KR101793612B1 - Rehabilitation unit and leg rehabilitation apparatus - Google Patents

Rehabilitation unit and leg rehabilitation apparatus Download PDF

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Publication number
KR101793612B1
KR101793612B1 KR1020150188730A KR20150188730A KR101793612B1 KR 101793612 B1 KR101793612 B1 KR 101793612B1 KR 1020150188730 A KR1020150188730 A KR 1020150188730A KR 20150188730 A KR20150188730 A KR 20150188730A KR 101793612 B1 KR101793612 B1 KR 101793612B1
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KR
South Korea
Prior art keywords
driving member
support plate
rehabilitation
block
foot
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Application number
KR1020150188730A
Other languages
Korean (ko)
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KR20170078333A (en
Inventor
김갑순
Original Assignee
경상대학교 산학협력단
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Priority to KR1020150188730A priority Critical patent/KR101793612B1/en
Publication of KR20170078333A publication Critical patent/KR20170078333A/en
Application granted granted Critical
Publication of KR101793612B1 publication Critical patent/KR101793612B1/en

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/024—Knee
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane
    • A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/0266—Foot
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/01—Constructive details
    • A61H2201/0119—Support for the device
    • A61H2201/0138—Support for the device incorporated in furniture
    • A61H2201/0149—Seat or chair
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5071—Pressure sensors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/10—Leg
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/10—Leg
    • A61H2205/102—Knee
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/12—Feet
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2230/00—Measuring physical parameters of the user
    • A61H2230/62—Posture
    • A61H2230/625—Posture used as a control parameter for the apparatus

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  • Health & Medical Sciences (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Rehabilitation Tools (AREA)

Abstract

The present invention relates to a rehabilitation unit and a rehabilitation apparatus. The rehabilitation apparatus according to an embodiment of the present invention includes a body for supporting a hip portion of a person and two rehabilitation units connected to the body for performing rehabilitation for a person's leg, A support member connected to the body; A first driving member rotatably connected to the support member; A second driving member rotatably connected to the first driving member; And a foot supporting member rotatably connected to the second driving member and supporting a foot of a person.

Description

[0001] Rehabilitation unit and leg rehabilitation apparatus [

The present invention relates to a rehabilitation unit and a rehabilitation apparatus.

Certain people require an artificial limb rehabilitation exercise. For example, the elderly with weak physical strength, the disabled or those who have low ability to walk due to surgery may be prevented from weakening or stiffening due to their inability to move on their own, or rehabilitation exercises need.

These rehabilitation exercises can be improved when the hip, knee, and ankle joints move smoothly. These joints are surrounded by soft palate bone joints, muscles, and tendons, The teeth are required to impart effective motion to these elements.

Patent Document 1: Korean Patent Publication No. 10-2006-0034986

The present invention is to provide a rehabilitation unit and a rehabilitation apparatus which can efficiently perform a rehabilitation exercise of the lower limbs.

According to an aspect of the present invention there is provided a body comprising: a body for supporting a hip portion of a person; and two rehabilitation units connected to the body for performing a rehabilitation action on a human leg, the rehabilitation unit comprising: A supporting member to be connected; A first driving member rotatably connected to the support member; A second driving member rotatably connected to the first driving member; And a foot supporting member rotatably connected to the second driving member and supporting a foot of a person.

Further, the underground rehabilitation apparatus may further include a connecting member connected to the body so as to be rotatable with respect to the vertical axis, and the supporting member may be fixed to the connecting member.

In addition, the connecting member may have a sensing rib provided between the first connecting member holes formed in the thickness direction with at least one arc shape, and the first sensors may be located on the sensing rib.

The first driving member is provided with a first rear hole and a second rear hole in mutually different directions, and the first driving member is provided with a first rear sensor and a second rear sensor, And second rear sensors may be located.

The first driving member is provided with a first front hole and a second front hole in mutually different directions, and the second driving member is provided with a first front hole and a second front hole, And the second front sensors can be located.

The foot supporting member may include: a connecting block rotatably connected to the second driving member; And a support plate fixed to the connection block and supporting a foot of a person.

In addition, the connection block may include a first sensing hole in the thickness direction and a second sensing hole in the vertical direction, and the first block sensors and the second block sensors may be disposed in the connection block with the first sensing hole and the second sensing hole in- The second block sensors can be located.

