KR101939581B1 - Gait rehabilitation robot and control method thereof - Google Patents

Abstract

The present invention provides a walking rehabilitation robot capable of automatically performing walking rehabilitation training and a control method thereof. To this end, the control method of the gait rehabilitation robot of the present invention includes the steps of receiving an operation mode, detecting a position and a velocity of a center of pressure (COP) of both passengers measured through a pressure detector provided in the foot step, (PWM) signal is applied to the driving motor in accordance with the input driving mode, and the stepping portion is moved in accordance with the walking trajectory And assisting the occupant in walking by movement.

Description

[0001] The present invention relates to a walking rehabilitation robot and a control method thereof,

The present invention relates to a walking rehabilitation robot and a control method thereof.

Generally, a gait rehabilitation robot is a robot used for rehabilitation of a patient whose behavior is uncomfortable due to lower limbs or muscle weakness.

Patients with major diseases of central nervous system diseases caused by stroke due to aging are rapidly increasing. It may be difficult for the patient to perform various daily activities such as climbing, walking, and moving due to the lowered exercise capacity of the lower limb frequently occurring in such patients. Therefore, the development of gait rehabilitation technology for the rehabilitation treatment of the patients who have inconvenient behavior is ongoing.

1 is a view schematically showing a conventional gait exercise device.

As shown in Fig. 1, the conventional gait training apparatus includes left and right frames 10 and 20 provided in a standing position in parallel with and symmetrically spaced apart from a support plate 30 by a predetermined distance, A first handle link 300 one end of which is fixedly coupled to the ends of the handle lever 200 coupled to the lower portion of the handle 100 and the left and right frames 10 and 20, The second handle link 400 is coupled to the left and right second vertical bars 12 and 22 of the right and left frames 10 and 20. The second handle link 400 is engaged with the other end of the handle link 300 to transmit the force of the upper limb in the forward and backward directions. A landing link 600 coupled to the distal end of the load link 500 and configured to include a first locus link and a second locus link so that a gait locus is realized; And an end of the second handle link (400) and a second locus ring Is connected between the rotation as to the upper limb movement includes a rotary link 700 to ensure that movement is performed continuously repeated. Therefore, by providing such a technical configuration, it is possible to compensate the forces of the upper body and the lower body by the implementation of the walking trajectory, thereby enabling a balanced walking training.

However, the conventional walking exercise apparatus is a manual type in which a person with disabilities directly performs walking rehabilitation training based on his / her physical ability, so that a severely stroke disabled person needs several therapists for use. In other words, severe stroke patients have a significantly lower ability to control the paralyzed body, so several therapists are needed to practice walking rehabilitation.

In addition, in the case of a severe stroke patient, when the gait rehabilitation is performed, a half knee (excessive knee extension) occurs and the knee joint is injured. In order to prevent the injury, There is a limit to continuous walking rehabilitation training.

Korean Registered Patent No. 10-1661465 (registered on September 26, 2016)

A technical problem of the present invention is to provide a walking rehabilitation robot capable of automatically performing walking rehabilitation training and a control method thereof.

Another object of the present invention is to provide a gait rehabilitation robot capable of suppressing the half length without the help of a therapist.

In order to achieve the above object, a control method of a gait rehabilitation robot including a foot stepping part moving according to a predetermined gait locus when power is transmitted from a drive motor according to an embodiment of the present invention includes a step of receiving an operation mode, Detecting a walking intention of a passenger based on at least one of a position and a speed of a pressure center point (COP) of both passengers measured through a pressure detecting unit provided in the passenger compartment; And a step of applying a pulse width modulation (PWM) signal to the driving motor according to the input operation mode to assist the occupant in walking by moving the stepping part along a walking trajectory.

If the input operation mode is the first mode, a PWM signal having a predetermined duty ratio can be constantly applied to the driving motor.

Wherein the controller is configured to calculate an ankle torque of a passenger based on the position and speed of COPs of both passengers when the input operation mode is the second mode and to output the PWM signal having a duty ratio proportional to the calculated ankle torque to the drive motor Can be applied.

