US 2026/0248676 A1 · LOWER LIMB REHABILITATION TRAINING ROBOT SYSTEM AND CONTROL METHOD THEREOF

Abstract

A lower limb rehabilitation training robot system serves to help a patient perform lower limb rehabilitation by providing multiple training modes related to lower limb activities. The system may include an input/output device for selecting a training mode, an exoskeleton robot fastened to the patient's lower limb to assist movement, and a controller to control the operation of the exoskeleton robot. The exoskeleton robot may include a hip joint portion, a knee joint portion, and an ankle joint portion disposed to correspond to the patient's hip, knee, and ankle joints. The controller may be configured to control rotation of the hip joint portion, knee joint portion, and ankle joint portion in response to the selected training mode to assist movement of the lower limb.

Claims8

Dependent claims

A lower limb rehabilitation training robot system for helping a patient to do lower limb rehabilitation training by providing training modes for a plurality of motions related to activities of a lower limb, the lower limb rehabilitation training robot system comprising:

an input/output device configured to allow a user or an assistant to select a training mode to perform among the plurality of training modes;
an exoskeleton robot fastened to the lower limb of the patient to move the lower limb of the patient;
and
a controller configured to control the operation of the exoskeleton robot,
wherein the exoskeleton robot includes a hip joint portion, a knee joint portion and an ankle joint portion disposed to match a hip joint, a knee joint and an ankle joint of the patient, and
wherein the controller controls the rotation of the hip joint portion, the knee joint portion and the ankle joint portion of the exoskeleton robot in response to the selected training mode through the input/output device to assist the patient in moving the lower limb.

3 more elements

A control method of a lower limb rehabilitation training robot system, the lower limb rehabilitation training robot system including an exoskeleton robot fastened to a lower limb of a patient to move the lower limb of the patient, the exoskeleton robot including a hip joint portion, a knee joint portion and an ankle joint portion disposed to match a hip joint, a knee joint and an ankle joint of the patient;

and a controller to control the operation of the exoskeleton robot, the control method of the lower limb rehabilitation training robot system comprising the steps of:
storing, by the controller, parameter information corresponding to each of a plurality of training modes related to activities of the lower limb in the lower limb rehabilitation training robot system, the parameter information including at least one of an operating time, a pause, a step length, a step height or a stair height;
receiving, by the controller, selection information for any one of the plurality of training modes;
and
generating, by the controller, a control command for controlling the rotation of at least one of the hip joint portion, the knee joint portion or the ankle joint portion of the exoskeleton robot based on the parameter information corresponding to the selected training mode by the selection information,
wherein the step of generating the control command comprises the step of:
determining, by the controller, a value of at least one of an upper limit or a lower limit of the operating time, the pause, the step length, the step height or the stair height of the parameter information based on length information of the exoskeleton robot.

4 more elements

Dependencies are inferred from the claim text.

Lower limb rehabilitation training robot system and control method thereof

Life of this patent

Lower limb rehabilitation training robot system and control method thereof

Life of this patent

Abstract

Claims8