KR102176050B1 - System for gait training - Google Patents

Abstract

In the present invention, in a child walking training control system using a walker, it is possible to monitor the state of a child while walking in real time, and to determine the state of the child and to prescribe a walking pattern suitable therefor. It relates to a child gait training control system,
A control unit composed of a control data collection device equipped with a microprocessor, and an operator control unit 120 configured to select any one of a medical treatment mode, a pattern drive mode, a real-time drive mode, and a memory mode or observe the patient's gait status. ), and a walking unit 140 configured to drive each joint of the impaired lower limb, and a detection unit 150 for detecting the gait state of the normal and impaired lower limbs, wherein the operator control unit 120 is driven in real time. When the mode is selected, the detection unit 150 is worn on the normal lower limb to detect data on the normal lower limb, and the detection data at this time is sent to the control unit 110 to determine the patient's normal walking state, and the walking unit worn on the disabled lower limb ( 140) is characterized in that it is driven in real time in the walking state of the normal lower limb.

Description

Children's gait training control system using a walker {SYSTEM FOR GAIT TRAINING}

The present invention relates to a child walking training control system using a walker, characterized in that it is possible to monitor the state of a child who is walking in real time, and also to determine the state of the child and to prescribe a walking pattern suitable therefor. It relates to a child gait training control system using.

In general, braces are devices worn to correct and prevent deformities of a body part or to improve moving functions, and can be classified into treatment braces, recycling braces, orthodontic braces, traction braces, and the like, depending on the purpose.

In addition, depending on the wearing part, it can be classified into upper limb braces, lower limb braces, and spine braces.

Among the above braces, the lower braces support the wearer's weight to reduce the weight load, prevent and correct deformities by keeping the joints straight, and control involuntary movements for the purpose of assisting and recovering lost muscle strength. It means a brace worn on the leg.

The aforementioned lower extremity orthosis includes a short leg brace (SLB), which is worn only in the lower leg under the knee joint for the purpose of reducing the weight received by the ankle joint, controlling movement of the ankle joint, and preventing deformation of the foot, and an ankle joint and knee joint. There is a Long Leg Brace (LLB) that is worn up to the thigh above the knee joint for the purpose of supporting the body's weight, preventing deformities, and controlling involuntary movement.

Among them, the long-limb brace assists the self-reliant walking of patients with lower extremity paralysis who cannot freely move their legs during walking due to leg paralysis and knee joint abnormalities caused by congenital disorders such as polio and acquired disorders such as traffic accidents.

On the other hand, since the thigh part moves together with the lower leg during walking, an auxiliary device corresponding to the hip joint is provided in order to move the thigh part, and an actuator for driving the hip joint response mechanism is separately provided.

However, conventional lower limb braces connect the upper and lower parts of the knee joint to move only the lower leg of the knee joint or move only one of the thigh and the lower leg, so that the walking motion is unstable.

In order to improve the above-described problem, an auxiliary device capable of replacing the hip joint may be further installed so that the femur and the lower leg move at the same time.

However, in this case, as a separate actuator needs to be installed, there is a problem in that the operation structure is complicated and the weight increases, so that the manufacturing cost increases, and it is inconvenient to use.

Meanwhile, as a result of researching the prior art related to the present invention, a number of patent documents have been searched, and some of them are as follows.

Patent Document 1, a waist support device worn on the waist; A hip joint multi-axis adjustment device having a structure that is coupled to both sides of the hip portion of the lumbar support device, and is capable of adjusting the angle change of both legs occurring during walking and capable of stable upper body support and waist support in a sitting position; One side is coupled to each of the hip joint multi-axis adjustment device, and a flexible internal and abduction beam having two angles of refraction that can be adjusted in length; Consisting of two thigh support devices that are coupled to the other side of the elastic medial and abduction beam and worn on the thigh, it is possible to induce the load direction of the hip and knee joints among the movement characteristics that occur during walking of children with spastic cerebral palsy. It describes a multi-axis orthosis for rehabilitation of children with spastic cerebral palsy.

Patent Document 2, a sensor for detecting whether the sole (forefoot) or heel is in contact with the ground; An electromyogram-functional electric stimulator that generates an electrode control signal or a motor excitation signal according to the signal detected by the sensor; An electrode for outputting a stimulus signal of a microcurrent according to an electrode control signal received from the electromyogram-functional electric stimulator; A motor driving according to a motor excitation signal received from the electromyogram-functional electric stimulator; It is connected to the motor, and a wire that moves the forefoot or heel using a tensile force to make the ankle exercise; includes, helps strengthen muscle strength and restores the nervous system, helps the patient's self-evaluation and disease recovery, It describes a robotic orthosis of the lower extremities that facilitates the ankle movement required for daily life, standing and walking, as well as preventing complications in patients with nervous system damage.

Patent Document 3 is composed of a configuration in which the foot and the lower leg frame are coupled to the lower and upper sides of the ankle joint, and the lower and femoral frame is coupled to the lower and upper of the knee joint, respectively, to support the wearer's weight. In the lower extremity orthosis, the femoral frame portion is configured to be separated into an upper support frame and a lower support frame, and are coupled to be separated from each other, and an elastic member that buffers the weight applied between the upper support frame and the lower support frame is provided, It describes about a buffer-type mounting orthosis which can improve the support performance and improve the fit and convenience of use.

Patent Document 4, in the lower leg orthosis of the configuration in which the lower femoral support and the femoral support are coupled to the knee joint axis, and the lower femoral support and the foot attachment part are coupled to the ankle joint axis, the upper end of the lower femoral support and the femoral support contacting it A pair of electromagnets that are provided at the lower end of each, and generate magnetic force when power is applied to suppress rotation and bending of the lower leg support and the thigh support, and a power supply for supplying power to the pair of electromagnets, and a power supply of the power supply. By including a power switch that is applied or blocked in the stance phase, flexion of the knee joint is reliably suppressed in the stance phase, and free bending is possible in the swing phase. It describes a buckling prevention device for an obstructive orthosis.

