KR101264560B1 - Motion apparatus orthosis for upper extremity - Google Patents

Abstract

PURPOSE: A movement apparatus of the upper limbs is provided to prevent nervous system damaged patients from developing complications, easily assist the movement of the upper limbs, and strengthen the muscle and recover the nervous system through exercise therapy. CONSTITUTION: A movement apparatus of upper limbs comprises a supporting fixture(100) formed to support the wrist; a main supporting piece(200) formed to support both wrist side on both sides of the supporting fixture in a longitudinal direction; a first secondary supporting piece(300) which supports one side of the main supporting piece and both side of the back of the hand; a first turning material(500a) which rotates the first secondary supporting piece in a prescribed angle; a secondary supporting piece(400) which supports the first secondary supporting piece and both sides of the finger unit; a secondary turning material(500b) which rotates the secondary supporting piece at a prescribed piece; a first fixing unit(800a) which unites one side of a secondary supporting piece which is formed by connecting to the back of the hand; and a driving material(600) formed on the top of the supporting fixture.

Description

Upper extremity exercise device {MOTION APPARATUS ORTHOSIS FOR UPPER EXTREMITY}

The present invention helps to strengthen the muscles and recover the nervous system through the dipping and loosening of the wire according to the operation of the EMG to perform the joint movement of the finger and wrist, and to restore the muscles and nervous system of the fingers and wrist by pulling and loosening the wire The exercise device of the upper limb that helps the patient's self-assessment and the recovery of the disease by assisting the patient's self-evaluation.The focus is on the prevention of the complications of the nervous system such as stroke, spinal cord injury, peripheral nerve injury, and cerebral palsy. The present invention relates to an upper extremity exercise device capable of easily assisting the movement of a required upper limb and at the same time exercising the treatment of nervous system damage.

The Republic of Korea has a very high incidence of stroke among diseases, and a number of patients with cerebral palsy have recently occurred due to preterm labor due to preterm labor. Robotic upper limb assisters have been developed and used to assist the behavior of neurological damage patients such as stroke, spinal cord injury, peripheral nerve injury, and cerebral palsy.

In the case of stroke or Parkinson's disease, various physical changes occur depending on the condition, for example, the hands and feet are paralyzed and the gradation occurs. If left alone, these paralysis and gradual stiffening muscles or joints can cause pain when moving, and even nerve recovery can interfere with activity.

Therefore, it is very important to maintain the maximum exercise ability by promoting the blood circulation and neural communication by continuously massaging or moving hands and feet, such as paralysis or ograd. Through this exercise therapy, the patient's exercise ability may be maintained or improved in some cases.

There are various kinds of exercise equipments used for the above-mentioned exercise treatments, and have their own effects to help the patient's rehabilitation. However, there are many conventional exercise therapy apparatuses for rehabilitation of major parts such as waist, legs, or neck of the body, but there is no proper finger exercise device for professional rehabilitation of fingers.

In the case of the previously developed robotic upper limb assister, the movement was inconvenient due to the impossibility of moving or complicated appearance, bulky and heavy.

For example, Coeneman Edward (Koeneman, Edward J.), Coeneman James (Koeneman, James B.), Herring Donald E., Schultz, Robert S., etc. An exercise function recovery device including a joint position measurement system, a force sensing measurement system, an EMG measurement system, a nerve root low-level stimulation system, a controller, and a display device has been presented, but it is large and heavy enough to be inconvenient to use. fell.

In functional aspects, the conventional upper limb assister can be used only in the chronic phase, and there is a problem that muscle weakness or muscular atrophy may occur during long-term wearing because there is no function of active treatment and evaluation, but passively assists the patient.

For example, in the case of a stroke patient, due to the stiffness of the wrist due to the flexion of the wrist is not able to straighten the wrist has a very uncomfortable daily life, but conventional robot aids alone can not solve this problem.

That is, conventionally used upper limb supporter was used as a simple brace rather than a therapeutic or evaluative concept, and its volume was very large and heavy so that patients could not use the brace in the outdoors or indoors with obstacles. There was a problem that was difficult to use the brace.

