EP-4736830-A1 - WEARABLE ROBOT-ASSISTED END-EFFECTOR TYPE GAIT TRAINING SYSTEM AND CONTROL METHOD THEREOF

EP4736830A1EP 4736830 A1EP4736830 A1EP 4736830A1EP-4736830-A1

Abstract

Provided are a robot-assisted gait training system and a method of controlling the system, wherein the training system includes a main system having a gait motion generation unit with an end-effector type robot pedal on which a patient stands for gait training and a pedal-actuating unit configured to drive the robot pedal, and a main controller configured to control the pedal-actuating unit to perform gait training of the patient standing on the robot pedal, and a collaborative system in the form of a wearable robot having at least one collaborative joint-actuating motor configured to be worn on the body of the patient and to assist or force movements of joints of a lower limb of the patient in synchronization with movements of the pedal-actuating unit, and a sub-controller configured to control the at least one joint-actuating motor so as to link or interlock movements of at least one active joint with the movements of the pedal-actuating unit according to a control signal from the main controller.

Inventors

CHO, JEONG HO
LEE, SANG HUN

Assignees

Curexo, Inc.

Dates

Publication Date: 20260506
Application Date: 20250110

Claims (20)

A robot-assisted gait training system comprising: a main system including a gait motion generation unit including a robot pedal and a pedal-actuating unit configured to drive the robot pedal, and a main controller configured to operate the pedal-actuating unit; and a collaborative system including a joint-actuating unit worn on a lower limb of a patient and comprising at least one joint-actuating motor configured to assist movements of joints of the lower limb in synchronization with movements of the pedal-actuating unit, and a sub-controller configured to control the at least one joint-actuating motor and to control movements of the at least one active joint-actuating unit in connection with the movements of the pedal-actuating unit, wherein the robot pedal is configured to be capable of performing three-degree-of-freedom (3-DoF) movement including two linear movements in a forward-and-backward direction and an up-and-down direction, and one rotational movement with respect to a lateral axis traversing both the forward-and-backward direction and the up-and-down direction, wherein the pedal-actuating unit is configured to drive the robot pedal to perform the 3-DoF movement along a gait trajectory on a closed-loop, and wherein the joint-actuating unit is configured to forcibly move the joints of the lower limb so that movements of the patient's foot become adapted to the robot pedal when the movements of the foot are not adapted or not synchronized with the movements of the robot pedal performing the 3-DoF movement.
The robot-assisted gait training system of claim 1, wherein the pedal-actuating unit includes one of: a joint-linkage structure having at least one joint and a plurality of linkage connected to each other through the at least one joint; or a bar-linkage structure in which the robot pedal moves with the robot pedal being attached to an end of an operation bar.
The robot-assisted gait training system of claim 1, wherein the pedal-actuating unit includes a joint-linkage structure configured to cause the 3-DoF movement of the robot pedal along the gait trajectory on the closed-loop, wherein the joint-linkage structure includes: at least one joint; at least one operation link connected to the at least one joint; and at least one operation motor installed at the at least one joint and configured to drive a corresponding joint.
The robot-assisted gait training system of claim 3, wherein the joint-linkage structure includes: an operation link having a first driving motor installed at one end thereof and configured to drive the robot pedal; a moving stage connected to another end of the operation link and on which a second driving motor for driving the operation link is mounted; a guide rail configured to support the moving station to reciprocate in the forward-and-backward direction by a preset distance; a transfer plate on which the moving station is mounted and which is slidably coupled to the guide rail; and a linear movement (LM) unit comprising a belt coupled to the moving station for linear reciprocating movement of the moving station, a driving pulley and a guide pulley, both configured to support a movement of the belt, a third driving motor configured to provide rotational force to the driving pulley, and a power transmission unit configured to transmit power from the third driving motor to the driving pulley.
The robot-assisted gait training system of claim 3, wherein the pedal-actuating unit of the bar-linkage structure comprises: an operation bar on which the robot pedal is mounted; a closed-linkage configured to move the robot pedal along the gait trajectory on the closed-loop; and an operation motor configured to provide rotational force to the closed-linkage.
The robot-assisted gait training system of claim 1, wherein the joint-actuating unit of the collaborative system having a structure of a multi-joint robot includes: a plurality of links positioned between the joints of the lower limb; and a structure of a multi-joint robot having the at least one joint-actuating motor located at the joints between the plurality of links.
The robot-assisted gait training system of any one of claims 1 to 6, wherein the main controller and the sub-controller are configured to exchange information with each other by wired or wireless communication through a communication unit, so as to enable an operation of the collaborative system to be linked with an operation of the pedal-actuating unit.
