KR102244048B1 - Joint exercise apparatus - Google Patents

Abstract

The articulation exercise device according to the disclosed invention includes a support unit supporting the rear of the human body, a first actuator unit connected to the support unit to provide driving force for horizontal pronation and abduction movement, and a second actuator unit providing driving force for forward elevation movement. , The first and second actuator units are interconnected and connected to the link unit and the second actuator unit to drive one degree of freedom by providing a virtual axis of rotation coincident with the joint axis, which is the rotation center during horizontal adversion and abduction movements. It includes an exercise unit for supporting a joint portion of the human body by the driving force of the first and second actuator units. According to this configuration, one degree of freedom of horizontal pronation and abduction operation is possible without limiting the forward elevating motion range.

Description

Joint exercise device{JOINT EXERCISE APPARATUS}

The present invention relates to a joint exercise device, and more specifically, to a joint exercise device with improved safety and efficiency by enabling one degree of freedom to be driven in accordance with a rotation point of a joint to be rehabilitated.

In the case of a patient who has operated on a joint part, rehabilitation exercise with pain for a long time is required to prevent deformation of the joint and return to normal activity as it is impossible to exercise by itself. In addition, in recent years, as the incidence of joint diseases such as degenerative arthritis due to excessive exercise is increased, joint rehabilitation exercise is also required for the treatment and prevention of such joint diseases.

In recent years, rehabilitation robots for rehabilitation exercises that can automatically exercise a body part by operation of an actuator are spreading. These rehabilitation robots are developed as exoskeleton-type robots and cannot be designed in the same position as human joints due to kinematic characteristics. Therefore, whether or not the rotation points of the two joints match for motion matching between the robot and the wearer is a major performance factor of the rehabilitation robot.

On the other hand, the shoulder joint is the most complex complex joint among various joint parts of the human body. A rehabilitation robot capable of assisting in the anterior and lateral elevation, horizontal adversion and abduction movements is applied to the shoulder joint. At this time, in the shoulder joint, the rotational axes of the anterior/lateral elevation movement and the horizontal adversion/abduction movement do not coincide with each other. Therefore, in recent years, by matching the rotation axis of the rehabilitation robot for shoulder joint rehabilitation with the rotation axis of the user, various studies that can improve the convenience of use are continuously being conducted.

Republic of Korea Patent Publication No. 1469539 Korean Registered Patent Publication No. 1226927

An object of the present invention is to provide a high-efficiency joint exercise device that is convenient to use without limiting the range of motion when driving one degree of freedom.

A joint exercise device according to the present invention for achieving the above object includes a support for supporting the rear of the human body, a first actuator connected to the support and providing a driving force for horizontal adversion and abduction movement, and a driving force for an elevation movement. A link that connects the second actuator unit to provide a second actuator unit, the first and second actuator units, and drives one degree of freedom by providing a virtual rotation axis coinciding with the joint axis, which is the rotation center during the horizontal adversion and abduction movements. And an exercise part connected to the second actuator part and supporting the joint part of the human body by driving force of the first and second actuator parts.

In addition, the support portion may be in close contact with the back of the shoulder of the human body.

In addition, the first actuator unit is rotated about a yaw axis coinciding with a yaw rotation center for horizontal adductor and abduction motions of the human joint, and the second actuator unit is a pitch ( Pitch) rotated around a pitch axis coinciding with a rotation center, wherein the yaw axis and the pitch axis are located on first and second virtual lines, which are virtual straight lines extending in different directions from the joint axis, respectively, and the first actuator The negative rotation angle and the rotation angle of the joint shaft may be equal to each other 1:1.

