KR101617820B1 - Wearable 2-DOF Wrist Rehabilitation Robot - Google Patents

Abstract

The present invention relates to a wearable biaxial wrist rehabilitation robot which is put on the hand of a person to be trained and allows two actuators to perform the up-and-down motion of the wrist with respect to a pitch axis and the right-and-left motion of the wrist with respect to a yaw axis without interfering with each other. According to the present invention, the wearable biaxial wrist rehabilitation robot comprises: a wrist wearing part into which the wrist of a person to be trained is inserted and supported; a hand wearing part which is mounted to be separated at a regular interval in front of the wrist wearing part, and into which the hand of the person to be trained is inserted and supported; a yaw axis rotary plate mounted on the wrist wearing part to be bilaterally rotated with respect to the yaw axis which is perpendicular to the ground; a yaw axis actuator mounted on the wrist wearing part to rotate the yaw axis rotary plate in the range of a predetermined angle with respect to the yaw axis; a first link member having one end connected to the yaw axis rotary plate and the other end connected to the hand wearing part; a pitch axis rotary plate mounted on one side of the wrist wearing part to be vertically rotated with respect to the pitch axis which is parallel to the ground; a pitch axis actuator mounted on one side of the wrist wearing part to rotate the pitch axis rotary plate with respect to the pitch axis; and a second link member having one end connected to the pitch axis rotary plate and the other end connected to the hand wearing part.

Description

Wearable 2-DOF Wrist Rehabilitation Robot}

The present invention relates to a robot used for rehabilitation of a wrist. More particularly, the present invention relates to a robot that is worn on a trainee's hand, Axis wrist rehabilitation robot capable of performing a lateral motion of the wrist around a yaw axis and a directional motion.

The wrist is one of the most frequently used parts of the human body, and is frequently injured by various factors. Especially injuring the wrist during sporting events, it is 3 ~ 9% of all sports injuries. Wrist injuries occur frequently in young adults whose skeletal maturity is less than adults who are fully grown and can recover their original function through continuous rehabilitation after appropriate treatment immediately after injury.

Temporary wrist injuries caused by mistakes in exercise or daily life are relatively short in terms of treatment time. However, in the case of stroke patients who rarely use their wrists or workers who have a long working time in front of a computer and have a disease such as a tunnel syndrome on their wrists, Period rehabilitation training is needed. In fact, patients with tunnel syndrome increase by more than 10% every year, but due to lack of physical therapists, it is rare to receive rehabilitation by normal program. This is because the physical therapist can only take care of only one patient at a time and takes a long time to rehabilitate.

Patients with paralysis of the wrist due to various causes and diseases require constant rehabilitation, but it is not easy to realize this in real life without visiting a professional rehabilitation center.

Recently, studies on wrist rehabilitation robots and devices have been actively carried out. Ukei (refer to Non-Patent Document 1) proposed a self-motion control system for controlling a rehabilitation device worn by a hand using a data glove, and Krebs (refer to Non-Patent Document 1) Type wrist rehabilitation system. In Korea, a single-axis wearable wrist rehabilitation device, DULEX-Ⅱ, with a stabilization of the fixed shape at the support was developed.

However, in practice, the wrist motion angle is two-axis up and down and left and right. In order to achieve a smooth daily life, both wrist motions are required. However, existing wrist rehabilitation robots and equipments are configured to perform only one- There is a problem that the configuration is so complicated that it is difficult to carry and use.

Korean Registered Patent No. 10-1305341 (registered on September 02, 2013) Korean Registered Patent No. 10-1126637 (Registered Mar. 07, 2012) Korean Registered Patent No. 10-1359747 (Registered on Jan. 29, 2014)