The method may further include determining whether the automatic stop condition is satisfied using the loads of both the passengers, and stopping the operation of assisting the occupant when the automatic stop condition is satisfied.

The automatic stop condition can be satisfied if the load difference between the feet of the occupant continues for a predetermined time or longer than a predetermined reference.

The walking rehabilitation robot according to an embodiment of the present invention includes a foot stepping part moving according to a predetermined walking path when power is transmitted from a driving motor, an input part receiving an operation mode, and a pressure detecting part provided in the foot stepping part And a control unit for determining a walking intention of a passenger on the basis of at least one of a position and a speed of a center of pressure (COP) of both passengers of the occupant when the occupant intends to walk, And a controller for applying a PWM (Pulse Width Modulation) signal to the motor to move the stepping portion in accordance with a walking trajectory to assist the occupant in walking.

The controller may apply a PWM signal having a predetermined duty ratio to the driving motor, if the input driving mode is the first mode.

Wherein the controller calculates the ankle torque of the occupant based on the position and speed of the COP of both the passengers when the input operation mode is the second mode and calculates a duty ratio proportional to the calculated ankle torque The PWM signal can be applied.

The control unit may determine whether the automatic stop condition is satisfied by using the loads of both the passengers and stop the operation of assisting the occupant when the automatic stop condition is satisfied.

As described above, the walking rehabilitation robot and its control method according to the embodiment of the present invention can have the following effects.

According to the embodiment of the present invention, the walking intention of the occupant can be detected, and the walking training can be supported in accordance with the walking intention.

In addition, it is possible to control the number of revolutions of the driving motor and the like by the control unit according to the operation mode, so that it is possible to automatically and reliably perform the walking rehabilitation for both the patient and the therapist in the walking rehabilitation of the stroke disabled persons, So that the immersion feeling can be enhanced.

In addition, it is possible to prevent a safety accident or the like from occurring by automatically stopping the walking rehabilitation robot in accordance with the intention of the occupant to walk.

1 is a view schematically showing a conventional gait exercise device.
2 is a schematic view of a walking rehabilitation robot according to an embodiment of the present invention.
3 is a right side view of the gait rehabilitation robot of Fig. 2 with the gait track rail removed.
Fig. 4 is a view schematically showing a link unit of the gait rehabilitation robot shown in Fig. 3;
Fig. 5 is a view showing the drive motor, the power transmission unit, and the link unit in the gait rehabilitation robot shown in Fig. 2;
6 is a view schematically showing the state in which the anti-restraining unit is mounted on the gait rehabilitation robot shown in Fig. 5;
7 is a diagram schematically showing a state in which a half slack is suppressed by a half slack suppressing unit in one walking cycle.
Fig. 8 is a schematic view of the rear portion fixing portion of the gait rehabilitation robot shown in Fig. 3. Fig.
9 is a view showing a state in which the position of the lower grip portion of the lower fixed portion of FIG. 8 is adjusted.
10 is a view schematically showing an input unit of the gait rehabilitation robot shown in Fig. 3;
11 is a view schematically showing a pressure detecting portion mounted on the stepping portion.
12 is a flowchart illustrating a method of controlling a walking rehabilitation robot according to an embodiment of the present invention.
13 is a view for explaining a method of calculating a torque of a passenger foot according to an embodiment of the present invention.
FIG. 14 is a flowchart illustrating an automatic stop operation of the walking rehabilitation robot according to an embodiment of the present invention.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings, which will be readily apparent to those skilled in the art to which the present invention pertains. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.

FIG. 2 is a schematic view of a walking rehabilitation robot according to an embodiment of the present invention. FIG. 3 is a right side view of the walking rehabilitation robot shown in FIG. 2, FIG. 5 is a view showing a driving motor, a power transmitting unit, and a link unit in the gait rehabilitation robot shown in FIG. 2. FIG. 5 is a view schematically showing a link unit among the walking rehabilitation robots.

