CN116669909A - Exoskeleton type rehabilitation robot system - Google Patents

Abstract

The exoskeleton rehabilitation robot system according to the disclosed invention includes: a main body part provided on a chair on which a user sits and provided with a robot arm movable in a left or right direction with reference to the user sitting on the chair; a conversion unit for converting a position of the robot arm with respect to the main body unit; a driving unit that drives the robot arm joint with respect to the main body unit; and a control unit that controls a left or right direction drive mode of the drive unit according to the position of the robot arm after sensing a change in the position of the robot arm. This structure is provided integrally with the chair, and thus the space utilization efficiency is improved, and the initial preparation for rehabilitation training of the user is simplified, whereby the efficiency can be improved.

Description

Exoskeleton type rehabilitation robot system

Technical Field

The present invention relates to an exoskeleton type rehabilitation robot system, and more particularly, to an exoskeleton type rehabilitation robot system provided as an integrated body with a chair where a user sits, so that space utilization efficiency can be improved and left and right driving conversion of a robot arm, which can shorten a training preparation time, can be performed.

Background

The conventional exoskeleton type upper limb rehabilitation robot has a problem in that the system and the chair are separated for left-right conversion, and then the position of the whole system is adjusted according to the training direction of a patient. In addition, in the case of the existing exoskeleton type upper limb rehabilitation robot provided integrally with a system and a chair, a guide for left and right direction conversion is also designed to protrude to both sides long and long, so that a setup process for preparing training is relatively complicated, takes a long time, and also needs to ensure a relatively large amount of space such as a hospital.

Accordingly, in recent years, research has been conducted into exoskeleton rehabilitation robot systems that can improve the space utilization efficiency of the system and shorten the training preparation time.

Disclosure of Invention

Technical problem

The invention aims to provide an exoskeleton type rehabilitation robot system which can convert left and right driving of a robot arm, so that space utilization efficiency is improved and training preparation time is shortened.

Technical proposal

An exoskeleton type rehabilitation robot system according to the present invention for achieving the object includes: a main body part provided on a chair on which a user sits and provided with a robot arm movable in a left or right direction with reference to the user sitting on the chair; a conversion unit for converting a position of the robot arm with respect to the main body unit; a driving unit that drives the robot arm joint with respect to the main body unit; and a control unit that controls a left or right direction drive mode of the drive unit according to the position of the robot arm after sensing a change in the position of the robot arm.

In addition, the body part may include: a robot body integrally provided to support the chair; a link protruding and connected in a vertical upward direction with respect to the robot main body; and a robotic arm that may include a plurality of drive links capable of articulation by being rotatably connected relative to the links.

The robot arm may be adjusted in position in the up-down, front-back, and left-right directions with reference to the chair according to the body shape of the user.

In addition, the conversion section includes: a connecting member provided between the connecting member and the robot arm and integrally movable with the robot arm; at least one fastening rod protruding toward the connector with respect to the connector so as to be rotatable integrally with the robot arm; first and second rod grooves provided on the connection member for insertion into the fastening rod, and provided at least one on each of left and right sides in such a manner as to face each other between rotation centers of the connection member; and a positioning pin protruding from the link for guiding along a guide rail provided on the link, the positioning pin determining a rotation position of the robot arm by restricting a rotation range of the robot arm provided with the link, wherein the left and right driving mode of the robot arm can be automatically switched by inserting the fastening lever into either one of the first or second lever grooves to be fastened and fixed.

In addition, the connection member is rotatably connected to an end of the connection member by a bearing, and the bearing may include a cross ball bearing (Crossroller bearing).

The robot arm comprises a first driving connecting piece, a second driving connecting piece and a first driving connecting piece, wherein one end of the first driving connecting piece is rotatably connected with the connecting piece; a second driving link having one end rotatably connected to the other end of the first driving link; a third driving link having one end rotatably connected to the other end of the second driving link; and a fourth driving link rotatably connected to the other end and one end of the third driving link, wherein a bracket on which the user's arm is seated may be rotatably connected to the fourth driving link.

In addition, the driving part may include: a first drive component providing a rotational force between the first drive connection and the connection of the second drive connection; a second drive component providing a rotational force between the second drive connection and the third drive connection; a third drive component providing a rotational force between the third drive connection and the connection of the fourth drive connection, and a fourth drive component providing a rotational force between the fourth drive connection and the bracket.

In addition, the first to fourth driving links may have a Bar (Bar) shape extending in a longitudinal direction or may have a curved shape.

In addition, the control section may include: a sensing part sensing insertion of the fastening rod into either one of the first or second rod grooves; and a signal input section that supplies a driving signal to the driving section with information sensed from the sensing section.

In addition, the sensing part may include a first sensor provided to correspond to a left position of the robot arm; and a second sensor that senses a left or right direction driving posture of the robot arm by interfering with either of the first or second sensors.

In addition, the sensing member is provided to be interlocked with the connecting member to include a trigger movable between the first and second sensors.