The robot-assisted gait training system of 6, wherein the joint-actuating unit of the collaborative system comprises at least one joint-actuating motor from among a joint-actuating motor for assisting movement of a hip joint, a joint-actuating motor for assisting movement of a knee joint of the patient, and a joint-actuating motor for assisting movement of an ankle joint of the patient.
The robot-assisted gait training system of claim 7, wherein the joint-actuating unit is configured to forcibly move the joints of the patient by the at least one joint-actuating motor, and to adjust an extent of the forced movement by the at least one joint-actuating motor based on at least one signal of a joint angle, a resistance torque, and an electromyogram of the joints of the patient, received from sensing units provided in the joint-actuating unit.
The robot-assisted gait training system of 9, further comprising a pressure sensor provided in the robot pedal and configured to detect pressure applied to the robot pedal and to transmit a pressure signal to the main controller.
The robot-assisted gait training system of any one of claims 1 to 6, wherein the collaborative system is configured to forcibly move each joint by the at least one joint-actuating motor and to adjust an extent of the forced movement of each joint by the at least one joint-actuating motor based on at least one signal of a joint angle, a resistance torque, and an electromyogram of the joints received from sensing units provided in the collaborative system.
The robot-assisted gait training system of claim 10, wherein the sensing units are positioned at joint positions of the patient or positions between the joints.
A method of controlling a robot-assisted gait training system, wherein the gait training system comprises: a main system including a robot pedal, a gait motion generation unit including a pedal-actuating unit configured to drive the robot pedal, and a main controller configured to drive the pedal-actuating unit; and a collaborative system including a joint-actuating unit worn on a lower limb of a patient and comprising at least one joint-actuating motor configured to assist movements of joints of the lower limb in synchronization with movements of the pedal-actuating unit, and a sub-controller configured to control the at least one joint-actuating motor and to control movements of the joint-actuating unit in connection with the movements of the pedal-actuating unit, wherein the method comprises: controlling, by the main system, the pedal-actuating unit to move the robot pedal along a gait trajectory on a closed-loop; causing, by the pedal-actuating unit, the robot pedal to perform three-degree-of-freedom (3-DoF) movement, including two linear movements in a forward-and-backward direction and an up-and-down direction, and one rotational movement with respect to a lateral axis traversing both the forward-and-backward direction and the up-and-down direction; and controlling, by the sub-controller, the joint-actuating unit, when movements of a foot of the patient are not adapted or not synchronized with movements of the robot pedal performing the 3-DoF movement, to forcibly move the joints of the lower limb of the patient so that the movements of the foot of the patient become adapted to the robot pedal.
The method of claim 13, wherein the sub-controller is configured to adjust, by using the at least one joint-actuating motor provided in the joint-actuating unit, a force for forcibly moving the joints of the lower limb of the patient based on a signal from sensing units for detecting state information related to the movements of the joints of the patient.
The method of claim 14, wherein the sensing units are configured to detect at least one signal of a joint angle, a resistance torque, or an electromyogram of the joints of the patient's lower limb.
The method of claim 13, wherein the joint-actuating unit has a structure of a multi-joint robot in which a plurality of links positioned correspondingly between the joints of the patient are interconnected through joints therebetween, and the sub-controller is configured to control an angle of joint movement of the lower limb of the patient as an angle between the plurality of links.
The method of claim 14, wherein the joint-actuating unit has a structure of a multi-joint robot in which a plurality of links positioned between the joints of the patient are interconnected through the joints, and the sub-controller is configured to control an angle of joint movement of the lower limb of the patient as an angle between the plurality of links.
The method of claim 15, wherein the joint-actuating unit comprises a structure of a multi-joint robot in which a plurality of links positioned between the joints of the patient are interconnected through joints therebetween, and the sub-controller is configured to control an angle of joint movement of the lower limb of the patient as an angle between the plurality of links.
The method of claim 13, wherein the robot pedal is configured to detect a pedal pressure applied by the patient through an embedded pressure sensor and transmit the pedal pressure to the main controller, and the sub-controller is configured to receive the pedal pressure and control the joint-actuating unit.
The method of claim 15, wherein the robot pedal is configured to detect a pedal pressure applied by the patient through an embedded pressure sensor and transmit the pedal pressure to the main controller, and the sub-controller is configured to receive the pedal pressure and control the joint-actuating unit.

