KR102453399B1 - Upper limb rehabilitation training system using virtual reality - Google Patents

Abstract

Disclosed is an upper extremity rehabilitation training system including a VR headset including a display device, an arm exercise device including an electronic level, and a control device. The control device is configured to execute a virtual reality simulation program to provide virtual reality screen data to the VR headset. The VR headset is configured to display a virtual reality image on the display device according to the virtual reality screen data. The control device is configured to change information about the posture of the moving object displayed on the display device of the VR headset based on the tilt information provided by the electronic level system, and the virtual reality according to the information about the changed posture of the moving object The screen data is changed and provided to the VR headset.

Description

Upper limb rehabilitation training system using virtual reality

The present invention relates to medical treatment and rehabilitation, and to a rehabilitation treatment system using an exercise device for the treatment of frozen shoulder and an electronic device that provides virtual reality.

Frozen shoulder is a disease caused by lack of movement and movement of the upper extremities, which causes pain and difficulty in movement when the shoulder is lifted above the head. As the principle of recovery exercise, the range of motion of the joint can be improved through continuous upper extremity movement.

As a prior art provided to treat a frozen shoulder, Korean Patent Application No. KR20110087813 has an H-beam-type support, a height adjustment bar, a 1-axis yaw link, a 2-axis Roll link, and a 3-axis pitch link. , a multi-axis link-type fifty-shoulder cure robot including a universal joint type arm rest and a microcomputer is presented. According to this invention, it is possible to move both arms of a patient with a frozen shoulder, and the height, rotation speed, and direction of rotation of the driving motor can be adjusted 1:1 to suit the body condition and arm length of the patient, and the multi-axis link structure is used. It is designed to rotate the shoulder and arm of the patient with a frozen shoulder up, down, left and right, and to give a heat pack effect by forming a heating pad along the circumference of the shoulder and arm of the patient.

As another prior art, Republic of Korea Patent Application No. KR20110145334 discloses an exercise device that can rotate a user's pain arm left and right for the prevention and treatment of a frozen shoulder, and a movable arm exercise device in which the user performs a left and right rotation movement by holding the arm. and an annular guide tube installed vertically in an annular shape and symmetrically with a predetermined width to serve as a guide to move the movable arm exercise device to an arbitrary position in the up and down directions according to the user's physical condition; , an elevating chair installed in the inner center of the annular guide tube, the user can sit on, and height adjustment according to the user's physical condition, and an L-shaped mount for installing and fixing the elevating chair and the annular guide Fifty shoulder physiotherapy exercise equipment is presented, characterized in that it includes.

However, the devices according to the prior invention described above are boring because the frozen shoulder patient has to consciously perform the exercise for the rehabilitation of the frozen shoulder patient.

As another prior art that introduces game elements, Republic of Korea Patent Application No. KR20160063487 has a sensor member provided on the arm of a frozen shoulder patient to sense the shoulder movement of the patient, and a frozen shoulder that provides images of the frozen shoulder game for the shoulder movement of the patient. When the game image providing means and the sensor member receive the sensing value generated according to the motion of the shoulder, the frozen shoulder game image providing means is operated so that the frozen shoulder game image matching the shoulder movement of the frozen shoulder patient is provided, and the motion image of the frozen shoulder game image Stores and manages motion image information for in advance, compares the sensed value of the sensor member with motion image information, determines whether the motion image information and the sensed value match, comprising a test member for testing frozen shoulder training A smart frozen shoulder system for frozen shoulder patients has been released. In this invention, the sensor member includes a band that is filled on the wrist of a patient with a frozen shoulder, and an acceleration sensor that is provided on the wrist band to sense the movement of the hand.

However, the technique adopted in the prior invention described above uses an acceleration sensor installed on the wrist, and it is difficult to accurately measure the patient's shoulder posture using this, so it is difficult to match the provided frozen shoulder game image with the actual movement of the patient. Therefore, there is a problem in that interest in playing the game is reduced.

In the present invention, while introducing game elements to the rehabilitation exercise of a patient with a frozen shoulder, it is an object of the present invention to provide a rehabilitation device with completeness in order to maintain interest in the rehabilitation exercise.