"Development of a Hand-Assisted Robot with Multi-Degrees-of-Freedom in Hand-Assisted Robotics," Proc. of-Freedom For Rehabilitation Therapy, "IEEE / ASME Trans. on Mechatronics, vol. PP, no. 99, pp 1-11, 2010. A Robot for Wrist Rehabilitation ", IEEE / ASME Trans. ≪ RTI ID = 0.0 > A. < / RTI > on Neural, Systems and Rehab. Eng., Vol. 15, no. 3, pp. 327-335, 2007. Woo Jung Hwan, Moon In-Hyuk, "Wearable Wrist Rehabilitation Training Machine with Muscle Assist Function", Journal of Rehabilitation and Welfare Engineering, Korea Society of Rehabilitation Welfare, pp. 211-213, 2012 Lee, Chung - Sung, Seong - In Kwon, Seong - Ho Bae, Woo - Woo Lee, Dong - Hoon Lee, "A Study on Wrist Direction Recognition Module Using EMG", Journal of Rehabilitation Welfare and Enrollment, Vol. 7, No. 51-58, 2013.

An object of the present invention is to provide a wearable biaxial wrist rehabilitation robot which allows a bipedal movement of the upper and lower parts of the wrist and a left and right of the wrist in a simple structure and is easy to carry and use. .

According to another aspect of the present invention, there is provided a wearable biaxial wrist rehabilitation robot comprising: a wrist support unit to which a trainee's wrist is inserted; A hand wearing part which is installed at a predetermined distance in front of the wrist wearing part and in which a hand of a trainee is inserted and supported; A yaw axis rotating plate installed to rotate in a lateral direction about a yaw axis perpendicular to a ground surface of the wrist wearing part; A yaw football synchronous motor installed in the wrist support unit for rotating the yaw axis rotary plate about a yaw axis in a predetermined angular range; A first link member having one end connected to the yaw axis rotary plate and the other end connected to the hand wearing portion; A yaw football synchronous motor installed in the wrist support unit for rotating the yaw axis rotary plate about a yaw axis in a predetermined angular range; A pitch biaxial copper plate provided on one side of the wrist support unit so as to rotate in a vertical direction about a horizontal pitch axis with respect to a ground; A pitch football synchronous motor mounted on one side of the wrist support unit for rotating the pitch synchronous copper board around a pitch axis; And a second link member having one end connected to the pitch baffle plate and the other end connected to the hand wearing portion.

According to another aspect of the present invention, there is provided a wearable biaxial wrist rehabilitation robot comprising: a wrist wearing part having a rectangular parallelepiped box shape with front and rear open sides and a wrist of a trainee inserted and supported; A hand wearing part which is installed at a predetermined distance in front of the wrist wearing part and has a shape of a rectangular parallelepiped box having front and rear faces opened and in which the hands of the trainee are inserted and supported; A yaw axis rotating plate installed on the upper surface of the wrist wearing unit so as to rotate in a lateral direction about a yaw axis perpendicular to the ground; A yaw football synchronous motor installed in the wrist support unit for rotating the yaw axis rotary plate about a yaw axis in a predetermined angular range; A first link member having a cylinder and a piston elastically connected to the cylinder, the first link member having one end rotatably connected to the yaw axis rotary plate in a vertical direction about a horizontal hinge axis and the other end connected to the hand wearing portion; A pitch biaxial copper plate provided on one side of the wrist support unit so as to rotate in a vertical direction about a horizontal pitch axis with respect to a ground; A pitch football synchronous motor mounted on one side of the wrist support unit for rotating the pitch synchronous copper board around a pitch axis; And a second link member composed of a cylinder and a piston elastically connected to the cylinder so that one end thereof is connected to the pitch coaxial copper plate so as to be rotatable laterally about the vertical hinge axis and the other end is connected to the hand wearing portion .

According to the present invention, both the component for generating the rotational motion in the left-right direction around the yaw axis and the component for generating the rotational motion in the up-down direction about the pitch axis are all mounted on the wrist- And the pitch axis rotational motion. Therefore, the entire configuration and size are largely reduced, so that there is an effect that portability and use are facilitated.

1 is a perspective view of a wearable biaxial wrist rehabilitation robot according to an embodiment of the present invention.
Fig. 2 is a perspective view of the biaxial wrist rehabilitation robot of Fig. 1, with some components removed.
FIG. 3 and FIG. 4 are plan views showing a yaw axis rotation movement state of the biaxial wrist rehabilitation robot according to the present invention.
FIG. 5 and FIG. 6 are plan views showing the state of pitch axis rotation of the biaxial wrist rehabilitation robot according to the present invention.