In addition, the link part is shaft-fixed to the first actuator so that one end can move around the yaw axis, the other end is a linear first link extending in a direction parallel to the second virtual line, and one end is the support part The first link axis is fixed to the axis so as to be movable around the first link axis, and the other end is extended in a direction parallel to the second virtual line, and the first link axis is a linear second link positioned on the first virtual line, and the second 2 It is located on the virtual line, and connects the other end of each of the first to third links and a linear third link having one end coaxially connected to the pitch axis of the second actuator unit, and a straight line parallel to the first virtual line Fourth link of the shape and, at a position spaced apart from the fourth link toward one end of each of the first to third links, are axially connected by crossing the first to third links in a vertical direction, respectively, and the first virtual It may include a fifth link of a straight line parallel to the line.

In addition, the link unit may include a first link connected to the first actuator unit, a second link connected to the support unit, parallel to the first link, and connected to the second actuator unit, and parallel to the first link. A third link and at least one fourth link axially connected by crossing the first to third links in a vertical direction, wherein the first to fourth links form at least two parallelogram structures, the The joint axis may be located at an intersection between virtual straight lines extending from the parallelogram structure formed by the first to fourth links.

A joint exercise device according to a preferred embodiment of the present invention is a first actuator unit that is located at the rear of the human body and rotates about a yaw axis during horizontal adversion and abduction movements, and a pitch during front elevation movement. Comprising a plurality of links to interconnect the second actuator unit rotated about an axis, the first and second actuator units, and to provide a virtual axis of rotation coinciding with the joint axis, which is the rotation center during the horizontal adversion and abduction movements. And a link unit and an exercise unit connected to the second actuator unit and capable of moving while supporting a joint portion of the human body.

In addition, it includes a support portion for supporting the back of the shoulder of the human body outside the front elevation range, and the first actuator portion may be fixed to the support portion.

In addition, the yaw axis and the pitch axis are located on first and second virtual lines, which are virtual straight lines extending in different directions from the joint axis, respectively, and the link unit includes the first axis so that one end can move around the yaw axis. 1 Connected to the actuator, the other end is a linear first link extending in a direction parallel to the second virtual line, one end is shaft-fixed to the support so as to be movable around the first link axis, and the other end is the second virtual line. It is extended in a direction parallel to the line, wherein the first link axis is a linear second link located on the first virtual line, and is located on the second virtual line, and one end is coaxial with the pitch axis of the second actuator unit. A third link having a straight line to be connected, a fourth link having a straight line shape that is axially connected to the other end of each of the first to third links and crosses in a vertical direction, parallel to the first virtual line, and the fourth link from the fourth link. The first to third links are mutually axially connected by crossing the first to third links in a vertical direction at a position spaced apart toward one end of each of the first to third links, and may include a fifth link of a linear shape parallel to the first virtual line. have.

In addition, the link unit may include a first link connected to the first actuator unit, a second link connected to the support unit, parallel to the first link, and connected to the second actuator unit, and parallel to the first link. A third link and at least one fourth link axially connected by crossing the first to third links in a vertical direction, wherein the first to fourth links form at least two parallelogram structures, the The joint axis may be located at an intersection between virtual straight lines extending from the parallelogram structure formed by the first to fourth links.

In addition, the first and second actuator units are disposed at positions spaced from 55 to 75 mm and 150 to 170 mm, respectively, with respect to the joint axis, and the rotation angle of the first actuator unit and the rotation angle of the joint axis are equal to 1:1. can do.

According to the present invention having the configuration as described above, first, the one degree of freedom mechanism enables forward elevation, horizontal adversion, and abduction movement without posture change, thereby improving the existing problem that the posture had to be moved to match the rotation axis during the rehabilitation operation. Thus, it is possible to improve the usability.

Second, since the first actuator unit for horizontal pronation and abduction movements is located on the rear of the human body, the range of the front elevation movement is not limited, and the maximum driving angle of the pitch axis, which is 180 degrees, can be implemented.

Third, as one degree of freedom can be driven, it is possible to increase the convenience of use with a compact size.

