# US 10,881,911 B2 · Gait rehabilitation control system and method therefor

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- Number: US 10,881,911 B2
- Document ID: US10881911B2
- Status: Granted
- Kind: B2
- Application number: 15/573,592
- Filed: 2015-10-07
- Published: 2018-04-19
- Granted: 2021-01-05
- Earliest claimed: 2015-02-04
- Assignees: Curexo, Inc.
- Applicants: Curexo, Inc.
- Inventors: Suncheol Kwon; Dongmyung Min; Younghwan Kim
- Web page: https://patentgrep.com/patent/US10881911B2

## CPC

- G16H 20/30: relating to physical therapies or activities, e.g. physiotherapy, acupressure or exercising
- A61H 1/02: Stretching or bending {or torsioning} apparatus for exercising
- A61H 1/0262: {Walking movement; Appliances for aiding disabled persons to walk (A61H3/00 takes precedence)}
- A63B 21/00178: {for active exercising, the apparatus being also usable for passive exercising}
- A63B 21/00181: {comprising additional means assisting the user to overcome part of the resisting force, i.e. assisted-active exercising}
- A63B 21/0058: {using motors}
- A63B 21/4015: {to the foot}
- A63B 21/4034: {for operation by feet}
- A63B 22/0017: {the adjustment being controlled by movement of the user}
- A63B 22/04: with movable {multiple} steps {, i.e. more than one step per limb, e.g. steps mounted on endless loops, endless ladders (steppers with cantilevered support elements pivoting about an axis A63B22/0048)}
- A63B 24/0003: {Analysing the course of a movement or motion sequences during an exercise or trainings sequence, e.g. swing for golf or tennis}
- A63B 24/0075: {Means for generating exercise programmes or schemes, e.g. computerized virtual trainer, e.g. using expert databases}
- A63B 24/0087: {Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load}
- A63B 69/0064: {Attachments on the trainee preventing falling}
- A63B 71/0054: {Features for injury prevention on an apparatus, e.g. shock absorbers (mats or the like for absorbing shocks for jumping A63B6/00)}
- A63B 71/0622: {Visual, audio or audio-visual systems for entertaining, instructing or motivating the user}
- G06Q 50/22: Social work or social welfare, e.g. community support activities or counselling services
- G09B 19/003: {Repetitive work cycles; Sequence of movements}
- G16H 40/67: for remote operation
- A61B 5/112: {Gait analysis}
- A61H 2201/0173: Means for preventing injuries
- A61H 2201/0176: By stopping operation
- A61H 2201/0196: automatically adjusted according to anthropometric data of the user
- A61H 2201/1215: Rotary drive
- A61H 2201/1642: Holding means therefor
- A61H 2201/1666: multidimensional
- A61H 2201/5007: computer controlled
- A61H 2201/5061: Force sensors
- A61H 2201/5097: wireless
- A61H 2203/0406: Standing on the feet
- A61H 2203/0425: Sitting on the buttocks
- A61H 2205/10: Leg
- A63B 2022/002: {electronically, e.g. by using a program}
- A63B 2024/0012: {Comparing movements or motion sequences with a registered reference}
- A63B 2024/0093: {the load of the exercise apparatus being controlled by performance parameters, e.g. distance or speed}
- A63B 2071/0081: {Stopping the operation of the apparatus}
- A63B 2220/51: Force
- A63B 2220/54: Torque
- A63B 2225/50: Wireless data transmission, e.g. by radio transmitters or telemetry
- G16H: HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
- A61H: PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY (electrotherapy, magnetotherapy, radiation therapy or ultrasound therapy A61N)
- A63B: APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT (apparatus for passive exercising, massage A61H)
- G06Q: INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G09B: EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS (devices for psychotechnics or for testing reaction times A61B5/16; games, sports, amusements A63; projectors, projector screens G03B)
- A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D)

## Abstract

The gait rehabilitation control system according to the present invention comprises 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.

## Claims

### Claim 1

A gait rehabilitation control system comprising:
an operation terminal configured for selecting a gait training mode of a patient and displaying gait state information of the patient;
a gait device having a foothold configured for receiving the patient's feet so as to move along with a gait motion of the patient; and
a control unit comprising a microprocessor and configured to:
generate a gait trajectory corresponding to the gait training mode selected;
drive the gait device according to the gait trajectory;
measure reaction force between the patient's feet and the gait device;
check whether the measured reaction force is equal to or greater than a threshold value, and stop the gait device when the reaction force is equal to or greater than the threshold value;
determine, when the measured reaction force is less than the threshold value, whether the gait motion of the patient is in a stance phase or a swing phase in the generated gait trajectory;
determine, 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 in an initial stance phase of the gait motion of the patient; and
provide 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.

### Claim 2 (depends on 1)

The system according to claim 1, wherein the operation terminal further sets at least one of a number of steps per minute, a step length, a step height, or a foot angle.

### Claim 3 (depends on 2)

The system according to claim 2, wherein the operation terminal, during gait training of the patient, inputs and outputs patient information, sends a report, and inputs orders regarding a start, a stop, and an emergency stop of the gait training.

### Claim 4 (depends on 1)

The system according to claim 1, wherein the control unit further comprises an operating system kernel and a real-time kernel, wherein the operating system kernel is configured to:
transmit and receive gait training information of the patient with an external mobile terminal,
process input information from a user regarding the selected gait training mode of the patient, and
store set information regarding the gait training of the patient, position measure values of a servo motor and sensing data of a sensor during gait training.

### Claim 5 (depends on 4)

The system according to claim 4, wherein the real-time kernel is configured to:
generate the gait trajectory according to the selected gait training mode of the patient,
control positions of the servo motor, and
transmit a signal to the servo motor and the sensor, and receive another signal from the servo motor and the sensor.

### Claim 6 (depends on 1)

The system according to claim 1, further comprising a smart device for checking a gait training state of the patient, and transmitting an input signal to the control unit through wireless communication.

### Claim 7

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.

### Claim 8 (depends on 7)

The method according to claim 7, wherein the step (b) further comprises the step of setting at least one of a number of steps per minute, a step length, a step height, or a foot angle.

### Claim 9 (depends on 7)

The method according to claim 7, further comprising the step of:
continuing to perform the selected gait training mode when it is determined that the gait motion of the patient is in the swing phase.

### Claim 10 (depends on 7)

The method according to claim 7, prior to the step (a), further comprising the step of
(d) setting the threshold value of the reaction force with the operation terminal.