KR101562328B1 - Unweighting System and Walking Practice Apparatus having the same - Google Patents

Unweighting System and Walking Practice Apparatus having the same Download PDF

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Publication number
KR101562328B1
KR101562328B1 KR1020140084587A KR20140084587A KR101562328B1 KR 101562328 B1 KR101562328 B1 KR 101562328B1 KR 1020140084587 A KR1020140084587 A KR 1020140084587A KR 20140084587 A KR20140084587 A KR 20140084587A KR 101562328 B1 KR101562328 B1 KR 101562328B1
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South Korea
Prior art keywords
walking
plate
reverse load
compensation unit
load
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KR1020140084587A
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Korean (ko)
Inventor
박광훈
이동찬
김종혁
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주식회사 피앤에스미캐닉스
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Priority to KR1020140084587A priority Critical patent/KR101562328B1/en
Priority to PCT/KR2014/008937 priority patent/WO2016006760A1/en
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Publication of KR101562328B1 publication Critical patent/KR101562328B1/en

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
    • A63B22/02—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B23/00—Exercising apparatus specially adapted for particular parts of the body
    • A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
    • A63B23/04—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs

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  • Health & Medical Sciences (AREA)
  • Physical Education & Sports Medicine (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Pain & Pain Management (AREA)
  • Epidemiology (AREA)
  • Vascular Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Cardiology (AREA)
  • Rehabilitation Tools (AREA)

Abstract

The present invention relates to an inverse load system and a gait training apparatus having the same, and includes a dynamic compensation unit for compensating an inverse load varying according to a displacement of an object, wherein the dynamic compensation unit includes a first plate A second plate movable away from and spaced from the first plate, a connecting wire connected to the first and second plates, and a dynamic compensation unit applying a frictional force to the connecting wire, A reverse load system for compensating an inverse load, and a gait training apparatus having the reverse load system.

Description

BACKGROUND OF THE INVENTION Field of the Invention [0001] The present invention relates to a reverse load system,

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a reverse load system and a gait training apparatus having the reverse load system. More particularly, the present invention relates to an inverse load system that compensates for a reverse load varying according to a displacement of a walking trainer and a gait training apparatus having the same.

Generally, gait training device is a device for rehabilitation of patients with paraplegia of the lower half of the body or patients with leg joints and muscular difficulties and difficulty in normal walking.

Most patients with uncomfortable walking are less likely to support their weight. Therefore, the conventional load retractor is provided with a harness to be worn on the body of the walking trainee and a drive motor to pull the harness. When the drive motor moves the harness upward, an inverse load is applied to the walking trainee wearing the harness, so that at least a part of the load sustained by the walking trainee is canceled.

However, the conventional gait training apparatus determined the reverse load applied to the gait trainer based on the static gait trainee. Therefore, when the body of the walking trainer moves up and down according to the walking of the walking trainee during the walking training, a certain reverse load may not be applied to the walking trainee. Therefore, the walking trainee feels uncomfortable during the gait training, and the safety accident can occur because the gait trainer can not be stably supported.

Korean Patent Publication No. 2009-0104261

The present invention provides an inverse load system capable of minimizing a change in reverse load applied to a walking trainee and a gait training apparatus having the same.

The present invention provides a reverse load system capable of stably supporting a gait trainer without feeling uncomfortable during gait training, and a gait training apparatus having the same.

The present invention relates to an inverse load system for providing a reverse load on an object, the dynamic compensation unit including a dynamic compensation unit for compensating an inverse load varying according to a displacement of the object, A second plate disposed apart from and movable with respect to the first plate, a connecting wire connected to the first and second plates, and a dynamic compensating unit applying a frictional force to the connecting wire.

Further comprising a static reverse load providing portion including a movable sheave for providing a constant reverse load to the object and connected to the first plate, and a main shear wound on the movable sheave.

The dynamic compensation unit includes a pulley rotated by the connecting wire, a cam rotating in connection with the pulley, and an elastic body providing frictional force to the rotating cam.

The rotation axis of the cam is disposed eccentrically at the center of gravity of the cam.

