KR102263988B1 - The walking rehabilitation apparatus - Google Patents

Abstract

The convergence type rehabilitation apparatus for the severely disabled includes an automatic patient transfer unit that moves the patient to a preset rehabilitation position while lifting the patient's trunk, and gait rehabilitation training while the patient steps on the footrest in the rehabilitation position according to the selected gait pattern. A trunk exercise unit configured to perform a gait, a control device for controlling an operation of the trunk exercise unit according to a selected gait pattern, is formed to be engaged with the footrest of the trunk exercise unit, and wraps from the sole of the patient's sole to below the knee It is characterized in that it includes a walking aid that senses the pressure and bio-signals of the wrapped area, and outputs electrical stimulation to a plurality of points according to the control of the control device.

Description

Convergence type rehabilitation apparatus for the severely disabled {The walking rehabilitation apparatus}

The present invention relates to a rehabilitation apparatus, and more particularly, to a fusion type rehabilitation apparatus for the severely disabled.

In general, gait refers to moving the body while bringing out the left and right legs alternately forward through continuous motion of the lower extremity joints and muscles. Because multiple joints or pelvis are used at the same time, these organs, tissues, or nerves are affected. This often results in gait disturbance.

In particular, about 90% of patients with gait disorders are caused by acquired disabilities, and since it is difficult for patients with hemiplegia due to spinal diseases, arthritis, stroke, cerebral palsy, and accidents to walk independently, they may fall and be injured when using conventional rehabilitation equipment. When a person cannot walk on their own, it is a push syndrome unique to hemiplegic patients. During walking, the pelvis is lifted up and the leg is circulated at the hip joint to make a forward swinging gait, which makes rehabilitation training difficult.

Korean Patent Registration No. 10-1327178 for solving these problems relates to a two-belt treadmill and a gait rehabilitation training device having the same, and more specifically, a treadmill body and a first drive provided on the left and right sides of the treadmill body A motor and a second drive motor, a left conveyor belt and a right conveyor belt rotatably installed on the treadmill body and rotated by the first drive motor and the second drive motor, respectively, and a left conveyor belt and a right conveyor belt installed on the treadmill body A two-belt treadmill including a belt loosening prevention unit to prevent belt peeling, a walker having a joint drive unit installed in each lower extremity joint portion to detect angular data according to lower extremity joint motion and EMG signal of lower extremity, worn to support a pedestrian It is installed to surround the sub- and two-belt treadmill, and it is installed on a support frame with a handle that pedestrians can grip, and is installed on the upper part of the support frame to prevent pedestrians from falling and being injured. It relates to a two-belt treadmill comprising a central control unit for controlling a traction unit and a walker unit, a first driving motor and a second driving motor, and a gait rehabilitation training apparatus having the same.

However, in the prior art as described above, since the conveyor belt is driven to move the patient's foot, the patient has to lift the leg and move it, so there is a difficulty in rehabilitation training, and the strength is low due to the fear of secondary injury in the training process. There was a problem that it takes a lot of work and the training time is short.

In addition, in the prior art, since the conveyor belt is driven to move the patient's foot, the patient has to walk by lifting his/her leg, and there is a problem in that the patient has to walk directly into the device for rehabilitation training.

KR 10-1327178 B

The present invention has been proposed to solve the above technical problems, and provides a convergence type rehabilitation apparatus for the severely disabled that can prevent abrupt decrease in the plantar muscle, ankle muscle, shin muscle and calf muscle of a hemiplegic patient. .

In addition, accurate and efficient initial gait rehabilitation training will be provided to patients with spinal diseases such as herniated discs, arthritis patients with reduced mobility due to leg arthritis, hemiplegic patients due to accidents, leprosy patients, stroke patients, cerebral palsy patients, etc. It provides a convergence type rehabilitation device for the severely disabled that can be used.

According to an embodiment of the present invention for solving the above problem, an automatic patient transfer unit for moving the patient to a preset rehabilitation position while lifting the patient's trunk and the patient in the rehabilitation position according to the selected gait pattern A trunk exercise unit configured to perform gait rehabilitation while stepping on a footrest, a control device for controlling an operation of the trunk exercise unit according to a selected gait pattern, and a footrest of the trunk exercise unit to be engaged with the footrest of the patient There is provided a convergence type rehabilitation apparatus for the severely disabled, including a walking aid that wraps from the sole to the bottom of the knee and senses the pressure and biosignals of the wrapped area, and outputs electrical stimulation to a plurality of points according to the control of the control device. .

In addition, the present invention is characterized in that it further comprises a photographing device for three-dimensionally photographing the walking posture or movement of the lower body of a patient undergoing rehabilitation training through the trunk exercise unit included in the present invention and transmitting the photographing device to the control device.

In addition, the control device included in the present invention can individually determine the contractility/relaxation state of the plantar muscle, the ankle muscle, the shin muscle, and the calf muscle through the information transmitted through the walking aid, and correct the patient's posture. It is characterized in that by controlling the application of electrical stimulation to each muscle so that the specific muscle is contracted or relaxed.

In addition, the walking aid included in the present invention is characterized in that when contraction, relaxation, or tremor of a muscle opposite to the behavior of the patient's rehabilitation training occurs, it outputs electrical stimulation for suppressing the opposite movement of the muscle.

In addition, the walking aid included in the present invention detects the degree of muscle contraction/relaxation when the patient proceeds with the target behavior of rehabilitation training, and adjusts the intensity of electrical stimulation so that the actual behavior can reach the target behavior. It is characterized by outputting to the point.

In addition, the control device included in the present invention, when the patient undergoes rehabilitation training, the actual behavior reaches the target behavior in consideration of the alpha gamma coactivation pattern, the muscle length change pattern, and the change rate pattern. It is characterized in that it controls the operation of the walking aid and the trunk exercise unit so that the

The convergence type rehabilitation apparatus for the severely disabled according to an embodiment of the present invention can prevent a sudden decrease in the plantar muscle, the ankle muscle, the shin muscle, and the calf muscle of a hemiplegic patient.

In addition, accurate and efficient initial gait rehabilitation training will be provided to patients with spinal diseases such as herniated discs, arthritis patients with reduced mobility due to leg arthritis, hemiplegic patients due to accidents, leprosy patients, stroke patients, cerebral palsy patients, etc. can

In addition, trunk disease patients or the disabled who cannot voluntarily walk can perform rehabilitation exercises using the prepared power. Because the leg, hip, knee and ankle joints are used naturally, degenerative joint-related diseases can be prevented and muscle strength can be naturally strengthened.

Patients and the disabled instinctively reluctant to support weight toward the painful leg and have fear, and it is difficult to perform gait exercise for technical tasks in a state where senses such as movement, perception, touch, and pressure are lacking. Because it is impossible, it is possible to solve the problem of difficulty in walking without the help of a physical therapist.

In addition, patients or the disabled have problems with muscle relaxation, tension, and stiffness, so they do not have the ability to solve the problem through gait exercise, so they sometimes become stiff. However, this can be alleviated through the fusion type rehabilitation device for the severely disabled. have. In addition, the rehabilitation exercise can be performed with the help of an expert based on the data already input, and correction and addition or subtraction can be made according to the result, and the rehabilitation exercise can be arbitrarily adjusted according to the physical condition.

1 is a conceptual diagram of a rehabilitation system according to an embodiment of the present invention;
2 is a control-related configuration diagram of a rehabilitation system according to an embodiment of the present invention;
3 is a block diagram of a rehabilitation execution system of the rehabilitation system of FIG. 1
Figure 3a is an exemplary diagram for the SIPOC dynamic equilibrium model
4 is a perspective view showing the overall appearance of the convergence type rehabilitation apparatus for the severely disabled of the rehabilitation execution system of FIG.
5 is a view showing a screen for selecting a gait pattern through a menu displayed on the control device (120).
6 to 6b is a view showing a three-dimensional spatial image provided by the output device 130 in the gait rehabilitation training process
7 is an exemplary view of a walking aid 700 of a convergence type rehabilitation device for the severely disabled
7A is a block diagram of a walking aid 700 of a convergence type rehabilitation device for the severely disabled.
8 is a perspective view showing the trunk exercise unit 200 of the fusion type rehabilitation apparatus for the severely disabled.
9 is an exploded view showing the detailed structure of the trunk exercise unit 200 of the convergence type rehabilitation apparatus for the severely disabled.
10 is a side view showing the movement path of the trunk exercise unit 200 of the convergence type rehabilitation apparatus for the severely disabled.
11 is a view showing a state in which the trunk exercise unit 200 of the convergence type rehabilitation apparatus for the severely disabled is rotated.
12 is a perspective view showing a movement path in which the trunk exercise unit 200 of the convergence type rehabilitation apparatus for the severely disabled moves and rotates.
13 is a view showing another embodiment of the trunk exercise unit 200 of the fusion type rehabilitation apparatus for the severely disabled.
14 is a perspective view showing the transfer unit 300 of the convergence type rehabilitation apparatus for the severely disabled.
15 is a perspective view showing the support unit 400 of the convergence type rehabilitation apparatus for the severely disabled.
16 is a perspective view showing the safety protection equipment 500 of the convergence type rehabilitation apparatus for the severely disabled.

Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings in order to describe in detail enough that those of ordinary skill in the art to which the present invention pertains can easily implement the technical idea of the present invention.

1 is a conceptual diagram of a rehabilitation system according to an embodiment of the present invention, FIG. 2 is a control related configuration diagram of a rehabilitation system according to an embodiment of the present invention, FIG. 3 is a configuration diagram of a rehabilitation execution system of the rehabilitation system of FIG. 1, 3A is an exemplary diagram for a SIPOC dynamic equilibrium model.

1 to 3a, the rehabilitation system of the present invention,

It is a system that rotates the lower limbs according to the pattern stored in the system program to enable walking while lifting the trunk of the physically disabled or severely disabled person, and enables rehabilitation and process management. The focus of treatment is It avoids the patient's abnormal movement pattern and allows repeated learning and training of the planned normal movement pattern suitable for the patient's characteristics, so that the fear can be overcome by itself, and the recovery period can be accelerated by inducing interest and achievement.

For patients with spinal diseases such as herniated discs, arthritis patients with mobility difficulties due to arthritis in the legs, or hemiplegic patients due to accidents, leprosy patients, stroke patients, cerebral palsy patients, etc., and for people with trunk disabilities, gait training is essential for rehabilitation. We propose a system that supports and manages it at a scientific and rational level as a treatment regimen.

In other words, accurate initial gait rehabilitation training must be preceded for patients with spinal disorders such as herniated discs, arthritis patients with reduced mobility due to arthritis in the legs, hemiplegic patients due to accidents, leprosy patients, stroke patients, cerebral palsy patients, etc. . Since there is a serious sequelae if it is not supported at a scientific and rational level as a treatment from the early stage of the onset, we propose a fusion type rehabilitation device for the severely disabled that includes motion scan images and a wearable piezo plantar sensor to solve this problem.

The convergence-type rehabilitation device for the severely disabled is designed to adjust the gait path according to the initial gait posture, which prevents sudden muscle loss of the muscles (ankle, shin, calf, plantar) that have a decisive influence on the success of rehabilitation within 7 days in the early stage of patients with severe hemiplegia. A trunk movement part formed so that the footrest can be rotated according to the movement, a photographing device that is formed on the upper part of the trunk movement part and analyzes images by 3D motion scanning of a walking patient, and can be worn from the sole of the foot to the calf A stimulation point capable of sensing biosignals and generating electrical stimulation is provided inside, and it may be composed of a walking aid that is coupled with a trunk exercise unit to analyze a walking posture.

In addition, the convergence-type rehabilitation device for the severely disabled detects the pattern of alpha-gamma coactivation, which is the input of peripheral sense to motor neurons, which is an autonomous body function, and the muscle length and change rate pattern of the hemiplegic patient's actual movement. By comparing the data, it can be converted into a patient-specific exercise pattern to output an electrical stimulation signal that can restore or strengthen the nerves and muscles of an early hemiplegic patient.

In other words, the walking aid decreases rapidly in the early stage of hemiplegia (within 7 days) and determines the state of contraction and relaxation of the muscles used when walking the ankle, plantar, shin, and calf muscles, which play a decisive role in initial rehabilitation by detecting electrical signals. According to the walking posture, the corresponding muscle can be electrically stimulated to induce contraction or relaxation.

In addition, the walking aid may individually determine the contraction and relaxation state of the muscles used during walking, and may induce the muscles to contract or relax by electrically stimulating the muscles according to the walking posture.

In addition, the walking aid detects the patient's bio-signals and generates electrical stimulation when contraction, relaxation, or tremor of a muscle opposite to the patient's behavior occurs, thereby suppressing the opposite muscle movement.

The neural circuit responsible for the avoidance reflex is located in the spinal cord, and this effect appears during the rehabilitation training process and the correct posture is not acquired (accumulated), which can lead to a metastasis phenomenon. It can output electrical stimulation for

That is, the convergence type rehabilitation apparatus for the severely disabled can determine the avoidance reflex based on the three-dimensional image of the patient photographed by the camera and the human body signal sensed by the walking aid 700 , and output electrical stimulation to cancel it.

In addition, the SIPOC dynamic equilibrium model is applied to the convergence-type rehabilitation device for the severely disabled, which does not look at each habit separately, but looks at and accumulates several habits as a lump. In addition, an algorithm for correcting an actual posture with a habitual motion or desirable motion may be applied.

4 is a diagram illustrating a screen for selecting a gait pattern through a menu displayed on the control device 120 .

The convergence type rehabilitation apparatus for the severely disabled according to this embodiment includes only a simple configuration for clearly explaining the technical idea to be proposed.

4, the fusion type rehabilitation apparatus for the severely disabled includes a frame 100, a photographing device 110, a trunk exercise unit 200, a transfer unit 300, a support unit 400, a safety protection device 500, and a control device ( 120), the output device 130, is configured to include a walking aid (700).

In this embodiment, the transfer unit 300 , the support unit 400 , and the safety protection device 500 are collectively defined as the patient automatic transfer unit 10 and will be described. That is, the automatic patient transfer unit 10 is configured to include the transfer unit 300 , the support unit 400 , and the safety protection device 500 .

The detailed configuration and main operation of the convergence type rehabilitation apparatus for the severely disabled, configured as described above, are as follows.

The patient automatic transfer unit 10 consisting of the transfer unit 300, the support unit 400 and the safety protection equipment 500 is,

It is configured to automatically move the patient to a preset rehabilitation position with the patient's trunk lifted. The body core refers to the torso (body), and arms and legs are branched around the trunk.

The trunk exercise unit 200 is configured so that the patient can perform gait rehabilitation training while stepping on the footrest 210 in the rehabilitation position according to the selected gait pattern.

The trunk exercise unit 200 automatically moves the angle of the footrest 210 in up, down, left and right directions according to the gait pattern, and is configured to individually adjust the angle of the footrest 210 according to the physical gait restriction condition of each patient.

In addition, since the disabled have a habit of twisting their body to walk, the angle of the ankle may not be as flexible as that of a normal person. Therefore, it is configured to automatically move the angle of the footrest 210 up, down, left, and right to adjust the position of the ankle in consideration of the physical limitations of each patient. When the patient's gait rehabilitation data is stored in the control device 120, the initial angle and movement angle of the footrest 210 are automatically adjusted for each patient based on the existing gait rehabilitation data.

The control device 120 controls the operation of the trunk exercise unit 200 according to a gait pattern selected by a patient, a guardian, a therapist, and the like.

The gait pattern includes at least any one or more of flat walking, stair climbing, stair descending, ramp climbing, and ramp descending, and the gait height, gait width and gait speed of each gait pattern are configured to be adjustable.

The output device 130 provides a three-dimensional spatial image to the patient using any one of a virtual reality method and an augmented reality method when the patient performs gait rehabilitation training using the trunk exercise unit 200 .

The photographing apparatus 110 three-dimensionally captures the walking posture or movement of the lower body of the patient undergoing rehabilitation training through the trunk exercise unit 200 and transmits it to the control apparatus 120 .

The walking aid 700 is formed to be fastened with the footrest of the trunk exercise unit 200 .

That is, the walking aid 700 is configured to sense the pressure and bio-signals of the wrapped area while wrapping from the sole of the patient's sole to the bottom of the knee, and output electrical stimulation to a plurality of points according to the control of the control device 120 .

The controller 120 individually determines the contraction/relaxation state of the plantar muscle, the ankle muscle, the shin muscle, and the calf muscle through the information transmitted through the walking aid 700 , and corrects the patient's posture. By controlling the application of electrical stimulation to each muscle, a specific muscle is induced to contract or relax.

The walking aid 700 may output electrical stimulation for suppressing the opposite muscle movement when contraction, relaxation, or tremor of the muscle opposite to the behavior of the patient's rehabilitation training occurs.

