KR101500483B1 - Rehabilitation System And Method For Finger - Google Patents

Abstract

The present invention relates to a finger rehabilitation system and a finger rehabilitation method. The finger rehabilitation system includes a terminal for the input of commands, a robot mechanism section that executes a muscular exercise for a patient′s finger in response to an instruction from the terminal, and a control unit that controls the operation of the robot mechanism section in response to an instruction from the terminal. The finger rehabilitation method includes a first mode executed based on the folding and unfolding of the patient′s finger, a second mode executed based on the unfolding of the patient′s finger, a third mode executed based on the folding of the patient′s finger, a fourth mode executed based on the measurement of the muscular strength of the patient′s finger, and a fifth mode based on the repetition of the folding and unfolding of the patient′s finger. The present invention can assist in the rehabilitation of the muscular strength of the patient′s finger.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a finger rehabilitation system,

The present invention relates to a finger rehabilitation system and a rehabilitation method thereof. More particularly, the present invention relates to a finger rehabilitation system and a rehabilitation method thereof, To a finger rehabilitation system and a rehabilitation method thereof.

Generally, finger rehabilitation robots are widely used in hospitals and rehabilitation centers, but robots without resistive motions are applied, and there is a demand for a technique for a finger rehabilitation robot having a resistance exercise function that can help the patient's finger rehabilitation.

The medical robots are divided into a surgical robot and a rehabilitation robot. The surgical robot means a surgical robot / surgery assistant robot and a surgical simulator that substitute doctors or assist physicians in all or part of the surgical procedure. This means a robot that helps people with disabilities in their rehabilitation and daily life.

The robot that assists the doctor is related to surgery, diagnosis, and examination, including neurosurgery, orthopedic surgery, minimally invasive surgery, spine surgery, and ultrasound surgery.

Assistive technology is divided into assistive technology and rehabilitation robot. Assistive technology is a robot and a machine to improve the quality of life (QOL) through improvement of independence activities of the disabled and the elderly. (FES), and robot assistive devices. Rehabilitation robots are temporary medical treatment tools for robotics and mechatronic devices for clinical treatment such as neurological rehabilitation and training.

Recently, due to the increasing number of people with disabilities and the social phenomenon of aging, there is an increasing interest in the rehabilitation field for improving the independence of elderly people and improving the quality of life (QOL).

Stroke, a major cause of adult disability, is caused by a decrease in the supply of cerebral blood flow, and it causes difficulties in activities of daily living (ADL) by inducing functional dysfunction or paralysis of some parts of the body.

For this reason, rehabilitation training and programs are required to enable independent living through functional restoration of extremity.

The paralysis immediately after stroke was recovered by 90% or more within 3 months, mainly due to local edema, improvement of hematoma, improvement of blood circulation, normalization of cerebral pressure, and improvement of metabolism, but functional recovery was caused by neuroplasticity ) Can be continued until several years after patient's effort and rehabilitation.

It is known that motor recovery is similar to the mechanism of motor learning by repetitive exercise. The theory of exercise acquisition is widely used for rehabilitation of stroke, and recovery of motor function after stroke (Rehabilitation therapy such as exercise therapy and occupational therapy) in order to induce the disease.

Recently, upper body and lower extremity rehabilitation robots have been used to restore body functions through exercise therapy or occupational therapy. Upper and lower extremity rehabilitation robots have been used for end effector robots and exoskeleton robots exoskeleton robot). The initial upper limb robot is developed based on an end device robot which is easy to operate and applicable to all patients. Recently, an exoskeleton robot having a multi-degree of freedom structure is also being studied.

After the joint surgery, intra - articular adhesions induce immobilization. In particular, neurological injuries such as stroke or spinal cord injury cause hand disorders, The activity of the hand movement in life is inevitably inconvenient, and hand injury plays an important role in the hand movement (ADL), so that the nervous system damage significantly lowers quality of life (QOL).

In the case of stroke, restoration of upper limb function is slow and difficult compared to restoration of lower limb function, which has a great limitation on daily living movement (ADL).

The hand is a major means of communicating with the surrounding environment in human life, such as communication, object manipulation, and various cognitive activities including motor function, and it is possible to implement a degree of freedom (DOF) with 15 joints, The voluntary force can be about 100N or more, and the rotation speed of the joint is 1,200 ° / s or more.

Motor control is very difficult because the hands have many muscles and degrees of freedom, and it is not a simple task to move the patient's hand. Therefore, it is necessary to design and design the appropriate degree of freedom so that the patient can implement the daily life movement have.

On the other hand, technologies related to hand rehabilitation of such patients are disclosed in Patent No. 10-1219990, Patent No. 10-1239404, and the like.

Patent No. 10-1219990, Patent No. 10-1239404.

In order to solve the above-described problems, the present invention has an object to provide a rehabilitation robot in which the control unit is turned on / off in accordance with the motion of a machine to perform a rehabilitation of a patient's finger.