2 to 5, a walking rehabilitation robot 100 according to an embodiment of the present invention includes a foot unit 110, a link unit 110, (130), and a drive motor (140). Hereinafter, each of the constituent elements will be described in detail with continued reference to Figs. 2 to 5. Fig.

2 and 3, the frame unit 110 includes a horizontal support unit 111 and a pair of horizontal support units 111, which are vertically disposed on both sides of the horizontal support unit 111, And may include a vertical receiving portion 112. Further, although not shown, for the sake of appearance and safety, the vertical receiving portion 112 and the link unit 130 and the like included therein may be covered by a cover member (not shown). Furthermore, as shown in FIG. 2, the walking track rail 120 is further provided on the horizontal receiving portion 111 so that the foot standing portion 10 can touch or drop while the foot standing portion 10 draws the walking trajectory. .

The link unit 130 is a component that provides a walking trajectory to the foot step portion 10 and is provided between the foot step portion 10 and the frame portion 110 as shown in FIGS. .

3 to 5, the link unit 130 includes a first link member 131, a second link member 132, a third link member 133, Member 134 as shown in FIG. The first link member 131 is a component that receives the power of the drive motor 140 first and one end of the first link member 131 is rotatable to the vertical support portion 112 through the first hinge H1 . The second link member 132 has a bending shape having a bending portion 132a at its central portion and one end of the second link member 132 is connected to the first link member 131 via the second hinge H2. And may be rotatably provided at the other end. One end of the third link member 133 may be rotatably provided at the other end of the second link member 132 through the third hinge H3 and the other end of the third link member 133 may be rotatably provided at the other end of the step portion 10 . One end of the fourth link member 134 is rotatably provided on the bending portion 132a of the second link member 132 through the fourth hinge H4 and the other end of the fourth link member 134 is provided on the fifth The fourth hinge H4 is rotatably provided on the vertical receiving portion 112 through the hinge H5 so as to move the fourth hinge H4 in a circular arc and to support the load acting on the fourth hinge H4. The second link member 132 having the bent shape is also moved while the fourth hinge H4 is being moved by the fourth link member 134 while drawing an arc so that the second link member 132 is moved to the other end of the second link member 132 The third link member 133 and the foot step portion 10 provided to be rotatable by the three hinges H3 can provide a walking trajectory (refer to FIG. 7).

4, the fourth and fifth hinges H4 and H5 are arranged so that the virtual vertical line perpendicular to the horizontal receiving portion 111, And the second hinge H2 and the first hinge H1 may be spaced apart behind the imaginary vertical line VL (behind the occupant) Can be sequentially positioned. Also, as shown in FIG. 4, the second hinge H2 may be positioned higher than the first hinge H1 and lower than the fifth hinge H5. Also, as shown in FIG. 4, the second link member 132 may be bent at an obtuse angle? In the bending portion 132a.

The drive motor 140 is a component for automatically driving the link unit 130 and may be provided in the frame unit 110 as shown in FIGS. 3 and 5, the driving motor 140 may be provided on the horizontal receiving portion 111 and may be connected to the first link member 131 through the power transmitting portion 150, .

For example, the power transmission portion 150 may include a driving shaft 151, a first pulley-belt 152, and a second pulley- and a second pulley-belt 153. The drive shaft 151 may be rotatably mounted on the horizontal support portion 111 and the first pulley-belt 152 may transmit the power of the drive motor 140 to the drive shaft 151, The second pulley-belt 153 may transmit the power of the drive shaft 151 to the first link member 131. Furthermore, the first and second pulley-belts 152 and 153 are provided with two timing pulleys for giving an accurate time difference between the footstep where the right foot lies and the footstep where the left foot is placed, and a timing belt and a timing belt.