In addition, the first and second sensors may sense the sensing part through physical contact or sensing the sensing part through a proximity, optical, or magnetic sensing method, and the sensing part may be disposed to color a partial region of the robot arm with respect to the robot arm, or may be disposed to protrude or recess with respect to the robot arm.

Further, if the position of the robot arm in the left or right direction is sensed, the control section rotationally drives the fourth driving member and then rotationally drives the first and second driving members, and if the first and second driving members complete driving, the second and third driving members may be rotationally driven, respectively, while continuing to drive the first driving member and then set the driving posture by driving the third driving member.

A belt which can be adjusted in a length direction according to the body shape of the user is provided on the chair, so that the user's movement is fixed relative to the chair during rehabilitation.

According to a preferred aspect of the present invention, there is provided an exoskeleton type rehabilitation robot system including a main body part integrally provided for supporting a chair on which a user sits, and a robot arm movable left and right with reference to the user sitting on the chair; a conversion unit that converts a position of the robot arm into a left or right direction; a driving unit including a plurality of driving links for driving the robot arm joints with respect to the main body unit; and a control unit that controls the driving force of the driving unit in a driving mode corresponding to the left or right direction position of the robot arm, respectively, by sensing a change in the left or right direction position of the robot arm.

The main body portion includes: a robot body integrally provided to support the chair; a link protruding and connected in a vertical upward direction with respect to the robot main body; and the robot arm rotatably connected with respect to the connection member, wherein the robot arm includes a first driving connection member having one end rotatably connected to the connection member; a second driving link having one end rotatably connected to the other end of the first driving link; a third driving link having one end rotatably connected to the other end of the second driving link; and a fourth driving link rotatably connected to the other end and one end of the third driving link.

In addition, a bracket for placing the arm of the user may be rotatably connected to the fourth driving connection member.

In addition, the conversion section may include: a connecting member provided between the connecting member and the robot arm and capable of integrally moving with the robot arm; at least one fastening lever protruding toward the connection member with respect to the connection member and rotatable integrally with the robot arm; first and second rod grooves provided on the connection member for insertion into the fastening rod, and provided at least one on each of left and right sides so as to face each other at a rotation center of the connection member; and a positioning pin protruding from the link for guiding along a guide rail provided on the link, the positioning pin determining a rotational position of the robot arm by restricting a rotational range of the robot arm provided with the link.

In addition, the connection member is rotatably connected to an end of the connection member by a bearing, and the bearing may include a cross ball bearing (Crossroller bearing).

The robot arm may be adjusted in position in the up-down, front-back, and left-right directions with reference to the chair according to the body shape of the user.

The driving part may include: a first drive member providing a rotational force between the first drive connection and the connection of the second drive connection; a second drive member providing a rotational force between the second and third drive connections; and a third driving part providing a rotational force between the second driving link and the link of the second driving link. A third drive connection and a fourth drive connection, and a fourth drive component providing a rotational force between the fourth drive connection and the bracket; wherein the first to fourth driving links may have a Bar (Bar) shape extending in a longitudinal direction or may have a curved shape.

In addition, the control section may include: a sensing part sensing insertion of the fastening rod into either one of the first or second rod grooves; and a signal input section that supplies a driving signal to the driving section with information sensed from the sensing section.

In addition, the sensing part may include: a first sensor provided to correspond to a left direction position of the robot arm; a second sensor provided to correspond to a right direction position of the robot arm; and a sensing member provided to be movable between the first sensor and the second sensor by being linked with the connecting member, and sensing a left or right direction driving posture of the robot arm by interfering with either the first sensor or the second sensor.

In addition, the sensing member is provided to be interlocked with the connecting member to include a trigger movable between the first and second sensors.

In addition, the first and second sensors may sense the sensing part through physical contact or through a proximity, optical, or magnetic sensing method, and the sensing part may be disposed to be colored with respect to the robot arm while a partial region of the robot arm is protruded or recessed relatively with respect to the robot arm.

Further, if the control unit senses the position of the robot arm in the left or right direction, the control unit rotationally drives the fourth driving member and then rotationally drives the first and second driving members, and if the driving of the first and second driving members is completed, the control unit may rotationally drive the second and third driving members while continuing to drive the first driving member, and then drive the third driving member to set the driving posture.

Further, the chair is provided with a belt which can be adjusted in a longitudinal direction according to the body shape of the user, so that the movement of the user can be fixed corresponding to the chair during the rehabilitation movement.

Effects of the invention

According to the present invention having the above-described constitution, the exoskeleton type rehabilitation robot system is integrally provided with the chair, so that the system space efficiency can be improved. That is, it is not necessary to design the existing left and right guides long in order to realize the left and right movement of the robot arm, and the system space utilization efficiency can be improved as compared with a limited training place.

In addition, the efficiency can be improved by automatically setting by switching the left or right direction driving with a simple operation of a single robot arm, thereby shortening the system preparation time for rehabilitation exercise.

