WO2024029763A1

WO2024029763A1 - Walking rehabilitation device having body weight support means

Info

Publication number: WO2024029763A1
Application number: PCT/KR2023/009683
Authority: WO
Inventors: 김형식; 김정준; 은종영; 왕재한
Original assignee: 휴카시스템 주식회사
Priority date: 2022-08-02
Filing date: 2023-07-07
Publication date: 2024-02-08
Also published as: KR20240018740A

Abstract

The present invention relates to a walking rehabilitation device comprising: a bottom frame (110); side frames (120); a link unit (150) connected to the side frames so as to provide a linked operation to a stepping part; a roller part (140) with which the stepping part comes in contact; vertical support bars (170) provided at the corners of the side frames; a square top frame (180) connected in the horizontal direction at the upper ends of the vertical support bars; and a body weight support means (200) connected to the top frame. The present invention enables walking rehabilitation treatment, even for an acute-stage patient having difficulty standing up alone, since a walking rehabilitation machine can support the body weight of the patient, measures the body weight of the patient by means of the body weight support means, and exhibits, during walking rehabilitation treatment, the effect of enabling walking balance evaluation and efficient rehabilitation movement through information about a body weight assistance ratio and information about right/left-side body weight changes and the like.

Description

Gait rehabilitation device equipped with weight support means

The present invention is a device equipped with a weight support means to help gait rehabilitation of acute patients with reduced physical function after medical treatment for brain disease. The present invention is a device that lifts the patient and performs gait rehabilitation treatment while controlling the weight load for gradual improvement of gait function. During functional and gait rehabilitation treatment, it has a function to evaluate and provide balance ability by measuring the body weight when the left and right plantar parts touch the ground, and provides quantitative values and graphs of this data to medical staff and rehabilitation subjects to encourage correct walking posture. It is a technology that allows effective correction of rehabilitation movements.

In general, walking rehabilitation devices are devices used for rehabilitation treatment of patients who have difficulty moving due to lower limb paralysis or muscle weakness. For disabled people with brain lesions and lower extremity joint surgery patients, who are rapidly increasing due to aging, accidents, stress, etc., the most essential and highly effective rehabilitation training can be walking-related training. Skeletal movement and muscle contraction and relaxation within the body's normal range of motion are the most important factors in strengthening and restoring intrinsic function in gait training and rehabilitation. The market for gait rehabilitation devices that can provide gait rehabilitation within the normal range of motion is rapidly expanding, and in preparation for this trend, gait rehabilitation devices that can be widely used in gait rehabilitation and are inexpensive and can increase rehabilitation effectiveness are being developed. Development is required.

Conventional technologies in this field include Registration No. 10-2078750 (name: Gait rehabilitation device with step length adjustment function) and Patent No. 10-1644100 (upper and lower extremities that implement walking trajectories) applied and registered by the present applicant. walking exercise equipment), etc. Looking at the content disclosed in the prior art, a flywheel that is connected to the foot tread and rotates, and link units provided between the foot tread and the flywheel and providing a walking trajectory to the foot tread are provided to provide walking training for the user. A device that does this is being disclosed.

However, the prior art had the problem that, firstly, it was aimed at patients who did not have the ability to lift the patient and were at a stage where they could walk on their own, so it could not be applied to patients who were unable to stand and walk with their own physical abilities; Second, if you look at the weight of patients, they have a very diverse range of body weights, and there is a problem of not being able to control the intensity of gait rehabilitation by compensating for the patient's weight. Third, in the process of gait rehabilitation, while the foot of the foot touches the ground while walking, -There were problems such as not being able to evaluate the patient's balance ability because the degree of weight distribution on the right side was unknown.

In order to solve the above problems, the purpose of the present invention is to provide a gait rehabilitation device that enables functional gait rehabilitation treatment for acute patients who are unable to stand up or walk on their own.

In addition, the present invention provides a means of lifting a patient who has difficulty standing up on his own during gait rehabilitation and maintaining the final standing posture during the gait process, and also measures the weight of the lifted patient and determines the weight assistance ratio during gait rehabilitation treatment. The purpose is to provide a means that can measure and evaluate gait balance through left-right weight measurement during gait rehabilitation treatment.

