Patent Description:
In general, walking upright that walks with supporting the weight with two legs, is a basic action and function for maintaining the life as a human being. Therefore, when we have obstacles in walking upright, we not only have limitations of exercise physically, but also have difficulties in daily life and social activities. In the case of the patient who has lost the function of walking upright due to a disease or an accident and gets a rehabilitation treatment, it is required to make the patient lose the weight and walk with speed adjusted according to the state of the patient in rehabilitation treatment from the beginning of the treatment.

For this purpose, as disclosed in <CIT>, a gait rehabilitation control system, providing gait training with a driving control system including a servo motor, has been suggested.

However, the conventional gait rehabilitation control system has limits in measuring the reaction force and analyzing the gait pattern of the patient. As a result, the conventional system cannot monitor the gait state of the patient in real time or provide gait training which is appropriate for each patient.

<CIT> discloses a method for gait rehabilitation, comprising, identifying at least one deficient gait element; exercising said deficient gait element individually using a rehabilitation apparatus; and exercising said deficient gait element in concert with at least one other gait element using said rehabilitation apparatus.

<CIT> discloses a lower extremity robotic rehabilitation system which comprises an active pelvic/hip device which applies series elastic actuation. Also disclosed is a robotic unit which features telepresence operation control that allows a patient stay at home or nursing home to continue his or her rehabilitation training under a physician's remote supervision and monitoring.

<CIT> discloses a rehabilitation apparatus and method for lower limb gait therapy.

The present invention is set out in the appended independent claims. The present invention provides a gait rehabilitation control system and method therefor, which are able to provide gait training to the patient with a microprocessor, a control program, and gait data and analyze the gait pattern of the patient with data of reaction force measured in the progress of gait training. In the following, any examples and embodiments not falling within the scope of the claims do not form part of the invention and are provided for illustrative purposes only.

Also disclosed is a system and method which can monitor the gait training state of the patient in real time and regulate the strength of the training, through wireless communication with a mobile terminal, such as wireless tablet and smartphone based on touch screen.

Also disclosed is a gait rehabilitation control system which includes an operation device unit for setting gait training mode of a patient and displaying gait state information of the patient; a gait device unit worn on the patient's feet so as to move along with the gait motion of the patient; and a control unit for driving the gait device unit according to the gait training mode set by the operation device unit, wherein the control unit comprises a gait pattern analysis unit for measuring reaction force between the patient's feet and the gait device unit, and analyzing the gait pattern of the patient with the data of the reaction force.

Also disclosed is a gait rehabilitation control method which includes the steps of (a) inputting information of a patient with an operation device unit; (b) selecting the gait training mode of the patient with the operation device unit; and (c) driving a gait device unit according the selected gait training mode and analyzing the gait pattern of the patient with data of reaction force between the patient's feet and the gait device unit in a gait pattern analysis unit.

Hereinafter, a gait rehabilitation control system and method according to an embodiment of the present invention would be explained in detail.

<FIG> is a schematic diagram for illustrating the entire configuration of the gait rehabilitation control system according to an embodiment of the present invention. Referring to <FIG>, the gait rehabilitation control system comprises a gait device unit <NUM>, an operation device unit <NUM>, a control unit <NUM>, a gait pattern analysis unit <NUM>, and a smart device <NUM>.

The gait device unit <NUM> is a device that is worn on the patient's feet and moves along with the gait motion of the patient. The patient's feet are put on a foothold, and the patient is moved and seated on a weight support part in shape of saddle. A safety belt is fastened on the patient's chest to fix the upper body of the patient tightly. And the patient's feet on the foothold are fixed tightly with a fixing band. Thus the patient is fixed on the gait device unit <NUM>.

The operation device unit <NUM> sets gait training mode of the patient and displays gait state information of the patient. The operation device unit <NUM> according to the present invention sets at least one of the number of steps per minute, step length, step height, foot angle, or gait training mode, which is appropriate for the state of the patient. In addition, the operation device unit <NUM>, in the process of the gait training of the patient, inputs and outputs patient information, sends a report, inputs orders regarding start, stop, emergency stop of the gait training, and sets a threshold value for deciding whether the gait pattern of the patient is normal or not.

<FIG> is a diagram illustrating an embodiment of the operation device unit <NUM>. Referring to <FIG>, the operation device unit <NUM> provides menu. The menu has various submenus such as aligning submenu for aligning the foothold of the gait device unit <NUM> on standard position, training start submenu, training end submenu, report submenu for outputting the recent training result report of the patient, program end submenu, input window calling submenu for inputting the patient information, such as patient ID of medical institution, first name of the patient, last name of the patient, gender of the patient, height of crotch, height, weight, date of birth, insured part of the patient, extra information. Moreover, the menu also has additional submenus, such as mode selection window submenu for selecting training mode like flatland mode, ascent stairs mode, and descent stairs mode, and weight support height set submenu for adjusting the height of chest/pelvic region support part according to the body type of the patient, weight support target set submenu for setting a target amount of weight support by moving a circular marker left and right, reaction force safe criterion set submenu for setting the standards of the reaction force in preparation for the excessive reaction force, gait variables set submenu for setting variables like gait speed per minute of the patient, gait length, gait height, angle of ankle, and mode variables setting submenu regarding gait assistance like ratio of gait assistance, and sensitivity.

