KR20170016911A - A gait rehabilitation system - Google Patents

Abstract

A walking rehabilitation training system is provided. A walking rehabilitation training system according to an embodiment of the present invention includes a gait training device that moves along a guide rail installed on a ceiling while supporting a user and senses and transmits a movement displacement of the user and a load by the user, And a control device for controlling the gait training device based on the transmitted movement displacement and the load, wherein the gait training device comprises: a movement supporting device for moving along a guide rail installed on a ceiling, module; A sensor module for sensing the moving displacement and the load; And a first control module that receives a control signal from the control device and controls the travel support module by the control signal, wherein the control device is configured to control the movement support device Generates a control signal for controlling the gait training device based on the data, and transmits the control signal to the gait training device.

Description

A GAIT REHABILITATION SYSTEM

The present invention relates to a gait rehabilitation training system, and more particularly, to a gait rehabilitation training system capable of sensing a load and a displacement of a gait trainer and controlling the gait balance of the gait trainer based on the detected load and displacement.

It is dangerous and difficult to exercise in the outdoors in the case of elderly people who are elderly or have illness and are uncomfortable to move. In addition, rehabilitation patients who can not move their bodies easily due to various industrial accidents, traffic accidents, paralysis, etc. require regular rehabilitation training for a fixed time every day. Walking training devices have been used to train the elderly and rehabilitation patients.

Generally, the gait training device is a device used for gait training in the hospital, rehabilitation center, etc. for the elderly, rehabilitation patients, and persons with disabilities. The gait training apparatus includes a rail mounted on a ceiling or the like, a walking mechanism movably installed on the rail, and a jacket worn by a user connected to the walking mechanism.

However, in the conventional gait training apparatus, it is not possible to precisely control the walking balance of the trainee during the gait training, so that a safety accident such as a fall may occur when the trainee falls off or the foot is slipped. Which is difficult to control.

Korean Registered Patent No. 1453482 (issued on October 15, 2014) Korean Patent Publication No. 2008-0006437 (Published Jan. 16, 2008)

The present invention provides a gait rehabilitation training system capable of maintaining the walking balance of the gait trainee by detecting a load and a displacement of a gait trainer.

The problems to be solved by the present invention are not limited to the above-mentioned problems, and other matters not mentioned can be clearly understood by those skilled in the art from the following description.

According to an aspect of the present invention, there is provided a gait rehabilitation training system that moves along a guide rail installed on a ceiling while supporting a user, detects a movement displacement of the user and a load by the user, A gait rehabilitation training system comprising a gait training device and a control device for controlling the gait training device on the basis of the transmitted displacement and load, wherein the gait training device moves along a guide rail installed in a ceiling, A running support module supporting the user; A sensor module for sensing the moving displacement and the load; And a first control module that receives a control signal from the control device and controls the travel support module by the control signal, wherein the control device is configured to control the movement support device Generates a control signal for controlling the gait training device based on the data, and transmits the control signal to the gait training device.

Further, the travel supporting module includes: a frame; A rail running roller installed on the frame and moving along the guide rail; A traveling motor installed in the frame for providing a driving force to the rail running roller; A winch drum rotatably installed in the frame; A support wire wound around the winch drum and connected to the user; A wire guide roller for guiding the support wire; And a support motor for providing a driving force to the winch drum.

The sensor module may further include: a displacement sensor for sensing the moving displacement; And a load sensing sensor for sensing the load.

In addition, the first control module may cause the travel support module to stop emergency when the moving displacement is out of the reference displacement range and the load exceeds the reference load.

The gait training apparatus may further include a power supply module having a battery capable of charging and discharging.

The gait training apparatus may further include a first communication module that transmits data on the movement displacement and the load to the control device and receives the control signal from the control device.

The control device may further include: a second control module for generating a control signal for controlling the gait training device; And a second communication module for receiving data on the movement displacement and the load from the first communication module and transmitting various control signals generated by the second control module to the gait training device.

