KR101944593B1 - Rehabilitation training apparatus - Google Patents

Abstract

A rehabilitation training apparatus according to an embodiment includes: a frame; A drive unit installed in the frame; An ankle protective member for supporting an ankle of a human body and a foot supporting member connected to the ankle protecting member and disposed at the bottom of the foot of the human body, wherein the foot of the human body is bent or elongated based on the ankle joint of the human body Ankle support; And a longitudinal member that is connected to the driving unit and the ankle auxiliary unit and receives power from the driving unit and moves up or down the ankle auxiliary unit with respect to the reference plane.

Description

REHABILITATION TRAINING APPARATUS

Hereinafter, embodiments relate to a rehabilitation training apparatus.

Rehabilitation training devices are being developed for patients who can not move their bodies easily due to diseases such as elderly people with joints or various industrial accidents, traffic accidents, and paralysis.

For example, Korean Patent Laid-Open Publication No. 10-2016-0115245 discloses a gait rehabilitation training system.

An object according to an embodiment is to provide a rehabilitation training device for assisting rehabilitation of muscles at the distal end of the human body.

An object according to an embodiment is to provide a rehabilitation training device for measuring a tensile strength of a muscle of a distal end portion of a human body.

An object according to an embodiment is to provide a rehabilitation training device for measuring a bending angle of a distal end portion of a human body.

An object according to an embodiment is to provide a rehabilitation training apparatus for measuring a distance between a reference surface of a distal end of a human body and a reference plane.

A rehabilitation training apparatus according to an embodiment includes: a frame; A drive unit installed in the frame; An ankle protective member for supporting an ankle of a human body and a foot supporting member connected to the ankle protecting member and disposed at the bottom of the foot of the human body, wherein the foot of the human body is bent or elongated on the basis of the ankle joint of the human body Ankle support; And a longitudinal member that is connected to the driving unit and the ankle auxiliary unit and receives power from the driving unit and moves up or down the ankle auxiliary unit with respect to the reference plane.

The rehabilitation training apparatus may further include a sensing unit connected to the frame and measuring whether the foot is bent or stretched and a force acting on the reed.

The sensing unit may include a sole sensor that is provided on the foot supporting member so that the floor of the foot can be contacted and measures a force applied from the foot when the foot is extended based on the ankle joint.

The sensing unit may further include a gripping sensor disposed between the reference surface and the human body so as to be supported from the frame and measuring a force applied from the grip when the gripping part is lowered toward the reference surface .

The driving unit may include: a driver provided on the frame so as to be rotatable with respect to the frame; A reduction gear assembly including a sun gear connected to the driver, a planetary gear engaged with the sun gear and connected to the longitudinal member, and a ring gear engaged with the planetary gear; An elastic member connected to the ring gear and deformed by a power generated from the driver; And a deformation sensing member for measuring a deformation value of the elastic member, wherein the rehabilitation training device calculates a power transmitted from the driver to the longitudinal member based on the deformation value, And a control unit for controlling power to be supplied to the vehicle.

The frame including: a base disposed on the reference plane; A support extending from the base; A rotator mounted on the supporting part such that a part of the longitudinal member is engaged and rotatable with respect to the supporting part; And a slider that is connected to a portion of the longitudinal member and passes through the slider and slidably mounted on the support in a longitudinal direction of the support.

A rehabilitation training apparatus according to an embodiment includes: a frame; A drive unit installed in the frame; A sensing unit for measuring a force applied from the distal end of the human body and a force acting on the distal end of the human body when the distal end portion is raised or lowered with respect to the reference surface through the longitudinal member connected to the distal end of the driving unit, part; And a control unit for controlling the upward or downward movement of the distal end with respect to the reference plane from a force applied from the distal end or a force acting on the distal end.

When the force applied from the distal end portion is larger than the first set value, the control portion may restrict the upward or downward movement of the distal end portion with respect to the reference surface.

