CN-121987453-A - Gait rehabilitation robot and training method thereof

CN121987453ACN 121987453 ACN121987453 ACN 121987453ACN-121987453-A

Abstract

Disclosed is a gait rehabilitation robot and a training method thereof, the gait rehabilitation robot including a pair of pedals, a pair of pedal supports, a pair of gait actuators, a controller, and a memory, wherein the controller receives at least one of a state value and a control command value associated with a corresponding motor from each gait actuator under a load condition, and calculates a forward-backward force applied to each pedal by a corresponding foot during gait training based on a difference between the received at least one of the state value and the control command value and a corresponding reference value for a current gait trajectory and speed stored in the memory, for each gait actuator. Accordingly, the gait state can be determined based on the difference between the anterior-posterior forces exerted on each pedal under the no-load condition and the load condition.

Inventors

HUANG SHANXI
WEN JUNZHI
YIN ZAIXIONG
JIN RONGHUAN
Gao Wanzhu
D.A. BROWN

Assignees

克瑞肖株式会社
得克萨斯州大学系统董事会

Dates

Publication Date: 20260508
Application Date: 20251107
Priority Date: 20241107

Claims (15)

1. A gait rehabilitation robot comprising: A pair of pedals configured to position left and right feet of a trainee for gait training; a pair of pedal supports, each of the pedal supports being connected to a respective pedal; A pair of gait actuators configured to actuate a respective pedal and a respective pedal support, each of the gait actuators comprising a motor for moving the respective pedal in a forward and rearward direction and a motor driver for controlling the motor; A controller configured to control the pair of gait actuators to move and rotate the corresponding pedals based on a preset gait trajectory and speed, and A memory configured to store a reference value for at least one of a state and a control of each of the motors according to the preset gait trajectory and speed, Wherein the controller receives at least one of a status value and a control command value associated with a respective motor from each of the gait actuators under load conditions, and for each of the gait actuators, calculates a fore-aft force exerted by a respective foot on each pedal during the gait training based on a difference between the at least one of the received status value and control command value and a respective reference value stored in the memory for a current gait trajectory and speed.
2. The gait rehabilitation robot of claim 1, wherein The reference values include at least one of a current value, a torque value, a position value, a speed value, a current command value, a force command value, a position command value, and a speed command value of the motor under an idle condition, The state value includes at least one of a current value, a torque value, a position value, and a speed value of the motor, and The command values include at least one of a current command value, a position command value, a speed command value, and a torque command value.
3. The gait rehabilitation robot of claim 1, wherein Each of the gait actuators further comprises a current sensor configured to detect a current of the motor, The reference value of the motor comprises a first current value of the motor measured by the current sensor under no-load conditions or a first torque value calculated based on the first current value, The state value includes a second current value of the motor measured by the current sensor or a second torque value calculated based on the second current value under the load condition, and The controller calculates the fore-aft force exerted by the respective foot on each of the pedals based on a difference between the second current value or the second torque value of the respective motor under the load condition and the first current value or the first torque value of the respective motor under the idle condition.
4. The gait rehabilitation robot of claim 1, wherein The reference value of the motor comprises a first current command value or a first torque command value applied by the motor drive under no-load conditions, The command values include a second current command value or a second torque command value applied by the motor driver under the load condition, and The controller calculates the fore-aft force exerted by the respective foot on each of the pedals based on a difference between the second current command value or second torque command value of the respective motor under the load condition and the first current command value or first torque command value of the respective motor under the idle condition.
5. The gait rehabilitation robot of claim 1, wherein Each of the gait actuators further comprises an encoder connected to the motor and configured to detect a position and a speed of the motor, The reference value of the motor comprises a first position value or a first speed value of the motor in an idle condition, The state value includes a second position value or a second speed value of the motor calculated by the encoder under the load condition, and The controller calculates the fore-aft force exerted by the foot on the pedal based on a difference between the first position value or the first speed value and the second position value or the second position value.
6. The gait rehabilitation robot of claim 1, wherein The controller generates and provides training feedback information related to the gait training state of the trainee based on a comparison between the forward and backward forces of the reference side pedal in the first step and the forward and backward forces of the training side pedal in the second step, and The training feedback information includes at least one of visual feedback information, auditory feedback information, and tactile feedback information.