The control device may further include: an input module through which an administrator managing the training of the user inputs various input signals for controlling the gait training device; A storage module for storing various information and data; And an output module for displaying and providing information to the manager.

Other specific details of the invention are included in the detailed description and drawings.

According to the present invention, the walking balance of the walking trainee can be maintained by detecting the load and the displacement of the walking trainee.

In addition, by maintaining the walking balance of the walking trainee and by stopping the walking rehabilitation training system when the walking trainee falls, the fall accident of the walking trainee can be prevented in advance.

1 is a conceptual diagram of a walking rehabilitation training system according to an embodiment of the present invention.
2 is a block diagram of the gait training rehabilitation training system of FIG.
Fig. 3 is a perspective view of a gait training device connected to a guide rail in the gait rehabilitation training system of Fig. 1;
4 is an exploded perspective view of the gait training apparatus of Fig.
Fig. 5 is a perspective view showing a part of the driving support module of the gait training apparatus of Fig. 3; Fig.
FIG. 6 is a perspective view showing a part of the driving support module shown in FIG. 5 with the frame removed. FIG.
7 is a perspective view showing a part of a traveling support module installed in a frame of the gait training apparatus of FIG.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS The advantages and features of the present invention and the manner of achieving them will become apparent with reference to the embodiments described in detail below with reference to the accompanying drawings. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. Is provided to fully convey the scope of the invention to those skilled in the art, and the invention is only defined by the scope of the claims. Like reference numerals refer to like elements throughout the specification.

Although the first, second, etc. are used to describe various elements, components and / or sections, it is needless to say that these elements, components and / or sections are not limited by these terms. These terms are only used to distinguish one element, element or section from another element, element or section. It is, of course, also possible that the first element, the first element or the first section mentioned below may be the second element, the second element or the second section within the spirit of the present invention.

The terminology used herein is for the purpose of illustrating embodiments and is not intended to be limiting of the present invention. In the present specification, the singular form includes plural forms unless otherwise specified in the specification. As used herein, the terms "comprises" and / or "made of" means that a component, step, operation, and / or element may be embodied in one or more other components, steps, operations, and / And does not exclude the presence or addition thereof.

Unless defined otherwise, all terms (including technical and scientific terms) used herein may be used in a sense commonly understood by one of ordinary skill in the art to which this invention belongs. Also, commonly used predefined terms are not ideally or excessively interpreted unless explicitly defined otherwise.

Hereinafter, the present invention will be described in more detail with reference to the accompanying drawings.

1 is a conceptual diagram of a walking rehabilitation training system according to an embodiment of the present invention. 2 is a block diagram of the gait rehabilitation training system of Fig.

Referring to FIGS. 1 and 2, a walking rehabilitation training system 10 according to an embodiment of the present invention moves along a guide rail 50 installed on a ceiling while supporting a user, And a controller 200 for controlling the gait training apparatus 100 on the basis of the transmitted displacement and load.

2, the gait training apparatus 100 includes a traveling support module 110 that moves along a guide rail 50 installed on a ceiling and supports a user, a sensor module 120 that detects the moving displacement and a load, And a first control module 130 that receives a control signal from the control device 200 and controls the travel support module 110 according to the control signal. The gait training apparatus 100 includes a first communication module 140 that transmits data on the displacement and load to the controller 200 and receives a control signal from the controller 200, And a power supply module 150 having a possible battery.

2, the control apparatus 200 generates a control signal for controlling the gait training apparatus 100 based on the data on the movement displacement and the load transmitted from the gait training apparatus 100, To the training device (100). Specifically, the control device 200 receives the data on the displacement and the load from the second control module 230 for generating a control signal for controlling the walking and training device 100 and the walking and training device 100 And a second communication module 240 for transmitting various control signals generated by the second control module 230 to the gait training device 100. The control device 200 includes an input module 210 for inputting various input signals for controlling the training of the user, a storage module 220 for storing various information and data, And an output module 250 for displaying and providing information to the manager.

Hereinafter, the walking training device 100 and the control device 200 of the walking rehabilitation training system 10 according to an embodiment of the present invention will be described in detail.