According to another aspect of the present invention, there is provided a mobile terminal comprising: a terminal for inputting commands; a robot mechanism unit for performing a muscle force exercise on a finger of a patient under the direction of the terminal; (Robot, mechanism, and control unit) including a control unit for controlling the operation of the robot, and the robotic mechanism unit includes a support plate for supporting the hand of the patient, A cylinder for moving the rod forward and backward to induce a muscle force movement (opening and closing movement) of the patient's finger, and a solenoid valve (not shown) for switching the rod driving direction of the cylinder in such a manner as to close or open the inflow of air And an insertion hole for being inserted in a hinged state at the distal end of the rod to insert a distal end portion of the patient's finger, A limit sensor provided at the front and rear sides of the cylinder to sense the arrival of the forward and backward movement destinations of the insertion port and transmit a signal for switching the driving direction of the cylinder to the control unit; A force measuring sensor for measuring a force on the finger muscle force of the patient during the movement process to induce the adjustment of the mechanical resistance value (the driving force of the rod) of the robot mechanism suitable for the finger muscle force of the patient, And a band for preventing the flow of the wrist at the time of wrist reduction.
The support plate includes a finger portion formed in the shape of a finger and an elongated groove formed in a space for allowing the rod and the fitting opening to move forward and backward from the front end portion of the finger to the rear end portion of the finger for each of the finger portions, The finger rehabilitation system further includes a communication hole formed on one side of the finger.
In the rehabilitation of the patient's fingers, the individual fingers of the patient are inserted into respective individual fittings capable of sliding in respective individual grooves formed along the individual finger portions formed on the supporting plate of the robot mechanism portion, A first mode executed according to a spreading and folding resistance exercise mode for a patient's individual fingers in accordance with the forward and backward movement of the individual fittings that are transferred from the individual rods operated by the driving of the individual cylinders provided inside the support plate, The individual fingers of the patient are inserted into the individual fittings capable of sliding in the respective individual grooves formed along the individual finger portions formed on the supporting plate and the driving of the individual cylinders provided in the same number as the individual finger portions of the supporting plate Lt; RTI ID = 0.0 > individual < / RTI > A second mode performed according to a spreading resistance exercise method for a patient's individual fingers depending on the position of the user and a second mode in which individual individual fittings capable of sliding in individual grooves formed respectively along individual finger portions formed on a support plate of the robot mechanism portion A folding resistance exercise method for individual fingers of a patient due to the retraction of individual fittings that are transferred from individual rods operated by the driving of individual cylinders provided in the same number of the individual fingers of the support plate with the fingers inserted And a third mode in which individual fingers of a patient are inserted into individual fittings capable of being slidable in individual grooves formed along individual fingers formed on a support plate of the robot mechanism part, By the same number of individual cylinders installed inside the support plate, And a fourth mode that is performed in accordance with a force measuring method of the fingers in response to a driving resistance force of a rod of the robot mechanism unit and a fourth mode in which the individual fingers The individual fingers of the patient are inserted into the sphere and the driving directions for advancing or retreating the individual fittings are switched during the reaching of the individual fingers up to the section reaching the fingertip target or the finger reaching the folding target, And a fifth mode that is performed according to a repetitive motion mode for folding and folding the patient's fingers to measure the strength (force) of the fingers in response to a driving resistance force of a rod of the patient's fingers There is a feature on.
The first mode type can adjust the muscle force value using the up-down key displayed on the terminal when the muscle force value measured in the fourth mode is applied and the driving force (mechanical resistance value) of the individual rod transferred to the individual fitting slot is determined to be too high A first step of adjusting the up-down key of the terminal so as to be suitable for the finger-strength movement of the patient and setting the mechanical resistance value (driving force of the rod) of the robot mechanism part as a finger spreading and folding resistance exercise mode; The opening of the first solenoid valve provided at one end of the individual cylinder for switching the direction of rod driving of the individual cylinder in such a manner as to open or close the inflow of the second solenoid valve provided at the other end of the individual cylinder, , The forward operation of the individual fittings according to the transition of the driving resistance value of the rod acting forward with the rod advancing A second step of performing a diverging motion of the finger by the sensing of the first limit sensor provided in front of the cylinder when the individual fittings reach the destination position of the finger in the process of unfolding the finger, A second solenoid valve provided at the other end of the individual cylinder, and a second solenoid valve provided at the other end of the individual cylinder, A fourth step of performing a folding motion of the fingers by retracting operation of the individual fittings according to the transition of the driving resistance value of the rod acting as a finger of the finger when the individual fittings reach the folding destination position of the fingers And a fifth step of inducing a change in the driving direction of the rod by detecting a second limit sensor provided at the rear of the cylinder Have one feature in the Finger rehabilitation system.
(1-1) step of displaying the adjusted mechanical resistance value (driving force of the rod) on the LCD screen of the terminal when the adjustment of the mechanical resistance value of the robot mechanism part (driving force of the rod) is indicated to the patient and displaying the second resistance value A step 2-1 of identifying a patient on the LCD screen of the terminal and displaying the driving progress direction of the individual rod and the sphere or the progress direction of movement of the finger in the execution of the step, Further comprising a fourth step of identifying and displaying the driving progress direction or the movement progress direction of the finger on the LCD screen of the terminal to the patient and if there is no detection of the first and second limit sensors, And the finger rehabilitation system is returned to the second and fourth steps so as to maintain the current driving state without a direction change.
The second mode type can adjust the muscle force value using the up-down key displayed on the terminal when the muscle force value measured in the fourth mode is applied and the driving force (mechanical resistance value) of the individual rod transferred to the individual fitting slot is determined to be too high A first step of adjusting the up-down key of the terminal so as to be suitable for a patient's finger-strength movement and setting the mechanical resistance value (driving force of the rod) of the robot mechanism as a folding motion mode of the finger, The opening of the first solenoid valve provided at one end of the individual cylinder for switching the direction of the rod driving of the individual cylinder in the manner of opening or closing and the closing of the second solenoid valve provided at the other end of the individual cylinder, And forward movement of the individual fittings according to the transition of the driving resistance value of the rod acting forward, A second step of performing an unfolding movement of the terminal, and a second limit sensor provided at the front of the cylinder when the individual fittings reach the destination position of the finger in the process of unfolding the finger, A third step of inducing confirmation of the detection of the first limit sensor, and a fourth step of activating the warning sound and confirming the detection of the first limit sensor.
A step 1-1 of identifying and displaying the adjusted mechanical resistance value (driving force of the rod) on the LCD screen of the terminal to the patient when the adjustment of the mechanical resistance value (driving force of the rod) of the robot mechanism is set; A step 2-1 of identifying the patient on the LCD screen of the terminal and displaying the driving progress direction of the individual rod and the sphere or the progress direction of the movement of the finger in the execution of the individual step, And counting the number of times of the movement of the finger repeatedly on the LCD screen of the terminal to identify and display it to the patient, and when the first limit sensor is not detected, And the finger rehabilitation system is returned to the second step so as to maintain the current driving state without switching.
The third mode type is a type in which the muscle force value measured in the fourth mode is applied and the muscle strength value can be adjusted using the up-down key displayed on the terminal when the patient determines that the mechanical resistance value is too high. A first step of adjusting the up-down key of the terminal so as to be suitable for the finger-strength exercise of the robot and setting the mechanical resistance value of the robot mechanism part (the driving force of the rod) Closing of the first solenoid valve provided at one end of the individual cylinder for switching the direction and opening of the second solenoid valve provided at the other end of the individual cylinder causes the driving resistance value transition of the rod acting backward, A second step of performing a folding motion of the fingers by retracting operation of the individual fittings along the finger, When the individual fittings reach the folding destination position of the finger in the folding motion process, buzzer operation of the terminal is detected by the detection of the second limit sensor provided in front of the cylinder, and detection of the second limit sensor And a fourth step of activating the warning sound and confirming the detection of the second limit sensor.
A step 1-1 of identifying and displaying the adjusted mechanical resistance value (the driving force of the rod) on the LCD screen of the terminal when the adjustment of the mechanical resistance value of the robot mechanism part is set; A step 2-1 of identifying the patient on the LCD screen of the terminal and displaying the driving progress direction of the insertion port or the movement progress direction of the finger to display on the LCD of the terminal, And counting the number of times of progression on the LCD screen of the terminal and identifying and displaying it to the patient, and when the second limit sensor provided in front of the cylinder does not sense the load, And is returned to the second step so as to maintain the current driving state without changing the direction of the finger.
The fourth mode type is a measurement mode for the force (force) of the finger. The fourth mode type is a mode for measuring the force A first step of generating a muscle force (force) of the finger by an action on the individual fittings according to the driving resistive force transfer of the advancing rod by opening the solenoid valve and closing the second solenoid valve provided at the other end of the individual cylinder, A second step of pressing a start key displayed on the terminal, a third step of informing that the buzzer sounds and the strength of the finger is measured together with the operation of the timer on the LCD screen of the terminal, A fourth step of measuring a muscle force (force) of a finger to be measured with a force measuring sensor provided on an individual rod of the individual cylinder, and a fourth step of measuring a muscle force a fifth step of calculating a minimum and a maximum value and an average value in units of a predetermined number of milliseconds (msec), a sixth step of storing the strength value of the finger measured in the fifth step in the terminal through the LCD screen of the terminal, And a seventh step of asking whether the force (force) value of the finger measured in step 6 is input through the LCD screen of the terminal and whether the processing is reflected or not.
A step 1-1 of displaying a finger on the LCD screen of the terminal in the form of a 'force measurement key depression' when the finger force is generated in the first step, A step 3-1 of displaying the progress of the force measurement on the LCD screen of the terminal in the form of a 'display of the status bar' and presenting it to the patient; and if the force measurement sensor value in the fourth step is 0, (Step 4-1) of presenting the patient with the indication 'failure' with respect to the measurement, and displaying the strength measurement value of the finger in the fifth step on the LCD screen of the terminal as'success' and ' A step 5-1 of presenting the patient with a mark of "minimum value", "maximum value" and "average value", and a step 5-1 of applying the process of storing the measured value of the strength of the finger in the sixth step on the LCD screen Y / N ' And displaying the selected one of the force measurement sensor values in the fourth step, and displaying the selected one of the force measurement sensor values in the fourth step, There is one feature in the system.
The fifth mode type is a mode in which the opening of the first solenoid valve provided at one end of the individual cylinder for switching the direction of rod driving of the individual cylinder in such a manner as to open or close the inflow of air, A first step of driving the individual rod to an initial setting position by closing the provided second solenoid valve; a second step of pressing a start key displayed on the terminal; A third step of inducing a change in the driving direction of the rod by sensing the first limit sensor provided at the front of the cylinder when the spheres are fully reached, closing the first solenoid valve provided at one end of the individual cylinder , The opening of the second solenoid valve provided at the other end of the individual cylinder, and the operation of the individual fittings according to the driving resistance transfer of the retreating rod A fourth step of generating a force (force) of the finger by the detection of the second limit sensor provided at the rear of the cylinder when the finger completely reaches the folding destination position of the finger in the folding motion of the finger, And a fifth step of inducing a direction change.
In the case where the finger is prepared for the generation of the muscle force (force) at the time of driving to the initial setting position of the rod in the first step, the finger is displayed on the LCD screen of the terminal as a ' A step 1 - 1, a step 3 - 1 in which the first limit sensor in the third step is displayed on the LCD screen of the terminal when the first limit sensor is not detected, The second limit sensor is displayed on the LCD screen of the terminal in the form of a " repeat counter " when the second limit sensor is not detected; The finger restoration system returns to the first step when the first limit sensor in step 3 is missed and returns to the fourth step when the second limit sensor in the fifth step is missed .

