KR102443453B1 - Exercise therapy system for lower limb rehabilitation - Google Patents

Abstract

The present invention, a frame unit worn on the thigh and lower leg, a first angle adjustment unit coupled to the first frame unit to adjust the rotation of the first frame unit, and a second frame unit coupled to the second frame unit to rotate the second frame unit It is possible to provide an exercise treatment system for lower extremity rehabilitation including a second angle control unit to adjust and a control unit. According to the above bar, it is easy to set the bending and unfolding angles of the knee joint, and it is possible to variously control the limited angle range.

Description

Exercise therapy system for lower extremity rehabilitation {EXERCISE THERAPY SYSTEM FOR LOWER LIMB REHABILITATION}

The present invention relates to an exercise therapy system for lower extremity rehabilitation, and more particularly, it is easy to set the bending and unfolding angles of the knee joint, and it is possible to adjust the angle of the knee joint more subdivided and more precisely, so that effective rehabilitation and treatment are possible. It relates to an exercise therapy system for

In general, if the inner and outer ligaments of the knee are damaged or damaged due to vigorous exercise, or muscle loss occurs due to not using the lower extremities for a long time after surgery, rehabilitation of the lower extremities is required. And by limiting the angle of extension to minimize the movement of the ligaments and muscles, the knee auxiliary joint is used so that the ligaments and muscles can be healed more quickly.

As an example of the technology for such a knee joint mechanism, Republic of Korea Patent Registration No. 10-1230458 discloses an upper support having an upper frame extending to one side; a lower support having a lower frame extending toward the end of the upper frame; The lower support is to be rotated with respect to the upper support, including; a link rotation unit having a first rotary link and a second rotary link that are arranged in a mutually intersecting direction and both ends are respectively coupled to the upper frame and the lower frame in a rotatable structure. When, there has been disclosed a knee joint rehabilitation exercise device, characterized in that configured to change the center of rotation of the lower support according to the rotation angle of the lower support.

However, in the conventional knee joint mechanism described above, it is difficult to set the bending and unfolding angles of the knee joint, and since the angle range is limited as much as it is configured in a mechanism method, more subdivided and precise angle control is difficult. There was a problem in that effective customized rehabilitation and treatment according to speed and the like were difficult.

Republic of Korea Patent No. 10-1230458

In the present invention, it is easy to set the bending and unfolding angles of the knee joint, and since the limited angle range can be set in various and more subdivided ways, precise knee angle control in response to each rehabilitation program (physical state) that is the object to be worn An object of the present invention is to provide an exercise therapy system for lower extremity rehabilitation through which effective rehabilitation and treatment are possible.

The present invention, a frame unit comprising a first frame unit worn on the thigh of the subject, and a second frame unit worn on the lower leg of the subject and rotatably coupled to the first frame unit; a first angle adjusting unit coupled to the first frame unit, configured to rotate by a driving source driven and controlled by a control signal, and to be limited in rotation by the frame unit during rotation, to adjust the rotation angle of the first frame unit; It is coupled to the second frame unit, is driven by a control signal, rotates by a driving source independent of the first angle adjusting unit, and is configured to limit rotation by the frame unit when rotating, so as to adjust the rotation angle of the second frame unit. a second angle adjusting unit; The first and second angle control units transmit control signals to control the rotation angle of the first frame unit and the second frame unit, respectively, but the knee joint of the subject according to the rehabilitation period and the rehabilitation period of the subject. The control unit for controlling the angle of rotation of the first frame unit and the angle of rotation of the second frame unit according to the rotation angle of the subject to control the knee joint bending angle and extension angle of the subject; It is possible to provide an exercise therapy system for

The first frame unit includes a first frame formed to cover the front or rear of the thigh, and one end is coupled to both ends of the first frame, respectively, located on both sides of the thigh, and the other end is formed extending downwardly toward the knee. The second frame, coupled to at least any one of the first frame or the second frame, may be configured to include a first coupling band that is detachably coupled to surround the thigh to fix the first frame and the second frame to the thigh. .

The first frame unit may be configured to have a shape corresponding to the shape of the first frame and the second frame, and further include a first cushion member coupled to the inside of the first frame and the second frame.

The second frame unit, a third frame formed to cover the rear or front of the lower leg, is respectively located on both sides of the lower leg, one end is respectively coupled to both ends of the third frame, the other end extends upward toward the knee A fourth frame that is formed and positioned to face the other end of the second frame, coupled to at least one of the third frame or the fourth frame, and removably coupled to surround the lower leg to attach the third frame and the fourth frame to the lower leg It may be configured to include a second coupling band for fixing.

The second frame unit may be formed to have a shape corresponding to the shape of the third frame and the fourth frame, and may further include a second cushion member coupled to the inside of the third frame and the fourth frame.

An angle measuring sensor ( ROM sensor) may be further included.

The first angle adjusting unit includes a first motor coupled to the second frame unit and driven by a control signal received from the control unit, a first gear axially coupled to the rotation shaft of the first motor and rotated by the first motor; It may be configured to include a first rotation gear meshed with the first gear to rotate in conjunction with the first gear, and a first stopper portion coupled to the first rotation gear to limit rotation of the second frame.