The present invention includes a lower frame 110, a side frame 120, a link unit 150 connected to the side frame to provide a link operation to the foot step, a roller portion 140 that touches the foot step, and the side. Gait rehabilitation comprising a vertical support bar (170) provided at the corner of the frame, a square upper frame (180) connected laterally at the top of the vertical support bar, and a weight support means (200) connected to the upper frame. Provides a device.

The weight support means 200 includes a coupling rod 210 having an upper groove 212 for coupling with the upper frame along the longitudinal direction on the upper surface and a lower groove 214 formed along the longitudinal direction on the lower surface; A moving body 220 coupled to the lower groove of the coupling rod and moving along the longitudinal direction of the coupling rod; and a wire 260 and a harness 280 connected to the lower part of the mobile body so as to be movable in an upward and downward direction. The wire is movable in a vertical direction perpendicular to the ground, and the mobile body is movable in a forward and backward direction. Using the harness, a patient undergoing gait rehabilitation can be moved vertically and forward and backward, and the degree of gravity compensation applied to the patient (the degree to which the patient's weight is pulled upward) can be adjusted by adjusting the degree of elevation and lowering of the wire connected to the harness. It is a structure that can be adjusted.

The above configuration of the present invention has the effect of enabling walking rehabilitation treatment even for acute patients who have difficulty standing on their own because the patient's weight can be supported by the walking rehabilitation device, and the patient's weight is measured by the weight support means. During gait rehabilitation treatment, information on the weight assistance ratio and left-right weight change can be used to evaluate gait balance and have the beneficial effect of enabling efficient rehabilitation movements.

1 is a perspective view of a gait rehabilitation device equipped with a weight support means according to the present invention;

Figures 2 and 3 are partial perspective views of the upper frame of the gait rehabilitation device equipped with weight support means according to the present invention;

Figures 4 to 8 show the process of gait rehabilitation using a gait rehabilitation device equipped with a weight support means according to the present invention;

Figure 9 is a perspective view of a gait rehabilitation device equipped with weight support means according to another embodiment of the present invention;

Figures 10 and 11 are partial detailed views of the gait rehabilitation device according to the embodiment of Figure 9;

Figures 12 and 13 are conceptual diagrams illustrating the principle of supporting the user's body weight in the gait rehabilitation device of the present invention;

Figure 14 is an image showing in real time the degree to which the patient's body weight is compensated as a percentage by the gait rehabilitation device of the present invention in the process of performing rehabilitation movements using the gait rehabilitation device equipped with a weight support means according to the present invention. ,

Figure 15 is an image showing the rate of weight loss in the section where the left and right plantar parts contact the roller part in the process of performing rehabilitation movements using the gait rehabilitation device equipped with the weight support means according to the present invention;

Figure 16 is a graph showing the real-time weight measurement status on the left and right sides during gait rehabilitation treatment using a gait rehabilitation device equipped with a weight support means according to the present invention.

Hereinafter, with reference to the attached drawings, embodiments of the present invention will be described in detail so that those skilled in the art can easily implement the present invention. However, the present invention may be implemented in many different forms and is not limited to the embodiments described herein.

Figure 1 is a perspective view of a gait rehabilitation device equipped with a weight support means according to the present invention, and Figures 2 and 3 are partial perspective views of the upper frame of the gait rehabilitation device equipped with a weight support means according to the present invention.

*Referring to the drawings, the gait rehabilitation device 100 according to an embodiment of the present invention includes a frame consisting of a lower frame 110 and a side frame 120, a footrest 130 on which the user's foot is placed, and , It includes a roller unit 140 provided on the upper side of the lower frame through which the footrest moves. In addition, the present invention includes a vertical support bar 170 provided at the corner of the side frame, a square upper frame 180 horizontally connected at the top of the vertical support bar, and a weight support means connected to the upper frame. (200) Provides a gait rehabilitation device including.

The footrest 130 is a place where the foot of a user undergoing gait rehabilitation training or treatment is raised and fixed, and is made up of a footrest that touches the sole of the user's foot and a band that fixes the user's foot. Furthermore, the footrest 130 is connected to a link unit 150, which will be described later, and is capable of moving in the up and down and forward and backward directions in conjunction with walking motion.

The

frames

110 and 120 are components that serve as the framework of the gait rehabilitation device 100 of the present invention, and are composed of a lower frame located on the floor and side frames placed on both sides, and the frame is covered with an exterior cover for safety. You can.

