KR101777755B1 - Apparatus and method for rehabilitation trainingg using virtual reality - Google Patents

Abstract

Disclosed are a device and a method thereof for a rehabilitation training, capable of measuring the movement of a user and reflecting the movement to virtual reality through a footing sensor and a knee sensor, and enabling the user to actively move in virtual reality depending on what the user wants and chooses. The present invention is capable of inducing the user to actively participate in rehabilitation training by making the user interested in the training as well as conducting a cognitive therapy while at the same time performing the rehabilitation training by inducing the user to be sensibly immersed. In addition, the present invention is capable of satisfying unmet needs of the user. The rehabilitation training device includes: a footing sensor measuring left and right loads made when both feet of the user press a footing pad; a knee sensor measuring pressure made when a knee of the user presses a knee guide; an input part inputting an input value to reflect the movement of the user in virtual reality; a control part controlling the movement in virtual reality by receiving the input value of the input part; and a display part displaying the virtual reality modeled by the control part. Also, the rehabilitation training method includes: a footing measurement step of measuring the left and right loads made when both feet of the user press the footing pads; a setting step of measuring left and right loads of the user and then setting the loads as a reference point; a knee measurement step of measuring the pressure made when a knee of the user presses the knee guide; an input step of inputting the input value to reflect the movement of the user in virtual reality; a control step of controlling the movement in virtual reality by receiving the input value of the input step; and a display step of displaying the virtual reality modeled by the control step.

Description

[0001] APPARATUS AND METHOD FOR REHABILITATION TRAINING [0002] USING VIRTUAL REALITY [0003]

The present invention relates to a rehabilitation training apparatus and a method thereof, and more particularly, to a rehabilitation training apparatus and method for performing standing training using virtual reality.

Virtual Reality is the world of virtual environments implemented in computer graphics within a software program. This virtual reality is realized through the display of the real world. However, the introduction of HMD (Head Mounted Display), which is a type of display on the head, enables stereoscopic virtual reality rather than a simple flat display. Through various sensor technologies and wireless technology, the user can recognize the movement of the user and reflect it on the screen, so that the user can feel as if they are actually in the virtual reality.

Recently, an increasing number of stroke users, traffic accidents, and spinal cord injuries have been increasing in the aging society, and rehabilitation devices that can be applied to users who need rehabilitation due to various diseases are being developed.

Rehabilitation therapy is closely related to cognitive function and may be a complex interdisciplinary disorder. As one disorder improves, other disorders also improve. Therefore, most cognitive therapy and rehabilitation are performed at the same time.

However, in the conventional rehabilitation training apparatus, when the user watches the image provided in the front and moves in reality according to a given mission, the image and movement are felt to be separated from each other. Therefore, it is difficult to train both rehabilitation treatment and cognitive therapy at the same time.

Korean Patent Laid-Open Publication No. 10-2015-013789 'Augmented reality-based upper limb rehabilitation device' Korean Patent Registration No. 10-1302980 'Lower body rehabilitation training device and method through game'

The present invention provides a rehabilitation training apparatus and method for performing a rehabilitation operation by guiding a sensory immersion to a user's haptic effect and a desire for rehabilitation, and simultaneously performing cognitive therapy.

According to the embodiment, there are provided a foot sensor for measuring the left and right load of the foot pad by the user's foot, a knee sensor for measuring the press of the knee guide by the user's knee, And a display unit for displaying a virtual reality modeled by the control unit. The display unit displays the virtual reality modeled by the control unit, and receives the input value of the input unit.

According to the embodiments, the step of measuring the left and right loads, which are pressed by the user's feet, the steps of measuring the left and right loads of the user and setting them as reference points, A control step of receiving the input value of the input step and controlling the movement in the virtual reality, and a virtual step modeled by the control step, And describes a rehabilitation training method including an expression step of expressing reality.

The disclosed rehabilitation training apparatus and method can measure the movement of the user using the foot sensor and the knee sensor and reflect the motion in the virtual reality and actively move within the virtual reality by the user's choice and will. It is possible to induce users to participate in active rehabilitation training by inducing their interest.

In addition, the sensory immersion can induce the user to simultaneously perform cognitive treatment and rehabilitation training. Furthermore, it is possible to satisfy the unmet needs of the user.

