KR102737115B1 - Active walking assistance robot for rehabilitation training - Google Patents

Abstract

The present invention relates to an active walking assistance robot for rehabilitation training. It comprises: a main body providing support; a controller outputting a control signal according to a set value input from the outside; and a lower limb movement unit supported by the main body and coupled with the lower limb of a patient, which outputs a walking motion according to the control of the controller, senses a force generated when the patient attempts to walk, and outputs a walking rehabilitation motion when the sensed value is greater than the set value.
The active walking assistance robot for rehabilitation training of the present invention, which is constructed as described above, operates only when the patient's intention to move is detected, and only outputs a set number of step motions, thereby preventing injury by not straining the patient, and the patient can also actively perform rehabilitation training at his/her own pace and under his/her own initiative, thereby obtaining a good training effect.

Description

{Active walking assistance robot for rehabilitation training}

The present invention relates to an assistive robot for walking rehabilitation training, and more specifically, to an active walking assistive robot for rehabilitation training that senses a patient's will to walk and outputs walking rehabilitation motions, thereby not causing strain to the patient during rehabilitation training.

In proportion to the increase in the elderly population, the number of patients with various geriatric diseases such as dementia, stroke, or Parkinson's disease is also increasing. For elderly people with mobility difficulties due to geriatric diseases, it is important to recover or maintain muscle strength through physical rehabilitation treatment in addition to drug treatment. In addition, even if it is not necessarily a geriatric disease, rehabilitation training is essential for functional recovery of damaged areas or muscle strengthening in cases such as those with lower body difficulties due to accidents or patients with cerebral palsy.

Rehabilitation training can achieve a certain level of results only if scientific and systematic efforts are made over a long period of time. However, in order to perform rehabilitation training over a long period of time, a lot of physical effort and skill of the physical therapist are required. However, in reality, it is difficult to provide continuous and effective rehabilitation training in a situation where one physical therapist has to provide rehabilitation training to several people.

To solve these problems, various mechanical and electronic devices for rehabilitation training are being developed and used. For example, walking assistance devices that assist walking training and upper limb rehabilitation devices that assist upper body movements such as shoulders and restore muscle strength have also been developed.

Walking assistance robots assist with rehabilitation exercises to restore walking ability in people who have temporarily lost the ability to walk, or help people who have permanently lost some of their walking ability to walk on their own.

As a device that assists a patient's walking, domestic patent registration No. 10-1221046 (Intelligent exoskeleton robot-based daily life assistance and rehabilitation training system) has been disclosed. However, the disclosed rehabilitation training system is difficult to wear because it is difficult to fit the device exactly to the patient's body, and in severe cases, it can cause abrasions or skin necrosis.

In addition, domestic patent registration No. 10-1979938 (walking assistance robot) discloses a pair of lower extremity exoskeletons that are worn on a patient's legs to provide walking motion, and a main body that controls the lower exoskeleton and has driving capabilities.

However, since the above-mentioned walking assistance robot requires the patient to stand on the lower exoskeleton, the patient's weight is directly transferred to the legs, which may cause joint damage in patients with weak joints. In particular, since each joint of the lower exoskeleton simply moves at a programmed speed and angle, the patient may be injured if they cannot keep up with the machine's movements.

Domestic Patent Publication No. 10-1221046 (Intelligent exoskeleton robot-based daily life assistance and rehabilitation training system) Domestic Patent Publication No. 10-1979938 (Walking Assistance Robot) Domestic Patent Publication No. 10-0615446 (Electromyometry biosignal control type power walking aid)

The present invention was created to solve the above problems, and the purpose is to provide an active walking assistance robot for rehabilitation training that prevents injuries by not straining the patient, and allows the patient to actively perform rehabilitation training at his/her own pace and under his/her own initiative, thereby obtaining good training effects.

