KR101991805B1 - The rehabilitation training apparatus for lower body - Google Patents

Abstract

The present invention includes: a tilting unit which includes a tilting frame supporting the body of a patient lying parallel to the floor surface, and adjusts the body angle of the patient by rotating the tilting frame relative to a first hinge; a first leg exercise unit which rotates a knee about a pelvis of a patient; and a second leg exercise unit which is linked to the operation of the first leg exercise unit to allow the foot of the patient to move.

Description

[0001] The present invention relates to a rehabilitation training apparatus,

The present invention relates to an underarm rehabilitation training apparatus, and more particularly, to a rehabilitation training apparatus capable of rapidly performing rehabilitation training from the beginning of an accident and performing optimum rehabilitation training according to a patient's condition.

It has been reported that patients with severe paraplegia or hemiplegia who come to the hospital with a sequela of an accident or stroke are more likely to be in a normal state as soon as a planned rehabilitation exercise suits their usual habits. In other words, rehabilitation should be initiated from the beginning of the accident so that the patient can recover to a normal state by eliminating bad habits that the patient can acquire during the treatment process.

According to the prior art, there is a problem that when a patient is suddenly changed from a horizontal posture to a vertical posture due to the judgment of a therapist (rehabilitation therapist), the blood circulation abnormality state of the patient continues and there is a risk of secondary brain damage. Further, there is a problem that the rehabilitation exercise can not be performed close to the normal exercise state. In other words, there is a problem that the exercise is limited and the effect on the musculoskeletal system or cardiovascular system is not large, and the functional recovery of the desired body is not achieved.

An embodiment of the present invention provides an underarm rehabilitation training apparatus that can perform a rehabilitation exercise according to a state of a patient from the beginning of an accident, and to be able to recover close to the original steady state.

In order to achieve the above object, the apparatus for rehabilitation of the underarm according to an embodiment of the present invention includes a tilting frame for supporting a body of a patient lying in parallel with a floor, and a tilting frame A tilting unit for pivoting the patient's body to adjust the angle of the body, a first leg-exercise unit for turning the knee about the pelvis of the patient, and a second leg exercise unit for interlocking with the operation of the first leg- And a unit.

The second leg exercise unit includes an ankle joint motion part for moving the ankle joint vertically about the ankle to move the ankle joint and at least a part of the rotation of the soles relative to the foot shaft from the heel toward the forefoot, And a foot-turning portion for allowing the foot to rotate.

The second leg motion unit further includes a foot pivoting main frame connected to the tilting frame and a foot pivoting driving unit for pivoting the foot pivoting main frame relative to the second hinge, A connecting link for sliding along the looped groove, a foot supporting frame rotatably connected to the connecting link, and a sliding driving part connected to the foot supporting frame or the connecting link for sliding the foot supporting frame along the looped groove .

The tilting unit further includes an upper body supporting plate disposed on the tilting frame for supporting the upper body of the patient and connected to the upper body supporting plate and the first leg moving unit, And a position adjusting unit for adjusting the position of the exercise unit.

The tilting unit may further include an auxiliary tilting unit disposed on the tilting frame for adjusting an angle of the upper body support plate.

A pattern manipulation unit having a plurality of motion patterns and driving the first leg motion unit and the second leg motion unit according to any one of the plurality of motion patterns, A difficulty level adjusting unit for adjusting the difficulty level of the motion between the start point, the middle point, and the end point, and an exercise history management unit for storing and managing the exercise history information of the patient, And a control unit including the control unit.

The image management unit manages a video image of a patient's familiar space such as a residential space and a house, and an image enhancer that provides an augmented reality image to the patient according to the operation of the first leg exercise unit and the second leg exercise unit And an augmented reality providing unit including a real image display unit.

The second leg-moving unit further includes a pressure sensor disposed on the foot-supporting frame for measuring the pressure of the floor of the foot.

The apparatus for rehabilitation of the underarm according to an embodiment of the present invention enables the rehabilitation of the patient from the beginning of the accident and enables the rehabilitation exercise closest to the patient's usual walking exercise.

In addition, the pelvic, knee, and ankle movements close to the normal walking exercise can be performed, so that the person can exercise most closely when walking. Particularly, since the tilting unit adjusts the body angle of the patient, the pelvis, knee, and ankle can be gradually increased in load. As a result, rehabilitation training can be started from the beginning of the accident, and can be recovered to near the normal state.