The first stopper part includes a first coupling part fixedly coupled to the outer circumferential surface of the first rotation gear and rotating according to the rotation of the first rotation gear, one end coupled to the first coupling part, and the other end extending toward the frame part, It may be configured to include a first locking member that is caught on the other side of the second frame or the other side of the fourth frame according to the rotation of the first rotation gear to limit the rotation of the second frame portion.

At this time, the control unit rotates the first motor to rotate the first gear according to the set rotation angle, and the positions of the first rotation gear and the first stopper part are changed by the rotation of the first gear to rotate the first frame unit. The angle may be configured to be adjustable.

The second angle adjusting unit includes a second motor coupled to the fourth frame unit and driven by a control signal received from the control unit, and a second gear axially coupled to the rotation shaft of the second motor and rotated by the second motor; It may be configured to include a second rotation gear meshed with the second gear to rotate in conjunction with the second gear, and a second stopper portion coupled to the second rotation gear to limit rotation of the fourth frame.

The second stopper part includes a second coupling part fixedly coupled to the outer circumferential surface of the second rotary gear and rotating according to the rotation of the second rotary gear, one end coupled to the second coupling part, and the other end extending toward the frame part, It may be configured to include a second locking member that is caught on one side of the second frame or one side of the fourth frame according to the rotation of the second rotation gear to limit the rotation of the fourth frame part.

At this time, the control unit rotates the second motor to rotate the second gear according to the set rotation angle, and the positions of the second rotation gear and the second stopper part are changed by the rotation of the second gear to change the rotation angle of the second frame unit. It can be configured to be adjustable.

The other end of the second frame and the other end of the fourth frame are axially coupled to the central rotational shaft and rotated about the central rotational axis, and the first rotational gear and the second rotational gear are configured to be axially coupled with the central rotational shaft as the rotational axis. can

The control unit is configured to automatically control the rotation angle of the first frame unit and the rotation angle of the second frame unit by controlling the first angle adjusting unit and the second angle adjusting unit, respectively, according to the elapsed time from the starting point of rehabilitation of the subject. can

The control unit may be configured to control to gradually increase the rotation angle of the first frame unit and the rotation angle of the second frame unit according to the set rotation angle every time a set time elapses from the start of rehabilitation through the rehabilitation program.

Here, the control unit receives the knee angle value from the angle measurement sensor to monitor the knee joint movement of the subject, and compares the monitored knee angle value with the set rotation angle of the first frame unit and the rotation angle of the second frame unit, respectively. It may be configured to correct the rotation angle of the first frame unit and the rotation angle of the second frame unit.

The exercise therapy system for lower extremity rehabilitation according to the present invention can provide the following effects.

First, it is easy to set each bending and unfolding angle of the knee joint through motor control, and since the restricted angle range is diverse and the control angle can be further subdivided, precise knee angle control is possible.

Second, since the control angle can be set in various ranges, it is possible to change and adjust the set knee angle in response to each rehabilitation program (physical state), which is a wearable object, thereby enabling effective customized rehabilitation and treatment.

Third, it is possible to automatically set and control the knee angle according to the elapsed time of rehabilitation, etc., and also to increase the convenience and usability by allowing it to be viewed and controlled through the application of the portable terminal or the central server.

Fourth, customized rehabilitation and treatment are easy by correcting and adjusting the knee angle according to the physical ability of the individual who is the wearer through the angle measuring sensor.

Fifth, the simple structure makes it easy to manufacture as well as easy to wear, and it is possible to improve the convenience in use through the cushion member.

1 and 2 are perspective views illustrating the configuration of an exercise therapy system for lower extremity rehabilitation according to an embodiment of the present invention.
3 is a side view illustrating the configuration of an exercise therapy system for lower extremity rehabilitation according to an embodiment of the present invention.
4 is a front view showing the configuration of an exercise therapy system for lower extremity rehabilitation according to an embodiment of the present invention.
5 is a side view conceptually illustrating a principle of adjusting a knee extension angle by a second stopper unit in an exercise therapy system for lower extremity rehabilitation according to an embodiment of the present invention.
6 is a side view conceptually illustrating a principle of adjusting a knee bending angle by a second stopper unit in an exercise therapy system for lower extremity rehabilitation according to an embodiment of the present invention.
7 is a block diagram illustrating a control flow of a controller in an exercise therapy system for lower extremity rehabilitation according to an embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

The terms used in the present invention have been selected as currently widely used general terms as possible while considering the functions in the present invention, but these may vary depending on the intention or precedent of a person skilled in the art, the emergence of new technology, and the like. In addition, in a specific case, there is a term arbitrarily selected by the applicant, and in this case, the meaning will be described in detail in the description of the corresponding invention. Therefore, the term used in the present invention should be defined based on the meaning of the term and the overall content of the present invention, rather than the name of a simple term. In the entire specification, when a part "includes" a certain component, it means that other components may be further included, rather than excluding other components, unless otherwise stated. In addition, terms such as "...unit" and "unit" described in the specification mean a unit that processes at least one function or operation, which may be implemented as hardware or software, or a combination of hardware and software. . Throughout the specification, "subject" may include not only patients in need of treatment or rehabilitation, but also persons in need of rehabilitation or exercise, and may also include animals for veterinary use.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily carry out the present invention. However, the present invention may be embodied in several different forms and is not limited to the embodiments described herein. And in order to clearly explain the present invention in the drawings, parts irrelevant to the description are omitted, and similar reference numerals are attached to similar parts throughout the specification.