Patent Document 5, a strap member made to support the weight of the trainee by wrapping the buttocks of the trainee; A strap support rod connecting the strap member and the strap support arm connected by a belt; A support rod holder to which the strap support rod is fixed; A vertical support on which the support rod holder is fixed to the upper end; Treadmill; Including, the trainer is made to perform the lower limb exercise with the treadmill placed underneath while being suspended from the strap support bar by the strap member and the belt, without the help of the therapist's weight support, to facilitate the rehabilitation training necessary for the development of upper and lower muscles It describes a comprehensive upper and lower extremity repetitive intensive muscle strengthening training brace for rehabilitation of patients with cerebral palsy that assists to be achieved.

On the other hand, the technology of walker applied to rehabilitation treatment of adults has been continuously devised, but there is no technology concept to determine whether the infant walker is walking properly.

In general, a baby walker is a walking device that is mounted for the purpose of letting an infant learn how to walk, and mainly includes a lower plate and an upper plate mounted on the lower plate through a frame whose height is adjustable, and the upper plate allows the infant to sit. It is provided with a saddle for. In other words, the conventional baby walker is provided with a rectangular frame-shaped lower plate, an upper plate, and a pair of frames for adjusting the height of the upper plate, and the upper plate is equipped with a saddle for infants to ride. You learn to walk freely by walking freely while riding. On the floor of such a walker, a number of wheels are combined to provide convenience and smoothness according to movement.There is no concept of judging whether infants are walking well in the infant walker used by children. It was difficult for them to determine if their child had a gait problem, and if there was a problem, there was no program to induce a straight walk by correcting it.

In other words, when a person walks for the first time, the habit of walking influences his entire life, so even though walking training is very important as a child, there is no concept of confirming that children are walking in the meantime, and if they are not walking properly, There was no technology concept that stimulates and induces people to walk properly.

Prior art literature

Patent Literature

(Patent Document 0001) KR 10-2004-0043307 A

(Patent Document 0002) KR 10-2009-0089528 A

(Patent Document 0003) KR 10-2011-0036997 A

(Patent Document 0004) KR 10-2011-0102547 A

(Patent Document 0005) KR 10-2012-0138585 A

An object of the present invention for solving the problems of the prior art is to operate by a microprocessor, a control program, and walking data, and to communicate data with peripheral devices such as a computer and an OP panel. It is to provide a gait training control system capable of monitoring in real time and to determine the gait status of a child and to prescribe a gait pattern suitable therefor.

As a means to achieve the above object,

The present invention is a control unit composed of a control data collection device equipped with a microprocessor, and an operator capable of selecting any one of a medical treatment mode, a pattern driving mode, a real-time driving mode, and a memory mode, or observing a patient's walking state. As a gait training machine composed of an operation unit 120, a walking unit 140 configured to drive each joint of the disabled limb, and a detection unit 150 for detecting gait status of the normal and disabled limbs, the operator manipulation unit 120 When selecting the real-time driving mode of, the detection unit 150 is worn on the normal lower extremity to detect data of the normal lower extremity, and the detection data at this time is sent to the control unit 110 to determine the patient's normal walking state, and wear it on the disabled lower extremity. Allowing the walking unit 140 to be driven in real time in a walking state of a normal lower limb; It is characterized in that it comprises a dust measurement means that is installed on one side of the walking training machine and outputs an alarm signal when it is determined that more than a standard dust exists by measuring dust generated around the walking training machine.

In addition, the dust measuring means includes a housing for collecting dust, a wire mesh 10a installed on the inside of the housing 4 to remove moisture from the input dust to guide only the correct dust, and the wire mesh. A wire mesh rotary motor (10b) for accelerating the removal of moisture existing in the air by inserting coupling and rotating the wire mesh, and a heater providing heat to evaporate moisture in contact with the wire mesh at a high speed by supplying heat to the wire mesh. Electric means for providing heat (10c), infrared transmitting means (A) for emitting infrared rays to detect dust from which moisture has been removed, and light that is positioned to face the infrared transmitting means and emitted from the infrared transmitting means Infrared receiving means (B) for receiving and determining dust inflow according to the degree of the received amount, and input of the infrared transmitting means (A) when the output voltage of the infrared receiving means (B) is less than a set value It comprises a dust measurement control unit (C) for controlling the voltage to increase; A humidity sensor 7 is further installed on one side of the housing so that the dust measurement control unit C controls the rotational speed of the wire mesh rotary motor 10b according to the humidity, and when the humidity is high, the rotation speed of the wire mesh rotary motor 10b is referenced. It is characterized by supplying the heater heat higher than the standard and lowering the rotation speed of the wire mesh rotary motor 10b than the standard and supplying the heater heat with the heater heat lower than the standard when the humidity is low.

In addition, the wire mesh (10a) is a horizontal guide rod (10a-1) and a vertical guide rod (10a-2) that is coupled to the vertical groove (5) of the housing so as to be detachably attached to the axis of the wire mesh rotary motor (10b). When necessary, the horizontal guide rod (10a-1) is separated from the wire mesh rotary motor (10b) and the vertical guide rod (10a-2) is separated from the housing (4) to remove contaminants present in the wire mesh. to be.