In the present invention, it is possible to provide a VR game for rehabilitation of a frozen shoulder patient. For the rehabilitation exercise, it is necessary to raise the arm around the shoulder, and as an exercise suitable for this, the manipulation of the hang glider can be selected. The actual posture for manipulating the hang glider may vary depending on the specific shape of the hang glider. However, since a hang glider is generally recognized as a shape in which a person hangs as a whole, the adjustment method that a person must raise an arm to adjust the hang glider can be accepted without objection in most cases.

In general, the following factors can be considered in the control method of a hang glider.

First, in the actual operation of a hang glider, when the center of gravity of the operator moves to the left (right), a lot of load is applied to the left (right) wing. You can do this when you want to. In the process of moving the center of gravity of the manipulator to the left (right), the posture of a person must naturally change, and in the game provided by the present invention, the left (right) arm is relatively It can be understood as a lowering action.

Second, in the actual control of a hang glider, when the control stick is pulled back, the center of gravity of the operator moves forward, so the angle of attack decreases and the speed increases. Therefore, in the game provided by the present invention, if both arms are pushed forward, the speed of the hang glider moving in the game is not slowed, but if the spoon is pulled back, the speed of the hang glider moving in the game can be increased.

It is possible to provide an upper limb rehabilitation training system according to an aspect of the present invention. The upper extremity rehabilitation training system includes a VR headset 10 including a display device; an arm exercise device including an electronic level 260; and a control device 30; may include. At this time, the controller 30 executes a virtual reality simulation program to provide virtual reality screen data to the VR headset 10 , and the VR headset 10 performs the virtual reality screen data according to the virtual reality screen data. The virtual reality image is displayed on a display device, and the control device 30 receives a signal provided by the electronic level 260, and based on the tilt information transmitted by the electronic level 260, the VR The information on the posture of the moving object displayed on the display device of the headset 10 is changed, and the virtual reality screen data is changed according to the information about the changed posture of the moving object and provided to the VR headset 10 . The VR headset 10 may be configured to display a virtual reality image on the display device according to the changed virtual reality screen data.

At this time, the electronic level 260 includes a left and right electronic level 261, and the control device 30 displays the VR headset 10 based on the left and right tilt sent by the left and right electronic level 261. The VR headset is configured to adjust a first angle between the left and right axes of the moving object displayed on the device and a background image included in the virtual reality image, and change the virtual reality screen data according to the adjusted first angle. (10) may be provided.

At this time, the electronic level 260 includes a front and rear electronic level 262, and the control device 30 is configured to display the VR headset 10 based on the forward and backward tilt sent by the front and rear electronic level 262. The VR headset is configured to adjust a second angle between the front-rear axis of the moving object displayed on the device and a background image included in the virtual reality image, and change the virtual reality screen data according to the adjusted second angle to change the VR headset (10) may be provided.

In this case, the moving object may be a hang glider, and the background image may be one or more of the sky, the ground surface, and the water surface.

Alternatively, the moving object may be a submarine, and the background image may be one or more of the sky, the ground surface, the water surface, and the water.

At this time, the arm exercise device, the ceiling fixing link 21 fixed to the ceiling; vertical extension link (22); Horizontal extension link (23); Left rope 241; Right rope 242; left handle 251; and a right handle 252 . The upper end 221 of the vertical extension link 22 is rotatably coupled to the lower end 211 of the ceiling fixing link 21, and the middle portion 233 of the horizontal extension link 23 is the vertical extension. It is rotatably coupled to the lower end 222 of the link 22, the upper end of the left rope 241 is coupled to the left end of the horizontal extension link 23, and the lower end of the left rope 241 is The left handle 251 is coupled, the upper end of the right rope 242 is coupled to the right end of the horizontal extension link 23, and the lower end of the right rope 242 is the right handle 252. may be combined.

In this case, the electronic level 260 may be coupled to the vertical extension link 22 or the horizontal extension link 23 .

In this case, the electronic level 260 may include a left and right electronic level 261 coupled to the horizontal extension link 23 and a front and rear electronic level 262 coupled to the vertical extension link 22 . .