The dynamic compensation unit further includes a case for housing the cam and the elastic body, a cover for sealing the inside of the case, and a lever for adjusting the position of the cam, and lubricating oil is provided inside the case.

The elastic body is disposed in two directions orthogonal to the rotation axis of the cam.

And an auxiliary compensating unit having an elastic member disposed between the second plate and the pressing plate, and a pressing plate fixed and spaced apart from the second plate.

The auxiliary compensation unit may further include a guide for adjusting a fixing position of the compression plate.

The static reverse load providing unit includes a driver connected to the main wire to provide an inverse load.

The present invention includes a harness to be worn on the body of a walking trainee and an inverse load system according to any one of claims 1 to 9 which is connected to the harness and compensates for an inverse load varying according to the displacement of the walking trainee.

Further comprising at least one of a treadmill providing a floor moving to the walking trainee at a designated speed and a walking-assist robot worn by the walking trainee.

And a controller for controlling the driving of the reverse load system, the treadmill, or the walking-assist robot to change a walking condition of the walking trainee.

The gait training apparatus according to the embodiment of the present invention includes the dynamic compensation unit that compensates for the reverse load varying according to the displacement of the gait trainer so that even when the body of the gait trainer moves up and down during the gait training, Can be minimized. Therefore, it is possible to reduce the fatigue of the gait trainee and improve the efficiency of gait training.

In addition, it is possible to reduce the safety accidents that may occur to the walking trainee during the walking training due to the variable reverse load by stably supporting the walking trainee.

Also, since the dynamic compensating unit has a simple structure and can compensate the reverse load varying according to the displacement, the device can be simplified and the space efficiency can be improved.

BRIEF DESCRIPTION OF THE DRAWINGS Figure 1 is a diagram illustrating the operation of a reverse load system in accordance with an embodiment of the present invention.
FIG. 2 is a side view showing a reverse load system according to an embodiment of the present invention; FIG.
3 is a side view showing a dynamic compensation unit and an auxiliary compensation unit according to an embodiment of the present invention;
4 is an exploded perspective view showing a dynamic compensation unit according to an embodiment of the present invention;
5 is a side view showing a gait training apparatus according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. It will be apparent to those skilled in the art that the present invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, It is provided to let you know. To illustrate the invention in detail, the drawings may be exaggerated and the same reference numbers refer to the same elements in the figures.

Although the embodiments of the present invention are illustratively described with respect to the inverse load system of the gait training apparatus, the scope of application is not limited thereto, and the present invention can be applied to various reverse load devices that can cancel the load of the object having the load.

2 is a side view showing a reverse load system according to an embodiment of the present invention, and FIG. 3 is a side view showing the reverse load system according to an embodiment of the present invention. 4 is an exploded perspective view showing a dynamic compensation unit according to an embodiment of the present invention, and Fig. 5 is a side view showing a walking training apparatus according to an embodiment of the present invention. Fig. to be.

1 and 2, a reverse load system 300 according to an embodiment of the present invention is an inverse load system that provides an inverse load to an object, and is a dynamic load compensation system that compensates for an inverse load varying according to a displacement of the object And may further include a static reverse load providing unit 350, a pulling unit 310, an auxiliary compensating unit 370, and a supporting member 380. [

At this time, the object may include a walking trainee (or a traction unit for towing the walking trainee) performing the walking training. Walking trainees are uncomfortable patients, and most of them are hard to support their weight. Accordingly, the reverse load system 300 applies an inverse load to the walking trainee to cancel at least a part of the load sustained by the walking trainee. That is, the walking trainee can wear the harness 400 connected to the traction unit 310 of the reverse load system 300. The pulling portion 310 may include a support wire 311 connected to the harness 400 and a pulling member 312 connected to the support wire 311 and a main wire 351 described later. The reverse load transmitted by the main wire 351 of the reverse load system 300 is provided to the walking trainee through the pulling member 312, the support wire 311, and the harness 400. [ However, the structure and shape of the pulling portion 310 may vary depending on the object.