1 is a perspective view of a rehabilitation training device according to an embodiment;
2 is a block diagram of a rehabilitation training device according to one embodiment.
3 is a diagram illustrating an example of a virtual reality according to an embodiment;
4 is a flowchart of a rehabilitation training method according to an embodiment;

BRIEF DESCRIPTION OF THE DRAWINGS The advantages and features of the present invention and the manner of achieving them will become apparent with reference to the embodiments described in detail below with reference to the accompanying drawings.

The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. The embodiments are provided so that the disclosure of the present invention is complete and that those skilled in the art will fully understand the scope of the invention. The invention is only defined by the scope of the claims.

In the following description of the embodiments of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear. The terms used below are defined in consideration of the functions of the embodiments of the present invention, which may vary depending on the intention of the user, the operator, or the custom. Therefore, the definition should be based on the contents throughout this specification. Like numbers refer to like elements throughout.

1 is a perspective view of a rehabilitation training device according to an embodiment.

The rehabilitation training device includes a foot part 200, a support 400, a knee measurement part 300, a cradle 500 and a display 600.

The foot part 200 is formed in a plate shape, and a foot pad 210 on which a user can put both feet is formed on the upper face. The foot pad 210 incorporates a foot sensor 110 for measuring the pressure of both feet of the user. It is preferable that the foot pad 210 is independently separated from the left and right in order to measure the pressures of both feet of the user.

The footrest 200 is formed with a guide on the outer side so that the user can perform the rehabilitation training in the correct posture. The guide of footrest 200 allows at least a portion of the footrest 200 to be received when the user places both feet thereon. However, the foot part 200 is not limited to such a guide structure.

The support base 400 extends vertically from one side of the foot base 200 and supports the base 500, which will be described later. The height of the support table 400 is preferably extended to the waist of the user and adjustable in height.

The knee measurement part 300 includes an extension part 310, a connection part 320, and a knee guide 330.

The extension 310 extends perpendicular to the foot 200 on both sides of the support 400. The height of the extension 310 is less than the height of the support 400.

The connection portion 320 extends perpendicularly to the extension portion 310. The length in which the connecting portion 320 is extended can be adjusted by a user. One end of the connection portion 320 is connected to the extension portion 310 so as to be adjustable in height. The other end of the connection portion 320 is connected to a knee guide 330 that receives both knees of the user.

The knee guide 330 is formed so as to at least partially accommodate both knees of the user. The knee guide 330 incorporates a knee sensor 120 that measures knee pressures at which the knee guide 330 is pressed by the user's knee each time the user walks in place.

The holder 500 is supported by a support 400. The holder 500 is formed horizontally with the footrest 200 so as to surround the left and right sides of the user so that the user can hold both arms. The display 600 is installed on one side of the platform 500. One side of the cradle 500 on which the display unit 600 is installed may be formed so as to be inclined so that the user can see the display unit 600 easily.

The display unit 600 is a display panel capable of representing virtual reality graphics, and includes a device having such a display panel. The display unit 600 may use a display panel of a smart phone. The display unit 600 may use an HMD (Head Mounted Display), and may be used as the display unit 600 by mounting the smart phone on the HMD. In the case of using the HMD, there is no need to use the display unit 600 on the large screen, and there is an advantage that the user can cause sensory immersion.

FIG. 2 is a block diagram of a rehabilitation training apparatus according to an embodiment, and FIG. 3 is a diagram showing an example of a virtual reality.

The rehabilitation training apparatus includes a foot sensor 110, a knee sensor 120, a heart sensor 130, an input unit 140, a control unit 150, an output unit 160, a storage unit 170, and a determination unit 180 .

The foot sensor 110 measures left and right pressures by which the foot pad 210 is pressed by both feet of the user. The foot sensor 110 is preferably divided into a left foot sensor 112 and a right foot sensor 114 to measure pressures of both feet.

The knee sensor 120 measures the knee pressure at which the knee guide 330 is pressed by the user's knee every time the user walks in place. The knee sensor 120 is preferably divided into a left knee sensor 124 and a right knee sensor 126 to measure the pressures of both knees.

The heart rate sensor 130 is attached to the user's skin and is preferably attached to the user's hand or arm to measure the heart rate of the user.

