WO2023239085A1 - Bande d'aide à la marche et tapis roulant d'aide à la marche - Google Patents

Bande d'aide à la marche et tapis roulant d'aide à la marche Download PDF

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Publication number
WO2023239085A1
WO2023239085A1 PCT/KR2023/006976 KR2023006976W WO2023239085A1 WO 2023239085 A1 WO2023239085 A1 WO 2023239085A1 KR 2023006976 W KR2023006976 W KR 2023006976W WO 2023239085 A1 WO2023239085 A1 WO 2023239085A1
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WO
WIPO (PCT)
Prior art keywords
walking assistance
support
string
band
treadmill
Prior art date
Application number
PCT/KR2023/006976
Other languages
English (en)
Korean (ko)
Inventor
강승탁
이종훈
Original Assignee
사회복지법인 삼성생명공익재단
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by 사회복지법인 삼성생명공익재단 filed Critical 사회복지법인 삼성생명공익재단
Publication of WO2023239085A1 publication Critical patent/WO2023239085A1/fr

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Classifications

    • 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
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • 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
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H3/008—Appliances for aiding patients or disabled persons to walk about using suspension devices for supporting the body in an upright walking or standing position, e.g. harnesses
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
    • A63B21/00181—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices comprising additional means assisting the user to overcome part of the resisting force, i.e. assisted-active exercising
    • 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
    • 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/01—Constructive details
    • A61H2201/0192—Specific means for adjusting dimensions
    • 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/164—Feet or leg, e.g. pedal
    • 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/165—Wearable interfaces
    • 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
    • A61H2203/00—Additional characteristics concerning the patient
    • A61H2203/04—Position of the patient
    • A61H2203/0406—Standing on the feet
    • 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
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/10—Leg