However, when the gait trainer performs gait training, the center of gravity of the gait trainer may continuously change as shown in Fig. 1 because the body center is to be moved forward by the continuous motion of the joints and muscles of the lower limb. Therefore, a vertical load may be applied to the walking trainee, and a certain reverse load may not be applied to the walking trainee. Then, the walking trainee feels uncomfortable during gait training, and safety accident can occur because they can not be stably supported. Accordingly, the reverse load system 300 according to the embodiment of the present invention includes the dynamic compensation unit 330. Thus, the dynamic compensating unit 330 compensates for the variable inverse load, thereby suppressing the variation of the reverse load.

First, a description will be made of a static inverse load providing unit 350 that provides a constant reverse load to a walking trainee in order to understand the present invention. The static reverse load distributor 350 includes a movable sheave 353 and a main shear 351 wound on the movable shear 353 and is connected to the fixed shear 354 and the main wire 351 And a driver 352 that provides an inverse load.

The main wire 351 may be connected to the pulling member 312 at one side and to the driver 352 at the other side. The main wire 351 can be released or rolled by the driver 352 to transmit a reverse load to the walking trainee.

The moving pulley 353 may be installed on the upper portion of the first plate 331 to be described later. The main wire 351 is wound around the moving pulley 353 and can be moved up and down according to the movement of the main wire 351. The moving pulley 353 can cause the driver 352 to lift the walking trainer with less force than when the driver 352 directly transmits the reverse load to the walking trainee. Therefore, if a plurality of moving pulleys 353 are provided, the driver 352 can gain more gain in pulling the trainee. For example, in the present embodiment, two moving pulleys 353 may be provided. However, the number of the movable pulleys 353 is not limited to this, and may vary.

The fixed pulley 354 can be disposed on the upper side of the movable pulley 353 and fixed by the fixing member 355. [ The main pulley 351 is wound around the fixed pulley 354 and can be interlocked with the movable pulley 353 by the number of pulleys 353 provided therein. However, the position of the fixed pulley 354 and the number of the fixed pulleys 354 are not limited to this and may vary.

The driver 352 may be a drive motor connected to the main wire 351. Thus, the main wire 352 is wound or unwound according to the rotational direction of the driving motor, so that the reverse load can be transmitted to the walking trainee. However, the present invention is not limited to this, and it is possible to provide a reverse load to the walking trainee in various ways.

The driver 352 provides an inverse load based on the load of the walking trainee wearing the harness 400 before performing the gait training in a static or stationary state. Therefore, if the gait trainer performs dynamic or gait training and generates up and down displacement, it can not compensate for the variable reverse load depending on the displacement. The variable reverse load causes the walking trainee to feel uncomfortable during the walking training and may prevent the stable support of the walking trainee, resulting in a safety accident. Therefore, the dynamic compensation unit 330 can compensate for the inverse load that varies according to the dynamic state of the walking trainee.

Referring to FIG. 3, the dynamic compensation unit 330 includes a first plate 331 movable in conjunction with the displacement, a second plate 332 movable and spaced apart from the first plate 331, A connecting wire 333 connected to the first and second plates 332 and 333 and a dynamic compensation unit 335 applying a frictional force to the connecting wire 333.

The first plate 331 may be formed in a plate shape, and may be formed in various shapes such as a disk or a rectangular plate. The first plate 331 is provided with a moving pulley 353 at an upper portion thereof and can move up and down according to the movement of the moving pulley 353.

The second plate 332 may be formed in a plate shape, and may be formed in various shapes such as a disk or a rectangular plate. The second plate 332 is spaced downward from the first plate 331. Further, the second plate 332 can move up and down.

One end of the connection wire 333 is connected to the first plate 331 and the other end is connected to the second plate 332. Thus, when the first plate 331 is moved by the moving pulley 353, the second plate 332 connected via the connecting wire 333 can move along the first plate 331 together.