At this time, the upper end 221 of the vertical extension link 22 is provided with a first shaft protruding by extending in the x-axis direction, which is the horizontal direction in which the horizontal extension link 23 extends, and the ceiling fixing link 21 ), a hole for accommodating the first shaft is formed at the lower end of the shaft. It is configured to rotate on a plane, the z-axis may be a vertical axis, and the y-axis may be the x-axis and a horizontal axis perpendicular to the z-axis.

At this time, the lower end 222 of the vertical extension link 22 is provided with a protruding second shaft extending in the y-axis direction, and the middle portion 233 of the horizontal extension link 23 is the second shaft. An accommodating hole is formed, and when the horizontal extension link 23 rotates about the second shaft, the horizontal extension link 23 rotates on an x-axis-z-axis plane, and the x The axis may be a horizontal axis along which the horizontal extension link 23 extends, the z axis may be a vertical axis, and the y axis may be the x axis and a horizontal axis perpendicular to the z axis.

At this time, the arm exercise device, the ceiling fixing link 21 fixed to the ceiling; vertical extension link (22); Horizontal extension body 600; left width adjustment member 71; right width adjusting member 72; left rope 241; right rope 242; left handle 251; and a right handle 252 . And the upper end 221 of the vertical extension link 22 is rotatably coupled to the lower end 211 of the ceiling fixing link 21, and the middle portion of the horizontal extension body 600 is the vertical extension link ( 22) is rotatably coupled to the lower end 222, and the left hook 281 coupled to the upper end of the left rope 241 is coupled to the left width adjusting member 71, and the left rope ( The lower end of 241 is coupled to the left handle 251, and the right hook 282 coupled to the upper end of the right rope 242 is coupled to the right width adjusting member 72, and the right rope The lower end of 242 is coupled to the right handle 252, and the left width adjustment member 71 includes a first set of fastening holes formed on one side of the horizontally extended body 600 and the horizontally extended body. Among the second set of fastening holes formed on the other side of 600 , it is adapted to be coupled to a first pair of fastening holes at positions opposite to each other, and the right width adjusting member 72 is coupled to the first set of fastening holes. The holes and the second set of fastening holes may be coupled to a second pair of fastening holes located opposite to each other.

In this case, the left width adjusting member 71 and the right width adjusting member 72 have the same structure as each other, and the left width adjusting member 71 is connected to the first set of fastening holes and the second set of fastening holes. It includes a pair of protrusions 711 and 712 that can be coupled to any pair of holes facing each other among the holes, and the left width adjustment member 71 is provided with an elastic part 713 having a spring structure, , by selecting two pairs of holes from among the plurality of pairs of holes formed in the horizontally extending body 600 to install the left width adjusting member 71 and the right width adjusting member 72 into the horizontally extending body 600 ), the distance between the left width adjusting member 71 and the right width adjusting member 72 may be adjusted.

According to the present invention, while introducing game elements to the rehabilitation exercise of a patient with a frozen shoulder, it is possible to provide a rehabilitation apparatus with completeness in order to maintain interest in the rehabilitation exercise.

1 shows the configuration of an upper limb rehabilitation training system using virtual reality provided according to an embodiment of the present invention.
FIG. 2 shows the configuration of the arm exercise device shown in FIG. 1 .
3 is a flowchart illustrating a driving method of the upper extremity rehabilitation training system provided according to an embodiment of the present invention.
Figure 4 illustrates the operating state of the upper limb rehabilitation training system provided in accordance with the present invention.
Figure 5 shows the configuration of the arm exercise device provided according to another embodiment of the present invention.
FIG. 6 illustrates a specific configuration of the horizontally extended body shown in FIG. 5 and a specific method of coupling the left width adjusting member and the right width adjusting member to the horizontally extending body.

Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. However, the present invention is not limited to the embodiments described herein and may be implemented in various other forms. The terminology used in this specification is intended to help the understanding of the embodiment, and is not intended to limit the scope of the present invention. Also, singular forms used hereinafter include plural forms unless the phrases clearly indicate the opposite.