Drawings

Fig. 1 is a perspective view schematically showing an initial driving setting state of an exoskeleton type rehabilitation robot system according to a preferred embodiment of the present invention;

fig. 2 is a perspective view schematically showing an enlarged driving part of the exoskeleton rehabilitation robot system shown in fig. 1;

fig. 3 is a plan view schematically showing a state of the exoskeleton rehabilitation robot system shown in fig. 1 as viewed from above;

Fig. 4 is a perspective view schematically showing a state of the exoskeleton rehabilitation robot system shown in fig. 1 from a side view;

FIG. 5 is a cross-sectional view of a recess shown schematically by cutting the transition portion shown in FIG. 4;

fig. 6 is a plan view schematically showing a conversion part of the exoskeleton rehabilitation robot system shown in fig. 5;

fig. 7 is a plan view schematically showing a control part of the exoskeleton rehabilitation robot system shown in fig. 1;

fig. 8 is a perspective view schematically showing a state in which the exoskeleton rehabilitation robot system shown in fig. 1 is driven from right to left;

fig. 9 is a perspective view schematically showing a driving state of a fourth driving part of the exoskeleton rehabilitation robot system shown in fig. 8;

fig. 10 is a perspective view schematically showing driving states of first and second driving parts of the exoskeleton rehabilitation robot system shown in fig. 8;

fig. 11 is a perspective view schematically showing a driving state of a first driving part of the exoskeleton rehabilitation robot system shown in fig. 8;

fig. 12 is a perspective view schematically showing a driving state of the second and third driving parts in a continuous driving state of the first driving part of the exoskeleton rehabilitation robot system shown in fig. 8;

Fig. 13 is a perspective view schematically showing the state of fig. 12 viewed from a different direction;

fig. 14 is a perspective view schematically showing driving states of the first, second, and third driving parts of the exoskeleton rehabilitation robot system shown in fig. 8;

fig. 15 is a perspective view schematically showing the state of fig. 14 viewed from other aspects;

fig. 16 is a perspective view schematically showing a driving state of a third driving part of the exoskeleton rehabilitation robot system shown in fig. 8;

fig. 17 is a perspective view schematically showing the state of fig. 16 viewed from another aspect.

Detailed Description

Hereinafter, a preferred embodiment of the present invention will be described with reference to the accompanying drawings. However, the gist of the present invention is not limited to the embodiments, but the gist of the present invention may be variously presented by adding, changing, and deleting components constituting the embodiments, and this is also included in the gist of the present invention.

Referring to fig. 1, an exoskeleton type rehabilitation robot system 1 according to a preferred embodiment of the present invention includes a main body part 10, a conversion part 20, a driving part 30, and a control part 40.

For reference, the exoskeleton type rehabilitation robot system 1 described in the present invention is exemplified as a rehabilitation exercise for the left and right arms of a patient in need of rehabilitation therapy, that is, for rehabilitation training of the upper limbs. However, the exoskeleton type rehabilitation robot system 1 according to the present invention is not limited to this, and may be applied to lower limb rehabilitation exercises such as left and right feet, as well as upper limbs.

The body part 10 is provided on a chair (C) on which a user sits, and includes a robot body 11, a link 12, and a robot arm 13.

The robot body 11 is integrally provided with the chair (C). As shown in fig. 1, such a robot body 11 is provided behind a chair (C) and can integrally support the chair (C).

For reference, wheels (not shown) for moving the robot body 11 integrally provided with the chair (C) may be provided on the bottom surface of the robot body 11; the shape and size of the robot body 11 are not limited to the example of the figure.

Further, a belt (not shown) for fixing the sitting user is provided on the chair (C). Such a belt (not shown) is integrally provided on the chair (C) and is adjustable in a longitudinal direction so as to be wearable according to the body shape of the user. Here, a belt (not shown) is provided for the purpose of being continuously and firmly fixed during the movement of the seated user of the chair (C), unlike the seat belt of an automobile.

One end of the connection piece 12 is connected so as to protrude in the vertical upward direction from the robot body 11. Specifically, the link 12 protrudes in the vertical upward direction from the center of the upper end of the robot body 11, and a first drive link 131 described later is connected to the protruding upper end. The link 12 is connected as a linear column to an upper portion of a link 12 of a robot arm 13 described later.

The robot arm 13 is movable in the left or right direction (R, L) with reference to a user sitting on the chair (C). As shown in fig. 2, such a robot arm 13 includes first to fourth driving links 131, 132, 133, 134 and a bracket 135.

The first through fourth driving links 131, 132, 133, 134 are in turn rotatably connected to the link 12 to enable movement of the joint. More specifically, one end of the first driving link 131 is rotatably connected with the protruding upper end of the link 12. The other end extending to one end of the first driving link 131 is rotatably connected to one end of the second driving link 132. The other end of the second driving link 132 is rotatably connected with one end of the third driving link 133, and one end of the fourth driving link 134 is rotatably connected with the other end of the third driving link 133.