Hereinafter, a preferred embodiment of a wearable biaxial wrist rehabilitation robot according to the present invention will be described in detail with reference to the accompanying drawings.

1 to 3, a wearable biaxial wrist rehabilitation robot according to an embodiment of the present invention includes a wrist part 10 to which a trainee's wrist is inserted and supported, A yaw axis rotating plate 30 installed to rotate in the left and right direction around a yaw axis perpendicular to the ground surface of the wrist wearing portion 10, And a yaw control unit (70) installed at the yaw control unit (10) for rotating the yaw axis rotating plate (30) in a predetermined angular range around a yaw axis, A first link member 50 connected to the first link member 20 and a yawing soccer motors 70 installed on the wrist support 10 to rotate the yaw axis rotatable plate 30 in a predetermined angular range about a yaw axis, , And a pair of upper and lower gears (11, 12) are disposed on one side of the wrist part (10) with a pitch axis horizontal to the ground A pitch football synchronous machine 80 provided on one side of the wrist wearer 10 for rotating the pitch coaxial male plate 40 about the pitch axis, And a second link member 60 connected to the pitch diaphragm 40 and connected at the other end to the hand wearing portion 20.

The wrist part 10 has a rectangular parallelepiped box shape with front and rear open sides, and the wrist of the trainee is inserted and supported. Preferably, a first band strip 12 is provided on the inner side of the wrist part 10 to be worn on the wrist part of the trainee. The first band strip 12 may be made of elastic rubber, leather, cloth or the like.

The hand-held portion 20 is in the form of a rectangular parallelepiped box having open front and rear faces as in the case of the wrist-worn portion 10, and is supported while the hand of the trainee is inserted. The hand wearing portion 20 is worn on the fingers or the palm of the trainee to transmit the movement force to the hand. It is preferable that a second band strip 22 made of rubber, leather, cloth or the like having elasticity is worn on the back of the trainee.

The yaw axis rotation plate 30 is connected to the upper side of the yawing football synchronous machine 70 provided on the upper surface of the wrist wearing portion 10 and rotates about a yaw axis perpendicular to the ground surface Direction. The central portion of the yaw axis rotary plate 30 is connected to the yaw axis driving motor 70 by a yaw axis shaft 32 extending in the yaw axis direction and rotates. Therefore, when the yaw axis shaft 32 is rotated by the yaw axis synchronizer 70, the yaw axis rotator 30 rotates in the left and right direction in a certain range around the yaw axis.

Although not shown, the yawing soccer motors 70 include a motor (not shown) and a power transmitting member for transmitting the power of the motor to the yaw axis shaft 32. The power transmitting member includes a reduction gear set Can be used.

The first link member 50 serves to transmit the rotational motion of the yaw axis rotary plate 30 to the hand wearing unit 20. In this embodiment, the first link member 50 includes a piston 51 whose one end is rotatably connected to the yaw axis rotary plate 30 in a vertical direction about a horizontal hinge shaft 55, And a cylinder (52) fixedly connected to the wearer (20), and the piston (51) is retractably connected to the cylinder (52). Accordingly, when the hand-held portion 20 is rotated in the left-right direction and the up-down direction, the piston 51 transmits and receives force to the hand-held portion 20 while expanding and contracting with respect to the cylinder 52. It is preferable that a plurality of the first link members 50 are provided.

The cylinder 52 of the first link member 50 is coupled to the connecting member 14 provided at the upper end of the hand wearing portion 20. [ In this embodiment, the connecting member 14 is formed of a V-shaped bracket, but may be formed of a bracket, a pin passing through the bracket and one end of the cylinder.

A mount portion 15 is provided on one side surface of the wrist support 10 to which the pitch synchronization mechanism 80 is attached. The center of the pitch dictating plate 40 is connected to the pitch football synchronizer 80 by a pitch shaft 42 extending in the pitch axis so that power is supplied from a motor (not shown) And rotates around the pitch shaft 42 as a center. Although not shown in the drawing, a reduction gear set is configured in the pitch football synchronous motor 80 to reduce the power of the motor and transmit it to the pitch shaft 42.