Definitions

  • the present invention relates to a walking assistance band and a walking assistance treadmill for inducing a normal walking pattern.
  • the gait cycle consists of a stance phase and a swing phase, of which the swing phase refers to the process in which the lower extremity located behind moves forward off the floor when walking.
  • the swing phase refers to the process in which the lower extremity located behind moves forward off the floor when walking.
  • Patent Document 1 discloses a treadmill for patient rehabilitation to solve this problem, and specifically discloses a technology for installing a robot arm connected to the patient's knee in front of the treadmill and pulling the patient's knee with a cylinder. .
  • the robot arm since the robot arm is driven by a motor, it cannot immediately respond to the patient's movements, and the patient's legs have no choice but to move passively throughout the entire gait cycle, including the swing phase, due to motor drive according to a set logic. Additionally, it is expensive and installation is complicated.
  • the present invention aims to solve the problems of the prior art as described above, and specifically, to provide a walking assistance band and a walking assistance treadmill that assist patient movement during the swing phase. Additionally, the purpose is to provide a walking assistance band and a walking assistance treadmill that are inexpensive and easy to install.
  • an embodiment of the present invention provides the following walking assistance band and walking assistance treadmill.
  • a walking assistance band includes a hook-shaped fixing part; A connecting ring made of elastic material, one end of which is connected to the fixing part; and a wearing portion connected to the other end of the link and including a band wrapped around the knee. It includes, wherein the link is installed in front of the wearing part based on the walking direction and can apply an elastic force to the front of the wearing part during the swing phase.
  • an elastic support part including a string made of elastic material and the fixing parts installed at both ends of the string; It further includes, and the link may be connected to one side of the string.
  • the string is repeatedly formed with valleys and peaks along its length, and one end of the link can be positioned over the valley of the string to fix the position.
  • the elastic support portion further includes a bent tube-shaped ring position adjusting portion disposed on the outer periphery of the string, wherein a plurality of ring position adjusting portions are disposed in the longitudinal direction of the string, and one end of the connecting ring is configured to adjust the ring position.
  • the position can be fixed by draping over the curved part of the unit.
  • the connecting ring is formed to extend in the longitudinal direction in the form of a chain of rings, and clips are disposed at both ends to be connected to the elastic support portion and the wearing portion.
  • a walking assistance treadmill may include the configuration of the walking assistance band described above, and includes a pair of first supports disposed in front of the treadmill and extending in the height direction; and a second support, both ends of which are fixed to the first support, and arranged in the width direction; Includes.
  • first support has a plurality of first fixing holes formed through it in the longitudinal direction
  • second support has second fixing holes formed through it at both ends, and the first and second fixing holes are formed at the same time.
  • a support position adjusting unit that passes through and fixes the second support to the first support; It may further include.
  • a walking assistance band and a walking assistance treadmill according to an embodiment of the present invention, during rehabilitation treatment of patients with walking disabilities, bend the lower extremities in the swing phase and encourage them to move forward. In other words, it helps patients learn normal walking patterns.
  • the present invention can immediately respond to the driving of the patient and the treadmill, and the magnitude and direction of the elastic force applied to the patient's leg can also be appropriately applied. Furthermore, it has the advantage of being easy to install and low cost.
  • the present invention has the advantageous effect of being able to adjust the fixing position and length of the elastic support portion and the connecting ring, so that it can be installed and applied appropriately to the patient's physical conditions.
  • FIG. 1 is a perspective view of one embodiment of the walking assistance band and walking assistance treadmill of the present invention.
  • Figure 2 is a front view of one embodiment of the walking assistance band of the present invention.
  • Figure 3 is an enlarged perspective view of the elastic support part in Figure 1 and a view showing several embodiments of the ring position adjusting part;
  • FIG. 4 is a front view of another embodiment of the walking assistance band of the present invention.
  • Figure 5 is a diagram of a state in which the wearing part in Figure 2 is not worn and a state in which the wearing part is worn;
  • Figure 6 is a diagram showing a configuration for height adjustment in one embodiment of the walking assistance treadmill of the present invention.
  • FIG. 7 is a diagram showing the procedure for inducing a normal walking pattern using the walking assistance band and walking assistance treadmill of FIG. 1.
  • first and second are used not in a limiting sense but for the purpose of distinguishing one component from another component.
  • the x-axis, y-axis, and z-axis are not limited to the three axes in the Cartesian coordinate system, but can be interpreted in a broad sense including these.
  • the x-axis, y-axis, and z-axis may be orthogonal to each other, but may also refer to different directions that are not orthogonal to each other.
  • a specific process sequence may be performed differently from the described sequence.
  • two processes described in succession may be performed substantially at the same time, or may be performed in an order opposite to that in which they are described.
  • Figure 1 is a perspective view of an embodiment of a walking assistance band and a walking assistance treadmill of the present invention