Therefore, since this technical arrangement is provided, the link unit 130 can continuously provide the walking trajectory to the foot step portion 10 by driving the driving motor 140, so that the walking rehabilitation training can be automatically performed. In particular, the rotation speed of the driving motor 140 can be controlled by a control unit (not shown) in accordance with a driving mode to be described later, so that the patient and the therapist can both reliably and effortlessly perform gait rehabilitation And rehabilitation training based on the patient can enhance the immersion feeling.

In addition, the gait rehabilitation robot 100 according to an embodiment of the present invention may further include a half-turn inhibition unit 160, as shown in FIGS. 3, 6, and 7.

FIG. 6 is a view schematically showing a state in which the anti-restraining unit is mounted on the gait rehabilitation robot of FIG. 5, FIG. 7 is a view schematically showing a state in which the anti- to be.

As shown in FIGS. 3, 6 and 7, the half-slack suppressing unit 160 includes a link unit 130 (see FIG. 3, FIG. 6, and FIG. 7) for minimizing the impact applied to the knee joint by preventing knee- .

For example, the half length restraining portion 160 may include a height adjusting member 161 and a half length restraining bar 162, as shown in FIG. The height adjusting member 161 may be provided on the fourth link member 134 so as to be movable up and down while the half length restraining rod 162 is provided on the height adjusting member 161 to adjust the height of the knee joint And may have a shape protruding from the member 161 to the passenger side. Accordingly, as shown in FIG. 7, as the foot moves to the floor, the half-length restraining bar 162 presses the rear portion of the knee joint of the passenger, so that during one walk cycle (one Gait Cycle) The spread of the knee can be prevented. Ultimately, without the help of a therapist, it is possible to inhibit the knee (excessive knee extension), which can further enhance the effect of patient-centered continuous rehabilitation training.

Further, as shown in FIG. 6, the half-length restraining rod 162 may be provided to be movable forward and backward (forward and rearward relative to the occupant) to the height adjusting member 161 through the horizontal cylinder 163, An impact absorbing member 164 such as a coil spring may be provided between the horizontal cylinder 163 and the half length restraining bar 162 to absorb the impact applied to the knee joint by the restraining rod 162, The half-span restraining bar 162 may be placed perpendicular to the horizontal cylinder 163.

6, the height adjusting member 161 is fitted in the height adjusting groove 165 formed in the fourth link member 134, and may be detachably attached to the height adjusting member 161 by a magnet 166. [ Therefore, it is not necessary to disassemble or bolt separate bolts, so detachment can be facilitated.

In addition, the gait rehabilitation robot 100 according to an embodiment of the present invention may further include a backward fixing part 170, as shown in FIGS. 3, 8 and 9.

FIG. 8 is a view schematically showing a rear fixing part of the gait rehabilitation robot of FIG. 3, and FIG. 9 is a view showing a state in which a position of the lower grip part of the lower fixing part of FIG.

The lowering and fixing unit 170 is a component for fixing the lower portion of the occupant, and may be provided in the link unit 130, as shown in Figs. 3, 8, and 9.

For example, as shown in FIGS. 8 and 9, the lower fixing part 170 may include a vertical position adjustment part 171 and a lowered grip part 172. The upper and lower position adjusting portion 171 may be provided on the third link member 133 as a component for adjusting the vertical position of the lower gripper 172 and the lower gripper 172 may grip the lower portion of the occupant The upper and lower position can be adjusted by the upper and lower position adjusting portion 171 as an element. Therefore, it is possible to suppress the external rotation and internal rotation of the lower leg of the patient without the help of a therapist in the case of gait rehabilitation, thereby further enhancing the effect of continuous rehabilitation training based on the patient.

Here, as shown in FIGS. 8 and 9, the vertical position adjusting unit 171 may include a vertical cylinder 171a and a position adjusting piston 171b. The lower end of the vertical cylinder 171a may be provided on the third link member 133 and the position adjusting piston 171b may be inserted into the vertical cylinder 171a and moved up and down by the vertical cylinder 171a And the lower grip portion 172 may be placed on the upper end thereof. Accordingly, the height of the lower gripper 172 can be adjusted to fit the lower gripper 172 to the lower part of the occupant.