Figure 1 shows the configuration of the upper limb rehabilitation training system (1) using virtual reality provided in accordance with an embodiment of the present invention.

The upper extremity rehabilitation training system 1 may include a VR headset 10 , an arm exercise device 20 or 60 , and a control device 30 .

The VR headset 10 is worn on the head by a patient with a frozen shoulder and may have a structure such that a display device is placed in front of the patient's eyes.

The control device 30 may be configured to execute a virtual reality simulation program that outputs a virtual reality screen displayed on the display device.

The virtual reality simulation program may be controlled by a predetermined algorithm and detection signals provided by the arm exercise device 20 .

The virtual reality simulation program may represent, for example, a situation in which a person is hang gliding or a situation in which he is diving in virtual reality. For convenience of explanation, the following description will be focused on an example in which a situation in which hang gliding is performed is expressed in virtual reality.

The arm exercise device 20 may generate the detection signals and provide them to the control device 30 . The detection signals may be signals output by electronic level systems. To this end, the arm exercise device 20 may include left and right electronic levels 260 and 261 and front and rear electronic levels 260 and 262 .

The arm exercise device 20 may be, for example, a device including a device suspended from a ceiling.

FIG. 2 shows the configuration of the arm exercise device shown in FIG. 1 .

The arm exercise device 20 is a ceiling fixing link 21, a vertical extension link 22, a horizontal extension link 23, a left rope 241, a right rope 242, a left handle 251, a right handle ( 252), the left and right electronic levels 260 and 261, and the front and rear electronic levels 260 and 262.

Hereinafter, a vertical direction is expressed as a z-axis in the present specification, and a horizontal direction in which the horizontally extended link 23 is extended in a state in which the horizontally extended link 23 is in equilibrium is expressed as an x-axis, and the x-axis and z The direction perpendicular to the axis can be expressed as the z-axis.

The upper end 212 of the ceiling fixing link 21 may be fixed to the ceiling.

The upper end 221 of the vertical extension link 22 may be rotatably coupled to the lower end 211 of the ceiling fixing link 21 . To this end, the upper end 221 of the vertical extension link 22 may include a protruding first shaft extending in the x-axis direction, and the lower end of the ceiling fixing link 21 receiving the first shaft. Halls may be included.

When the vertical extension link 22 rotates about the first shaft, the lower end 222 of the vertical extension link 22 may move forward or backward in the +/- y-axis direction. That is, the vertical extension link 22 may rotate on the y-z plane.

The middle portion 233 of the horizontal extension link 23 may be rotatably coupled to the lower end 222 of the vertical extension link 22 . To this end, the lower end 222 of the vertical extension link 22 may include a second shaft protruding to extend in the y-axis direction, and the middle portion 233 of the horizontal extension link 23 is the second shaft. It may include a hole for receiving the shaft.

When the horizontal extension link 23 rotates about the second shaft, the horizontal extension link 23 may rotate on the x-z plane.

A left rope coupling member 231 may be provided at the left end of the horizontal extension link 23 , and a right rope coupling member 232 may be provided at the right end of the horizontal extension link 23 .

The upper end of the left rope 241 may be coupled to the left rope coupling member 231 , and the upper end of the right rope 242 may be coupled to the right rope coupling member 232 . A left handle 251 may be coupled to a lower end of the left rope 241 , and a right handle 252 may be coupled to a lower end of the right rope 242 .

The left and right electronic levels 260 and 261 may be coupled to the horizontal extension link 23 , and the front and rear electronic levels 260 and 262 may be coupled to the vertical extension link 22 .

For example, the left and right electronic levels 260 and 261 and the front and rear electronic levels 260 and 262 may have a measurement range of +/- 45 degrees and a sensitivity of 0.020 mm/m (5 seconds), and When used together with computer software, it can output graphs of measurement data as well as save data in a file format such as CSV. Also, when using software, the measurement time interval can be adjusted. Therefore, it can be used to monitor the slope measurement value that changes with time. In addition, it may be possible to set absolute zero and relative zero with a simple click of a button. It can also be connected to other electronic levels through RS-485 or directly connected to a computing device such as a PC.