7. The gait rehabilitation robot of claim 1, wherein the reference value comprises a state value or control value of the motor obtained from the plurality of different gait trajectories and the plurality of different speeds by controlling each gait actuator along the plurality of different gait trajectories and at the plurality of different speeds under no-load conditions, or comprises a state value or control value of the motor determined by a robot model.
8. The gait rehabilitation robot of claim 1, wherein the controller synchronizes at least one of the state value and the command value of each motor with the reference value according to a gait cycle, and calculates a difference between the reference value and at least one of the state value and the command value synchronized throughout the gait cycle.
9. The gait rehabilitation robot of claim 1, further comprising a User Interface (UI) generator configured to generate a first UI menu for setting a target range of a fore-aft force exerted by the trainee on a training side pedal relative to a fore-aft force exerted on a reference side pedal, Wherein the controller compares the absolute value of the forward-backward force applied to the reference-side pedal in the first step with the absolute value of the forward-backward force applied to the training-side pedal in the second step, and determines that the gait training of the trainee is in a normal state when the forward-backward force applied to the training-side pedal is within the target range, but determines that the gait training is in an abnormal state when the forward-backward force applied to the training-side pedal is outside the target range.
10. The gait rehabilitation robot of claim 1, further comprising: A User Interface (UI) generator configured to generate a first UI menu for setting a target range of a forward-backward force exerted by the trainee on a training-side pedal relative to a forward-backward force exerted on a reference-side pedal, and The display device is provided with a display device, Wherein the controller controls the UI generator to generate a second UI menu representing the magnitude of the forward-backward force exerted on the reference-side pedal and the training-side pedal with respect to the target range and display the second UI menu on the display.
11. The gait rehabilitation robot of claim 1, further comprising: A User Interface (UI) generator configured to generate a first UI menu for setting a target value of a forward-backward force exerted by the trainee on a training-side pedal with respect to a forward-backward force exerted on a reference-side pedal; Wherein the training feedback information includes virtual reality-based feedback information corresponding to each of a plurality of training states; Wherein the controller is further configured to calculate a difference between the forward-backward force applied to the training-side pedal and the target value, and generate and provide virtual reality-based feedback information corresponding to one of the plurality of training states based on the calculated difference.
12. The gait rehabilitation robot of claim 10, further comprising a speaker, Wherein when the forward-backward force applied to the training-side pedal exceeds the target range, or when the timing of the forward-backward force applied to the training-side pedal is incorrect, the controller generates an audio feedback signal for indicating the timing of the forward-backward force applied to the training-side pedal and controls the speaker to output the audio feedback signal.
13. The gait rehabilitation robot of claim 1, further comprising: A User Interface (UI) generator configured to generate a UI menu for setting a target value of a forward-backward force exerted by the trainee on a training-side pedal; Wherein the controller corrects at least one of a gait trajectory and a speed of at least one of the reference side pedal and the training side pedal based on a difference in forward-backward force between the reference side pedal and the training side pedal or a difference in forward-backward force between the training side pedal and the target value.
14. A gait rehabilitation robot comprising: A pair of pedals configured to position left and right feet of a trainee for gait training; a pair of pedal supports, each of the pedal supports being connected to a respective pedal; A pair of gait actuators configured to actuate a respective pedal and a respective pedal support, each of the gait actuators comprising a motor for moving the respective pedal in forward and rearward directions, an encoder connected to the motor and detecting a position and a speed of the motor, and a motor driver for controlling the motor; A controller configured to control the pair of gait actuators to move and rotate the corresponding pedals based on a preset gait trajectory and speed, and A memory configured to store a reference value for a position or speed of the motor according to the preset gait trajectory and speed, Wherein the motor driver calculates a feedback command value based on an error obtained by comparing a position value or a speed value of the corresponding motor calculated by the encoder under a load condition with the reference value and applies the feedback command value to the corresponding motor, and The controller calculates a forward-backward force exerted by the respective foot on each pedal during the gait training based on the feedback command values.
15. A training method of a gait rehabilitation robot including a pair of pedals configured to place left and right feet of a trainee for gait training, and a pair of motors for moving each pedal of the pair of pedals in forward and backward directions, the training method comprising: for each of the motors, storing a reference value for at least one of a control or a status of the motor based on a preset gait trajectory and speed; Acquiring at least one of a state value and a control command value of each of the motors under load conditions, and For each of the motors, a forward-backward force exerted by a respective foot on each pedal during the gait training is calculated based on a difference between at least one of the state value and the command value and a respective reference value corresponding to a current gait trajectory and speed.

