Gait assistance device and method of operation thereof

Gait assistance device that compensates for body weight through changes in the angle between a guide bar and cross-links

This technology provides a mechanism that moves a guide bar connected to a body-worn harness up and down by changing the intersection angle of sliding-coupled first and second links, and assists walking by detecting gait intent via sensors to control the guide bar and wheels.

Wearable robots for patients with lower-limb paralysis have faced issues with instability in mechanical structures and control algorithms, leading to risks of falling during gait and potential patient injury.

This technology adopts a first/second link structure that is cross-coupled to vary in angle according to the movement of the guide bar, thereby compensating for body weight. It assists walking by controlling the vertical movement of the guide bar and wheel rotation speed based on gait intent (forward/turning) detected by sensors. Applicable to rehabilitation training, gait assistance, and medical/welfare services, it provides stable gait support for patients with lower-limb paralysis by compensating for body weight.

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Key Features:

• A body-worn harness and a guide bar connected to the harness that can be raised or lowered
• A first link with one end slidably coupled to the guide bar to assist with walking
• A second link with one end slidably coupled to the guide bar in the opposite direction of the first link, and rotatably cross-coupled with the first link
• A leg link coupled with a variable-length structure that changes length according to the intersection angle formed by the first and second links