In addition, it is installed at one end of the main body and configured to include a fragrance application device for emitting fragrance to the outside when the walker is operated; The fragrance application device 1100 includes a housing 1110; A battery 1120 installed inside the housing 1110 and receiving power from the outside to charge electricity and then supply electricity to the device; A rotary motor (1130) electrically connected to the battery to receive power from the battery and convert it into a mechanical rotary motion; A motor shaft (1131) installed on the central axis of the rotary motor to rotate in response to the rotation of the rotary motor, but having a bottom surface in a waveform shape and continuously rotating in a curved waveform shape; A vertical drive cylinder (1140) located at the lower end of the rotary motor and flowing while moving up and down by converting the rotation of the rotary motor into a reciprocating vertical motion; It is located above the vertical drive cylinder 1140, but is located on the central axis, and is mechanically contacted while being in contact with the motor shaft 1131 of the rotary motor 1130, and is coupled with the motor shaft 1131 of the rotary motor 1130. And a rotation shaft 1141 for elevating and descending while repeating the separation. Installed on the outer periphery of the vertical driving cylinder 1140, one side is fixed to the locking jaw inside the housing and the other side is fixed to the locking jaw of the vertical driving cylinder to elastically support the vertical driving cylinder to maintain the vertical driving cylinder An elastic spring 1150 for supporting elevating and descending to enable it to be; It is inserted and coupled to the inner side of the up and down drive cylinder 1140, is generally cylindrical and consists of a plurality of drug passage holes 1161 installed on the bottom, and supplies drugs while flowing up and down according to the movement of the up and down drive cylinder. A fragrance drug applicator 1160; One side is coupled to the fragrance drug applicator 1160 and the other side is coupled to one end of the housing 1110, and the up and down driving cylinder and the fragrance drug applicator 1160 are temporarily fixed at the same time based on the housing to temporarily fix the fragrance drug applicator 1160 ) It is characterized in that it is configured to include a temporary fixing means (1180) for a scent drug applicator that prevents from falling down by the action of gravity.

In addition, the scent drug applicator temporary fixing means 1180 is made of a sharp wedge shape at the end and is forcibly fitted through the coupling hole of the up and down driving cylinder and the coupling hole of the drug applicator, so that the scent drug applicator of the up and down driving cylinder A locking hook 1181 for maintaining a state coupled to the inner circumference; A connecting piece 1182 which is integrally connected to the hook for hook 1181 in a diagonal direction and guides the hook for hook 1181 to move in a clockwise or counterclockwise direction by a rotational motion; A hinge for supporting rotation (1183) installed between the connecting piece (1182) and the hook (1181) for supporting the connecting piece to rotate; It is installed between the connecting piece 1182 and the vertical driving cylinder 1140 to push the connecting piece outward so that the hook for locking 1181 flows counterclockwise to keep the drug applicator connected to the vertical driving cylinder. , When the connecting piece is pressed by an external force and compressed in the vertical driving cylinder direction, the hook for locking 1181 is separated from the vertical driving cylinder 1140 and the drug applicator 1160, and the drug applicator 1160 is a vertical driving cylinder. A support spring 1184 for guiding it to be removed from the 1140; A sliding flow piece (1185) installed at the end of the connecting piece (1182) and moving at the same time when the hook (1181) and the connecting piece (1182) move up and down according to the vertical flow of the vertical drive cylinder (1140); It is slidably coupled with the sliding fluid piece 1185 to support the vertical movement of the sliding fluid piece 1185, and when the fragrance drug applicator 1160 is replaced, the connecting piece 1182 is pushed in the direction of the vertical driving cylinder 1140. As the connection piece 1182 rotates around the hinge pin 1183 for rotation support by pressing, the hook for hook 1181 is separated from the vertical driving cylinder 1140 and the drug applicator 1160, and the fragrance drug applicator 1160 ) Is characterized in that it comprises a push button (1186) to induce removal from the vertical drive cylinder (1140).

As described above, the present invention operates by a microprocessor, a control program, and walking data, and by allowing mutual data communication with peripheral devices such as computers and OP panels, it is possible to monitor the walking situation of children in real time. In addition, there is an effect of providing a gait training control system capable of judging a child's gait state and prescribing a gait pattern suitable therefor.

1 to 3 is a configuration diagram of a general child walker.
Figure 4 is an exemplary stimulator of the present invention.
5 is a block diagram showing the data flow of the gait training control system according to the present invention.
6 is a flowchart showing a process of selecting a walking mode by an operator control unit according to the present invention.
7 is a flow chart showing a signal processing process of the trainee operation unit according to the present invention.
Figure 8 is a block diagram showing a gait training system according to the pattern driving mode of the present invention.
9 is a block diagram showing a walking training system according to the real-time driving mode of the present invention.
10 is a block diagram showing a gait training system according to the memory mode of the present invention.
11 is a conceptual diagram of dust measurement of the present invention.
12 is a perspective view of the dust measuring device of the present invention.
13 is an exploded perspective view of the dust measuring device of the present invention.
14 is a plan view of the dust measuring device of the present invention.
15 is a conceptual diagram illustrating the operation of the dust measuring device of the present invention.
16 is a detailed view of the concave lens condensing original plate of the present invention.
Figure 17 is a concave lens embodiment of the present invention.
Figure 18 is an exploded perspective view of the perfume chemical application device of the present invention.
Figure 19 is a cross-sectional view and a sectional view of the main portion of the perfume chemical application device of the present invention.
Figure 20 is an enlarged cross-sectional view of the main part of the perfume chemical application device of the present invention.
21 is a configuration diagram of a rotary motor and a vertical drive cylinder of the perfume chemical application device of the present invention.
Figure 22 is an enlarged view of the main portion of the rotary motor and the vertical drive cylinder of the perfume chemical application device of the present invention.
23 is a block diagram of a temporary fixing means of the perfume chemical application device of the present invention.
Figure 24 is another angular configuration of the temporary fixing means of the perfume chemical application device of the present invention.
25 is a configuration diagram of a hole for passing a chemical solution according to the present invention.