The support plate may further include: a first support plate disposed at an upper portion; A second support plate positioned below the first support plate; And a connecting block connecting the first supporting plate and the second supporting plate, and a supporting block having a pressing sensor attached between the first supporting plate and the connecting block or between the second supporting plate and the connecting block, Lt; / RTI >

Further, a power for relative rotation is provided to a connecting portion of the supporting member and the first driving member, a connecting portion of the first driving member and the second driving member, or a connecting portion of the second driving member and the foot supporting member May be provided.

According to another embodiment of the present invention, a support member connected to the body; A first driving member rotatably connected to the support member; A second driving member rotatably connected to the first driving member; A foot supporting member rotatably connected to the second driving member and supporting a foot of a person; And a sensor for sensing the amount of deformation in the course of operation.

A sensor for detecting a deformation amount may be attached to the first driving member, the second driving member, and the foot supporting member.

According to an embodiment of the present invention, a rehabilitation unit and a rehabilitation apparatus capable of efficiently performing a rehabilitation motion of the lower limb can be provided.

1 is a view illustrating a lower limb rehabilitation apparatus according to an embodiment of the present invention.
Fig. 2 is a view showing a connecting portion between the body of Fig. 1 and the supporting member. Fig.
3 is a view showing a connecting member.
Fig. 4 is a view showing the first driving member of Fig. 1;
5 is a view showing the second driving member.
6 is a view showing a foot supporting member.
7 is a diagram showing a first connection block.
8 is a diagram showing a second connection block.
9 is a view showing a support block according to an embodiment of the present invention.
10 is a block diagram showing the control relationship of the underarm rehabilitation apparatus.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. The embodiments of the present invention can be modified in various forms, and the scope of the present invention should not be construed as being limited to the following embodiments. This embodiment is provided to more fully describe the present invention to those skilled in the art. Thus, the shape of the elements in the figures has been exaggerated to emphasize a clearer description.

1 is a view illustrating a lower limb rehabilitation apparatus according to an embodiment of the present invention.

Referring to Fig. 1, the underwear rehabilitation apparatus 1 includes a body 10 and a rehabilitation unit 20.

The body 10 provides the skeleton of the underwear rehabilitation apparatus 1. In the upper part of the body 10, a seat part 110 for supporting a hip part of a person for leg restoration is provided. The seat portion 110 may have an area corresponding to a hip portion of a person. In addition, the seat portion 110 may be provided so as to have an area suitable for the sex or connection of the person who uses the underwear rehabilitation apparatus 1.

A rehabilitation unit (20) is connected to the body (10) and performs a human rehabilitation exercise. The rehabilitation unit 20 may be provided in the body 10 corresponding to each of the outer leg and the right leg of the person. Further, the rehabilitation unit 20 may be provided in the body 10 corresponding to the outer leg or the right leg.

The rehabilitation unit 20 includes a support member 210, a first drive member 220, a second drive member 240, a foot support member 260 and a rail 270.

The support member 210 is connected to the body 10. For example, the support member 210 may be connected to the bottom of the seating part 110. The support member 210 may be provided in a link shape having a set width and a set length. The support member 210 allows the force acting on the rehabilitation unit 20 during the load and rehabilitation movement to be transmitted to the body 10.

Fig. 2 is a view showing a connecting portion between the body and the supporting member of Fig. 1, and Fig. 3 is a view showing the connecting member.

2 and 3, the support member 210 may be rotatably provided with respect to the body 10 with respect to a vertical axis. In one example, the support member 210 may be connected to the body 10 via the connecting member 120.

The connection member 120 includes a first sensing unit 1210 and a second sensing unit 1220.

The connecting member 120 may be rotatably connected to the body 10 with respect to the vertical axis. For example, the connecting member 120 may be fixed to the body 10 through the bracket 130. Specifically, the bracket 130 can be fixed to the body 10 while forming a space for accommodating a part of the connecting member 120 between the bracket 130 and the body 10. The connecting member 120 may be rotatably received in a space formed between the bracket 130 and the body 10. For example, the bracket 130 may be fixed to the bottom surface of the seating portion 110.

The first sensing portion 1210 may be provided with a part of the end side surface in an arc shape. The central portion of the first sensing portion 1210 may be connected to the shaft of the first motor 140 passing through the bracket 130. The first motor 140 provides power to rotate the connecting member 120.