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As described above, the present invention can improve the finger strength of a patient by maximizing the function of the motor nerve and minimizing the function of nerve damage in the patient's finger rehabilitation.

Further, according to the present invention, the rehabilitation exercise on the finger muscle force by the patient himself can be rely on the robot machine, and the finger rehabilitation exercise can be performed without any burden on the muscular strength.

In addition, since the present invention can grasp the objective measurement force on the finger muscle force by the patient himself, the efficiency of the finger rehabilitation exercise based on accurate data can be expected.

In addition, the present invention can expect an active exercise in which a rehabilitation exercise of a patient is performed by a passive exercise or a patient's own will depending on a robot machine.

In addition, the present invention can reduce the medical expenses required for the rehabilitation exercise of the patient.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a block diagram showing an entire configuration of a finger rehabilitation system according to the present invention;
FIG. 2 is a perspective view of the robot mechanism shown in FIG. 1,
FIG. 3 is a plan view of the robot mechanism shown in FIG. 2,
Fig. 4 is a side sectional view of the robot mechanism shown in Fig. 1; Fig.
FIG. 5 is a block diagram illustrating a first mode to a fifth mode of the finger rehabilitation method according to the present invention.
FIG. 6 is a flow chart for a first mode of the finger rehabilitation method according to the present invention,
FIG. 7 is a flow chart for a second mode of the finger rehabilitation method according to the present invention,
8 is a flow chart for a third mode of the finger rehabilitation method according to the present invention,
9 is a flow chart for a fourth mode of the finger rehabilitation method according to the present invention,
10 is a flowchart diagram for a fifth mode of the finger rehabilitation method according to the present invention.
FIG. 11 is a perspective view showing the constitutional parts of the finger rehabilitation system shown in FIG. 1 in an integrated fashion. FIG.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the limits of scope of the invention, , And should be interpreted based on technical ideas throughout the specification of the present invention.

Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

The present invention relates to a finger rehabilitation system and a rehabilitation method thereof, and is a technique for helping a patient's finger rehabilitation to approach a finger movement of a normal person. Since the patient's finger strength is different for each patient, The present invention provides a finger rehabilitation system and its rehabilitation method that are most suitable for the patient's own finger strength exercise.

The finger rehabilitation system according to the present invention comprises a terminal 10, a robot mechanism unit 20, and a control unit 30.

