KR101694369B1 - Upper limb rehabilitation robot - Google Patents

Upper limb rehabilitation robot Download PDF

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Publication number
KR101694369B1
KR101694369B1 KR1020150121453A KR20150121453A KR101694369B1 KR 101694369 B1 KR101694369 B1 KR 101694369B1 KR 1020150121453 A KR1020150121453 A KR 1020150121453A KR 20150121453 A KR20150121453 A KR 20150121453A KR 101694369 B1 KR101694369 B1 KR 101694369B1
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KR
South Korea
Prior art keywords
link
motor
wire
screw
support
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KR1020150121453A
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Korean (ko)
Inventor
김갑순
Original Assignee
경상대학교산학협력단
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Priority to KR1020150121453A priority Critical patent/KR101694369B1/en
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Publication of KR101694369B1 publication Critical patent/KR101694369B1/en

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B23/00—Exercising apparatus specially adapted for particular parts of the body
    • A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
    • A63B23/12—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1657—Movement of interface, i.e. force application means
    • A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/06—Arms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/06—Arms
    • A61H2205/062—Shoulders

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  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physical Education & Sports Medicine (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Rehabilitation Therapy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Rehabilitation Tools (AREA)

Abstract

The present invention provides an upper limb rehabilitation robot which comprises: a support body for supporting a body of a patient; a rotating body coupled to the support body so as to be rotatable about an X-axis extending along the front-rear direction of the support body; an upper link coupled to the rotating body so as to rotate about a Y axis extending along a width direction of the support body; and a lower link coupled to the upper link to rotate about the Y axis. The rotating body comprises: a pair of thin plates extending radially from an inner block fixed to a drive shaft of a first motor; a first through hole opened in the Y axis direction on the upper link and the lower link; a plurality of strain gauges provided on the pair of thin plates and on both side thin portions of the first through hole.

Description

{UPPER LIMB REHABILITATION ROBOT}

The present invention relates to an upper limb rehabilitation robot, and more particularly, to an upper limb rehabilitation robot capable of automatically assisting upper limb rehabilitation within a predetermined torque or force while assisting the upper limb rehabilitation exercise of a patient.

Joints between bone and bone allow for linear and rotational movement between the two bones.

However, in the case of a patient who has undergone joint surgery, it is impossible to exercise by oneself, so that the muscles are weakened and the nutrient supply is not performed, so that the joints become stiff and become hardened. Therefore, in order to prevent the deformation of the joint and return to normal activity, the rehabilitation therapist must support the movement of the joint and perform a long-term rehabilitation exercise.

However, since the number of rehabilitation patients is much larger than the number of rehabilitation therapists, there is a limit to how rehabilitation therapists can assist the rehabilitation. Recently, various devices have been proposed to assist patients' rehabilitation. As an example of such devices, Korean Patent Publication No. 10-2015-0048432 discloses an articulating apparatus. The Korean Patent Laid-Open Publication provides a joint exercise device that can maximize the range of rotation angles in the upward and downward directions when the joint is rotated in the upward, downward, leftward, and rightward directions.

However, according to the articulation apparatus disclosed in Korean Patent Laid-Open No. 6-1945, it is impossible to confirm how much force or torque is applied to the upper limb joints of the patient during rehabilitation exercise. Therefore, even if the above-mentioned Korea patented articulating apparatus is used, the rehabilitation therapist must continuously check the rehabilitation exercise to determine whether proper force or torque is applied to the upper limbs of the patient. As a result, Still needed.

Korean Patent Publication No. 10-2015-0048432 (joint motion device) Korean Patent No. 10-1331071 (rehabilitation device for shoulder joint and driving method thereof)

The present invention provides an upper limb rehabilitation robot capable of precisely measuring forces or torques applied to the upper limb joints of a patient during upper limb rehabilitation exercise and providing an upper limb rehabilitation exercise optimized for the patient using the results of the measurement.

