driving unit, and the pitching driving unit; And a hand rail provided around the walking area on the main frame.

In addition, it may include a wire that is supported by the main frame and supports a harness worn by a user for walking training in the walking area.

According to the present invention, by implementing a pair of footrests on which the user's feet are seated in multiple degrees of freedom, it is possible to cope with the user's various strides, to implement various movements of the ankle joint, and to be more natural when teaching the user's normal walking pattern. You can learn gait patterns.

In addition, without additional manipulation of the start and end of gait training, gait training can be performed by actively moving the footrest with multiple degrees of freedom by grasping the user's intention and changing the gait speed and gait pattern during gait training.

In addition, by implementing the movement of the toe that occurs when the toe is removed while walking, it is possible to perform gait training while minimizing the sense of heterogeneity that occurs during gait training.

1 is a perspective view of a multi-degree of freedom walking rehabilitation robot according to an embodiment of the present invention,
Figure 2 is an enlarged perspective view of the main part of Figure 1,
3 is a perspective view showing the relationship of each driving unit of FIG. 1;
Figure 4 is an enlarged perspective view of the main part of Figure 3,
5 is a perspective view of FIG. 3 viewed from a different angle,
6 is an enlarged perspective view of a main part of FIG. 5;
7 is a bottom perspective view of FIG. 3,
8 is an enlarged left side view of the main part of FIG. 3;
9(a) to (c) are views showing the motion process of the foot in the footrest of FIG. 1;
10 is a control block diagram of a multi-degree of freedom walking rehabilitation robot according to an embodiment of the present invention.

Advantages and features of the present invention, and a method of achieving them will become apparent with reference to the embodiments described below in detail together with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but may be implemented in a variety of different forms. It is provided to fully inform the skilled person of the scope of the present invention, and the present invention is only defined by the scope of the claims.

The terms used in the present specification are for describing exemplary embodiments and are not intended to limit the present invention. In this specification, the singular form also includes the plural form unless specifically stated in the phrase. As used in the specification, “comprises” and/or “comprising” do not exclude the presence or addition of one or more other elements other than the mentioned elements. Throughout the specification, the same reference numerals refer to the same elements, and "and/or" includes each and all combinations of one or more of the mentioned elements. Although "first", "second", and the like are used to describe various elements, it goes without saying that these elements are not limited by these terms. These terms are only used to distinguish one component from another component. Therefore, it goes without saying that the first component mentioned below may be the second component within the technical idea of the present invention.

Unless otherwise defined, all terms (including technical and scientific terms) used in the present specification may be used with meanings that can be commonly understood by those of ordinary skill in the art to which the present invention belongs. In addition, terms defined in a commonly used dictionary are not interpreted ideally or excessively unless explicitly defined specifically.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 to 10 illustrate a multi-degree of freedom walking rehabilitation robot according to an embodiment of the present invention.

As shown in these drawings, the multi-degree of freedom walking rehabilitation robot 1 according to an embodiment of the present invention includes a main frame 10, a pair of scaffolds 31, a stride driving unit 70, and a hatch It includes the eastern part 80, the pitching drive part 90, and the control part 100.

The main frame 10 has a single frame shape in which a plurality of girders form a rectangular parallelepiped skeleton and are connected to divide the inside and the outside.

In the interior of the main frame 10, a pair of footrests 31 is provided with a walking area 11 in which a user performs gait training by exercising a multi-degree of freedom, and a walking area 11 is provided on one side of the main frame 10. An entrance 13 is provided for entering and exiting.

Inside the main frame 10, a pair of scaffolds 31, a stride driving unit 70, an elevation driving unit 80, and a pitching driving unit 90 are disposed.