Here, the first and third driving links 131, 133 have a Bar shape extending in a length direction, and the second and fourth driving links 132 have a Bar shape extending in a length directionThe words are the same curved shape. The shape, length and thickness of such first to fourth driving links 131, 132, 133, 134 are examples, and thus, of course, are not limited to the illustrated example.

On the other hand, a stand (135) on which the arm of the user can be mounted is provided on the fourth drive connection. At this time, the bracket 135 may be rotatably moved with respect to the fourth driving link 134, and a handle 136 may be provided to be grasped by a user.

For reference, considering the body shape of the user, the user may be adjusted to a certain extent up and down, front and back, and left and right as indicated by arrows in fig. 1 with reference to a state in which the user sits on the chair (C). At this time, the purpose of the up-down, front-back, and left-right adjustment of the robot arm 13 is to move the robot arm to a position where rehabilitation exercise can be performed according to the physical conditions such as the height, obesity, and posture distortion of the user. For this purpose, an embodiment may be implemented in which the position of the chair (C) other than the robot arm 13 is adjusted up and down, front and back, left and right, and according to the physical condition of the user.

The positional movement of the robot arm 13 should be within a range that avoids interference with peripheral components such as a chair (C) at the time of conversion. For example, the up-down direction of the robot arm 13 may be adjusted at a height that does not interfere with the chair (C) when switching from side to side. In the present embodiment, the link 12 including the linear column is movable in the up-down direction, so that the position of the robot arm 13 can be adjusted up-down. On the other hand, in order to guide the positional adjustment of the robot arm 13, a scale 122 and a locking device are provided on the link 122. The position of the robot arm 13 can be adjusted by operating the locking means 122 along the scale 121 provided on the connection piece 12 or unlocking.

The conversion unit 20 converts the position of the robot arm 13 with respect to the main body unit 10. That is, the switching unit 20 switches the driving position of the robot body 11 with respect to the robot arm 13 to the right direction (R) with reference to the user as shown in fig. 3 (a), and switches the driving position to the left direction (L) with reference to the user as shown in fig. 3 (b). Such a conversion portion 20 includes a connection member 21, a fastening rod 22, first and second rod grooves 23, 24, and a positioning pin 25 as shown in fig. 4 to 7.

As shown in fig. 5 and 6, the link member 21 is provided to move integrally with the robot arm 13 between the link 12 and the robot arm 13. In the present embodiment, it is exemplified that the connection member 21 is provided on the first driving link 131 of the robot arm 13 so as to face the link 12.

On the other hand, as shown in fig. 7, the link member 21 is rotatable with respect to the link 12 by sandwiching a plurality of bearings (B) and being capable of rotating in conjunction with the first drive link 131 coupled to the upper end of the link 12. For reference, the bearing (B) may include a Ball bearing (Ball bearing) or a cross Ball bearing (Crossroller bearing), which is exemplified in this embodiment as including a cross Ball bearing.

As shown in fig. 4, the fastening lever 22 protrudes toward the link 12 with respect to the link member 21, and at least one is provided to be rotatable integrally with the robot arm 13. Here, the fastening rod 22 is separated from or inserted into first and second rod grooves 23, 24 described later. Accordingly, the fastening lever 22 may be provided at the connection part 21 so as to be able to be lifted in a direction to enter and separate the first and second lever grooves 23, 24.

On the other hand, in the present embodiment, the fastening lever 22 is a type of position fixing guide for switching the left (L) and right (R) positions of the robot arm 13, and may be changed to any one of various position fixing parts such as a plunger of the fastening lever 22.

The first and second lever grooves 23, 24 are introduced into the link 12 at a predetermined depth so that the fastening lever 22 can be inserted, and at least one is provided on the left and right sides, respectively, so as to face each other between the rotation centers of the robot arms 13 of the link chain 12. As shown in fig. 4, it is exemplified that in the present embodiment, the first rod groove 23 and the second rod groove 24 are provided on the left and right sides, respectively, so as to correspond to the left (L) and right (R) directions of the robot arm 13. That is, the first bar groove 23 is provided on the left side and the second bar groove 24 is provided on the right side with reference to the user sitting on the chair (C) as an example.

By inserting and separating the fastening lever 22 into any one of the first and second lever grooves 23, 24 provided on the left and right sides, respectively, the posture of the connection member 21 provided with the fastening lever 22 and the integrally provided robot arm 13 is converted. That is, when the fastening lever 22 is inserted into the first lever groove 23, the robot arm 13 is set to be driven in a right direction (R) posture. In contrast, when the fastening lever 22 is inserted into the second lever groove 24, the driving is set by driving the switching posture in the left direction (L) of the robot arm 13.

The positioning pin 25 is provided so as to protrude from the connector 12 so as to be guided along a guide rail 26 provided on the connecting member 21. Such a positioning pin 25 determines the rotational position of the robot arm 13 by restricting the rotational range of the robot arm 13 provided with the connection member 21 by the guide rail 26.