The present invention provides a medical device comprising: a support for supporting a body of a patient; A rotating body coupled to the support so as to be rotatable about an X-axis extending along the front-rear direction of the support; An upper link coupled to the rotator so as to rotate about a Y axis extending along a width direction of the support; And an overhang link coupled to the upper link so as to rotate about the Y axis. At least one pair of thin plates extending in a radial direction from the inner block fixed to the drive shaft of the first motor is provided in the rotating body, the first through hole opened in the Y axis direction is provided on the upper link and the hub link, A plurality of strain gauges are provided on the pair of thin plates and on both side thin portions of the first through hole.

The upper link and the hook link may be provided with a second aperture that is perpendicular to the first aperture. In this case, a plurality of strain gauges are provided on both side thin portions of the second through hole.

The upper limb rehabilitation robot includes upper limb driving means for rotating the upper limb link about the Y axis. At this time, the upper baffle driving means includes: a housing for baffle mounted on the rotating body; A starter motor mounted on the starter housing; A superelevation screw mounted on a drive shaft of the supercharging motor; And a top nut block having an upper end engaged with the upper end screw and a lower end joined to the upper end of the upper link located at the rear of the coupling portion between the rotator and the upper link, .

The upper limb rehabilitation robot also includes a lower limb driving means for rotating the harbor link about the Y axis. The lower blade driving means includes a lowering housing mounted on the upper link; A lowering motor mounted on the lowering housing; A lowering screw mounted on a driving shaft of the lowering motor; And a lowering nut block having a bottom end engaging with a rear end of a bottom plate located at a rear side of the coupling portion between the top plate and the top plate and performing a linear movement during rotation of the bottom plate screw.

The upper limb rehabilitation robot also includes a wrist link coupled with the hub link so as to rotate about a rotation axis extending along the height direction of the hub link. The left and right ends of the wrist link are connected to the wrist torque sensing block mounted on the support via left and right wires.

The wrist torque sensing block includes: a fixed plate fixed to the support; A motor for the left wire and a motor for the right wire mounted on the fixing plate; A left wire screw and a right wire screw mounted on the drive shaft of the left wire motor and the right wire motor, respectively; A nut block for a left wire and a nut block for a right wire, each of which performs a linear movement in the X-axis direction when the screws for the left wire and the screw for the right wire rotate, respectively, and which are respectively engaged with the left wire and the right wire; And a plurality of strain gauges provided on the thin portions formed by the third through holes of the nut blocks.

The upper limb rehabilitation robot includes: a camera mounted on the support; A controller mounted on the support and embedding a map of the layer on which the support moves; A driving / steering device mounted on the supporting body for driving and steering the supporting body; And a wireless pager communicating wirelessly with the controller. Wherein the controller calculates a movement path between a calling position of the pager and a current position recognized through an image of the camera when the pager is called, And controls the driving / steering apparatus to move.

In the present invention, the rotation block, the upper link and the lower link, which are components for rotating the shoulder joint and the elbow joint of the patient, function as a sensor for sensing torque or force applied to the joints, A sensor for sensing a torque or a force does not need to be provided separately from the above configurations (a rotating block, an upper link and a lower link), and a torque or a force applied to the joints in the upper extremity rehabilitation exercise is within a range Is automatically adjusted to exist.

In addition, in the present invention, since the upper arm driving means and the lower arm driving means assume a posture parallel to the upper link link and the lower link, a moment is not applied to the linking portions between the links due to their own weight.

Further, in the present invention, since the rotational force of the motor of the upper and lower bearing driving means is converted into a linear motion and transmitted to the upper link and the lower link, the rotation of the upper link and the lower link can be controlled slowly and precisely.

In addition, in the present invention, since the wrist torque sensing block for rotating the wrist link is mounted on the support without being mounted on the hub link, there is no problem that excessive load is applied to the hub link due to the weight of the wrist torque sensing block.

Further, in the present invention, since the wrist torque sensing block can sense the torque or force applied to the wrist joint of the patient, it is not necessary to separately provide a sensor for sensing the torque or force applied to the wrist joint.