  • Figure 2 is a front view of an embodiment of a walking assistance band of the present invention
  • Figure 3 is an enlarged perspective view of the elastic support portion and ring position adjustment portion in Figure 1.
  • a drawing showing several embodiments Figure 4 is a front view of another embodiment of the walking assistance band of the present invention
  • Figure 5 is a drawing of the wearing part in a non-worn state and a wearing state in Figure 2
  • Figure 6 is a drawing of the walking assistance band of the present invention.
  • FIG. 7 is a diagram illustrating a configuration for height adjustment in a treadmill according to an embodiment of the present invention
  • FIG. 7 is a diagram illustrating a procedure for inducing a normal walking pattern using the walking assistance band and the walking assistance treadmill of FIG. 1 .
  • the present invention discloses an embodiment of a walking assistance band 100 and a walking assistance treadmill 200 including the same.
  • a walking assistance band 100 may be installed in front of the treadmill 200. Below, the walking assistance band 100 will be described first, and then the walking assistance treadmill 200 will be described.
  • one embodiment of the walking assistance band 100 includes an elastic support part 110 whose both ends are fixed to the treadmill 200, and a link 120 whose one end is connected to the elastic support part 110. ), it is connected to the other end of the connection ring 120 and may include a wearing portion 130 that the wearer wears on the knee.
  • the elastic support part 110 may include a string 111 made of an elastic material and a fixing part 112 installed at both ends of the string 111. Since the string 111 is made of an elastic material, the elastic support portion 110 is formed to be elastic as a whole. More specifically, the string 111 may be formed to be stretchable and restoreable.
  • the fixing part 112 is formed in a hook shape as shown in FIG. 3 and may include a hook-shaped clamp 113 and a fixing screw 114. Therefore, the clamp 113 can be inserted into an object formed in the shape of a bar or panel, and the object can be fixed in close contact with the clamp 113 by tightening the fixing screw 114. Therefore, the fixing part 112 is inserted into the support formed on the treadmill 200 and serves to fix the string 111, and the fixing position can be moved by loosening or tightening the fixing screw 114.
  • the elastic support portion 110 may include a ring position adjusting portion 115 disposed on the outer periphery of the string 111.
  • One embodiment of the ring position adjusting unit 115 is shown in Figures 2 and 3.
  • the ring position adjusting part 115 may be formed in a bent tube shape. And a plurality of them may be arranged in series in the longitudinal direction of the string 111.
  • the string 111 is inserted into the ring position adjusting unit 115, where the inner surface of the string 111 and the ring position adjusting unit 115 may be interviewed, and the ring position adjusting unit ( 115) has a larger internal diameter, so it is irrelevant even if there is no interview.
  • the string 111 may be formed in a shape in which valleys and mountains are repeatedly formed along the longitudinal direction.
  • the connecting ring 120 is hung on the bent inner side of the ring position adjusting part 115, that is, the valley part of the string 111, to prevent and fix the connecting ring 120 from arbitrarily moving in the longitudinal direction of the string 111.
  • the fixation point (P) of the connection ring 120 can be adjusted according to the user's physical conditions such as height.
  • the ring position adjusting portion 115a may be formed in a '>' shape with a bent center.
  • the ring position adjusting portion 115b is formed in a curved '>' shape, and the length of the upper side may be longer than the length of the lower side when installed and inserted into the string 111.
  • the second embodiment is designed to prevent one end of the connecting ring 120 from falling downward compared to the first embodiment.
  • the ring position adjusting portion 115c may be formed in a shape bent multiple times in one direction.
  • the ring position adjusting portion 115d is formed in a shape bent a plurality of times, but unlike the third embodiment, it may be formed in a shape bent in two or more directions.
  • a plurality of fixing points (P) can be provided, and the fixing points (P) are adjusted to the ring position adjusting portions (115c, 115d) by the arrangement and tension of the string (111). It may be formed on the inner upper and lower sides, respectively. Therefore, in a state where the tension is removed during the swing phase, one end of the connecting ring 120 does not fall downward, and the position can be fixed by being caught by a fixing point formed at the lower part.
  • connection ring 120 may have one end connected to the string 111 side of the elastic support part 110 and the other end connected to the wearing part 130 side, as shown in FIG. 2. .
  • clips 121 may be installed on both ends of the connection ring 120. Therefore, it can be connected to the elastic support part 110 or the wearing part 130 using the clip 121. Additionally, clips 121 may be disposed on both ends of the connecting ring 120 and connected to the elastic support portion 110 and the wearing portion 130.
  • the connecting ring 120 may be formed to extend in the longitudinal direction in a shape in which a plurality of rings are intertwined or may be formed to form a plurality of rings, and may be formed of an elastic material.
  • the clip 121 can be directly connected to the elastic support part 110 or the wearing part 130, and the clip 121 can be connected to the elastic support part 110 or the wearing part 130 by penetrating the connection ring. It is also possible to hang and fix it at (120), and elastic deformation is possible, such as being stretched in the longitudinal direction and then restored.
  • one end of the connecting ring 120 may be connected to the ring 116 of the fixing part 112, as shown in FIG. 4. This has the advantage of omitting the configuration related to the elastic support portion 110.
  • FIG. 5 shows an embodiment of the wearing unit 130.
