KR102151767B1 - Upper limb rehabilitation device with Flywheel - Google Patents

Abstract

The present invention is an upper limb exercise device having a fixed portion, a link portion, and a gyroscope module 100 connected to the link portion, wherein the gyroscope module 100 includes a flywheel 110 and a first motor that rotates the flywheel. A first rotating body consisting of 120; And a second motor 130 for rotating the first rotating body, wherein the rotation shaft 125 of the first motor and the rotation shaft 135 of the second motor are perpendicular to each other. The gyroscope module 100 further includes a third motor that rotates a second rotating body composed of the first rotating body and the second motor, and the rotating shaft 135 of the second motor The rotation shafts 145 of the third motor are disposed perpendicular to each other.

Description

Upper limb rehabilitation device with flywheel

The present invention relates to an upper limb exercise device used as a rehabilitation device, and in detail, as an exercise device that can be used when upper limb exercise is required due to a stroke or paralysis, specific use of a flywheel rotating by one or a plurality of motors It relates to an upper limb exercise device to which a resistance exercise induced in a direction and size is possible and a gravity compensation module is applied.

In recent years, as we enter an aging society, the number of stroke patients is increasing, and the number of patients with spinal cord injury due to traffic accidents is increasing. Upper limb rehabilitation devices are being developed that can be applied to patients lacking active hand movement due to disease.

The conventional upper limb rehabilitation apparatus is configured in a form of rehabilitation centering on movements of the upper arm such as shoulders and elbows, and treatment is mostly performed in the form of performing a special operation on a work table. An example of such a prior art is disclosed in Patent No. 10-1620633.

Briefly looking at the prior art, the upper limb instrument module is positioned so as to be visible through the transparent display unit, and is provided at the end of the upper limb instrument module to support the user's arm and finger movement, and detects the user's finger position and movement. Disclosed is an augmented reality-based upper limb rehabilitation apparatus comprising a sensor and a controller that receives a signal from the sensor and analyzes whether a mission is performed and a result of an image provided through the transparent display unit. The transparent display further includes a display support portion for supporting inclined at a predetermined height with respect to the horizontal plane, and the sensor is embedded in a distal position of a finger supported by the upper limb mechanism module.

In the above configuration, in the prior art, when a mission is selected by a control unit, a mission image is provided to a transparent display unit as a virtual environment, and a mission is performed in a real environment using arms and fingers placed on the upper limb instrument module. In this case, the arms and fingers placed on the upper limb mechanism module may directly move as intended by the user or may be automatically moved according to a program set by the controller, and implementations in various forms have been disclosed.

However, such a conventional upper limb rehabilitation apparatus has a limitation in the rehabilitation exercise effect due to a weak function of providing resistance in a specific direction in which the user's arm should move during exercise or an effect of making movement easier.

The present invention provides a means for providing resistance to movement of a rehabilitation device handle on a path in which the arm of a user using an upper limb rehabilitation device must move or another specific path, facilitating a movement path in another specific direction, or compensating for other gravity. In addition, it aims to increase the effect of rehabilitation exercises,

In addition, an object of the present invention is to provide a technology using a flywheel and a plurality of motors to control an external force applied in a specific direction as described above.

The present invention is an upper limb exercise device having a fixed part 10 and a link part 20 and a gyroscope module 100 connected to the link part, wherein the gyroscope module 100 comprises a flywheel 110 and the flywheel An upper limb exercise mechanism comprising a first rotating body consisting of a first motor 120 that rotates, and adjusting a force required for movement of the gyroscope module in a specific direction due to the rotation of the flywheel. to provide.

The gyroscope module 100 further includes a second motor 130 for rotating the first rotating body, wherein the rotation shaft 125 of the first motor and the rotation shaft 135 of the second motor are It is placed vertically.

The gyroscope module 100 further includes a third motor that rotates a second rotating body composed of the first rotating body and the second motor, and the rotating shaft 135 and the third motor of the second motor The rotating shafts 145 are disposed perpendicular to each other.

It may include a gravity compensation module for compensating the gravity according to the load of the gyroscope module 100.

The link unit is composed of a first member 21 and a second member 22 that are rotatably connected, and the gravity compensation module may apply a force in a direction opposite to the direction of gravity according to the load of the gyroscope module. , And a spring provided at a connection portion between the first member 21 and the second member 22.

The gravity compensation module includes a spring provided at a connection portion of the fixing portion and the link portion so as to apply a force in a direction opposite to the direction of gravity according to the load of the gyroscope module.

The spring may be a torsion spring or a compression spring.

The gyroscope module 100 further includes a handle 150 that can be gripped by a user to perform reactivation, and the gyroscope module is provided with two at both ends of the handle or three around the handle. It is equipped.