4, the dynamic compensation unit 335 includes a pulley 335a that is rotated by the connecting wire 333, cams 335b and 335c that rotate in connection with the pulley 335a, And an elastic body 335d that provides a frictional force to the arms 335b and 335c and may further include a case 335f, a cover 335g, and a lever 335h.

The pulley 335a may be formed in a disc shape and may rotate around a central axis. Grooves are formed around the pulleys 335a so that the connecting wires 333 can contact the grooves of the pulleys 335a. Accordingly, the connecting wire 333 moves up and down along the first plate 331 to rotate the contacting pulley 335a. However, the shape of the pulley 335a is not limited to this and may be various.

The cams 335b and 335c may include a rotating shaft 335c connected to the pulley 335a to rotate and a cam portion 335b provided on the rotating shaft 335c. The cam portion 335b may be formed in a disc shape, and the rotation axis 335c may be eccentrically connected to the center of gravity of the cam portion 335b. Thus, the turning radius of one side and the other side of the cam portion 335b by the rotating shaft 335c can be changed. Therefore, since the portion of the cam 335b having a large turning radius rotates while pressing the elastic member 335d or the contact member 335e connected to the elastic member 335d to compress the elastic member 335d more, the elastic member 335d A greater frictional force can be provided. The portion of the small radius of rotation of the cam portion 335b does not come into contact with the elastic member 335d or the contact member 335e connected to the elastic member 335d or comes into contact with the elastic member 335d so that no frictional force is given from the elastic member 335d, Can be provided.

On the other hand, the cam portion may be formed by partially protruding. Thus, the radius of rotation of the protruded portion and the protruded portion of the cam portion by the rotating shaft 335c can be changed. The protruding portion of the cam portion more contacts the contact member 335e connected to the elastic member 335d or the elastic member 335d to be described later and rotates while pushing the elastic member 335d so that a larger frictional force is provided from the elastic member 335d Can receive. Then, the non-protruded portion of the cam portion may not be in contact with the elastic body 335d, or may be in a slight contact with the elastic body 335d, so that the elastic body 335d may not be provided with a frictional force or may be provided with only a small frictional force. However, the shape of the cam portion is not limited to this and may vary.

The elastic body 335d may be a spring having an elastic force. In addition, the elastic body 335d may be disposed in at least one direction perpendicular to the rotation axis 335c of the cam. Thus, the rotation of the cam portion 335b can be prevented by contacting the large or protruding portion of the cam portion 335b directly or indirectly. Friction can be applied to the connecting wire 333 moving in contact with the pulley 335a due to the interference of the rotation of the pulley 335a connected to the cams 335b and 335c.

For example, the elastic body may be disposed on the upper side and the side surface of the cam portion 335b in two directions orthogonal to the rotation axis 335c of the cam. Therefore, in the section where the turning radius of the cam section 335b is large or the protruding section is provided with the frictional force in the section where the elastic body 335e is arranged and the frictional force is not provided in the section in which the elastic body 335e is not disposed, Can be selected. That is, the cam portion 335b rotates and compresses the upper elastic body 335d by upward force. Then, the compressed elastic body 335d tries to stretch due to the elastic force, and provides a force in the opposite direction to the force transmitted by the cam portion 335b, i.e., downward. Thus, the force of the elastic body 335d is transmitted to the cam portion 335b in a direction different from the rotation direction of the cam portion 335b, so that the rotation of the cam portion 335b can be prevented. The elastic body 335d provided on the side surface of the cam portion 335b is also compressed by the rotating cam portion 335b and then transmitted to the cam portion 335b in a direction different from the rotating direction of the cam portion 335b while being compressed, Can be prevented.

At this time, a lever 335h for adjusting the positions of the cams 335b and 335c may be provided. The lever 335h is connected to the cams 335b and 335c to rotate the cam portion 335b to set a time point at which the cam portion 335b receives elastic force from the elastic body 335d. Therefore, it is possible to set the starting point at which the dynamic compensation is performed in accordance with the situation of the walking trainee.

In addition, the size of the elastic body 335d can be made smaller than that in the case where the elastic body 335d is arranged in four or three directions, so that installation and maintenance can be facilitated. However, the present invention is not limited thereto, and various members having elasticity such as urethane may be used.

