KR101067918B1 - Kinetic control method and system of shoulder joint therapeutic machinery - Google Patents

Abstract

The present invention relates to a motion control method and apparatus of the shoulder joint treatment device, the function to efficiently exercise according to the condition of the patient and reduce the overall exercise time to use more patients, the speed is increased or decreased within the exercise section If you exercise to belong to the upper and lower limit of the shoulder patient to the set speed, and at the middle point faster than the set speed to operate at the upper and lower limits to concentrate on the exercise to increase the treatment effect, exercise at a constant speed The present invention provides a method and apparatus for controlling the operating state of the device so that the entire exercise time is reduced and more patients use it at the same time.

Shoulder joint treatment device, acceleration mode, constant velocity mode, exercise time

Description

Kinetic control method and system of shoulder joint therapeutic machinery

The present invention relates to a method and apparatus for controlling the movement of a shoulder joint treatment device, and more particularly, whether or not to continuously exercise a setting section at a set speed in a speed adjusting method for treating a patient according to a patient's condition. It relates to a motion control method and apparatus of the shoulder joint treatment device to selectively use whether to exercise the acceleration and deceleration.

In general, the shoulder joint abnormality is a symptom that the movement of the joint of the body is wide, so that the shoulder area, which is a high risk of injury, is accompanied by the restriction of the exercise using the shoulder joint. Depending on the cause of the abnormal symptoms of the shoulder joint, along with the drug treatment must be accompanied by physical therapy.

The physical therapy equipment for treating the abnormal symptoms of the shoulder joint is known, and the base is fixed to the seat is provided with a base on the bottom and the back is provided on the upper side of which the left or right of the instrument mounting body The upper and lower locomotive units equipped with gearboxes with gearboxes equipped with gearboxes for decelerating and transmitting the forward and reverse motors and their rotational forces on one side are installed so as to be positioned so that the patient is sitting on the seat on either side of the left or right side. The shoulder joint therapy device was designed to treat abnormal symptoms of the shoulder joint using the installed upper arm and lower chest exercise device.

In addition, the shoulder joint treatment device (Korean Patent Application No. 10-2006-0119230) capable of horizontal reciprocating exercise, which comprises a horizontal exercise device as well as the upper and lower exercise device as described above, is known.

In general, the conventional shoulder joint treatment device, according to the patient's condition is set to the lower stage in the case of surgery exercise and the rehabilitation patient is set to the high speed to set the exercise to adjust the speed in several steps according to the patient's condition use.

In the general shoulder joint treatment device as described above, the method of adjusting the speed according to the condition of the patient has a problem of consuming time even in the section where the shoulder joint treatment is not overwhelmed by performing the exercise only at the set step speed in all the exercise sections. , There is a problem that the overall exercise time is long and the efficiency of using the device falls.

The first object of the present invention is to exercise the shoulder using the shoulder treatment device to treat the shoulder joint by moving at a speed higher than the set speed in the region of the shoulder joint treatment at the set speed value and the shoulder joint is not unreasonable The purpose is to maximize the exercise effect at the site.

A second object of the present invention is to provide a function that enables more patients to use with one machine to obtain the effect of shortening the overall exercise time by reducing the time in the section that does not affect the patient treatment area.

That is, the present invention operates at a set speed in the upper and lower limit sections that are unreasonable to the shoulder patient when exercising by accelerating and decelerating the speed in the exercise section, and operates faster than the set speed in the middle point to intensively exercise in the upper and lower limit sections. It is to provide a method and apparatus for controlling the operating state of the device to improve the treatment effect by performing the exercise, reducing the overall exercise time than when exercising at a constant speed to use more patients at the same time.

The present invention for achieving the above object is configured to configure the screen to set the speed adjustment step in the setting device of the shoulder joint treatment device in the constant velocity mode and the acceleration mode to control the motion at constant velocity according to the speed setting step in the constant velocity mode Command the device and move at the set speed in the upper 25% position and lower 25% position where the group is delivered to the treatment area of the shoulder joint in acceleration mode, and move faster than the set speed in the middle 50% position where the joint is less crowded. It is characterized by commanding the control device to control the machine operating state.