As a means of solving the problem for achieving the above purpose, the active walking assist robot for rehabilitation training of the present invention comprises: a main body providing support; a controller installed in the main body and outputting a control signal according to a setting value input from the outside; A lower body movement unit which is supported by the above body and outputs a walking motion according to the control of the controller while being combined with both legs of the patient, comprises a first joint block located on the left and right sides of the patient's hip, a first motor mounted on the first joint block, a first load cell which is connected to the controller and receives rotational power of the first motor and rotates, a second joint block which is located at the lower part of the first joint block and is arranged corresponding to the patient's knee and receives rotational power of the first load cell, a second motor mounted on the second joint block, a second load cell which is connected to the controller and receives rotational power of the second motor and rotates, a footrest which is located at the lower part of the second joint block and supports the patient's foot, a thigh holder which is filled in the patient's thigh and moves by receiving power from the first load cell, and a lower body holder which is filled in the patient's lower leg and moves by receiving power from the second load cell, wherein the controller, in a stationary state of the lower body movement unit, compares the power transmitted to the first load cell and the second load cell with the set value according to the patient's walking attempt, and controls the first motor and the second load cell to move. Determines whether the second motor operates.

In addition, a first gap adjustment means for adjusting the gap between the first joint block and the second joint block is installed between the first load cell and the second joint block, and a second gap adjustment means for adjusting the gap between the second joint block and the foot plate is provided between the second load cell and the foot plate, and the first load cell is configured with a motor connection part that receives rotational power from the first motor, and an extension part that is integrally formed with the motor connection part and extends in the longitudinal direction and is fixed to the first gap adjustment means, and measures the force transmitted to the motor connection part at the moment when the thigh holder in the stationary state moves and transmits the measured force to the controller, and the second load cell is configured with a motor connection part that receives rotational power from the second motor, and an extension part that is integrally formed with the motor connection part and extends in the longitudinal direction and is fixed to the second gap adjustment means, and measures the force transmitted to the motor connection part at the moment when the thigh holder in the stationary state moves and transmits the measured force to the controller.

In addition, the controller compares the resultant force received from the first load cell and the second load cell with the set value, and drives the first and second motors when the resultant force is greater than the set value.

In addition, it further includes an input/output unit that is connected to the controller and inputs setting values for operating the first motor and the second motor and the number of steps to be output by the lower limb movement unit when the lower limb movement unit is operated.

In addition, a lift device is installed in the main body to provide lifting force to the patient while being supported by the main body, thereby reducing the load burden on the patient standing on the footboard.

The active walking assistance robot for rehabilitation training of the present invention, which is constructed as described above, operates only when the patient's intention to move is detected, and only outputs a set number of step motions, thereby preventing injury by not straining the patient, and the patient can also actively perform rehabilitation training at his/her own pace and under his/her own initiative, thereby obtaining a good training effect.

FIG. 1 is a perspective view illustrating the overall structure of an active walking assistance robot for rehabilitation training according to one embodiment of the present invention.
Figure 2 is a side view of the auxiliary robot illustrated in Figure 1.
FIGS. 3 to 5 are drawings for explaining an active walking assistance method in an active walking assistance robot for rehabilitation training according to one embodiment of the present invention.
FIG. 6 is a block diagram for explaining a method for implementing an active walking mode in an assistive robot according to one embodiment of the present invention.

Hereinafter, one embodiment according to the present invention will be described in more detail with reference to the attached drawings.

Basically, the active walking assist robot of the present invention has a structure in which a patient outputs a lower limb movement motion at his/her own will. For example, when a patient with physical disabilities exerts a certain amount of force on his/her legs or hips, the assistive robot detects the force and outputs a movement motion based on the force detection. The movement motion is a walking movement motion.

This active walking assist robot is different from the previous rehabilitation robots that simply move mechanically (ignoring the patient's condition or motor ability). The active walking assist robot of the present invention is not led by the robot, but by the patient. Therefore, the patient does not have to worry about following the robot's movements, and there is no concern about getting injured while using it.

FIG. 1 is a perspective view showing the entire structure of an active walking assist robot (10) for rehabilitation training according to one embodiment of the present invention, and FIG. 2 is a side view of the assist robot shown in FIG. 1. In addition, FIGS. 3 to 5 are drawings for explaining an active walking assist method in an active walking assist robot.

As shown, the active walking assist robot (10) according to the present embodiment has a basic configuration of a main body (20), a motion output unit (40), a lift device (60), and a controller (25c).

The main body (20) is equipped with a base frame (21), a support case (23), a control unit (25), and an input/output unit (25e).

The base frame (21) supports the active walking assist robot (10) horizontally, and has two rear wheels (22b) and two front wheels (22c), and a wheel drive motor (22a) that applies driving torque to the rear wheels (22b). In this way, since the rear wheels (22b) move in a rolling manner relative to the wheel drive motor (22a), power from the battery (23a) can be applied to the wheel drive motor (22a) to easily move the assist robot (10) to a desired location.