The display 200 may further include a display 200 showing movement of the gyroscope module, and a trajectory of the gyroscope module is displayed on the display, and by controlling the rotational force of the second or third motor of the gyroscope module, And a control unit for providing resistance to movement in a specific direction or controlling movement in a specific direction to a gyroscope module that moves the trajectory displayed on the display to facilitate movement in a specific direction; and provides a user-customized rehabilitation exercise function.

On the display, a position of a handle incorporating the gyroscope module and a position of a target reaching point may be displayed in a spherical shape.

The handle 150 of the gyroscope module 100 may be composed of two or more so that the user can hold and move with two hands.

In the present invention, by the configuration of the gyroscope module, the handle of the upper limb exercise device can have resistance in a specific direction or have other gravity compensation effects, so that various external forces required for rehabilitation can be added, so that a rehabilitation exercise required by a specific user There is an effect that can provide

1 is a diagram showing the basic form of a gyroscope module used in the present invention,
2 and 3 are views of an upper limb exercise device according to an embodiment of the present invention,
4 is a partial detailed view of the upper limb exercise device of the present invention,
5 to 6 are views of an upper limb exercise device that moves on a flat display according to the present invention,
7 is another view of the gyroscope module inside the upper limb exercise device of the present invention.

Objects, specific advantages and novel features of the present invention will become more apparent from the following detailed description and preferred embodiments in conjunction with the accompanying drawings. In addition, the terms used are terms defined in consideration of functions in the present invention, which may vary according to the intention or custom of the user operator. Therefore, definitions of these terms should be made based on the contents of the present specification.

1 is a diagram showing a basic form of a gyroscope module used in the present invention, FIGS. 2 and 3 are views of an upper limb exercise device according to an embodiment of the present invention, and FIG. 4 is a diagram showing the upper limb exercise device of the present invention. 5 to 6 are views of an upper limb exercise device that moves on a flat display according to the present invention, and FIG. 7 is another view of a gyroscope module inside the upper limb exercise device of the present invention.

The present invention uses the gyroscope module 100 as shown in FIG. 1. The gyroscope module 100 includes a flywheel 110 rotating at high speed and a first motor 120 rotating the flywheel. The flywheel and the first motor are connected to each other by a connecting rod (A), and further includes a second motor 130 for rotating them simultaneously. In addition, it may further include a third motor 140 for rotating the entire second motor, the first motor and the flywheel. Unexplained reference numerals A and B denote a support for supporting a flywheel or a motor.

Even if neither of the second motor 130 and the third motor 140 is present, or neither of the two is present, the rotation of the gyroscope is possible. More specifically, the orientation of the gyroscope may be changed by manually operating the second motor 130 and the third motor 140. This is because it can be used fixed from the beginning in a specific direction. That is, even when only one of the second motor 130 and the third motor 140 is present or both motors are not present, a similar effect can be obtained by manually operating.

As an embodiment of the upper limb exercise device using the gyroscope module 100, there is a form as shown in FIGS. 2 to 3.

First, referring to FIG. 2, the upper limb exercise device of the present invention has a fixed portion 10 fixed to a specific point and a link portion 20 capable of performing a link movement at the fixed portion, and connected to the link portion. It has a gyroscope module 100.

Here, the link unit 20 is not a member that simply connects the gyroscope module, but includes a structure capable of compensating for the force acting in the direction of gravity due to the weight of the gyroscope module, so that the weight of the gyroscope module is compensated. This is a possible device.

For example, as shown in FIG. 2, the link part 20 may be connected to the first member 21 and the second member 22 so as to be rotatable, where a torsion spring or a compression spring is mounted on the connection part. By doing so, it is possible to apply an elastic force by the spring to the second member 22 in a direction opposite to the direction of gravity, and as a result, it is possible to compensate for the load of the gyroscope module connected to the end of the second member 22. . Alternatively, according to another form, a torsion spring or a compression spring is provided in a similar manner to the connection part (hinge part) to which the first member 21 and the fixing part 10 are connected, so that the load of the gyroscope module can be compensated. can do. Through this, a user who performs rehabilitation exercises can perform rehabilitation exercises more conveniently. The device (gravity compensation module) for compensating for gravity of the present invention can be applied to both the'three-dimensional motion' and'two-dimensional motion' embodiments described below.

The gyroscope module 100 is similar to that described in FIG. 1 and includes a first rotating body including a flywheel 110 and a first motor 120 rotating the flywheel; And a second motor 130 for rotating the first rotating body, wherein the rotation shaft 125 of the first motor and the rotation shaft 135 of the second motor are configured to be perpendicular to each other. And, as shown in FIG. 4, the gyroscope module 100 further includes a third motor 140 for rotating a second rotating body consisting of the first rotating body and the second motor, The rotation shaft 135 of the second motor and the rotation shaft 145 of the third motor are disposed perpendicular to each other. In the form shown in FIG. 4, the second motor 130 and the third motor 140 may be used in the removed state as described in the description of FIG. 2. That is, only the first motor 120 can rotate the flywheel and can exert a gyroscope effect.