The setting device is characterized by displaying the state of movement of the machine to exercise, and displays the current speed and the state of speed setting.

In another aspect, the present invention, in the exercise control device of the shoulder joint treatment device for controlling each movement of the upper and lower exercise device for moving the shoulder in the horizontal rotation, the lower chest exercise device for exercising the elbow, connected to the display unit and the touch keypad A main control unit which receives a user input and outputs a control command to a drive board controlling the upper and lower exercise apparatuses based on a set exercise condition while controlling display of the screen; An exercise setting unit configured to set an exercise type set by a user by displaying a screen on the exercise type on the display unit under control of the main controller; An angle setting unit for setting an angle of movement; A time setting unit for setting an exercise time; It is characterized by consisting of a state setting unit for setting the exercise conditions of the exercise speed and the load and the equivalent acceleration motion.

The state setting unit includes an exercise speed setting unit for setting an exercise speed, an exercise load setting unit for setting an exercise load amount, an upper / lower limit standby setting unit for setting a waiting time at an upper / lower limit position, and a speed adjusting step. It is characterized in that it comprises a constant acceleration mode and the acceleration mode, and set separately, the constant acceleration setting unit for setting the acceleration speed of the acceleration mode and the constant acceleration section setting unit for setting the equal acceleration section.

As described above, according to the present invention, when the patient's exercise setting is set to the acceleration mode, the patient moves quickly at the place where the treatment area is not difficult to concentrate on the treatment area, and the overall exercise time is reduced, so that more of one machine is available. It has the effect of exercising the patient.

Hereinafter, with reference to the accompanying drawings an embodiment of the method for setting the speed and operation state of the shoulder joint treatment device according to the present invention will be described in detail.

1 is a system block diagram of a shoulder joint treatment device according to the present invention, Figure 2 is a photographic illustration of a shoulder joint treatment device for applying the present invention.

Shoulder joint treatment device, as shown in Figure 2, sitting on the chair and shoulder and arm fixed to the shoulder and arm to be configured to exercise the shoulder and arms mechanical device 100, and the user sets the exercise conditions It consists of a control device 200 for controlling.

The shoulder joint exercise device 100, the upper arm exercise device 120, and the lower arm exercise device 130, the upper arm exercise device 120 is a vertical motion motor 121 for exercising the shoulder joint up and down and It is configured to include a rotary motion motor 122 for rotating the shoulder joint, the lower motion device 130 includes a bend joint motor 131 for the movement of bending the elbow joint, the control device 200 Under the control of the drive device 110 for driving the upper and lower locomotion device 120 and the lower locomotion device 130 is configured.

The control device 200 is usually installed on the arm rest of the chair so that the user can easily set the exercise conditions, it is configured to include a controller 210, the display unit 220 and the touch keypad 230. . Here, not all keys or buttons are configured as touch keys, only keys for condition setting and menu setting are configured as a touch keypad while viewing the screen, and power on / off or other necessary buttons are separately configured.

The display unit 220 is configured as an LCD monitor which is integrated with the touch keypad 230, and is configured to provide various graphics and setting menu keys on the screen so that the display can be easily manipulated and set.

Figure 3 is a controller configuration of the shoulder joint treatment device control apparatus according to the present invention.

As shown therein, the controller 210 is connected to the display unit 220 and the touch keypad 230 to receive a user's input and control the display of the screen, and control commands to the drive board 110 based on a set exercise condition. A main control unit 211 for outputting the same;

An exercise setting unit 212 configured to set a type of exercise set by a user by displaying a screen on the type of exercise on the display unit 220 under the control of the main control unit 211; An angle setting unit 213 for setting an angle of movement; A time setting unit 214 for setting an exercise time; And a state setting unit 215 for setting exercise conditions such as exercise speed, load, and constant acceleration exercise.

The exercise setting unit 212 selects a type of exercise such as a front weather 212a, a lateral weather 212b, a rotary motion 212c, a compound motion 212d, a horizontal adduction 212e, and a elbow joint 213f. To be taken.