1 is a plan view schematically showing a joint exercise device according to an embodiment of the present invention.
2 is a plan view schematically showing a horizontal abduction movement using the joint exercise device shown in FIG. 1.
3 are diagrams schematically showing a design process of the joint exercise device shown in FIG. 1.
FIG. 4 is a diagram schematically illustrating a mechanism of one degree of freedom of the joint exercise device shown in FIG. 1.
5 is a diagram schematically illustrating a horizontal abduction motion using a one degree of freedom mechanism of the joint exercise device shown in FIG. 4. And,
FIG. 6 is a diagram schematically illustrating an elevation of anterior motion using a one degree of freedom mechanism of the joint exercise device shown in FIG. 1.

Hereinafter, a preferred embodiment of the present invention will be described with reference to the accompanying drawings. However, the spirit of the present invention is not limited to such an embodiment, and the spirit of the present invention may be proposed differently by addition, change, and deletion of elements constituting the embodiment, but this is also included in the spirit of the invention. It becomes.

Referring to FIG. 1, a joint exercise device 1 according to a preferred embodiment of the present invention includes a support part 10, a first actuator part 20, a second actuator part 30, a link part 40, and an exercise part. Includes 50.

For reference, the joint exercise device 1 described in the present invention is applied to a rehabilitation exercise robot for rehabilitation treatment for a joint, which is a connection part between the bone and the bone of the human body H. In addition, the joint exercise device 1 described in the present invention is applied for the rehabilitation treatment of the shoulder capable of anterior elevation, horizontal intra/abduction movement among various joint parts of the human body H, and will be described. However, it is not limited to rehabilitation treatment, and it is natural that the joint exercise device 1 according to the present invention can be applied to various wearable exoskeleton robots for assisting muscle strength or a Haptic device.

The support 10 supports the rear surface of the human body H. This support 10 includes a base frame that is in close contact with the rear shoulder of the human body H, as shown in FIGS. 1 and 2. Although not shown in detail, the support 10 may be a kind of support having a predetermined area so as to be in close contact with the back, which is the rear of the human body H, and the shoulder. In addition, the support 10 is preferably formed of a material having rigidity for stable support of the user during operation.

The first actuator unit 20 provides a driving force for horizontal pronation and abduction movements with respect to the support unit 10. The first actuator unit 20 is rotatably connected to the support unit 10. The rotation center of the first actuator unit 20 coincides with the yaw rotation center for horizontal adversion and abduction movements of the joint exercise device 1, thereby providing a yaw axis Y of the joint.

The second actuator unit 30 provides a driving force by rotation during the forward elevating movement. This second actuator unit 30 provides a pitch axis P of the joint by coinciding with a rotation center of a pitch, which is a rotation center for anterior elevation of the shoulder joint.

Here, the yaw axis Y, which is the rotation center of the first actuator unit 20, is located on the joint axis C of the human body H and the first virtual line L1, which is a virtual straight line. In addition, the pitch axis P, which is the rotation center of the second actuator unit 30, is located on the joint axis C of the human body H and the second virtual line L2, which is a virtual straight line. At this time, the first and second virtual lines L1 and L2 extend in different directions from the joint axis C, respectively.

On the other hand, since the first actuator unit 20 is provided on the support unit 10 located at the rear of the human body H, interference between the human body H and the first actuator unit 20 does not occur during the forward elevating operation. . More specifically, when the arm is rotated about the pitch axis (P) of the second actuator unit 30, the front elevating operation of lifting the arm of the human body (H) is a first actuator unit ( 20) and direct contact does not occur. That is, since the support part 10 and the first actuator part 20 supported by the support part 10 are located on the rear surface of the human body H, the front elevation motion range having a maximum movement range of 180 degrees is not limited.

The link unit 40 connects the first and second actuator units 20 and 30 to each other, and provides a virtual rotation axis coinciding with the joint axis C that moves when the human body H moves. To this end, the link unit 40 includes first to fifth links 41, 42, 43, 44, and 45, as shown in FIGS. 1 and 2.

One end of the first link 41 is axially connected to the first actuator unit 20 so as to be movable around the yaw axis Y. In addition, the other end of the first link 41 extends in the longitudinal direction from one end, and extends parallel to the second virtual line L2.