The link unit 150 provides a walking trajectory to the foot tread 130 and is provided between the foot tread 130 and the side frame 120 to connect the foot tread 130 and the side frame 120. It connects. When a user attaches a foot to the footrest 130 and applies force, the link units together with the footrest 130 each rotate based on the plurality of hinges at the connection portion to provide a walking trajectory to the footrest 130. I do it. The roller unit 140 is a component that allows the footrest to move back and forth naturally. For example, the roller unit has a plurality of rollers arranged front and back, and both ends of the rollers are rotatably mounted on the lower frame. Additionally, a monitor 160 is provided on the upper side of the frame to display the operating situation.

The weight support means 200 according to the present invention includes a coupling rod 210, a moving body 220, a wire 260, and a harness 280. The coupling rod 210 is provided with an upper groove 212 along the longitudinal direction for coupling with the upper frame on its upper surface, and a lower groove 214 is formed along the longitudinal direction on its lower surface. The moving body 220 is coupled to the lower groove 214 of the coupling rod and moves along the longitudinal direction of the coupling rod. The movement of the moving object allows the movement of the patient supported from below. For this purpose, a wire 260 and a harness 280 connected to be movable in the vertical direction are located at the lower part of the mobile body. As the wire is repeatedly wound and unwound by a winch provided inside the moving body, the wire can move in an up and down direction perpendicular to the ground.

Looking at the process of a user's walking rehabilitation, when the user trains to walk while stepping on the left and right foot steps 130 like a bicycle pedal, one of the foot steps touches the roller part (the roller in contact is turns freely), and the process is repeated alternately as the remaining footrests are provided. At this time, since the roller is fastened at both ends so that it can rotate freely without being restricted in rotation, the trainee can walk very naturally (without receiving resistance from the bottom of the foot) under his own power.

In addition, the present invention is characterized by further including a weight support means that supports gait rehabilitation while supporting the patient's weight. The weight support means is located on the upper side of the gait rehabilitation device using a vertical support 170 extending upward from the edge of the side frame 120.

In the present invention, for convenience of explanation, 'forward' refers to the direction in which the patient looks forward while supported by a weight support means (forward direction when walking), and 'backward' refers to the direction behind the front. And, the left and right directions mean left and right when the patient is supported by a weight support means.

Hereinafter, the weight support means, which is a feature of the present invention, will be described.

Figures 4 to 8 show the process of gait rehabilitation using a gait rehabilitation device equipped with a body weight support means according to the present invention, and Figure 14 shows a process of gait rehabilitation using a gait rehabilitation device equipped with a body weight support means according to the present invention. This is an image showing in real time the degree to which the patient's body weight is compensated as a percentage by the gait rehabilitation device of the present invention in the process of performing rehabilitation movements, and Figure 15 shows the gait rehabilitation device equipped with a weight support means according to the present invention. It is an image showing the rate of weight loss in the section where the left and right plantar parts touch the roller part in the process of performing rehabilitation movements, and Figure 16 shows the ratio of weight loss during gait rehabilitation treatment using a gait rehabilitation device equipped with a weight support means according to the present invention. This is a graph showing the real-time weight measurement status on the left and right sides.

Among the weight support means of the present invention, the moving body 220 moves the patient supported by the harness in the forward and backward direction while moving in the front and back direction (the front and back direction of the patient performing rehabilitation exercise). The present invention is characterized by controlling the degree of gravity compensation (the degree to which the patient's weight is pulled upward) applied to the patient by adjusting the degree of upward and downward elevation of the wire connected to the harness. In other words, the patient's body weight (W) is made up of the sum of the force (W1) pulled upward by the wire and the force (W2) supported by the foot tread of the gait rehabilitation device (W=W1+W2).

A driving roller 225 is provided in the lower groove of the coupling rod, and as the driving roller rotates, the moving body 220 moves along the longitudinal direction of the coupling rod. The interior of the moving body 220 may further include a motor that generates rotational power to transmit rotational force to the driving roller, and may further include a winch for winding or unwinding the wire.