The terminal 10 plays a role of commanding various types of modes required for the rehabilitation of the finger by the robot mechanism unit 20, The control unit 30 performs a function of reactivating the finger according to an instruction of the control unit 30 that has received the instruction signal input from the control unit 30. The control unit 30 receives the instruction from the terminal 10, (20).

Hereinafter, the configuration of the robot mechanism unit 20 will be described in more detail.

The robot mechanism part 20 is provided with a support plate 21 for supporting a patient's hand. The support plate 21 is formed in the same shape as a hand according to a general standard hand size of patients. Of course, such a support plate 21 is also formed with individual finger shapes of the patient, as in Figs.

That is, the support plate 21 forms finger portions 22 of the patient's individual fingers, and the finger portions 22 individually form an elongated groove 23 of a predetermined length from the tip to the rear, 23 are formed on the rear side of the rear side.

Thus, each of the individual fingers 22 is formed with the respective grooves 23 and the communication holes 24.

In the meantime, the same number of cylinders 25 as the individual finger portions 22 are provided and fixed in the support plate 21, and partition walls (not shown) for partitioning the individual cylinders 25 Or may be formed inside the support plate 21.

Each of the individual rods 26 entering and exiting from the individual cylinder 25 is exposed to the individual grooves 23 through the individual communication holes 24.

The driving of the individual rod 26 can be realized by applying or shielding air entering the cylinder according to opening and closing of a solenoid valve (not shown), and the solenoid valve is composed of a first solenoid valve and a second solenoid valve . This is for driving the rod 26 forward or backward.

In addition, the cylinder 25 is preferably a pneumatic cylinder.

Each of the fitting holes 27 is hinged to the distal end of the individual rod 26. Each of the fitting holes 27 is formed with a hole 27a through which a distal end portion of a patient's individual finger can be inserted , The inside of the hole 27a is formed into a round 27b having the same curved shape as that of the tip of the finger in order to enhance the feeling of fit of the tip of the finger.

On the other hand, a fixing band 28 for fixing a patient's hand is provided at the rear of the support plate 21.

Although not shown in the drawings, limit sensors and force measurement sensors are provided, and the limit sensors of these sensors are preferably installed inside a support plate 21 on which individual cylinders are installed. In this case, 25 at a position near the front end and the rear end thereof. Of course, such a limit sensor is not limited to the internal installation of the support plate 21 but may also be provided outside the support plate 21.

Further, the force measuring sensors may be attached to the individual finger surfaces of the patient to measure individual finger forces of the patient, but they are preferably installed in such a manner that they are fixed to the individual cylinders because of inconvenience of detachment.

That is, the mechanical resistance value of the robot mechanism part 20 can be adjusted by sensing the force of the individual finger against the resistance value acting on the individual cylinder 25 from the force measuring sensor.

The finger rehabilitation system according to the present invention will now be described with reference to the drawings. The patient's hand is placed on the support plate 21 of the robot mechanism unit 20 and then the individual fingers are inserted into the respective holes 27a of the individual insertion holes 27 .

The mode is a mode in which the patient's fingers are moved forward and backward, and the mode is selected by the robot mechanism unit 20 The finger resistance rehabilitation is performed by adjusting the mechanical resistance value appropriate to the patient's own finger strength for the predetermined mechanical resistance value.

The individual rods 26 of the individual cylinders 25 are driven forward along the grooves 23 of the fingertips 22 and are moved to the tip of each rod 26 Each of the hinged insertion openings 27 is also intended to be operated forward within the range of the elongated groove 23 so that the muscle force generated from the patient's individual fingers inserted into the respective insertion opening 27 Force) of the patient is assisted by the driving of the rod 26. Repeating this process several times can improve the patient's finger spreading.

That is, the patient can feel whether or not the generation force of the individual fingers (the force of spreading the fingers) can follow the mechanical resistance value (the forward movement force of the rod) transmitted from each rod 26.

If the user feels that a predetermined mechanical resistance value (forward movement force of the rod) transmitted to each rod 26 is stronger than that of the patient's own finger, the mechanical resistance value displayed on the screen of the terminal 10 may be adjusted By pressing the down key among the up-down keys, the appropriate mechanical resistance value which is not burdened on the patient's own finger strength is controlled, and the rehabilitation exercise of the individual finger is performed.

At this time, on the screen of the terminal 10, a mark indicating the direction of the driving of each rod 26 to the patient is displayed to the patient, and the reaction force of the mechanical resistance value with respect to the driving force of each rod 26, When each of the insertion openings 27 moves to the target position of each of the insertion openings 27 in the course of forward movement and reaches the limit position located in front of the cylinder 25, The sensor senses this and instructs the driving direction of each rod 26 to start backward.

When the limit sensor located at the front of the cylinder 25 can not detect the target position of each of the fittings 27 during the forward movement of the respective fittings 27, 26) can not be switched backward, and the forward drive of the respective rods (26) is continuously maintained until reaching the target position of each of the fitting holes (27).

On the other hand, when each of the fittings 27 reaches and reaches the target position, the limit sensor located at the front of the cylinder 25 senses this and switches the driving direction of each rod 26 backward The terminal 10 also displays on the screen a marker informing the patient of the driving direction of each of the rods 26 on the screen and displays the reaction force of the mechanical resistance value on the driving force of each rod 26, Each of the fitting holes 27 is moved rearward by a force (a folding force of the finger) generated from the muscular force.

At this time, when reaching the target position of each fitting hole 27 in the rearward movement of each of the fitting holes 27, the limit sensor located behind the cylinder 25 senses this, And the driving direction is switched forward.

Thus, the finger rehabilitation system according to the present invention can automatically adjust the muscle strength by measuring the muscle strength of the patient and adjust the muscle strength.

This allows the patient to adjust his / her own mechanical resistance to the strength of the patient's fingers, and it is possible to repeatedly perform the spreading and folding actions of the patient's own individual fingers with the help of mechanical resistance. It is possible to improve the strength of the patient's finger without imposing a great deal of effort on the exercise.

Hereinafter, the finger rehabilitation method of the present invention will be described in detail below.

5, the finger rehabilitation method includes a first mode 100, a second mode 200, a third mode 300, and a fourth mode 400 ), And a fifth mode (500).

In the first mode 100, the muscle force measured in the fourth mode 400 is expressed as the cylinder pneumatic pressure. For example, if the muscle force measurement value is 10, the finger spreading and folding measured in the first mode 100, The patient has a resistance value of 10, and the patient is a type that needs to exercise with a muscle strength of 10 or more.