Description

Technical Field The present disclosure relates to a wearable robot-assisted gait training system, and more particularly, to a wearable robot-assisted end-effector type gait training system that induces an inappropriate gait posture to a normal gait posture during orthopedic exercise. Background Art A robot-assisted gait training system is a rehabilitation training apparatus for patients having difficulty walking, and is a type of gait training system mainly utilized by rehabilitation specialists. This system is designed by applying robotic technology so that a patient may practice gait and perform rehabilitation exercises. Such a system may be adjustable to the patient's physical ability and condition, and may support gait training by simulating or assisting gait movements. In addition, the system may detect the patient's movements and, if necessary, compensate for the movements to provide safer and more efficient gait training. Through this, the system may help patients with various physical limitations to also receive rehabilitation training safely and effectively. These systems play an important role in improving patients' walking ability and restoring their independence in daily life. The robot-assisted gait training system may be classified into two major types, which are an end-effector type gait training system and an exoskeleton robot gait training system. End-effector type gait training system: This type operates by fixing a patient's foot to a pedal that the patient may stand on, forming a gait trajectory and forcing the patient's foot movement in response to the movement of the pedal.Exoskeleton robot gait training system: This type operates by being worn on a patient's lower limb, forcibly guiding movement of the hip, knee, and ankle joints to thereby form lower limb movements. These two types of systems may provide gait training according to the patient's condition and need, thereby supporting improvement of gait ability and rehabilitation. Korean Application Publication No. 10-2018-0010838 (D1) discloses a lower limb training system using an exoskeleton robot. This system is composed of a wearable exoskeleton robot that leads lower limb training, a lifting unit that assists a patient's lower limb training performed by the exoskeleton robot, and a treadmill including a step board capable of moving up-and-down on which the patient's foot is placed. In the system, the exoskeleton robot guides movement of the patient's lower limb, and the lifting unit serves to support the patient's foot to rest stably on the step board. The step board is configured to move in the up-and-down direction by the lifting unit in conjunction with movements in a forward-and-backward direction of the treadmill. This system was designed to increase precision of the lower limb training and to more effectively support the patient's gait movement through the wearable exoskeleton robot, the lifting unit, and the step board. The system having such a structure may respond to various patient conditions and may provide a more natural gait training environment. Korean Application Publication No. 10-2009-0104261 (D2) discloses an exoskeleton robot-based gait training system usable with a regular treadmill. The system of D2 provides a structure designed so that a patient using body weight support (BWS) trains lower limb movement via the exoskeleton robot while the patient's feet are in contact with a running belt of the treadmill. Through this, the gait training may be additionally supported. Like the system of D1, this system operates by forcibly moving the hip, knee, and ankle joints via the exoskeleton robot worn on the patient's lower limb. In such a state, the patient may perform gait training on the treadmill, and the exoskeleton robot dominantly controls lower limb movements to maximize training effectiveness. The system of D2 provides a gait training environment through integration of the exoskeleton robot and the treadmill, and is designed to contribute to rehabilitation of lower limb muscles and improvement of gait ability. The gait training system using the wearable exoskeleton robot as described above has a feature of forcing movement of all joints of the lower limb, and provides a different motion mechanism compared to the end-effector type gait training system that only forces movement of the feet. The wearable exoskeleton robot-based lower limb training system and the end-effector type gait training system may be selectively used according to a doctor's prescription depending on the patient's condition and rehabilitation goal. That is, the selection may vary according to the patient's rehabilitation training purpose, physical condition, and need. Accordingly, each of the systems may serve as an appropriate tool for effectively achieving a specific rehabilitation purpose, and may function as an important component of a patient-customized rehabilitation program. Korean Application Publication No. 10-2018-0041881 (D3) di