In addition, when the patient proceeds with the target behavior of rehabilitation training, the walking aid 700 detects the degree of muscle contraction/relaxation, adjusts the intensity of electrical stimulation so that the actual behavior can reach the target behavior, and outputs it at a predetermined point can do.

The control device is a walking aid and trunk exercise unit so that the actual behavior can reach the target behavior by considering the alpha gamma coactivation pattern, the muscle length change pattern, and the change rate pattern when the patient is undergoing rehabilitation training. control the operation of

The convergence type rehabilitation device for the severely disabled applies the SIPOC dynamic equilibrium methodology, which looks at and accumulates multiple habits as a lump, rather than looking at each habit separately during the rehabilitation process. In other words, it provides an auxiliary method of overcoming the pain and trials inevitably appearing in the rehabilitation process with the eyes of will, giving them a sense of accomplishment and re-challenge.

The convergence type rehabilitation device for the severely disabled allows the state of contraction and relaxation of each muscle according to the walking posture of the patient to be input through the pressure sensor, and the input value and the ideal value are analyzed to provide electrical stimulation as much as the value. It can increase the sense of accomplishment by sensibly telling the patient which muscle to use while watching the monitor and knowing the effect by generating a signal (by dividing the size of the gap into 10 steps and sending a signal).

In addition, a circuit for removing a noise bio-signal (a signal that causes a muscle tremor or a relaxed muscle to contract) generated according to the bio-signal when the muscle contracts and relaxes may be added.

Clinical features seen in hemiplegic patients are changes in muscle tone, which can cause muscle atrophy in the affected muscle for 7 days after stroke due to cerebral ischemia. In addition, isometric contraction training using electrical signals is performed to reduce muscle atrophy. In some cases, rehabilitation is given up due to abnormal postural reflexes, sensory disorders, emotional disorders, etc., so the system and mechanical training can be performed together.

The clinical characteristics of the lower extremities of hemiplegic patients are abnormal gait patterns due to weak muscle strength and reduced movement control, spasticity or co-contraction of antagonist muscles, and weight bearing instability. Repeat training is carried out to prevent deterioration through the mechanism.

When a patient walks, each muscle contracts and relaxes according to the walking posture, and the lower motor neurons are alpha motor neurons that transmit signals to extrafusal and intrafusal skeletal muscle fibers. and gamma motor neurons, whose axons exit the spinal cord through the Ventral root and become peripheral nerves again and are transmitted to the skeleton.

The axon of the gamma motor neuron is connected to the intrafusal muscle fiber in the muscle spindle, and the axon of the alpha motor neuron is connected to the skeletal muscle outside the spindle, which branches off with countless endings in the muscle it dominates. .

The Golgi tendon organ and the muscle spindle send sensory information to the motor neurons and are essential for accurate movement, and the tension generated in the muscle tendon is converted into nerve stimulation by the Golgi tendon organ. This information is transmitted to the spinal cord by the outer branches and interneurons, which are then sent to the lower motor neurons, and the muscle spindle detects the change in muscle length and the rate of change in muscle length.

Information from the Golgi tendon organ and muscle spindle controls movement through connections in the spinal cord and brain stem, and provides proprioceptive information to the cerebrum and cerebellum. It is automatically regulated by cells.

By comparing the pattern of alpha-gamma coactivation, which is the input of peripheral sense to motor neurons, which is an autonomous bodily function, and the detected data of the muscle length and rate of change of the hemiplegic patient's actual movement, a patient-customized exercise pattern is developed. It can be switched to output an electrical signal to restore or strengthen the nerves and muscles of the early hemiplegic patient.

The process of using the convergence type rehabilitation device for the severely disabled by patients, guardians, and therapists is as follows.

First, if a severely disabled (patient) enters in a wheelchair,

The automatic transfer unit 300 moves the patient to a preset rehabilitation position by lifting the patient's trunk.

After selecting any one or more gait patterns among flat walking, stair climbing, stair descending, ramp climbing, and ramp descending, select the gait height, gait width and gait speed of each gait pattern to prepare for gait rehabilitation training.

The control device 120 stores the data on each patient's gait rehabilitation training and stores it in a database state, and the control device 120 allows each patient to set a training target with reference to their past gait rehabilitation training data. information that can be provided.

That is, after the patient selects past data, it may be configured to adjust the training target with reference to the past data. Since the patient's usual habits are recorded in the past data, the training level can be adjusted in consideration of the past records.

At this time, the output device 130 may provide a three-dimensional space to the patient by using any one of the virtual reality method and the augmented reality method,

By providing a three-dimensional spatial image to the patient during gait rehabilitation training, it is possible to provide psychological stability by using the path the patient is normally familiar with as a virtual space. Here, the virtual space may include spatial information such as around the patient's residence, the patient's hometown, the patient's preferred area, and the inside of the patient's house.

On the other hand, when the photographing device 110 is configured to identify both an image and a three-dimensional image by having both a visible ray area photographing lens, an infrared area photographing lens, and a radar sensor,

Whether the patient currently in the rehabilitation position matches the patient selected by the control device 120 may be determined based on image object recognition and the characteristics of the patient's three-dimensional movement.

5 is a diagram illustrating a screen for selecting a gait pattern through a menu displayed on the control device 120 .

Referring to Figure 5, the convergence type rehabilitation apparatus for the severely disabled,

The patient, guardian, and therapist select at least any one or more gait patterns among flat walking, stair climbing, stair descending, ramp climbing and ramp descending, using the control device 120, and combine each gait pattern to perform gait rehabilitation training. can proceed.

The control device 120 includes a touch screen and a push button, so that the user can easily select a walking pattern.

At this time, as shown in FIG. 5, the walking height, the walking width, and the walking speed of each walking pattern are configured to be adjustable.

The control device 120 stores the data on each patient's gait rehabilitation training and stores it in a database state. Each patient provides information that can set a training target by referring to his or her past gait rehabilitation training data. can

That is, after the patient selects past data, it may be configured to adjust the training target with reference to the past data. Since the patient's usual habits are recorded in the past data, the training level can be adjusted in consideration of the past records.

The control device 120 receives the sensing data transmitted from a pressure sensor (not shown) formed on the footrest 210 and measuring the pressure applied to the footrest 210, and analyzes the pressure generated when the patient walks. After that, it can be displayed on the screen of the control device 120 .

A plurality of pressure sensors (not shown) are disposed inside the footrest 210 , and the distribution of the load applied to the footrest 210 when the patient walks can be measured through the pressure sensor.

The control device 120 uses the load distribution that occurs when the patient walks on the footrest 210 so that the load is not intensively applied to a specific area by using the first rotation device 220 and the second rotation device 230 . By adjusting the position of the ankle by rotating the footrest 210 by using it, it is possible to receive a uniform load.

In addition, depending on the patient's condition, when the footrest 210 moves along the guide groove 251 of FIG. 7 , the footrest 210 can maintain a horizontal state, thereby controlling the patient's ankle not to burden the patient's ankle.

The pressure state applied to the sole displayed on the screen of the control device 120 may be displayed as a danger (RED), normal (GREEN), and caution (BLUE) state corresponding to each position of the sole, and each state is a color It is graphically displayed so that patients, caregivers, and therapists can easily observe the current pressure state of the soles of the feet.

On the other hand, when the patient wears at least one wearable posture and orientation sensor - not shown - on each part such as an arm and a leg, or carries a portable terminal in a pocket,

The control device 120 is configured to exchange data with each other in a wireless communication method with the wearable attitude and orientation sensor and the portable terminal.

The control device 120 controls the operation of the trunk exercise unit 200 according to the selected gait pattern, and detects the patient's behavior and posture in real time based on the wearable posture and orientation sensor and 3D position information transmitted in real time from the portable terminal. It can be integrated and reflected in gait rehabilitation training.

For reference, the posture and orientation sensor is a sensor capable of detecting motions in a three-dimensional space, and is also referred to as a 9-axis sensor. The 9-axis is referred to as a 9-axis sensor because a total of 9 axes are measured with 3 axes of acceleration, 3 axes of inertia, and 3 axes of geomagnetism.

Therefore, when the patient wears the wearable posture and orientation sensor on the arm, thigh, pelvis, or leg, the three-dimensional movement of each part is sensed and transmitted to the control device 120, and the control device 120 based on the received data. It is possible to proceed with the patient's actions and postures in real time.

6 to 6b are diagrams showing a three-dimensional spatial image provided by the output device 130 in the gait rehabilitation training process.