In addition, on one side of the main frame 10, for example, at the entrance 13, a platform 15 is provided so that a user can enter and exit toward the walking area 11. The platform 15 is provided to be foldable, and when using the multi-degree of freedom walking rehabilitation robot 1 according to an embodiment of the present invention, a pair of scaffolds 31, a stride driving unit 70, and an elevating driving unit ( 80), and the pitching driving unit 90 is folded to expose, and when the multi-degree of freedom walking rehabilitation robot 1 is not used, a pair of scaffolds 31, a stride driving unit 70, and an elevating driving unit 80 ) And the pitching driving part 90 is covered so that it is not exposed.

In addition, a hand rail 17 that can be held by a user is disposed around the walking area 11 of the main frame. The hand rail 17 is raised and lowered by the hand rail elevator 19 supported on the upper part of the main frame 10 so that the user does not collide when entering or leaving the walking area 11. In this way, by providing the hand rail 17 around the walking area 11, the user can safely hold the hand rail 17 and perform walking training.

In addition, although not shown, for safety during use of the multi-degree of freedom walking rehabilitation robot according to an embodiment of the present invention, a harness (not shown) in which a user wears a wire (not shown) suspended above the main frame. ) To prevent the user from falling from the footrest during gait training.

On the other side of the main frame 10, for example, on the opposite side of the entrance 13, a display unit 21 through which the user can check training information such as walking training status is provided.

In the following, for convenience of explanation in order to help understanding the operation of the invention to be described later, in FIG. 1, a virtual axis direction leading from the entrance 13 of the main frame 10 to the display unit 21 through the walking area 11 Is referred to as the x axis, the virtual axis direction from the bottom of the main frame to the top is referred to as the y axis, and the virtual axis direction perpendicular to the plane formed by the x axis and y axis is defined as the z axis. .

A plurality of casters 23 are mounted on the bottom of the main frame 10 so as to be rollable, so that the main frame 10 can be easily moved.

The pair of footboards 31 has a rectangular plate shape, and is disposed in the walking area 11 so that the user's feet 1000 (see FIG. 9) are seated.

The pair of scaffolds 31 correspond to one component of the scaffolding assembly 30.

The footrest assembly 30 includes a footrest 31 on which the user's foot 1000 is seated, a first auxiliary footrest 41 and a second auxiliary footrest 51 sequentially disposed under the footrest 31, It includes a support plate (61).

The foot plate 31 includes a sole plate 33 and a toe plate 37.

In the sole plate 33, the heel is seated from the user's sole, for example, the user's foot ball, excluding the toe 1100 (see FIG. 9).

On the plate surface of the sole plate on which the feet are seated, although not shown, a plurality of protrusions protruding from the plate surface of the sole plate or a slip prevention tape attached to the plate surface of the sole plate may be provided to increase friction with the sole and prevent slipping. have.

In addition, although not shown on the sole plate, a foot fixing band may be provided to prevent the foot from being separated from the foot plate by fixing the sole to the sole plate.

The toe plate 37 is on which the user's toe 1100 is seated. The toe plate 37 is hinged by the sole plate 33 and the hinge shaft 39 so as to be inclined or horizontal with respect to the sole plate 33 as shown in FIG. 9. The toe plate 37 is flush with the sole plate 33, eg, horizontally, by an elastic member 43 (see FIG. 9) to be described later before and after the toe-off operation.

In this way, as the toe plate 37 and the sole plate 33 are hinged, the toe plate ( 37) is inclined with respect to the sole plate (33), and after the toe is removed, the toe plate (37) and the sole plate (33) are leveled to induce the movement of the toe (1100) naturally. The sense of heterogeneity that occurs is reduced to a minimum, and gait training can be performed naturally.

Between the foot plate 31 and the first auxiliary foot plate 41, specifically, an elastic member 43 is provided between the sole plate 33 and the first auxiliary foot plate 41 as shown in FIG. 9.

The elastic member 43 generates an elastic force so that the sole plate 33 and the first auxiliary foot plate 41 are spaced and are horizontal.

Accordingly, an elastic force is provided to the sole plate 33 so that the sole plate 33 and the toe plate 37 form the same plane after the user toe-off while walking.