First, the specific configuration of the gait training apparatus 100 will be described.

Fig. 3 is a perspective view of a gait training device connected to a guide rail in the gait rehabilitation training system of Fig. 1; Fig. 4 is an exploded perspective view of the gait training apparatus of Fig. 3. Fig.

3 and 4, the guide rail 50 is connected to the gait training device 100 and is guided by the guide rails 50 (see FIG. 3) to perform the gait rehabilitation training in a customized manner according to the state of the user of the gait training device 100. [ Can be appropriately positioned to form a walking path. For example, it will be apparent to those skilled in the art that the guide rail 50 can form various paths such as a straight line, a circle, an ellipse, an eight letter, and the like.

3 and 4, the travel supporting module 110 includes a frame 111, a rail running roller 112 installed on the frame 111 and moving along the guide rail 50, A driving motor 113 installed in the frame 111 for providing a driving force to the rail running roller 112, a winch drum 114 rotatably installed on the frame 111, A wire guide roller 116 for guiding the support wire 115 and a support motor 117 for providing a driving force to the winch drum 114 . Here, the rail running roller 112 and the traveling motor 113 move along the guide rails 50 provided on the ceiling, and provide the driving force for moving the gait training apparatus 100. The winch drum 114, the support wire 115 and the support motor 117 are provided below the rail running roller 112 and the driving motor 113 to provide a supporting force for supporting the user.

The running support module 110 includes a wire guide roller 116 for guiding the support wire 115 and a damping member for absorbing impact when the wire guide roller 116 guides the support wire 115. [ The support wire 115, the support motor 117, the wire guide roller 116, the damping roller 116, the spring 118, and the guide rail 50, And a rotating connection shaft 119 connecting the spring 118 to the rail driving roller 112 and the driving motor 113 to rotate.

The frame 111 is installed in the walking training device 100 such that the driving support module 110, the sensor module 120, the first control module 130, the first communication module 140, the power supply module 150, Is the place to be. Such a frame 111 may be a frame structure forming a rectangular internal space, and a rail running roller 112, a traveling motor 113, a rotation connecting shaft 119 and the like are installed on the frame structure A winch drum 114, a support wire 115, a support motor 117, a wire guide roller 116, a damping spring 118, and the like may be installed in the frame structure. The frame 111 can be moved along the guide rail 50 by the driving force of the traveling motor 113. [ For example, the frame 111 includes a winch drum 114, a support wire 115, a support motor 117, a wire guide roller 116, a damping spring 118, a power supply module 150, The first auxiliary frame 1112 on which the driving motor 113 is mounted, the second auxiliary frame 1113 on which the rotation connecting shaft 119 is installed, the rotation connecting shaft 119, A flat plate frame 1113 for connection to the frame 1111, and the like.

The rail running roller 112 is rotatably mounted on the frame 111, and is installed to be movable along the guide rail 50. Further, the rail running roller 112 is rotatably installed in a forward direction or a reverse direction. A plurality of such rail running rollers 112 may be provided on both sides in the longitudinal direction of the guide rail 50. A driving force of the driving motor 113 may be applied to at least one pair of rail running rollers 112 And the rail running rollers 112 are moved, so that the other rail running rollers 112 can move along.

The driving motor 113 also provides a driving force to the rail running roller 112 to move the gait training device 100 along the guide rail 50. The traveling motor 113 may be connected to at least one rail running roller 112 among a plurality of rail running rollers 112 and is preferably provided on one side of the guide rail 50 And can be connected to the pair of rail running rollers 112. The driving motor 113 is controlled by a control signal of the control device 200 and the control device 200 controls the rotation axis of the driving motor 113 to rotate in the forward direction or the reverse direction, The moving direction of the roller 112 can be changed. Specifically, a control signal is received from the control device 200, and the driving motor 113 can be forward / reverse rotated by a CW (clockwise) / CCW (counterclockwise) command of the first control module 130. That is, the first control module 130 generates the CW / CCW signal according to the control signal of the controller 200, and controls the driving motor 113. The driving motor 113 may be provided with a driver 1131 for control and a speed reducer (not shown) for controlling the speed. Of course, the first control module 130 may control the direct-drive motor 113 based on the data sensed by the sensor module 120 without the control signal of the control device 200. [