Hereinafter, the operating principle of a preferred embodiment of the present invention will be described in detail with reference to the accompanying drawings and description. However, the drawings and the description to be described below are for a preferred implementation method among various methods for effectively describing the features of the present invention, and the present invention is not limited to the following drawings and description.

In addition, in the following description of the present invention, if it is determined that a detailed description of a related known function or configuration may unnecessarily obscure the subject matter of the present invention, the detailed description thereof will be omitted. In addition, terms to be described later are terms defined in consideration of functions in the present invention, which may vary according to the intention or custom of users or operators. Therefore, the definition should be made based on the contents throughout the present invention.

In addition, a preferred embodiment of the present invention to be implemented below is already provided in each system function configuration in order to efficiently describe the technical components constituting the present invention, or system functions commonly provided in the technical field to which the present invention belongs. The configuration will be omitted as much as possible, and a functional configuration that should be additionally provided for the present invention will be mainly described.

If one of ordinary skill in the art to which the present invention pertains, among the functional configurations not shown below and omitted, the functions of the components already used in the past will be easily understood, and the configurations omitted as described above. The relationship between the elements and the elements added for the present invention will also be clearly understood.

In addition, in the following embodiments, terms will be appropriately modified and used so that those of ordinary skill in the art can clearly understand the key technical features of the present invention in order to efficiently describe the core technical features of the present invention. It is by no means limited.

As a result, the technical idea of the present invention is determined by the claims, and the following embodiments are one means for efficiently explaining the technical idea of the present invention to those of ordinary skill in the art to which the present invention belongs. It is only.

In addition, it is to be understood that all detailed descriptions listing specific embodiments as well as principles, aspects and embodiments of the present invention are intended to include structural and functional equivalents of these matters. It should also be understood that these equivalents include not only currently known equivalents, but also equivalents to be developed in the future, that is, all devices invented to perform the same function regardless of structure.

Thus, for example, the block diagrams herein are to be understood as representing a conceptual perspective of exemplary circuits embodying the principles of the invention. Similarly, all flowcharts, state transition diagrams, pseudocodes, etc. are understood to represent various processes performed by a computer or processor, whether or not the computer or processor is clearly depicted and that can be represented substantially in a computer-readable medium. Should be.

The functions of the various elements shown in the figures, including a processor or functional block represented by a similar concept, may be provided by the use of dedicated hardware as well as hardware having the ability to execute software in association with appropriate software. When provided by a processor, the function may be provided by a single dedicated processor, a single shared processor, or a plurality of individual processors, some of which may be shared.

In addition, the explicit use of terms presented as processor, control, or similar concepts should not be interpreted exclusively by referring to hardware capable of executing software, and without limitation, digital signal processor (DSP) hardware, ROM for storing software. It should be understood to implicitly include (ROM), RAM, and non-volatile memory. Other commonly used hardware may also be included.

In the claims of this specification, components expressed as means for performing the functions described in the detailed description include all types of software including, for example, a combination of circuit elements or firmware/microcode that perform the above functions. It is intended to include all methods of performing a function to perform the function, and is combined with suitable circuitry for executing the software to perform the function. Since the invention defined by these claims is combined with the functions provided by the various enumerated means and combined with the manner required by the claims, any means capable of providing the above functions are equivalent to those conceived from this specification. It should be understood as.

The above-described objects, features, and advantages will become more apparent through the following detailed description in connection with the accompanying drawings, whereby those of ordinary skill in the technical field to which the present invention pertains can easily implement the technical idea of the present invention. There will be. In addition, in describing the present invention, when it is determined that a detailed description of a known technology related to the present invention may unnecessarily obscure the subject matter of the present invention, a detailed description thereof will be omitted.

Before describing various embodiments of the present invention in detail, it will be appreciated that the application is not limited to the details of configurations and arrangements of elements described in the following detailed description or illustrated in the drawings. The present invention can be implemented and practiced in different embodiments, and can be carried out in various ways. Also, the device or element orientation (eg "front", "back", "up", "down", "top", "bottom" The expressions and predicates used herein with respect to terms such as ", "left", "right", "lateral"), etc. are used only to simplify the description of the present invention, and related devices Or you may find that the element simply indicates or does not mean that it should have a specific orientation.

Figure 4 is an exemplary stimulator of the present invention.

5 is a block diagram showing the data flow of the gait training control system according to the present invention.

6 is a flowchart showing a process of selecting a walking mode by an operator control unit according to the present invention.

7 is a flow chart showing a signal processing process of the trainee operation unit according to the present invention.

Figure 8 is a block diagram showing a gait training system according to the pattern driving mode of the present invention.

9 is a block diagram showing a walking training system according to the real-time driving mode of the present invention.

10 is a block diagram showing a gait training system according to the memory mode of the present invention.

Figure 11 is an exploded perspective view of the perfume chemical application device of the present invention.

12 is a cross-sectional view and a cross-sectional view of the main portion of the perfume chemical application device of the present invention.

Figure 13 is an enlarged cross-sectional view of the main portion of the perfume chemical application device of the present invention.

14 is a configuration diagram of a rotary motor and a vertical drive cylinder of the perfume chemical application device of the present invention.

Figure 15 is an enlarged view of the main portion of the rotary motor and the vertical drive cylinder of the perfume chemical application device of the present invention.

Figure 16 is a block diagram of a temporary fixing means of the perfume chemical application device of the present invention.

17 is another angular configuration of a temporary fixing means of the perfume chemical application device of the present invention.