At least one arc-shaped first connection member hole 1211 may be formed in the thickness direction of the first sensing unit 1210. For example, four first connection member holes 1211 having a shape corresponding to each other are formed around the center of the arc-shaped portion of the first sensing unit 1210 in the first sensing unit 1210. A sensing rib 1212 is positioned between the first connection member holes 1211. At this time, the sensing ribs 1212 may be provided symmetrically with respect to the center of the arc-shaped portion of the first sensing portion 1210. The first sensors 1213 may be located on the sensing rib 1212. [ In one example, the first sensors 1213 may be located on opposite sides of each of the sensing ribs 1212 facing each other. An extended portion 1230 may be formed on one side of the first sensing portion 1210.

The second sensing unit 1220 extends outward from one side of the first sensing unit 1210 or one side of the extending unit 1230. The second sensing unit 1220 may be provided in a block shape having a setting volume. When the connection member 120 is connected to the body 10 through the bracket 130, the second sensing unit 1220 may be positioned to face the outer side of the body 10. The end of the second sensing unit 1220 is exposed to the outside of the bracket 130 and fixed to the supporting member 210.

A second connection member hole 1221 may be formed in the second sensing unit 1220. The second connection member hole 1221 may be inclined in the extending direction of the second sensing unit 1220 and inclined in the normal direction of the upper surface of the second sensing unit 1220. For example, the second connection member hole 1221 may be formed in a direction perpendicular to the extending direction of the second sensing unit 1220 and perpendicular to the normal direction of the upper surface of the second sensing unit 1220. The second sensors 1222 are positioned on the upper and lower surfaces of the second sensing unit 1220 with the second connection member hole 1221 therebetween. For example, two second sensors 1222 spaced apart from each other in the extending direction of the second sensing unit 1220 may be disposed on the upper surface and the lower surface of the second sensing unit 1220, respectively.

When the motor 140 applies a force to the connecting member 120 in a state where a load is applied by the supporting member 210, the sensing rib 1212 is deformed. The first sensors 1213 can sense the amount of deformation of the sensing rib 1212.

The second sensing unit 1220 may be deformed due to a force applied to the connecting member 120 by the supporting member 210 and a force applied to the connecting member 120 by the motor. The second sensors 1222 can sense the amount of deformation of the second sensing unit 1220.

Fig. 4 is a view showing the first driving member of Fig. 1;

Referring to FIG. 4, the first driving member 220 is rotatably connected to the supporting member 210. A connecting portion of the first driving member 220 and the supporting member 210 may be provided with a second motor (227 in Fig. 10) that provides power to rotate them relatively.

The first driving member 220 may be provided in a link shape having a set width and a set length. The first driving member 220 may be provided in a stepped shape along the longitudinal direction so that the schematic shape of the rehabilitation unit 20 has a linear shape along the longitudinal direction when viewed from above.

The first driving member 220 is formed with a first rear hole 221 and a second rear hole 222. The first rear hole 221 and the second rear hole 222 may be positioned adjacent to the support member 210.

The first rear hole 221 and the second rear hole 222 may be inclined with respect to the longitudinal direction of the first driving member 220 and may be formed in different directions from each other. For example, the first rear hole 221 may be formed to be perpendicular to the longitudinal direction of the first driving member 220 and to face the thickness direction of the first driving member 220. The second rear hole 222 may be formed to be perpendicular to the longitudinal direction of the first driving member 220 and to face the width direction of the first driving member 220.

First rear sensors 223 may be positioned on the upper and lower surfaces of the first driving member 220 with a first rear hole 221 therebetween. The first rear sensors 223 may be positioned on the upper surface and the lower surface of the first driving member 220 along two or more longitudinal directions of the first driving member 220. [ The second rear sensors 224 may be positioned on both sides of the first driving member 220 with the second rear holes 222 therebetween. The second rear sensors 224 may be positioned on each of the side surfaces of the first driving member 220 along the longitudinal direction of the first driving member 220. The first rear sensors 223 and the second rear sensors 224 can sense the amount of deformation of the first driving member 220. [

A first auxiliary driving member 230 may be connected to the supporting member 210 and the first driving member 220. Both end portions of the first auxiliary drive member 230 may be rotatably connected to the support member 210 and the first drive member 220, respectively. The first auxiliary drive member 230 may be provided with a variable length. For example, the first auxiliary driving member may include a first forward rotation portion 231 and a first rear rotation portion 232. One side of the first front rotation portion 231 is rotatably connected to the support member 210, and a hole may be formed on the inner side. One side of the first rear rotation part 232 is rotatably connected to the first driving member 220, and a hole may be formed on the inside. The first front rotation portion 231 and the first rear rotation portion 232 may be connected to each other through a hole in a chain structure. The holes of the first front rotation portion 231 and the holes of the first rear rotation portion 232 are provided in a rectangular shape so that the relative movement direction is linear. The first auxiliary drive member 230 may assist the first drive member 220 to be rotated relative to the support member 210.

