GAIT REHABILITATION DEVICE BASED ON ROTATIONAL THREE DEGREE FREEDOM AND TRANSLATION THREE DEGREE FREEDOM

摘要

The present invention relates to a walking rehabilitation device based on rotational three degrees of freedom and parallel three degrees of freedom. The device comprises: a first walking assistance unit including a first plate connected through a first connection unit having three joints gradually from a fixing end; a second walking assistance unit including a second plate connected to the fixing end through a second connection unit; walking track database including walking location data of a left foot and a right foot for a predetermined walking track; and a control unit for allowing the first plate and the second plate to perform a rotary motion or a parallel motion so that the first plate and the second plate are continuously moved to a walking location of the left foot and the right foot for the predetermined walking track based on the walking data. The first plate and the second plate support both feet of a user, and can be moved with rotational three degrees of freedom (roll, pitch, and yaw). The three joints of the first connection unit can be individually moved to the left and right, forward and backward, and up and down, so the first plate can perform a motion of parallel three degrees of freedom.