Therefore, there is a need for the development of a brace to minimize obstacles in the activity of the patient because it is lighter and simpler structure than the conventional upper limb supporter can be used indoors as well as outdoors.

In addition, by adding the concept of treatment and exercise in addition to the auxiliary concept in the orthosis, the development of an exercise device that can accelerate the recovery rate of the patient to see the therapeutic effect that can be worn and strong and continuous exercise in addition to the treatment time Is required.

In addition, the development of the upper extremity exercise device that can be passively assisted and treated during the chronic or rehabilitation or recovery period when the acute phase or severe functional impairment to break away from the passive phase of the chronic phase is required.

The present invention has been made to solve the above problems, the upper limbs to prevent the complications of patients with neurological damage, such as stroke, spinal cord injury, peripheral nerve damage, cerebral palsy, etc. At the same time to support the upper extremity exercise device that can strengthen muscle strength and nervous system recovery through exercise therapy.

In the configuration of the present invention, a support formed to support the cuff, a main support piece formed to support both sides of the cuff in the longitudinal direction to both sides of the support, and one end of the first auxiliary support piece to support both sides of the main support piece and the back of the hand. Connected between the first pivot member and the first auxiliary support piece formed to rotate the first auxiliary support piece at a predetermined angle, and the other ends of the first auxiliary support piece and one end of the second auxiliary support piece supporting both sides of the finger; A first rotating member formed so as to rotate the second auxiliary support piece at a predetermined angle and one surface of the second auxiliary support piece, and formed on the upper surface of the back of the hand; In the upper extremity exercise device composed of a drive member,

A drive motor driven by a control unit is accommodated in the drive member, and a first gear for transmitting power of the drive motor is formed.

A time belt is provided to link the first gear and the second gear so that the power of the first gear is transmitted to the second gear formed on the rotating shaft.

One end of the plurality of wires is connected to be spaced apart in the longitudinal direction of the rotation shaft, and the other end of the wire provides an upper limb movement device that is bound to an upper portion of the first fixing part.

On the other hand, in connection with the control unit in the drive member provides an upper limb movement device further includes a plurality of sensors to detect the movement of muscle strength, such as the cuff or arm is formed on the inner peripheral surface.

According to the upper extremity exercise device of the present invention as described above, while preventing the complications of patients with neurological damage, such as stroke, spinal cord injury, peripheral nerve injury, cerebral palsy, etc. centering on the upper limbs and easily assist the movement of the upper limbs necessary for daily life Exercise therapy is also possible.

In addition, by affecting the functional operation pattern or speed of the upper limbs to facilitate the movement necessary for daily life, it can solve the inconvenience or problems caused by the conventional upper limb exercise device, which is bulky and heavy and has a lot of limitations in activity. have.

1 is a structural diagram of the upper extremity exercise apparatus according to the present invention.
Figure 2 is a structural diagram of a wire-driven member-EMG of the upper limb movement apparatus according to the present invention.
Figure 3 is an assembled and separated view of the drive motor-time belt-rotation shaft-wire in the upper limb movement apparatus according to the present invention.
Figure 4 is a state wearing the upper extremity exercise apparatus according to the present invention.
Figure 5 is a structural diagram connected to the second fixing rod in the upper extremity exercise apparatus according to the present invention.

In order to achieve the above object will be described in detail through the following detailed description and drawings.