As another example, the first subordinate drive member 230 is provided in a cylinder shape so that its length can be varied.

5 is a view showing the second driving member.

Referring to FIG. 5, one side of the second driving member 240 is rotatably connected to the other side of the first driving member 220. A connecting portion of the second driving member 220 and the first driving member 220 may be provided with a third motor (247 in Fig. 10) that provides power to rotate them relative to each other.

The second driving member 240 may be provided in a link shape having a set width and a set length. Also, the second driving member 240 may be provided in a stepped shape in each region along the longitudinal direction so that the schematic shape of the rehabilitation unit 20 is linear along the longitudinal direction when viewed from above.

A first front hole 241 and a second front hole 242 are formed in the second driving member 240. The first front hole 241 and the second front hole 242 may be located at a portion adjacent to the first driving member 220. [

The first front hole 241 and the second front hole 242 may be inclined with respect to the longitudinal direction of the second driving member 240 and may be formed in different directions from each other. For example, the first front hole 241 may be formed to be perpendicular to the longitudinal direction of the second driving member 240 and to face the thickness direction of the second driving member 240. The second front hole 242 may be formed to be perpendicular to the longitudinal direction of the second driving member 240 and to face the width direction of the second driving member 240.

The first front sensors 243 can be positioned on the upper and lower surfaces of the second driving member 240 with the first front hole 241 therebetween. The first front sensors 243 may be positioned on the upper surface and the lower surface of the second driving member 240 along two or more lengthwise directions of the second driving member 240.

And second front sensors 244 can be positioned on both sides of the second driving member 240 with a second front hole 242 therebetween. The second front sensors 244 may be positioned on each of the side surfaces of the second driving member 240 along the longitudinal direction of the second driving member 240. The first front sensors 243 and the second front sensors 244 can sense the amount of deformation of the second driving member 240. [

A second auxiliary driving member 250 may be connected to the first driving member 220 and the second driving member 240. Both end portions of the second auxiliary drive member 250 may be rotatably connected to the first drive member 220 and the second drive member 240, respectively. The second auxiliary drive member 250 may be provided with a variable length. For example, the second auxiliary driving member 250 may include a second forward rotation portion 251 and a second rear rotation portion 252. One side of the second forward rotation unit 251 may be rotatably connected to the first driving member 220, and a hole may be formed on the inside. One side of the second rear rotation unit 252 is rotatably connected to the second driving member 240, and a hole may be formed on the inside. The second forward rotation portion 251 and the second rear rotation portion 252 may be connected to each other through a hole in a chain structure. The holes of the second forward rotation portion 251 and the holes of the second rear rotation portion 252 are provided in a rectangular shape so that the relative movement direction is linear. The second auxiliary driving member 250 may assist the first driving member 220 and the second driving member 240 to rotate with respect to each other.

As another example, the second auxiliary drive member 250 may be provided in a cylinder shape so that its length can be varied.

6 is a view showing a foot supporting member.

Referring to FIG. 6, the foot support member 260 supports the foot of a person during a rehabilitation exercise. The foot supporting member 260 is rotatably connected to the other side of the second driving member 240. A connecting portion of the second driving member 220 and the foot supporting member 260 may be provided with a fourth motor 267 (Fig. 10) that provides power to rotate them relative to each other. The foot supporting member 260 is provided to be moved back and forth in accordance with the movement of the first driving member 220 and the second driving member 240. [

Foot support member 260 includes connecting block 2000 and support plate 3000.

The connection block 2000 is rotatably connected to the second driving member 240. The connection block 2000 may include a first connection block 2100 and a second connection block 2200.

FIG. 7 is a view showing a first connection block, and FIG. 8 is a view showing a second connection block.

Referring to FIGS. 7 and 8, the first connection block 2100 may be formed to have a predetermined thickness and area. The first connection block 2100 may be rotatably connected to the second driving member 240 by a rotation connection portion 2110 located at one side. The rotation connecting portion 2110 may have a lower portion protruding downward.