8 and 9, the vertical cylinder 171a is provided on the third link member 133 so as to be movable forward and rearward (forward and backward with respect to the occupant) by the front and rear position adjusting portion 173 . 9, the front and rear position adjuster 173 is provided on the front and rear guide rails 173a and the vertical cylinders 171a provided on the third link member 133 and includes front and rear guide rails 173a Backward moving member 173b which is moved along the guide rails 173a and 173b. Therefore, the back and forth position of the lower gripper 172 can be adjusted to fit the lower gripper 172 to the lower part of the occupant biased to the forward and backward positions.

9, the front and rear guide rails 173a can be provided on the left and right (left and right with respect to the occupant) of the third link member 133 by the left and right position adjusting portions 174 . 9, the left and right position adjuster 174 is provided on the left and right guide rails 174a and the front and rear guide rails 173a provided on the third link member 133, and the left and right guide rails 173a, And a left and right movable member 174b which is moved along the first and second movable members 174a and 174a. Therefore, the left and right positions of the lower gripper 172 can be adjusted to align the lower gripper 172 with the lower part of the occupant biased to the left and right positions.

In addition, the walking rehabilitation robot 100 according to an embodiment of the present invention may further include an input unit 181 and a control unit (not shown) as shown in FIG.

10 is a view schematically showing an input unit of the gait rehabilitation robot shown in Fig. 3;

The input unit 181 may be provided in the frame unit 110 and may include an operation mode and the control unit may be implemented by one or more microprocessors operated by a program set to control the drive motor 140 according to an operation mode . Therefore, it is possible to control the number of revolutions of the driving motor 140 by the control unit according to the operation mode, and thus it is possible to perform the gait rehabilitation automatically and reliably for both the patient and therapist in the walking rehabilitation of the stroke disabled persons, The rehabilitation training of the center can enhance the immersion feeling.

11 is a view schematically showing a pressure detecting part mounted on the stepping part. The gait rehabilitation robot 100 according to an embodiment of the present invention may include a pressure detecting unit 183 provided in the foot stepping unit 10 for detecting a change in foot pressure of a passenger . In this case, the control unit (not shown) can control on / off of the drive motor 140 in accordance with the change in the foot pressure detected by the pressure detection unit 183. [ Thus, patient-centered safe rehabilitation training can be performed in a manner that stops the drive motor 140 when the difference in foot pressure between the right foot and the left foot is greater than a reference measure (e.g., 30 N) It can be possible.

2, the walking rehabilitation robot 100 according to an embodiment of the present invention further includes a mirror 184 provided on the horizontal receiving unit 111 and provided in front of the occupant can do. Therefore, the patient can see his or her appearance through the mirror 184, and the immersion feeling of the walking rehabilitation can be further enhanced.

Further, as shown in FIG. 2, the mirror 184 may be provided with a display portion 184a for providing information to the occupant. Therefore, the patient can see the information such as the training time, the moving distance, the walking speed, and the heart rate through the mirror, and the immersion feeling of the walking rehabilitation can be further increased.

12 is a flowchart illustrating a method of controlling a walking rehabilitation robot according to an embodiment of the present invention.

12, in order to prevent the occupant from falling down when boarding the rehabilitation robot 100, it is possible to turn on the brake function for keeping the stepping portion 10 in a stopped state (see S1210). To this end, the gait rehabilitation robot 100 may include a brake unit (not shown) for fixing the wresting unit 10 or for fixing the link unit 130.

When the occupant lifts both feet on the stepping portion 10 and takes a standing posture while the braking function of the walking rehabilitation robot 100 is on, the control unit calculates the pressure point of the both feet (COP) Can be measured. The COP measured in this state can be used as a reference point to determine the walking intention of the occupant, or to obtain the ankle torque. Of course, it is also possible to set the center point of the stepping portion 10 as a reference point according to the embodiment.

