Upper and lower limb walking rehabilitation device

An upper and lower limbs walking rehabilitation device comprising a foot stepping part, comprising:

• a lower frame part;
• a lower limb link unit provided between the foot stepping part and the lower frame part and providing a walking trajectory to the foot stepping part;
• an upper frame part detachably provided at an upper end of the lower frame part by means of a detachment part;
• an upper limb link unit provided at the upper frame part and implementing movement of upper limbs;
• and
• an upper linking part for linking the upper limb link unit and the lower limb link unit;
• wherein the upper limb link unit includes:
• a first upper limb link member having one end of the first upper limb link member provided at the upper frame part so as to be pivotable by a first upper limb hinge;
• a second upper limb link member having one end of the second upper limb link member provided at another end of the first upper limb link member so as to be pivotable by a second upper limb hinge;
• a third upper limb link member having a central portion provided at another end of the second upper limb link member so as to be pivotable by a third upper limb hinge, and one end of the third upper limb link member provided at an upper part of the upper frame part so as to be pivotable by a fourth upper limb hinge, thereby moving the third upper limb hinge along an arc while supporting a load;
• a fourth upper limb link member having one end of the fourth upper limb link member provided at another end of the third upper limb link member so as to be pivotable by a fifth upper limb hinge;
• and
• a handle provided at another end of the fourth upper limb link member.