In addition, in the present invention, if sudden pain occurs in the patient during upper extremity rehabilitation, the rehabilitation exercise is automatically stopped.

Also, the upper limb rehabilitation robot according to the present invention can automatically locate and move the rehabilitation ward.

1 is a perspective view showing a top rehabilitation robot according to the present invention.
FIG. 2 is an enlarged perspective view of a part of the upper limb rehabilitation robot shown in FIG. 1. FIG.
FIG. 3 is a perspective view of the upper limb rehabilitation robot shown in FIG. 1 viewed from another direction.
4 is an enlarged perspective view of a part of the upper limb rehabilitation robot shown in Fig.
FIG. 5 is a perspective view showing a rotation block of the upper limb rehabilitation robot shown in FIG. 1. FIG.
6 is a perspective view illustrating a wrist torque sensing block of the upper limb rehabilitation robot shown in FIG.

Hereinafter, preferred embodiments of the upper limb rehabilitation robot according to the present invention will be described in detail with reference to the drawings. It is to be understood that the terminology or words used herein are not to be construed in an ordinary sense or a dictionary, and that the inventor can properly define the concept of a term to describe its invention in the best possible way And should be construed in accordance with the meaning and concept consistent with the technical idea of the present invention.

1 to 4, the upper limb rehabilitation robot 100 according to the present invention is an apparatus that can automatically perform upper limb rehabilitation exercise for a patient. The upper limb rehabilitation robot 100 includes a support 110, a rotating body 130, (150), a hawk link (170), a wrist link (190), and a controller (300).

The support 110 supports the patient's body comfortably and may be provided in the form of a chair including a back. A block 112 is fixed to the backrest of the support 110, and a first motor 114 is mounted on the block 112. In addition, a controller 300 is provided on the lower portion of the seat of the support 110. Hereinafter, for easy understanding, the axis extending along the front-rear direction of the support 110 is set as the X-axis, and the axis extending along the left-right direction of the support 110 is set as the Y-axis.

The rotating body 130 includes a rotating block 132 and a T-shaped link 134. The rotating block 132 includes an inner block and an outer block surrounding it, as shown in FIGS. 1 and 5, the inner block being coupled with the drive shaft of the first motor 114, and the outer block having at least one pair (Two pairs of thin plates are shown in the figure). That is, the thin plates 132a of one phase are located opposite to each other and connect the inner block and the outer block while radially extending.

When the first motor 114 is operated, the rotation block 132 rotates about the X axis. Then, the upper arm of the patient rotates in a direction to lift it outward or in the opposite direction. At this time, the degree of deformation of the thin plate 132a varies depending on the magnitude of the torque applied to the shoulder joint of the patient. Therefore, by measuring the degree of deformation of the thin plate 132a, the torque applied to the patient's shoulder joint can be confirmed.

In order to measure the deformation degree of the thin plate 132a, four strain gauges 132b are attached to the thin plate 132a as shown in FIG. Specifically, the two strain gauges 132b are attached to the upper surface and the lower surface of one of the two thin plates 132a, respectively, and the remaining two strain gauges 132b are attached to the upper surface and the lower surface of the other thin plate 132a, respectively .

The output of the strain gage 132b is transmitted to the controller 300 and the controller 300 then uses the output of the strain gage 132b to calculate the magnitude of the torque applied to the patient's shoulder joint. Then, when the calculated torque reaches a preset reference value, the controller 300 stops the first motor 114 and operates it inversely. The controller 300 repeatedly performs this control for the first motor 114 a predetermined number of times.

The T-shaped link 134 has a front end and a rear end, and the rear end is fixed to the rotation block 132. Thus, the T-shaped link 134 is rotated together with the rotation block 132.