In the configuration of the present invention, as shown in Figures 1 to 4, the support 100 formed to support the cuff, and the main support piece 200 formed to support both sides of the cuff in the longitudinal direction to both sides of the support 100. And a first connection part connected between one end of the main support piece 200 and one end of the first auxiliary support piece 300 supporting both sides of the back of the hand so that the first auxiliary support piece 300 rotates at a predetermined angle. The second auxiliary support piece 400 is connected between the rotation member 500a and one end of the second auxiliary support piece 400 supporting both ends of the first auxiliary support piece 300 and both sides of the finger. The second rotating member 500b and the second auxiliary support piece 400 bind to one surface of the second fixing member 500b, the first fixing part 800a formed in association with the upper portion of the back of the hand, and the supporter 100. In the upper limb movement device 10 composed of a driving member 600 formed on the upper surface, the driving member (6) The drive motor 620 driven by the controller 610 is accommodated therein, and a first gear 621 for transmitting power of the drive motor 620 is formed, and the first gear 621 of the first gear 621 is formed. A time belt 630 is provided to link the first gear 621 and the second gear 641 so that power is transmitted to the second gear 641 formed on the rotation shaft 640, and the rotation shaft 640 extends in a longitudinal direction. One end of the plurality of wires 700 are spaced apart from each other, and the other end of the wire 700 provides an upper limb movement device 10 that is bound to an upper portion of the first fixing part 800a.

In the present invention, when the user wants to move the finger and wrist, the user moves the predetermined muscles (for example, pectoral muscles) to move the regular muscle strength exercise to stimulate and reproduce the muscles that move the hand, that is, the stimulus muscles. To move the hand. Examples of the stimulus muscles include the wrist extensor muscles (the lumbar carpal extensor and the lateral carpal extensor muscle), the flexors of the wrist and fingers, and the alleles of the thumb and the thumb.

The upper limb movement device 10 of the present invention is a support 100 formed to support the cuff as shown in Figures 1 to 4, the main body formed to support both sides of the cuff in the longitudinal direction to both sides of the support (100) It is connected between the support piece 200 and one end of the main support piece 200 and one end of the first auxiliary support piece 300 supporting both sides of the back of the hand so that the first auxiliary support piece 300 rotates at a predetermined angle. The second auxiliary support piece 4000 is connected between the first rotating member 500a and the first auxiliary support piece 300 which are formed to be connected to one end of the second auxiliary support piece 400 that supports both sides of the finger part. The first rotating member 500b formed so as to rotate at a predetermined angle, the first fixing part 800a formed by coupling one surface of the second auxiliary support piece 400 to the upper portion of the back of the hand, and the In the upper limb movement device 10 composed of a drive member 600 formed on the upper surface of the support 100, A driving motor 620 driven by the controller 610 is accommodated in the driving member 600, and a first gear 621 for transmitting power of the driving motor 620 is formed, and the first gear ( A time belt 300 is provided to connect the first gear 621 and the second gear 641 to transmit the power of the 621 to the second gear 641 formed on the rotation shaft 640, and the rotation shaft 640. One end of the plurality of wires 700 are spaced apart in the longitudinal direction, and the other end of the wire 700 provides an upper limb movement device 10 that is bound to an upper portion of the first fixing part 800a.

As shown in FIG. 2 and FIG. 3, the drive motor 620 generates power in a forward direction by a signal from the control unit 610 mounted inside the drive member 600 of the upper limb movement apparatus 10. The power is transmitted to 621, and the power transmitted to the first gear 621 transmits power to the second gear 641 of the rotation shaft 640 through the time belt 300 to rotate the rotation shaft 640. Will be raised.

At this time, one end of the plurality of wires 700 is fixed in the longitudinal direction of the rotation shaft 640 by the rotation of the rotation shaft 640, so that the wire 700 is wound on the outer circumferential surface of the rotation shaft 640, and at the same time, the other end of the wire 700 is formed. It is connected to the first fixing part 800a, and the force is transmitted to the first fixing part 800a to spread the bent wrist, and on the contrary, when the power proceeds in the reverse direction of the driving motor 620, the power is wound around the rotating shaft 640. As the wire 700 is released, the force is transmitted to the first fixing part 800a so that the wrist is lifted, and the wrist is repeatedly moved by the forward / reverse direction of the driving motor 620.

If the drive motor 620, the rotation axis 640, the wire 700, the first fastener 800a is described as exercising the muscle strength of the wrist, the technical elements described below are used to exercise the muscle strength of the finger. Provided.

This component is combined with the upper extremity exercise device 10 described above is provided to exercise strength while parallel to the wrist and fingers to reveal that it can be configured as an integral exercise device.

