KR100854511B1 - 보행훈련제어시스템 - Google Patents
보행훈련제어시스템 Download PDFInfo
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- KR100854511B1 KR100854511B1 KR1020060089121A KR20060089121A KR100854511B1 KR 100854511 B1 KR100854511 B1 KR 100854511B1 KR 1020060089121 A KR1020060089121 A KR 1020060089121A KR 20060089121 A KR20060089121 A KR 20060089121A KR 100854511 B1 KR100854511 B1 KR 100854511B1
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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
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved in a plane substantially parallel to the body-symmetrical-plane
- A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
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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
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/008—Using suspension devices for supporting the body in an upright walking or standing position, e.g. harnesses
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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
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0266—Foot
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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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/01—Constructive details
- A61H2201/0173—Means for preventing injuries
- A61H2201/0176—By stopping operation
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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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
- A61H2201/1215—Rotary drive
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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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/1635—Hand or arm, e.g. handle
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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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/164—Feet or leg, e.g. pedal
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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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
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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
- 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
- A61H2201/1676—Pivoting
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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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5007—Control means thereof computer controlled
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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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5023—Interfaces to the user
- A61H2201/5038—Interfaces to the user freely programmable by the user
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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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5023—Interfaces to the user
- A61H2201/5041—Interfaces to the user control is restricted to certain individuals
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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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5023—Interfaces to the user
- A61H2201/5043—Displays
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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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5061—Force sensors
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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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5069—Angle sensors
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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
- A61H2230/00—Measuring physical parameters of the user
- A61H2230/60—Muscle strain, i.e. measured on the user, e.g. Electromyography [EMG]
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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
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
Abstract
Description
Claims (8)
- 마이크로프로세서가 탑재된 제어 데이터수집 장치로 구성된 제어부와, 진료모드, 패턴구동모드, 실시간 구동모드, 메모리 모드 중 어느 하나의 보행모드를 선택하거나 환자의 보행 상태를 관찰할 수 있도록 된 오퍼레이터조작부(120)와, 장애하지의 각 관절을 구동하도록 된 보행부(140)와, 정상하지 및 장애하지의 보행상태를 검출하기 위한 검출부(150)로 구성된 보행 훈련기로서,상기 오퍼레이터조작부(120)의 실시간 구동모드 선택시, 검출부(150)를 정상하지에 착용시켜 정상하지의 데이터를 검출하고, 이때의 검출 데이터를 제어부(110)에 보내 환자의 정상적인 보행 상태를 판단하고, 장애하지에 착용한 보행부(140)가 정상하지의 보행 상태로 실시간 구동되도록 하는 것을 특징으로 하는 보행훈련제어시스템.
- 제1항에 있어서,상기 오퍼레이터조작부(120)의 진료모드 선택시, 검출부(150)를 장애하지에 착용하여 환자가 보행을 할 때 검출부(150)에서 나온 관절회전각, 관절근력, 근전도의 신호를 받아들여 환자의 보행능력을 측정/저장하여 데이터베이스에 입력하여 환자의 보행훈련 데이터로 활용하는 것을 특징으로 하는 보행훈련제어시스템.
- 제1항에 있어서,상기 오퍼레이터조작부(120)의 패턴구동모드 선택시, 보행부(140)를 환자의 장애하지에 착용한 상태에서 오퍼레이터조작부(120)가 환자의 상태에 적합한 각 관절의 회전각도, 회전속도, 보행횟수 등을 입력하여 환자의 보행훈련을 수행하는 것을 특징으로 하는 보행훈련제어시스템.
- 제1항에 있어서,상기 오퍼레이터조작부(120)의 메모리 모드 선택시, 상기 오퍼레이터조작부(120)는 환자의 보행훈련 데이터 및 의사의 보행처방 데이터가 담긴 외부메모리장치(127)를 접속하여, 외부메모리장치(127)에 저장된 보행훈련 데이터에 의한 보행훈련을 실행하는 것을 특징으로 하는 보행훈련제어시스템.
- 제 1항 내지 4항 중 어느 한 항에 있어서,상기 보행부(140)의 고관절, 슬관절, 족관절 부위가 각각 분리 조합 가능한 상태로 이루어지고, 각각의 관절은 제어부(110)에 의한 단독구동 및 조합에 의한 구동제어가 이루어지는 것을 특징으로 하는 보행훈련제어시스템.
- 제 1항 내지 4항 중 어느 한 항에 있어서,상기 오퍼레이터조작부(120)는 환자가 보행훈련을 수행할 준비가 되었는지를 확인한 후, 제어부(110)를 통해 훈련자 조작부(130)가 보행부(140)의 시작, 정지, 비상정지에 대한 구동권한을 갖도록 설정하는 것을 특징으로 하는 보행훈련제어시스템.