Meanwhile, after the occupant boarded the walking rehabilitation robot 100, the occupant or the training assistant can input the operation mode through the input unit 181 (S1220). In operation S1220, the operation mode includes a constant assist mode for assisting a constant torque on both ankles of a passenger and a variable assist mode for changing a torque to assist the driver according to the intention of walking .

Meanwhile, according to the embodiment, a gain for selecting a predetermined level may be set as the torque intensity assisting with the operation mode (S1230). Here, the level can be set as high, medium, low, or the like. Of course, it is also possible to divide into more steps in addition to the three steps, and depending on the embodiment, it may be classified as high or low, or not at all.

Next, the control unit of the walking rehabilitation robot 100 can turn off the brake function (S1250) when the occupant or the training assistant inputs an operation command through the input unit 181 (S1240-Y). On the other hand, if the operation command is not input (S1240-N), the control unit of the walking rehabilitation robot 100 can keep the brake function kept on, thereby preventing the occupant from being injured.

Then, the control unit of the gait rehabilitation robot 100 may sense the intention of the occupant to walk (S1260). In step S1260, the control unit determines whether or not the occupant is on the basis of at least one of the position and velocity of the pressure center of pressure (COP) of both passengers measured through the pressure detecting unit 183 provided in the foot stepping unit 10. [ The intention of walking can be grasped.

For example, if the COP position of the left foot and the right foot is more than a certain distance from the reference point of both feet, Or the inertia sensor may be attached to the foot step portion 10 to obtain the speed of the foot portion 10, and the walking intention of the passenger can be grasped based on the velocity.

If the intention of the occupant is detected (S1260-Y), the control unit may assist the occupant in walking by moving the stepping unit 10 along the walking trajectory by applying the PWM signal to the driving motor 140 (S1270) . In step S1270, the controller may control the PWM signal applied to the driving motor 140 differently according to the operation mode input in step S1220.

When the operation mode is the constant assist mode, the control unit can apply a PWM signal having a predetermined duty ratio to the drive motor 140 constantly to assist torque of a certain intensity on both ankles of the occupant . The PWM duty ratio can be determined so that the torque corresponding to the gain set in step S1230 is applied.

On the other hand, when the operation mode is the variable assist mode, the control unit calculates the ankle torque of the occupant based on the position and speed of the COP of both the passengers, and calculates the ankle torque It is possible to apply a PWM signal having a duty ratio proportional thereto. For example, when the strength of the ankle torque of the occupant is increased, it is determined that the occupant intends to perform the gait training more strongly, and the PWM duty ratio is varied so that the stronger torque is assisted to the ankle of the occupant. On the other hand, when the strength of the ankle torque of the occupant is decreased, it is determined that the occupant is going to perform the gait training less weakly than the current occupant, and the PWM duty ratio is varied to lower the ankle of the occupant.

If the occupant or the training assistant presses an operation button (not shown) provided on the gait rehabilitation robot 100 (S1240-Y) without understanding the walking intention by the COP according to the embodiment (S1240-Y) It is also possible to implement step S1270 immediately after the off step S1250.

13 is a view for explaining a method of calculating a torque of a passenger foot according to an embodiment of the present invention.

In FIG. 13, the point P _R is the previously described reference point and the point P _COP is the COP. Then, the ankle torque can be obtained by multiplying the load measured at the COP, that is, the normal force, with the distance between the points Pr and Pcop.

[Equation 1]

Where τ is the occupant's ankle torque.

D is the distance between the reference point and the COP.

Force is the normal force obtained from COP.

After calculating the left ankle torque? _L and the right ankle torque? _R using Equation 1, the PWM OUTPUT can be calculated by applying Equation 2 below. The PWM OUTPUT can be changed together if the left ankle torque and the right ankle torque are changed.

 [Equation 2]

PWM OUTPUT = _K ? X (? _R +? _L )

Here, the PWM OUTPUT is the duty ratio of the PWM signal applied to the driving motor 140.