The control unit may limit the upward or downward movement of the distal end with respect to the reference plane when the force applied from the backwash is smaller than a second set value.

The rehabilitation training apparatus may further include a display unit for displaying a state of motion of the human body or an operation state of the human body from a force applied from the distal end or a force acting on the reed.

The rehabilitation apparatus according to one embodiment can help rehabilitate the muscles of the distal end of the human body.

The rehabilitation apparatus according to one embodiment can measure the tension intensity of the muscles at the distal end of the human body.

The rehabilitation apparatus according to one embodiment can measure the bending angle of the distal end of the human body.

The rehabilitation apparatus according to one embodiment can measure the distance between the distal end of the human body and the reference plane.

The effects of the rehabilitation apparatus according to one embodiment are not limited to those mentioned above, and other effects not mentioned can be clearly understood to those skilled in the art from the following description.

1 is a side view schematically showing a rehabilitation training apparatus according to an embodiment.
2 is a side view schematically illustrating a frame according to an embodiment.
3 is a partial cross-sectional view schematically showing a driving unit according to an embodiment.
4 is a side view schematically showing an ankle auxiliary part according to an embodiment.
5 is a view showing a part of the configuration of an ankle auxiliary part according to an embodiment.
FIG. 6 is a perspective view schematically showing a backup auxiliary unit according to an embodiment.
7 is a flowchart illustrating a control method of a controller according to an exemplary embodiment of the present invention.

Hereinafter, embodiments will be described in detail with reference to exemplary drawings. It should be noted that, in adding reference numerals to the constituent elements of the drawings, the same constituent elements are denoted by the same reference symbols as possible even if they are shown in different drawings. In the following description of the embodiments, detailed description of known functions and configurations incorporated herein will be omitted when it may make the best of an understanding clear.

In describing the components of the embodiment, terms such as first, second, A, B, (a), and (b) may be used. These terms are intended to distinguish the constituent elements from other constituent elements, and the terms do not limit the nature, order or order of the constituent elements. When a component is described as being "connected", "coupled", or "connected" to another component, the component may be directly connected or connected to the other component, Quot; may be " connected, " " coupled, " or " connected. &Quot;

The components included in any one embodiment and the components including common functions will be described using the same names in other embodiments. Unless otherwise stated, the description of any one embodiment may be applied to other embodiments, and a detailed description thereof will be omitted in the overlapping scope.

1 to 7, a rehabilitation training apparatus 1 according to an embodiment is a device used to rehabilitate the muscles of the distal end portion D of the human body H, The device 1 is shown as being used to rehabilitate the rectus femoris Muscle, but it is not limited thereto and may be used to rehabilitate other parts of the human body H. For example, the rehabilitation device 1 may be used to rehabilitate the lower arm muscles based on the elbow joint. Hereinafter, the rehabilitation training apparatus 1 will be described as an example for training the femoral rectus muscle. The rehabilitation training apparatus 1 may include a frame 11, a driving unit 12, an ankle auxiliary unit 13, a longitudinal member 14, a backup auxiliary unit 15 and a control unit 16.

The frame (11) can support the rehabilitation training device (1). The frame 11 includes a base 111, a supporting portion 112, a rotating body 113, a slider 114, a length adjusting portion 115, a backing supporting plate 116, a fixing member 117, , 119).

The base 111 may be disposed on the reference surface. Here, the reference plane may be a ground on which the human body lies. The support portion 112 can extend from the base 111. The rotating body 113 may be installed on the upper portion of the supporting portion 112 and be rotatable with respect to the supporting portion 112. For example, the rotating body 113 may be a rotating pulley, a pulley, to which the longitudinal member 14 is caught. The slider 114 may be provided on the support portion 112 and slide in the longitudinal direction of the support portion 112. In the slider 114, a portion of the longitudinal member 14 may pass through and be connected internally. With such a structure, when the longitudinal member 14 is hooked on the rotating body 113, the longitudinal member 14 can move along with the slider 114 in the longitudinal direction of the support portion 112.