As shown in FIG. 6, the first mode (100) type is a method of performing a spreading and folding motion of a patient's finger, which means front-back driving of the rod, A step 120, a third step 130, a fourth step 140 and a fifth step 150.

The first step 110 adjusts the degree of strength of the rod 26 which is the mechanical resistance of the robot mechanism 20 and adjusts the up-down key of the terminal 10, The driving force intensity of the driving force is controlled.

That is, when the patient himself or herself adjusts the degree of strength of the rod 26 with respect to the driving force of the rod 26 in a state where the finger is inserted into the fitting hole 27 of the robot mechanism portion 20, (110a) for displaying the patient's face on the LCD screen and presenting it to the patient. On the LCD screen, 'resistance value = XX. XX 'to the patient.

The second step 120 is executed in accordance with the intensity control of the resistive force, which is the driving force of the rod 26. The second step 120 is a step of opening the first solenoid valve and closing the second solenoid, In conjunction with the forward drive of the rod 26 to generate a resistance force to unfold the finger.

In this case, the opening of the first solenoid valve is denoted by 'SOL 1 = 1' in FIG. 6, and the closing of the second solenoid valve is denoted by 'SOL 2 = 0'.

In this case, the second step 120 includes a second step 120a of displaying the driving progress direction of the rod 26 or the progress direction of the finger on the LCD screen, The patient will be presented with a 'forward progress indicator' on the patient.

The third step 130 is a step of asking whether the first limit sensor is sensed or not, and the first limit sensor When the fingers 27 arrive at the reaching destination of the fingers, the fourth step 140 is performed.

Here, the detection of the first limit sensor is expressed as 'LIMIT 1 = 1' in FIG.

If the first limit sensor fails to detect the first limit sensor, the process returns to the second step 120 of the previous step without proceeding to the next step 140.

At this time, the fact that the first limit sensor does not detect means that the fingers 27 do not reach the reaching destination of the finger and return to the second step 120.

That is, it means a state in which the fingers can not be fully extended from the spreading process to the arrival destination.

The fourth step 140, which is carried out by sensing the first limit sensor, closes the first solenoid valve and opens the second solenoid, so that the driving force of the rod 26 As a result, it creates a resistance force to fold the finger.

In this case, the closing of the first solenoid valve is denoted by 'SOL 1 = 0' in FIG. 6, and the opening of the second solenoid valve is denoted by 'SOL 2 = 1'.

The fourth step 140 includes a fourth step 140a of displaying the driving progress direction of the rod 26 or the folding progress direction of the finger on the LCD screen. On the screen, it will be presented to the patient with the sign "Rear Progress Indication".

The fifth step 150 is a step of inquiring whether or not the second limit sensor is sensed. The second limit sensor 150 senses whether or not the second limit sensor is sensed, When the fingers 27 reach the folding reaching destination of the finger, it ends.

Here, the detection of the second limit sensor is expressed as 'LIMIT 2 = 1' in FIG.

If the second limit sensor can not detect the second limit sensor, it returns to the fourth step 140 of the previous step.

In this case, the fact that the second limit sensor does not detect means that the fingers 27 do not reach the folding destination of the finger and return to the fourth step 140.

That is, it means a state in which the finger is not fully folded from the folding process of the finger to the arrival destination.

7, the second mode 200 type is a method of performing the unfolding motion of the patient's finger, which means forward driving of the rod, and the first stage 210 and the second stage 200 (220), a third step (230), and a fourth step (240).

In the second mode 200, the muscle force measured in the fourth mode 400 is represented by the cylinder pressure of the cylinder. For example, if the muscle force measurement value is 10, A patient with a resistance value of 10 is a type that must be exercised with a muscle strength of 10 or more.

The second step 220 and the third step 230 from the first step 210 to the second step 120 and the third step 230 from the first step 110 of the first mode 100 described above Step 220a included in the first step 210 and the second step 220a included in the second step 220 are the same as those of the first step 210 and the second step 220, The description of the first mode (100) type is the same as that of the first-first step 110a and the second-first step 120a of the above-described first mode (100) type.

The buzzer sounds due to the detection of the first limit sensor in the previous step 240 and the detection of the first limit sensor is confirmed at the fourth step 240. At this time, And a fourth step (240a) of counting the number of times and presenting it to the patient.

Herein, it is noted that the sounding of the alarm and the sensing confirmation of the first limit sensor are denoted by 'BUZZER = 1' and 'LIMIT sensing confirmation' in FIG.

Also, in step 4-1 (240a), a mark called 'repeat counter' is presented to the patient on the LCD screen as shown in FIG.

8, the third mode (300) type is a method of performing the folding motion of the patient's finger, which means the backward driving of the rod, and the first step 310 and the second step 320, a third step 330, and a fourth step 340.

In the third mode 300, the muscle force measured in the fourth mode 400 is represented by the pneumatic pressure of the cylinder. For example, if the muscle force measurement value is 10, A patient with a resistance value of 10 is a type that must be exercised with a muscle strength of 10 or more.

The first step 310 is similar to the first and second modes 110 and 210 of the first and second modes 100 and 200 and is not described here. The first-first step 310a is the same as the first-first-step (110a, 210a) of the first and second mode (100, 200) type described above.

The second step 320 and the third step 330 are the same as the fourth step 140 and the fifth step 150 of the first mode 100 type described above, And the second stage 1 320a included in the second stage 320 is the same as the fourth stage 140a included in the fourth stage 140 of the first mode 100 type And a description thereof will be omitted.

In addition, the fourth step 340 is the same as the fourth step 240 of the second mode 200 type described above, and the description thereof is omitted. In addition, in the fourth step 340, The first step 340a is the same as the fourth step 240a included in the fourth step 240 of the above-described second mode 200 type, and a description thereof will be omitted.

9, the fourth mode (400) type is a method of performing a muscle force (force) measurement of a patient's finger as shown in FIG. 9, and includes a first step 410, a second step 420, A third step 430, a fourth step 440, a fifth step 450, a sixth step 460, and a seventh step 470.

The first step 410 is the same as the second and third steps 120 and 220 of the first and second modes (100 and 200), and the description thereof will be omitted.

In the first step 410a included in the first step 410, when the force of the finger is generated on the LCD screen, as shown in FIG. 9, To the patient.

The second step 420 is followed by the second step 420 to start measuring the strength of the finger by pressing the start key. If the start key is not pressed, the process returns to the first step 410 of the previous step.