  • the wearing portion 130 is connected to the other end of the connecting ring 120 and may be formed to include a wearing band 131 that surrounds the knee.
  • a hole may be formed through the central portion of the wearing band 131 so that the wearing band 131 can be smoothly deformed according to the size and shape of the wearer's knee.
  • the wearing band 131 may extend outward from the hole formed in the center, and thus may be formed overall into a butterfly shape. Based on the drawing, the portion connected in both directions at the top may be formed to surround the upper side of the wearer's knee, and the portion connected in both directions at the bottom may be formed to surround the lower side of the wearer's knee.
  • a Velcro back attachment portion 132 is formed at the end of the wearing band 131, and it can be worn by placing a hole in the front protrusion of the knee and then connecting the attachment portion 132 at the back of the leg (L). .
  • a fixing ring 133 may be placed at the bottom of the wearing band 131.
  • the fixing ring 133 is configured to connect or separate the other end clip 121 of the connecting ring 120 and the wearing band 131.
  • the walking assistance band 100 of the present invention when installed in front of the wearing unit 130 based on the walking direction, exerts a restoring force of the elastic string 111 in front of the wearing unit 130 during the swing phase. This can be applied to move the wearer's legs forward and at the same time bend the knees. Therefore, it can be helpful in correcting incorrect walking caused by brain lesions, etc. by rotating the legs from back to front with the legs straight.
  • one embodiment of the walking assistance treadmill 200 of the present invention may include the walking assistance band 100 described above.
  • the elastic support portion 110 of the walking assistance band 100 may be fixed to the treadmill 200 through the fixing portion 112.
  • a bottom frame 211 and a belt portion 210 may be installed at the bottom of the treadmill 200.
  • the belt unit 210 is actually a functional part of the treadmill 200, and the belt rotates by driving a motor. The user can stand on the upper part of the belt unit 210 and walk in the opposite direction of rotation of the belt. Therefore, the belt can be installed so that the rotation direction is backward.
  • a first support 220 may be installed in front of the treadmill 200 in the height direction of the treadmill 200, that is, in the vertical direction. Additionally, more than one pair of first supports 220 may be installed. In this case, the first support 220 may be disposed in the front of the treadmill 200 in the width direction. That is, it can be arranged in the left and right directions. Furthermore, the second support 230 may be installed in a direction crossing the first support 220. The second support 230 may be arranged in a horizontal direction, may be fixed to the first support 220, and may be installed in one or more pairs.
  • the elastic support portion 110 of the walking assistance band 100 may be fixed to the first support 220 or the second support 230 by fixing portions 112 at both ends.
  • a pair of first supports 220 are formed to extend in the vertical direction, and a pair of second supports 230 are arranged at different heights in the horizontal direction intersecting the first supports 220 to form the first supports 220. It is shown fixed at 220.
  • the elastic support part 110 is arranged in a vertical direction and is shown as an example in which one end is fixed to the upper second support 230 and the other end is fixed to the lower second support 230.
  • one walking assistance band 100 can be arranged in parallel with one first support 220 and fixed to only one first support 220, and the elastic support 110 is arranged in the horizontal direction so that both It is also possible that all stages are fixed to only one second support 230.
  • first support 220 and the second support 230 each have a first fixation so that the second support 230 can be fixed, released, or released and moved to the first support 220 and then fixed again.
  • a hole 221 and a second fixing hole 231 may be formed.
  • it may further include a support position adjusting part 240 that penetrates the first fixing hole 221 and the second fixing hole 231 and restricts the fixing position on the second support 230 on the first support 220.
  • the support position adjusting unit 240 may be formed in a screw shape as shown in FIG. 5, and may penetrate the second support 230 and be inserted into the first support 220 to fix the second support 230. You can.
  • the support position adjusting unit 240 and the second support 230 are separated from the first support 220 as shown in FIG. 5 (b). It can be moved and fixed by inserting into another first fixing hole (221). At this time, a screw-type support position adjusting unit 240 can be used to increase the fixing force.
  • the support position adjusting unit 240 made of a spring-type hanger can be used. In this case, it can be fixed by pulling the spring-type hanger to unfasten it, moving the second support 230 and the support position adjusting part 240 together, and inserting them back into the first fixing hole 221.
  • Figure 6 shows the state of use of the present invention according to the above-described configuration. It is shown that the user wears the wearing part 130 on the knee and then operates the treadmill 200 to walk.
  • Figures 6 (a) and (b) show the stance phase
  • Figures 6 (c) and (d) show the stance phase. It represents swing phase.
  • the link 120 becomes taut and the string 111 of the elastic support portion 110 is stretched.
  • the elastic force of the string 111 is maximized, and during the swing phase, the string 111 is restored, and the user's knees are pulled and the legs are bent. Through this action, the user can learn a normal walking pattern.
  • connection of lines or the absence of connections between components shown in the drawings exemplify functional connections and/or physical or circuit connections, and in actual devices, various functional connections or physical connections may be replaced or added. It can be expressed as connections, or circuit connections. Additionally, if there is no specific mention such as “essential,” “important,” etc., it may not be a necessary component for the application of the present invention.