More specifically, the guide rail 26 is provided to have a predetermined radius of rotation through the connection member 21, and is protrusively provided at the upper end of the connection member 12 such that the positioning pin 25 is inserted into the guide rail 26. Therefore, when the connecting member 21 rotates in conjunction with the first driving link 131, the position of the positioning pin 25 inserted into the guide rail 26 is changed. Furthermore, since the positioning pin 25 is inserted into the guide rail 26 and interferes with the rotation range, the rotation radius of the first driving link 131 integrally driven with the connection member 21 provided with the positioning pin 25 is limited.

For reference, the rotation range of the positioning pin 25 inserted into the guide rail 26 is limited by the guide rail 26 to a rotation radius corresponding to the left (L) and right (R) drive positions of the robot arm 13.

The conversion unit 20 as described above is fastened and fixed by inserting the fastening rod 22 into any one of the rod grooves 23 and 24, and converts the left direction (L) and right direction driving of the robot arm 13.

The driving unit 30 drives the robot arm 13 in multiple directions with respect to the main body 10. The driving unit 30 may be provided with first to fourth driving members 31, 32, 33, 34 for driving the joints of the robot arm 13 provided with a plurality of driving links 131, 132, 133, 134. For reference, in the present embodiment, the robot arm 13 is illustrated and exemplified as including the first to fourth driving links 131, 132, 133, 134 and the bracket 135, so that the driving part 30 is exemplified as including the first to fourth driving parts 31, 32, 33, 34 provided at the connection sites of the first to fourth driving links 131, 132, 133, 134 and the bracket 135. Of course, the number and positions of the driving members 31, 32, 33, 34 of the driving section 30 are not limited to the illustrated example.

The first driving part 31 provides a rotational force between the first driving link 131 and the second driving link 132. The second drive member 32 provides a rotational force between the second and third drive connections 133 and the third drive member 33 provides a driving force between the third and fourth drive connections 133, 134. In addition, the fourth driving part 34 provides a rotational force between the fourth driving link 134 and the bracket 135. Such first to fourth driving members 31, 32, 33, 34 may include driving force generating means such as motors, but are not limited thereto.

The control unit 40 controls the automatic switching of the drive mode of the drive unit 30 according to the position of the robot arm 13 by sensing the change in the position of the robot arm 13 in the left or right direction (R, L). For this purpose, the control section 40 includes a sensing section 50 and an input section 60.

The sensing part 50 senses the position transition of the robot arm 13 by inserting the fastening rod 22 into either one of the first and second rod grooves 23, 24. For this purpose, as shown in fig. 7, the sensing part 50 includes a first sensor 51, a second sensor 52, and a sensing member 53.

The first sensor 51 is provided to correspond to a left direction (L) position of the robot arm 13. The 2 nd sensor 52 is provided to correspond to the right direction (R) position of the robot arm 13. Such first and second sensors 51, 52 are limit switches for sensing a sensing part 53 described later.

The sensing member 53 moves integrally with the connection member 21 so as to move between the first and second sensors 51, 52. Here, as described above, the connection part 21 may include a trigger rotatable with respect to the connection member 12 in association with the rotation of the first driving connection member 131. Accordingly, in conjunction with the movement of the link 12, the position of the sensing member 53 is changed to face either one of the first and second sensors 51, 52, thereby being sensed by either one of the first and second sensors 51, 52.

For reference, the sensing part 53 is provided to selectively pressurize the first and second sensors 51, 52 so that the first and second sensors 51, 52 can sense the sensing part 43. That is, the driving signal can be input by pressurizing the first and second sensors 51, 52 by the sensing part 53. However, the sensing operation between the sensing member 53 and the first and second sensors 51 and 52 is not necessarily limited to the pressure interference, and may be changed to various interference modes such as a photosensor.

In this way, the left direction (L) or right direction (R) position transition of the robot arm 13 connected to the link 12 is sensed by the sensing member 53 interfering with either one of the first and second sensors 51, 52.

On the other hand, the first and second sensors 51, 52 sense the movement of the sensing part 53 by physical contact, and the sensing part 53 may be sensed by proximity, optical, magnetic, or the like. Furthermore, the sensor section 50 may also sense the movement of the robot arm 13 using the principle of an optical encoder.

When the principle of the optical encoder is utilized, the movement region such as the boss portion of the rotation shaft of the robot arm 13 is colored and then distinguished by color, and the movement of the robot arm 13 can be sensed by sensing whether or not the movement of the robot arm 13 is colored by the first and second sensors (51, 52) including the optical sensor. Further, a modification may be realized in which the movement of the robot arm 13 is sensed by the first and second sensors 51 and 52 including the proximity sensor in a case where a part of the robot arm 13 is relatively protruded or recessed without being colored. That is, in the sensor section 50 to which the optical encoder principle is applied, the sensing part 53 is provided in such a manner that a partial region of the robot arm 13 is colored or relatively protruded or recessed, and the first and second sensors 51, 52 include optical or proximity sensors to sense such sensing part 53.