A first sensing hole 2121 may be formed in the sensing portion 2120 extending in the longitudinal direction in the rotation connection portion 2110. The first sensing hole 2121 may be formed in the thickness direction of the first connection block 2100. The first block sensors 2122 may be positioned on the top and bottom surfaces of the first connection block 2100 with the first sensing hole 2121 therebetween. A change occurs in the first connection block 2100 due to the force generated in the process of relatively rotating the foot supporting member 260 relative to the second driving member 240. The first block sensors 2122 can sense the amount of deformation of the first connection block 2100.

The first connection block 2100 has an end fixed to the second connection block 2200. The first connection block 2100 may be fixed to the second connection block 2200 through a fixed connection portion 2130 located at the end of the sensing portion 2120. The fixed connection portion 2130 may extend in the inner side direction from the end of the sensing portion 2120. Also, the first connection block 2100 may be fixed to the second connection block 2200 directly at the end of the sensing portion 2120.

The second connection block 2200 may be provided with a set thickness and area. A second sensing hole 2201 may be formed in the second connection block 2200 in a vertical direction. The second block sensors 2202 may be positioned on both sides of the second connection block 2200 with the second sensing hole 2201 therebetween. A change occurs in the second connection block 2200 due to the force generated in the process of the foot supporting member 260 being rotated relative to the second driving member 240. [ The second block sensors 2202 can sense the amount of deformation of the second connection block 2200.

A support plate connection portion 2210 protrudes inwardly from the end of the second connection block 2200 and can be fixed to the support plate 3000. In addition, the inner end of the second connection block 2200 may be provided flat, and may be fixed directly to the side surface of the support plate 3000.

The support plate 3000 supports the feet of a person. The support plate 3000 may be provided in an L-shape in side view so as to support the heel and the sole of the foot. The support plate 3000 may have a width corresponding to the width of a person's foot. On both sides of the support plate 3000, an auxiliary support plate 3100 may be provided. The auxiliary support plate 3100 supports both sides of the foot to prevent a person's foot from being separated from the support plate 3000. The auxiliary support plate 3100 may be provided so that the distance between its inner surfaces is adjusted.

9 is a view showing a support block according to an embodiment of the present invention.

Referring to FIG. 9, the support block 3000 may be provided with a support block 3200.

Specifically, the portion of the support plate 3000 supporting the feet of a person may include a first support plate 3001 and a second support plate 3002. The first support plate 3001 is provided in a plate separate from the second support plate 3002 so that the first support plate 3001 is positioned on the upper side of the support plate 3000 and the second support plate 3002 is positioned on the upper side And can be located at the bottom of the support plate 3000. The first support plate 3001 and the second support plate 3002 may be connected to each other by a fixing block 3300. The fixed block 3300 may be located on the opposite side of the face where the human foot is located.

The support block 3200 may be positioned between the first support plate 3001 and the connection block 2000 or between the second support plate 3002 and the fixture block 3300. Hereinafter, the support block 3200 will be described as being located between the first support plate 3001 and the connection block 2000.

The support block 3200 may be provided in a rod shape having a setting volume. The support block 3200 may be fixed to the first support plate 3001 with a width corresponding to the width of the first support plate 3001. [ At both ends of the support block 3200, a first protrusion 3210 protruding in the direction of the first support plate 3001 may be formed. Accordingly, the support block 3200 is fixed in a state where the first projection 3210 is in contact with the first support plate 3001, and a section between the first projections 3210 is spaced apart from the first support plate 3001 have. A second protrusion 3220 protruding in the direction of the connection block 2000 may be formed in the middle region of the support block 3200. [ Accordingly, the support block 3200 may be fixed in a state where the second projection 3220 is in contact with the connection block 2000, and an area other than the second projection 3220 may be spaced apart from the connection block 2000.

A pressure sensing hole 3230 may be formed in the support block 3200. The pressure sensing holes 3230 may be formed in the vertical direction between the middle region and both ends of the support block 3200. The pressure sensor 3240 may be positioned in the support block 3200 with a pressure sensing hole 3230 therebetween. At least two pressure sensors 3240 may be disposed on the inner and outer surfaces of the support block 3200 adjacent to each pressure sensing hole 3230 along the width direction of the support block 3200. The first supporting plate 3001 and the second supporting plate 3002 are moved in the process of moving the foot supporting member 210 in the front and rear direction or in the process of the foot supporting member 210 being rotated with respect to the second driving member 240 The applied force can be relatively different. This force is transmitted to the support block 3200, causing deformation of the support block 3200. [ The pressure sensor 3240 can sense the deformation amount of the support block 3200.