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

Abstract

L'objectif de la présente invention est de fournir une bande d'aide à la marche et un tapis roulant d'aide à la marche, pour aider le mouvement d'un patient dans une phase d'oscillation. La bande d'aide à la marche selon un mode de réalisation de la présente invention comprend : une partie de fixation en forme de crochet ; une bague de liaison, qui est constituée d'un matériau élastique et possède une extrémité reliée à la partie de fixation ; et une partie d'usure qui est reliée à l'autre extrémité de la bague de liaison, et qui comprend une bande ayant une forme englobant le genou, la bague de liaison étant disposée à l'avant de la partie d'usure par rapport à la direction de marche, et pouvant appliquer une force élastique à l'avant de la partie d'usure pendant une phase d'oscillation.
PCT/KR2023/006976 2022-06-10 2023-05-23 Bande d'aide à la marche et tapis roulant d'aide à la marche WO2023239085A1 (fr)

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Application Number Priority Date Filing Date Title
KR10-2022-0071030 2022-06-10
KR1020220071030A KR102646007B1 (ko) 2022-06-10 2022-06-10 보행 보조 밴드 및 보행 보조 트레드밀

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20060017936A (ko) * 2004-08-23 2006-02-28 황인철 다기능 운동기구
KR100701456B1 (ko) * 2004-12-07 2007-03-29 김재철 다기능 런닝머신 및 그 제어방법
JP2011224294A (ja) * 2010-04-19 2011-11-10 Shiro Numata 歩行補助装置
JP2017536066A (ja) * 2014-08-05 2017-11-30 コードセーフ エルティーディー モーターキルスイッチ機構
KR102130886B1 (ko) * 2018-05-30 2020-07-06 한국과학기술원 보행 훈련 장치

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6666831B1 (en) 1999-08-20 2003-12-23 The Regents Of The University Of California Method, apparatus and system for automation of body weight support training (bwst) of biped locomotion over a treadmill using a programmable stepper device (psd) operating like an exoskeleton drive system from a fixed base
KR101078058B1 (ko) 2009-06-11 2011-10-31 김택연 재활 트레이닝 룸

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20060017936A (ko) * 2004-08-23 2006-02-28 황인철 다기능 운동기구
KR100701456B1 (ko) * 2004-12-07 2007-03-29 김재철 다기능 런닝머신 및 그 제어방법
JP2011224294A (ja) * 2010-04-19 2011-11-10 Shiro Numata 歩行補助装置
JP2017536066A (ja) * 2014-08-05 2017-11-30 コードセーフ エルティーディー モーターキルスイッチ機構
KR102130886B1 (ko) * 2018-05-30 2020-07-06 한국과학기술원 보행 훈련 장치

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KR20230170488A (ko) 2023-12-19

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