18 is a configuration diagram of a hole for passing a chemical solution of the present invention,

The gait training control system according to the present invention as shown in the drawing is largely composed of a control unit 110, an operator operation unit 120, a trainee operation unit 130, a walking unit 140, and a detection unit 150.

First, the control unit 110 performs a gait program, controls peripheral devices, and collects data between gait to create a database of children's gait data, which monitors the gait status of children and stores the gait data in a database. Consists of a computer 111 that can be converted and connected to an external memory, and a control data collection device 113 configured to control the walking unit 140 and to receive signals from sensors from the detection unit 150 and the walking unit 140 Is done.

Next, the operator control unit 120 plays a role of selecting a walking mode according to the child's gait training or setting the training intensity, and visually outputting the child’s gait state, the configuration of which is for selecting a walking board. It consists of a mode selection button 121, a joint angle/speed control button 123 for setting the training intensity, and a walking state output window 125 for visually outputting the walking state of the child.

In this case, the operator control unit 120 may form a memory connection terminal that can be connected to the external memory device 127.

In addition, the walking mode is divided into four walking modes, such as a medical treatment mode, a pattern driving mode, a real-time driving mode, and a memory mode, according to the medical treatment and training for walking training of the child. You can choose through it.

Next, the trainee operation unit 130 is given a driving permission from the operator operation unit 120 through the control unit 110 so that the guardian can directly perform the driving start and end commands of the walker in a state in which the gait training preparation is completed.

Here, the control unit 110 automatically cuts off the power of the walking trainer when an abnormal gait training pattern is detected during gait training or when the emergency stop command button of the trainee control unit 130 is pressed.

Next, the walking part 140 is made of an electric shock device capable of finely giving electrical stimulation.

Next, the detection unit 150 is equipped with a strength measuring device for measuring muscle strength in each of the hip joint, knee joint, and ankle joint, and an EMG measuring device for measuring the EMG.

At this time, the muscle strength meter may be manufactured using force such as MR fluid, pneumatic pressure, and spring,

Each of the above-described muscle strength measuring devices and EMG measuring devices can be freely mounted and detached as needed.

In addition, the detection unit 150 is used to measure muscle strength and EMG, and is worn on a child in a real-time control mode and used to detect the child's gait data in real time.

At this time, sensors such as a muscle strength meter and an electromyogram meter installed at each joint of the detection unit 150 perform a role as a safety device not only to detect walking data but also to detect the state of the joint for the safety of children during walking training. do.

3 is a block diagram showing the data flow of the gait training control system according to the present invention, and as shown in the figure, a walking unit 140 for supplementing the child's muscular strength is mounted and a detection unit 150 for detecting data ) Is equipped.

At this time, the gait data of the detection unit 150 mounted on the normal lower limb is collected through the control unit 110.

The walking state in the walking unit 140 is output through the operator operation unit 120, and the walking mode can be changed or the training intensity can be increased or decreased.

In addition, the guardian can perform training termination and emergency stop commands through the trainer operation unit 130.

Such children's gait data, that is, treatment records, are converted into a database through the control unit 110, and these data are stored in an external memory device and used by accessing and using a gait trainer in another place, thereby using the existing training program as it is. It is possible to increase the effect of rehabilitation treatment.

5 is a flowchart showing a process of selecting a walking mode by an operator control unit according to the present invention, and FIG. 6 is a flow chart showing a signal processing process by a trainee control unit according to the present invention,

It briefly shows the signal processing process of the operator control unit 120 for selecting the walking mode and the trainee control unit 130 in charge of driving start, stop, and emergency stop commands.

First, when the main power is applied (S410), the system is checked (S420), the system status is displayed (S430), and the walking mode is displayed on the main screen (S440).

At this time, the guardian selects any one of the treatment mode (S441), pattern drive mode (S442), real-time drive mode (S443), and memory mode (S444) displayed on the main screen.

Thereafter, after the mode selection is made by the operator control unit 120, the trainee control unit 130 receives the driving authority for starting or ending the walking unit 140 (S510).

Accordingly, the guardian inputs the start command of the walking unit 140 through the trainee operation unit 130 so that the child is engaged in walking training (S520) (S530).

In addition, in order for the guardian to end the gait training, he or she selects one of the gait training cycle end (S531), the stop command during training (S532), and the emergency stop (S533).

When the guardian inputs the end command as described above, the start command authority of the walking unit 140 of the trainer operation unit 130 is returned to the operator operation unit 120 (S540).

7 is a block diagram showing a walking training system according to the pattern driving mode of the present invention. As shown in the drawing, the user first sets the walking mode to the pattern driving mode through the setting of the operator control unit 120. . The pattern driving mode is a mode for performing gait training according to a gait pattern suitable for a child's condition through an examination of a doctor or a physical therapist, and based on the normal gait data stored in the control data collection device 113, the gait unit 140 ), it is possible to perform gait training by applying an electrical signal.

8 is a block diagram showing a gait training system according to the real-time driving mode of the present invention. As shown in the drawing, the user sets the gait mode to the real-time driving mode through the operator control unit 120. The real-time driving mode is a mode in which the detection unit 150 is mounted on the normal lower limb and the walking unit 140 is mounted to drive the walking unit 140 in real time using signals from the detection unit 150 for training. When walking, data is detected through the detection unit 150, and the detected data is applied to the walking unit 140 through the control unit 110 to perform walking training suitable for children.