Here, the first motor 120 is a motor that rotates the flywheel at high speed, and the second motor 130 and the third motor 140 control the force required for the gyroscope module to move in a specific direction. It is a motor that makes it possible. That is, the gyroscope module 100 is included inside the handle unit 150 that can be gripped by the user to perform reactivation, and controls the rotation speed of the second and third motors of the gyroscope module. Thus, the gyroscope module itself may have resistance to movement of the handle 150 in a specific direction.

The form shown in FIG. 2 is a form in which the gyroscope module 100 is disposed at both ends of the part of the handle 150 held by hand, and the form shown in FIG. 3 is a part of the part of the handle 150 held by hand. Three gyroscope modules 100 around the perimeter are arranged.

Another embodiment of the present invention may further include a display 200 that provides a two-dimensional movement on a plane that the user grips and moves (see FIGS. 5 to 6). The display 200 may display a trajectory to which the gyroscope module (or handle) moves, and the gyroscope module may move from the top surface while contacting the display 200. At this time, by controlling the rotational force of the second or third motor of the gyroscope module, resistance to movement in a specific direction is given to the gyroscope module that moves the trajectory displayed on the display, or movement in a specific direction is easy. It goes without saying that it may further include a control unit for controlling to be performed.

The flywheel has a characteristic that the gyroscope effect can be changed in proportion to the rotational speed, so when you want to increase the inertia or guidance degree of the flywheel, you can increase the rotational speed of the flywheel. You can adjust the rotation speed to the specific effect you want to give.

The upper limb exercise device of the present invention can be used for a three-dimensional exercise or a two-dimensional exercise as described below, depending on the application embodiment.

[For 3D exercise]

The upper limb exercise mechanism of the present invention, as shown in Figs. 2 to 4, has two to three flywheels on the handle 150, and the orientation of the flywheel has a structure that can change in one or two directions. Since the handle 150 including the gyroscope module has its own weight, it may be mounted at the end of a mechanism of a spring loaded mechanism or a robot arm to enable gravity compensation. The handles shown in FIGS. 2 to 4 can be moved in three dimensions. According to the three-dimensional movement, the position of the handle can be visually displayed on a separate monitor. When the gyroscope module handle is held by the hand, the current position of the hand and the position of the target may be displayed in a spherical shape on the display. As the flywheel rotates at high speed, movement is free in a specific direction and movement is difficult in a specific direction, so that it is possible to naturally induce movement in a desired direction or make it difficult to move in a desired direction, thereby enabling resistance movement. In particular, while the flywheel is rotating, the user can feel a great resistance to the change of the orientation of the flywheel. The resistance of the flywheel to change in orientation can be weakest when the flywheel rotates equally about the axis it rotates. Therefore, the orientation of the flywheel can be adjusted via an additional motor. In addition, multiple flywheels can be mounted, or multiple flywheels can be placed and motors and mechanisms that adjust the orientation of the flywheel can be placed to limit or guide the desired movement.

[For 2D exercise]

Consider a handle incorporating a gyroscope module that moves on a flat display as shown in FIGS. 5 to 6. 7 shows the structure of the gyroscope module inside the handle of FIGS. 5 to 6. 5 illustrates a rehabilitation operation by holding only a handle with a built-in gyroscope module, and FIG. 6 shows a handle with a built-in gyroscope module connected by a link.

M1, M2, and M3 shown in FIG. 7 are motors that generate rotational force, respectively, and are configurations corresponding to the first to third motors described above. In addition, although M1, M2, and M3 are all shown in FIG. 7, basic operation is possible without M2 and M3 that change the orientation of the gyroscope, and can be manually adjusted for the axes corresponding to M2 and M3. . This is the same principle as described in the description of FIG. 4 that the gyroscope effect can be exhibited even when the second motor 130 and the third motor 140 are removed and used.

The gyroscope module has one to three flywheels, and the orientation of the flywheel can be changed in one or two directions. However, since the handle including the gyroscope module has its own weight, it is better to move it on the display (glass plate on the monitor). The handle can be moved in two dimensions. According to the two-dimensional movement, the position of the handle can be visually displayed on the monitor. When the handle is held by hand, the current position of the hand and the position of the target may be displayed in a spherical shape. As the flywheel rotates at high speed, movement is free in a specific direction and movement is difficult in a specific direction, so that it is possible to naturally induce movement in a desired direction or make it difficult to move in a desired direction, thereby enabling resistance movement. In particular, while the flywheel is rotating, the user feels a great resistance to the change in the orientation of the flywheel, so that movement can be induced by the flywheel along a specific trajectory from the start point to the target point by the gyroscopic effect.