The support case (23) is a box-shaped member in the shape of a hexahedron, and contains a battery (23a). The support case (23) is a support structure that supports the control unit (25) while being fixed to the base frame (21). The control unit (25) is supported on the upper part of the support case (23). The battery (23a) is a rechargeable battery that is charged by power applied from the outside, and supplies power for driving the auxiliary robot (10). That is, power is applied to the wheel drive motor (22a), the motion output unit (40), the tilting unit (65), and the arm drive unit (63).

The control unit (25) has a fixed box (25a) and a controller (25c).

The controller (25c) outputs all control signals necessary for the operation of the assistive robot (10). In particular, when the patient applies force to the lower limb movement part (43) by self-power and moves the lower limb movement part (43), the motion motion output part (40) is driven. As described below, when the lower limb movement part (43) is moved, a rotational torque is transmitted to the motor connection parts (48a, 49a) of the first load cell (48) and the second load cell (49). When the rotational torque is higher than the set value, the controller (25c) operates the first motor (43b) and the second motor (43j).

In other words, the controller (25c) compares the force transmitted to the first load cell (48) and the second load cell (49) with the preset values according to the patient's walking attempt in the stationary state of the lower limb movement unit (43), and drives the first and second motors when the transmitted force is greater than the preset values, and does not drive the first and second motors when the transmitted force is less than the preset values.

The fixed box (25a) has a hexahedral shape and has vertical lifting guide rails (25f) on both sides. The lifting guide rails (25f) support the position-maintaining part (41) so that it can be lifted.

In addition, an input/output unit (25e) is installed on the upper part of the fixed box (25a). The input/output unit (25e) is connected to the controller (25c) and is an interface that can input the setting values for operating the first motor (43b) and the second motor (43j) and the number of steps to be output by the lower limb movement unit (43) when the lower limb movement unit is in operation.

The above setting value is the minimum condition value that allows the controller (25c) to operate the lower limb movement unit (43). For example, when the setting value is set to 2 kgf, if a patient applies 1.5 kgf of force to the lower limb movement unit (43), the lower limb movement unit (43) does not operate. However, if a force of 3 kgf, which is greater than the setting value, is applied, the controller (25c) operates the lower limb movement unit (43) (since a force greater than the setting value is applied).

In addition, the number of steps is the number of steps of the lower limb movement unit (43). It is the number of steps from when the left and right lower limb movement units (43) start operating until they stop. For example, if the number of steps is entered as 3, the lower limb movement unit (43) stops after taking three steps.

The input/output unit (25e) is a touch screen that can input settings suitable for the patient or display the patient's exercise amount, exercise time, pulse, etc. during training. When multiple people use the assistive robot (10), the patient's name, height, weight, degree of disability, exercise method, etc. can be input and saved, and when the patient undergoes rehabilitation training again, the saved information can be displayed and managed, which is very convenient.

The exercise motion output unit (40) is equipped with a position maintenance unit (41) and a lower limb movement unit (43). The lower limb movement unit (43) moves the patient's left and right legs, and the position maintenance unit (41) supports each lower limb movement unit (43) in a position-adjustable manner in a fixed box (25a).

The position-maintaining member (41) is composed of a vertical slider (41a) that is supported on each of the lifting guide rails (25f) and moves up and down, a horizontal guide rail (41b) that connects the vertical sliders (41a), a pair of horizontal sliders (41c) that are installed so as to be able to slide on the horizontal guide rails (41b), and an extension arm (41d) that is fixed to the end of each horizontal slider (41c). The extension arm (41d) can be position-adjusted in the horizontal and vertical directions.

The lower limb movement unit (43) provides a walking motion by combining with the patient's left and right legs, and is supported by left and right extension arms (41d).

The lower limb movement unit (43) is provided with a first joint block (43a), a first motor (43b), a first load cell (48), a first gap adjustment means, a second joint block (43h), a second motor (43j), a second load cell (49), a second gap adjustment means, a connecting link (43s), and a footrest (43t).

The first joint block (43a) is fixed to the end of the extension arm (41d) and is located on the left and right sides of the patient's hip, and supports the first motor (43b) and the first load cell (48). The first motor (43b) is fixed horizontally to the outer side of the first joint block (43a) and outputs rotational force under the control of the controller (25c). The driving shaft (not shown) of the first motor (43b) extends horizontally through the first joint block (43a) and is connected to the motor connection part (48a) of the first load cell (48). By the operation of the first motor (43b), the first load cell (48) performs a bidirectional rotational movement in the direction of arrow a and the opposite direction.