In particular, the control device 200 and / or the first control module 130 can control the traveling motor 113 to correct the moving displacement when the moving displacement of the user is out of the range of the reference displacement. For example, when the user being supported by the support wire 115 is suddenly falling forward or backward or moving at a speed higher than the set speed, the rail running roller 112 The control device 200 and / or the first control module 130 can control the traveling motor 113 so that the traveling motor 113 moves.

The rotation connection shaft 119 is connected to the winch drum 114, the support wire 115, the support motor 117, the wire guide roller 116, the damping spring 118, the roller for running 112, And is connected between the driving motor 113. The rail running roller 112 and the traveling motor 113 can smoothly run the curved portion of the guide rail 50 through the rotation connecting shaft 119. The rotation connecting shaft 119 is provided with a slist bearing which is designed to be rotatably connected to the main frame 1111 for smooth running of the curve and a swing of vibration or the like of the gait training apparatus 100 during straight or curved traveling. And a ball bearing.

Fig. 5 is a perspective view showing a part of the driving support module of the gait training apparatus of Fig. 3; Fig. 6 is a perspective view showing a part of the travel support module shown by removing the frame in Fig. 7 is a perspective view showing a part of the running support module provided on the frame of the gait training apparatus of Fig.

3 to 7, the winch drum 114 is rotatably installed in the forward or reverse direction, and the support wire 115 is wound. The winch drum 114 is rotated in the forward / reverse direction by the support motor 117 so that the support wire 115 is loosened or wound so that the length of the support wire 115 is adjusted to support the user. Here, the winch drum 114 may have a seating groove on which the support wire 115 is seated to facilitate the winding and unwinding of the support wire 115. A wire fixing jig 1151 may be disposed under the winch drum 114 to fix the support wire 115 wound on the winch drum 114 to the seating groove. The wire fixing jig 1151 can securely fix the support wire 115 to the seating groove so that the winch drum 115 can be securely fastened to the winch drum 115. [ 114, the support wire 115 can be easily unwound or wound.

Further, the support wire 115 is wound on the winch drum 114, one end is fixed to the frame 111, and the other end is connected to the user. Specifically, the other end of the supporting wire 115 is connected to a jacket (not shown) or harness equipment (not shown) worn by the user. The support wire 115 may be made of a metal, a synthetic resin, or a high tensile fiber capable of withstanding a predetermined weight such as the weight of the user and the weight of the harness.

The wire guide roller 116 guides the support wire 115 and a damping spring 118 may be connected to the wire guide roller 116 to absorb shock applied to the user.

At this time, the wire guide roller 116 further includes a first wire guide roller 1161 and a second wire guide roller 1163, and the first and second wire guide rollers 1161, It is possible to switch the moving direction of the movable member 115. More specifically, the moving direction of the supporting wire 115 is switched by the first wire guide roller 1161 in the opposite direction, and the second wire guide roller 1163 is rotated in the vertical direction by the second wire guide roller 1163 The moving direction can be switched.

The wire guide roller 116 may further include a pair of auxiliary supporting rollers 1165 which support the supporting wire 115 from both sides and reciprocally rotate in accordance with the user's walking. Specifically, a pair of auxiliary supporting rollers 1165 support the supporting wire 115 moving in the vertical direction from both sides, and the pair of auxiliary supporting rollers 1165 are fixed to the first fixing structure of the frame 111 And can be rotated in the forward and backward directions according to the forward and backward movement of the user along the rotary shaft 1116 connected to the rotary shaft 1115.

The support motor 117 provides a rotational force to the winch drum 114 to support the user so as not to lose balance during his / her walking. The support motor 117 not only supports the entire weight of the user so as not to lose balance, but also can control the displacement of the user in the vertical direction during walking. That is, one support motor 117 is used to support the user, and at the same time, the up and down displacement of the user is controlled so that the user can walk smoothly.

