Gait rehabilitation control system and method therefor

A gait rehabilitation control method, comprising the steps of:

• (a) inputting information of a patient via an operation terminal;
• (b) selecting a gait training mode of the patient via the operation terminal;
• and
• (c) generating a gait trajectory corresponding to the selected gait training mode, driving a gait device having a foothold for receiving the patient's feet, according to the gait trajectory, and analyzing, by a control unit comprising a microprocessor, a gait pattern of the patient using data of reaction force between the patient's feet and the gait device,
• wherein the step (c) comprises the steps of:
• (c-1) measuring the reaction force between the patient's feet and the gait device;
• (c-2) checking whether the measured reaction force is equal to or greater than a threshold value;
• (c-3) stopping the gait device when the reaction force is equal to or greater than the threshold value;
• (c-4) determining whether a gait motion of the patient is in a stance phase or a swing phase in the generated gait trajectory when the reaction force is less than the threshold value;
• (c-5) determining, when the gait motion of the patient is in the stance phase, whether the patient has a gait purpose when a weight of the patient is applied during an initial stance phase of the gait motion of the patient;
• and
• (c-6) providing an auxiliary gait torque to the gait device so as to increase a gait speed thereof when it is determined that the patient has the gait purpose.