The first load cell (48) has a motor connection part (48a) that receives rotational power from the first motor, and an extension part (48b) that is integral with the motor connection part and extends in the longitudinal direction. The extension direction of the extension part (48b) is orthogonal to the axial direction of the motor drive shaft.

In addition, a first gap adjustment means is connected to the end of the extension (48b). The first gap adjustment means adjusts the gap between the first joint block (43a) and the second joint block (43h), and has a receiving connector (43e) and a first actuator (43f). The receiving connector (43e) is a hollow square frame that receives the first actuator (43f). The end of the extension (48b) is bolted to one side of the receiving connector (43e).

The first actuator (43f) is an electric actuator, and is connected to the second joint block (43h) through a lifting rod (43g). The lifting rod (43g) is a circular member that moves in the longitudinal direction by the operation of the first actuator (43f). As a result, the first actuator (43f) is operated to adjust the gap between the second joint block (43h) and the first joint block (43a). The reason for adjusting the gap is that the body sizes of various patients using the assistive robot (10) are different.

A thigh holder (43u) is fixed to the second joint block (43h) above. The thigh holder (43u) is a member that receives the patient's thigh.

Meanwhile, the first load cell (48) is connected to the controller (25c), and information detected by the first load cell (48) is directly transmitted to the controller (25c). For example, as shown in FIG. 3, when the lower limb movement part (43) is in a vertical state and the thigh holder (43u) is pressed in the direction of arrow f1, the pressing force is transmitted to the first load cell (48) through the second joint block (43h) and the receiving connector (43e), and the magnitude of the force input to the first load cell (48) is transmitted to the controller (25c).

The first load cell (48) has two roles: supporting the component below the receiving connector (43e) and transmitting the force applied to the thigh holder (43u) to the connector.

The second joint block (43h) is fixed to the lower part of the lifting rod (43g) and is positioned corresponding to the outer side of both knees of the patient.

The second motor (43j) is horizontally fixed to the outer part of the second joint block (43h) and outputs rotational power under the control of the controller (25c). The driving shaft of the second motor (43j) passes horizontally through the second joint block (43h) and is connected to the motor connection part (49a) of the second load cell (49).

The second load cell (49) is composed of a motor connection part (49a) that receives rotational power from the second motor (43j) and an extension part (49b) that is integrally formed with the motor connection part and extends in the longitudinal direction. The second load cell (49) itself has the same structure as the first load cell (48). The extension direction of the extension part (48b) of the second load cell (49) is orthogonal to the axial direction of the drive shaft of the second motor (43j).

A second gap adjusting means is connected to the end of the extension (49b). The second gap adjusting means adjusts the gap between the second joint block (43h) and the foot plate (43t), and has a receiving connector (43m) and a second actuator (43n). The receiving connector (43m) is a hollow square frame that receives the second actuator (43n). The end of the extension (49b) of the second load cell is bolted to one side of the receiving connector (43m).

The second actuator (43n) is also an electric actuator, and is connected to the connecting link (43s) through the lifting rod (43p). The lifting rod (43p) is a circular member that moves in the longitudinal direction by the operation of the second actuator (43n). As a result, the second actuator (43n) can be operated to adjust the gap between the foot plate (43t) and the second joint block (43h). The reason for adjusting the gap is that the body sizes of various patients using the assistive robot (10) are different. The connecting link (43s) is a component that connects the lifting rod (43p) and the foot plate (43t). In addition, the foot plate (43t) is a plate-shaped member that supports the patient's feet.

A lower leg holder (43v) is fixed to the above connecting link (43s). The lower leg holder (43v) is a member that accommodates the patient's lower leg.

The second load cell (49) is connected to the controller (25c), and information detected by the second load cell (49) is directly transmitted to the controller (25c). For example, as illustrated in FIG. 3, when the lower limb movement unit (43) is in a vertical state and the lower limb holder (43v) is pressed in the direction of the arrow f2, the pressing force is transmitted to the second load cell (49) through the connecting link (43s) and the receiving connector (43m), and the magnitude of the force input to the second load cell (49) is transmitted to the controller (25c). The second load cell (49) supports the connecting link (43s) and the footrest (43t), and transmits the force applied to the lower limb holder (43v) to the connector.