First, the exercise therapy system (hereinafter referred to as 'exercise therapy system') for lower extremity rehabilitation according to an embodiment of the present invention is worn on the thigh and lower leg of the lower extremities, and the rotation angle of the thigh and lower leg using independent driving sources It is configured to adjust each, so that the bending angle and extension angle of the knee can be subdivided and precisely controlled according to the target person's set knee joint (knee) rotation angle according to the target person's rehabilitation time and the rehabilitation time, and through this, the wearer's body In response to the condition, effective customized rehabilitation and treatment are possible.

1 to 4 of the present invention, the exercise therapy system according to the embodiment of the present invention, the frame unit 100, the first angle control unit 200, and the second angle control unit ( 300 ) and a control unit 500 .

The frame unit 100 may include a first frame unit 110 and a second frame unit 120 .

The first frame unit 110 is worn on the thigh, and may be configured to include a first frame 111 , a second frame 112 , and a first coupling band 113 and 114 .

The first frame 111 is formed to surround the front or back of the femur, and may be formed by being convexly bent toward the front or back of the thigh as shown.

The second frame 112 has one end coupled to both ends of the first frame 111 to be positioned on both sides of the femur, respectively, and the other end is formed to extend downward toward the knee. Here, the second frame 112 may have a longitudinal direction parallel to the longitudinal direction of the femur as shown, but is not limited thereto.

Meanwhile, the first frame 111 and the second frame 112 may be integrally formed as shown in a plate shape having a set width, but in consideration of wearability, etc. in an embodiment, the first frame 111 ) and the second frame 112 are link-coupled to each other, and various combinations are possible.

The first frame 111 and the second frame 112 may be any material that can maintain durability after wearing, such as a resin material or a metal material.

The first coupling bands 113 and 114 are coupled to the first frame 111 and the second frame 112 and serve to fix the first frame 111 and the second frame 112 to the thigh portion. The first coupling bands 113 and 114 may be formed of a flexible material to wrap the thigh, and both ends may be detachably coupled to each other by a detachable means to enable wearing.

Here, the first coupling bands 113 and 114 may be formed of a good breathable and practical fabric material, but is not limited thereto. And as for the detachable means, a known velcro can be applied, but various configurations are possible if the above object can be achieved, such as a detachable hook. The first coupling bands 113 and 114, as shown, are formed in two, are coupled to the first frame 111 and the second frame 112, respectively, and may be configured to cover the front and rear surfaces of the thighs, respectively, but this is one It goes without saying that the number and coupling position may be different depending on the physique of the person to be worn in the embodiment.

On the other hand, the first frame unit 110 is formed in a shape corresponding to the shapes of the first frame 111 and the second frame 112 , and inside the first frame 111 and the second frame 112 . A first cushion member 115 to be coupled may be provided. The first cushion member 115 has a set thickness, and relieves friction and pressure that may occur between the first frame 111 and the second frame 112 and the thigh during activity after wearing, making the wearer uncomfortable can resolve. The first cushion member 115, a known sponge material may be applied, but is not limited thereto.

The second frame unit 120 is worn on the lower leg, and may include a third frame 121 , a fourth frame 122 , and second coupling bands 123 and 124 .

The third frame 121 is formed to surround the rear or front of the lower leg, and may be formed by being convexly bent toward the front or rear of the lower leg as shown.

The fourth frame 122 has one end coupled to both ends of the third frame 121 and respectively positioned on both sides of the lower leg, the other end extending upward toward the knee and facing the other end of the second frame 112 . configured to be positioned. Here, the fourth frame 122 may have a longitudinal direction parallel to the longitudinal direction of the lower leg, but is not limited thereto.

The third frame 121 and the fourth frame 122 may be integrally formed as shown in a plate shape having a set width, but in consideration of wearability and the like in an embodiment, the third frame 121 and Various combinations of the fourth frame 122 are possible. In addition, the third frame 121 and the fourth frame 122 are all materials that can maintain durability after wearing, such as the same resin material or metal material as those of the first frame 111 and the second frame 112 described above. Applicable.

Meanwhile, the second frame unit 120 is rotatably coupled to the first frame unit 110 . For this purpose, as shown, the other end of the second frame 112 and the other end of the fourth frame 122 may be axially coupled by the central rotation shaft 130 to be rotatably coupled.

The second coupling bands 123 and 124 are coupled to the third frame 121 and the fourth frame 122, and serve to fix the third frame 121 and the fourth frame 122 to the lower leg. The second coupling bands 123 and 124 may be detachably coupled around the lower leg, and may be composed of the same material and configuration as the first coupling bands 113 and 114 .