The upper link 150 is coupled to the rotating body 130, more specifically to the T-shaped link 134 of the rotating body 130 so as to rotate about the Y axis. The upper link 150 is provided with a first through hole 152 opened in the Y axis direction. Therefore, a thin portion is formed on both sides of the first through hole 152. This upper link 150 is rotated by the upper arm driving means 160. [

The upper and lower driving means 160 includes a top housing 161, a top motor 162, a top screw 163 and a top nut 162. The upper housing 161 is mounted on the lower end of the T-shaped block 134 and the upper motor 162 is mounted on the upper housing 161. The superposition screw 163 is mounted on the drive shaft of the superposition motor 162. Accordingly, when the starter motor 162 is operated, the starter screw 163 rotates. One end of the upper nut block 164 is screwed to the upper screw 163 and the other end is engaged with the lower end of the upper link 150. The rear end of the upper link 150 is an end located behind the coupling portion 134a between the T-shaped link 132 and the upper link 150.

When the upper-lift motor 160 is operated by the upper-lift driving means 160, the upper lift screw 163 rotates, and the upper lift nut block 164 linearly moves and the rear end of the upper- Or pull. In this process, the upper link 150 rotates in a direction in which the upper arm of the patient is lifted forward or in the opposite direction while performing a leverage movement around the coupling portion 134a. At this time, depending on the magnitude of the torque applied to the shoulder joint of the patient, the degree of deformation of the both sides of the first through hole 152 may vary. Therefore, by measuring the degree of deformation of the thin portions, the torque applied to the shoulder joint of the patient can be confirmed.

For the measurement of the degree of deformation of both side thinnest portions of the first through hole 152, these thin portions are attached with two pairs of strain gauges 156 as shown in Figs. Specifically, a pair of strain gauges 156 are attached to either one of the two thin portions on both sides of the first through hole 152, and the remaining pair of strain gauges 156 are attached to the other.

The output of the strain gage 156 is transmitted to the controller 300 and the controller 300 then uses the output of the strain gage 156 to calculate the magnitude of the torque on the patient's shoulder joint. When the calculated torque reaches a predetermined reference value, the controller 300 stops the starter motor 162 and operates the starter motor 162 in reverse. The controller 300 repeatedly performs this control for the starter motor 162 a predetermined number of times.

The hub link 170 couples with the upper link 150 so as to rotate about the Y axis. A first through hole 172 opened in the Y axis direction is provided on the Hexagonal link 150. Therefore, thin portions are formed on both sides of the first through hole 172. [ The toe link 170 is rotated by the bottom cover driving means 180.

The lower hub driving means 180 includes a lowering housing 181, a lowering motor 182, a lowering screw 183, and a lowering nut block 184. The lowering housing 181 is mounted on the upper link 150 and the lowering motor 182 is mounted on the lowering housing 181. The lowering screw 183 is mounted on the driving shaft of the lowering motor 182. Therefore, when the lowering motor 182 is operated, the lowering screw 183 is rotated. One end of the lowering nut block 184 is screwed to the lowering screw 183 and the other end thereof is engaged with the rear end of the lift link 170. The rear end of the hawk link 170 is an end located behind the joining portion 150a between the upper link 150 and the hawk link 180. [

When the lifting motor 182 is operated by the lifting mechanism 180, the lifting screw 183 is rotated so that the lifting nut block 184 pushes the rear end of the lifting link 170 while performing a linear movement I pull it. In this process, the hawk link 170 rotates about the joining part 150a in the direction of lifting the patient's forehead in the forward direction or in the opposite direction while performing the leverage movement. At this time, depending on the magnitude of the torque applied to the elbow joint of the patient, the degree of deformation of the both sides of the first through-hole 172 becomes different. Therefore, by measuring the degree of deformation of the thin portions, the torque applied to the elbow joint of the patient can be confirmed.

For the measurement of the degree of deformation of both side thin portions of the first through hole 172, two thin strain gages 176 are attached to these thin portions as shown in Figs. Specifically, a pair of strain gauges 176 is attached to one of the two thin portions on both sides of the first through hole 172, and the other pair of strain gauges 176 is attached to the remaining thin portion.