Below the respective foot support members 210, the rails 270 can be positioned. The rail 270 may be provided along the alignment direction of the first driving member 220, the second driving member 240, and the foot supporting member 260. The rail 270 can guide the foot supporting member 210 to move back and forth. A lower support member 3600 may be provided between the rail 270 and the foot support member 210 to support the foot support member 210 in a rotatable manner and to move along the rail 270.

The rail 270 can be fixed with respect to the body 10. For example, a rail support portion 11 provided in a front structure of the body 10 may be positioned below the rail 270. Therefore, the entire underarms rehabilitation apparatus 1 can be moved integrally.

10 is a block diagram showing the control relationship of the underarm rehabilitation apparatus.

Referring to FIG. 10, the controller 12 may be provided to be attached to the body 10. For example, the control unit 12 may be located below the seating unit 110. The control unit 12 may receive data from the sensors 1213, 1222, 223, 224, 243, 244, 2122, 2202, . The controller 12 can sense a moment acting in the normal direction of the first sensing unit 1210 through the data provided by the first sensors 1213. [

The controller 12 can sense a moment acting in the direction of the second connection member hole 1221 through the data provided by the second sensors 1222. [ In addition, the controller 12 can sense a force acting from the upper side to the lower side through the data provided by the second sensors 1222.

The control unit 12 determines the moment acting in the direction of the first rear hole 221 and the second rear hole 222 through the information provided by the first rear sensors 223 and the second rear sensors 224 Can be detected. The control unit 12 determines a moment acting in the direction of the first front hole 241 and the second front hole 242 through the information provided by the first front sensors 243 and the second front sensors 244 Can be detected. The controller 12 may sense a moment acting in the direction of the first sensing hole 2121 through the information provided by the first block sensors 2122. [ The controller 12 may sense a moment acting in the direction of the second sensing hole 2201 through the information provided by the second block sensors 2202. [ The controller 12 may sense a moment acting in the direction of the pressure sensing hole 3230 through the information provided by the pressure sensor 3240.

The control unit 12 can receive data from each of the first motor 140, the second motor 227, the third motor 247, and the fourth motor 267. Each of the first motor 140, the second motor 227, the third motor 247 and the fourth motor 267 may provide the control unit 12 with data regarding the rotational speed, the degree of rotation, or the torque.

The controller 12 may control the operations of the first motor 140, the second motor 227, the third motor 247, and the fourth motor 267, respectively. The operating characteristics of each of the first motor 140, the second motor 227, the third motor 247 and the fourth motor 267 controlled by the control unit 12 may be rotational speed, degree of rotation, or torque.

The controller 12 may be connected to the sensors 1213, 1222, 223, 224, 243, 244, 2122, 2202, 3240 and the motors 140, 227, 247, 267 either wired or wirelessly.

Fig. 11 is a view showing the use state of the underarm rehabilitation apparatus 1. Fig.

Referring to Fig. 11, the underwear rehabilitation apparatus 1 can be used for rehabilitation of the ankle joint.

In the first mode, the lower limb rehabilitation device 1 can perform rehabilitation for one ankle.

Patients can move their ankles without rehabilitation. As the ankle of the dry foot is rotated, the foot supporting member 260 of the rehabilitation unit 20 in which the dry foot is located is rotated. The degree of rotation of the foot supporting member 260 is provided to the control unit 12 through the fourth motor 267. The control unit 12 controls the operation of the rehabilitation unit 20 in which the recoil is located through the received data. At this time, the controller 12 can operate the fourth motor 267 of the rehabilitation unit 20 in which the recoil is located, so that the ankle of the recoil is rotated corresponding to the degree of rotation of the ankle. Further, through the information provided by the sensors 1213, 1222, 223, 224, 243, 244, 2122, 2202, and 3240 during the rehabilitation exercise, the force applied to the rehabilitation unit 20, The degree of the applied force can be obtained, and the rehabilitation exercise can be performed efficiently.

In the second mode, the lower limb rehabilitation device 1 can perform rehabilitation for both ankles.