The length adjusting portion 115 can be extended or extended from the base 111 and its length can be adjusted. The backing support plate 116 may be provided with a backup auxiliary unit 15 and may be connected to the length adjusting unit 115 and disposed below the back of the human body H. [ When the length of the length adjusting part 115 is adjusted so that the length of the length adjusting part 115 is adjusted so that the length of the length adjusting part 115 is arranged below the human body H, (115) can be fixed to the base (111). According to such a structure, the restoring force of the human body H can be measured by disposing the auxiliary auxiliary portion 15 in the portion of the human body H that has a slender body, irrespective of the human body characteristic, like the leg length of the human body H .

The frame 11 may include restraints 118 and 119. The restricting portions 118 and 119 can limit the movement distance of the longitudinal member 14. [ For example, the restricting portions 118 and 119 may be a stopper block 118 provided on a part of the supporting portion 112, and a hook 119 having an annular shape. According to this structure, it is possible to prevent the distal end portion D of the human body H from excessively rising or falling relative to the reference surface by moving the longitudinal member 14 excessively.

The driving unit 12 may be mounted on the frame 11 and may be connected to the longitudinal member 14 to transmit power to the longitudinal member 14. The drive unit 12 may include a driver 121, a reduction gear assembly 122, an elastic member 123, and a deformation sense member 124.

The driver 121 can generate power to deliver power to the longitudinal members 14. For example, the driver 121 may be a motor, encoder, or the like that generates driving force. The driver 121 can be installed on the frame 11 so as to be rotatable with respect to the frame 11.

The reduction gear assembly 122 can decelerate the rotation speed of the driver 121 while transmitting the power generated from the driver 121 to the outside. The reduction gear assembly 122 includes a sun gear 1221 connected to the driver 121, a planetary gear 1222 engaged with the sun gear 1221 and connected to the longitudinal member 14, And a planetary carrier 1224 connected to gear 1223 and planetary gear 1222 and for transmitting power to the outside.

The elastic member 123 is connected to the ring gear 1223 and can be deformed by the power generated from the driver 121. [ When power is generated from the actuator 121, the elastic member 123 can be twisted with respect to the axial direction of the actuator 121. [ For example, the elastic member 123 may be a torsion spring disposed on the outside of the driver 121. [

The deformation sensing member 124 can measure the strain of the elastic member 123. For example, the deformation sensing member 124 may be a plurality of position sensors disposed on both sides of the elastic member 123 to measure the degree of relative torsion of the elastic member 123.

According to this structure, the driving unit 12 can generate tension based on the impedance while transmitting the power to the longitudinal member 14, so that the driving unit 12 is connected to the distal end D of the human body H The behavior of the longitudinal member 14 can be controlled in the form of a desired behavior.

The ankle auxiliary part 13 can flex or stretch the foot F of the human body H based on the ankle joint of the human body H. [ The ankle auxiliary part 13 may include an ankle protecting member 131, a foot supporting member 132, a power transmitting member 133 and a bending adjusting member 134. [

The ankle protecting member 131 can support the ankle of the human body H. [ The ankle protecting member 131 may be disposed on the ankle so as to surround the periphery of the ankle of the human body H. [ The foot supporting member 132 can support the bottom of the foot F. The foot supporting member 132 may be connected to the ankle protecting member 131 and disposed at the bottom of the foot F of the human body H and the longitudinal member 14 may be connected thereto. The power transmitting member 133 can connect the ankle protecting member 131 and the foot supporting member 132 to each other. For example, the power transmitting member 133 may be a wire, cable, or the like that bends or stretches the foot supporting member 132 with respect to the ankle joint of the human body H. [ The bending adjustment member 134 can be pivotally attached to the ankle protecting member 131 to pull or release the power transmitting member 133 so that the foot F is bent in the ankle joint direction P1, It can be stretched in the direction P1 away from the joint. According to this structure, the muscular force of the distal end portion D can be rehabilitated by raising or lowering the distal end portion D with respect to the reference surface while the human body H flexes the foot F toward the ankle joint direction.