The second coupling bands 123 and 124 are formed in two, as shown, respectively, coupled to the third frame 121 and the fourth frame 122, and may be configured to cover the front or back of the lower leg, but is not limited thereto. does not

The second frame unit 120 is formed in a shape corresponding to the shape of the third frame 121 and the fourth frame 122 , and is coupled to the inside of the third frame 121 and the fourth frame 122 . A second cushion member 125 may be provided.

The second cushion member 125 serves to improve wearability by alleviating friction or pressure that may occur between the third frame 121 and the fourth frame 122 and the thigh during activity after wearing.

On the other hand, the exercise therapy system is coupled to the other end of the second frame 112 and the other end of the fourth frame 122, respectively, through the angle between the second frame 112 and the fourth frame 122, knee It may be configured to include an angle measuring sensor 400 (ROM sensor) for measuring the angle and transmitting the measured knee angle value to the controller 500 .

Here, the angle measuring sensor 400 measures the relative angle of the second frame 112 and the fourth frame 122 with the second frame 112 and the fourth frame 122 as respective axes, and the second frame 112 and the fourth frame 122 during activity. Various configurations may be applied if the above object can be achieved, such as a known electronic ROM sensor or a mechanical angle sensor.

On the other hand, the exercise treatment system of the present invention is configured to adjust the angle of rotation of the first frame unit 110 and the second frame unit 120 to adjust the knee joint angle of the wearer. Specifically, the exercise treatment system of the present invention is configured to limit the angle of extension and the angle of bending of the knee joint, respectively, so that the subject in rehabilitation does not stretch or bend the knee forcibly.

Hereinafter, first, a configuration for adjusting the bending angle of the knee will be described. First, adjusting the bending angle of the knee means limiting the angle at which the knee can be bent by adjusting the bending angle of the knee.

Accordingly, the exercise treatment system of the present invention is configured to adjust the bending angle of the knee by adjusting the rotation angle of the first frame unit 110 through the first angle adjusting unit 200 .

Looking at this first angle adjusting unit 200 in detail, the first angle adjusting unit 200 is coupled to the first frame unit 110 and rotates by a driving source that is driven and controlled by a control signal. It is configured to be limited in rotation by the frame unit 100 , and may be configured to adjust the rotation angle of the first frame unit 110 .

In detail, the first angle adjusting unit 200 may be configured to include a first motor 210 , a first gear 220 , a first rotation gear 230 , and a first stopper unit 240 . can

The first motor 210 is coupled to the outside of the second frame so that the position thereof is fixed, and the driving is controlled by the control signal received from the control unit 500 . The first motor 210 may be driven by a rechargeable battery so that there is no need to receive a separate power supply, and a communication unit may be configured to receive a control signal from the control unit 500 .

The first gear 220 is axially coupled to the rotation shaft of the first motor 210 and is configured to rotate by the first motor 210 .

The first rotation gear 230 is meshed with the first gear 220 and is configured to rotate in association with the first gear 220 . Here, the first gear 220 and the first rotation gear 230 may adjust the rotation angle of the first rotation gear 230 with respect to the pitch rotation of the first gear 220 by adjusting the gear ratio, respectively. The rotation angle adjustment can be designed in various ways in consideration of the device size and the set rotation angle. On the other hand, the first rotation gear 230 may be rotatably coupled to the above-described central rotation shaft 130 as a rotation shaft and positioned on the side of the knee.

The first stopper unit 240 is coupled to the first rotation gear 230 , and serves to limit the rotation angle of the first rotation gear 230 . In detail, the first stopper part 240 may include a first coupling part 241 and a first locking member 242 .

The first coupling part 241 is fixedly coupled to the outer peripheral surface of the first rotation gear 230 so as to protrude along the radial direction of the first rotation gear 230 , and rotates according to the rotation of the first rotation gear 230 . is composed

The first locking member 242, one end is coupled to the first coupling portion 241, the other side is formed to extend toward the frame portion 100, according to the rotation of the first rotation gear 230, the second frame ( 112) or the other side of the fourth frame 122 is configured to limit the rotation of the first rotation gear 230. That is, the first locking member 242 serves to limit movement by the second frame 112 and the fourth frame 122 during rotation, thereby limiting the rotation of the first rotation gear 230 as well. do.

On the other hand, the first stopper unit 240, its position can be adjusted to adjust the bending angle of the knee, a detailed description thereof will be described later.

Next, a configuration for adjusting the angle of extension of the knee will be looked at. First of all, in this case, the knee extension angle adjustment means limiting the knee extension angle by adjusting the knee extension angle.

Accordingly, the exercise treatment system of the present invention is configured to adjust the angle of the knee extension by adjusting the rotation angle of the second frame unit 120 through the second angle adjustment unit 300 .

Specifically, the second angle control unit 300 is coupled to the second frame unit 120, is driven by a control signal, rotates by a driving source independent of the first angle control unit 200, and rotates the frame unit (100) is configured to limit the rotation, it may be configured to adjust the rotation angle of the second frame unit (120). In this case, the second angle adjusting unit 300 may be driven through a driving source independent of the first angle adjusting unit 200 , and may be individually controlled with the first angle adjusting unit 200 .