6 to 6B , when the patient performs gait rehabilitation training using the trunk exercise unit 200 , the output device 130 provides 3 to the patient using any one of a virtual reality method and an augmented reality method. It provides a dimensional spatial image.

In other words, by providing a three-dimensional spatial image to the patient when performing gait rehabilitation training, it is possible to give the patient a psychological stability by using the usual path as a virtual space. Herein, the virtual space may include spatial information such as around the patient's residence, the patient's preferred area, and the inside of the patient's house.

Therefore, the severely disabled, i.e., the patient, can engage in gait rehabilitation in a state where the psychological reluctance is alleviated, resulting in good training performance.

As shown in Figures 6 to 6b, the patient can proceed with the gait rehabilitation training with a realistic feeling while viewing a three-dimensional spatial image. In this case, the patient may set a virtual space desired by the patient by selecting a program, selecting a user program, and selecting a road obstacle.

For reference, it may be configured so that the patient can upload the image taken using the portable terminal to the control device 120 in a wireless communication method,

In this case, the control device 120 may convert the uploaded image into a three-dimensional spatial image and display it. Therefore, it can conveniently reflect the familiar space that the patient wants to train.

In this case, the road slope may be displayed on the screen in real time, and the accumulated travel distance, the plan, the present, and the amount of heat consumed may be displayed.

7 is an exemplary view of the auxiliary walker 700 of the fusion type rehabilitation apparatus for the severely disabled, and FIG. 7A is a configuration diagram of the auxiliary walker 700 of the fusion type rehabilitation apparatus for the severely disabled.

7 to 7A , the walking aid 700 includes an electrical stimulation unit 710 , a human body signal sensing unit 720 , a pressure sensor 730 , and a footrest coupling unit 740 . .

The walking aid 700 is configured to cover from the sole of the patient's sole to the bottom of the knee, and is configured to sense the pressure and biosignals of the wrapped area, and to output electrical stimulation to a plurality of points.

That is, the electrical stimulation unit 710 includes a plurality of stimulation electrodes arranged in a grid shape to output electrical stimulation to a plurality of points. The plurality of stimulation electrodes are selectively activated by selection of the control device 120 . Basically, three neighboring stimulation electrodes (equilateral triangle shape) form one group and operate in pairs, and the interval between stimulation electrodes constituting one group may be expanded or reduced by the control device 120 . That is, during the patient's initial rehabilitation operation, the interval between stimulation electrodes is automatically changed in the customized test mode, and the interval between stimulation electrodes effective for changing the patient's motion is automatically trimmed.

In addition, a plurality of stimulation electrode groups may be formed and controlled to sequentially operate. In this case, the operation order of the plurality of stimulation electrode groups may be set in a narrow order to a wide order, a wide order to a narrow order, and a random order based on the interval of the stimulation electrodes.

In another embodiment, the stimulation electrode may be formed on the carbon pad. That is, since the carbon pad may be formed of a conductive material, it is configured to directly transmit the electrical stimulation pattern to the contacted human body. In particular, the carbon pad is composed of 0.5 to 5 parts by weight of carbon nanotubes and 1 to 10 parts by weight of carbon black with respect to 100 parts by weight of the polycarbonate resin, and the conductive polycarbonate resin composition is prepared by introducing carbon nanotubes as a conductive filler. It has low surface resistance and very good electrical conductivity.

In addition, the human body signal sensing unit 720 is configured to detect the biosignal of the wrapped portion at a plurality of points, and includes a plurality of sensing electrodes arranged in a grid shape. The plurality of sensing electrodes are selectively activated by selection of the control device 120 . Basically, three neighboring sensing electrodes (equilateral triangle shape) form one group and operate in pairs, and the interval between sensing electrodes constituting one group may be expanded or reduced by the control device 120 . That is, when the patient's initial rehabilitation operation, the interval of the sensing electrode is automatically changed in the customized test mode, and the interval of the sensing electrode effective for the patient's operation change is automatically trimmed.

In addition, a plurality of sensing electrode groups may be formed and controlled to sequentially operate. In this case, the operation order of the plurality of sensing electrode groups may be set in a narrow order to a wide order, a wide order to a narrow order, and a random order based on the distance between the sensing electrodes.

A plurality of pressure sensors 730 are arranged in a grid to sense the distribution of the load applied to all regions of the surrounding area. For reference, the pressure sensor is a piezoelectric polymer thin film formed on a flexible substrate, and a device for sensing pressure based on a change in dielectric constant may be used.

The footrest coupling unit 740 is configured to be fastened with the footrest 210, and before the footrest coupling unit 740 and the footrest 210 are fastened, the walking aid 700 operates by the built-in battery power, and controls It operates to exchange data through wireless communication with the device 120 .

In addition, after the footrest coupling unit 740 and the footrest 210 are fastened, the footrest coupling unit 740 and the control device 120 are also electrically connected, so the walking aid 700 and the control device 120 are wired. It operates to exchange data through communication. In addition, after the footrest coupling part 740 and the footrest 210 are fastened, the pressure sensor inside the footrest 210 is automatically deactivated.

In addition, the inner surface of the walking aid 700 may be provided with a plurality of row-direction air passages and a plurality of column-direction air passages, and a traction unit for applying a predetermined traction force to a region covering from the sole of the patient's sole to below the knee may be provided.

In addition, the walking aid 700 has an air injection unit for injecting air into the plurality of row-direction air passages and the plurality of column-direction air passages, and a preset temperature inside the plurality of row-direction air passages and the plurality of column-direction air passages. It may be provided with a heating unit that generates heat.

In this case, the air injection unit may operate to inject air into each of the plurality of row direction air passages and the plurality of column direction air passages at individual air pressures. According to an embodiment, the air passage may be formed to selectively surround at least one of a sole, an ankle, a shin, and a calf.

In addition, the air injection unit injects air pressure into two (row direction or column direction) air passages at the same time, while injecting air at individual pressures, and detects the pressure difference between the air passages to automatically check the air passage sealing state. can operate so that

On the other hand, the fusion type rehabilitation apparatus for the severely disabled can move the patient to a preset rehabilitation position while lifting the patient's trunk, and 3D position information transmitted in real time from at least one wearable posture and orientation sensor worn by the patient Based on this, the behavior recognition and posture recognition of the patient can be processed in real time and reflected in the gait rehabilitation training.

In particular, when the user selects an obstacle,

The control device 120 controls the virtual obstacle to appear in the three-dimensional space image provided by the output device 130 through the augmented reality method,

The motion of the trunk exercise unit 200 may be controlled in conjunction while recognizing the patient's behavior based on 3D position information transmitted in real time from at least one wearable posture and orientation sensor worn by the patient.

Here, the obstacle may include an object existing on a pedestrian road, a manhole, an uneven road surface, an uneven road surface, and the like.

When the patient passes through an uneven or uneven road surface, the footrest 210 may increase the haptic effect by giving up, down, left and right vibration effects according to the road surface condition. At this time, the vibration effect may be realized through a plurality of motors provided in the trunk exercise unit 200 .

In addition, the obstacle may reflect a snow-covered road surface and even an icy road, and the control device 120 controls the trunk exercise unit 200 according to the condition of the road surface, so that the patient actually walks on the snow-covered road surface and icy road. can be given For example, the control device 120 may control the trunk exercise unit 200 to perform a training to feel the slippery slope of the icy road, and to realize the slipperiness and the feeling of stepping on the snow at the same time in consideration of the snow accumulation height. can

That is, the convergence-type rehabilitation apparatus for the severely disabled can perform training to avoid virtual obstacles in a three-dimensional spatial image, and control interlocking control up to the trunk exercise unit 200 by detecting the patient's posture when avoiding the virtual obstacle. Thus, obstacle avoidance training can be effectively performed while protecting the patient.

The convergence type rehabilitation apparatus for the severely disabled may be configured to include a photographing apparatus 110 capable of photographing the movement of a patient as described above.

The imaging device 110 takes a picture of a patient undergoing rehabilitation training through the trunk exercise unit 200 , and sends a picture of the patient's walking posture or lower body movement to the control device 120 , and the control device 120 recognizes an object Analyze the patient's gait state through the method.

The photographing apparatus 110 may photograph both the visible light region and the infrared region, so that the walking posture and lower body movement of the patient may be photographed even in the situation of training for walking at night. The imaging device 110 may be configured to three-dimensionally detect a patient's movement using a lidar or radar sensor. The three-dimensional movement of the patient is stored in the control device 120 and may be displayed visually.