At this time, the support motor 117 is simultaneously used for the entire weight support and the walking control, so that a large force can be applied to the user by the operation of the support motor 117. The damping spring 118 absorbs this force, Thereby reducing the impact on the user. That is, the damping spring 118 absorbs the force due to the operation of the support motor 117, so that the user can walk smoothly more smoothly.

The support motor 117 may be connected to one end of the winch drum 114. The support motor 117 is controlled by a control signal of the control device 200 and the control device 200 controls the rotation shaft of the support motor 117 to rotate in the forward direction or the reverse direction, 114 can be changed from the forward direction to the reverse direction or from the reverse direction to the forward direction. Specifically, a control signal is received from the controller 200, and the support motor 117 can be rotated forward / reverse by a CW (clockwise) / CCW (counterclockwise) command of the first control module 130. That is, the first control module 130 generates the CW / CCW signal according to the control signal of the controller 200, and controls the support motor 117. That is, the first control module 130 generates the CW / CCW signal according to the control signal of the controller 200 to control the support motor 117 and rotate the support motor 117 in the forward / The length of the support wire 115 is adjusted. The support motor 117 may be provided with a driver 1171 for control and a speed reducer (not shown) for controlling the speed. Of course, the first control module 130 may directly control the support motor 117 based on the data sensed by the sensor module 120 without the control signal of the control device 200. [

In particular, the control device 200 and / or the first control module 130 can control the support motor 117 to adjust the length of the support wire 115 when the load exceeds the reference load. For example, when the user being supported by the support wire 115 loses balance and collapses, the control device 200 and the control device 200 are operated to retract the user in the direction opposite to the direction of gravity so that the user does not collapse. And / or the first control module 130 may be controlled.

Referring to FIGS. 3, 6 and 7, the sensor module 120 may include a displacement sensor 122 for sensing a moving displacement and a load sensor 124 for sensing a load. At this time, a load sensing sensor 144 may be connected to the second wire guide roller 1163, and a displacement detection sensor 122 may be connected to the pair of auxiliary support rollers 1165. For example, the pair of auxiliary supporting rollers 1165 rotate in accordance with the rotation of the rotating shaft 1116, thereby recognizing the user's walking direction, and the pair of auxiliary supporting rollers 1165 is provided with a displacement detecting sensor (122) are connected and installed, it is possible to detect a movement displacement of the user more accurately.

Thus, the load sensing sensor 124 is connected to the second wire guide roller 1363, and the displacement sensor 122 is connected to the pair of auxiliary support rollers 1165, The control device 200 can precisely control the gait training device 100 based on the sensed load and the displacement. For example, when a forward moving user is supported by the driving support module 110 and the forward user collapses, the control device 200 moves the driving support module 110 in the direction opposite to the user's walking direction , The supporting wire 115 can be pulled to prevent the user supported by the driving support module 110 from descending. In particular, the control device 200 can stop the traveling support module 110 in an emergency when the load exceeds the reference load and the displacement of the mobile is out of the range of the reference displacement. That is, when the user suddenly collapses, the controller 200 can stop the driving support module 110 to prevent the user from falling down. Of course, the first control module 130 can directly control the travel support module 110 based on the data sensed by the sensor module 120 without the control signal of the controller 200. [

2 to 4, the first control module 130 receives a control signal from the control device 200 and controls the travel supporting module 110 by the control signal or directly controls the sensor module 120 The driving support module 110 can be controlled by receiving the load and the movement displacement sensed by the driving support module 110. In particular, even if the control device 200 does not have a separate control signal, the first control module 130 may not be able to determine whether the displacement exceeds the reference displacement and the load exceeds the reference load, It is possible to prevent the safety accident by stopping the support module 110 in an emergency.