In addition, an armrest (45), a handle (46), and a driving control stick (47) are positioned on the upper portion of the first joint block (43a) on both sides. The patient puts his or her arm on the armrest (45) and holds the handle (46) or operates the driving control stick (47) with his or her fingers to output driving, stopping, and left and right turning signals. In the case of a patient who cannot use his or her hands, the driving control stick (47) is operated by a therapist accompanying the patient.

Meanwhile, in cases where the patient cannot stand on his/her own while standing on the step (43t), a lift device (60) is used. The lift device (60) is supported by the main body and provides lifting force to the patient, thereby reducing the load burden on the patient standing on the step.

The lift device (60) includes a support beam (61), an extension boom (62), an arm driving part (63), a lifting arm (64), a hanger (67), and a tilting part (65).

The support beam (61) is a member fixed to the front of the fixed box (25a) via the support bracket (25h), and takes the form of extending upward and being curved toward the rear. The extension boom (62) is a straight member connected to the upper end of the support beam (61) by a pin and has an extension rail (62a) on the upper side. The extension boom (62) is linked to the upper end of the support beam (61) and can rotate in the direction of arrow e or the opposite direction.

The extension rail (62a) supports the lifting arm (64) so that it can slide, and guides the linear movement of the lifting arm (64) in the direction of arrow g and the opposite direction. The arm driving unit (63) is mounted on the rear end of the extension boom (62) and causes the lifting arm (64) to move linearly. The tilting unit (65) is an electric actuator installed between the front end of the extension boom (62) and the fixed box (25a), and rotates the extension boom (62) up and down.

In addition, a hanger (69) is installed at the tip of the lifting arm (64). The hanger (59) is a bar-shaped member that maintains a horizontal position and supports the sling of a harness (not shown) that the patient is wearing. In this way, there is no concern that the patient will fall by wearing the harness and supporting the harness on the hanger (69).

FIG. 6 is a block diagram for explaining a method for implementing an active walking mode in an assistive robot according to one embodiment of the present invention.

As shown, the first load cell (48) and the second load cell (49) are connected to the controller (25c). The controller (25c) controls the operation of the first motor (43b) and the second motor (43j) based on the information on the size of the pressing force received from the first and second load cells (48, 49).

The operation of the active walking assist robot (10) of the present embodiment having the above configuration is as follows.

First, while the patient is wearing the harness, the harness is hung on a hanger (69) to support the patient, and then the vertical and horizontal positions of the hanger (69) are adjusted. The position coordinates of the hanger are input through the input/output unit (25e). When the patient's body size and characteristics are input into the input/output unit (25e), the controller (25c) automatically adjusts the position of the hanger.

Next, put the thigh holder (43u) on the thigh, put the lower leg holder (43v) on the lower leg, and place the foot on the footrest (43t). Preparation for rehabilitation exercise is complete.

In this state, when the patient exerts force on his/her hips or legs, the patient's force is transmitted to the lower limb movement part (43) through the thigh holder (43u) or lower leg holder (43v) and is ultimately applied to the first and second load cells (48, 49).

As described above, since the first and second load cells (48, 49) are connected to the controller (25c), when a force exceeding the set value is detected in the first and second load cells (48, 49), the controller drives the lower limb movement unit (43) through the first and second motors (43b, 43j). The motion output unit (40) implements the motion of walking. After the lower limb movement unit (43) moves by the set number of steps, it automatically stops. In this state, the patient applies force again to start the lower limb movement unit (43) again.

As described above, since the patient performs rehabilitation training proactively according to his/her own condition, the rehabilitation effect is better, and in particular, there is no risk of injury as there is no need to match the movement of the machine.

Above, the present invention has been described in detail through specific examples, but the present invention is not limited to the above examples, and various modifications can be made by those skilled in the art within the scope of the technical idea of the present invention.