On the other hand, the control device 120 recognizes the risk pattern in consideration of the patient's physical limitations based on the patient's gait and lower body movement data transmitted from the imaging device 110 and the wearable posture and orientation sensor, and then the risk Training can be paused when a pattern is reached.

That is, since the control device 120 stores the patient's physical limit information (ankle angle, hip joint angle, knee angle), the patient's gait and lower body After recognizing a dangerous situation through movement data, it can be controlled so that safe walking training can proceed.

In addition, when the imaging device 110 is configured to three-dimensionally detect the patient's movement using a lidar or radar sensor,

The control device 120 controls the patient to perform some standard movements through the trunk exercise unit 200, and after detecting the patient's movement three-dimensionally at this time, it is possible to recommend a wearing position of the wearable posture and orientation sensor. have.

In addition, when the imaging device 110 is configured to three-dimensionally detect a patient's motion using a lidar or radar sensor, it is reviewed whether the patient selected by the control device 120 is correct based on the characteristics of the patient's motion. process may proceed.

That is, when selecting the existing data of the patient through the control device 120 and performing training, even if the data of another patient is selected by mistake, the imaging device 110 detects the current three-dimensional movement of the patient and the control device ( 120), the process of re-examining whether the patient is consistent with the selected patient proceeds to increase safety.

In addition, when the imaging device 110 is configured to identify both an image and a three-dimensional image by having both a visible ray region imaging lens, an infrared region imaging lens, and a radar sensor, the patient in the current rehabilitation position, the control device Whether it matches the patient selected by 120 may be determined based on object recognition and 3D movement characteristics of the patient.

On the other hand, although not shown in the drawing, when the user mounts the knee guide,

The control device 120 is configured to exchange data with each other in a wireless communication method with the knee guide.

The knee guide is equipped with a knee position sensor that detects the movement of the knee and is worn on the patient's knee to limit the movement angle of the knee.

The control device 120 interlocks and controls the operation of the trunk exercise unit 200 in consideration of the movement angle of the knee transmitted from the knee position sensor of the knee guide. That is, the controller 120 may adjust the posture of the pelvis including the hip joint by adjusting the angle of the knee in consideration of the patient's physical limitations.

The convergence type rehabilitation device for the severely handicapped naturally uses the legs, hip, knee, and ankle joints, thus preventing degenerative joint-related diseases and enhancing muscle strength naturally.

In addition, patients or the disabled instinctively reluctant to bear weight on the side of the painful leg, have fear, and perform gait exercise for technical tasks in a state of lack of sense of movement, perception, touch, and pressure. Because it is impossible to do it, it is possible to solve the problem of difficulty in walking without the help of a physical therapist.

In addition, because patients or persons with disabilities have problems with muscle relaxation, tension, and stiffness, they do not have the ability to solve problems through gait exercise and thus become hardened, preventing secondary poverty that restricts economic activities due to behavioral disorders can do. It proceeds to a program created with the help of an expert based on the data already entered, and depending on the result, corrections, additions, and subtractions can be made, and it can be arbitrarily adjusted according to the physical condition.

Again, looking at the structure of the convergence type rehabilitation device for the severely disabled in more detail,

As shown in FIG. 4 , the convergence type rehabilitation apparatus for the severely disabled includes a frame 100 having upper and lower portions spaced apart from each other, and a footrest 210 coupled to both lower sides of the frame 100 and moving along a set path. ) (refer to FIG. 8) is formed to allow the patient to perform rehabilitation training while stepping on the footrest 210, and the trunk exercise unit 200 is formed on the side of the frame 100 to operate It is characterized in that it comprises a control device 120 for controlling or analyzing the condition of the patient.

Also coupled to the upper portion of the frame 100 and the transfer unit 300 for transferring the transfer plate 310 (see Fig. 15) to the front or rear of the frame 100, and the lower portion of the transfer plate 310 (see Fig. 15) It is coupled to the support part 400 provided with a handle to support the body by holding it by hand when the patient walks using the trunk exercise part 200, and is coupled to the lower part of the transfer plate 310 (see FIG. 15). It is characterized in that it further comprises a safety protection device 500 surrounding the upper body of the patient so that the patient does not fall.

The frame 100 has a ramp formed on the rear side so that a wheelchair can enter, so a patient who cannot walk independently can enter the frame 100 through the ramp formed on the rear side of the frame 100 using a wheelchair. there will be

In addition, since the upper and lower portions of the frame 100 are spaced apart from each other, the transfer unit 300 is coupled to the upper portion, the trunk exercise unit 200 is coupled to the lower portion, and the front and rear surfaces of the frame 100 are open so that the patient can undergo rehabilitation training. There will be space for you to do it.

The trunk exercise unit 200 is a device for rehabilitation training by allowing the patient to walk in place by stepping on the footrest 210 of FIG. 8 . By allowing the footrest 210 of FIG. 8 to move by external power, even a patient who cannot walk independently is rehabilitated make it possible to train

The controller 120 controls the trunk exercise unit 200 so that the patient can walk in a correct posture or operate at a speed suitable for the patient's condition by controlling the operation of the trunk exercise unit 200 , and is set in the control device 120 . The trunk exercise unit 200 may be operated according to the program.

The transfer unit 300 is coupled to the upper portion of the frame 100 to transfer the transfer plate 310 of FIG. 15 to the front or rear surface of the frame 100, so that the transfer plate 310 of FIG. The support part 400 and the safety protection device 500 may be positioned on the upper part of the trunk exercise part 200 or may be moved to the upper part of the patient who enters the rear of the frame 100 in a wheelchair.

The support part 400 is formed so that the patient can hold it by hand, and is a device that assists the patient not to fall to the front while walking by holding the support part 400 by hand when the patient walks using the trunk exercise part 200 .

The safety protection equipment 500 is configured in the form of a vest, so it can be worn on the patient's upper body and is coupled to the transfer unit 300 that moves the upper part of the frame 100, so when the patient wears the safety protection equipment 500 suspended in the air By standing upright, even a patient without lower body strength can do rehabilitation training without falling down.

In addition, on the upper portion of the frame 100 , a photographing device 110 for photographing a patient walking through the trunk exercise unit 200 to photograph the patient's gait state, and an image set at the front of the frame 100 are displayed. It is characterized in that it further includes an output device 130 that reproduces an image output according to the amount of movement when the patient walks using the trunk exercise unit 200 .

The imaging device 110 captures a patient undergoing rehabilitation training through the trunk exercise unit 200, and captures the patient's walking posture or lower body movement to be used as image data for analyzing the patient's gait state.

That is, by analyzing the image captured by the imaging device 110, the rehabilitation therapist or the doctor operates the control device 120 so that the walking speed or posture can be corrected to apply rehabilitation training suitable for the patient.

The output device 130 is formed as a display so that the image stored in the control device 120 is output, and is located in front of the frame 100 so that the patient can see the image and perform rehabilitation training.

The image output from the output device 130 displays an image that can be walked by a person, such as a park or a street, or outputs the path the patient usually walks to determine the speed at which the image is reproduced according to the speed of the trunk exercise unit 200 . By changing it, you can make it feel like you are walking on a real street.

In addition, the output device 130 may be replaced with a virtual reality head-mounted display, and when a patient undergoes rehabilitation training after wearing a virtual reality head-mounted display, the virtual reality experienced in his or her life around according to the speed of the trunk exercise unit 200 It can also stimulate the patient's interest by allowing real images to be played and look around.

8 is a perspective view illustrating a trunk exercise unit of the fusion type rehabilitation apparatus for the severely disabled.

As shown in FIG. 8 , the trunk exercise unit 200 of the fusion type rehabilitation apparatus for the severely disabled includes a footrest 210 formed to fix the patient's foot, and a footrest 210 formed under the footrest 210 . The first rotation device 220 and the first rotation device 220 are formed under the first rotation device 220 to rotate the left or right direction to rotate the footrest 210 and the first rotation device 220 in the forward or rearward direction. A cylinder 240 for moving the second rotation device 230 in a forward or backward direction by coupling the second rotation device 230 and one side to the side surface of the second rotation device 230 and the other side to the frame 100 . characterized in that it consists of

In addition, one side of the footrest 210 of the trunk exercise unit 200 is inserted into the guide grooves 251 formed in the guide plates 250 located on both sides of the frame 100 , and the other side of the footrest 210 is a cylinder. When the cylinder 240 is coupled to the 240, the footrest 210 is characterized in that it moves along the guide groove 251.