Also, it is possible to effectively perform the rehabilitation exercise according to the improvement state of the patient by storing and managing the patient's exercise pattern, exercise difficulty level, and exercise history information. On the other hand, it is possible to obtain the effect that the patient is accustomed and exercises according to usual habit by providing the familiar image to the augmented reality. This helps recovery to a normal state.

FIG. 1 is a schematic view illustrating a lower limb rehabilitation training apparatus according to an embodiment of the present invention. Referring to FIG.
FIG. 2 is a view schematically showing the tilting unit shown in FIG. 1. FIG.
FIG. 3 is a view showing the second leg exercise unit shown in FIG. 1 and its operation.
4 is a view schematically showing a sole turning part according to an embodiment of the present invention.
5 is a view showing a pressure sensor according to an embodiment of the present invention.
Fig. 6 is a view schematically showing the first leg exercise unit shown in Fig. 1. Fig.
Fig. 7 is a view showing the control unit shown in Fig. 1. Fig.
8 is a view showing the augmented reality providing unit shown in Fig.

Hereinafter, a rehabilitation apparatus 10 according to a preferred embodiment of the present invention will be described in detail with reference to the accompanying drawings.

1 is a schematic view of a rehabilitation apparatus 10 according to an embodiment of the present invention.

Referring to FIG. 1, an underarm rehabilitation apparatus 10 according to an embodiment of the present invention includes a tilting unit 100, a first leg exercise unit 200, and a second leg exercise unit 300. The tilting unit 100 includes a tilting frame 110 for supporting the body of a patient. The tilting frame 110 supports the body of the patient lying in parallel with the floor surface. The tilting unit 100 can adjust the body angle of the patient by rotating the tilting frame 110 with respect to the first hinge H1.

The first leg exercise unit 200 may be connected between the knee and the pelvis of the patient. The first leg exercise unit 200 rotates the knee about the pelvis of the patient. That is, the first leg-exercise unit 200 moves the leg of the patient in a manner of walking by turning the upper part of the patient's leg.

The second leg-exercise unit 300 is interlocked with the motion of the first leg-exercise unit 200 to move the patient's foot. The second leg-exercise unit 300 is connected to the foot of the patient, and moves the patient's foot in such a manner that the patient's foot is rotated according to the motion of the first leg-exercise unit 200.

Meanwhile, the underarm rehabilitation apparatus 10 according to an embodiment of the present invention may further include a balance unit 700. [ The balance unit 700 may be disposed on the tilting frame 110 away from the first leg-exercise unit 200. The balance unit 700 may have a weight corresponding to the weight of the patient lying on the tilting frame 110.

Fig. 2 is a view schematically showing the tilting unit 100 shown in Fig.

1 and 2, the tilting unit 100 includes at least one of an upper body supporting plate 130, an auxiliary tilting unit 150, a tilting driving unit 170, a height adjusting unit 190, and an upper body fixing unit 120 .

The upper body support plate 130 is disposed on the tilting frame 110 to support the upper body of the patient. The upper body support plate 130 can support the backs and hips of the patient.

The auxiliary tilting part 150 can connect the tilting frame 110 and the position adjusting unit 400 described later to the upper body supporting plate 130. The auxiliary tilting part 150 adjusts the angle of the upper body support plate 130. That is, the patient's head can be rotated based on the patient's pelvis. Blood circulation due to patient's rehabilitation exercise can cause dizziness and other symptoms to the patient. In order to solve this, the auxiliary tilting part 150 can adjust the position of the upper body including the head of the patient. In one embodiment, the auxiliary tilting portion 150 may include a driving cylinder.

In one embodiment, the tilting drive unit 170 is disposed below the tilting frame 110. That is, the tilting driving unit 170 can connect the tilting frame 110 with the height adjusting unit 190, which will be described later. The tilting driving unit 170 may press one side of the tilting frame 110 to rotate the tilting frame 110 with respect to the first hinge H1. The tilting driving unit 170 may include a driving cylinder. The structure or arrangement of the tee driver 170 may have various embodiments for performing the same function as in Figs.

In one embodiment, the height adjuster 190 may be disposed below the tilting frame 110. The height adjuster 190 adjusts the vertical height of the tilting frame 110. The height adjusting portion 190 includes an upper base frame 191, a lower base frame 192, a first link 193, a second link 194, a first cylinder 195, and a guide groove 196 . The upper base frame 191 and the lower base frame 192 face up and down. The first link 193 and the second link 194 are connected to the upper base frame 191 and the lower base frame 192 and are crossed with each other. The first cylinder 195 is connected to at least one of the first link 193 and the second link 194.