The second link 42 has one end axially connected to the support 10 so as to be movable around the first link shaft J1, and the other end extending from one end and parallel to the second virtual line L2. At this time, the second link axis J2 of the second link 42 is a virtual first virtual line L1 connecting the yaw axis Y and the joint axis C of the first actuator unit 20 in a straight line. It is located on the same straight line as That is, the first link axis (J1), yaw axis (Y) and joint axis (C) are connected to each other in a straight line by the first virtual line (L1).

Meanwhile, the yaw shaft Y and the first link shaft J1 provide a rotation shaft fixed to the support 10. Accordingly, the first and second links 41 and 42 can be rotated about the yaw axis Y and the first link axis J1, respectively.

The third link 43 has one end connected to the second actuator unit 30 so as to be coaxially connected with the pitch axis P, which is the rotation center of the second actuator unit 30. At this time, the third link 43 is located on the same straight line as the virtual second virtual line L2 connecting the joint axis C and the pitch axis P in a straight line. In addition, as the third link 43 is coaxially connected with the pitch axis P, it is interlocked with the movement of the second actuator unit 30.

The fourth link 44 connects the other ends of each of the first to third links 41, 42, and 43, and is a straight link extending parallel to the first virtual line L1. That is, one end of the fourth link 44 sequentially passes through the other ends of the first and second links 41, 42 parallel to the second virtual line L2, and the other end of the third link 43 Connected.

The fifth link 45 connects each of the first to third links 41, 42, and 43, and is a straight link extending parallel to the first virtual line L1. At this time, the fifth link 45 is from the first to third links 41, 42, and the fourth link 44 connecting the other ends of the first to third links 41, 42, and 43, respectively. It is a link extending parallel to the first virtual line L1 at a position spaced from one end of 43).

Here, the first to third links 41, 42, and 43 are parallel to the second virtual line L2, and each one end is a fixed end fixed to the axis. In addition, the fourth and fifth links 44 and 45 are parallel to the first virtual line L1 and interconnect the other ends, which are the free ends of the first to third links 41, 42, and 43. Let it. Therefore, the movement in which the other end of each of the first to third links 41, 42, and 43 rotates around one end of each of the first to third links 41, 42, and 43 is reduced to the fourth and The fifth links 44 and 45 are interconnected by connection with each other.

In addition, the link unit 40 including the first to fifth links 41, 42, 43, 44, and 45 draws a parallelogram structure and controls the horizontal adversion and abduction movements of the joint exercise device 1. One degree of freedom mechanism for this is provided. More specifically, the first virtual line L1, the second virtual line L2, the fourth link 44, and the fifth link 45 are interconnected in a parallelogram structure. In addition, the first virtual line L1, the first link 41, the fourth link 44, and the second link 42 are also interconnected in one parallelogram structure, and the third link 43, the fourth link The link 44, the second link 42, and the fifth link 45 are also interconnected in a parallelogram structure.

That is, the first to fifth links 41, 42, 43, 44, and 45 form two parallelogram structures that cross each other, and the first and second virtual lines emerging from the two parallelogram structures The intersection of (L1)(L2) becomes a virtual axis of rotation and coincides with the joint axis (C). Accordingly, it is possible to perform horizontal adductor and abduction movements while the joint exercise device 1 coincides with the joint axis C.

For reference, the second to seventh link shafts (J2) (J3) between the fourth and fifth links 44 and 45 interconnecting the first to third links 41, 42, and 43 J4) (J5) (J6) (J7) are not fixed. As a result, the first to fifth links 41, 42, 43, 44, 45 are virtually rotatable with respect to the yaw axis Y and the first link axis J1 fixed to the support 10 It will provide the axis of rotation of. At this time, by forming a parallelogram structure even when the first to fifth links 41, 42, 43, 44, and 45 are rotated, stable one freedom during horizontal pronation and abduction movements of the human body H It is also possible to implement the mechanism.