K? Is a constant determined corresponding to the gain level selected in step S1230.

and τ _R is the torque intensity of the right ankle of the passenger.

τ _L is the torque intensity of the left ankle of the passenger.

In the variable auxiliary mode, the control unit may apply the PWM signal to the driving motor 140 so as to have a duty ratio corresponding to the PWM OUTPUT calculated in Equation (2).

12, when the operation stop command is inputted from the passenger or the training assistant through the input unit 181 in operation S1270 (S1280-Y), the controller performs the PWM signal application to the drive motor 140 again And the brake function can be turned on again (S1210).

FIG. 14 is a flowchart illustrating an automatic stop operation of the walking rehabilitation robot according to an embodiment of the present invention.

Referring to FIG. 14, the controller may determine whether the automatic stop condition is satisfied by using the loads of both the passengers while performing the step S1270 (S1410 and S1420). Specifically, the control unit first determines whether the load difference between both feet of the occupant is equal to or greater than the reference (S1410). If the load difference of both feet is 30N or more, it can be determined that the difference is greater than or equal to a reference value, but the reference may be set differently according to the embodiment. For example, the criteria can be set differently according to the occupant's weight, age, sex, and the like.

Next, if the load difference between the two feet is equal to or greater than the reference (S1410-Y), the controller determines whether a predetermined time has elapsed while the load difference between both feet is maintained above the reference (S1420).

When the load difference between both feet exceeds a predetermined time (S1420-Y), the controller determines that the automatic stop condition is satisfied and automatically stops the operation in which the walking rehabilitation robot 100 assists the occupant walking (S1430).

Finally, the control unit turns off the brake function so that the stepping unit 10 can be prevented from moving when the occupant descends from the walking and rehabilitation robot 100 (S1440).

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, Of the right.

10: Footstep 100: Walking rehabilitation robot
110: frame part 111: horizontal support part
112: vertical support portion 120: walking track rail
130: link unit 131: first link member
132: second link member 132a:
133: third link member 134: fourth link member
140: drive motor 150: power transmission part
151: drive shaft 152: first pulley-belt
153: second pulley-belt 160:
161: height adjusting member 162: half length restraining bar
163: Horizontal cylinder 164: Impact absorbing member
165: height adjustment groove 166: magnetic
170: lowering fixing portion 171: upper and lower position adjusting portion
171a: Vertical cylinder 171b: Positioning piston
172: lowered gripping portion 173: front and rear position adjusting portion
173a: Front / rear guide rail 173b:
174: a left-right position adjusting portion 174a: a left-right guide rail
174b: a left-right moving member 181:
182: control unit 183: pressure detection unit
184: mirror 184a:
H1: first hinge H2: second hinge
H3: Third hinge H4: Fourth hinge
H5: fifth hinge VL: virtual vertical line

Claims (10)

delete delete delete delete delete When the power is transmitted from the driving motor, a footstep moving according to a predetermined walking trajectory,
An input unit for receiving the operation mode, and
(COP) of both passengers measured through a pressure detecting unit provided in the foot stepping portion, and when the intention of the occupant to walk is detected, A pulse width modulation (PWM) signal is applied to the driving motor in accordance with the operation mode to control the walker to follow the walking trajectory to assist the occupant in walking
Lt; / RTI >
Wherein,
Calculates the left ankle torque and the right ankle torque of the occupant based on the position of the COP of both the passengers and the COP of both hands when the input operation mode is the variable auxiliary mode and calculates the left ankle torque and the right ankle torque A step of determining whether the automatic stop condition is satisfied by using the load of both the passengers of the occupant, and if the automatic stop condition is satisfied, Stop operation,
Wherein the automatic stop condition is satisfied when a load difference between both feet of the occupant continues for a predetermined time or longer than a predetermined reference. The method of claim 6,
Wherein,
And a PWM signal having a predetermined duty ratio is constantly applied to the drive motor when the input operation mode is the constant auxiliary mode. delete delete delete

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