Abstract: A driving system of a hybrid gait rehabilitation robot include: a driving unit that is connected to a footrest of the gait rehabilitation robot and transmits a driving force such that the robot operates at a preset speed; a speed detection unit that detects a gait speed of an occupant; and a control unit that controls a speed of the driving unit by comparing the detected speed of the speed detection unit with a speed applied by the driving unit. The driving unit transmits power toward the occupant, but the driving force of the occupant is not transmitted to the driving unit.

Abstract: The present invention addresses the technical problem of providing an ankle muscle resistance-training apparatus which induces an angle change of the ankle while the ankle is actively moving, and can improve strength of the ankle muscle by applying resistance force to the ankle movement. To this end, the ankle muscle resistance-training apparatus according to the present invention comprises: a support member; a first movement guiding shaft; an intermediate member; a second movement guiding shaft; a foot support; a first resistance force application part; and a second resistance force application part.

Abstract: The present invention addresses the technical problem of providing an ankle muscle resistance-training apparatus which induces an angle change of the ankle while the ankle is actively moving, and can improve strength of the ankle muscle by applying resistance force to the ankle movement. To this end, the ankle muscle resistance-training apparatus according to the present invention comprises: a support member; a first movement guiding shaft; an intermediate member; a second movement guiding shaft; a foot support; a first resistance force application part; and a second resistance force application part.