<FIG> illustrates an example of monitoring screen displayed on the operation device unit <NUM> of the gait rehabilitation control system according to the present invention.

Referring to <FIG>, The operation device unit <NUM> displays an indicating light which indicates the state of the system to check the gait training state, the patient information such as patient ID from the medical institution, name of the patient. And the operation device unit <NUM> displays training information such as training time for each training mode (flatland, ascent stairs, descent stairs), the number of steps, gait speed per minute, gait speed corresponding to step length, and also displays state information of the system, progress message, information of weight support, and reaction force information of the ground. For reference, the information of weight support, which is about the degree of weight support in progress of the gait training, is displayed in real time as a percentage. And the reaction force information of the ground is displayed as reaction force of the driving unit of the foothold with a reference of the weight of the patient as <NUM>%.

The control unit <NUM> drives the gait device unit <NUM> according to the gait training mode set by the operation device unit <NUM>. As illustrated in <FIG>, the control unit <NUM> comprises an operating system kernel <NUM> and a real-time kernel <NUM>.

The operating system kernel <NUM> comprises a wireless communication unit <NUM> for transmitting and receiving the gait training information of the patient with the external smart device <NUM>, a user interface unit <NUM> which is connected with the wireless communication unit <NUM> and processes input information from a user according to the gait training of the patient, and a shared memory unit <NUM> which is connected with the user interface unit <NUM> and stores set information regarding the gait training of the patient and measured information according to the state of the gait training.

The operating system kernel <NUM> transmits monitoring information of the state of the gait training and information of functional operation to user interface screen of the operation device unit <NUM> or the smart device <NUM>. And the operating system kernel <NUM> transmits the set information regarding the gait training of the patient set with the operation device unit <NUM> to the real-time kernel <NUM> through the shared memory unit <NUM>.

The real-time kernel <NUM> comprises a gait trajectory generator <NUM>, a position controller <NUM>, and a sub-equipment communication module <NUM>.

The gait trajectory generator <NUM> generates a gait trajectory according to the set gait training mode of the patient. The position controller <NUM> is connected with the gait trajectory generator <NUM> and configured to control positions of a servo motor/mechanical unit <NUM> and include the gait pattern analysis unit <NUM> for analyzing the gait pattern of the patient. The sub-equipment communication module <NUM> transmits signal from the position controller <NUM> to the servo motor/mechanical unit <NUM> and a sensor <NUM> and receives signal from the servo motor/mechanical unit <NUM> and the sensor <NUM>.

The real-time kernel <NUM> works <NUM> X n (n is a natural number which is equal to or greater than <NUM>) times per second, and calculates the trajectory of gait training every time it works. The position controller <NUM> calculates the output of the control unit <NUM> according to the trajectory, and the data of the calculated output is transmitted to a servo motor drive <NUM> through the sub-equipment communication module <NUM>. The servo motor drive <NUM> drives the servo motor/mechanical unit <NUM> based on the data of the calculated output. The sub-equipment communication module <NUM> receives the sensing data from the sensor <NUM>, and the real-time kernel <NUM> calculates the trajectory of gait training again.

The gait pattern analysis unit <NUM> measures the reaction force between the patient's feet and the gait device unit <NUM>, and analyzes the gait pattern of the patient with the data of the reaction force. As illustrated in <FIG>, the gait pattern analysis unit <NUM> according to the present invention comprises a force/torque sensor <NUM>, a reaction force check unit <NUM>, a gait period decision unit <NUM>, a gait purpose detection unit <NUM>, and an auxiliary torque provision unit <NUM>.

The force/torque sensor <NUM> measures the reaction force between the patient's feet and the gait device unit <NUM>. The reaction force check unit <NUM> checks whether the measured reaction force is equal to or greater than a threshold value regarding the reaction force of the gait pattern. It is desirable that the reaction force check unit <NUM> stops the gait device unit <NUM> from operating when the reaction force is checked to be equal to or greater than the threshold value.

In the gait period of the patient illustrated in <FIG>, the gait period decision unit <NUM> decides whether the gait of the patient is in stance phase in which feet are contacted with the ground, or swing phase in which feet are stay away from the ground. When it is in the swing phase, the basic operation is controlled to be performed consistently. On the other hand, when it is not in the swing phase, preferably it is checked whether the gait is purposed or not.

The gait purpose detection unit <NUM> detects the gait purpose of the patient when the weight of the patient is applied, so as to recognize whether the patient is moving his feet by himself.

The auxiliary torque provision unit <NUM> provides auxiliary gait torque to increase the gait speed when the gait purpose of the patient is detected. With this, the strength of the gait training can be regulated.