The state setting unit 215 includes an exercise speed setting unit 215a for setting an exercise speed, an exercise load setting unit 215b for setting an exercise load, and an upper / lower limit for setting a waiting time at an upper / lower limit position. Standby setting unit 215c, the constant speed setting step is divided into the constant speed mode and the acceleration mode, and the constant acceleration setting unit 215d for setting the acceleration speed of the acceleration mode, and the treatment of the shoulder joint patients in the acceleration mode Equivalent acceleration section that allows you to set an equal acceleration section to move at a set speed in the upper 25% position and the lower 25% position where the group is delivered to the site, and to move faster than the set speed in the middle 50% position where the group is less crowded. And a setting unit 215e and a frequency setting unit 215f for setting the number of repetitions of the equivalent acceleration motion.

According to the present invention configured as described above, when the user sits on a chair, the shoulder joint exercising apparatus 100 is fixedly coupled to the shoulders and arms, and sets the type of exercise and the exercise conditions through the control apparatus 200 to start the shoulder joint exercising apparatus. 100 up and down shoulders. By implementing the joint motion of the rotary elbow, the present invention is to provide a control program and a method for setting the motion control conditions of the shoulder well exercise device to be more effective exercise. That is, the constant velocity movement to set the movement speed step by step according to the patient's state to exercise in constant velocity from the start position to the end position; The interval between the exercise start position and the end position is divided into a start section, an intermediate section and an end section at arbitrary intervals, the start section and the end section are controlled by the set constant velocity motion, and the intermediate section is the set speed. Including the equivalent acceleration control to control the acceleration of the faster speed is to control.

4A to 4C are diagrams illustrating setting screens on the apparatus for setting a shoulder joint treatment apparatus according to the present invention. FIG. 4A is an exercise mode, FIG. 4B is an exercise section, and FIG. 4C is a screen configuration diagram for setting an exercise condition.

As shown in FIG. 4A, the exercise mode (FIG. 4A) in the shoulder joint treatment device is set by the exercise setting unit 212 of FIG. 3. Forward elevation (212a) to move up and down, lateral elevation (212b) to move the shoulders up and down with the arms sideways, rotational movement (212c), the up and down and rotational movements to rotate the shoulders in the open state Six movements can be selected, such as a compound exercise (212d) for exercising in combination, a horizontal civil war (212e) for bending the elbow horizontally as a lower night exercise, and a elbow joint (212f) for moving the elbow up and down.

4B is a screen configuration for setting an exercise section in each of the selection modes, and FIG. 4C is a screen for setting exercise conditions such as an exercise section, an exercise speed, an exercise load, an upper limit wait, a lower limit wait, and an exercise time.

Figure 5 is a screen for detailed settings in the exercise condition setting mode of Figure 4c, the speed control mode is to set the basic speed value, and after pressing the equal acceleration setting and enter the increase and decrease key is set for constant velocity and acceleration It is possible.

6 is a conceptual diagram showing the state of the movement speed for each section when setting the constant velocity and acceleration movement, the constant velocity movement at all speeds, the acceleration movement at the top 25% and the lower 25% at the set speed, the middle 50 In the% range, the controller controls the operating state to move at a two-step speed increase. That is, FIG. 6 is a diagram illustrating a setting state by a submenu of the state setting unit of FIG. 3. In case of 100% movement at the set speed, only the movement speed is set without setting the equivalent acceleration motion, the upper and lower 25% is controlled by the set speed, and the middle 50% is controlled by the set speed + 1 interval, that is, acceleration motion. As shown, this is an exemplary diagram for controlling the movement speed when the constant acceleration motion is selected. At this time, it means the speed of the acceleration motion, that is, the set speed + step 1, the acceleration step is set to one step, two steps, and the first and second steps to set the effective acceleration constant by the experiment.

Therefore, in the present invention, the constant velocity exercise and the shoulder joint treatment area that exercise at the speed set by the constant acceleration setting part 215c of the state setting part 215 exercise at the set speed value and do not overwhelm the shoulder joint. In the part, the user can set the acceleration movement speed that moves at a speed faster than the set speed.