In the above, the press of the start key is denoted as 'start key = 1'.

After the second step 420, in a third step 430, a buzzer sounds with the operation of the timer to inform the patient that the strength of the finger is being measured, and in the course of the third step 430a, Quot; state bar display " on the screen of the terminal.

The fourth step 440 measures the strength of the finger of the patient by the force measuring sensor. If the force measuring sensor value in the fourth step 440 is 0, the measurement is performed on the LCD screen of the terminal. (440a) in which the patient is presented with an indication 'failure'.

If the force measurement sensor value is greater than 0, the process proceeds to a fifth step 450, which will be described later. Otherwise, the process returns to the first step 410 of the previous step.

In the fifth step 450, the minimum, maximum, and average values of the finger muscle force (force) are derived while illustrating the finger strength (force) of the patient measured by the force measuring sensor in units of milliseconds (msec). At this time, the 5-1st step 450a displays a mark indicating 'success' as a normal measurement indication of the finger muscle force on the LCD screen of the terminal, and the 'minimum value, maximum value, average value' .

In the sixth step 460, the measurement value of the measured finger strength (force) is stored in the control unit 30, and the sixth-step 460a is a step of measuring the value of the finger strength And whether the patient should be selected.

That is, in the 6-1 step 460a, the patient is presented to the patient with an indication of 'application Y / N' on the LCD screen to select whether or not the measurement value of the finger strength (force) is applied.

The seventh step 470 provides 'YES KEY OR NO KEY' to allow the patient to select whether or not to apply the measured value for the finger strength (force) It ends when selecting the key.

As shown in FIG. 10, the fifth mode (500) type is a method of performing repetition of folding and folding of a patient's finger, and includes a first step 510, a second step 520, , A third step 530, a fourth step 540, and a fifth step 550. [

The first step 510 drives the rod to an initial set position by opening the first solenoid valve and closing the second solenoid valve.

In this case, if the first step 510a included in the first step 510 is prepared for generating the strength of the fingertips, it is displayed on the LCD screen as a 'start key push' .

The second step 520 is the same as the second step 420 of the fourth mode 400 described above, and the description thereof will be omitted.

The third step 530 is performed after the start key presented in the second step 520 is pressed and the third step 530 is performed after the third key 530 of the third mode 100, The description is omitted because the contents are the same as the steps 130 and 230. If the first limit sensor is not detected, the first step 510 is returned. At this time, the third step (530a) included in the third step (530) indicates that the load is returned to the initial position by presenting a mark of 'repeat' on the LCD screen to the patient.

The fourth step 540 and the fifth step 550 after the third step 530 are the same as the fourth step 140 and the fifth step 150 of the first mode 100 described above, The fifth step 550a included in the fifth step 550 is the same as the second step 320 and the third step 330 of the mode 300, A repetition counter "to the patient to repeat the backward driving of the rod and to repeat the folding motion of the finger operating on the rod rear driving force.

The present invention should not be limited to the mode type system, which is the flow chart presented above, but also various mode type systems including a rod driving force (mechanical resistance value) type operating in the direction opposite to the muscular force acting on the finger.

Therefore, the finger rehabilitation system and the rehabilitation method according to the present invention can perform repetitive exercises for the spreading and folding (spreading and crumbling) of fingers by repetitive motion of the rod without checking the strength of the fingers, , The patient can exercise with a resistance equal to the average muscle strength and give the muscle force with a resistance higher than the resistance applied to the driving part. By exercising with the patient's will, improvement of the finger muscle strength can be expected.

Meanwhile, as shown in FIG. 11, the finger rehabilitation system according to the present invention can be configured as a single unit that integrates a terminal, a robot mechanism unit, and a control unit.

That is, the terminal 10 forms a window of the LCD 10a in front of performing the spreading and folding motion of the patient's finger to display information about the progress of the finger rehabilitation movement on the front face of the patient, Switches 10b may be provided to instruct the start and end of the operation of the machine and the mode selection regarding the finger rehabilitation motion.

In addition, the robot unit 20 disposed in the upper direction of the control unit 30 may further include an arm rest 21 'capable of resting not only the patient's palm but also the arm, A semicircular finger rest 27 'may be used in front of the arm rest 21 in place of the puncturing tool 27 and the finger rests 27' So that the fingers can be stably fixed. The control unit 30 may be disposed in a downward direction of the robot mechanism unit 20.

As described above, the finger rehabilitation system according to the present invention can be conveniently used as a set consisting of various components of the terminal, the robot mechanism unit, and the control unit according to various environmental conditions related to the rehabilitation of the muscle strength of the patient, Or may be used as a single unit manufactured as a single unit.

10: Terminal
20: robot mechanism part 21:
22: finger portion 23: groove
24: communication hole 25: cylinder
26: load 27:
27a: Hall, 27b: Round
28: Band 30: Control section

Claims (14)

