Seating-type gait rehabilitation robot improved in entry characteristics

A gait rehabilitation robot comprising:

• a weight supporter including an elevator connected to a vertical supporter and configured for moving up and down, and a seat connected to the elevator;
• and
• a pair of walk actuators disposed at opposite sides with respect to the weight supporter with an interval therebetween for gait training of a trainee, each of the pair of walk actuators comprising a footrest, a footrest supporter to which the footrest is connected, and a footrest actuator configured to actuate the footrest and the footrest supporter,
• wherein the footrest actuator comprises a supporter rotation actuator configured to perform rotational movement of the footrest supporter, a footrest rotation actuator configured to perform rotational movement of the footrest, and a translatory actuator configured to perform translatory movement of the footrest supporter, the translatory actuator including a transfer mechanism to which the footrest supporter is connected and a transfer actuator configured to apply an actuating force to the transfer mechanism,
• wherein the rehabilitation robot further comprises a pair of actuator hanging members disposed at opposite sides with respect to the weight supporter with an interval therebetween to form lateral walls to hang and support the transfer mechanism,
• wherein the transfer mechanism comprises a plurality of guide rails coupled to an inner side of the respective lateral wall to be spaced apart up and down from each other and extending in a translatory direction, a slider connected to the plurality of guide rails and configured to move by the actuating force applied from the transfer actuator, and a transfer base on which the slider and the footrest supporter are disposed,
• wherein the transfer base comprises a vertical base to which the slider is coupled, and a horizontal base disposed perpendicularly to a lower portion of the vertical base, the footrest supporter being rotatably coupled to the supporter rotation actuator disposed on the horizontal base, and
• wherein the footrest supporter is connected to the transfer mechanism and the footrest is mounted on the footrest supporter, and a front end of the footrest supporter is placed inside an entry space for allowing a wheelchair or the trainee to enter so that the footrest is disposed toward an entrance of the entry space formed between the pair of actuator hanging members.