The smart device <NUM> is linked to the medical institution and can monitor the state of the patient and the situation of the gait training in real time through wireless communication with the operation device unit <NUM>. With the smart device <NUM>, the patient can receive information of training from the medical team in long distance, not only by the operation device unit <NUM> fixed in the system.

The gait rehabilitation control method using the gait rehabilitation control system is described below.

<FIG> is a flowchart for illustrating the gait rehabilitation control method according to the present invention.

In step S10, The threshold value of the reaction force used for the basic gait training mode and the analysis of the gait pattern is set with the operation device unit <NUM>. In an embodiment of the present invention, the basic gait training mode includes flatland mode, ascent stairs mode, and descent stairs mode. The threshold value of the reaction force is set regarding right foot and left foot each.

And then, in step S20, the patient information is inputted with the operation device unit <NUM>. The patient information includes at least one of patient ID of medical institution, first name of the patient, last name of the patient, gender of the patient, height of patient's crotch, height of the patient, weight of the patient, patient birth date, or injured part of the patient.

Next, in step S30, the gait training mode is selected with the operation device unit <NUM>. The operation device unit <NUM> sets at least one of gait training mode, the number of steps per minute, step length, step height, or foot angle, which is appropriate for the state of the patient.

And then, the control unit <NUM> drives the gait device unit <NUM> according to the selected gait training mode in step S40. And in step S50, the gait pattern analysis unit <NUM> analyzes the gait pattern of the patient with the data of reaction force between the patient's feet and the gait device unit <NUM>.

As illustrated in <FIG>, the step S50 includes steps S51, S52, and S53. That is, the force/torque sensor <NUM> measures the reaction force between the patient's feet and the gait device unit <NUM> in the step S51. And in the step S52, the reaction force check unit <NUM> checks whether the reaction force measured in step S51 is equal to or greater than the threshold value. When the reaction force is checked to be equal to or greater than the threshold value, the gait device unit <NUM> is stopped as the emergency action in the step S53.

When the reaction force is less than the threshold value in the step S52, the gait period decision unit <NUM> decides whether the gait of the patient is in stance phase in which feet are contacted with the ground, or swing phase in which feet are stay away from the ground in step S54. When it is decided that the gait of the patient is in the swing phase in the step S54, the selected gait training mode is maintained continuously in step S55.

When it is decided that the gait of the patient is not in the swing phase in the step S54, in step S56, the gait purpose detection unit <NUM> detects whether the patient is moving his feet by himself when the weight of the patient is applied in the initial stance phase. When it is decided that the patient is moving his feet by himself with the analyzed gait pattern in the step S56, the auxiliary torque provision unit <NUM> provides auxiliary gait torque to increase gait speed in step S57. On the other hand, when it is decided that the patient is not moving his feet by himself in the step S56, the set basic gait training mode is maintained continuously in step S58.

As mentioned above, the system and method according to the present invention analyze the gait pattern with the data of the reaction force measured in the progress of the gait training. Accordingly, it can make an accurate decision for gait training situations and regulate the strength of gait training based on the gait pattern of the patient, thereby increasing greatly the effect of gait training for each patient.

In addition, it can monitor the gait state of the patient and necessary amount of training in real time and provide the appropriate training for the patient, through wireless communication with mobile terminals which belong to medical team, such as wireless tablets or smart phones based on touch screen.

Moreover, it builds a database regarding gait training contents and the data of the reaction force of the patient to know and manage improvements in gait abilities consistently. Accordingly, the patient can get good results in rehabilitation in a short time.

Claim 1:
A gait rehabilitation control system, comprising:
an operation device unit for setting gait training mode of a patient and displaying gait state information of the patient;
a gait device unit worn on the patient's feet so as to move along with the gait motion of the patient; and
a control unit for generating a gait trajectory corresponding to the gait training mode set by the operation device unit and driving the gait device unit according to the gait trajectory;
wherein the control unit comprises a gait pattern analysis unit for measuring reaction force between the patient's feet and the gait device unit, and analyzing the gait pattern of the patient with the data of the reaction force;
wherein the gait pattern analysis unit comprises a force/torque sensor for measuring the reaction force between the patient's feet and the gait device unit,
a reaction force check unit for checking whether the measured reaction force is equal to or greater than a threshold value regarding the reaction force of the gait pattern, and stop the gait device when the reaction force is equal to or greater than the threshold value,
a gait period decision unit for deciding whether the gait of the patient is in stance phase in which feet are contacted with the ground, or swing phase in which feet are stay away from the ground, when the reaction force is less than the threshold value,
a gait purpose detection unit for detecting a gait purpose of the patient when a weight of the patient is applied in an initial stance phase, and
an auxiliary torque provision unit for providing auxiliary gait torque to regulate a strength of gait training when the gait purpose of the patient is detected;
wherein the auxiliary torque provision unit provides auxiliary gait torque to increase a gait speed when the gait purpose of the patient is detected.