The input unit 140 provides mathematically converted input values to reflect the movement of the user measured by the foot sensor 110 and the knee sensor 120 in the virtual reality. It also provides the heart rate of the user measured by heart rate sensor 130. In addition, the input unit 140 is provided with a user selection input function by which a user can directly input and select data.

Meanwhile, the input unit 140 can transmit and receive wirelessly with the foot sensor 110, the knee sensor 120, and the heart rate sensor 130. Wireless communication technology such as beacon or Near Field Communication (NFC) via Bluetooth may be used as the wireless communication technology, but the present invention is not limited thereto.

The control unit 150 receives the input value of the input unit 140 and calculates the motion of the user to control the motion in the virtual reality. In addition, the virtual reality is modeled in real time in accordance with the movement. The output unit 160 expresses the virtual reality modeled by the controller 150. When the user starts to walk in place, the controller 150 calculates the movement of the user through the input value of the input unit 140, and moves forward from the starting point or models the virtual reality moving in a direction different from the starting point in real time. The user can see the virtual reality through the output unit 160 and feel his / her movement by changing the virtual reality modeled in real time.

The controller 150 compares the difference between the left and right pressures measured by the foot sensor 110 to determine whether the difference is within the critical range. The comparison determines whether the user can stand upright. If it is determined that the user can not stand upright, the operation of the rehabilitation training device is stopped for the safety of the user.

A method for determining whether the controller 150 can be erected by the user is as follows.

If the user can stand upright on both feet, the left and right pressures applied to both feet should be within a certain range. If either left or right pressurization is strong or weak, it can not be erected with both feet. The controller 150 determines the difference between the left and right pressures of both feet measured by the foot sensor 110. However, even when a normal person stands upright on both feet, there is a difference between the left and right pressures applied to both feet due to the difference in balance of the body. Therefore, it is judged that the maximum value of the difference between the left and right pressures applied to both feet when the normal person stands up is set as a threshold value, and when the absolute value of the difference between the left and right pressures exceeds the threshold value, do.

The controller 150 determines the walking direction and the walking speed of the user and reflects the motion as a motion in the virtual reality. At this time, the control unit 150 determines the walking direction of the user based on the difference in the left and right pressures measured by the foot sensor 110. The control unit 150 determines the walking speed of the user based on the time difference between the time when the knee pressurization measured by the knee sensor 120 is maintained and the maximum value of the left and right knee pressures.

A method for the controller 150 to determine the walking direction of the user is as follows.

When the user starts the rehabilitation training, first set the reference point. At this time, the control unit 150 sets the measured values of the left and right pressures applied to both feet of the user as reference points. When a stronger pressure is applied than this reference point, the direction of walking is determined in that direction. By setting a reference point at the start of rehabilitation training, it is possible to prevent an unintentional movement of the user from being reflected in the virtual reality during the rehabilitation training based on the optimized criteria for each user.

For example, if the user wants to change the walking direction to the right within the virtual reality, the user presses the right foot further. The control unit 150 compares the measurement value with the reference point of the left and right pressurization, and a larger pressure is applied to the right side, so that the gait direction is determined as the right side.

A method for the controller 150 to determine the walking speed of the user is as follows.

When the user walks in place, there is a maximum point of pressurization of the left and right knees applied to the knee sensor 120 and the time during which the knee pressure applied to the knee sensor 120 is maintained.

When the user walks faster, the time during which the knee pressure applied to the knee sensor 120 is maintained becomes shorter, which means that the width t of the graph is shorter. The controller 150 determines the walking speed of the user based on the difference in the width of the graph.

In addition, when the user walks faster, the time difference of the pressurization applied to the left and right knee guides 330 becomes shorter, which means that the distance between the maximum points of the respective pressures becomes shorter. The control unit 150 determines the walking speed of use by the distance difference d between the maximum points of the left and right knee pressures.

The controller 150 includes a microprocessor or a device having an application processor (AP). The control unit 150 may be embedded in the rehabilitation training apparatus, and may be an AP of a smartphone when using a smartphone.

The storage unit 170 collects and stores the behavior data of the user measured from the foot sensor 110, the knee sensor 120, and the heart rate sensor 130. The storage unit 170 may be embedded in the rehabilitation training apparatus, and may be a flash memory of a smartphone when using a smartphone.