As described above, the first control module 130 controls the traveling motor 113 by the control signal and controls the supporting motor 117. [ The first running control module 130 can forward / reverse the running motor 113 so that the rail running roller 112 can move forward / backward, thereby allowing the user to walk. The first control module 130 can forward / reverse rotate the support motor 117 so that the winch drum 114 can rotate forward / reverse to adjust the length of the support wire 115, . In particular, the first control module 130 may be configured as a first communication module 140 and a single unit 101, so that the gait training device 100 can be more compactly designed.

The first communication module 140 transmits and receives various information and data to and from the control device 200 and the first communication module 140 communicates with the second communication module 240 of the control device 200 wirelessly . For example, the first communication module 140 transmits data on the displacement and the load to the controller 200, and transmits a control signal from the controller 200. In this case, the first communication module 140, The second communication module 240 can perform short-range wireless communication or long-distance wireless communication with each other. Preferably, the first communication module 140 and the second communication module 240 can utilize local communication. Here, it may be one of Bluetooth, Zigbee, Near Field Communication (NFC), and Wibree. For example, Bluetooth is a short-range wireless communication standard, which controls various electronic and information communication devices wirelessly within a radius of 10 to 100 m, uses a frequency of 2.45 GHz, uses a frequency of 2.4 GHz, It controls the connection of various devices wirelessly with a communication speed of 1Mbps to a distance of about 10m. Of course, it should be apparent to those skilled in the art that other wireless communication schemes may be adopted without being limited to the above-described short-range wireless communication.

The power supply module 150 may include at least one battery (not shown) detachably attachable to the frame 111 and capable of charging and discharging. That is, the power supply module 150 is a rechargeable battery, that is, a secondary battery, and since it is unnecessary to supply power from the outside, a separate power supply line can be omitted. The power supply module 150 is connected to the walking training device (not shown) by an external input, for example, an input module 210 of the control device 200 or a separately installed switch (not shown) 100 and may be connected to a terminal (not shown) provided in a predetermined region of the guide rail 50 to be charged. The method of connecting and charging these terminals will be used when the gait training device 100 is not used. In addition, to shorten the charging time, the battery can be separated and coupled by a drawer method so that the charged battery can be combined.

Next, a specific configuration of the control device 200 will be described.

As described above, the control device 200 may include a second control module 230, a second communication module 240, an input module 210, a storage module 220, an output module 250, and the like . Specifically, the control device 200 can assist the user in walking, balancing, and balancing the posture based on the signals sensed by the load sensing sensor 124 and the displacement sensing sensor 122. Further, in order to prevent a falling accident or the like in advance, the control device 200 controls the traveling motor 113 so as to correct the moving displacement when the moving displacement of the user is out of the reference displacement range, And controls the support motor 117 to adjust the length of the support wire 115 when the load is exceeded. In particular, when the load exceeds the reference load and the moving displacement is out of the range of the reference displacement, the control device 200 generates a control signal for causing the traveling support module 110 to stop emergency, By transmitting to the training device 100, a safety accident can be prevented.

Referring again to FIG. 2, the second control module 230 generates a control signal for controlling the gait training device 100, and controls each module of the control device 200. For example, the second control module 230 may be a microcontroller unit (MCU) having a memory with a program for controlling the gait training device 100. That is, the MCU acts as a brain and controls. The microcontroller unit can incorporate ROM and RAM circuits and is fabricated in chip form.

The second communication module 240 receives data on the movement displacement and the load from the first communication module 140 and transmits various control signals generated by the second control module 230 to the walking / To the first communication module (140). Here, the first and second communication modules 140 and 240 perform wireless communication to transmit and receive information, data, and the like. Here, wireless communication may be both long-range wireless communication and short-range wireless communication, but short-range wireless communication is preferable, and wireless communication such as Bluetooth, Zigbee, NFC (Near Field Communication), Wibree, It goes without saying that a communication method can be used.

In addition, the input module 210 inputs various kinds of information for the manager who manages the training of the user to control the gait training device 100. For example, the manager inputs the user's body information and the like, and the body information is stored in the storage module 220.

The storage module 220 stores various information and data, and may store, for example, user information of the gait training device 100, a gait training program of the gait training device 100, and the like.