The output of the strain gage 176 is transmitted to the controller 300 and the controller 300 then uses the output of the strain gage 176 to calculate the magnitude of the torque applied to the patient's elbow joint. Then, when the calculated torque reaches a preset reference value, the controller 300 stops the lowering motor 182 and operates the reverse. The controller 300 repeatedly performs this control for the lowering motor 182 a predetermined number of times.

The wrist link 190 engages with the hub link 170 so as to rotate about a rotation axis 170a extending along the height direction of the hub link 170. [ A wire fixing protrusion 192 is provided at the left and right ends of the wrist link 190. The front end of the left wire 194 and the front end of the right wire 196 are fixed to the fixing protrusion 192. [

The left wire 194 extends rearward from the fixing protrusion 192 to the left support 177 and then extends to the wrist torque sensing block 200 while being embedded in the left tube 194a. The left support 177 is provided on the hub link 170 in a form that does not interfere with the patient's undercut. The right wire 196 extends rearward from the fixing protrusion 192 to the right support 178 and then extends to the wrist torque sensing block 200 while being embedded in the right tube 196a. The right support 178 is provided on the hub link 170 so as to protrude in the opposite direction to the left support 177.

The wrist torque sensing block 200 has a function of rotating the wrist link 190 and a function of sensing a magnitude of a torque applied to a wrist joint of a patient. As shown in FIG. 6, A pair of motors 202a and 202b, a pair of screws 203a and 203b and a pair of nut blocks 204a and 204b.

The fixing plate 201 is fixed to the side surface of the back of the support body 110 while taking a posture extending backward. The pair of motors 202a and 202b are mounted on the fixing plate 201 while being separated from each other in the vertical direction. The lower motor of these motors is the motor 202a for the left wire for pulling or unlocking the left wire 194 and the upper motor is the motor 202b for the right wire for pulling or unlocking the right wire 196. [

The pair of screws 203a and 203b are composed of a left wire screw 203a and a right wire screw 203b. The left wire screw 203a is mounted on the drive shaft of the left wire motor 202a And the right wire screw 203b is mounted on the drive shaft of the right wire motor 202b. Accordingly, when the pair of motors 202a and 202b operate, the pair of screws 203a and 203b rotate.

The pair of nut blocks 204a and 204b includes a left wire nut block 204a and a right wire nut block 204b. The left-hand wire nut block 204a is screwed with the left-hand wire screw 203a and fixes the rear end of the left-hand wire 194. Accordingly, when the left wire screw 203a rotates, the left wire nut block 204a linearly moves in the X-axis direction, pulling or loosening the left wire 194. The right wire nut block 204b is screwed to the right wire screw 203b and fixes the rear end of the right wire 196. Therefore, when the right wire screw 203b rotates, the right wire nut block 204b pulls or looses the right wire 196 while moving linearly in the X-axis direction.

The left wire nut block 204a is provided with a pair of third through holes 205 which are vertically spaced apart and pierced in the Y axis direction. Due to the third through holes 205, thin portions separated in the X axis direction are positioned on both sides of the third through holes 205 in the left wire nut block 204a. The third through hole 205 is also provided in the right wire nut block 204b.

In this wrist torque sensing block 200, when the left wire motor 202a is operated in the normal direction, the left wire nut block 204a is retracted to pull the left wire 194, To release the right wire (196). In this process, the wrist link 190 rotates to the left and rotates the wrist of the patient to the left. At this time, depending on the magnitude of the torque applied to the wrist joint of the patient, the degree of deformation of the front and rear thin portions of the third through hole 205 may be different. Therefore, by measuring the degree of deformation of the thin portions, the torque applied to the wrist joint of the patient can be confirmed. On the other hand, when the patient's wrist is rotated to the right, the opposite process is performed.