Then, the setting device of the shoulder joint treatment device displays on the display screen to determine whether the speed setting value and the currently set speed method is constant speed or acceleration.

In addition, a screen is provided to set the constant acceleration section under the control of the constant acceleration section setting unit 215e, and the user can set the constant velocity section and the acceleration section. At this time, it is preferable to control the upper 25% moving at the set speed, the middle 50% moving faster than the set speed, the lower 25% moving at the set speed, and the basic setting if the user does not set the equal acceleration section. To provide.

1 is a system block diagram of a shoulder joint treatment device according to the present invention.

Figure 2 is a photographic illustration of the shoulder joint treatment apparatus for applying the present invention.

Figure 3 is a controller configuration of the shoulder joint treatment device control apparatus according to the present invention.

4A to 4C are exemplary views of setting screens on the apparatus for setting a shoulder joint treatment apparatus according to the present invention. FIG. 4A is an exercise mode, FIG. 4B is an exercise section, and FIG. 4C is a screen configuration diagram for setting an exercise condition.

5 is an exemplary view showing a screen for detailed setting in the exercise condition setting mode of FIG. 4C.

Figure 6 is a conceptual diagram showing the state of motion speed for each section at the time of setting constant velocity and acceleration.

<Description of the symbols for the main parts of the drawings>

100: shoulder joint exercise device 110: drive board

120: upper arm exercise apparatus 121: vertical movement motor

122: rotational motor 130: lower night motion device

131: elbow joint motor 200: control device

210: controller 211: main controller

212: movement setting unit 213: angle setting unit

214: time setting unit 215: state setting unit

215a: exercise speed setting unit 215b: exercise load setting unit

215c: Upper / lower limit standby setting unit 215d: Equal acceleration setting unit

215e: Equal acceleration section setting unit 215f: Number setting section

Claims (8)

delete delete delete In the motion control device of the shoulder joint treatment device for controlling each movement of the upper arm exercise device for exercising the shoulder up and down or horizontal rotation, and the lower arm exercise device for exercising the elbows, The control unit is connected to the display unit 220 and the touch keypad 230 to receive a user's input and control the display of the screen and control commands to the drive board 110 to control the upper and lower exercise device based on the set exercise condition. A main control unit 211 for outputting; An exercise setting unit 212 configured to set a type of exercise set by a user by displaying a screen on the type of exercise on the display unit 220 under the control of the main control unit 211; An angle setting unit 213 for setting an angle of movement; A time setting unit 214 for setting an exercise time; Movement control device of the shoulder joint treatment device, characterized in that consisting of a state setting unit (215) for setting the movement speed and the exercise conditions of the load and the equivalent acceleration motion. The method of claim 4, wherein the exercise setting unit 212, Shoulder joint treatment, characterized in that it is made to select the type of motion, such as anterior weather (212a), lateral weather (212b), rotational movement (212c), compound movement (212d), horizontal adduction (212e), elbow joint movement (213f) Motion control of the device. The method of claim 4, wherein the state setting unit 215, An exercise speed setting unit 215a for setting an exercise speed, an exercise load setting unit 215b for setting an exercise load, and An upper / lower limit waiting setting unit 215c for setting a waiting time at an upper / lower limit position; The motion control apparatus of the shoulder joint treatment apparatus comprising a constant acceleration setting unit (215d) to set the speed adjustment step is divided into the constant velocity mode and the acceleration mode, and to set the acceleration speed of the acceleration mode. The method of claim 6, wherein the constant acceleration setting unit (215d), Motion control device of the shoulder joint treatment device, characterized in that it further comprises a constant acceleration section setting unit (215e) for setting the constant velocity section and the constant acceleration section. The method of claim 6, wherein the constant acceleration setting unit (215d), In the acceleration mode, the upper and lower limit of 25% position and the lower limit of 25% position where the group is delivered to the treatment area of the shoulder joint are moved at a set speed, and in the middle 50% position where the joint is less, the movement is controlled faster than the set speed. Motion control device of the shoulder joint treatment device.

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