The trunk exercise unit 200 is located on both sides of the frame 100, and a footrest 210 is formed to fix the foot when the patient walks, and a first rotation device 220 and a second rotation device 220 are provided under the footrest 210. The rotation device 230 is coupled to each other in turn.

The piston rod 241 of the cylinder 240 is coupled to one side of the second rotation device 230 and the other side is inserted into the guide groove 251 dug inward into the guide plate 250 to the second rotation device 230 . It is preferable not to separate from the guide groove 251.

The guide groove 251 has an elliptical shape corresponding to the trajectory of the foot generated when a person walks, and the guide plate 250 having the guide groove 251 having a shape corresponding to the walking habit of the walking patient can be used by replacing the guide plate 250 . may be

The piston rod 241 coupled to one side of the second rotation device 230 pushes or pulls the second rotation device 230 while being inserted into or protruding outside the cylinder 240 by the operation of the cylinder 240 . The second rotation device 230 moves along the guide groove 251 .

At this time, since the end of the cylinder 240 is coupled to the pivot 242 fixed to the frame 100 , the cylinder 240 can rotate based on the pivot 242 and protrude from or inserted into the cylinder 240 . The piston rod 241 to be operated is rotated according to the position of the second rotation device 230 moving along the guide groove 251 .

The first rotation device 220 is formed to rotate the footrest 210 to the left or right, and the second rotation device 230 is formed to rotate the footrest 210 forward or backward, so that rehabilitation training is performed. When walking, the patient can perform ankle movements similar to actual walking by using the ankle.

9 is an exploded view showing the detailed structure of the trunk exercise unit of the fusion type rehabilitation apparatus for the severely disabled.

As shown in FIG. 9 , the first rotational device 220 of the trunk exercise unit 200 of the convergence type rehabilitation apparatus for the severely disabled has a first rotational plate having a flat top so that the footrest 210 can be coupled to it ( 221), a first rotational shaft 222 coupled to the lower portion of the first rotational plate 221 from the front to the rear to rotate the first rotational plate 221 to the left or right, and the end of the first rotational shaft 222 It is coupled to a first rotation motor 223 for rotating by applying power to the first rotation shaft 222 .

The second rotation device 230 includes a second rotation plate 231 formed on the upper portion so that the first rotation shaft 222 can be coupled from the front to the rear, and from one side to the other side on the lower portion of the second rotation plate 231 . A bearing coupled to a second rotational shaft 232 for rotating the second rotational plate 231 from the front to the rear, and a bearing coupled to one side of the second rotational shaft 232 and rotatable separately from the second rotational shaft 232 . 234 and a second rotation motor 233 coupled to the other side of the second rotation shaft 232 to rotate the second rotation shaft 232 .

In addition, the end of the piston rod 241 is coupled to the other side of the second rotation shaft 232 , the second rotation motor 233 is coupled to and fixed to the piston rod 241 , and the second rotation shaft 232 is the piston rod 241 . ) through the second rotary motor 233 to be rotatable.

The first rotational shaft 222 and the first rotational plate 221, the second rotational shaft 232 and the second rotational plate 231 are coupled with a key when the first rotational shaft 222 or the second rotational shaft 232 is coupled. It is preferable that the first rotation plate 221 and the second rotation plate 231 rotate without slip when rotating.

In addition, the bearing 234 coupled to one side of the second rotation shaft 232 is inserted into the guide groove 251 of FIG. 8 and then the guide groove 251 of FIG. 8 to prevent it from coming out from the guide groove 251 of FIG. 8 ) It is preferable that the outer diameter of the bearing 234 is formed larger than the size of .

That is, a groove having a size corresponding to the outer diameter of the bearing 234 is formed inside the guide groove 251 of FIG.

In addition, when the bearing 234 moves the second rotation shaft 232 along the guide groove 251 of FIG. 8 while the piston rod 241 reciprocates, the bearing 234 is independent of the second rotation shaft 232 . By reducing the frictional force applied to the shaft while rotating, it becomes possible to move it smoothly.

The first driving motor and the second driving motor are composed of a servo motor or a step motor so that position control is possible, so the amount of rotation when rotating the first rotating shaft 222 and the second rotating shaft 232 can be controlled. 210) can be actively changed according to the walking posture.

10 is a side view showing the movement path of the trunk exercise unit 200 of the convergence type rehabilitation apparatus for the severely disabled.

As shown in FIG. 10 , the footrest 210 of the trunk exercise unit 200 of the fusion type rehabilitation apparatus for the severely disabled according to the present invention is protruded or inserted from the cylinder 240 by a piston rod 241 that reciprocates. It is characterized in that the position is moved along the guide groove (251).

The foot plate 210 is formed to move along the guide groove 251 in a state constrained by the guide groove 251 formed in the guide plate 250, and the piston rod 241 of the cylinder 240 reciprocates. It is possible to move along the guide groove 251 .

Since the guide groove 251 is formed along the path of the foot that occurs when walking, when the patient walks using the trunk exercise unit 200, the muscles and joints of the leg are used as when walking, so the feeling of actually walking will be able to receive

In addition, after the guide groove 251 formed in the guide plate 250 is formed in a path tailored to the patient's walking posture, the guide plate 250 can be replaced and used, and when a path adapted to the standard walking posture is used, rehabilitation You can also correct your walking posture while training.

The end of the cylinder 240 is coupled to the pivot 242 so that the cylinder 240 can rotate in the upper or lower direction based on the pivot 242, so the piston rod 241 is coupled to the cylinder 240. can move the footrest 210 as the height is changed along the guide groove 251 .

In addition, the control device 120 of FIG. 4 may control the footrest 210 to maintain a horizontal state when the footrest 210 moves along the guide groove 251 of FIG. 8 according to the patient's condition, and through this, the patient It can also be controlled so that there is no burden on the ankle.

11 is a view showing a state in which the trunk exercise unit 200 of the fusion type rehabilitation apparatus for the severely disabled is rotated.

11, the footrest 210 of the trunk exercise unit 200 of the fusion type rehabilitation apparatus for the severely disabled according to the present invention can be rotated to the left or right, so that the footrest 210 can be adjusted according to the patient's walking habit. It is characterized in that it is adjustable.

When the first rotational shaft 222 is rotated by the first driving motor, the first rotational plate 221 of the first rotational device 220 coupled to the footboard 210 can be rotated to the left or right. It can be adjusted according to your walking habits.

That is, if the patient has a habit of touching the inner or outer side of the sole first when walking, the footrest 210 is rotated to the left or right to walk in a tilted state because it puts a strain on the ankle so that the load applied to the sole is uniformly applied. can be induced.

In addition, the footrest 210 of the trunk exercise unit 200 is rotated forward or backward depending on the position to allow the patient to move the ankle when the patient steps on the footrest 210 and walks.

The footrest 210 and the first rotation device 220 can be rotated forward or backward through the second rotation device 230 formed under the first rotation device 220 to spur the ground when the patient walks. It is possible to exercise the ankle in a high and outgoing shape.

The second rotation device 230 actively changes the rotation amount of the footrest 210 according to the position at which the footrest 210 of Fig. 8 is moved along the guide groove 251 so that walking is performed naturally. Controlled by (120).

In addition, the control device of FIG. 4 analyzes the pressure generated when the patient walks through a pressure sensor (not shown) that is formed on the footrest 210 and measures the pressure applied to the footrest 210 to allow the patient to walk correctly. It is characterized in that the footrest 210 is rotated to maintain the patient's gait posture.

A plurality of pressure sensors (not shown) are disposed inside the footrest 210 , and the distribution of the load applied to the footrest 210 when the patient walks can be measured through the pressure sensor.

The control device 120 of FIG. 4 uses the load distribution that occurs when the patient steps on the footrest 210 and walks so that the load is not intensively applied to a specific part of the first rotation device 220 and the second rotation device ( 230) can be used to rotate the footrest 210 to receive a uniform load.

In addition, depending on the patient's condition, when the footrest 210 moves along the guide groove 251 of FIG. 13 , the footrest 210 can maintain a horizontal state, so that the patient's ankle is not burdened with control.

12 is a diagram illustrating a movement path in which the trunk exercise unit 200 of the convergence type rehabilitation apparatus for the severely disabled moves and rotates.

As shown in FIG. 12 , the control device 120 (see FIG. 4 ) of the convergence type rehabilitation apparatus for the severely disabled according to the present invention uses a set program to move the footrest 210 of the trunk exercise unit 200 at a moving speed. It is characterized in that it can control or control the amount of rotation of the footrest 210 according to the position.