The determination unit 180 analyzes the user's behavior data accumulated in the storage unit 170 to determine a rehabilitation step suitable for the user. The determination unit 180 may be included in the control unit 150. The determination unit 180 may classify predetermined rehabilitation steps and analyze the user's behavior data while the user is using the rehabilitation training apparatus and selects the next rehabilitation step when the requirements of each rehabilitation step are satisfied.

The operation of the rehabilitation training apparatus thus constructed will be described.

First, the user places both feet on the foot pad 210 of the foot part 200. Next, the height and length of the connecting portion 320 are adjusted so that the knee guide 330 abuts the user's knee.

When the rehabilitation training device is ready, the measurement is started when the power is turned on. The load on both feet of the user is measured, a reference point is set, and the reference point is stored in the storage unit 170. If the controller 150 determines that the user can not stand upright, the controller 150 stops the operation of the rehabilitation training device.

If the controller 150 determines that the user can stand upright, the controller 150 starts the rehabilitation training in the virtual reality. In this case, when the user walks in place, the input unit 140 converts the user's motion into an input value, the control unit 150 receives the input value, reflects the motion as motion in the virtual reality, The environment in the virtual reality interacts with the movement of the user. Therefore, as shown in FIG. 3, the user can walk or run the distance within the virtual reality, and the user can feel that the virtual reality is actually moving in the virtual reality by reacting to the movement of the user.

4 is a flowchart of a rehabilitation training method according to an embodiment.

Additional steps other than those shown in FIG. 4 may be included in the embodiment, and at least some of the steps shown in FIG. 4 may be omitted.

The rehabilitation training method includes a step of setting a reference point (S100), a step of determining whether the user is upright (S110), a step of selecting a virtual reality (S120), a step of controlling movement in a virtual reality (S130) A step of determining whether the level is up (S140), a step of increasing the number of selectable virtual reality (S150), and a step of ending the virtual reality (S160).

First, at the start of the rehabilitation training, the load of both feet of the user is measured and a reference point is set (S100).

Next, it is determined whether the absolute value of the difference between the left and right loads of the user is included in the above-mentioned threshold value (S110). If the absolute value of the difference between the left and right loads is included in the threshold value, the rehabilitation training is continued. If not, the rehabilitation training is ended.

The user selects a desired virtual reality (S120), and rehabilitation training is performed in the virtual reality. The user can move within the virtual reality while walking in place. That is, the walking direction and the walking speed of the user are determined from the foot sensor 110 and the knee sensor 120, and the controller 150 controls the motion in the virtual reality according to the motion of the user input by the input unit 140 (S130).

The user clears the given goal within the virtual reality and performs rehabilitation training. The behavior data of the user measured from the footstep sensor 110, the knee sensor 120 and the heartbeat sensor 130 during the rehabilitation training is collected and stored by the storage unit 170 and the determination unit 180 analyzes the data, A suitable rehabilitation step is judged.

If it is determined that the rehabilitation step has been leveled up in the rehabilitation training step (S140), the number of virtual reality that the user can select also increases (S150). The level-up judgment of the rehabilitation step is performed by the judgment unit 180 by analyzing the behavior data of the user. The determination unit 180 comprehensively determines the rehabilitation cumulative time, the walking speed of the user in the virtual reality, the walking distance, and the like to set the lowest criterion of each rehabilitation step, and determines whether the level of the rehabilitation step is up.

As the level of rehabilitation steps increases, the user not only can walk the distance, but also the user can move in various natural environments. In particular, if the level of rehabilitation is high, it is possible to enjoy climbing and trekking, not just walking.

As a result of the rehabilitation step, if the rehabilitation step is leveled up or not leveled up, it is determined whether to end the virtual reality (S160). When the user selects to terminate the virtual reality, the virtual reality is terminated. If the user chooses not to end the virtual reality, the user returns to the virtual reality selection stage and selects the desired virtual reality.

The rehabilitation training apparatus and the rehabilitation training method according to the embodiment induce the active participation of the user in the rehabilitation training process and cause interest. Thus, the user can be continuously rehabilitated and the user can meet the unmet needs.