The second angle adjusting unit 300 may include a second motor 310 , a second gear 320 , a second rotation gear 330 , and a second stopper unit 340 .

The second motor 310 is coupled to the outside of the fourth frame 122 so that the position thereof is fixed, and the driving is controlled by the control signal received from the control unit 500 . The second motor 310 may be driven by a rechargeable battery like the first motor 210 , and a communication unit may be configured to receive a control signal from the control unit 500 .

The second gear 320 is axially coupled to the rotation shaft of the second motor 310 and is configured to rotate by the second motor 310 .

The second rotation gear 330 is meshed with the second gear 320 and is configured to rotate in association with the first gear 220 , and is rotatably coupled with the central rotation axis as the rotation axis to the first rotation gear 230 . may be coaxially coupled to the front or rear of the

The second gear 320 and the second rotation gear 330 can adjust the rotation angle of the second rotation gear 330 with respect to the pitch rotation of the second gear 320 by adjusting the gear ratio, respectively, and the device size and It can be designed in various ways in consideration of the set rotation angle, etc.

The second stopper part 340 is coupled to the second rotation gear 330 , and serves to limit rotation of the second rotation gear 330 . The second stopper part 340 may include a second coupling part 341 and a second locking member 342 .

The second coupling part 341 is fixedly coupled to the outer circumferential surface of the second rotation gear 330 so as to protrude along the radial direction of the second rotation gear 330 , and rotates according to the rotation of the second rotation gear 330 . is composed

The second locking member 342, one end is coupled to the second coupling part 341, the other side is formed to extend toward the frame part 100, according to the rotation of the second rotation gear 330, the second frame ( 112), or on one side of the fourth frame 122, serves to limit the rotation angle of the second rotation gear 330. Here, the configuration of the second stopper part 340 is configured to correspond to the configuration of the above-described first stopper part 240 and may be positioned to be symmetrical with each other.

5 and 6 are views conceptually illustrating the principle of adjusting the opening angle and the bending angle of the knee joint by the second stopper part 340 and the first stopper part 240. Referring to this, the first of the present invention The operation of the angle adjusting unit 200 and the second angle adjusting unit 300 will be examined respectively.

First, FIG. 5 shows the principle that the unfolding angle is adjusted by the second angle adjusting unit 300 . Referring to the drawings, the second angle adjusting unit 300 may be configured to adjust the rotation angle of the fourth frame 122 so that the fourth frame 122 is rotated only within a set unfolding angle.

Specifically, the second angle adjusting unit 300 is rotated in conjunction with the second stopper unit 340 according to the rotation of the fourth frame 122 . At this time, the rotation of the fourth frame 122 is the second Its rotation is restricted by the stopper part 340 . This is because the fourth frame 122 interferes with the second frame 112 as the second stopper part 340 moves in the clockwise direction according to the unfolding rotational operation as shown, thereby limiting the movement.

Meanwhile, in the present invention, the second angle adjusting unit 300 may be configured to adjust the unfolding angle range by adjusting the position of the second stopper unit 340 . That is, as shown, the state in which all the knee joints are stretched to the extent that the fourth frame 122 and the second frame 112 are arranged in a straight line is referred to as a2, and the state in which the knee joint is limited so that it can be stretched only within a set angle. When is a1, the unfolding angle can be adjusted by adjusting the position of the second stopper part 340 . The second stopper part 340 indicated by a hidden line in the drawing schematically shows the position before unfolding, and as shown, the second stopper part 340 moves forward clockwise as the position moves forward in the fourth frame ( 122), it can be seen that the unfolding angle is limited.

On the other hand, the position of the second stopper unit 340 can be adjusted by the control unit 500 , and for this purpose, the control unit 500 sets the second gear 320 by rotating the second motor 310 . Rotate according to the rotation angle, and by the rotation of the second gear 320, the positions of the second rotation gear 330 and the second stopper part 340 are changed so that the rotation angle of the second frame unit 120 is adjusted. can be configured.

Next, the principle of adjusting the bending angle will be described. Referring to FIG. 6 , the first angle adjusting unit 200 may be configured to adjust the rotation angle of the second frame 112 so that the second frame 112 is rotated only within a set bending angle.

In detail, the first angle adjusting unit 200 is rotated in conjunction with the first stopper unit 240 according to the rotation of the second frame 112 , and the rotation of the second frame 112 at this time is the first Its rotation is restricted by the stopper unit 240 . This is because the movement of the second frame 112 is limited as the first stopper unit 240 moves in a clockwise direction according to the bending operation and then comes into interference contact with the fourth frame 122 as shown.

In the present invention, the first angle adjusting unit 200 may be configured to adjust the bending angle range by adjusting the position of the first stopper unit 240 like the first angle adjusting unit 200 . Referring to the drawings, when a state in which the second frame 112 is bent in a horizontal state is referred to as b2, and a state in which the knee joint is bent only within a set angle is referred to as b1, the position of the first stow is adjusted. The bending angle can be adjusted. At this time, the first stopper part 240 indicated by the hidden line in the drawing schematically shows the position before being bent, and as the position of the first stopper part 240 is moved forward in the clockwise direction as shown in the figure, the second frame ( It can be seen that the bending angle of 112) is limited.