On the other hand, the upper base frame 191 has a guide groove 196. One end of the first link 193 or the second link 194 is slidably connected to the upper base frame 191 along the guide groove 196. Accordingly, the first cylinder 195 can adjust the height of the upper base frame 191 with respect to the lower base frame 192.

The upper body fixing part 120 is connected to the upper body supporting plate 130 or the tilting frame 110. The upper body fixing part 120 can fix the body of the patient located on the upper body supporting plate 130. [ In one embodiment, the upper body fixing part 120 may have a strip shape. In addition, the upper body fixing portion 120 may be a solid plastic material that the patient can rely on.

FIG. 3 is a view showing the second leg exercise unit 300 shown in FIG. 1 and its operation.

Referring to FIGS. 1 and 3, the second leg motion unit 300 includes an ankle joint part 310 and a sole pivot part 330. The ankle joint part 310 is connected to the patient's foot, and the ankle joint is moved by rotating the toes up and down around the ankle. The plantar flexion unit 330 is disposed in the ankle joint motion unit 310 and rotates the sole on the basis of one axis. That is, the sole pivoting portion 330 extends from the heel toward the forefoot, and rotates the sole with respect to the extending axis H4 across the sole.

When a person walks, the foot is turned around the ankle. For example, when a person starts walking while standing, one foot is moved forward, so the other foot is naturally backward. When a person repeatedly walks, the foot is placed in front of or behind the body, and the ankle joint is then pivoted. This principle should be applied to the patient's rehabilitation exercise, and it can be walked in the same habit as the usual gait and can be recovered to the normal state.

For rotation of the ankle joint, the second leg-exercise unit 300 further includes a foot-turning main frame 350 and a foot-turn-driving unit 330. The ankle joint part 310 includes a looped groove 311, a connecting link 313, a foot supporting frame 315 and a sliding driving part 317.

The foot turning main frame 350 and the foot turning driving portion 370 may be connected to the tilting frame 110. The foot rotating driver 370 rotates the foot rotating main frame 350 about the second hinge H2. The foot rotational driving unit 370 can be operated in conjunction with the first leg motion unit 200. [

The ankle joint part 310 includes a looped groove 311, a connecting link 313, a foot supporting frame 315 and a sliding driving part 317. The loop-shaped groove 311 is disposed in the foot turning main frame 350. The connection link 313 is slidably connected to the foot-turning main frame 350 along the loop-shaped groove 311. The foot support frame 315 is rotatably connected to the connection link 313. The sliding driving portion 317 is connected to the foot supporting frame 315 or the connecting link 313 and slides the foot supporting frame 315 along the looped groove 311. Thus, the foot supporting frame 315 can be rotated with respect to the connecting shaft (H5 in Fig. 4), while sliding along the looped groove 311. [

The sliding driving unit 317 may operate in conjunction with the first leg-moving unit 200. [ The foot supporting frame 315 slides along the looped groove 311 and at the same time the ankle joint can be pivotally moved in the process of rotating the foot rotating main frame 350 about the second hinge H2.

FIG. 4 is a schematic view of a sole pivoting part 330 according to an embodiment of the present invention, and FIG. 5 is a view showing a pressure sensor 390 according to an embodiment of the present invention.

4 and 5, the sole pivot portion 330 may include a motor 331 and a foot supporting frame 333. [ The motor 331 may be disposed on the foot support frame 315. The rotation axis of the motor 331 is arranged coaxially with the extension axis H4. The foot supporting frame 333 is disposed apart from the foot supporting frame 315. The foot supporting sub frame 333 is connected to the rotation axis of the motor 331. Therefore, the foot supporting sub-frame 333 can be rotated by the motor 331 with respect to the extending axis H4.

People have the habit of walking to their saddles or outdoors. Therefore, it is important for the patient to perform the walking exercise as usual during the rehabilitation of the patient. Even if the patient's lower body is paralyzed, the body including the brain has the usual habit of the patient. To this end, the underarm rehabilitation apparatus 10 according to an embodiment of the present invention may further include a sole turning unit 330. The foot supporting sub-frame 333 is rotated at a predetermined angle with respect to the extending axis H4. Accordingly, when the patient is in a standing position, the foot supporting frame 333 rotates at a certain angle, and the user can rehabilitate the foot according to the habit of walking to the saddle or the outer frame.