The footrest 210 moves along the guide groove 251 by the reciprocating motion of the piston rod 241 in a state constrained by the guide groove 251, depending on the position at which the footrest 210 moves. The control device 120 of FIG. 4 controls the rotation so that the same effect as the ankle movement that occurs when walking is actually performed.

At this time, the control device 120 of FIG. 4 may have a plurality of detection sensors (not shown) disposed inside the guide groove 251 to determine the position of the footrest 210, and the detection sensors (not shown) When the control device 120 of FIG. 4 determines the position of the footrest 210 by , the first rotating device 220 and the second rotating unit 230 of FIG. 11 are driven so that the footrest 210 is rotated for each section. will make it

In addition, the control device 120 of FIG. 4 can control the speed of input and output of the fluid applied to the cylinder 240 to adjust the speed at which the footrest 210 moves, thereby slowing the walking speed or slowing the walking speed according to the patient's walking state. can be adjusted quickly.

13 is a view showing another embodiment of the trunk exercise unit of the fusion type rehabilitation apparatus for the severely disabled.

As shown in FIG. 13 , the trunk exercise unit 200 of the fusion type rehabilitation apparatus for the severely disabled according to another embodiment is a footrest along the path by the movement of the piston rod 241 of the cylinder 240 (see FIG. 12 ). When the 210 moves, the piston rod 241 has a bearing 234 so that the second rotation shaft 232 formed in the second rotation device 230 is not bent or damaged by the load of the piston rod 241. It is characterized in that it is formed to be close to the distance.

When the piston rod 241 is coupled to the second rotation shaft 232 as shown in FIG. 7 , when the distance from the bearang is in a state where the piston rod 241 pushes or pulls the second rotation shaft 232 , the second A moment is generated based on the bearing 234 coupled to the end of the rotation shaft 232 , so that the second rotation shaft 232 is bent and damage may occur.

To prevent this, the piston rod 241 should be able to maintain a close distance to the bearing 234, and more preferably, the piston rod 241 and the cylinder 240 of FIG. 12 are shown in which the bearing 234 is inserted. The distance between the bearing 234 and the bearing 234 should be reduced by making it close to the guide plate 250 of FIG. 8 to the extent that it does not interfere with the guide plate 250 of FIG.

In addition, as the position of the piston rod 241 is changed, a hollow connector 236 is formed at the end of the piston rod 241 to fix the second rotary motor 233, and one surface of the connector 236 is shown in FIG. A support shaft 237 coupled to the bearing 234 formed inside the guide plate 250 of 8 protrudes, and the other surface of the connector 236 is hollow formed so that the second rotation shaft 232 can be inserted therein. Shaft 238 will protrude.

A second rotary motor 233 is coupled to the end of the hollow shaft 238 to rotate the second rotary shaft 232, and the hollow shaft 238 to reduce friction when the second rotary shaft 232 rotates. Supporters 235 are positioned at both ends of the to support the second rotation shaft 232 .

When the piston rod 241 moves forward or backward by the cylinder 240 of FIG. 12 , the support shaft 237 coupled to one surface of the connector 236 presses the bearing 234 so that the bearing 234 is shown in FIG. 12 . Since it is moved along the path by the guide groove 251 , the connector 236 can move the second rotation device 230 coupled to the hollow shaft 238 .

In addition, the upper surface of the hollow shaft 238 has a second rotational plate 231 coupled to the second rotational shaft 232 in order for the second rotational device 230 to rotate the footrest 210 forward or backward. The insertion groove 239 is formed so that the lower part can rotate.

The lower portion of the second rotational plate 231 is inserted into the hollow shaft 238 through the insertion groove 239, and then the second rotational plate 231 is inserted into the hollow shaft 238 by inserting the second rotational shaft 232. and the second rotation shaft 232 can be connected to each other, and then the second rotation plate 231 can be rotated forward or backward by the rotational force of the second rotation motor 233 .

At this time, it is possible to control the angle at which the second rotation plate 231 can be physically rotated according to the depth of the insertion groove 239 dug inward from the outer surface of the hollow shaft 238, and the second When the rotation plate 231 rotates more, it is caught in the insertion groove 239, so that it is possible to prevent injury to the ankle of the patient undergoing rehabilitation.

14 is a perspective view showing the transfer unit 300 of the convergence type rehabilitation apparatus for the severely disabled.

14, the transfer plate 310 of the transfer unit 300 of the convergence type rehabilitation apparatus for the severely disabled according to the present invention enters the rear of the frame 100 by a transfer motor 321 capable of position control. It is characterized in that the patient equipped with the safety protection device 500 is moved while being moved to the upper part of a wheelchair or transferred to the upper part of the trunk exercise unit 200 (see FIG. 1).

The transfer unit 300 is provided with a transfer device 320 to move the transfer plate 310 to the front or rear surface of the frame 100 , and the transfer device 320 is a transfer rail formed on the frame 100 . (324), the transfer block 323 coupled to the transfer plate 310 while sliding along the transfer rail 324, and the transfer plate 310 coupled to the lower center of the transfer plate 310 according to the amount of rotation ) is composed of a ball screw 322 that moves by a set distance, and a transfer motor 321 that applies a rotational force to the ball screw 322 .

Since the support 400 and the safety protection device 500 are mounted on the lower portion of the transfer plate 310, when a patient enters the ramp formed on the rear side of the frame 100 in a wheelchair, the safety protection device 500 can be worn. While the transfer device 320 of the transfer unit 300 is operated, the transfer plate 310 is moved in the rear direction of the frame 100 .

When the patient wears the safety protection equipment 500, it can be worn with the help of a rehabilitation therapist or a doctor, and a device for elevating the safety protection equipment 500 is formed so that the patient can stand up by the lifting device after wearing it by himself. it is preferable

The patient wearing the safety protection equipment 500 is suspended or in a standing state by the safety protection equipment 500 coupled to the transfer plate 310 , and the transfer plate 310 is moved to the frame 100 by the transfer device 320 . When moving forward, the patient can also be moved.

In addition, it is possible to prevent the body from shaking during movement by allowing the user to hold the support unit 400 located in the front of the safety protection equipment 500 with the hand.

It is preferable that the transfer motor 321 of the transfer device 320 is formed of a servo motor to enable position control to move the transfer plate 310 to positions designated on the rear and front surfaces of the frame 100 .

15 is a perspective view showing the support unit 400 of the convergence type rehabilitation apparatus for the severely disabled.

15, the support unit 400 of the convergence type rehabilitation apparatus for the severely disabled according to the present invention is coupled to both sides of the lower side of the transfer plate 310, and is connected to a plurality of hollow tubes of different sizes to adjust the length. The height adjustment bar 410 that can be, and the support bar 430 formed so that the end of each of the height adjustment bars 410 can be held and supported by the patient's hand by passing through the lower front to the rear, and then connecting the ends to cross them. ), and a drive unit 420 formed on the transfer plate 310 to adjust the height of the height adjustment bar 410 using a motor or a cylinder.

In addition, the support 400 is characterized in that the height can be adjusted according to the body size of the patient, or the position can be adjusted forward or backward.

The height adjustment bar 410 is formed of a hollow tube, and the size of the middle tube gradually decreases as the distance from the transfer plate 310 increases, so that a small hollow tube can be inserted or protruded into a large hollow tube. is configured to be adjustable.

That is, by connecting a plurality of hollow tubes having different sizes in multiple stages, the length can be extended or reduced, and the end of the height adjustment bar 410 is connected to the drive unit 420 formed on the transfer plate 310 .

By the operation of the driving unit 420, the end of the height adjustment bar 410 is raised in the direction of the transfer plate 310 and inserted into a large hollow tube or lowered in the direction of the trunk movement unit 200 of FIG. 4 to adjust the height. The length of the stand 410 can be adjusted.

At this time, the driving unit 420 is composed of a motor or a cylinder, so that the hollow tube of the height adjusting bar 410 can be moved, and when using a motor, the wire is connected to the end of the height adjusting bar 410 and then the wire is wound. Or you can loosen it and adjust it.

In addition, the support 430 is formed in a "C" shape, so that both ends of the height adjustment bar 410 located on both sides of the transfer plate 310 are coupled through the front to the rear so that the patient can use the trunk exercise unit ( 200), it is possible to hold the support 430 located in front of the patient by hand when performing rehabilitation training.

The support 430 can be adjusted in height by lifting and lowering the height adjustment bar 410, and since the support 430 can move in the front or rear direction of the height adjustment bar 410, the supporter ( 430) can be used by adjusting the position.