The second auxiliary footrest 51 and the first auxiliary footrest 41 are hinged together by a pair of hinge brackets 53a and 53b and a hinge pin 59 as shown in FIG. 8. The hinge bracket 53a provided on the first auxiliary foot plate 41 has a guide hole of a certain length in an arc shape corresponding to the pivoting motion caused by the hinge coupling of the first auxiliary foot plate 41 and the second auxiliary foot plate 51 ( 55) is formed. The hinge bracket 53b provided on the second auxiliary foot plate 51 is provided with a guide pin 57 coupled to the guide hole 55 of the first auxiliary foot plate 41.

In this way, as the first auxiliary footrest 41 and the second auxiliary footrest 51 are hinged, corresponding to the user's foot 1000 whose ankle is bent to one side, for example, a foot lifted inward or sideways ( It is possible to easily deform the angle of the footrest 31 in response to the state of 1000).

In addition, the support plate 61 supports the first auxiliary foot plate 41 and a driving motor 91 for pitching, which will be described later, is connected. Accordingly, as the driving motor 71 for pitching rotates forward and backward, the footrest assembly 30 is pitched in the walking direction.

Such a pair of scaffolds 31 are spaced apart at intervals corresponding to the basic stride.

The stride driving unit 70 periodically advances and reverses the pair of scaffolds 31 to control the user's stride length. The stride driving unit 70 is provided respectively corresponding to each footrest 31.

The stride drive unit 70 includes a drive motor 71 for stride length, a screw shaft 73 for stride length, and a nut part 75 for stride length.

The drive motor 71 for stride length rotates forward and backward, and is located below the walking area 11 of the main frame 10.

The step length screw shaft 73 has a rod shape of a certain length and is connected to the shaft of the step length drive motor 71. On the outer periphery of the screw shaft 73 for stride, a male screw of a certain standard is formed along the length direction of the screw shaft 73 for stride.

The stride nut portion 75 has a block shape, and a female thread screwed with the male screw of the stride screw shaft 73 is formed in the inner circumference. The stride nut portion 75 is supported on the second frame 77. The stride nut portion 75 converts the forward and reverse rotational motion of the stride screw shaft 73 into a linear reciprocating motion, and moves the second frame 77 linearly and reciprocally.

The second frame 77 linearly reciprocates along the x-axis direction of the main frame by the stride drive unit 70. Further, on the second frame 77, one end of a connecting arm 79 that supports the driving motor 91 for pitching is pivotably supported.

Accordingly, when the drive motor 71 for stride is rotated forward and backward, the screw shaft 73 for stride and the nut part 75 for stride are screwed, and the rotational motion of the screw shaft 73 for stride is converted into a linear motion. Thus, the second frame 77 is moved forward or backward along the x-axis direction. Thereby, the connecting arm 79 linearly reciprocates and moves the footrest 31 forward or backward along the x-axis direction, thereby controlling the user's stride. In addition, by adjusting the rotation time and rotation speed of the driving motors 71 for each stride, it is possible to adjust the spacing between the pair of scaffolds 31 in response to the user's various stride lengths.

Here, although not shown, as another embodiment, the stride driving unit may be independently connected to each footrest, so that the pair of footboards may be periodically moved forward and backward in opposite directions.

The elevating driver 80 periodically ascends and descends the pair of scaffolds 31 in opposite directions, thereby controlling the height of the user's walking. The elevating driver 80 is provided respectively corresponding to each footrest 31.

The elevating drive unit 80 includes a driving motor 81 for elevating, a screw shaft 83 for elevating, and a nut portion 85 for elevating.

The lifting drive motor 81 rotates forward and backward, and is located below the walking area 11 of the main frame.

The lifting screw shaft 83 has a rod shape of a predetermined length, and is connected to the shaft of the lifting drive motor 81. On the outer periphery of the lifting screw shaft 83, a male screw of a certain standard is formed along the longitudinal direction of the lifting screw shaft 83.