10: Auxiliary robot 20: Main body 21: Base frame
22a: Wheel drive motor 22b: Rear wheel 22c: Front wheel
23: Support case 23a: Battery 25: Control unit
25a:Fixed box 25c:Controller 25e:I/O section
25f: Elevator guide rail 25h: Support bracket 40: Motion output unit
41: Position holding part 41a: Vertical slider 41b: Vertical guide rail
41c: Horizontal slider 41d: Extension arm 43: Lower body exercise unit
43a: 1st joint block 43b: 1st motor 43e: receiving connector
43f:1st actuator 43g:elevating rod 43h:2nd joint block
43j:2nd motor 43m:receiving connector 43n:2nd actuator
43p: Elevator rod 43s: Connecting link 43t: Footrest
43u:Thigh holder 43v:Lower leg holder 45:Armrest
46: Handle 47: Driving control stick 48: First load cell
48a:Motor connection part 48b:Extension part 49:2nd load cell
49a:Motor connection part 49b:Extension part 60:Lift device
61: Support beam 62: Extension boom 62a: Extension rail
63: Arm drive part 64: Lifting arm 65: Tilting part
69:Hanger

Claims (6)

A body that provides support;
A controller that outputs a control signal according to a setting value input from the outside;
A lower limb movement unit supported by the above main body and coupled with the patient's lower limbs, which outputs a walking exercise motion according to the control of the controller, senses the force generated when the patient attempts to walk, and outputs a walking rehabilitation motion when the sensed value is greater than the set value;
A lifting device comprising a hanger, which is a rod-shaped member that supports the sling of a harness worn by a patient, a lifting arm that elevates the hanger, an extension rail that slidably supports the lifting arm, and a tilting member that rotates the lifting arm up and down;
The controller receives the position coordinates of the hanger in which the harness worn by the patient is hung and supported on the hanger, and the body size of the patient, and automatically adjusts the position of the hanger.
Active walking assistance robot for rehabilitation training. In the first paragraph,
The above lower body movement department is,
A lower limb movement unit comprising: a first joint block positioned on the left and right sides of a patient's hip; a first motor mounted on the first joint block; a first load cell connected to the controller and configured to rotate by receiving rotational power from the first motor; a second joint block positioned at the bottom of the first joint block and positioned corresponding to the patient's knee and configured to receive rotational power from the first load cell; a second motor mounted on the second joint block; a second load cell connected to the controller and configured to rotate by receiving rotational power from the second motor; a footrest positioned at the bottom of the second joint block and configured to support the patient's foot; a thigh holder that is fitted on the patient's thigh and moves by receiving power from the first load cell; and a lower limb holder that is fitted on the patient's lower leg and moves by receiving power from the second load cell.
The above controller compares the force transmitted to the first load cell and the second load cell with the set value according to the patient's walking attempt in the stationary state of the lower limb movement part, and determines whether to operate the first motor and the second motor.
The force transmitted to the first load cell and the second load cell causes rotational torque to be transmitted to the motor connection parts connected to the first load cell and the second load cell, respectively, and when the rotational torque is greater than the set value, the first motor and the second motor are operated.
Active walking assistance robot for rehabilitation training. In the second paragraph,
Between the first load cell and the second joint block, a first gap adjustment means for adjusting the gap between the first joint block and the second joint block is installed.
Between the second load cell and the foot plate, a second gap adjustment means is provided to adjust the gap between the second joint block and the foot plate.
The first load cell is;
It is composed of a motor connection part that receives rotational power from a first motor, and an extension part that is integrally formed with the motor connection part and extends in the longitudinal direction and is fixed to the first gap adjustment means, and measures the power transmitted to the motor connection part at the moment when the thigh holder in a stationary state moves and transmits it to the controller.
The second load cell is;
It is composed of a motor connection part that receives rotational power from a second motor, and an extension part that is integrally formed with the motor connection part and extends in the longitudinal direction and is fixed to a second gap adjustment means, and measures the force transmitted to the motor connection part at the moment when the lower leg holder in a stationary state moves and transmits it to the controller.
Active walking assistance robot for rehabilitation training. In the third paragraph,
The above controller,
The resultant force received from the first and second load cells is compared with the set value, and the first and second motors are driven when the resultant force is greater than the set value.
Active walking assistance robot for rehabilitation training. In paragraph 4,
It is connected to the above controller and further includes an input/output section for inputting the setting values for operating the first motor and the second motor and the number of steps to be output by the lower limb movement section when the lower limb movement section is operated.
Active walking assistance robot for rehabilitation training. In the second paragraph,
In the above body,
A lift device is installed to support the main body and provide lifting force to the patient, thereby reducing the burden on the patient standing on the footrest.
Active walking assistance robot for rehabilitation training.

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