The second link member 60 is composed of a cylinder 62 and a piston 61 elastically connected to the cylinder 62 like the first link member 50. In this embodiment, the piston 61 is connected to the pitch dictating plate 40 so as to be rotatable about the vertical hinge axis 65 in the left and right direction, and the cylinder 62 is rotatably connected to one side of the hand- As shown in FIG.

The yaw football synchronizer 70 and the pitch football synchronizer 80 are electrically connected to a controller (not shown) and operated by a controller.

The two-axis wrist rehabilitation robot of the present invention configured as above operates as follows.

The trainee passes the wrist wearer 10 and the handkerchief 20 in order to put his or her hand into the hand so that the hand is supported by the handkerchief 20 and the wrist is supported by the wrist part 10 do. At this time, the hand of the trainee is firmly supported by the second band strip 22 of the hand wearing portion 20 so that the wrist is firmly supported by the first band strip 12 of the wrist portion 10 .

When the controller applies power to the motor (not shown) of the yawsync motor 70 in a state where the wrist and hand of the trainee are worn on the wrist part 10 and the hand part 20 respectively, The yaw axis shaft 32 reciprocally rotates about a yaw axis in a range of a predetermined angle by the yaw axis synchronizer 70 and the yaw axis rotator 30 is rotated together with the yaw shaft 32 And is reciprocally rotated in the range of left and right angles.

Accordingly, the hand wearing unit 20 rotates to the left and right to perform the rehabilitation of the wrist in the lateral direction. Since the piston 51 of the first link member 50 slides against the cylinder 52 and transmits the rotational motion of the yaw axis rotary plate 30 to the hand wearing unit 20, Thereby smoothly turning to the left and right. Since the second link member 60 is rotatable about the vertical hinge axis 65 in the left and right direction, the second link member 60 rotates about the vertical hinge axis 65 when the hand-held unit 20 rotates in the left- The piston 61 of the second link member 60 is stretched and contracted while sliding relative to the cylinder 62.

5 and 6, when the power is supplied to the pitch axis synchronous motor 80 and the motor (not shown) of the pitch synchronous motor 80 is operated, the pitch axis shaft 42 and the The combined pitch dictating plates 40 are reciprocally rotated up and down about the pitch axis.

The rotational movement of the pitch dictating plate 40 is transmitted to the hand wearing portion 20 through the second link member 60 so that the hand wearing portion 20 is reciprocally rotated in the vertical direction and the wrist rehabilitation exercise . Since the first link member 50 can be rotated up and down about the horizontal hinge axis 55 by the yaw axis rotation plate 30, the first link member 50 can be rotated up and down about the horizontal hinge axis The piston 51 of the first link member 50 is stretched and contracted while sliding relative to the cylinder 52. In this case,

As described above, the wearable biaxial wrist rehabilitation robot of the present invention includes the components for generating the rotational motion in the left and right direction about the yaw axis, that is, the yaw axis driving motor 70 and the yaw axis rotary plate 30, The pitch axis synchronization plate 80 and the pitch axis copper plate 40 are mounted on the wrist support 10 so as to rotate in the yaw axis direction and the pitch axis rotation direction of the hand wrist 20, And thus the overall configuration and size are largely reduced, thus providing an action effect that is easy to carry and use.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the present invention as defined by the appended claims. And it is to be understood that such modified embodiments belong to the scope of protection of the present invention defined by the appended claims.

10: wrist part 12: first band strip
20: hand wearing part 22: second band strip
30: yaw axis rotator 32: yaw shaft
40: pitch biaxial copper plate 42: pitch shaft shaft
50: first link member 51: piston
52: cylinder 60: second link member
61: piston 62: cylinder

Claims (13)