The lifting nut part 85 has a block shape, and a female screw screwed with the male screw of the lifting screw shaft 83 is formed in the inner periphery. The lifting nut 85 is supported by the first frame 87. The lifting nut part 85 converts the forward and reverse rotational motion of the lifting screw shaft 83 into a linear reciprocating motion, so that the first frame 87 is linearly reciprocated.

The first frame 87 linearly reciprocates along the x-axis direction of the main frame 10 by the elevating drive unit 80. Further, on the first frame 87, one end of the connection link 89 is pivotably supported.

The other end of the connecting link 89 is pivotably supported in the middle of the connecting arm 79 supporting the driving motor 91 for pitching.

Accordingly, the first frame 87 and the connecting arm 79 are connected by the connecting link 89, and when the first frame 87 is linearly reciprocated along the x-axis direction, the connecting link 89 is a first frame. At the same time, the connecting arm 79 is rotated in the forward/reverse direction with respect to (87).

Accordingly, when the lifting drive motor 81 rotates forward and backward, the lifting screw shaft 83 and the lifting nut part 85 perform a screw motion and convert the rotational motion of the lifting screw shaft 83 into a linear motion. Thus, the first frame 87 is moved forward or backward along the x-axis direction. Thereby, the connecting link 89 rotates in the forward and reverse direction, and the connecting arm 79 rotates in the forward and reverse direction by the link movement of the connecting link 89, and the footrest 31 is raised or lowered along the y-axis direction. , To control the height of the user's steps.

Here, although not shown, as another embodiment, the elevating drive unit is independently connected to each footrest, so that the pair of footboards may be periodically raised and lowered in opposite directions.

The pitching drive unit 90 periodically pitches the pair of footboards 31 in the walking forward/rearward direction. The pitching driving unit 90 controls the rolling angle of the ankle when rolling the foot 1000 during walking and the treading angle of the ankle when treading the foot 1000. The pitching driving units 90 are provided respectively corresponding to the respective footboards 31.

The pitching driving unit 90 includes a driving motor 91 for pitching.

The shaft of the driving motor 91 for pitching is connected to the support plate 61 of the scaffold assembly 30 horizontally with respect to the longitudinal direction of the scaffold 31.

In addition, the pitching drive motor 91 is supported at the end of the connecting arm 79.

Accordingly, when the driving motor 91 for pitching is rotated forward and backward, the scaffold 31 is pitched while turning in the forward/rearward direction of walking, for example, the scaffold 31 pivots in the forward and reverse direction with respect to the z-axis. Accordingly, the user's ankle flexion and extension gait training is performed by controlling the rolling angle and the treading angle of the user's ankle seated on the footrest 31.

As shown in FIG. 1, the control unit 100 may be provided in a separate control box 105 or may be provided on one side of the main frame 10.

The control unit 100 controls the driving of the stride driving unit 70, the elevation driving unit 80 and the pitching driving unit 90 based on the gait protocol programmed for the user’s gait exercise, so that the user can passively perform gait training. You will be able to.

In other words, the control unit 100 drives the stride drive unit 70 in a state in which each footrest 31 is spaced apart from each other in correspondence with the basic stride length, so that each footrest 31 is periodically moved forward in the x-axis direction. And by moving backward, the user's stride is controlled.

In addition, the control unit 100 controls the height of the step by driving the elevating driver 80 to periodically ascend and descend in the y-axis direction in opposite directions.

In addition, the control unit 100 drives the pitching drive unit 90 to periodically pitch each footrest 31 in the opposite direction of walking around the z-axis, so that the ankle of the user is flexed and extended. Control to operate.