The input section 60 supplies a driving signal to the driving section 30 using the information sensed from the sensing section 50. The input unit 60 is connected to the first to fourth driving members 31, 32, 34 of the driving unit 30 to input driving force. Accordingly, the input unit 60 can automatically control the driving force conversion of the first to fourth driving members 31, 32, 33, 34 in conjunction with the left (L) or right (R) position change of the robot arm 13 sensed by the sensing unit 50.

On the other hand, as shown in fig. 1, a chair (C) in which the user sits may be provided with a monitor (M) capable of controlling and confirming the operation of the exoskeleton type rehabilitation robot system 1 in real time. For this purpose, the user can directly start the off/On (On/off) drive through the monitor (M) or check the driving condition with the naked eye.

The left (L) and right (R) direction drive setting operation of the exoskeleton type rehabilitation robot system 1 according to the present invention having the above-described configuration is described with reference to fig. 8 to 17.

For reference, an initial posture of the exoskeleton rehabilitation robot system 1 according to the present embodiment is schematically shown in fig. 1. At this time, the fastening lever 22 is inserted into the first lever groove 23, and the robot arm 13 is set to be driven in the right direction (R).

As shown in fig. 8, the robot arm 13 is switched from the right side to the left side, that is, from the right direction (R) to the left direction (L), with reference to the user sitting on the chair (C). At this time, the user separates the fastening lever 22 from the first lever groove 23 and inserts it into the second lever groove 24. The link member 21 provided with the fastening lever 22 in conjunction with the movement of the fastening lever 22 and the robot arm 13 rotatable integrally also rotate together.

The sensing member 53 of the sensing part 50 is also rotated by being linked with the rotation of the connection member 21 and the robot arm 13, so that the first or second sensor 51, 52 senses the position of the sensing member 53. At this time, the robot arm 13 is interlocked when the left direction (L) is switched to the position, and the sensing member 53 is sensed by the first sensor 51. When the first sensor 51 of the sensor unit 50 senses a shift in the left direction (L) position of the robot arm 13, the input unit 60 automatically inputs a driving force input signal to the first to fourth driving members 31, 32, 33, 34 of the driving unit 30 to automatically set the driving mode to the left direction (L). At this time, the sensing part 53 may interfere by pressurizing the first sensor 51.

When the input unit 60 of the control unit 40 recognizes the left direction (L) driving of the robot arm 13 due to the interference between the sensing member 53 and the first sensor 51, the left direction (L) driving setting for the rehabilitation of the left arm of the user is automatically performed in the following order.

First, as shown in fig. 9, after the fourth driving member 34 is driven around the rotation of the drive shaft, as shown in fig. 10, the first and second driving members 31 and 32 are also driven to control the driving force input through the input unit 60 so as to rotate around the drive shaft, respectively. Next, as shown in fig. 11, the input of the driving force is controlled by the input unit 60, so that only the first driving member 31 continues to be rotationally driven around the driving shaft.

Thereafter, as shown in fig. 12, in a state where the first driving part 31 is controlled to continue driving, the second and second driving parts 31, 32 are controlled to be rotationally driven centering on the driving shafts, respectively. Fig. 13 shows a state in which the robot arm 13 of fig. 12 is viewed from the other direction.

Thereafter, as shown in fig. 14, the input unit 60 controls the first to third driving members 31 and 33 to continue driving, and finally, as shown in fig. 16, the third driving member 33 is driven to finally complete the driving posture setting of the robot arm 13 for the left arm. Here, fig. 15 and 17 schematically show a state in which the robot arm 13 shown in fig. 14 and 15 is viewed from the other side.

As described above, the control section 40 automatically controls the driving forces of the first to fourth driving members 31, 32, 34 of the driving section 30 by sensing the movement of the robot arm 13 in the left direction (L). Thus, if finally set to drive in the left direction (L) of the robot arm 13, the user can mount the left arm on the stand 135 and then perform a rehabilitation exercise.

On the other hand, when the user wants to perform a rehabilitation exercise on the right arm, as shown in fig. 4, the fastening rod 22 is separated from the first rod groove 23 again and inserted into the second rod groove 24. At this time, as shown in fig. 6, the rotation radius of the fastening lever 22 is interfered by the rotation radius of the positioning pin 25 interfered by the guide rail 26 provided on the connection member 21.

The second sensor 52 senses the posture conversion of the connected robot arm 13 by interference with the sensing member 53 by interlocking with the insertion action of the second lever groove 24 of such a fastening lever 22 (see fig. 7). In this way, when the sensor unit 50 senses the right direction (R) posture transition of the robot arm 13, the input unit 60 drives and controls the first to fourth driving members 31, 32, 33, 34 in the same order as in fig. 8 to 17, thereby automatically setting the right direction (R) driving posture.