Meanwhile, the second leg-exercise unit 300 may further include a pressure sensor 390. The pressure sensor 390 may be disposed in the sole pivot portion 330. For example, a plurality of pressure sensors 390 are disposed on the foot supporting frame 333. In particular, the pressure sensors 390 may be spaced apart from each other with an extension axis H4 therebetween. The pressure sensor 390 can measure the pressure of the soles during leg exercise to check the exercise state of the patient. In particular, the pressure sensor 390 allows the patient's legs to move in accordance with the habit of walking in the saddle or outfield.

FIG. 6 is a view showing the first leg-exercise unit 200 shown in FIG.

6, one embodiment of the first leg motion unit 200 includes a second cylinder 210, a third link 230, a fourth link 250, and a leg fixation portion 270. One side of the third link 230 is connected to the second cylinder 210 and the other side is connected to the leg fixing portion 270. The fourth link 250 is hingedly connected to the third link 230. The third link 230 and the fourth link 250 are arranged in a Y-shape. Accordingly, the angle between the third link 230 and the fourth link 250 gradually increases or decreases as the second cylinder 210 advances or retreats. Thus, the patient can exercise in a walking manner.

In addition, the first leg-exercise unit 200 may further include an angle adjuster 290. The angle adjusting unit 290 may include a turning bar 291 and a ratchet unit 293 that are rotated about the third hinge H3 spaced from the third link 230 or the fourth link 250 . The rotation bar 291 is ratchetically coupled to the ratchet portion 293. The second cylinder 210 and the fourth link 250 may be connected to the pivot bar 291.

Meanwhile, the lower limb rehabilitation apparatus 10 according to an embodiment of the present invention further includes a position adjustment unit 400. The position adjusting unit 400 is connected to the upper body supporting plate 130 and the first leg moving unit 200 and includes a first leg moving unit 300 and a second leg moving unit 300, You can control the distance. That is, the position adjusting unit 400 can adjust the positions of the upper body supporting plate 130 and the first leg moving unit 200.

In one embodiment, the position adjustment unit 400 includes a sliding block 410, a third cylinder 430, and an LM guide frame 450. The LM guide frame 450 is disposed in the tilting unit 100. The sliding block 410 is slid in one direction along the LM guide frame 450. The third cylinder 430 slides the sliding block 410.

Fig. 7 is a diagram showing the control unit 500 shown in Fig.

Referring to FIG. 7, the underarm rehabilitation apparatus 10 according to an embodiment of the present invention further includes a control unit 300. The control unit 500 can control the operation of the tilting unit 100, the first leg exercise unit 200, the second leg exercise unit 300 and the position adjusting unit 400. [ The control unit 500 can control the tilting unit 100, the first leg exercise unit 200, the second leg exercise unit 300, and the position adjusting units 400 to interlock with each other.

Meanwhile, the control unit 500 may include a pattern manipulation unit 510, a difficulty level adjustment unit 530, and a motion history management unit 550.

The pattern manipulation unit 510 can select a motion pattern of the patient. In one embodiment, the pattern manipulating unit 510 can select one of the following patterns: walking on a flat surface, climbing a staircase, descending a staircase, climbing a ramp, and descending a ramp.

The difficulty level adjusting unit 530 can adjust the degree of difficulty of the patient's exercise pattern. For example, the motion pattern includes a starting point of the motion, an intermediate point of the motion, and an end point returning to the same position as the starting point. The difficulty level adjusting unit 530 adjusts the difficulty level of motion between the viewpoint, the intermediate point, and the end point.

Referring to FIG. 7, the button # 1 can control the degree of difficulty between the viewpoint and the midpoint. Button 2 can adjust the difficulty between the midpoint and the end point. Button 3 can adjust the difficulty between the point and the end point. In other words, button 3 can control the overall difficulty of the walking exercise. In addition, the difficulty level adjusting unit 530 can adjust difficulty levels of the left and right legs, respectively. The control unit 500 may further include a step adjusting unit 540 for adjusting a step shape including a length (step width) and a speed of a step height step.

The exercise history management unit 550 manages the exercise history information of the patient. For example, when the patient exercises once, the exercise history management unit 550 stores the once exercise history information of the patient. One exercise history information includes exercise pattern, exercise difficulty, step form, exercise time, and foot pressure. The exercise history management unit 550 accumulates and stores exercise history information according to the repeated exercise of the patient. Therefore, at the start of the exercise, it is possible to retrieve past exercise history information, statistics based on past exercise history information, and necessary exercise information in the future.

