{
  "abstract": "The present invention relates to a rehabilitation training method and a rehabilitation training device, which control provided driving force of a driving part provided at a joint part, so as to adjust the displacement and speed of the joint part. The rehabilitation training method may comprise steps in which: a rehabilitation trainee wears a rehabilitation training robot having at least one joint part, and interacting force between the rehabilitation trainee and the rehabilitation training robot is obtained while the joint part is driven by the driving part; the characteristics of the interacting force are classified by analyzing the interacting force; and the provided driving force of the driving part provided at the joint part is controlled according to the characteristics of the interacting force.",
  "assignees": [
    "P&S ROBOTICS CO LTD"
  ],
  "authors": [
    "LEE KYUNG HWAN",
    "PARK KWANG HUN"
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  "source_date": "2026-02-11",
  "source_id": "EP-4691444-A1",
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  "supersedes": null,
  "title": "Rehabilitation training method and rehabilitation training device",
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