As shown in FIG. 5, the other end of the connecting rod 700 is coupled, and both side surfaces of the second auxiliary support piece 400 formed on both sides of the finger unit are coupled to each other, and the binding port can insert four fingers except the thumb. A second fixing part 800b in which 820 is formed is further included, and the finger part refers to four fingers except for the thumb. It can be seen that the second auxiliary support piece 400 is formed on both sides of the finger part. have.

The other end of the wire 700, one end of which is connected to the rotation shaft 640 in the driving member 600, is bound to the upper surface of the second fixing part 800b, and each finger of the finger part is inserted into one surface of the second fixing part 800b. To be fixed to the finger, and thus to a fixed state. Accordingly, the wire 700 is repeatedly wound and unwound by the rotation of the rotation shaft 640 in a repetitive operation according to the forward / reverse direction of the driving motor 620. The finger makes a reciprocating motion up / down, wherein the diffraction angle of the up / down motion is a second rotation linked between the other end of the first auxiliary support piece 300 and one end of the second auxiliary support piece 400. It is adjusted according to the predetermined angle adjustment of the member 500b.

The second fixing part 800b is fixed to one surface of the second fixing part 800b at the other end of the second auxiliary support piece 400.

On the other hand, the electromyography device 900 is further provided with a plurality of sensing units 910 on the inner circumferential surface of the sensor member 610 is connected to the control unit 610 in the driving member 600 to detect the movement of the muscle force, such as the wrist or arm, Wearing the 900 to the disabled arm or the other side of the arm without the obstacle, the sensing unit 910 of the EMG 900 detects the movement of the muscle strength of the arm, and transmits the detected signal to the control unit 610, such The control unit 610 recognizing the detection signal to supply power to the drive motor 620 to generate a repetitive movement to the finger or wrist according to the rotation of the rotary shaft 640 according to the drive motor 620 ( 10) to provide.

The first and second pivotal members 500a and 500b are known in the art and operate as technical elements as follows.

As shown in FIG. 6 to FIG. 9, the first and second pivot members 500a and 500b include the main support piece 200, the first auxiliary support piece 300, the first auxiliary support piece 300, and the second. It is fixed to the auxiliary support piece 400, respectively, a fixing piece 511 having a guide groove 512 formed on one side is formed in one side, extending to the fixing piece 511 and the first in the center in the form of a circle A circular piece 513 having a second free groove 514 is formed to be connected by the first free groove 310 and the hinge 515 at one end of the auxiliary support piece 300 to be rotated without restriction. A pair of incisions 516 cut into the outer circumferential surface of the circular piece 513 is formed, and a pair of rotation control plates 510 formed with a first tooth 517 formed on the outer surface of the incision 516, and It is formed to cover both sides of the rotation control plate 510, one side is fixed to one end of the fixing piece 511 and the main support piece 200, and one side is circular A bending bar 521a is formed to adjust the first binding pin 522a to be detachably attached to the first tooth 517 formed in the cutout 516 of the piece 513, and the other side of the bending bar 521a. And a spaced apart to a predetermined length, the extension bar 521b for adjusting the second binding pin 522b to be detachably attached to the first tooth 517 formed in the cutout 516, one side of the rear surface A third free groove 528 is formed at one end thereof, and a guide bar 529 is formed at one end thereof, and includes a rotation cover part 520 formed of a fixed piece 527 fixed thereto and formed at one end of the main support piece 200. A mold part 531 is formed to be coupled to the binding groove 210 and the guide groove 512 formed on the fixing piece 511 of the rotation control plate 510. Penetrated by the binding pin 534 and endured in the third free groove 528 of the adjusting piece 527 fixed to one surface of the rear cover 520, the other end is a pair of protruding pieces (535) It is formed so that, each side of each protruding piece (535) is formed with a moving piece 532 stepped to move along the guide bar (529) of the adjusting piece, the third binding pin 534 is one side of the cover cover ( 520) provided with a main stop bar 530 formed by fixing the second lever 533 to one end protruding to the outside.