8 is a diagram showing the augmented reality providing unit 600 shown in Fig.

Referring to FIG. 8, the augmented reality providing unit 600 provides the augmented reality-applied image to the patient. In one embodiment, the augmented reality providing unit 600 includes an image managing unit 610 and an augmented reality image displaying unit 630. The image management unit 610 stores and manages images of a patient's familiar space, such as a residential space and a housing surface. Here, the space that is familiar to the patient includes the path that the patient normally traveled.

The augmented reality image display unit 630 applies the augmented reality to the image stored in the image management unit 610, and provides the augmented reality image to the patient. The augmented reality image display unit 630 applies the augmented reality to the images stored in the image management unit 610 according to the operations of the first leg exercise unit 200 and the second leg exercise unit 300. [ The patient can recover to a normal state by the familiar image and usual habitual rehabilitation exercise as usual.

The underarm rehabilitation training apparatus 10 according to an embodiment of the present invention enables the rehabilitation of the patient from the beginning of the accident and enables the rehabilitation exercise closest to the patient's usual walking exercise. In addition, the pelvic, knee, and ankle movements can be performed according to the walking exercise, so that the person can exercise most closely when walking. In particular, since the tilting unit 100 adjusts the body angle of the patient, the load on the pelvis, the knee, and the ankle can be gradually increased. As a result, rehabilitation training can be started from the beginning of the accident, and can be recovered to near the normal state.

Also, it is possible to effectively perform the rehabilitation exercise according to the improvement state of the patient by storing and managing the patient's exercise pattern, exercise difficulty level, and exercise history information. On the other hand, it is possible to obtain the effect that the patient is accustomed and exercises according to usual habit by providing the familiar image to the augmented reality. This makes it possible to recover close to a normal state.

Although the invention made by the present inventors has been described concretely with reference to the above embodiments, the present invention is not limited to the above embodiments, and it goes without saying that various changes can be made without departing from the gist of the present invention.

10: Not rehabilitation training device
100: tilting unit
200: first leg exercise unit
300: second leg exercise unit
400: Position adjusting unit
500: control unit
600: augmented reality providing unit
700: Balance unit

Claims (8)

A tilting unit including a tilting frame for supporting a body of a patient lying parallel to a floor, a tilting unit for rotating the tilting frame with respect to the first hinge to adjust a body angle of the patient;
A first leg exercise unit for rotating the knee about the pelvis of the patient; And
And a second leg exercise unit interlocked with the operation of the first leg exercise unit for exercising the patient's foot,
The tilting unit further comprises an upper body supporting plate disposed on the tilting frame for supporting the upper body of the patient and connected to the upper body supporting plate and the first leg moving unit, Further comprising: a position adjusting unit for adjusting the position of the positioning member,
Wherein the tilting unit further comprises an auxiliary tilting portion disposed on the tilting frame to adjust the angle of the upper body support plate. The method according to claim 1,
The second leg-
An ankle joint motion part for moving an ankle joint vertically around the ankle; And
And a foot-turning portion that at least partially rotates the soles based on an extension axis extending from the heel toward the forefoot and across the floor of the foot. 3. The method of claim 2,
The second leg-
Further comprising a foot pivoting main frame connected to the tilting frame and a foot pivoting driving unit for pivoting the foot pivoting main frame relative to the second hinge,
The ankle-
A loop-shaped groove formed in the foot turning main frame;
A connecting link sliding along the looped groove;
A foot support frame rotatably connected to the connection link; And
And a sliding driving part connected to the foot supporting frame or the connecting link for sliding the foot supporting frame along the looped groove. delete delete The method according to claim 1,
A pattern manipulating unit having a plurality of motion patterns and driving the first leg motion unit and the second leg motion unit according to a selected one of a plurality of motion patterns;
A difficulty level adjusting unit for adjusting a difficulty level of movement between a start point, a middle point, and an end point, the endurance point including a starting point of the motion, an intermediate point of the motion, and an end point returning to the same position as the starting point. And
And a movement history management unit for storing and managing movement history information of the patient. The method according to claim 1,
A video management unit for managing a video image of a patient's familiar space such as a residential space, And
And an augmented reality image display unit for providing an augmented reality image to a patient according to an operation of the first leg exercise unit and the second leg exercise unit. The method of claim 3,
The second leg-
And a pressure sensor disposed in the foot support frame for measuring the pressure of the floor of the foot.

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