At this time, the position of the first stopper unit 240 may be adjusted by the control unit 500 , and for this purpose, the control unit 500 rotates the first motor 210 to set the first gear 220 . Rotate according to the rotation angle, and the positions of the first rotation gear 230 and the first stopper part 240 are changed by the rotation of the first gear 220 so that the rotation angle of the first frame unit 110 is adjusted. can be configured.

On the other hand, in the above embodiment, the movement of the first stopper unit 240 and the second stopper unit 340 is restricted while contacting and interfering with the side surfaces of the second frame 112 and the fourth frame 122 . However, this is an embodiment, if the movement of the first stopper unit 240 and the second stopper unit 340 can be limited, the restraint target is determined according to the design other than the second frame 112 and the fourth frame 122 . It goes without saying that it can be done in various ways, and it is of course also possible to design by setting the bending angle range and the unfolding angle range in various ways. In addition, although FIG. 5 shows the principle that only the second angle control unit 300 is adjusted, and FIG. 6 shows the principle that only the first angle control unit 200 is adjusted, although not shown, the first angle control unit 200 and the The two angle adjusting unit 300 may be adjusted together to adjust the bending angle and the unfolding angle.

Hereinafter, the control unit 500 will be described.

The control unit 500 transmits a control signal to each of the first angle adjusting unit 200 and the second angle adjusting unit 300 , the rotation angle of the first frame unit 110 , and the second frame unit 120 . Each serves to control the rotation angle, and in detail, the rotation angle of the first frame unit 110 and the second frame unit 120 according to the rotation angle of the knee joint set of the target person according to the rehabilitation time and the rehabilitation time of the target person ) may be configured to control the angle of rotation of each individual to control the bending angle and extension angle of the knee joint of the subject.

In detail, referring to FIG. 7 , the control unit 500 transmits a control signal to the first motor 210 of the first angle adjustment unit 200 to adjust the position of the first stopper unit 240 so that the first The rotation angle of the frame unit 110 can be adjusted.

In addition, the control unit 500 transmits a control signal to the second motor 310 of the second angle adjusting unit 300 to adjust the position of the second stopper unit 340 to rotate the second frame unit 120 . angle can be adjusted.

In this case, the control unit 500 may control the respective rotation angles of the first frame unit 110 and the second frame unit 120 according to the rehabilitation state and physical condition of the target person, and may be a terminal of a manager such as a doctor or a therapist. A control signal can be transmitted through an application of

On the other hand, the control unit 500, in controlling the first frame unit 110 and the second frame unit 120 according to the physical condition of the subject as described above, to enable more detailed and customized rehabilitation management for the subject. The first frame unit 110 and the second frame unit 120 may be controlled through various methods.

Looking at this, the control unit 500 controls each of the rotation angle of the first frame unit 110 and the rotation angle of the second frame unit 120 according to the rehabilitation period of the target person to determine the knee joint bending angle and the unfolding angle of the target person. Each can be controlled.

In an embodiment for this, the control unit 500 sets the bending and unfolding angles of the knee joint according to the rehabilitation progress and parking based on the target person's rehabilitation plan (rehabilitation program) in advance, and according to the elapsed time from the target person's rehabilitation start time The first angle adjusting unit 200 and the second angle adjusting unit 300 can be controlled so that the rotation angle of the first frame unit 110 and the rotation angle of the second frame unit 120 are automatically controlled to the set rotation angle, respectively. .

For example, when it is seen that the effect of the rehabilitation treatment of the subject is exerted as time passes and the subject's physical condition is improved and is further recovered, the control unit 500 is the first frame unit 110 every time a set time has elapsed from the start of the rehabilitation. By controlling the rotation angle of and the rotation angle of the second frame unit 120 to gradually increase, it is possible to increase the allowable bending angle and unfolding angle of the knee joint.

Meanwhile, in the above, the controller 500 automatically controls the first angle adjusting unit 200 and the second angle adjusting unit 300 to a set rotation angle based on a rehabilitation plan or a rehabilitation program, but this is an embodiment of the manager Of course, it is possible to automatically control the first angle adjusting unit 200 and the second angle adjusting unit 300 by arbitrarily selecting and setting a rotation value that is automatically controlled for a target person.

Next, the control unit 500 controls the rotation angle of the first frame unit 110 and the rotation angle of the second frame unit 120 according to the rotation angle of the knee joint according to the rehabilitation period of the target person, respectively, the knee of the target person Depending on the condition, the knee joint bending angle and extension angle can be individually controlled.

Looking at this, first, according to the above-mentioned bar, the control unit 500 sets the bending and unfolding angles of the knee joint in advance, and automatically the first angle adjusting unit 200 and the second angle adjusting unit 300 according to the set angle. ) has been described as being configured to control.

In this case, since the bending and unfolding angles of the knee joint are set in advance before rehabilitation treatment, the rehabilitation starts and the set value may have an error depending on the effect. Accordingly, the control unit 500 may set the setting value in a personalized way in response to the individual rehabilitation treatment effect.