For measurement of the degree of deformation of both side thinnest portions of the third through hole 205, a plurality of strain gauges 206 are attached to each of these thin portions as shown in Fig. Specifically, two pairs of strain gages 156 are attached to the nut block 204a for the left wire, one pair of which is attached to the front and rear thin portions of one of the two third through holes 205, And is attached to the front and rear thin portions of the through hole 205. The strain gauge 206 is attached in the same manner to the nut block 204b for the right wire.

The output of the strain gage 206 is transmitted to the controller 300 and the controller 300 then uses the output of the strain gage 206 to calculate the magnitude of the torque applied to the patient's wrist joint. Then, when the calculated torque reaches a predetermined reference value, the controller 300 stops the pair of motors 202a and 202b and then operates it in reverse. The controller 300 repeatedly performs this control on the pair of motors 202a and 202b by a predetermined number of times.

On the other hand, during an upper extremity rehabilitation, an emergency may occur in which the patient suddenly feels pain. In this case, it is necessary to stop rehabilitation immediately. Since the patient who suddenly senses the pain generally unconsciously pushes his arm outwardly or pulls it inward, it is possible to determine whether or not the abdominal joint 150 and the hawser link 170 are subjected to an emergency situation Can be confirmed.

In order to measure the force in Y-axis direction applied to the upper link 150 and the lower link 170, the upper link 150 and the lower link 170 are provided with a first through hole 152, (154, 174) are provided. Strain gauges 156 and 176 are attached to both side thin portions of the second through holes 154 and 174. Specifically, a pair of strain gauges 156 are attached to one of the two thin portions on both sides of the second through hole 154 provided in the upper link 150, and a pair of strain gauges 156 is attached to the other. Further, two pairs of strain gauges 176 are attached to the two thin portions on both sides of the second through hole 174 provided in the bottom link 170 in the same manner.

The output of the strain gages 156 and 176 is transmitted to the controller 300 and the controller 300 then uses the outputs of the strain gages 156 and 176 to act on the upper link 150 and the lower link 170 And calculates the magnitude of the Y-axis direction force. If the magnitude of the calculated force is equal to or greater than a preset reference value, the controller 300 determines that the patient has sudden pain and stops the upper limb rehabilitation robot 100.

The upper limb rehabilitation robot 100 also has a function of automatically moving to a rehabilitation site. To this end, the upper limb rehabilitation robot 100 includes a pager (not shown) and a camera 230, and includes wheels for movement (for example, auxiliary wheels provided at the lower ends of the four limbs, And a driving / steering device (not shown) for driving and steering some of the wheels (e.g., steering wheels). The controller 300 includes a communication module for wireless communication with the pager, a map of a layer to be used by the upper limb rehabilitation robot 100, and a function of analyzing the image of the camera 230, / It also has control function of steering device.

When the rehabilitation therapist uses the wireless pager to enter a lake in the rehabilitation ward and presses the call button, the controller 300 receives the signal and confirms the destination. Thereafter, the controller 300 confirms the current position of the upper limb rehabilitation robot 100 through the image captured by the camera 230, and sets the movement path from the current position to the destination through the map. When this process is completed, the controller 300 controls the driving / steering apparatus to move the upper limb rehabilitation robot 100 to its destination.

While the upper limb rehabilitation robot 100 is moving to the destination, the controller 300 controls the driving / steering apparatus so that the upper limb rehabilitation robot 100 moves along the center of the path while the camera 230 continuously analyzes the image captured by the camera 230 And continuously confirms the position of the upper limb rehabilitation robot 100.

Hereinafter, the operation of the upper limb rehabilitation robot 100 will be described.

When the rehabilitation therapist calls the upper limb rehabilitation robot 100 as a pager, the upper limb rehabilitation robot 100 automatically searches for the rehabilitation ward designated by the rehabilitation therapist under the control of the controller 300. [ Thereafter, the patient sits on the support 110 and fixes the arm requiring rehabilitation, and then rehabilitation begins. Rehabilitation may be performed on at least one of the patient's shoulder joints, elbow joints and wrist joints, or may be performed sequentially for all. Also, the rehabilitation is performed so that the torque applied to the upper limb joints of the patient does not exceed a preset reference value, and is performed a predetermined number of times.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments. It is to be understood that various changes and modifications may be made without departing from the scope of the appended claims.