On the other hand, the exoskeleton type rehabilitation robot system 1 according to the present invention can provide upper limb rehabilitation exercises for patients such as cerebral strokes. Such an exoskeleton rehabilitation robot system 1 should move an upper limb (arm) in a left or right (L) (R) direction according to the condition of a patient, and should be able to respond thereto.

In order to convert left and right, the present invention designs a degree of freedom of rotation in the center of the back surface of the exoskeleton rehabilitation robot system 1, and the first sensor 51 and the second sensor 52 installed in each direction generate signals by interference with the sensing member 53. The signal so generated will determine the left and right drive mode of the exoskeleton rehabilitation robot system 1.

When it is determined that the robot arm 13 is driven in the right-left direction (L, R), the posture is automatically set by the control of the specific joint position of the robot arm, and thus the double-arm training can be performed. Accordingly, a rehabilitation therapist or the like using the exoskeleton type rehabilitation robot system 1 according to the present invention can provide high usability in the training preparation of the user.

While the present invention has been described with reference to the preferred embodiments thereof, it will be understood by those skilled in the art that various changes and modifications may be made therein without departing from the spirit and scope of the invention as set forth in the following claims.

Industrial applicability

The contents of which are contained herein.

Claims (27)

1. An exoskeleton rehabilitation robot system, comprising:

a main body part provided on a chair on which a user sits and provided with a robot arm movable in a left or right direction with reference to the user sitting on the chair;

a conversion unit for converting the position of the robot arm with respect to the main body unit;

a driving unit for performing joint driving with respect to the main body; and

and a control unit that controls a left or right direction drive mode of the drive unit according to the position of the robot arm after sensing a change in the position of the robot arm.

2. The exoskeletal rehabilitation robot system of claim 1, wherein,

the main body portion includes: a robot body integrally provided to support the chair; a link protruding and connected in a vertical upward direction with respect to the robot main body; and a robotic arm rotatably connected with respect to the connection.

3. The exoskeletal rehabilitation robot system of claim 2, wherein,

the robot arm adjusts a position in the up-down, front-back, and left-right directions with reference to the chair according to the body shape of the user.

4. The exoskeletal rehabilitation robot system of claim 2, wherein,

the conversion section includes: a connecting member provided between the connecting member and the robot arm and integrally movable with the robot arm; at least one fastening rod protruding toward the connector with respect to the connector so as to be rotatable integrally with the robot arm; first and second rod grooves provided on the connection member for insertion into the fastening rod, and provided at least one on each of left and right sides in such a manner as to face each other between rotation centers of the connection member; and a positioning pin protruding from the link for guiding along a guide rail provided on the link, the positioning pin determining a rotation position of the robot arm by restricting a rotation range of the robot arm provided with the link, wherein the left and right driving mode of the robot arm can be automatically switched by inserting the fastening lever into either one of the first or second lever grooves to be fastened and fixed.

5. The exoskeletal rehabilitation robot system of claim 4, wherein,

the connection member is rotatably connected to an end of the connection member by a bearing, and the bearing may comprise a cross ball bearing.

6. The exoskeletal rehabilitation robot system of claim 2, wherein,

the robot arm comprises a first driving connecting piece, a second driving connecting piece and a first driving connecting piece, wherein one end of the first driving connecting piece is rotatably connected with the connecting piece; a second driving link having one end rotatably connected to the other end of the first driving link; a third driving link having one end rotatably connected to the other end of the second driving link; and a fourth driving link having one end rotatably connected to the other end of the third driving link, wherein the fourth driving link may be rotatably connected to a stand on which the user's arm is seated.

7. The exoskeletal rehabilitation robot system according to claim 6, wherein,

the driving part may include: a first drive component providing a rotational force between the first drive connection and the connection of the second drive connection; a second drive component providing a rotational force between the second drive connection and the third drive connection; a third drive component providing a rotational force between the third drive connection and the fourth drive connection; and a fourth drive member providing a rotational force between the fourth drive connection and the bracket.

8. The exoskeletal rehabilitation robot system according to claim 6, wherein,

the first to fourth driving links have a bar shape or a curved shape extending in a length direction.

9. The exoskeletal rehabilitation robot system of claim 4, wherein,

the control unit includes: a sensing part sensing insertion of the fastening rod into either one of the first or second rod grooves; and a signal input section that supplies a driving signal to the driving section with information sensed from the sensing section.

10. The exoskeletal rehabilitation robot system according to claim 9, wherein,

the sensing part may include: a first sensor provided to correspond to a left direction position of the robot arm; a second sensor provided to correspond to a right direction position of the robot arm; and a sensing part sensing a left or right direction driving posture of the robot arm by interfering with either of the first or second sensors.

11. The exoskeletal rehabilitation robot system according to claim 10, wherein,

the sensing member is arranged to be coupled to the connecting member to include a trigger movable between the first and second sensors.

12. The exoskeletal rehabilitation robot system according to claim 10, wherein,

in addition, the first and second sensors sense the sensing part through physical contact or the sensing part through a proximity, optical or magnetic sensing method, and the sensing part is provided to be colored or relatively protruded or depressed with respect to a partial region of the robot arm.