The control unit 12 may control the fourth motor 267 located in each rehabilitation unit 20 so that the rehabilitation motion is performed on the ankle of the person. Further, through the information provided by the sensors 1213, 1222, 223, 224, 243, 244, 2122, 2202, and 3240 during the rehabilitation exercise, the force applied to the rehabilitation unit 20, The degree of the applied force can be obtained, and the rehabilitation exercise can be performed efficiently.

Fig. 12 is a view showing another use state of the underarm rehabilitation apparatus 1. Fig.

Referring to FIG. 12, the underwear rehabilitation apparatus 1 can be used for rehabilitation of the knee joint.

In the first mode, the underarm rehabilitation device 1 can perform rehabilitation for one knee.

Patients can move their knees without rehabilitation. As the knee of the dry hand is rotated, the first driving member 220 and the second driving member 240 of the rehabilitation unit 20 where the dry hand is positioned are relatively rotated. The degree of relative rotation between the first driving member 220 and the second driving member 240 is provided to the control unit 12 through the third motor 247. The second motor 227 can also provide the control unit 12 with data regarding the degree of relative rotation of the first drive member 220 relative to the support member 210. [ Further, the fourth motor 267 can provide the control unit 12 with data concerning the degree of rotation of the foot supporting member 260. [ The control unit 12 controls the operation of the rehabilitation unit 20 in which the recoil is located through the received data. At this time, the control unit 12 can operate the third motor 247 of the rehabilitation unit 20 in which the recoil is located, so that the knee of the recoil is rotated in accordance with the degree of rotation of the knee of the hand. The control unit 12 can also operate the second motor 227 or the fourth motor 267 of the rehabilitation unit 20 in which the recoil is located so that the knee of the recoil is rotated in accordance with the degree of rotation of the knee of the hand have. Further, through the information provided by the sensors 1213, 1222, 223, 224, 243, 244, 2122, 2202, 3240 while the rehabilitation motion is performed, the force applied to the rehabilitation unit 20, The degree of the applied force can be obtained, and the rehabilitation exercise can be performed efficiently.

In the fourth mode, the lower limb rehabilitation device 1 can perform rehabilitation for both knees.

The control unit 12 may control the third motor 247 located in each rehabilitation unit 20 so that the rehabilitation movement is performed on the human knee. Further, the control unit 12 may control the operation of the second motor 227 or the fourth motor 267 to assist the movement of the knee. Further, through the information provided by the sensors 1213, 1222, 223, 224, 243, 244, 2122, 2202, and 3240 during the rehabilitation exercise, the force applied to the rehabilitation unit 20, The degree of the applied force can be obtained, and the rehabilitation exercise can be performed efficiently.

The lower limb rehabilitation device 1 can be used for rehabilitation of the hip joint.

In the fifth mode, the lower limb rehabilitation device 1 can perform rehabilitation for one hip joint.

Patients can move their hips without rehabilitation. As the hips of the dry hand are rotated, the connecting member 120 of the rehabilitation unit 20 in which the dry hand is located is rotated. The degree of rotation of the connecting member 120 is provided to the control unit 12 through the first motor 140. The control unit 12 controls the operation of the rehabilitation unit 20 in which the recoil is located through the received data. At this time, the control unit 12 can operate the first motor 140 of the rehabilitation unit 20 in which the recoil is located, so that the hip joint of the recoil is rotated in accordance with the degree of rotation of the hip joint of the human body. Further, through the information provided by the sensors 1213, 1222, 223, 224, 243, 244, 2122, 2202, and 3240 during the rehabilitation exercise, the force applied to the rehabilitation unit 20, The degree of the applied force can be obtained, and the rehabilitation exercise can be performed efficiently.

In the sixth mode, the under-rehabilitation apparatus 1 can perform rehabilitation for both hips.

The control unit 12 may control the first motor 140 located in each rehabilitation unit 20 so that the rehabilitation movement is performed on the human hip. Further, through the information provided by the sensors 1213, 1222, 223, 224, 243, 244, 2122, 2202, 3240 while the rehabilitation motion is performed, the force applied to the rehabilitation unit 20, The degree of the applied force can be obtained, and the rehabilitation exercise can be performed efficiently.