The coupling rod 210 is connected to the center point of the first upper frame 182 and the second upper frame 184, which are arranged perpendicularly in the front and rear directions among the upper frames. Additionally, two load cells are provided between the coupling rod and the first and second upper frames. The first load cell 252 is provided between the coupling rod 210 and the first upper frame 182, detects the force applied by the coupling rod to the first upper frame 182, and the second load cell 254 is provided between the coupling rod 210 and the second upper frame 184 to sense the force applied by the coupling rod to the second upper frame 184.

In addition, the present invention includes an input means 140 that receives an operation command given to the gait rehabilitation device by the user, a monitor 160 provided on the side frame, and a gait rehabilitation operation performed according to the command input to the input means. It further includes a control unit that controls the operation of the gait rehabilitation device of the present invention.

Gait rehabilitation begins with the patient's foot touching the footrest, and from this point on, the weight support means performs the gait rehabilitation movement while bearing part of the patient's body weight. That is, in a state in which the patient's foot is in contact with the footrest, the weight support means performs a gait rehabilitation operation while bearing part of the patient's body weight. The extent to which the body weight is borne by the weight support means during the gait rehabilitation operation is (The degree of gravity compensation, hereinafter referred to as 'weight bearing ratio') can be displayed on the monitor. The weight bearing ratio is the ratio of the force with which the weight support means bears a portion of the patient's actual body weight. That is, in a state where the patient's foot is in contact with the footrest, the weight support means performs a gait rehabilitation operation while bearing part of the patient's body weight. During the gait rehabilitation operation, the weight support ratio (R) by the weight support means is _A ) can be calculated using [Equation 1] below and displayed on the monitor.

[Equation 1] Weight support ratio (R _A )= [Patient's weight supported by weight support means (f _A )] ÷ [Patient's actual weight (f _P )]

In addition, the plantar part of the patient's left and right foot acting on each of the foot stepping parts can be calculated and displayed on the monitor, and the force acting on the wire is the force applied by the moving body to each load cell and the wire and The force supported by the wire and harness is accurately calculated by considering factors such as the weight of the harness, and the necessary algorithm for calculation is provided.

Referring to FIG. 13, when walking, all load is applied to the foot supporting the floor, so the patient's body weight, excluding the weight assisted by the weight support system, is applied to the plantar portion of the foot. The weight bearing ratio is calculated in the section where the patient's left and right plantar parts touch the roller unit, and the ratio of the weight bearing ratio of each left and right plantar part is calculated and displayed on the monitor, so that the left and right balance can be measured during gait rehabilitation. , these data can be displayed through the monitor in real time to correct the gait rehabilitation posture in real time, and the data can also be continuously collected during rehabilitation treatment and utilized in an effective rehabilitation process. At this time, the force applied to the left and right plantar parts of the patient by each of the left and right foot stepping parts can be calculated using [Equation 2] below.

[Equation 2] Force applied to the plantar area = actual weight of the patient - weight of the patient supported by the weight support means

Calculate the weight support ratio in the section where the patient's left and right foot treads contact the roller part, calculate the weight support ratio of each left and right plantar part, and transmit this through real-time communication to image gait analysis or visualize it through gait trend analysis graphing. By displaying it on the monitor, left and right balance can be measured during gait rehabilitation.

Here, as an example of a gait analysis image, it is possible to distinguish between left and right plantar parts and adjust the transparency of the force applied to the left and right plantar parts. In addition, the gait trend analysis graph is capable of displaying the change in force applied to the foot of the foot over time and displaying the maximum point as a number.

Below, the process of gait rehabilitation using the gait rehabilitation device of the present invention will be described.

As shown in Figures 4 to 6, after putting a full body harness on a sitting patient and fastening the lift ring to the wire, use the up and down buttons of the lift input means (C, controller) to make the patient stand and slowly push the patient to the position of the foot fixer. and press the ‘Down’ button on the controller to move the plantar part so that it touches the foot fixing part. In Figure 5, the upward arrow on the controller (c) means moving the harness upward to make the patient stand, and in Figure 6, the downward arrow on the controller (c) means moving the harness downward while the patient's foot rests on the footrest. It means to reach.

However, the present invention is characterized in that after the patient's foot touches the footrest, the harness moves further downward to a certain extent and gait rehabilitation begins the moment the footrest supports part of the body weight. In other words, the starting point of walking is to check the patient's weight compensation ratio displayed on the monitor, and when it meets the target weight compensation ratio, downward movement is stopped and gait rehabilitation treatment is started. The degree of weight that the weight support means must bear is determined in advance, and gait rehabilitation begins at a point corresponding to this value.