delete And a control unit for controlling the operation of the robot mechanism according to an instruction from the terminal, wherein the terminal includes a terminal for inputting commands, a terminal for receiving a command from the terminal, The robot mechanism part, and the control part), or a single set of these parts,
The robot mechanism unit includes:
A support plate for supporting a patient's hand;
A cylinder installed inside the support plate for moving the rod forward and backward and inducing a muscle force movement (spreading and folding motion) of the patient's finger;
A solenoid valve for switching the rod driving direction of the cylinder in such a manner as to close or open the inflow of air;
An insertion hole hinged to the distal end of the rod for inserting a distal end portion of a patient's finger;
A limit sensor provided at front and rear sides of the cylinder to sense a reaching of a forward or backward movement destination of the insertion port and transmit a signal for switching the driving direction of the cylinder to the control unit;
A force measuring sensor for measuring the force against the muscle force of the patient in the forward and backward movement of the insertion port while being provided in the rod of the cylinder and for inducing the adjustment of the mechanical resistance value (driving force of the rod) And
A band provided behind the support plate to reduce the flow of the wrist during muscle strength of the patient's finger;
And a finger restoring device for restricting the fingers. The apparatus as claimed in claim 2,
A finger portion formed in a finger shape;
An elongated groove formed in each of the fingers so as to allow the rod and the fitting opening to move forward and backward from a tip end portion of the finger to a rear side; And
A communication hole formed on one side of the groove for advancing and retracting the rod;
Further comprising: a finger restoring device for restricting the fingers of the finger. 3. The method of claim 2,
In the rehabilitation of the patient's fingers, the individual fingers of the patient are inserted into respective individual fittings capable of sliding in respective individual grooves formed along the individual finger portions formed on the supporting plate of the robot mechanism portion, A first mode (100) carried out according to a spreading and folding resistance motion pattern for individual fingers of the patient according to the forward and backward movement of the individual fittings transferred from the individual rods operated by the driving of the individual cylinders installed in the backing plate;
The individual fingers of the patient are inserted into the respective individual fitting holes capable of sliding in the respective individual grooves formed along the individual finger portions formed on the supporting plate of the robot mechanism portion and the individual cylinders provided in the same number as the individual finger portions of the supporting plate A second mode (200) carried out in accordance with a spreading resistance exercise method for individual fingers of a patient according to advancement of individual fittings that are transferred from individual rods operated by driving of the patient;
The individual fingers of the patient are inserted into the respective individual fitting holes capable of sliding in the respective individual grooves formed along the individual finger portions formed on the supporting plate of the robot mechanism portion and the individual cylinders provided in the same number as the individual finger portions of the supporting plate A third mode (300) carried out according to a folding resistance movement method for individual fingers of the patient according to the retraction of the individual fingers transitioned from the individual rods operated by the driving of the finger.
The individual fingers of the patient are inserted into the respective individual fitting holes capable of sliding in the respective individual grooves formed along the individual finger portions formed on the supporting plate of the robot mechanism portion and the individual cylinders provided in the same number as the individual finger portions of the supporting plate A fourth mode (400) executed in accordance with a motion measurement method of a finger's strength (force) in response to a driving resistance force of a rod advanced by driving of the finger; And
Each of the individual fittings capable of being slidably moved in the respective individual grooves formed along the individual fingers formed on the supporting plate of the robot mechanism portion, the individual finger of the patient is inserted, and the portion reaching the target of the finger opening or the portion reaching the folding target of the finger Repetition of the spreading and folding of the patient's fingers to measure the strength of the fingers (force) of the fingers by acting on the driving resistive force of the retracting rod while switching the driving direction for advancing or retracting the individual fittings upon reaching of the individual fittings A fifth mode 500 executed in accordance with a motion mode;
Wherein the finger rehabilitation system includes a finger rehabilitation system for supporting the strength of the patient's fingers. 5. The method of claim 4, wherein the first mode (100)
The type of muscle force value can be adjusted by using the up-down key displayed on the terminal when it is determined that the driving force (mechanical resistance value) of the individual rod transferred to the individual fitting port is too high by applying the muscle force value measured in the fourth mode,
A first step (110) of adjusting a mechanical resistance value (driving force of a rod) of the robot mechanism part by adjusting the up-down key of the terminal so as to be suitable for a finger force exercise of a patient as a finger spreading and folding resistance exercise mode;
The opening of the first solenoid valve provided at one end of the individual cylinder for switching the direction of rod driving of the individual cylinder in such a manner as to open or close the inflow of the air and the opening of the second solenoid valve provided at the other end of the individual cylinder A second step (120) of performing a spreading motion of the fingers by forward movement of the individual fittings according to the transition of the driving resistance value of the rod acting forward and the rod moving forward;
A third step (130) of inducing a change in the driving direction of the rod by sensing the first limit sensor provided at the front of the cylinder when the individual fittings reach the destination of the fingers in the unfolding motion of the fingers );
The closing of the first solenoid valve provided at one end of the individual cylinder and the opening of the second solenoid valve provided at the other end of the individual cylinder allow the rod to be retracted and the individual fittings A fourth step (140) of performing a folding motion of the finger with a retraction operation on the finger; And
A fifth step (150) of guiding the driving direction switching of the rod by sensing the second limit sensor provided at the rear of the cylinder when the individual fittings reach the folding destination position of the finger in the folding motion of the finger, ;
Wherein the finger rehabilitation system comprises: 6. The method of claim 5,
A first step (110a) (110a) of displaying the adjusted mechanical resistance value (driving force of the rod) to the patient on the LCD screen of the terminal when the adjustment of the mechanical resistance value of the robot mechanism part (driving force of the rod) is displayed to the patient;
A second step (120a) of displaying the driving progress direction of the individual rod and the sphere or the progress direction of the finger movement on the LCD screen of the terminal by the patient in the execution of the second step and displaying the same;
A fourth step (140a) of displaying the driving progress direction of the individual rod and the fitting or the proceeding direction of the movement of the finger in the execution of the fourth step to the patient on the LCD screen of the terminal and displaying it;
Further comprising:
And returns to the second and fourth steps (120, 140) so as to maintain the current driving state without changing the direction of the rod driving of the cylinder when the first and second limit sensors are not sensed. 5. The method of claim 4, wherein the second mode (200)
The type of muscle force value can be adjusted by using the up-down key displayed on the terminal when it is determined that the driving force (mechanical resistance value) of the individual rod transferred to the individual fitting port is too high by applying the muscle force value measured in the fourth mode,
A first step (210) of adjusting a mechanical resistance value (driving force of a rod) of the robot mechanism part by adjusting the up-down key of the terminal so as to be suitable for the finger muscle force exercise of the patient as a folding motion mode of the finger;
The opening of the first solenoid valve provided at one end of the individual cylinder for switching the direction of rod driving of the individual cylinder in such a manner as to open or close the inflow of the air and the opening of the second solenoid valve provided at the other end of the individual cylinder A second step (220) of performing a spreading motion of the fingers by forward movement of the individual fittings according to the transition of the driving resistance value of the rod that is forwardly moving and the rod is forwardly closed;