The longitudinal member 14 receives the power from the driving unit 12 and can raise or lower the ankle auxiliary part 13 with respect to the reference plane. The longitudinal members 14 may be connected to the planetary carrier 1224 of the driving unit 12 and the foot supporting members 132 of the ankle auxiliary unit 13, respectively. According to this structure, the foot F of the human body H can be raised or lowered with respect to the reference plane by receiving the power from the driving unit 12. [

The backup auxiliary unit 15 can measure the distance between the reference plane and the false teeth existing in the proximal portion P with reference to the joint of the human body H. [ The backup auxiliary part 15 may include an air bladder 152. [ For example, the air bag 152 may fill the void space between the proximal portion P and the distal portion D, and may include a blood pressure monitor for measuring the blood pressure of the human body H. Further, the redundancy auxiliary unit 15 may further include a sensor for measuring the distance between the false face of the human body H and the reference plane.

The rehabilitation training apparatus 1 may include a sensing section. The sensing part is connected to the frame 11 and is capable of measuring whether the foot F is bent or stretched and the force acting on the backrest. The sensing unit may include a sole sensor 135 and a reed sensor 151.

The sole sensor 135 can measure the force applied from the foot F when the foot F is stretched with respect to the ankle joint. The sole sensor 135 may be installed on the foot supporting member 132 so that the bottom of the foot F can be contacted. For example, the sole sensor 135 may be a pressure sensor that measures the pressure delivered from the foot F when the bottom of the foot F is touched.

When the distal end D of the human body H is lowered toward the reference plane, the pore sensor 151 can measure the force applied from the pawl by contacting the pawl existing in the proximal portion P. The pawl sensor 151 can be disposed between the reference plane and the back of the human body H so as to be supported from the frame 11. [ For example, the reed sensor 151 may be a pressure sensor that measures the pressure delivered from the reed when the reed is contacted.

According to this structure, when the human body H raises or lowers the distal end portion D with respect to the reference plane, the foot F is bent in the direction of the ankle joint (P1) And thus the human H and / or the user (e.g., physician, rehabilitation therapist, etc.) can evaluate and improve the rehabilitation training process while receiving feedback.

The control unit 16 can control the rise or fall of the distal end D with respect to the reference plane from the force applied from the distal end D or the force acting on the backwash. Specifically, when the force applied from the distal end portion D is greater than the first predetermined value, the control section 16 may limit the upward or downward movement of the distal end portion D relative to the reference surface (S110). If the force applied from the bottom of the distal portion D, e.g., the foot F, is greater than or equal to the first predetermined value, then the distal portion D may be regarded as not being bent in the direction of the joint of the human body H, It may not help to rehabilitate the strength of the distal portion D. The first set value can be determined in advance by the user depending on the characteristics of the human body H. [

The control unit 16 can limit the upward or downward movement of the distal end portion D with respect to the reference plane (S120) when the force applied from the backwash is smaller than the second predetermined value. It can be considered that the human body H does not separate the distal portion D by more than a predetermined distance from the reference surface when the force applied from the proximal portion is larger than the second set value, It may not help. The second set value can be preset by the user in accordance with the characteristics of the human body H. [

The control unit 16 can calculate the power transmitted from the driver 121 to the longitudinal member 14 based on the deformation value of the elastic member 123 and can control the power generated from the driver 121. [ According to this method, rather than simply transmitting the power generated by the driver 121 to the longitudinal member 14, the longitudinal member 14 is pushed or pulled on the basis of the impedance control, Can be prevented from rising or falling sharply with respect to the reference plane.