In an embodiment of the present invention, the left and right electronic levels 260 and 261 and the front and rear electronic levels 260 and 262 may be connected to the control device 30 by wire/or wirelessly. For example, when connected by wire, it can be connected through RS-485. Alternatively, when connected wirelessly, it can be connected to a wireless communication device provided separately in the arm exercise device 20 through RS-485, and the wireless communication device includes the left and right electronic levels 260 and 261 and the front and rear electronic levels ( Data obtained from 260 and 262 may be transmitted to the control device 30 using a short-range wireless communication technology such as Bluetooth. The control device 30 may be configured to execute the dedicated computer software.

The left and right electronic levels 260 and 261 and the front and rear electronic levels 260 and 262 may be configured to add screw holes to a surface desired by a user. Accordingly, the left and right electronic levels 260 and 261 and the front and rear electronic levels 260 and 262 may be fixedly coupled to the horizontal extension link 23 and the vertical extension link 22, respectively.

3 is a flowchart illustrating a driving method of the upper extremity rehabilitation training system provided according to an embodiment of the present invention.

In step S10 , the controller 30 may execute a virtual reality simulation program to provide virtual reality screen data to the VR headset 10 .

In step S20 , the VR headset 10 may display a virtual reality image on a display device according to the virtual reality screen data.

In step S30 , the control device 30 may receive signals provided by the left and right electronic levels 260 and 261 and the front and rear electronic levels 260 and 262 .

In step S40, the control device 30 determines the first angle between the left and right axes of the hang glider displayed on the VR headset 10 and the ground surface based on the left and right inclinations sent by the left and right electronic levels 260 and 261. Can be adjusted.

In step S50, the control device 30 determines the distance between the moving direction (front-back direction) axis of the hang glider displayed on the VR headset 10 based on the front-rear tilt sent by the front-rear electronic level systems 260 and 262 and the ground surface. The second angle can be adjusted.

In step S60 , the controller 30 may change the virtual reality screen data according to the adjusted first angle and the second angle and provide it to the VR headset 10 .

In step S70 , the VR headset 10 may display a virtual reality image on the display device according to the changed virtual reality screen data.

Figure 4 illustrates the operating state of the upper limb rehabilitation training system provided in accordance with the present invention.

4 (a) shows the posture of the upper extremity rehabilitation training system (1) when the frozen shoulder patient is left without using the upper extremity rehabilitation training system (1). Since an external force by a person does not act on the upper extremity rehabilitation training system 1, the horizontal extension link 23 and the vertical extension link 22 maintain a basic posture, and the left and right electronic levels 260, 261 and The front and rear electronic levelers 260 and 262 output a reference inclination value.

4 (b) shows a state in which the frozen shoulder patient pulls the left handle 251 downward (-z direction) and does not substantially apply force to the right handle 252 . At this time, the left rope coupling member 231 of the horizontal extension link 23 comes down and the right rope coupling member 232 goes up. At this time, the left and right electronic levels 260 and 261 output a signal indicating that the horizontal extension link 23 is inclined to the left and a signal indicating the inclination of the sphere, which is provided to the control device 30 .

4 (c) shows a state in which the frozen shoulder patient is pushing the left handle 251 and the right handle 252 forward (-y direction). At this time, the lower end 222 of the vertical extension link 22 is moved in the forward direction. At this time, the front and rear electronic levelers 260 and 262 output a signal indicating that the vertical extension link 22 has rotated in the forward (-y) direction and a signal indicating how much the rotation amount is to the control device 30. will provide

Figure 5 shows the configuration of the arm exercise device provided according to another embodiment of the present invention.

The configuration of the arm exercise device 60 shown in FIG. 5 is mostly the same as that of the arm exercise device 20 shown in FIG. 2 , except that the horizontal extension link 23 of the arm exercise device 20 of FIG. 2 , the left The rope coupling member 231, and the right rope coupling member 232 are replaced by the horizontal extension body 600, and the left hook 281 is specified at the upper end of the left rope 241, and the right loop 242 It is different in that the right hook 282 is specified at the upper end of the , and the left width adjustment member 71 and the right width adjustment member 72 are added. 5, the left and right electronic levelers 261 and front and rear electronic levels 262 may be installed inside the horizontally extended body 600, but the detailed illustration thereof is omitted.