13. The exoskeletal rehabilitation robot system according to claim 7, wherein,

the control unit rotationally drives the fourth driving member and rotationally drives the first and second driving members if the control unit senses the left or right direction position of the robot arm, and rotationally drives the second and third driving members while continuing to drive the first driving member if the first and second driving members are driven, and sets the driving posture by the third driving member.

14. The exoskeletal rehabilitation robot system of claim 1, wherein,

a belt which can be adjusted in a length direction according to the body shape of the user is provided on the chair, so that the user's movement is fixed relative to the chair during rehabilitation.

15. An exoskeleton rehabilitation robot system, comprising:

a main body part provided on a chair on which a user sits and provided with a robot arm movable in a left or right direction with reference to the user sitting on the chair; a conversion unit that converts a position of the conversion robot arm with respect to the main body unit to the left or right direction; a driving unit that drives the robot arm joint with respect to the main body unit; and a control unit that controls a left or right direction drive mode of the drive unit according to the position of the robot arm after sensing a change in the position of the robot arm.

16. The exoskeletal rehabilitation robot system according to claim 15, wherein,

the main body portion includes:

a robot body integrally provided to support the chair;

a connecting member protruding from the robot body in a vertical upward direction; and

the robot arm being rotatably connected with respect to the connection member,

wherein the robotic arm comprises:

a first driving link having one end rotatably connected to the link;

A second driving link having one end rotatably connected to the other end of the first driving link;

a third driving link having one end rotatably connected to the other end of the second driving link; and

and a fourth driving link having one end rotatably connected to the other end of the third driving link.

17. The exoskeletal rehabilitation robot system of claim 16, wherein,

a support for the arm of the user to rest is rotatably connected to the fourth drive connection.

18. The exoskeletal rehabilitation robot system of claim 16, wherein,

the conversion section includes:

a connecting member provided between the connecting member and the robot arm and integrally movable with the robot arm;

at least one fastening rod protruding toward the connector with respect to the connector so as to be rotatable integrally with the robot arm;

first and second rod grooves provided on the connection member for insertion into the fastening rod, and provided at least one on each of left and right sides in such a manner as to face each other between rotation centers of the connection member; and

And a positioning pin protruding from the link for guiding along a guide rail provided on the link, wherein a rotation position of the robot arm is determined by restricting a rotation range of the robot arm provided with the link.

19. The exoskeletal rehabilitation robot system of claim 18, wherein,

the connecting member is rotatably connected to an end of the connecting member by a bearing, and the bearing includes a cross ball bearing.

20. The exoskeletal rehabilitation robot system of claim 16, wherein,

the robot arm adjusts a position in the up-down, front-back, left-right directions with reference to a chair according to the body shape of a user.

21. The exoskeletal rehabilitation robot system according to claim 17, wherein,

the driving part may include:

a first drive component providing a rotational force between the first drive connection and the connection of the second drive connection;

a second drive component providing a rotational force between the second drive connection and the third drive connection;

a third drive member providing a rotational force between the third drive connection and the connection of the fourth drive connection, and

And a fourth driving part that provides a rotational force between the fourth driving link and the bracket, wherein the first to fourth driving links have a bar shape or a curved shape extending in a length direction.

22. The exoskeletal rehabilitation robot system of claim 18, wherein,

the control section may include:

a sensing part sensing insertion of the fastening rod into either one of the first or second rod grooves; and

and a signal input unit for providing a driving signal to the driving unit using the information sensed by the sensing unit.

23. The exoskeletal rehabilitation robot system of claim 22, wherein,

the sensing part may include:

a first sensor provided to correspond to a left direction position of the robot arm;

a second sensor provided to correspond to a right direction position of the robot arm; and

a sensing part sensing a left or right direction driving posture of the robot arm by interfering with either the first or second sensor.

24. The exoskeletal rehabilitation robot system of claim 23, wherein,

The sensing member is arranged to be coupled to the connecting member to include a trigger movable between the first and second sensors.

25. The exoskeletal rehabilitation robot system of claim 23, wherein,

the first and second sensors may sense the sensing part through physical contact or the sensing part through a proximity, optical or magnetic sensing method, and the sensing part may be provided to be colored with respect to a partial region of the robot arm or to be relatively protruded or recessed with respect to the robot arm.

26. The exoskeletal rehabilitation robot system according to claim 21, wherein,

the control unit rotationally drives the fourth driving member and rotationally drives the first and second driving members if the control unit senses the left or right direction position of the robot arm, and rotationally drives the second and third driving members while continuing to drive the first driving member if the first and second driving members are driven, and sets the driving posture by the third driving member.

27. The exoskeletal rehabilitation robot system according to claim 15, wherein,

A belt which can be adjusted in a length direction according to the body shape of the user is provided on the chair, so that the user's movement is fixed relative to the chair during rehabilitation.