The resistance of the flywheel to change in orientation can be weakest when the flywheel rotates equally about the axis on which it rotates. Therefore, the orientation of the flywheel can be adjusted via an additional motor. In addition, multiple flywheels can be mounted, or multiple flywheels can be placed and motors and mechanisms that adjust the orientation of the flywheel can be placed to limit or guide the desired movement. In addition, the handle 150 of the gyroscope module 100 described above may be configured in an appropriate shape so that it can be held and moved with two hands. That is, two handles may be formed to be held with both hands and configured to control the movement. A device using a gyroscope may have increased inertia in some cases, because it may be more effective to hold and move the gyroscope module with two hands depending on the needs of the user.

Although the preferred embodiments of the present invention have been described in detail above, the scope of the present invention is not limited thereto, and various modifications and improvements by those skilled in the art using the basic concept of the present invention defined in the following claims are also present. It belongs to the scope of rights of

Claims (13)

As an upper limb exercise device having a fixed portion 10 and a link portion 20 and a gyroscope module 100 capable of moving in a three-dimensional space connected to the link portion,
The gyroscope module 100,
A first rotating body consisting of a flywheel 110 and a first motor 120 rotating the flywheel; And, a second motor 130 rotating the first rotating body; Including,
The extension line of the rotation shaft 135 of the second motor passes through the flywheel 110, and the rotation shaft 125 of the first motor and the rotation shaft 135 of the second motor are perpendicular to each other,
The force required to move the gyroscope module in a specific direction due to the rotation of the flywheel is adjusted,
And a gravity compensation module for compensating for gravity according to the load of the gyroscope module 100, and the link unit includes a first member 21 and a second member 22 that are rotatably connected,
The gravity compensation module is a gravity compensation module for a motion movement in a three-dimensional space of the gyroscope, so that a force in a direction opposite to the direction of gravity according to the load of the gyroscope module can be applied, the first member 21 and Upper limb exercise device, characterized in that it comprises a spring provided at the connection portion of the second member (22). delete As an upper limb exercise device having a fixed portion 10 and a link portion 20 and a gyroscope module 100 capable of moving in a three-dimensional space connected to the link portion,
The gyroscope module 100 includes: a first rotating body comprising a flywheel 110 and a first motor 120 rotating the flywheel; and a second motor 130 rotating the first rotating body; Including, the extension line of the rotation shaft 135 of the second motor passes through the flywheel 110, the rotation shaft 125 of the first motor and the rotation shaft 135 of the second motor are perpendicular to each other,
The gyroscope module 100 further includes a third motor 140 for rotating a second rotation body consisting of the first rotation body and the second motor, and the rotation shaft 135 of the second motor and the The rotation shafts 145 of the third motor are disposed perpendicular to each other, and the force required to move the gyroscope module in a specific direction due to the rotation of the flywheel is adjusted,
And a gravity compensation module for compensating for gravity according to the load of the gyroscope module 100, and the link unit includes a first member 21 and a second member 22 that are rotatably connected,
The gravity compensation module is a gravity compensation module for a motion movement in a three-dimensional space of the gyroscope, so that a force in a direction opposite to the direction of gravity according to the load of the gyroscope module can be applied, the first member 21 and Upper limb exercise device, characterized in that it comprises a spring provided at the connection portion of the second member (22). delete delete The method of claim 1 or 3,
The spring is an upper limb exercise device, characterized in that the torsion spring or compression spring. The method of claim 1 or 3,
The gravity compensation module,
And a spring provided at a connection portion of the fixing portion and the link portion so as to apply a force in a direction opposite to the direction of gravity according to the load of the gyroscope module. The method of claim 7,
The spring is an upper limb exercise device, characterized in that the torsion spring or compression spring. The method of claim 1 or 3,
The gyroscope module 100,
Further comprising a handle 150 that can be gripped by the user to perform reactivation,
The upper limb exercise device, characterized in that two gyroscope modules are provided at both ends of the handle or three are provided around the handle. The method of claim 9,
Upper limb exercise device, characterized in that it further comprises a display (200) showing the movement of the gyroscope module. The method of claim 10,
The display shows the trajectory that the gyroscope module will move,
By controlling the rotational force of the second or third motor of the gyroscope module, resistance to movement in a specific direction is applied to the gyroscope module that moves the trajectory displayed on the display, or movement in a specific direction is facilitated. The upper limb exercise device, characterized in that it further comprises a control unit to control; The method of claim 10,
The upper limb exercise device, characterized in that the position of the handle in which the gyroscope module is embedded and the position of the target reaching point are displayed in a spherical shape. The method of claim 9,
Upper limb exercise device, characterized in that the handle 150 provided in the gyroscope module 100 is composed of two or more so that it can be held and moved with two hands.

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