To this end, the controller 500 receives the knee angle value from the angle measurement sensor 400 to monitor the knee joint movement of the subject, and the monitored knee angle value and the set rotation angle of the first frame unit 110 and the second It may be configured to correct the rotation angle of the femoral frame and the rotation angle of the second frame unit 120 set by comparing the rotation angle of the frame unit 120, respectively.

At this time, the control unit 500 receives, respectively, the maximum and minimum values of the bending angle and the maximum and minimum values of the bending angle within the set period during the rehabilitation treatment of the subject through the angle measuring sensor 400, and through this, the amount of change in the bending angle within the set period By monitoring the average range, the maximum bending angle, the average range of the amount of change in the unfolding angle, the maximum unfolding angle, etc., it may be configured to monitor the actual rehabilitation state of the subject.

That is, the control unit 500 monitors the knee joint angle change of the subject from the angle measurement sensor 400 to determine the recovery speed and muscle strength of the knee joint, and adjusts the set value through this to adjust the bending and unfolding of the knee joint. The allowable angle can be further increased or decreased.

In this embodiment, the control unit 500, the maximum bending angle and the average range of the amount of change in the bending angle of the monitored subject, the maximum range of the unfolding angle and the average range of the amount of change in the unfolding angle, and the set first frame unit 110 of The rotation angle and the rotation angle of the second frame unit 120 are respectively compared and analyzed.

At this time, the control unit 500 compares the maximum value of the actual bending angle of the subject and the average range of the amount of change in the bending angle with the rotation angle of the set first frame unit 110, and the actual knee joint bending degree of the subject does not reach the set value. If not, it is judged that the recovery of the target person is slow, and the set value can be extended as it is without changing to the next step.

On the other hand, the control unit 500, compared with the actual knee bending angle and the set rotation angle, the actual maximum knee bending angle of the subject corresponds to the set rotation angle and the number of times of reaching the maximum value corresponds to the set number of times, the preset rotation Depending on the angle, the rotation angle is controlled through the first angle adjusting unit 200 . On the other hand, at this time, the rotation angle progress step can be adjusted according to the number of times the actual maximum knee bending angle has been reached. can be changed to

Next, the control unit 500 compares the maximum value of the actual unfolding angle of the subject and the average range of the amount of change in the unfolding angle with the rotation angle of the set second frame unit 120, and the actual degree of extension of the knee joint of the subject is set to the set value. If not, it is judged that the recovery of the target person is slow, and the set value can be extended without changing to the next step.

On the other hand, the controller 500 compares the actual knee extension angle and the set rotation angle, and the maximum value of the actual knee extension angle of the subject corresponds to the set rotation angle and the number of times of reaching the maximum value falls within the preset number of rotations. Depending on the angle, the rotation angle is controlled through the second angle adjusting unit 300 . At this time, if the number of times of reaching the maximum value of the actual knee bending angle exceeds the set number range, it is determined that the recovery is fast, and the rotation angle can be increased to change to the next step.

On the other hand, the control unit 500, in controlling the bending angle and the unfolding angle of the knee as described above by individually controlling the first angle adjusting unit 200 and the second angle adjusting unit 300, respectively, the knee bending angle and Each rotation angle can be set in consideration of the relative angles by interlocking the unfolding angles with each other.

Although the present invention has been described with reference to the embodiment shown in the drawings, which is merely exemplary, it will be understood by those skilled in the art that various modifications and equivalent other embodiments are possible therefrom. Therefore, the true technical protection scope of the present invention should be determined by the technical spirit of the appended claims.

100: frame unit 110: first frame unit
111: first frame 112: second frame
113, 114: first coupling band 115: first cushion member
120: second frame unit 121: third frame
122: fourth frame 123, 124: second coupling band
125: second cushion member 200: first angle adjustment unit
210: first motor 220: first gear
230: first rotation gear 240: first stopper part
241: first coupling part 242: first engaging member
300: second angle control unit 310: second motor
320: second gear 330: second rotation gear
340: second stopper part 341: second coupling part
342: second locking member 400: angle measuring sensor
500: control unit

Claims (16)