16 is a perspective view showing the safety protection equipment 500 of the convergence type rehabilitation apparatus for the severely disabled.

As shown in FIG. 16, an elastic body 520 is formed on the upper portion of the safety protection equipment 500 of the fusion type rehabilitation apparatus for the severely disabled according to the present invention, so as to alleviate the shock generated when the person loses balance while walking and falls. It is characterized in that it can be used by changing the elastic body 520 and adjusting the tension according to the patient's body.

Safety protection equipment 500 is formed of a protective vest 540 so that it can be worn wrapped around the patient's upper body, and arm support straps 530 are formed so that the armpit can be supported by putting arms on both upper sides of the protective vest 540 . and a leg support strap 550 is formed on both sides of the lower side of the protective vest 540 so that the groin can be supported by putting the legs.

A connecting rod 510 is formed on the upper part of the shoulder muscle, and the connecting rod 510 is coupled to the lower portion of the transfer plate 310 of FIG. An elastic body 520 is positioned in the middle of the connecting rod 510 to relieve it.

Since the elastic body 520 is replaceable, it can be used by adjusting the elastic force according to the weight of the patient, and the length of the elastic body 520 can be changed according to the height of the patient.

An adjustment belt 560 is formed on the front of the protective vest 540 so that the vest can be fixed in close contact with the upper body, and a connecting belt 570 is formed on the leg support strap 550 to support each leg. After putting the legs in the string 550, it is preferable to connect the leg support straps 550 to each other so that the legs can be supported.

For reference, the imaging device automatically compares the difference between the target behavior and the actual behavior through image recognition while detecting the patient progressing the target behavior of rehabilitation training through image recognition.

At this time, when the target behavior and the actual behavior have more than a predetermined image similarity value, an additional recognition region (additional learning region) is established by abstracting the image and differentiating the image. A unique identifier can be assigned.

That is, when comparing images, the additional recognition area can be managed by assigning a unique identifier to each part where a difference of more than a reference range occurs. In this case, since location data may be included in the unique identifier, it is possible to efficiently manage and analyze the part where the difference occurs when making a database. That is, the difference value for each specific location is statistic. In addition, the difference in the operation state of the patient can be checked only through the unique identifier, thereby reducing the amount of computation of the control device 120 .

In this case, the imaging device may compare the target behavior with the actual behavior by additionally referring to the shadow of the patient and the images of a plurality of full body mirrors attached to the periphery of the convergence type rehabilitation device for the severely disabled. For example, it may operate to infer and reflect the blind area of the photographing device through the image of the full-body mirror. At this time, the distortion value of the mirror may be previously input into the imaging device or the distortion value may be automatically reflected through comparison of the patient's photographed images. That is, after the imaging device captures the patient's frontal image, when the patient's frontal image is input again through the full-body mirror, the two images are compared to determine the mirror distortion value, and then automatically reflected in image recognition. .

Convergence type rehabilitation apparatus for the severely disabled including a virtual reality platform according to an embodiment of the present invention,

The convergence type rehabilitation apparatus for the severely disabled according to an embodiment of the present invention can prevent a sudden decrease in the plantar muscle, the ankle muscle, the shin muscle, and the calf muscle of a hemiplegic patient.

In addition, accurate and efficient initial gait rehabilitation training will be provided to patients with spinal diseases such as herniated discs, arthritis patients with reduced mobility due to leg arthritis, hemiplegic patients due to accidents, leprosy patients, stroke patients, cerebral palsy patients, etc. can

In addition, trunk disease patients or the disabled who cannot voluntarily walk can perform rehabilitation exercises using the prepared power. Because the leg, hip, knee and ankle joints are used naturally, degenerative joint-related diseases can be prevented and muscle strength can be naturally strengthened.

Patients and the disabled instinctively reluctant to support weight toward the painful leg and have fear, and it is difficult to perform gait exercise for technical tasks in a state where senses such as movement, perception, touch, and pressure are lacking. Because it is impossible, it is possible to solve the problem of difficulty in walking without the help of a physical therapist.

In addition, patients or the disabled have problems with muscle relaxation, tension, and stiffness, so they do not have the ability to solve the problem through gait exercise, so they sometimes become stiff. However, this can be alleviated through the fusion type rehabilitation device for the severely disabled. have. In addition, the rehabilitation exercise can be performed with the help of an expert based on the data already input, and correction and addition or subtraction can be made according to the result, and the rehabilitation exercise can be arbitrarily adjusted according to the physical condition.

As such, those skilled in the art to which the present invention pertains will understand that the present invention may be embodied in other specific forms without changing the technical spirit or essential characteristics thereof. Therefore, it should be understood that the embodiments described above are illustrative in all respects and not restrictive. The scope of the present invention is indicated by the following claims rather than the above detailed description, and all changes or modifications derived from the meaning and scope of the claims and their equivalent concepts should be interpreted as being included in the scope of the present invention. do.

10: automatic patient transfer unit
100: frame 110: recording device
120: control device 130: output device
200: trunk exercise unit 210: footrest
220: first rotation device 221: first rotation plate
222: first rotation shaft 223: first rotation motor
230: second rotation device 231: second rotation plate
232: second rotation shaft 233: second rotation motor
234: bearing 235: support
236: connector 237: support shaft
238: hollow shaft 239: insertion groove
240: cylinder 241: piston rod
242: turntable 250: guide plate
251: guide groove 300: transfer unit
310: transfer plate 320: transfer device
321: transfer motor 322: ball screw
323: transfer block 324: transfer rail
400: support 410: height adjustment bar
420: drive unit 430: support
500: safety gear 510: connecting rod
520: elastic body 530: arm support strap
540: protective vest 550: leg support strap
560: adjustment belt 570: connection belt
700: walking aid 710: electrical stimulation unit
720: human body signal detection unit 730: pressure sensor
740: footrest coupling part

Claims (6)

an automatic patient transfer unit for moving the patient to a preset rehabilitation position while lifting the patient's trunk;
a trunk exercise unit configured to enable the patient to perform gait rehabilitation training while stepping on a footrest in the rehabilitation position according to a selected gait pattern;
a control device for controlling an operation of the trunk exercise unit according to a selected gait pattern; and
It is formed so as to be fastened with the footrest of the trunk exercise unit, and detects pressure and biosignals of the wrapped area while covering from the sole of the patient's sole to the bottom of the knee, and outputs electrical stimulation to a plurality of points under the control of the control device Including;
In the electric stimulation unit of the walking aid having a plurality of stimulation electrodes arranged in a grid shape so as to output electrical stimulation to a plurality of points and selectively activated by the control device, the plurality of stimulation electrodes are adjacent to 3 The two stimulation electrodes form one group in the form of an equilateral triangle and operate in pairs, and the interval between stimulation electrodes constituting one group is expanded by the control device so that it can be automatically trimmed to the interval between stimulation electrodes effective for changing the patient's motion. Convergence-type rehabilitation device for the severely disabled, characterized in that it is reduced.
According to claim 1,
Convergence type rehabilitation apparatus for the severely disabled, characterized in that it further comprises; a photographing device that three-dimensionally captures the walking posture or movement of the lower body of the patient undergoing rehabilitation training through the trunk exercise unit and transmits it to the control device.
According to claim 1,
The control device is
Through the information transmitted through the walking aid, the state of contraction/relaxation of the plantar muscle, ankle muscle, shin muscle, and calf muscle is individually determined, and electrical stimulation is applied to each muscle to correct the patient's posture Convergence type rehabilitation device for the severely disabled, characterized in that by controlling to induce a specific muscle to contract or relax.
According to claim 1,
The walking aid is
Convergence type rehabilitation apparatus for the severely disabled, characterized in that when contraction, relaxation, or tremor of a muscle opposite to the behavior of the patient's rehabilitation training occurs, an electrical stimulus to suppress the opposite muscle movement is output.
According to claim 1,
The walking aid is
Convergence characterized in that when the patient proceeds with the target behavior of rehabilitation training, the intensity of electrical stimulation is adjusted and output to a predetermined point so that the actual behavior can reach the target behavior by sensing the degree of muscle contraction/relaxation Rehabilitation device for the severely disabled.
According to claim 1,
The control device is
In consideration of the alpha-gamma coactivation pattern, the muscle length change pattern, and the change rate pattern when the patient undergoes rehabilitation training, the walking aid and the trunk exercise unit can be used so that the actual behavior can reach the target behavior. Convergence-type rehabilitation device for the severely disabled, characterized in that it controls the motion.

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