The exercise unit 50 is connected to the second actuator unit 30 and moves while supporting a joint portion requiring movement of the human body H by the driving force of the first and second actuator units 20 and 30. In this embodiment, as the joint exercise device 1 is illustrated as being applied to the rehabilitation exercise of the shoulder joint, the arm of the human body H is supported by the exercise unit 50.

The arm supported by this movement part 50 is horizontally adducted or abducted around the yaw axis (Y) of the first actuator unit 20, or moves forward elevating around the pitch axis (P) of the second actuator unit 30. do.

Meanwhile, the joint exercise device 1 as described above may be designed in the same order as in FIG. 3.

As shown in (a) of FIG. 3, the lengths of the first and second virtual links I1 and I2 extending in different directions from the joint axis C of the human body H are denoted as a and b, respectively, and the joint When the lengths of the first and second physical links (A1) (A2) connected to the first and second virtual links (I1) (I2) from the axis (C) are c and d, respectively, a+b=c Arrange it so that it becomes +d and design a parallelogram trajectory.

As shown in (b) of FIG. 3, the second actuator unit 30 is positioned at a distance e from the joint axis (C). At this time, the separated distance e from the joint axis C to the second actuator unit 30 is preferably in a range of approximately 55 to 75 mm, and in this embodiment, it is illustrated as having a distance e of 65 mm. . Here, a third actual link A3 is disposed between the second actuator unit 30 and the second actual link A2.

As shown in (c) of FIG. 3, after connecting the third virtual link I3 so that it is connected to the contact points of the first and second physical links A1 and A2 from the joint axis C, the third virtual link ( A fourth physical link A4 connecting between I3) and the first virtual link I1 is arranged. In addition, a fifth real link A5 connecting the third virtual link I3 and the third real link A3 is disposed.

Thereafter, as shown in (d) of FIG. 3, a sixth actual link A6 connecting the first physical link A1 and the fourth actual link A4 is disposed, and the second actual link A2 and A seventh physical link A7 connecting the fifth physical links A5 is disposed. In addition, as shown in (e) of FIG. 3, the first actuator unit 20 is disposed at a contact point between the first virtual link I1 and the fourth physical link A4. At this time, the distance f spaced from the joint axis C to the first actuator unit 20 is approximately 150 to 170 mm, which is illustrated as 160 mm in this embodiment.

In this way, the first and second actuator units 20 and 30 are arranged and correspond to the positions of the first to seventh actual links (A1) (A2) (A3) (A4) (A5) (A6) (A7). By connecting the link so that, finally, the link unit 40 including the first to fifth links 41, 42, 43, 44, and 45 as shown in (f) of FIG. 3 can be designed. Here, the rotation angle θh of the joint shaft C and the rotation angle θa of the first actuator unit 20 are equal to each other at 1:1. That is, the rotation angle θa of the yaw axis Y for yaw rotation may be designed to be the same as the rotation angle θh of the joint axis C of the human body H (θa=θh).

The one degree of freedom mechanism for horizontal adversion and abduction movements during the rehabilitation operation of the joint exercise device 1 according to the present invention having the above configuration will be described with reference to FIGS. 4 and 5.

Referring to FIG. 4, a state in which the arm of the human body H is horizontally lifted is shown schematically as viewed from above. As shown in FIG. 4, the yaw axis of the first and second actuator units 20 and 30 on the first and second virtual lines L1 and L2 around the joint axis C of the arm Y) and the pitch axis (P) are located.

At this time, the first virtual line L1, the second virtual line L2, the fourth link 44, and the second link 42 have a parallelogram shape. In addition, the first to fifth links 41, 42, 43, 44, and 45 have the first to seventh link shafts (J1) (J2) (J3) so as to have two parallelogram structures crossing each other. )(J4)(J5)(J6)(J7).

Link portion 40 having such a parallelogram structure, as shown in Figure 5, when the arm of the human body (H) horizontal abduction movement, the joint axis (C) of the human body rotates around the yaw axis (Y) even if the posture does not move Will support you.