A wrist part (10) to which a trainee's wrist is inserted and supported;
A hand wearing part 20 installed at a predetermined distance in front of the wrist part 10 and inserted and supported by a trainee's hand;
A yaw axis rotating plate 30 installed to rotate in the lateral direction about a yaw axis perpendicular to the ground surface of the wrist part 10;
A yaw footer (70) installed on the wrist support (10) and rotating the yaw axis rotary plate (30) in a predetermined angular range about a yaw axis;
A first link member (50) having one end connected to the yaw axis rotary plate (30) and the other end connected to the hand wearing portion (20);
A yaw footer (70) installed on the wrist support (10) and rotating the yaw axis rotary plate (30) in a predetermined angular range about a yaw axis;
A pitch biaxial copper plate 40 provided on one side of the wrist part 10 so as to rotate in a vertical direction about a horizontal pitch axis with respect to the ground;
A pitch football synchronization unit 80 installed at one side of the wrist support 10 to rotate the pitch coaxial copper plate 40 about the pitch axis;
And a second link member (60), one end of which is connected to the pitch diaphragm plate (40) and the other end is connected to the hand wearing portion (20)
Wherein the first link member (50) is composed of a cylinder (52) and a piston (51) connected to the cylinder in a stretchable manner. delete The hinge assembly as claimed in claim 1, wherein one end of the piston (51) or the cylinder (52) of the first link member (50) is vertically rotatable about the horizontal hinge shaft (55) Wherein said wrist-type rehabilitation robot is a wrist-type two-axis rehabilitation robot. 2. The worn type biaxial wrist rehabilitation robot according to claim 1, wherein the second link member (60) comprises a cylinder (62) and a piston (61) retractably connected to the cylinder. 5. The apparatus according to claim 4, wherein one end of the piston (61) or the cylinder (62) of the second link member (60) is rotatable in the transverse direction about the vertical hinge shaft (65) Wherein said wrist-type rehabilitation robot is a wrist-type two-axis rehabilitation robot. [3] The apparatus according to claim 1, wherein the wrist part (10) has a rectangular parallelepiped box shape having front and rear open sides, and a first band Characterized in that a strip (12) is provided. The handpiece according to claim 1, wherein the hand wearing section (20) has a rectangular parallelepiped box shape having open front and rear faces, and a second band Characterized in that a strip (22) is provided on the wrist. The wearable biaxial wrist rehabilitation robot according to claim 1, wherein a plurality of the first link members (50) are installed. 9. The method according to claim 1 or 8, characterized in that the other end of the first link member (50) is fixed to a connecting member (14) fixed to the upper end of the hand wearing portion (20) Wrist rehabilitation robot. (10) having a rectangular parallelepiped box shape having front and rear faces open and in which a wrist of a trainee is inserted and supported;
A hand wearing part 20 installed at a predetermined distance in front of the wrist part 10 and having a rectangular parallelepiped box shape with front and rear faces opened and inserted and supported by the hands of a trainee;
A yaw axis rotating plate 30 installed on the upper surface of the wrist part 10 so as to rotate in a lateral direction about a yaw axis perpendicular to the ground;
A yaw footer (70) installed on the wrist support (10) and rotating the yaw axis rotary plate (30) in a predetermined angular range about a yaw axis;
A cylinder 52 and a piston 51 elastically connected to the cylinder so that one end thereof is rotatably connected to the yaw axis rotary plate 30 in a vertical direction about a horizontal hinge shaft 55, A first link member (50) connected to the hand wearing portion (20);
A pitch biaxial copper plate 40 provided on one side of the wrist part 10 so as to rotate in a vertical direction about a horizontal pitch axis with respect to the ground;
A pitch football synchronization unit 80 installed at one side of the wrist support 10 to rotate the pitch coaxial copper plate 40 about the pitch axis;
And a piston (61) retractably connected to the cylinder and having one end rotatably connected to the pitch coaxial copper plate (40) about the vertical hinge axis (65) And a second link member (60) connected to the wearer (20). 11. The wrist-type two-axis wrist rehabilitation robot according to claim 10, wherein a first band strip (12) is provided on the inside of the wrist part (10) so as to be elastically worn on the wrist part of the trainee. The wrist-type two-axis rehabilitation robot according to claim 10, wherein a second band strip (22) is provided on the inside of the hand wearing section (20) so as to be resiliently worn on the back of the trainee. The handwriting device according to claim 10, wherein a plurality of the first link members (50) are provided, and the other end of the first link member (50) is connected to a connecting member Wherein the wrist rest is fixed to the wrist.

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