At this time, the elastic member 335d may further include a contact member 335e. The contact member 335e may be in the form of a plate and contact with the rotating cam portion 335b. Therefore, it is possible to prevent the elastic member 335d from indirectly contacting the cam portion 335b through the contact member 335e and worn or damaged by the rotating cam portion 335b of the elastic member 335d.

The case 335f forms an internal space for accommodating the cam portion 335b and the elastic body 335d, and a part thereof can be opened. Thus, the elastic body 335d is provided on the inner wall of the case 335f, and the cam portion 335b can rotate inside the case 335f. In addition, the cover 335g is provided at the open portion of the case 335f to seal the inside of the case 335f. Therefore, when the cam portion 335b, the elastic member 335d, or the contact member 335e is broken, the cover 335g can be opened and easily repaired. Inside the sealed case 335f, lubricating oil is provided so that the cams 335b and 335c can be easily rotated inside the case 335f.

The dynamic compensation unit 335 can interfere with the movement of the connecting sheath 353 and the connecting wire 333 which moves up and down along the first plate 331 while contacting the connecting wire 333. [ That is, in the dynamic compensation unit 335, the elastic body 335d applies a frictional force to the cams 335b and 335c in a direction different from the rotation direction of the cams 335b and 335c to interfere with the rotation of the cams 335b and 335c . The frictional force applied by the elastic body 335d causes friction between the connecting wire 333 and the pulley 335a which is caused to interfere with the rotation of the pulley 335a connected to the cams 335b and 335c and to rotate the pulley 335a Can occur. Thus, it is possible to suppress or minimize the variation of the reverse load transmitted to the walking trainee due to the movement of the moving pulley 353 which is moved up and down by the displacement of the walking trainee. In addition, the dynamic compensation unit 330 can compensate for the reverse load varying according to the displacement while having a simple structure, thereby simplifying the apparatus and improving the space efficiency.

The auxiliary compensating unit 370 includes a pressing plate 371 spaced upwardly from and fixed to the second plate 332 and an elastic member 371 disposed between the second plate 332 and the pressing plate 371. [ (373), and may further include a support bar (375), a connection block (372), and a guide (374).

The compression plate 371 is formed in a plate shape and disposed between the first plate 331 and the second plate 332. The pressing plate 371 serves to press the elastic member 373 to be described later.

The guide 374 extends in the longitudinal direction and is connected to the compression plate 371. The guide 374 can adjust the fixing position of the compression plate 371. For example, the guide 374 may be a ball screw, and the position of the compression plate 371 can be adjusted up and down. In the case of a ball screw, it may be connected to a manual lever or an electric actuator so as to control the displacement of the elastic member 373 by using a manual lever or by sending a signal to the electric actuator. Therefore, the compression plate 371 can be moved up and down to adjust the degree to which the compression plate 371 compresses the elastic member 373 to be described later. Thus, the moving pulley 353 is pulled by the amount of displacement of the elastic member 373, so that the backward load equivalent to the amount of displacement of the elastic member 373 is compensated by the walking trainee.

The support bar 375 extends in the longitudinal direction and passes through the compression plate 371 and is disposed between the first plate 331 and the second plate 332. Accordingly, when the first plate 331 moves upward or downward, the second plate 332 connected through the support bar 375 can move upward or downward along the first plate 331.

The connection block 372 has a lower portion connected to the second plate 332 and an upper portion connected to the support bar 375 to connect the support bar 375 and the second plate 332. [

The elastic member 373 may be a spring having an elastic force. The elastic member 373 may be disposed between the compression plate 371 and the connection block 372 and may be disposed while surrounding the support bar 375. Accordingly, when the first plate 331 moves upward, the second plate 332 and the connection block 372 can also be moved upward by the support bar 375. The connection block 372 is moved upward and the elastic member 373 is moved upward but the compression plate 371 on the upper side of the elastic member 373 is fixed so that the connection block 372 and the compression plate 371 Lt; / RTI > Then, elastic force can be applied to the connecting block 372 to move upward by the elastic force in the downward direction. However, the elastic member 373 is not limited thereto, and various members having elastic force can be used.