As a result, the operation of each footrest 31 on which the user's foot 1000 is seated can be implemented with multiple degrees of freedom, and it is possible to respond to various strides of the user, and the foot 1000 as shown in FIG. 9(a) When treading on the footrest 31, when the foot 1000 is level with the footrest 31 as shown in FIG. 9(b), and when the foot ( 1000) of various movements of the ankle joint during a series of movements when the toe 1100 is rolled on the footrest 31, such as flexion, extension, anteversion, and retroversion movement Not only can it be implemented, but it is also possible to learn more natural gait patterns when educating a user to a normal gait pattern.

Meanwhile, the multi-degree of freedom walking rehabilitation robot 1 according to an embodiment of the present invention may further include a pressure sensor 110 for measuring a user's foot pressure.

The pressure sensor 110 has a load cell shape and is provided on the sole plate 33 to measure the user's foot pressure acting on the sole plate 33 and transmit it to the control unit 100.

In this embodiment, three pressure sensors 110 are provided, but the present invention is not limited thereto, and one or more pressure sensors may be provided.

One of the three pressure sensors 110 is disposed at a position corresponding to the user's heel.

The remaining pair of pressure sensors are provided at positions corresponding to the rest of the foot except for the user's heel and arch. In the present embodiment, the pair of pressure sensors are disposed opposite to each other at intervals with the lengthwise central axis of the footrest 31 interposed therebetween, in a region corresponding to the ball of the sole of the foot.

In this way, by providing the pressure sensor 110, the controller 100 is based on the foot pressure data measured by the pressure sensor 110, whether the user's foot 1000 is normally seated on the footrest 31, It is possible to grasp the walking state, such as whether the foot 1000 is inclined to the left or right, or whether a force is applied to the foot 1000 during walking training.

In addition, the control unit 100 determines the gait pattern by analyzing whether the foot 1000 is tilted during gait training, the user's foot stepping angle, and the foot rolling angle, based on the foot pressure data during gait training.

In addition, the control unit 100 programs a new walking protocol for the walking width and walking speed according to the user's walking pattern, and controls the driving of the stride driving unit 70, the elevation driving unit 80 and the pitching driving unit 90, Users can actively perform gait training.

In addition, the multi-degree of freedom walking rehabilitation robot 1 according to an embodiment of the present invention includes a footrest angle adjustment unit 120 for controlling the angle of the footrest 31 in response to the user's foot lifting and lateral lifting. It may contain more.

In this embodiment, as the footrest angle adjustment unit 120, the footrest angle adjustment bolt 121 mounted on the bottom of the footrest 31, and an angle adjustment nut for fixing the footrest 31 to the footrest angle adjustment bolt 121 ( 125).

Accordingly, in response to the user's inward lifting and lateral lifting angles, the footrest 31 is manually fixed to the footrest angle adjusting bolt 121 with the footrest angle adjusting nut 125, so that the angle of the footrest 31 can be adjusted. You will be able to.

On the other hand, in this embodiment, although it is shown to manually adjust the angle of the footrest 31 with the footrest angle adjustment bolt 121 and the footrest angle adjustment nut 125, it is not limited thereto, and independently driven as a footrest angle adjustment unit. By providing a driving motor, it is possible to automatically adjust the angle of the footrest in response to the inner lifting and lateral lifting angle of the user's sole. That is, based on the foot pressure data detected by the pressure sensor, the degree of inclination according to the user's foot condition is called control, and as the user's foot condition improves, the footrest can be gradually adjusted to a flat angle.

In this way, by providing the footrest angle adjustment unit 120, the multi-degree of freedom walking rehabilitation robot 1 according to an embodiment of the present invention includes a stride driving unit 70, an elevation driving unit 80, and a pitching driving unit 90 By implementing a pair of scaffolds 31 on which the user's feet 1000 are seated together with a wider range of multiple degrees of freedom, the ankle joint is flexed, extended, anteversion, and bent backwards. It is possible to respond not only to retroversion) movements, but also to inversion and eversion movements, allowing users to learn more natural gait patterns than when educating a normal gait pattern.

In addition, the multi-degree of freedom walking rehabilitation robot 1 according to an embodiment of the present invention may further include torque sensors 130a, 130b, 130c (refer to FIG. 10) for detecting torque.