In other words, when moving to a position for walking rehabilitation treatment, 100% of the patient's body weight is supported by a weight support device while lifted in the air without gravity resistance. After moving the patient forward while the weight support means supports the entire body weight of the patient, while moving the wire downward, the bottom of the patient's foot touches the footrest so that the weight support ratio corresponds to a preset value. At that moment, stop the downward motion of the wire and begin gait rehabilitation.

In the above description, a gait rehabilitation device equipped with two load cells is used as an example. However, in the gait rehabilitation device according to another embodiment of the present invention, the load cell is configured as one. Figure 9 is a perspective view of a gait rehabilitation device equipped with a body weight support means comprised of a load cell according to another embodiment of the present invention, and Figures 10 and 11 are partial detailed views of the gait rehabilitation device according to the embodiment of Figure 9.

Referring to the drawings of FIGS. 9 to 11, the gait rehabilitation device according to this embodiment also includes a frame consisting of a lower frame 110 and a side frame 120, a footrest 130 on which the user's foot is placed, and It includes a roller unit 140, which is provided on the upper side of the lower frame and moves the footrest, and is connected to a vertical support bar 170 provided at the corner of the side frame in the transverse direction at the top of the vertical support bar. It includes a square upper frame 180 and a weight support means 200 connected to the upper frame.

In addition, the weight support means 200 includes a coupling rod 210, a moving body 220, a wire 260, and a harness 280. The upper surface of the coupling rod 210 is coupled to the upper frame, and a lower groove is formed along the longitudinal direction on the lower surface. The moving body 220 is coupled to the lower groove 214 of the coupling rod and moves along the longitudinal direction of the coupling rod. The movement of the moving object allows the movement of the patient supported from below. For this purpose, a wire 260 and a harness 280 connected to be movable in the vertical direction are located at the lower part of the mobile body. As the wire is repeatedly wound and unwound by a winch provided inside the moving body, the wire can move in an up and down direction perpendicular to the ground.

A driving roller 225 is provided in the lower groove of the coupling rod, and as the driving roller rotates, the moving body 220 moves along the longitudinal direction of the coupling rod. The interior of the moving body 220 includes a motor unit (M) including a motor and a reducer that generates rotational power to transmit rotational force to the driving roller (R), and a winch for winding or unwinding the wire. More may be included.

And, in this embodiment, a single load cell 250 is located between the coupling rod 210 and the moving body 220. More specifically, a roller body to which a driving roller (R) moving in the longitudinal direction is coupled is provided inside the coupling rod, and the single load cell 250 is located between the moving body 220 and the roller body so that the moving body is connected to the roller body. The force applied to the roller body (coupling rod) is sensed.

In this embodiment, the number and location of load cells that sense the load are different, and other structures and configurations are similar to the embodiment described above, so description of the device of the present invention will be omitted to avoid redundant description.

Figures 12 and 13 are conceptual diagrams explaining the principle of supporting the user's body weight in the gait rehabilitation device of the present invention. 14 to 16, in the gait rehabilitation device of the present invention, various data information can be displayed on the monitor during rehabilitation exercise while the weight support means supports part of the patient's body weight. In other words, information about the patient who will perform rehabilitation exercises is input in advance, and based on information such as the patient's weight previously stored, the degree of weight compensation borne by the patient's weight support means can be expressed as a % value in real time, and the foot stepping area can be displayed as a percentage value. The ratio of patient weight support can be visually confirmed (Figure 14).

In addition, in a situation where the patient's weight is being supported, the left and right balance during rehabilitation walking can be measured by measuring the rate of weight loss in each section where the left and right plantar parts contact the ground (roller part) (FIG. 15). In addition, during gait rehabilitation treatment, real-time weight measurement status on the left and right sides can be displayed in real time and used as gait analysis data based on accumulated data.

The present invention can provide functional gait rehabilitation treatment to acute patients through the above configuration and operation, and measure and analyze balance ability and provide it in real time, and provide gait function data in quantitative numbers and graphs to medical staff and subjects after completion of gait rehabilitation. It provides effects such as inducing and correcting correct walking posture.