The horizontal extension body 600 may be coupled to the vertical extension link 22 by a coupling member 223 and a lower end 222 of the vertical extension link 22 .

The left width adjusting member 71 and the right width adjusting member 72 may be coupled to the horizontally extending body 600 . In addition, the left and right electronic levelers 261 may be coupled to the left width adjusting member 71 , and the front and rear electronic levelers 262 may be coupled to the right width adjusting member 72 .

FIG. 6 illustrates a specific configuration of the horizontally extended body shown in FIG. 5 and a specific method of coupling the left width adjusting member and the right width adjusting member to the horizontally extending body.

The horizontally extended body 600 has a first set of fastening holes 611 to 616 formed on one side thereof, and a second set of fastening holes 621 to 626 on the other side opposite to the one side. is formed.

The left width adjusting member 71 and the right width adjusting member 72 may have the same structure.

The left width adjusting member 71 may include a pair of protrusions 711 and 712 that can be coupled to a pair of facing each other among the fastening holes 611 to 616 and 621 to 626. .

For example, each of the pair of protrusions 711 and 712 is a pair of holes 611 and 621 , or a pair of holes 612 and 622 , or a pair of holes 613 and 623 , or a pair of holes, respectively. may be coupled to holes 614 and 624 , or a pair of holes 615 and 625 , or a pair of holes 616 and 626 .

The left width adjusting member 71 may be provided with an elastic part 713 having a spring structure.

As shown in (c) of FIG. 6 , the pair of protrusions 711 and 712 of the left width adjusting member 71 are deformed to be spread with respect to each other and then face each other formed in the horizontally extended body 600 . When the beam is coupled to any pair of holes, the left width adjusting member 71 may be stably coupled to the horizontally extended body 600 by the elastic force of the elastic part 713 .

By selecting two pairs of the six pairs of holes formed in the horizontally extending body 600 , the left width adjusting member 71 and the right width adjusting member 72 are coupled to the horizontally extending body 600 . The distance between the left width adjusting member 71 and the right width adjusting member 72 may be adjusted according to the selected pair of holes. The posture of the user's two arms may vary depending on the distance between the left width adjusting member 71 and the right width adjusting member 72 .

The left hook 281 and the right hook 282 may be coupled by hooking to the elastic portion of the left width adjusting member 71 and the right width adjusting member 72 .

By using the above-described embodiments of the present invention, those skilled in the art will be able to easily implement various changes and modifications within the scope without departing from the essential characteristics of the present invention. The content of each claim in the claims may be combined with other claims without reference within the scope that can be understood through this specification.

10: VR Headset
20: arm exercise device
21: ceiling fixing link
22: vertical extension link
23: horizontal extension link
30: control device
241: left rope
242: right rope
251: left handle
252: right-handed
260: electronic level
261: left and right electronic level
262: front and rear electronic level

Claims (10)