Description

Gait rehabilitation robot and training method thereof Cross Reference to Related Applications The present application is based on and in accordance with the requirements of korean patent application No. 10-2024-0157167, filed in the korean intellectual property office, at 11 months 7 of 2024, at clause 119 of 35, usa (35 u.s.c. ≡119), the disclosure of which is incorporated herein by reference in its entirety. Technical Field The present disclosure relates to a gait rehabilitation robot and a training method thereof, and more particularly, to a method of providing feedback to a trainee (e.g., a patient) based on a horizontal force applied on a pedal by the trainee, thereby enabling the trainee to actively participate in training. Background In general, a gait rehabilitation robot refers to a robot used for gait rehabilitation and the like, and is used for upright sensation enhancement training of a patient suffering from lower limb paralysis caused by spinal cord injury, stroke, traumatic brain injury, muscular dystrophy, parkinson's disease, multiple sclerosis, cerebral palsy and the like. Various types of gait rehabilitation robots are being used, such as treadmill robots, end effector robots, and exoskeleton robots. In fully automated systems such as a treadmill or end effector robot, it is necessary to monitor the gait state of the trainee. Conventionally, there are cases where gait rehabilitation robots employ a method of mounting a load cell or the like on a pedal to detect a vertical ground reaction force and provide feedback to a patient. However, the patient's gait capabilities (e.g., step size and gait speed) are closely related to horizontal ground reaction forces. Thus, feedback is provided for vertical ground reaction forces caused by displacement of the centroid, making effective gait training difficult to achieve. Disclosure of Invention To address the above-described problems, one aspect of the present disclosure is to estimate the fore-aft force applied by a trainee to the pedals of a gait rehabilitation robot and provide feedback, thereby enhancing the effectiveness of gait training. Further, when the estimation of the forward-backward force is completed, a threshold value of the force to be generated may be set based on the user's athletic function level and transmitted back as a real-time image. According to an embodiment of the present disclosure, a gait rehabilitation robot includes a pair of pedals configured to place left and right feet of a trainee for gait training, a pair of pedal supports each connected to a corresponding pedal, a pair of gait actuators configured to actuate the corresponding pedal and the corresponding pedal support, each gait actuator including a motor for moving the corresponding pedal in forward and backward directions and a motor driver for controlling the motor, a controller configured to control the pair of gait actuators to move and rotate the corresponding pedal based on a preset gait trajectory and speed, and a memory configured to store a reference value for at least one of a state and a control of each motor according to the preset gait trajectory and speed, wherein the controller receives at least one of a state value and a control command value associated with the corresponding motor from each gait actuator under a load condition, and calculates a difference between the current gait trajectory and a corresponding foot-to-foot force (anteroposterior force) based on the at least one of the received state values and the control command values. In addition, the reference value may include at least one of a current value, a torque value, a position value, a speed value, a current command value, a force command value, a position command value, and a speed command value of the motor under an no-load condition (no-load condition), the state value may include at least one of a current value, a torque value, a position value, and a speed value of the motor, and the command value includes at least one of a current command value, a position command value, a speed command value, and a torque command value. Further, the gait actuator may further include a current sensor configured to detect a current of the motor, the reference value of the motor may include a first current value of the motor measured by the current sensor under an idle condition or a first torque value calculated based on the first current value, the state value may include a second current value of the motor measured by the current sensor under a load condition or a second torque value calculated based on the second current value, and the controller may calculate a forward/backward force applied to each pedal by the corresponding foot based on a difference between the second current value or the second torque value of the corresponding motor under the load condition and the first current value or the first torque value of the corresponding motor under the idle condition. In addition, the refere