Accordingly, the auxiliary compensating unit 350 may supplementively perform static or dynamic compensation. For example, when the driver 352 of the static reverse load providing portion 350 is operated to provide a reverse load to the walking trainee, the elastic member 373 is provided on the second plate 332 at the lower side May be provided. The second plate 332 moves downward and transmits a force for moving the first plate 331 and the moving pulley 353 downward so that the main wire 351 wound on the moving pulley 353 can be pulled have. Thus, the driver 352 can pull the main wire 351 with a small force to provide a reverse load to the walking trainee.

On the other hand, when the gait trainer performs the gait training, the reverse load applied through the driver 352 may vary due to the displacement of the gait trainer. Then, the dynamic compensation unit 330 can compensate for the variable reverse load. In addition, the auxiliary compensation unit 370 can also provide supplemental dynamic compensation. For example, the movable sheave 353 connected by the main wire 351 may move up and down to compress or extend the elastic member 373 through the second plate 332. [ Since the elastic member 373 has an elastic force, it provides an elastic force in a direction opposite to the force transmitted through the second plate 332. [ Therefore, it is possible to minimize the variation of the reverse load together with the dynamic compensator 330 due to the displacement by interfering with the movement of the movable sheave 353 and the main wire 351.

The support member 380 is provided between the first plate 331 and the compression plate 371 and serves to support the dynamic compensation unit 330 and the auxiliary compensation unit 370. However, the position in which the support member 380 is disposed is not limited to this and may vary.

Hereinafter, a gait training apparatus according to an embodiment of the present invention will be described.

5, the gait training apparatus according to the embodiment of the present invention includes a harness 400 worn on the body of a walking trainee, and a reverse load connected to the harness 400 and varying according to the displacement of the gait trainer A treadmill (100) for providing a walking trainee with a floor moving at a designated speed, and a walking assist robot (200) or a controller (200) worn on the legs of a walking trainee, the robot including a reverse load system (300) (500).

The harness 400 may be formed to be worn on the body of the walking trainee and connected to the reverse load system 300. The harness 400 and the reverse load system 300 can be separated and the harness 400 can be connected to the reverse load system 300 when the walking trainee with the harness 400 is standing on the treadmill 100. Thus, the reverse load applied by the reverse load system 300 can be transmitted to the walking trainee wearing the harness 400.

The treadmill 100 provides the walking trainee with a floor surface to continue the gait training in place. The treadmill 100 may operate within a range of 0.3 to 3.0 km / h at a walking speed synchronized with the walking-assist robot 200 during the operation of the gait training apparatus, and may be operated by the controller 500 according to the state of the gait trainee, Lt; / RTI > It may also be operated manually according to the will of the walking trainee. The bottom of the treadmill 100 is provided with a wheel so that it is movable, and the position of the device can be fixed after moving through the brake.

The walking-assist robot 200 may be formed to be worn on the legs of a walking trainee. For example, the walking-assist robot 200 includes a hip joint robot 210 worn on the hip joint of the lower body joint, a knee joint robot 220 worn on the knee joint, and an ankle joint robot 230 worn on the ankle joint. Only one joint robot can be selected and used. The walking-assist robot 200 is mounted on the legs of a walking trainee and is driven to assist the walking trainee with a hindrance to the walking. Further, a length adjuster (not shown) that can adjust the leg length of the walking trainee between the robots of the walking-assist robot 200 may be provided. The length adjuster can be adjusted automatically according to the body type of the walking trainer, and the length of the segment can be fine-tuned manually if an error is issued after the automatic length adjustment.

The controller 500 can control the driving of the reverse load system 300, the treadmill 100, and the walking-assist robot 200 to change the walking condition of the walking trainee and generate or store the driving information. The controller 500 may include a main body 511 having a control unit such as an input unit 510, an information storage unit and a control circuit, and a monitor unit 520 for outputting the control status to the screen. For example, if the controller 500 inputs the speed and stride range of the treadmill 100 according to the condition of the walking trainee and the purpose of the training, the controller 500 can operate the treadmill 100 within the input range .