a VR headset including a display device;
an arm exercise device including an electronic level; and
control device;
includes,
The control device is configured to execute a virtual reality simulation program to provide virtual reality screen data to the VR headset,
The VR headset is configured to display a virtual reality image on the display device according to the virtual reality screen data,
The control device is configured to receive a signal provided by the electronic level and change the information on the posture of the moving object displayed on the display device of the VR headset based on the inclination information transmitted by the electronic level, and The virtual reality screen data is changed and provided to the VR headset according to information about the changed posture of the moving object,
the VR headset is configured to display a virtual reality image on the display device according to the changed virtual reality screen data,
Upper extremity rehabilitation training system. According to claim 1,
The electronic level includes a left and right electronic level,
The control device is configured to adjust a first angle between the left and right axes of the moving object displayed on the display device of the VR headset and the background image included in the virtual reality image based on the left and right tilts sent from the left and right electronic levelers. and changing the virtual reality screen data according to the adjusted first angle and providing it to the VR headset,
Upper extremity rehabilitation training system. According to claim 1,
The electronic level includes a front and rear electronic level,
The control device is configured to adjust a second angle between the front-rear axis of the moving object displayed on the display device of the VR headset and the background image included in the virtual reality image based on the front-rear tilt sent by the front-rear electronic level system. and changing the virtual reality screen data according to the adjusted second angle and providing it to the VR headset,
Upper extremity rehabilitation training system. 4. The method of claim 2 or 3,
The moving object is a hang glider,
The background image is an image of one or more of the sky, the ground surface, and the water surface,
Upper extremity rehabilitation training system. According to claim 1,
The arm exercise device,
Ceiling fixing links fixed to the ceiling;
vertical extension link;
horizontal extension link;
left rope;
right rope;
left handle; and
right-handed;
includes,
The upper end of the vertical extension link is rotatably coupled to the lower end of the ceiling fixed link,
The middle portion of the horizontal extension link is rotatably coupled to the lower end of the vertical extension link,
The upper end of the left rope is coupled to the left end of the horizontal extension link, and the lower end of the left rope is coupled to the left handle,
The upper end of the right rope is coupled to the right end of the horizontal extension link, and the lower end of the right rope is coupled to the right handle,
Upper extremity rehabilitation training system. The upper extremity rehabilitation training system according to claim 5, wherein the electronic level includes a left and right electronic level coupled to the horizontal extension link and a front and rear electronic level coupled to the vertical extension link. 6. The method of claim 5,
A first shaft protruding by extending in the x-axis direction, which is the horizontal direction in which the horizontal extension link extends, is provided at the upper end of the vertical extension link;
A hole for accommodating the first shaft is formed at the lower end of the ceiling fixing link,
When the vertical extension link rotates about the first shaft, the vertical extension link is configured to rotate on a y-axis-z-axis plane,
The z-axis is a vertical axis, and the y-axis is a horizontal axis orthogonal to the x-axis and the z-axis,
Upper extremity rehabilitation training system. 6. The method of claim 5,
A second shaft extending in the y-axis direction and protruding is provided at the lower end of the vertical extension link,
A hole for accommodating the second shaft is formed in the middle portion of the horizontal extension link,
When the horizontal extension link rotates about the second shaft, the horizontal extension link is configured to rotate on the x-axis-z-axis plane,
The x-axis is a horizontal axis in which the horizontal extension link extends, the z-axis is a vertical axis, and the y-axis is a horizontal axis perpendicular to the x-axis and the z-axis,
Upper extremity rehabilitation training system. According to claim 1,
The arm exercise device,
Ceiling fixing links fixed to the ceiling;
vertical extension link;
horizontal extension body;
left side width adjustment member;
right side width adjustment member;
left rope;
right rope;
left handle; and
right-handed;
includes,
The upper end of the vertical extension link is rotatably coupled to the lower end of the ceiling fixed link,
The middle portion of the horizontally extended body is rotatably coupled to the lower end of the vertically extended link,
The left hook coupled to the upper end of the left rope is coupled to the left width adjusting member, and the lower end of the left rope is coupled to the left handle,
The right hook coupled to the upper end of the right rope is coupled to the right width adjusting member, and the lower end of the right rope is coupled to the right handle,
The left width adjusting member includes a first pair of fastening holes formed on one side of the horizontally extended body and a second set of fastening holes formed on the other side of the horizontally extending body at positions opposite to each other. to be coupled to the fastening holes,
The right width adjusting member is adapted to be coupled to a second pair of fastening holes at positions opposite to each other among the first set of fastening holes and the second set of fastening holes,
Upper extremity rehabilitation training system. 10. The method of claim 9,
The left width adjusting member and the right width adjusting member have the same structure as each other,
The left width adjustment member includes a pair of protrusions capable of being coupled to a pair of facing each other among the first set of fastening holes and the second set of fastening holes,
The left width adjustment member is provided with an elastic part of a spring structure,
By selecting two pairs of holes among a plurality of pairs of holes formed in the horizontally extending body and coupling the left width adjusting member and the right width adjusting member to the horizontally extending body, the left width adjusting member and the right Characterized in that the distance between the width adjustment member is adjusted,
Upper extremity rehabilitation training system.

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