- 제 1항 내지 4항 중 어느 한 항에 있어서,상기 제어부(110)는 보행 훈련 도중 비정상적인 보행훈련 패턴에 감지되거나, 훈련자 조작부(130)의 비상정지 명령 버튼이 눌러진 경우에 보행훈련기의 전원을 자동차단하는 것을 특징으로 하는 보행훈련제어시스템.
- 제 1항 내지 4항 중 어느 한 항에 있어서,상기 오퍼레이터조작부(120)는 보행훈련 간에 환자의 상태에 맞춰 보행의 속도와 회전각을 증감 조작하는 것을 특징으로 하는 보행훈련제어시스템.
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
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KR1020060089121A KR100854511B1 (ko) | 2006-09-14 | 2006-09-14 | 보행훈련제어시스템 |
PCT/KR2007/004370 WO2008032967A1 (en) | 2006-09-14 | 2007-09-10 | Gait training control system |
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KR1020060089121A KR100854511B1 (ko) | 2006-09-14 | 2006-09-14 | 보행훈련제어시스템 |
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KR20080024695A KR20080024695A (ko) | 2008-03-19 |
KR100854511B1 true KR100854511B1 (ko) | 2008-08-26 |
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WO (1) | WO2008032967A1 (ko) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR20160094095A (ko) | 2015-01-30 | 2016-08-09 | 현대중공업 주식회사 | 보행 재활 로봇의 보행 패턴 분석 시스템 |
KR20190081350A (ko) | 2017-12-29 | 2019-07-09 | (주)동아금속 | 하지 재활용 보행 밸런스 모니터링 시스템 |
Families Citing this family (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN103037827B (zh) * | 2010-03-17 | 2015-02-11 | 丰田自动车株式会社 | 腿辅助装置 |
KR101448106B1 (ko) * | 2011-02-17 | 2014-10-08 | 주식회사 라이프사이언스테크놀로지 | 무구속 근전도 신호를 이용한 재활상태 분석방법 |
CA2828420C (en) * | 2011-03-02 | 2018-05-01 | University Of Tsukuba | Gait training device and gait training system |
KR20150055958A (ko) * | 2013-11-14 | 2015-05-22 | 삼성전자주식회사 | 착용형 로봇 및 그 제어 방법 |
KR101609505B1 (ko) | 2015-02-04 | 2016-04-05 | 현대중공업 주식회사 | 보행 재활 제어 시스템 및 그 방법 |
JP2019092928A (ja) * | 2017-11-24 | 2019-06-20 | トヨタ自動車株式会社 | リハビリ支援装置、制御方法、及び制御プログラム |
CN108538388B (zh) * | 2018-03-06 | 2022-09-06 | 上海逸动医学科技有限公司 | 一种膝关节运动障碍功能评判方法 |
CN109528203A (zh) * | 2019-01-21 | 2019-03-29 | 郑州大学 | 一种基于多源信息融合的交互式脑卒中患者步态训练及评测系统 |
KR102176050B1 (ko) * | 2019-04-11 | 2020-11-06 | 한지훈 | 보행기를 이용한 어린이 보행훈련 제어 시스템 |
CN112669964A (zh) * | 2019-10-16 | 2021-04-16 | 深圳市迈步机器人科技有限公司 | 动力外骨骼及基于动力外骨骼的康复评价方法 |
CN110840711A (zh) * | 2019-11-21 | 2020-02-28 | 合肥工业大学 | 一种基于六杆机构的单自由度下肢康复机器人 |
CN110840712A (zh) * | 2019-11-21 | 2020-02-28 | 合肥工业大学 | 一种基于人机交互的下肢康复机器人系统 |
CN111249116A (zh) * | 2020-01-20 | 2020-06-09 | 深圳市丞辉威世智能科技有限公司 | 单侧下肢外骨骼康复装置 |
CN112220650B (zh) * | 2020-12-09 | 2021-04-16 | 南京伟思医疗科技股份有限公司 | 一种外骨骼机器人对侧训练用在线步态生成控制系统 |
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2006
- 2006-09-14 KR KR1020060089121A patent/KR100854511B1/ko active IP Right Grant
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- 2007-09-10 WO PCT/KR2007/004370 patent/WO2008032967A1/en active Application Filing
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JP2005006751A (ja) * | 2003-06-17 | 2005-01-13 | Yaskawa Electric Corp | 歩行訓練装置 |
JP2005013442A (ja) * | 2003-06-26 | 2005-01-20 | Yaskawa Electric Corp | 歩行訓練装置及び歩行訓練装置の制御方法 |
JP2005211086A (ja) | 2004-01-27 | 2005-08-11 | Yaskawa Electric Corp | 歩行訓練装置 |
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Cited By (3)
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KR20190081350A (ko) | 2017-12-29 | 2019-07-09 | (주)동아금속 | 하지 재활용 보행 밸런스 모니터링 시스템 |
KR102014162B1 (ko) | 2017-12-29 | 2019-08-26 | (주)동아금속 | 하지 재활용 보행 밸런스 모니터링 시스템 |
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