The embodiments described above may be implemented with hardware components, software components, and/or a combination of hardware components and software components. For example, the devices, methods, and components described in the embodiments may include, for example, a processor, a controller, an arithmetic logic unit (ALU), a digital signal processor, a microcomputer, and a field programmable gate (FPGA). It may be implemented using one or more general-purpose computing devices or special-purpose computing devices, such as an array, a programmable logic unit (PLU), a microprocessor, or any other device capable of executing and responding to instructions. A processing device may execute an operating system (OS) and one or more software applications that run on the operating system. Additionally, a processing device may access, store, manipulate, process, and generate data in response to the execution of software. For ease of understanding, a single processing device may be described as being used; however, those skilled in the art will understand that a processing device includes multiple processing elements and/or multiple types of processing elements. It can be seen that it may include. For example, a processing device may include a plurality of processors or one processor and one controller. Additionally, other processing configurations, such as parallel processors, are possible.

Software may include a computer program, code, instructions, or a combination of one or more of these, which configures a processing unit to operate as desired or to process independently or collectively. You can command the device. Software and/or data may be used on any type of machine, component, physical device, virtual equipment, computer storage medium or device to be interpreted by or to provide instructions or data to a processing device. It can be embodied permanently or temporarily. Software may be distributed over networked computer systems and stored or executed in a distributed manner. Software and data may be stored on one or more computer-readable recording media.

The method according to the embodiment may be implemented in the form of program instructions that can be executed through various computer means and recorded on a computer-readable medium. The computer-readable medium may include program instructions, data files, data structures, etc., singly or in combination. Program instructions recorded on the medium may be specially designed and configured for the embodiment or may be known and available to those skilled in the art of computer software. Examples of computer-readable recording media include magnetic media such as hard disks, floppy disks, and magnetic tapes, optical media such as CD-ROMs and DVDs, and magnetic media such as floptical disks. -Includes optical media (magneto-optical media) and hardware devices specifically configured to store and execute program instructions, such as ROM, RAM, flash memory, etc. Examples of program instructions include machine language code, such as that produced by a compiler, as well as high-level language code that can be executed by a computer using an interpreter, etc. The hardware devices described above may be configured to operate as one or more software modules to perform the operations of the embodiments, and vice versa.

Although the embodiments have been described with limited drawings as described above, those skilled in the art can apply various technical modifications and variations based on the above. For example, the described techniques are performed in a different order than the described method, and/or components of the described system, structure, device, circuit, etc. are combined or combined in a different form than the described method, or other components are used. Alternatively, appropriate results may be achieved even if substituted or substituted by an equivalent.

Claims

A lower frame 110 and a side frame 120, a link unit 150 connected to the side frame to provide a link operation to the foot step, a roller part 140 that touches the foot step, and a corner of the side frame. It includes a vertical support bar (170), a square upper frame (180) connected laterally from the top of the vertical support bar, and a weight support means (200) connected to the upper frame,

The weight support means 200 is,

A coupling rod 210 having an upper groove 212 for coupling with the upper frame along the longitudinal direction on the upper surface and a lower groove 214 formed along the longitudinal direction on the lower surface;

A moving body 220 coupled to the lower groove of the coupling rod and moving along the longitudinal direction of the coupling rod; and

It includes a wire 260 and a harness 280 connected to be movable in an upward and downward direction at the lower part of the mobile body,

The wire is movable in a vertical direction perpendicular to the ground, and the moving object is movable in a forward and backward direction. A gait rehabilitation device equipped with a weight support means.
According to paragraph 1,

A driving roller 225 provided in the lower groove of the coupling rod and rotating to move the moving object along the longitudinal direction of the coupling rod; and

A gait rehabilitation device with a weight support means further comprising a motor provided inside the moving body and generating a rotational force transmitted to the driving roller.
According to paragraph 1,

The coupling rod 210 is connected to the first upper frame 182 and the second upper frame 184, which are disposed perpendicularly in the front and rear directions among the upper frames,

A first load cell 252 provided between the coupling rod 210 and the first upper frame 182 to detect the force applied by the coupling rod to the first upper frame 182; and

A second load cell 254 is provided between the coupling rod 210 and the second upper frame 184 and detects the force applied by the coupling rod to the second upper frame 184. A gait rehabilitation device equipped with weight support means.
According to paragraph 1,