When the individual fittings reach the target position of the unfolding of the finger in the unfolding movement process of the finger, the operation of the alarm of the terminal by the detection of the first limit sensor provided in front of the cylinder and the detection of the first limit sensor A third step 230 of inducing verification; And
A fourth step (240) of activating the alarm and confirming the detection of the first limit sensor;
Wherein the finger rehabilitation system comprises: 8. The method of claim 7,
A first step (210a) for identifying and displaying the adjusted mechanical resistance value (driving force of the rod) on the LCD screen of the terminal when the adjustment of the mechanical resistance value of the robot mechanism part (driving force of the rod) is set to the patient;
A second step (220a) of displaying the driving progress direction of the individual rod and the insertion port or the progress direction of the finger movement on the LCD screen of the terminal by the patient in the execution of the second step and displaying the same;
A fourth step (240a) of repeating the driving progress of the individual load or the number of times of progress of the movement of the finger in the execution of the fourth step, counting on the LCD screen of the terminal and identifying and displaying it to the patient;
Further comprising:
And returns to the second step (220) so as to maintain the current driving state without changing the direction of the rod driving of the cylinder when the first limit sensor is not sensed. 5. The method of claim 4, wherein the third mode (300)
A type in which the muscle force value measured in the fourth mode is applied and the patient can adjust the muscle force value using the up-down key displayed on the terminal when it is determined that the mechanical resistance value is too high,
A first step (310) of adjusting a mechanical resistance value (driving force of a rod) of the robot mechanism part by adjusting the up-down key of the terminal so as to be suitable for the finger muscle force exercise of the patient,
Closing of the first solenoid valve provided at one end of the individual cylinder for switching the direction of the rod driving of the individual cylinder in such a manner as to open or close the inflow of the air and the closing of the second solenoid valve provided at the other end of the individual cylinder A second step (320) of performing a folding motion of the fingers by retracting operation of the individual fittings according to the transition of the driving resistance value of the rod acting backward, with the rod retracting to open;
When the individual fittings reach the folding destination position of the finger in the process of folding the fingers, buzzer operation of the terminal is detected by sensing the second limit sensor provided in front of the cylinder, and operation of the second limit sensor A third step 330 of deriving assurance for detection; And
A fourth step (340) of activating the alarm and confirming the detection of the second limit sensor;
Wherein the finger rehabilitation system comprises: 10. The method of claim 9,
A first step (310a) for identifying and displaying the adjusted mechanical resistance value (driving force of the rod) on the LCD screen of the terminal when the adjustment of the mechanical resistance value of the robot mechanism part is set;
A second step (320a) of displaying the driving progress direction of the individual rod and the insertion port or the moving direction of the finger in the execution of the second step to the patient on the LCD screen of the terminal and displaying the identification;
A fourth step (340a) of counting on the LCD screen of the terminal by repeating the driving progress of the individual load and the fitting or the number of times of progress of the movement of the finger in the execution of the fourth step and identifying and displaying it to the patient;
Further comprising:
And returns to the second step (320) to maintain the current driving state without changing the direction of the rod driving of the cylinder when the second limit sensor provided in front of the cylinder does not sense. 5. The method of claim 4, wherein the fourth mode (400)
A method for measuring a force (force) of a finger, comprising: opening a first solenoid valve provided at one end of an individual cylinder for switching the direction of rod driving of the individual cylinder in such a manner as to open or close inflow of air; A first step (410) of generating a muscle force (force) of the finger by the action of the individual solenoids according to the driving resistive force transfer of the advancing rod with the closing of the second solenoid valve provided at the other end of the cylinder;
A second step (420) of pressing a start key displayed on the terminal;
A third step (430) of informing that a buzzer sounds with the operation of the timer on the LCD screen of the terminal and the strength of the finger is measured;
A fourth step (440) of measuring the strength (force) of the finger generated in the first step by a force measuring sensor provided on an individual rod of the individual cylinder;
A fifth step (450) of calculating a minimum value, a maximum value and an average value in units of milliseconds (ms) by taking a measured value of the strength of the finger as an example;
A sixth step (460) of storing the strength value of the finger measured in the fifth step in the terminal through the LCD screen of the terminal; And
A seventh step (step 470) of asking whether the strength value of the finger measured in the sixth step is input through the LCD screen of the terminal and whether the processing is reflected or not;
Wherein the finger rehabilitation system comprises: 12. The method of claim 11,
(A) a first step (410a) of presenting to the patient an indication of 'force measurement key depression' on the LCD screen of the terminal when the finger force generation in the first step is prepared;
A third step (430a) of displaying the force measurement progress of the finger muscle force in the third step on the LCD screen of the terminal as a 'display of status bar' and presenting it to the patient;
A fourth step (440a) of presenting to the patient an indication of 'failure' for the measurement on the LCD screen of the terminal when the force measurement sensor value is 0 in the fourth step;
(5-1) for displaying the measured value of the strength of the finger of the finger in the fifth step to the patient on the LCD screen of the terminal in the form of 'success', 'minimum value', 'maximum value' Step 450a; And
A sixth step (step 460a) of displaying whether the stored value of the strength measurement value of the finger in the sixth step is displayed on the LCD screen to the patient in the form of 'treatment application Y / N' and alternatively;
Further comprising:
And returns to the first step if the start key operation in the second step or the force measurement sensor value in the fourth step is not detected. 5. The method of claim 4, wherein the fifth mode (500)
The opening of the first solenoid valve provided at one end of the individual cylinder for switching the direction of rod driving of the individual cylinder in such a manner as to open or close the inflow of the air and the opening of the second solenoid valve provided at the other end of the individual cylinder A first step (510) of driving the individual rods to an initial set position, in a closed state;
A second step (520) of pressing a start key displayed on the terminal;
A third step (530) of inducing a change in the driving direction of the rod by detecting the first limit sensor provided in front of the cylinder when the individual fittings reach the destination position of the fingers in the process of unfolding the fingers, ;
The closing of the first solenoid valve provided at one end of the individual cylinder and the opening of the second solenoid valve provided at the other end of the individual cylinder enable the operation of the individual fittings according to the driving resistance transition of the retreating rod A fourth step 540 of generating a muscle force (force); And
A fifth step (550) of, when the finger reaches the folding destination position of the finger in the folding motion of the finger, by sensing the second limit sensor provided at the rear of the cylinder, thereby switching the driving direction of the rod;
Wherein the finger rehabilitation system comprises: 14. The method of claim 13,
In the case where the finger is prepared for the generation of the muscle force (force) at the time of driving to the initial setting position of the rod in the first step, the finger is displayed on the LCD screen of the terminal as a ' Step 1-1 (510a);
A third step (530a) of presenting the patient to the patient on the LCD screen of the terminal when the first limit sensor in the third step is undetected and displaying it to the patient in the form of 'repetition';
A fifth step (560a) of presenting the patient to the patient on the LCD screen of the terminal when the second limit sensor in the fifth step is undetected and displaying it to the patient in the form of a 'repeat counter';
Lt; / RTI >
When the first limit sensor is not sensed in the second step or when the second limit sensor is not sensed in the third step, the control unit returns to the first step, and when the second limit sensor in the fifth step is not sensed, And returning to the fourth step.

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