100: upper limb rehabilitation robot 110:
114: first motor 130: rotating body
132: rotation block 132a: thin plate
132b: strain gauge 134: T-type link
150: upper link 152, 172: first through hole
154, 174: second through hole 156, 176: strain gauge
160: Upper-arm driving means 161: Upper housing
162: Up-and-down motor 163: Up-
164: Upper nut block 170: Habock link
180: bottom lifting means 181: lifting housing
182: Lowering motor 183: Lowering screw
184: Lower nut block 190: Wrist link
192: wire fixing projection 194: left wire
194a: Left tube 196: Right wire
196a: right tube 200: wrist torque sensing block
201: fixed plates 202a, 202b: motor
203a, 203b: screws 204a, 204b: nut block
205: Third through hole 206: Strain gauge
230: camera 300: controller

Claims (7)

A rotating body coupled to the support so as to be rotatable about an X-axis extending along a front-back direction of a support for supporting a patient's body;
An upper link coupled to the rotator so as to rotate about a Y axis extending along a width direction of the support; And
An overhang link coupled to the upper link to rotate about the Y axis;
And upper and lower driving means for rotating the upper link about the Y axis,
At least a pair of thin plates extending radially from the inner block of the rotator fixed to the drive shaft of the first motor to the outer block of the rotator connected to the upper link are provided in the rotator, Axis direction, a plurality of strain gauges are provided on both the thin plate and the thin portions on both sides of the first through-hole,
The upper-
A housing for a starter mounted on the rotating body;
A starter motor mounted on the starter housing;
A superelevation screw mounted on a drive shaft of the supercharging motor; And
And a top nut block having a top end engaged with the top end screw to perform a linear movement during rotation of the top end screw and having an end coupled with a trailing end of the top end link located behind the coupling portion between the rotator and the top end link Upper extremity rehabilitation robot. The method according to claim 1,
Wherein the upper and lower links are provided with a second through hole perpendicular to the first through hole and a plurality of strain gauges are provided on both side thin portions of the second through hole. delete The method according to claim 1,
And an overhang driving means for rotating the hawk link about the Y axis,
The bottom-
A lowering housing mounted on the upper link;
A lowering motor mounted on the lowering housing;
A lowering screw mounted on a driving shaft of the lowering motor; And
And a lowering nut block having a lower end coupled to a rear end of the upper link positioned at a rear side of the upper link linking part and the upper link linking part when the lowering screw is rotated. The method according to claim 1,
And a wrist link coupled to the hub link to rotate about a rotational axis extending along a height direction of the hub link,
And the left and right ends of the wrist link are connected to the wrist torque sensing block mounted on the support via the left wire and the right wire. 6. The method of claim 5,
Wherein the wrist torque sensing block comprises:
A fixing plate fixed to the support;
A motor for the left wire and a motor for the right wire mounted on the fixing plate;
A left wire screw and a right wire screw mounted on the drive shaft of the left wire motor and the right wire motor, respectively;
A nut block for a left wire and a nut block for a right wire, each of which performs a linear movement in the X-axis direction when the screws for the left wire and the screw for the right wire rotate, respectively, and which are respectively engaged with the left wire and the right wire; And
And a plurality of strain gauges provided on the thin portions formed by the third through holes of the nut blocks. 7. The method according to claim 1 or 2 or 4 or 5 or 6,
A camera mounted on the support;
A controller mounted on the support and embedding a map of the layer on which the support moves;
A driving / steering device mounted on the supporting body for driving and steering the supporting body; And
And a wireless pager for wireless communication with the controller,
Wherein the controller calculates a movement path between a calling position of the pager and a current position recognized through an image of the camera when the pager is called, Steering apparatus for controlling the driving / steering apparatus to move the driving / steering apparatus.
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