9 is a block diagram showing the gait training system according to the memory mode of the present invention. As shown in the drawing, the guardian sets the child's gait mode to the memory mode through the operator control unit 120. The memory mode is a mode in which the child's walking training data and the walking training data prescribed by the doctor are stored in the external memory device 127 to record the child's state or allow walking training in another walking training machine. The external memory device 127 containing information on the existing gait training is connected to the operator control unit 120 to perform gait training using the treatment information of the child stored in the external memory device 127. Using the external memory device 127, the child can perform the same gait training in other gait trainers.

On the other hand, in the present invention, a dust measuring means is additionally installed at the outer end of the device, and when it is determined that there is dust above the standard as a result of the measurement by the dust measuring means, an alarm signal is output through the alarm signal output unit to protect children. Made it possible.

The dust measuring means of the present invention includes a housing for collecting dust, a wire mesh 10a installed inside the housing 4, which removes moisture from the input dust and guides only the correct dust to pass through, and the wire mesh is inserted. A wire mesh rotary motor (10b) for accelerating the removal of moisture present in the air by combining and rotating the wire mesh, and a heater heat providing heat to evaporate moisture in contact with the wire mesh at a high speed by supplying heat to the wire mesh. An electric means for providing (10c), an infrared transmitting means (A) for emitting infrared rays to detect the dust from which the moisture has been removed, and positioned so as to face the infrared transmitting means and transmitting light emitted from the infrared transmitting means. Infrared receiving means (B) for receiving and determining the inflow of dust according to the degree of the received amount, and the input voltage of the infrared transmitting means (A) when the output voltage of the infrared receiving means (B) is less than a set value It comprises a dust measurement control unit (C) for controlling so as to increase.

The wire mesh (10a) is required by combining a horizontal guide rod (10a-1) and a vertical guide rod (10a-2) coupled to the vertical groove (5) of the housing so as to be detachably attached to the shaft of the wire mesh rotary motor (10b). At the same time, the horizontal guide rod (10a-1) is separated from the wire mesh rotary motor (10b) and the vertical guide rod (10a-2) is separated from the housing (4) to remove contaminants.

In addition, a humidity sensor 7 is further installed at one side of the housing so that the dust measurement control unit C controls the rotation speed of the wire mesh rotary motor 10b according to the humidity, and when the humidity is high, the rotation speed of the wire mesh rotary motor 10b is increased. If the heater heat is higher than the standard and higher than the standard, and the humidity is low, the rotational speed of the wire mesh rotary motor 10b is lower than the standard and the heater heat lower than the standard is supplied.

Further, the infrared transmission means (A) receives the infrared transmission control signal from the dust measurement control unit (C), determines the infrared transmission amount, and outputs the changed infrared transmission amount.

That is, when the result value of the infrared receiving means (B) is transmitted to the dust measurement control unit (C), the dust measurement control unit (C) predicts the amount of dust generated based on the data of the infrared receiving unit (B), and By outputting a control signal to the infrared transmission means (A), the amount of infrared transmission is adjusted to induce output.

That is, the dust measurement control unit (C) reads the light amount data output from the infrared receiving unit (B), and based on this, automatically controls the amount of light from the infrared light emitting unit so that the sensitivity control is automatically kept constant, so that the contamination situation due to dust. Also, the dust detection can be measured by maintaining the optimum sensitivity.

In other words, if the amount of light received by the infrared receiver (B) is weak, the dust measurement control unit (C) determines that the degree of contamination is high, and outputs a control signal to increase the amount of light from the infrared transmitter (A) for more precise dust measurement. And, if the amount of received light of the infrared receiving means (C) is too much, the state without contamination or precise measurement becomes difficult, so that a control signal is output to reduce the amount of light of the infrared transmitting means (A). That is, it is necessary to maintain the amount of infrared light transmitted in an appropriate state. Only then can the amount of infrared rays measured through the infrared receiving means become accurate, so that the amount of dust generated can be more accurately predicted. Accordingly, the dust amount data measured by the dust measurement control unit of the present invention can output a dust measurement result with high reliability.

Infrared transmission means (A) of the present invention,

A disc 1 for mounting a concave lens that limits the output of infrared rays by mounting a plurality of concave lenses, and

An infrared transmission element (2) that is close to one of the plurality of concave lenses and outputs infrared rays;

A disc driving motor 3 coupled to the center of the concave lens mounting disc to move the concave lens mounting disc in a clockwise or counterclockwise direction to position a lens having a different depression angle on the infrared transmission element;

It is electrically coupled to the disk drive motor, and when the amount of dust is small, the disk is driven so that infrared rays pass through the lens with a low depression angle, so that the infrared transmitting element is positioned on the lens with a low depression angle. It includes a transmission control unit 6 for controlling the infrared transmission element to be positioned on the lens having a high depression angle by driving the original plate so that infrared rays pass through the lens having a high angle.

The present invention constituted as described above allows the disk for mounting the concave lens to flow so that the dust concentration can be more accurately determined.

Looking at the actual operation, first, light of the transmitting element is outputted through the third concave lens 1c installed at the center of the concave lens group 1 basically.

And, when the concentration of dust decreases, the second concave lens 1b is positioned to the right of the third concave lens 1c and at the same time has a lower depression angle than the third concave lens 1c, and thus comes to the location of the transmitting element. It outputs by lowering the light output of the transmission element 2. In addition, when the concentration of dust increases, the first concave lens having a lower depression angle than the second concave lens comes to the location of the transmitting element, and accordingly, the light output of the transmitting element is much lowered to output.

In addition, when the concentration of dust increases, the fourth concave lens 1d is positioned to the left of the third concave lens 1c and at the same time has a higher depression angle than the third concave lens 1c, and comes to the location of the transmitting element 2 Accordingly, the light output of the transmission device 2 is increased and output is performed. In addition, as the concentration of Monji decreases further, the fifth concave lens is located on the left side of the fourth concave lens and at the same time, the fifth concave lens has a higher depression angle than the fourth concave lens. Accordingly, the optical output of the transmission element is greatly increased. Will be printed.