The reverse load system 300 includes a dynamic compensation unit 330 for compensating an inverse load varying according to a displacement of a walking trainee, and a reverse load system for providing an inverse load to a walking trainee A traction unit 310 for supporting the harness 400 and an auxiliary compensator 370 for static or dynamic compensation of the reverse load applied to the walking trainee. Therefore, even when the body of the walking trainee moves up and down during the walking training, the change of the reverse load applied to the walking trainee can be minimized. Therefore, it is possible to reduce the fatigue of the walking trainee and improve the efficiency of the walking training. In addition, it is possible to reduce the safety accidents that may occur to the walking trainee during the gait training due to the variable backward load by stably supporting the gait trainer, and the dynamic compensating unit compensates the reverse load varying according to the displacement while having a simple structure The device can be simplified and the space efficiency can be improved.

The operation of the gait training apparatus according to the embodiment of the present invention will be described below.

In order for the walking trainee to perform the gait training, the harness 400 should be worn in a stopped state. Then, the driver of the static reverse load distributor (350) is operated to pull the main wire (351) connected to the harness (400). Then, the harness 400 can be moved upward by the main wire 351 to transmit the reverse load to the walking trainee. At this time, the magnitude of the reverse load provided by the driver may vary according to the training condition of the walking trainee.

The walking trainee, who has been subjected to the reverse load, can perform the gait training at a constant speed on the treadmill 100. The speed of the treadmill 100 may vary according to the training conditions of the walking trainee. At this time, since the gait trainer performs the gait training, it may move up and down. Accordingly, the reverse load applied while the harness 400, which transmits the reverse load by the driver constantly to the walking trainee, is moved up and down by the walking trainee can be varied.

For example, when the harness 400 moves downward because the reverse load applied by the displacement of the walking trainer is different, the moving sheave 353 on which the main wire 351 is wound rises. Then, the first plate 331, the connecting wire 333, and the second plate 332 are moved upward. The connecting wire 333 moves upward to rotate the pulley 335a of the dynamic compensation unit 335 and the cam portion 335b connected to the pulley 335a to rotate. At this time, a portion of the cam portion 335b having a large turning radius or protruding portion bumps against the contact member 335e and rotates while pushing the contact member 335e.

Then, the elastic body 335d connected to the contact member 335e is pressed and applied with a force to be stretched to the contact member 335e by the elastic force. Therefore, the contact member 335e can apply a frictional force to the cam portion 335b, thereby preventing the rotation of the cam portion 335b. Accordingly, friction can be provided in a direction opposite to the direction of movement of the connection wire 333 to the connection wire 333, which is in contact with the pulley 335a, while being interrupted by the rotation of the pulley 335a connected to the cam portion 335b. That is, it is possible to reduce the reverse load change due to the displacement by compensating for the variable reverse load by interfering with the movement of the moving sheave 353 moving upward by the walking trainee. On the contrary, when the walking trainer moves upward, the dynamic compensation unit 335 may provide a friction force in a direction opposite to the moving direction of the movable sheave 353 to compensate for the varying reverse load.

Further, when the moving pulley 353 rises, the second plate 332 and the connecting block 372 are raised. When the connection block 372 moves upward, the elastic member 373 is also moved upward. However, the connection block 372 can not be moved upward by the compression plate 371 on the upper side of the elastic member 373 and the connection block 372 and the compression plate 371 Lt; / RTI > Then, the elastic member 373 compressed by the elastic force can provide a downward force to the connection block 372 while trying to extend. This prevents the second plate 332, the first plate 331 and the moving pulley 353 from being raised as well as the connection block 372 to compensate for the reverse load which varies depending on the displacement of the walking trainee have.