Torque sensors (130a, 130b, 130c) are provided in the driving motor 91 for pitching, the driving motor 81 for elevation, and the driving motor 71 for stride length, respectively, and the driving motor 91 for pitching and the driving motor for elevation ( 81) and the driving motor 71 for stride length are respectively detected, and the detected torque data is transmitted to the control unit 100.

The control unit 100 determines the user's walking intention based on the torque data detected by each of the torque sensors 130a, 130b, and 130c.

For example, while the user is walking training, the control unit 100 is based on the torque data detected by the torque sensors 130a, 130b, 130c of each driving unit corresponding to one footrest or both footrests, It analyzes the user's walking pattern and judges changes through the force and walking speed to move. Accordingly, the controller 100 recognizes the user's walking intention, controls the stride drive unit 70 to adjust the stride length of the footrest 31 or adjust the walking speed, and adjusts the walking height of the footrest 31 or By programming a new walking protocol that controls the lifting drive unit 80 to adjust the lifting speed of 31, and controlling the pitching drive part 90 to adjust the pitching width and pitching speed of the footrest 31, the newly programmed walking According to the protocol, the driving of the stride driving unit 70, the lifting driving unit 80, and the pitching driving unit 90 is controlled.

Thus, the multi-degree of freedom walking rehabilitation robot 1 according to an embodiment of the present invention recognizes the intention of the user, such as changes in walking speed and gait pattern during gait training, without additional manipulation of the start and end of gait training, By providing a walking protocol in which the walking pattern and walking speed are newly programmed, the user can actively perform walking training. In addition, through the newly programmed walking protocol, it is possible to perform various gait training that requires difficulty, such as climbing stairs in addition to fast walking on flat ground.

In the above, embodiments of the present invention have been described with reference to the accompanying drawings, but those of ordinary skill in the art to which the present invention pertains can be implemented in other specific forms without changing the technical spirit or essential features You will be able to understand. Therefore, the embodiments described above are illustrative in all respects, and should be understood as non-limiting.

1: multi-degree of freedom walking rehabilitation robot
10: main frame
31: scaffold
33: sole plate
37: toe plate
41: first auxiliary footrest
43: elastic member
51: second auxiliary footrest
70: stride drive unit
80: elevating drive unit
90: pitching drive unit
100: control unit
110: pressure sensor
120: footrest angle adjustment unit
130: torque sensor

Claims (14)