More specifically, when the arm is horizontally abducted around the joint axis (C), the second actuator unit 30 connected to the exercise unit 50 supporting the arm is also rotated. At this time, by rotating the third link 43 connected to the second actuator unit 30 together, the fourth link connected to the third link 43 by the fourth link shaft (J4) and the seventh link shaft (J7) (44) and the fifth link 45 is rotated with respect to the third link (43). These 4th and 5th links 44 and 45 are the 2nd, 3rd, 5th, and 6th link axes with respect to the first and second links 41 and 42 so as to be parallel to the first virtual line L1. By connecting to J2) (J3) (J5) (J6), the first and second links 41 and 42 are also rotated together.

Here, one end of the first link 41 is connected to the yaw axis Y of the first actuator unit 20, and one end of the second link 42 is connected to the support unit 10 and the first link axis J1. The yaw shaft Y and the first link shaft J1 are both shaft-fixed with respect to the support 10. Therefore, the horizontal adductor and abduction movements are located at a position that does not coincide with the joint axis (C) by the plurality of links 41, 42, 43, 44, and 45 of the link unit 40. 1 It is possible to rotate around the yaw axis (Y) of the actuator unit (20).

In summary, the first link 41 is connected to the first actuator unit 20 providing the yaw axis Y, which is the center of the horizontal adversion and abduction, and the first link 41 is connected to the second to fifth links ( By connecting the 42) (43) (44) (45) in a parallelogram structure, each link (41) (42) (43) (44) (45) is connected to each of the first to second virtual centers of rotation. 7 link shafts (J1) (J2) (J3) (J4) (J5) (J6) (J7) are formed. In addition, the intersection between the first and second virtual lines L1 and L2 extending from the two parallelogram structures formed by the first to fifth links 41, 42, 43, 44, and 45 When the joint axis (C) is located in the joint axis (C), the first to fifth links 41, 42, 43, 44, and 45 are rotated while drawing a parallelogram trajectory. At this time, the joint axis (C) and yaw axis (Y) are located on the first virtual line (L1), and the link unit 40 rotates the second virtual line (L2) around the first virtual line (L1) As a result, the arm moves horizontally with respect to the yaw axis (Y) of the first actuator unit 20 in horizontal pronation and abduction.

With reference to FIG. 6, the front elevation motion of the rehabilitation motion of the joint exercise device 1 according to the present invention will be schematically described.

As shown in Fig. 6, the exercise unit 50 for supporting the arm is lifted in the vertical direction from the horizontal position by the forward elevating motion. At this time, the movement unit 50 is rotated around the pitch axis P of the second actuator unit 30, thereby causing the arm to move forward. At this time, the pitch axis (P) is located on the joint axis (C) of the human body (H), so that the movement unit 50 is moved forward elevating.

On the other hand, as the movement unit 50 is positioned at the rear of the human body H (refer to FIG. 1), the first actuator unit 20 and the support unit 10 supporting the same during the forward elevating operation (see Fig. 1), with respect to the pitch axis (P). Interference due to collision is prevented during the elevating movement that can move up to 180 degrees.

As described above, although it has been described with reference to preferred embodiments of the present invention, those skilled in the art can variously modify and change the present invention within the scope not departing from the spirit and scope of the present invention described in the following claims. You will understand that you can do it.

1: joint exercise device 10: support
20: first actuator part 30: second actuator part
40: link unit 41: first link
42: second link 43: third link
44: fourth link 45: fifth link
50: exercise part C: joint axis
Y: yaw axis P: pitch axis

Claims (10)