The coupling rod 210 is connected to the first upper frame 182 and the second upper frame 184, which are disposed perpendicularly in the front and rear directions among the upper frames,

A load cell 250 provided between the coupling rod 210 and the moving body 220 and detecting the force applied by the moving body to the coupling rod; a gait rehabilitation device equipped with a body weight support means, characterized in that it further comprises a. .
According to clause 3 or 4,

Input means 140 for receiving an operation command;

A monitor 160 provided on the side frame; and

It further includes a control unit that performs a gait rehabilitation operation according to a command input to the input means,

The control unit,

With the patient's foot in contact with the footrest, the weight support means performs gait rehabilitation movements while bearing part of the patient's body weight,

A gait rehabilitation device equipped with a weight support means, characterized in that the weight support ratio (R A ) by the weight support means during the gait rehabilitation operation is calculated using [Equation 1] below and displayed on the monitor.

[Equation 1] Weight support ratio (R A )= [Patient's weight supported by weight support means (f A )] ÷ [Patient's actual weight (f P )]
The method of claim 5, wherein the control unit,

After moving the patient forward while the weight support means supports the entire body weight of the patient, while moving the wire downward, the bottom of the patient's foot touches the footrest so that the weight support ratio corresponds to a preset value. A gait rehabilitation device equipped with a weight support means, characterized in that the downward movement of the wire is stopped at an instant and gait rehabilitation begins.
The method of claim 6, wherein the control unit,

A gait rehabilitation device with weight support means, wherein the force applied to the left and right plantar parts of the patient by each of the left and right foot stepping parts is calculated using [Equation 2] below and displayed on the monitor.

[Equation 2] Force applied to the plantar area = actual weight of the patient - weight of the patient supported by the weight support means
The method of claim 6, wherein the control unit,

After starting gait rehabilitation, in the process of gait rehabilitation while the left and right foot stepping parts are supported by the roller part, the change in the weight bearing ratio is calculated and displayed in real time on the monitor,

In addition, due to the difference in the force supported by the roller part of the left and right foot stepping parts, the ratio of the different weight bearing ratios during the operation of the left and right plantar parts is calculated and displayed on the monitor, so that left and right balance can be measured during gait rehabilitation. A gait rehabilitation device equipped with a weight support means, characterized in that:
The method of claim 8, wherein the control unit,

Calculate the weight bearing ratio in the section where the patient's left and right foot treads contact the roller part, calculate the weight bearing ratio of each left and right plantar part, and transmit this through real-time communication to image gait analysis or visualize it through gait trend analysis graphing. A gait rehabilitation device equipped with a weight support means, characterized in that the left and right balance can be measured during gait rehabilitation by displaying it on the monitor.
Left foot step,

right foot step,

A link unit providing a walking trajectory to the left foot step and the right foot step,

Weight support means for moving the trainee up and down while supporting the trainee's weight supported by a harness,

After lifting the trainer into the air, the trainer is lowered so that the left and right plantar parts of the trainer touch the left foot step and the right foot step. When the weight support ratio by the weight support means reaches a predetermined target value, the trainer is lowered. a control unit that controls the weight support means to stop lowering the trainer, and

A monitor that displays the weight support ratio by the weight support means during the trainer's gait rehabilitation treatment.

A gait rehabilitation device including.
In paragraph 10,

The left foot step and the right foot step further include a roller portion that alternately touches the left foot step and the right foot step,

The roller unit includes a plurality of rollers that freely rotate when the left foot step and the right foot step are touched,

The monitor is,

A gait rehabilitation device that displays a weight bearing ratio when the left foot stepping portion touches the roller portion and a weight bearing ratio when the right foot stepping portion touches the roller portion during gait rehabilitation treatment of the trainer.
In paragraph 10,

The left foot step and the right foot step further include a roller portion that alternately touches the left foot step and the right foot step,

The roller unit includes a plurality of rollers that freely rotate when the left foot step and the right foot step are touched,

The monitor is,

A gait rehabilitation device that displays the trainee's weight measurement value when the left foot stepping portion touches the roller unit and the trainee's weight measurement value when the right foot stepping portion touches the roller portion during gait rehabilitation treatment of the trainee.