In addition, the rehabilitation training apparatus 1 further includes a display unit (not shown) for displaying a ready state of motion of the human body H or an operation state of the human body from a force applied from the distal end portion D or a force acting on the backbone can do. For example, the display unit can display the angle at which the foot F is bent or elongated based on the ankle joint and / or the value of the force applied from the knee joint, and the foot F The ready state of the rehabilitation training can be displayed in red or the like or the operation state can be displayed in blue or the like based on whether the robot is sufficiently bent and the force applied from the braid is sufficient. According to this method, the user can be instructed to further bend the foot F to the human body H performing the rehabilitation training while receiving feedback in real time whether the human body H is effectively performing the rehabilitation training, As more power can be ordered, the efficiency of rehabilitation training can be improved.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments. For example, it is to be understood that the techniques described may be performed in a different order than the described methods, and / or that components of the described systems, structures, devices, circuits, Lt; / RTI > or equivalents, even if it is replaced or replaced.

1: rehabilitation training device
11: Frame
12:
13: ankle assistant
14: longitudinal member

Claims (10)

frame;
A drive unit installed in the frame;
An ankle protective member for supporting an ankle of a human body and a foot supporting member connected to the ankle protecting member and disposed at the bottom of the foot of the human body, wherein the foot of the human body is bent or elongated on the basis of the ankle joint of the human body Ankle support; And
A longitudinal member which is connected to the driving unit and the ankle auxiliary unit and receives power from the driving unit and raises or lowers the ankle auxiliary unit with respect to a reference plane;
Lt; / RTI >
The driving unit includes:
A driver provided on the frame so as to be rotatable with respect to the frame;
A reduction gear assembly including a sun gear connected to the driver, a planetary gear engaged with the sun gear and connected to the longitudinal member, and a ring gear engaged with the planetary gear;
An elastic member connected to the ring gear and deformed by a power generated from the driver; And
A deformation sensing member for measuring a deformation value of the elastic member;
Lt; / RTI >
Wherein the rehabilitation training apparatus further comprises a control section for calculating a power transmitted from the actuator to the longitudinal member based on the deformation value and controlling the power generated from the actuator.
The method according to claim 1,
Wherein the foot sensor further comprises a foot sensor provided on the foot supporting member so that the floor of the foot can be contacted with the foot, and the foot sensor measures a force applied from the foot when the foot is extended with respect to the ankle joint.
The method according to claim 1,
Further comprising a reeducation sensor disposed between the reference plane and the human body so as to be supported from the frame, wherein the reeditation sensor is configured to measure a force applied from the reed for contact when the ankle assisting portion is lowered toward the reference plane, Device.
The method according to claim 1,
And a pneumatic bag disposed between the base of the human body and the reference surface.
delete The method according to claim 1,
The frame includes:
A base disposed above the reference surface;
A support extending from the base;
A rotator mounted on the supporting part such that a part of the longitudinal member is engaged and rotatable with respect to the supporting part; And
And a slider that is connected to a portion of the longitudinal member and passes through the slider and is installed on the support portion so as to be slidable in the longitudinal direction of the support portion. frame;
A drive unit installed in the frame;
A sensing unit for measuring a force applied from the distal end of the human body and a force acting on the distal end of the human body when the distal end portion is raised or lowered with respect to the reference surface through the longitudinal member connected to the distal end of the driving unit, part; And
And a control unit for controlling the upward or downward movement of the distal end with respect to the reference plane from a force applied from the distal end or a force acting on the reed. 8. The method of claim 7,
Wherein the control unit limits the rise or fall of the distal end with respect to the reference plane when the force applied from the distal end is greater than a first set value. 9. The method of claim 8,
Wherein the control unit limits the upward or downward movement of the distal end with respect to the reference plane when the force applied from the backwash is smaller than a second set value. 8. The method of claim 7,
Further comprising a display unit for displaying a state ready for movement of the human body or an operation state of the human body from a force applied from the distal end portion or a force acting on the reed.

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