In addition, the concave lens group is designed to vary the degree of output of infrared light according to the depression angle of the center, and the third concave lens 1c is basically installed at the center of the operating rod and has a depression angle of 25 degrees.

In addition, the second concave lens 1b is used when the infrared light is to be output by slightly reducing the infrared light, is installed on the right side of the third concave lens 1c, and has a depression angle of 15 degrees.

In addition, the first concave lens 1a is used when the infrared light is to be further reduced and output, and is installed on the right side of the second concave lens 1b, and has a depression angle of 5 degrees.

In addition, the fourth concave lens 1d is used when the infrared light is to be further increased to be output, is installed on the left side of the third concave lens 1c, and has a depression angle of 35 degrees.

In addition, the fifth concave lens 1e is used when it is necessary to increase the infrared light and output it, and is installed on the left side of the fourth concave lens 1d to form a depression angle of 45 degrees.

On the other hand, the present invention further adds a fragrance application means, so that when the device is moved, a fragrance is emitted around the walker so that a subtle fragrance is maintained.

The fragrance chemical application device 1100 includes a housing 1110, a battery 1120, a rotation motor 1130, an up and down drive cylinder 1140, an elastic spring 1150 for lifting and lowering support, and a fragrance drug applicator. It consists of (1160), a chemical liquid storage means (1170), and an applicator temporary fixing means (1180).

The housing 1110 has a space therein, and is formed by embedding various devices. That is, the housing is configured by bonding two cases with one side open to each other, and various devices are installed in a space portion generated in the process of bonding the cases. Such a housing is generally of a structure similar to the means having a space therein.

The battery 1120 is installed inside the housing 1110 and serves to supply electricity to the device after charging electricity by receiving power from the outside. That is, the battery is installed on the upper part of the housing and is electrically connected to an external power supply to receive electricity, and temporarily stores the supplied power to supply electricity to various devices that require power.

The rotary motor 1130 is electrically connected to a battery and receives power from the battery and converts it into a mechanical rotational motion to freely rotate the motor shaft. At this time, the motor shaft 1131 has a shape in which a bottom surface is formed in a waveform shape in a vertical direction so that a curved waveform shape continuously rotates. That is, the rotary motor rotates by receiving power from a battery, and the bottom surface of the motor shaft is formed in a curved waveform to rotate.

The vertical drive cylinder 1140 is mechanically connected to the rotary motor, but is moved while moving up and down by converting the rotation of the rotary motor into a reciprocating vertical motion. At this time, the rotation shaft 1141 of the vertical drive cylinder 1140 has an upper surface in a shape of a waveform in a vertical direction, and moves up and down while repeating mutual coupling and separation with the waveform of the motor shaft of the rotary motor. In other words, the vertical drive cylinder is formed in the form of a curved waveform in the same way as the motor shaft of the rotary motor so that the lifting motion is performed according to the rotation of the rotary motor, and the vertical drive cylinder moves up and down when the rotary motor rotates. Will do.

The lifting and lowering support elastic spring 1150 is installed on the outer periphery of the vertical driving cylinder 1140, but one side is fixed to the locking jaw inside the housing 1110 and the other side is fixed to the locking jaw of the vertical driving cylinder 1140 The vertical driving cylinder 1140 is elastically supported so that the vertical driving cylinder 1140 can maintain the lifting operation. That is, since the elastic spring 1150 for elevating and descending supports the elasticity of continuously pushing the vertical drive cylinder 1140 upward, the waveform of the motor shaft 1131 of the rotary motor and the The vertical drive cylinder descends as the waveforms of the rotation shaft 1141 of the vertical drive cylinder 1140 are staggered, and after the staggering is over, the vertical drive cylinder 1140 rises by the elastic spring 1150 for lifting and lowering support. The waveform of 1141 and the waveform of the motor shaft 1131 of the rotary motor 1130 are in close contact. Accordingly, the vertical driving cylinder 1140 is repeatedly close to and spaced apart from the rotary motor 1130, so that the vertical driving cylinder 1140 continuously moves vertically around the rotary motor 1130.

The scent drug applicator 1160 has a body cylinder shape and has a plurality of scent drug passage holes 1161 installed on the bottom surface, is inserted and coupled to the inside of the up and down driving cylinder 1140, and supplies a scent drug Plays a role. That is, the scent drug applicator 1160 allows the scent drug stored therein to be discharged to the outside through the scent drug passage hole 1161, in which case the scent drug applicator 1160 is installed inside the vertical driving cylinder Therefore, when the vertical driving cylinder 1140 is operated up and down, the fragrance drug applicator 1160 is hit to output the drug to the outside according to the law of inertia.

The scent drug storage means 1170 is a state in which the scent drug is housed therein, and is inserted and installed in the scent drug applicator 1160 to be output through the scent drug passage hole 1161 of the scent drug applicator 1160. . That is, the fragrance chemical storage means 1170 is in a state in which the drug is stored, and the lower part is coupled to the fragrance drug applicator 1160 in an open form, and the fragrance of the fragrance chemical storage means when the vertical drive cylinder 1140 is driven. The drug is output to the outside. In fact, since the scent drug passage hole 1161 is formed finely, it is not easily discharged to the outside when the upper and lower driving cylinders 1140 are not operated.