a frame unit comprising a first frame unit worn on the thigh of the subject, and a second frame unit that is worn on the lower leg of the subject and rotatably coupled to the first frame unit;
A first angle adjustment that is coupled to the first frame unit, rotates by a driving source controlled by a control signal, and is configured to limit rotation by the frame unit during rotation, to adjust the rotation angle of the first frame unit wealth;
It is coupled to the second frame unit, is driven by a control signal, rotates by a driving source independent of the first angle control unit, and is configured to limit rotation by the frame unit during rotation, so that the rotation of the second frame unit a second angle adjusting unit for adjusting the angle;
By transmitting a control signal to each of the first angle adjusting unit and the second angle adjusting unit, the rotation angle of the first frame unit and the rotation angle of the second frame unit are controlled, respectively, according to the rehabilitation period and the rehabilitation period of the subject. A control unit for controlling the angle of rotation of the first frame unit and the angle of rotation of the second frame unit according to the rotation angle of the knee joint of the subject to control the bending angle and the unfolding angle of the knee joint of the subject;
The first frame unit,
A first frame formed to surround the front or back of the thigh, and
A second frame having one end coupled to both ends of the first frame and positioned on both sides of the thigh, the other end extending downward toward the knee;
A first coupling band coupled to at least one of the first frame or the second frame, and removably coupled to the thigh to fix the first frame and the second frame to the thigh,
The second frame unit,
And a third frame formed to cover the rear or front of the lower leg;
A fourth frame positioned on both sides of the lower leg, one end coupled to both ends of the third frame, and the other end extending upward toward the knee and positioned to face the other end of the second frame,
A second coupling band coupled to at least one of the third frame or the fourth frame, and removably coupled to the lower leg to secure the third frame and the fourth frame to the lower leg,
The other end of the second frame and the other end of the fourth frame are coupled to each other, and the knee angle is measured through the angle between the second frame and the fourth frame, and the measured knee angle value is transmitted to the control unit. Further comprising an angle measuring sensor (ROM sensor),
The control unit is
By controlling the first angle adjusting unit and the second angle adjusting unit according to the elapsed time from the starting point of rehabilitation of the subject, respectively, the rotation angle of the first frame unit and the rotation angle of the second frame unit are automatically controlled, respectively,
The control unit is
By receiving the knee angle value from the angle measuring sensor to monitor the knee joint movement of the subject,
Comparing the monitored knee angle value and the set rotation angle of the first frame unit and the rotation angle of the second frame unit, respectively, configured to correct the rotation angle of the first frame unit and the rotation angle of the second frame unit set Exercise therapy system for lower extremity rehabilitation. delete The method of claim 1,
The first frame unit,
For lower extremity rehabilitation, characterized in that it is formed in a shape corresponding to the shape of the first frame and the second frame, and further comprises a first cushion member coupled to the inside of the first frame and the second frame exercise therapy system. delete The method of claim 1,
The second frame unit,
For lower extremity rehabilitation, characterized in that it is formed in a shape corresponding to the shape of the third frame and the fourth frame, and further comprises a second cushion member coupled to the inside of the third frame and the fourth frame exercise therapy system. delete The method of claim 1,
The first angle adjusting unit,
a first motor coupled to the second frame and controlled to be driven by a control signal received from the control unit;
a first gear shaft-coupled to the rotation shaft of the first motor and rotated by the first motor;
a first rotation gear meshed with the first gear and rotated in conjunction with the first gear;
Exercise therapy system for lower extremity rehabilitation, characterized in that it is coupled to the first rotation gear, comprising a first stopper portion for limiting the rotation of the second frame. 8. The method of claim 7,
The first stopper part,
a first coupling part fixedly coupled to the outer circumferential surface of the first rotary gear and rotated according to the rotation of the first rotary gear;
One end is coupled to the first coupling portion, the other end is formed to extend toward the frame portion, and is caught on the other side of the second frame or the other side of the fourth frame according to the rotation of the first rotation gear of the second frame. Exercise therapy system for lower extremity rehabilitation, characterized in that it comprises a first locking member to limit the rotation. 9. The method of claim 8,
The control unit is
The first motor is rotated to rotate the first gear according to a set rotation angle, and the positions of the first rotation gear and the first stopper part are changed by the rotation of the first gear to rotate the first frame unit. Exercise therapy system for lower extremity rehabilitation, characterized in that the angle is adjusted. 9. The method of claim 8,
The second angle adjustment unit,
a second motor coupled to the fourth frame and controlled to be driven by a control signal received from the control unit;
a second gear shaft-coupled to the rotation shaft of the second motor and rotated by the second motor;
a second rotation gear meshed with the second gear and rotated in conjunction with the second gear;
Exercise therapy system for lower extremity rehabilitation, characterized in that it is coupled to the second rotation gear, comprising a second stopper for restricting the rotation of the fourth frame. 11. The method of claim 10,
The second stopper part,
a second coupling part fixedly coupled to the outer circumferential surface of the second rotary gear and rotated according to the rotation of the second rotary gear;
One end is coupled to the second coupling portion, the other end is formed to extend toward the frame portion, depending on the rotation of the second rotation gear, hooked on one side of the second frame or one side of the fourth frame of the fourth frame Exercise therapy system for lower extremity rehabilitation, characterized in that it comprises a second locking member to limit the rotation. 11. The method of claim 10,
The control unit is
The second motor is rotated to rotate the second gear according to a set rotation angle, and the positions of the second rotation gear and the second stopper part are changed by the rotation of the second gear to rotate the second frame unit. Exercise therapy system for lower extremity rehabilitation, characterized in that the angle is adjusted. 12. The method of claim 11,
The other end of the second frame and the other end of the fourth frame are axially coupled to a central axis of rotation, and are rotated about the central axis of rotation,
The first rotation gear and the second rotation gear,
Exercise therapy system for lower extremity rehabilitation, characterized in that it is configured to be axially coupled to the central axis of rotation. delete 12. The method of claim 11,
The control unit is
Exercise therapy system for lower extremity rehabilitation, characterized in that the rotation angle of the first frame unit and the rotation angle of the second frame unit are controlled to gradually increase according to the set rotation angle every time a set time elapses from the start of the rehabilitation. delete

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