The foregoing detailed description is illustrative of the present invention. In addition, the foregoing is intended to illustrate and explain the preferred embodiments of the present invention, and the present invention may be used in various other combinations, modifications, and environments. That is, it is possible to make changes or modifications within the scope of the concept of the invention disclosed in this specification, within the scope of the disclosure, and / or within the skill and knowledge of the art. The embodiments described herein are intended to illustrate the best mode for implementing the technical idea of the present invention and various modifications required for specific applications and uses of the present invention are also possible. Accordingly, the detailed description of the invention is not intended to limit the invention to the disclosed embodiments. It is also to be understood that the appended claims are intended to cover such other embodiments.

10: Body 20: Rehabilitation unit
110: seat part 210: support member
220: first driving member 230: first auxiliary driving member
240: second driving member 250: second auxiliary driving member
260: foot support member 270: rail

Claims (11)

A body that supports a person's hips: and
And two rehabilitation units connected to the body for performing a rehabilitation exercise for the human leg,
The rehabilitation unit includes:
A support member connected to the body;
A first driving member rotatably connected to the support member;
A second driving member rotatably connected to the first driving member; And
And a foot supporting member rotatably connected to the second driving member and supporting a foot of a person,
The foot-
A connecting block rotatably connected to the second driving member; And
A support plate fixed to the connection block and supporting a foot of a person,
The support plate
A first support plate positioned at an upper portion;
A second support plate positioned below the first support plate; And
And a connection block connecting the first support plate and the second support plate,
Wherein a support block having a pressure sensor is positioned between the first support plate and the connection block or between the second support plate and the connection block. The method according to claim 1,
Wherein the lower limb rehabilitation apparatus further comprises a connecting member connected to the body so as to be rotatable about an axis in the vertical direction,
And the support member is fixed to the connecting member. 3. The method of claim 2,
The connecting member has a sensing rib provided between first connection member holes having an arc shape and formed in at least one direction in the thickness direction,
And the first sensors are located on the sensing rib. The method according to claim 1,
Wherein the first driving member is provided with a first rear hole and a second rear hole in mutually different directions,
Wherein the first driving member is provided with the first rear sensors and the second rear sensors with the first rear hole and the second rear hole interposed therebetween. The method according to claim 1,
The first driving member is formed with a first front hole and a second front hole in mutually different directions,
And the first front sensors and the second front sensors are located in the second driving member with the first front hole and the second front hole interposed therebetween. delete The method according to claim 1,
The connecting block has a first sensing hole in the thickness direction and a second sensing hole in the vertical direction,
And the first block sensors and the second block sensors are positioned in the connection block with the first sensing hole and the second sensing hole interposed therebetween. delete The method according to claim 1,
A connecting portion of the supporting member and the first driving member, a connecting portion of the first driving member and the second driving member, or a connecting portion of the second driving member and the foot supporting member, An underarm rehabilitation device provided with a motor. A support member;
A first driving member rotatably connected to the support member;
A second driving member rotatably connected to the first driving member; And
And a foot supporting member rotatably connected to the second driving member and supporting a foot of a person,
The foot-
A connecting block rotatably connected to the second driving member; And
A support plate fixed to the connection block and supporting a foot of a person,
The support plate
A first support plate positioned at an upper portion;
A second support plate positioned below the first support plate; And
And a connection block connecting the first support plate and the second support plate,
Wherein a support block having a pressure sensor is positioned between the first support plate and the connection block or between the second support plate and the connection block. 11. The method of claim 10,
And a sensor for detecting a deformation amount is attached to the first driving member, the second driving member, and the foot supporting member.
KR1020150188730A 2015-12-29 2015-12-29 Rehabilitation unit and leg rehabilitation apparatus KR101793612B1 (en)

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KR102007157B1 (en) * 2017-11-03 2019-08-13 연세대학교 원주산학협력단 Continous passive motion machine and controlling method thereof
CN109481237B (en) * 2018-12-27 2021-01-08 郑州大学第一附属医院 Knee arthritis patient rehabilitation device
KR102264707B1 (en) * 2019-10-10 2021-06-16 주식회사 싸이버메딕 Rehabilitation exercise apparatus and rehabilitation exercise method using the same
KR102467496B1 (en) * 2020-10-29 2022-11-15 에이치로보틱스 주식회사 Rehabilitation exercise apparatus for upper limb and lower limb
KR102352604B1 (en) * 2020-02-25 2022-01-20 에이치로보틱스 주식회사 Rehabilitation exercise apparatus for upper limb and lower limb
US20220133576A1 (en) * 2019-11-15 2022-05-05 H Robotics Inc. Rehabilitation exercise device for upper and lower limbs

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