A support part in close contact with and supporting the back of the human body;
A first actuator unit connected to the support and providing a driving force for horizontal pronation and abduction movements;
A second actuator unit that provides a driving force for the forward elevating movement;
A link unit interconnecting the first and second actuator units and providing a virtual rotation axis coinciding with a joint axis, which is a rotation center during the horizontal adversion and abduction movement, to drive one degree of freedom; And
An exercise unit connected to the second actuator unit to support a joint portion of the human body by driving force of the first and second actuator units;
Including,
The first actuator unit is rotated about a yaw axis coinciding with a yaw rotation center for horizontal adversion and abduction motions of the human joint, and the second actuator unit has a pitch for a forward elevating motion of the human joint. It is rotated around the pitch axis coinciding with the rotation center,
The yaw axis and the pitch axis are located on first and second virtual lines, which are virtual straight lines extending in different directions from the joint axis, respectively,
The rotation angle of the first actuator unit and the rotation angle of the joint shaft are mutually equal to 1:1. delete delete The method of claim 1,
The link unit,
A first link of a linear shape, one end being axially fixed to the first actuator so as to be movable around the yaw axis, and the other end extending in a direction parallel to the second virtual line;
One end is shaft-fixed to the support so as to be movable around a first link axis, and the other end is extended in a direction parallel to the second virtual line, and the first link axis is a second linear shape positioned on the first virtual line. link;
A linear third link positioned on the second virtual line and having one end coaxially connected to the pitch axis of the second actuator unit;
A fourth link connecting the other end of each of the first to third links and having a straight line shape parallel to the first virtual line; And
The first to third links are intersected in a vertical direction at a position spaced apart from the fourth link toward one end of each of the first to third links and are respectively connected to each other, and have a linear shape parallel to the first virtual line. 5 links;
Joint exercise device comprising a. The method of claim 1,
The link unit,
A first link connected to the first actuator unit;
A second link connected to the support and parallel to the first link;
A third link connected to the second actuator unit and parallel to the first link; And
At least one fourth link axially connected by crossing the first to third links in a vertical direction;
Including,
The first to fourth links form at least two parallelogram structures, wherein the joint axis is located at an intersection between virtual straight lines extending from the parallelogram structure formed by the first to fourth links . A first actuator unit located at the rear of the human body and rotated about a yaw axis during horizontal pronation and abduction movements;
A second actuator unit rotated about a pitch axis during the forward elevating operation;
A link unit including a plurality of links to interconnect the first and second actuator units and to provide a virtual axis of rotation coinciding with a joint axis, which is a rotation center during the horizontal adversion and abduction movements; And
An exercise unit connected to the second actuator unit and capable of moving while supporting a joint portion of the human body;
Including,
The first actuator portion is fixed to a support portion supporting the rear shoulder of the human body outside the front elevation range,
The yaw axis and the pitch axis are located on first and second virtual lines, which are virtual straight lines extending in different directions from the joint axis, respectively,
The rotation angle of the first actuator unit and the rotation angle of the joint shaft are mutually equal to 1:1. delete The method of claim 6,
The link unit,
A first link having one end connected to the first actuator so as to be movable around the yaw axis, the other end extending in a direction parallel to the second virtual line;
One end is shaft-fixed to the support so as to be movable around a first link axis, and the other end is extended in a direction parallel to the second virtual line, and the first link axis is a second linear shape positioned on the first virtual line. link;
A linear third link positioned on the second virtual line and having one end coaxially connected to the pitch axis of the second actuator unit;
A fourth link axially connected to the other end of each of the first to third links and crossing in a vertical direction, and having a straight line shape parallel to the first virtual line; And
The first to third links are intersected in a vertical direction at a position spaced apart from the fourth link toward one end of each of the first to third links and are respectively connected to each other, and have a linear shape parallel to the first virtual line. 5 links;
Joint exercise device comprising a. The method of claim 6,
The link unit,
A first link connected to the first actuator unit;
A second link connected to the support and parallel to the first link;
A third link connected to the second actuator unit and parallel to the first link; And
At least one fourth link axially connected by crossing the first to third links in a vertical direction;
Including,
The first to fourth links form at least two parallelogram structures, wherein the joint axis is located at an intersection between virtual straight lines extending from the parallelogram structure formed by the first to fourth links . The method of claim 6,
The first and second actuator units with respect to the joint axis are disposed at positions spaced from 55 to 75 mm and 150 to 170 mm, respectively.

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