The scent drug applicator temporary fixing means 1180 has one side coupled to the scent drug applicator 1160 and the other side coupled to one end of the housing 1110, and a vertical driving cylinder 1140 based on the housing 1110 and The scent drug applicator 1160 is temporarily fixed at the same time to prevent the up and down driving cylinder 1140 and the scent drug applicator 1160 from falling down due to gravity while the scent drug applicator 1160 flows up and down. And, when replacing the fragrance drug applicator 1160, by pressing a button to release the fixing of the fragrance drug applicator based on the housing so that the fragrance drug applicator is separated from the vertical driving cylinder and removed to the bottom. That is, the scent drug applicator temporary fixing means prevents the scent drug applicator from being removed during operation by temporarily fixing the up and down driving cylinders and the scent drug applicator, and after all the drugs present in the scent drug applicator are used, the button After releasing the fragrance drug applicator by pressing, the fragrance chemical storage means is induced to re-store.

The temporary fixing means 1180 includes a hook for locking 1181, a connecting piece 1182, a hinge for rotation support 1183, a spring for support 1184, a sliding piece 1185, and a push button 1186).

The hook for hook 1181 is formed in a wedge shape with a sharp end and is forcibly fitted through the coupling hole 1140a of the vertical drive cylinder 1140 and the coupling hole 1160a of the drug applicator 1160 to apply fragrance drugs. The machine 1160 maintains a state coupled to the inner periphery of the vertical drive cylinder 1140.

The connecting piece 1182 is integrally connected to the locking hook 1181 in a diagonal direction, and induces the locking hook 1181 to move in a clockwise or counterclockwise direction by a rotational motion.

The rotation support hinge 1183 is installed between the connecting piece 1182 and the hook 1181 for locking, and serves as a central axis through which the connecting piece is rotated.

The support spring 1184 is installed between the connecting piece 1182 and the vertical driving cylinder 1140 to push the connecting piece outward so that the locking hook 1181 flows counterclockwise so that the drug applicator is coupled to the vertical driving cylinder. It functions to maintain the state, and when the connecting piece is pressed by an external force and compressed in the vertical driving cylinder direction, the hook for locking (1181) is separated from the vertical driving cylinder (1140) and the scent drug applicator (1160). Induces the applicator 1160 to be removed from the vertical drive cylinder 1140.

The sliding flow piece 1185 is installed at the end of the connecting piece 1182 and moves simultaneously when the hook for locking 1181 and the connecting piece 1182 move up and down according to the up and down flow of the up and down driving cylinder 1140.

The push button (1186) is slidingly coupled with the sliding flow piece (1185) to support the vertical movement of the sliding flow piece (1185), and when replacing the fragrance drug applicator (1160) in the vertical drive cylinder (1140) direction By pushing and pressing the connecting piece 1182, the connecting piece 1182 rotates around the hinge pin 1183 for rotation support, so that the hook for locking 1181 is moved up and down from the cylinder 1140 and the fragrance drug applicator 1160. As it is separated, it serves to induce the fragrance drug applicator 1160 to be removed from the vertical driving cylinder 1140.

110: control unit
120: operator control unit
130: trainer control panel
140: walking department
150: detection unit

Claims (5)

A control unit composed of a control data collection device equipped with a microprocessor, and an operator control unit 120 configured to select any one of a medical treatment mode, a pattern drive mode, a real-time drive mode, and a memory mode or observe the patient's gait status. ), and a walking unit 140 configured to drive each joint of the impaired lower limb and a detection unit 150 for detecting the gait state of the normal and impaired lower limbs,
When the operator control unit 120 selects the real-time driving mode, the detection unit 150 is worn on the normal lower extremity to detect data of the normal lower extremity, and the detected data is sent to the control unit 110 to determine the patient's normal walking state. , So that the walking unit 140 worn on the disabled lower limb is driven in real time in a walking state of the normal lower limb;
And a dust measuring means installed on one side of the walking training machine and outputting an alarm signal when it is determined that more than a standard dust exists by measuring dust generated around the walking training machine;

The dust measuring means,
A housing for collecting dust, and a wire mesh 10a installed inside the housing 4, which removes moisture from the input dust and guides only the correct dust to pass, and the wire mesh is inserted and coupled to the wire mesh to rotate the air A wire mesh rotary motor (10b) for accelerating the removal of moisture present in the wire mesh, and an electric means (10c) for providing heater heat to supply heat to the wire mesh to evaporate moisture in contact with the wire mesh at a high speed. And, an infrared transmitting means (A) for emitting infrared rays to detect the dust from which the moisture has been removed, and an infrared transmitting means (A) positioned to face the infrared transmitting means and receiving the light emitted from the infrared transmitting means, and the amount of the received Infrared receiving means (B) for determining the inflow of dust according to, and dust for controlling the input voltage of the infrared transmitting means (A) to increase when the output voltage of the infrared receiving means (B) is less than a set value It comprises a measurement control unit (C);
A humidity sensor 7 is further installed on one side of the housing so that the dust measurement control unit C controls the rotational speed of the wire mesh rotary motor 10b according to the humidity, and when the humidity is high, the rotation speed of the wire mesh rotary motor 10b is referenced. Children using a walker, characterized in that the heater heat is higher than the standard and the heater heat higher than the standard is supplied, and if the humidity is low, the rotation speed of the wire mesh rotary motor (10b) is lower than the standard and the heater heat lower than the standard is supplied. Gait training control system. delete The method of claim 1,
The wire mesh (10a) is required by combining a horizontal guide rod (10a-1) and a vertical guide rod (10a-2) coupled to the vertical groove (5) of the housing so as to be detachably attached to the shaft of the wire mesh rotary motor (10b). It is characterized in that the horizontal guide rod (10a-1) is separated from the wire mesh rotary motor (10b) and at the same time the vertical guide rod (10a-2) is separated from the housing (4) to remove contaminants existing in the wire mesh. Children's gait training control system using a walker. delete delete

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