As shown in FIG. 10, adjusting the extension bar 521b or the flexure bar 521a to a desired angle includes the first teeth of the cutout 516 formed on the circular piece 513 of the rotation control plate 510. And a first lever 523 for adjusting the first binding pin 522a of the flex bar 521a or the second binding pin 522b of the extension bar 521b to the first lever 523. By the stop pieces 524 formed on both sides, the radius of the first auxiliary support piece 300 rotates.

At this time, the extension bar 521b or the bending bar 521a protrudes to one side of the outer circumferential surface of the rotation cover part 520 so that the extension bar 521b or the bending bar 521a when the first auxiliary support 300 is rotated. The extension piece 525 is stopped by the stop piece 524 formed in the upper side, and the fourth free groove 526 is formed to extend through the stop piece 524 to penetrate the hinge 515. to provide.

This is connected to the hinge 515 to prevent the loosening phenomenon by stronger binding and external impact or load and force when the extension bar 521b and the bending bar 521a move for angle adjustment.

In operation of the main stop bar 530, as shown in Figure 6, when the second lever 533 of the one side cover portion 520 is pushed inward, at the same time as the operation of the second lever 533 The third binding pin 534 is moved along the third free groove 528 of the adjusting piece 527 fixed to the rear side of the pivot cover part 520, and is formed at one end of the adjusting piece 527 at the same time. The stepped protrusion 535 formed on the moving piece 532 of the main stop bar 530 along the guide bar 529 is moved so as not to be separated so that the protrusion pieces 535 spaced apart from each other are supported by the first auxiliary support. One end of the piece 300 is bound.

The first rotating member 500a has the same configuration as that of the second rotating member 500b, except that the binding position is between the main supporting piece 200 and the first auxiliary supporting piece 300. It can be seen that there is a difference in the position configured to be connected between the first auxiliary support piece 300 and the second auxiliary support piece 400.

The present invention is not limited to the above-described embodiments and the accompanying drawings, and various changes, modifications and variations may be made without departing from the scope of the present invention. Will be apparent to those of ordinary skill in the art.

Upper limb movement device: 10, operating part: 20, support: 100, main support piece: 200, first auxiliary support: 300, second auxiliary support: 400, first, second rotation member: 500a, 500b, drive Member: 600, control unit: 610, drive motor: 620, 1st gear: 621, time belt: 630, rotation shaft: 640, 2nd gear: 641, wire: 700, 1st, 2nd fixing part: 800a, 800b, fastening Sphere: 810a, 810b, Binding Sphere: 820, EMG: 900, Sensor: 910

Claims (2)

Supporting the support 100 is formed to support the cuff, the main support piece 200 formed to support both sides of the cuff in the longitudinal direction to both sides of the support 100, and support the one end and both sides of the back of the main support piece 200 The first auxiliary support piece 300 is connected between one end of the first auxiliary support piece 300 is formed so as to rotate the first auxiliary support piece 300 at a predetermined angle, and the first auxiliary support piece 300 A second pivot member 500b connected between one end of the second auxiliary support piece 400 supporting the other end and both sides of the finger part, and configured to rotate the second auxiliary support piece 400 at a predetermined angle; The upper limb movement device is composed of a first fixing portion 800a formed in engagement with one surface of the second auxiliary support piece 400 and linked to an upper portion of the back of the hand, and a driving member 600 formed on the upper surface of the support 100. In (10),
A driving motor 620 driven by the controller 610 is accommodated in the driving member 600, and a first gear 621 for transmitting power of the driving motor 620 is formed.
A time belt 630 is provided to link the first gear 621 and the second gear 641 so that the power of the first gear 621 is transmitted to the second gear 641 formed on the rotation shaft 640. ,
One end of the plurality of wires 700 are connected to be spaced apart in the longitudinal direction of the rotation shaft 640, and the other end of the wire 700 is bound to an upper portion of the first fixing part 800a. According to claim 1, The sensor member 610 associated with the control unit 610 in the drive member 600, the sensing unit 910 for detecting the movement of the muscle strength of the arm or arm is further included a plurality of EMG (900) formed on the inner peripheral surface Upper extremity exercise device, characterized in that.

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