It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims. But is not limited to the example.

100: Rehabilitation device
110: foot sensor
112: Left foot sensor 114: Right foot sensor
120: knee sensor
124: Left knee sensor 126: Right knee sensor
130: heart rate sensor
140: Input unit
150:
160: Output section
170:
180:
200:
210: scaffold pad
300: knee measuring part
310: extension part 320: connection part
330: knee guide
400: Support
500: Cradle
600:

Claims (17)

A foot sensor installed on a foot part on which a user is located and measuring a left and right load on which the foot pad is pressed by both feet of the user;
A knee sensor for measuring pressure applied to the knee guide by the user's knee when the user touches both knees of the user and the user walks in place;
An input unit for providing a mathematically converted input value to reflect the motion of the user measured by the foot sensor and the knee sensor in a virtual reality;
A control unit for receiving the input value of the input unit that changes according to the movement of the user and controlling the movement in the virtual reality, and modeling the virtual reality according to the movement; And
And a display unit for expressing the virtual reality modeled by the control unit,
Wherein the control unit compares the absolute value of the difference between the left and right load measured by the foot sensor with a threshold value or less to determine whether the user can stand uprightly, The operation of the rehabilitation training device is stopped. delete The method according to claim 1,
Wherein the controller determines the walking direction of the user based on the difference between the left and right loads measured by the foot sensor. The method of claim 3,
Wherein the control unit determines the walking speed of the user based on a time difference between a time when the pressurization measured by the knee sensor is maintained and a maximum value of the left and right pressurization. 5. The method of claim 4,
Wherein the controller determines the walking direction and the walking speed of the user and reflects the motion as a motion in the virtual reality. The method according to claim 1,
And a heartbeat sensor for measuring a heart rate of the user through a heartbeat sensor attached to the skin of the user,
Wherein the input unit provides the heart rate of the user measured by the heart rate sensor. The method according to claim 6,
A storage unit for collecting and storing behavior data of the user measured from the foot sensor, the knee sensor and the heart rate sensor; And
And a determination unit for analyzing the behavior data of the user accumulated in the storage unit and determining a rehabilitation step suitable for the user. The method according to claim 6,
Wherein the input unit wirelessly transmits and receives the foot sensor, the knee sensor, and the heartbeat sensor. A foot measuring step of measuring a left and right load that the footrest portion where the user is located is pressed by both feet of the user;
Measuring a left and right load of the user in the foot step measuring step and setting the reference point as a reference point;
Measuring pressure applied by the knee of the user to the knee guide abutting on both knees of the user;
Inputting a mathematically converted input value so as to reflect the movement of the user measured in the foot measurement step and the knee measurement step in a virtual reality;
A control step of controlling the movement in the virtual reality by receiving an input value of the input step which changes according to the movement of the user and modeling the virtual reality according to the movement; And
And expressing the virtual reality modeled by the control step,
And a heartbeat measuring step of measuring the heart rate of the user through a heartbeat sensor attached to the arm or the hand of the user,
A storage step of collecting and storing behavior data of the user measured from the foot measurement step, the knee measurement step and the heartbeat measurement step; And
And a determination step of analyzing the behavior data of the user accumulated in the storing step to determine a rehabilitation step suitable for the user,
A level adjusting step of increasing a level of the rehabilitation step according to the rehabilitation step determined in the determining step; And
And a selection step of changing the virtual reality according to the level of the rehabilitation step. 10. The method of claim 9,
Wherein the control step compares the absolute value of the difference between the left and right pressures measured in the foot measurement step to determine whether or not the user can stand up, A method of rehabilitation training that stops rehabilitation if the threshold is exceeded. 10. The method of claim 9,
Wherein the control step determines the walking direction of the user based on a difference between the left and right pressures measured in the foot step measuring step. 12. The method of claim 11,
Wherein the control step determines the walking speed of the user based on a time difference between a time at which the pressurization measured in the knee measuring step and a maximum value of the left and right pressurization are maintained. 13. The method of claim 12,
Wherein the control step determines the walking direction and the walking speed of the user and reflects the motion as a motion in the virtual reality. delete delete delete 10. The method of claim 9,
Wherein the selection step increases the number of the virtual reality that the user can select as the level of the rehabilitation step increases.

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