A pair of footrests on which the user's feet are seated;
A stride driving unit for controlling the stride length by periodically moving forward and backward in opposite directions of the pair of scaffolds;
An elevating driver for controlling the walking height by periodically raising and lowering the pair of scaffolds in opposite directions;
A pitching drive unit having a pitching drive motor rotating forward and backward, and periodically pitching the pair of footboards in a walking forward and backward direction by the forward and reverse rotation of the pitching drive motor, thereby controlling a rolling angle and a stepping angle of the ankle; And
Based on the gait protocol programmed for the gait movement, comprising a control unit for controlling the driving of the step length driving unit, the elevation driving unit, and the pitching driving unit,
A connection arm supporting the pitching drive motor;
A connecting link pivotally connected to the connecting arm; And
Further comprising a first frame pivotably supporting the connection link,
The elevating drive unit,
An elevating drive motor that rotates forward and backward;
An elevating screw shaft formed with a male screw on the outer periphery and connected to the elevating driving motor to rotate forward and backward; And
An elevating nut that forms a female thread screwed with the elevating screw shaft on the inner periphery, is supported by the first frame, and converts the forward and reverse rotation motion of the elevating screw shaft into a linear reciprocating motion to move the first frame linearly Includes wealth,
As the first frame linearly reciprocates, the connecting link rotates in a forward and reverse direction, and at the same time, the connecting arm rotates in a forward and reverse direction, thereby raising and lowering the footrest. The method of claim 1,
The scaffolding,
A sole plate on which the user's sole is seated; And
A multi-degree of freedom walking rehabilitation robot comprising a toe plate on which a user's toe is seated by being hinged to the sole plate to be inclined or horizontal with respect to the sole plate. The method of claim 2,
After the user's toe off (toe-off) while walking, further comprising an elastic member for providing an elastic force to the sole plate so that the sole plate and the toe plate to form a horizontal, multi-degree of freedom walking rehabilitation robot. The method of claim 2,
Provided on the sole plate, the multi-degree of freedom walking rehabilitation robot further comprising one or more pressure sensors for measuring the user's foot pressure. The method of claim 4,
The pressure sensor is provided in three,
One of the three pressure sensors is disposed at a position corresponding to the user's heel, and the other pair of pressure sensors is at a position corresponding to the rest of the sole area excluding the user's heel and arch. A multi-degree-of-freedom walking rehabilitation robot that is arranged opposite to each other across the direction central axis. The method of claim 4,
A multi-degree of freedom walking rehabilitation robot comprising a footrest angle adjustment unit for controlling the angle of the footrest in response to the user's foot lifting and lateral lifting. delete delete The method of claim 1,
And a second frame pivotally supporting the connection arm,
The stride driving part,
A drive motor for a stride that rotates forward and backward;
A screw shaft for a stride that forms a male screw on the outer periphery and is connected to the driving motor for stride length and rotates forward and backward; And
A stride nut that forms a female thread screwed with the stride screw shaft in the inner circumference, is supported by the second frame, and converts the forward and reverse rotational motion of the stride screw shaft into a linear reciprocating motion to linearly reciprocate the second frame Includes wealth,
As the first frame is linearly reciprocated, the connecting arm is linearly reciprocated to move the footrest forward and backward, a multi-degree of freedom walking rehabilitation robot. The method of claim 4,
Based on the foot pressure data measured by the pressure sensor, the control unit determines whether the footrest is seated, the seated foot state, and the user's gait state, and controls the driving of the stride driving unit, the elevation driving unit, and the pitching driving unit. A multi-degree of freedom gait rehabilitation robot. A pair of footrests on which the user's feet are seated;
A stride driving unit having a stride driving motor that rotates forward and backward, and controlling the stride length by periodically moving the pair of scaffolds forward and backward in opposite directions by the forward and reverse rotation of the stride driving motor;
An elevating drive unit having an elevating drive motor rotating forward and backward, and controlling a walking height by periodically raising and lowering the pair of scaffolds by the forward/reverse rotation of the elevating drive motor;
A pitching drive unit having a pitching drive motor rotating forward and backward, and periodically pitching the pair of footboards in a walking forward and backward direction by the forward and reverse rotation of the pitching drive motor, thereby controlling a rolling angle and a stepping angle of the ankle;
A torque sensor provided in the pitching drive motor, the lift drive motor, and the stride drive motor, respectively, to detect torque generated by the pitching drive motor, the lift drive motor, and the stride drive motor; And
A multi-degree of freedom walking rehabilitation robot comprising a control unit that determines a user's walking intention based on torque data detected by each of the torque sensors, and controls driving of the stride driving unit, the elevation driving unit, and the pitching driving unit. The method of claim 6,
The control unit,
Based on the foot pressure data measured by the pressure sensor, controlling the footrest angle adjustment unit to adjust the angle of the footrest according to the seated foot state of the footrest, a multi-degree of freedom walking rehabilitation robot. The method of claim 1,
A main frame defining a walking area for a user to walk, and including the footrest, the stride driving unit, the elevating driving unit, and the pitching driving unit; And
A multi-degree of freedom walking rehabilitation robot comprising a hand rail provided around the walking area on the main frame. The method of claim 13,
A multi-degree of freedom walking rehabilitation robot including a wire that is supported by the main frame and supports a harness worn by a user for walking training in the walking area.

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