In this case, the elasticity of the elastic member 373 can be adjusted by controlling the compression ratio of the elastic member 373 through the guide 374. In contrast, when the gait trainer moves upward, the elastic member 373 can provide an elastic force in a direction opposite to the moving direction of the moving sheave 353 to compensate for the varying reverse load. Therefore, it is possible to reduce the fatigue of the gait trainee and improve the efficiency of gait training. In addition, it is possible to reduce the safety accidents that may occur to the walking trainee during the walking training due to the variable reverse load by stably supporting the walking trainee.

Although the reverse load system provided in the gait training apparatus has been exemplarily described above, the scope of application is not limited thereto, and the present invention can be applied to a variety of reverse load devices that can offset loads of objects having loads.

Although the present invention has been described in detail with reference to the specific embodiments thereof, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the scope of the present invention. Therefore, the scope of the present invention should not be limited by the described embodiments, but should be defined by the appended claims, as well as the appended claims.

300: Reverse load system 310:
330: Dynamic compensation unit 335: Dynamic compensation unit
350: Static reverse load supplier 370: Auxiliary compensation unit

Claims (12)

A reverse load system for providing an inverse load on an object,
And a dynamic compensation unit for compensating an inverse load varying according to the displacement of the object,
The dynamic compensation unit may include: a first plate movable in conjunction with the displacement; A second plate spaced apart from and movable to the first plate; A connecting wire connected to the first and second plates; And a dynamic compensation unit for applying a frictional force to the connecting wire. The method according to claim 1,
A moving sheave coupled to the first plate; And a main reverse gear which is wound around the moving sheave, and further comprising a static reverse load providing portion for providing a constant reverse load to the object. The method according to claim 1,
The dynamic compensation unit comprising: a pulley rotated by the connecting wire; A cam connected to the pulley and rotating; And an elastic body for providing a frictional force to the rotating cam. The method of claim 3,
And the rotation axis of the cam is disposed eccentrically at the center of gravity of the cam. The method of claim 3,
Wherein the dynamic compensation unit comprises: a case for housing the cam and the elastic body; A cover that seals the inside of the case; And a lever for adjusting the position of the cam,
And a lubricating oil is provided inside the case. The method of claim 3,
Wherein the elastic body is disposed in two directions orthogonal to the rotation axis of the cam. The method according to claim 1,
A compression plate spaced upwardly from and fixed to the second plate; And an elastic member disposed between the second plate and the compression plate. The method of claim 7,
Wherein the auxiliary compensation unit further comprises a guide for adjusting a fixing position of the compression plate. The method of claim 2,
And the static reverse load provision unit includes a driver connected to the main wire to provide an inverse load. A harness worn on the body of a walking trainee; And
A reverse load system according to any one of claims 1 to 9, which is connected to the harness and compensates an inverse load varying according to a displacement of the walking trainee; Included gait training device. The method of claim 10,
Further comprising at least one of a treadmill providing a floor moving to the walking trainer at a designated speed and a walking-assist robot worn by the walking trainee. The method of claim 11,
And a controller for controlling the driving of the reverse load system, the treadmill, or the walking-assist robot to change a walking condition of the walking trainee.
KR1020140084587A 2014-07-07 2014-07-07 Unweighting System and Walking Practice Apparatus having the same KR101562328B1 (en)

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KR1020140084587A KR101562328B1 (en) 2014-07-07 2014-07-07 Unweighting System and Walking Practice Apparatus having the same
PCT/KR2014/008937 WO2016006760A1 (en) 2014-07-07 2014-09-25 Reverse load system and walking training apparatus having same

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JP5009731B2 (en) * 2007-09-13 2012-08-22 近鉄スマイルサプライ株式会社 Self walking training machine
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KR101277253B1 (en) 2011-11-24 2013-06-26 주식회사 피앤에스미캐닉스 Walking training apparatus

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Publication number Priority date Publication date Assignee Title
KR20230038956A (en) * 2021-09-13 2023-03-21 고려대학교 산학협력단 Non-powered leg weight compensation based gait training apparatus
KR102616592B1 (en) * 2021-09-13 2023-12-20 고려대학교 산학협력단 Non-powered leg weight compensation based gait training apparatus

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