The output module 250 may display and provide information to the administrator, and the output module 250 may include a display (not shown) to display visual information or a speaker (not shown) to guide the user . In particular, the display may serve as an interface for inputting information by a touch input of an administrator who manages the gait training apparatus 100. For example, the display may include a touch panel (not shown) and a display panel (not shown) The touch panel may include a touch panel, a touch sheet, a touch pad, and the like. The display panel may include a touch panel and a mutual layer structure So that the touch screen can be used as an output device and an input device.

Although not shown in the figure, the control device 200 can transmit / receive various information by performing wired or wireless communication with an external server (not shown) or the like. The controller 200 communicates with an external server so that the ubiquitous healthcare system can be implemented based on various information related to the gait training device 100. [ For example, various information and data stored and recorded in an external server communicating with the control device 200 may be analyzed and evaluated by a professional group performing a role of a master, The healthcare information related to the user is generated, and such healthcare information may be provided to the administrator of the control device 200. [

While the present invention has been described in connection with what is presently considered to be practical exemplary embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, You will understand. It is therefore to be understood that the above-described embodiments are illustrative in all aspects and not restrictive.

10: Walking rehabilitation training system
100: Walking training device
110: running support module 120: sensor module
130: first control module 140: first communication module
150: Power supply module
200: Control device
210: running support module 120: sensor module
230: first control module 240: first communication module
250: Power supply module

Claims (2)

A gait training device that moves along a guide rail installed on a ceiling while supporting a user and senses and transmits a user's movement displacement and a load by the user; 1. A walking rehabilitation training system comprising a control device for controlling a walking /
The gait training apparatus includes:
A rail driving roller which moves along the guide rails provided on the ceiling and supports the user, the frame being provided on the frame, moving along the guide rails, a driving roller provided on the frame, A driving motor, a winch drum rotatably installed in the frame in a forward or reverse direction and having a seating groove formed on an outer circumference of the frame, a support wire wound around the seating groove and connected to the user, A wire guide roller for guiding the support wire, a support member for supporting the winch drum to rotate in a forward direction or a reverse direction in the forward direction by providing a driving force to the winch drum, And a shock applied to the user The wire is connected to the guide roller to be driving support module including a damping spring for absorbing the force of the said support for operation of the motor;
A sensor module including a displacement sensor for sensing the movement displacement and a load, and a load sensor for sensing the load;
A first control module that receives a control signal from the control device and controls the travel support module by the control signal;
A power supply module having at least one battery that can be charged / discharged and exchanged in a drawer manner by supplying electric power to the travel support module and the first control module; And
And a first communication module that transmits data on the displacement and load to the control device and receives the control signal from the control device,
The control device includes:
A control signal for controlling the gait training device is generated based on the data on the movement displacement and the load received from the gait training device and transmitted to the gait training device, A second control module for generating
And a second communication module for receiving data on the movement displacement and the load from the first communication module and transmitting various control signals generated by the second control module to the gait training device,
Wherein the wire guide roller includes a first wire guide roller for switching the moving direction of the support wire released from the winch drum in the opposite direction and a second wire guide roller for moving the support wire in the opposite direction in the vertical direction And a pair of auxiliary support rollers which reciprocally rotate along the rotation of the user along a rotation axis connected to the first fixing structure of the frame and supporting the support wire on both sides thereof,
Wherein the load sensing sensor is connected to the second wire guide roller and detects a load of the user applied in the vertical direction by the user,
Wherein the displacement detection sensor is installed in connection with the pair of auxiliary supporting rollers and is configured to detect the displacement of the user by rotation of the pair of auxiliary supporting rollers in accordance with rotation of a rotation shaft connected to the first fixing structure of the frame Sensing,
Wherein the first control module generates a CW / CCW signal according to a control signal of the second control module, and rotates the support motor in a forward / reverse direction to adjust a length of the support wire. The method according to claim 1,
Wherein the first control module comprises:
Wherein the travel support module is brought to an emergency stop when the moving displacement exceeds the reference displacement and the load exceeds the reference load.

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