KR102591603B1 - Apparatus for rehabilitation training - Google Patents

Abstract

A rehabilitation training device is disclosed. A rehabilitation training device according to one aspect of the present invention includes a frame having an accommodation space where a part of the trainee's body can be fixed; a first fixing member formed on the frame and fastened to the body part; a second fixing member formed to surround at least one side of the receiving space and having a plurality of fluid pockets that expand according to the physical condition of the trainee to fix and support the body part; an actuator located on one side of the frame to apply an assisting force to the frame in a first direction so that the trainee can exercise the body part; and a control unit configured to receive information about the first direction from the actuator and increase the internal pressure of a fluid pocket located closest to a portion of the body part opposite to the first direction among the plurality of fluid pockets. You can.

Description

Rehabilitation training device {Apparatus for rehabilitation training}

The present invention relates to a rehabilitation training device, and more specifically, to a rehabilitation training device for comfortably and stably supporting a part of the trainee's body during rehabilitation training.

Generally, the joint portion of the human body has a structure in which the joint portion and adjacent portions can rotate based on the joint portion. Meanwhile, elderly people and rehabilitation patients with weak muscles have difficulty exercising these joints, and although they need practical exercise, it is realistically difficult to exercise using general methods.

In particular, patients who have had surgery on joints such as the wrist and shoulder are unable to exercise on their own, so there is a risk that the muscles and joints may become stiff and hardened due to weakened muscles and lack of proper nutrition. Therefore, long-term rehabilitation exercises must be performed to prevent deformation of joints and muscles and to return to normal activities.

The rehabilitation training device is a device for assisting the rehabilitation exercises of the rehabilitation patients described above. Generally, a fastening part where a part of the rehabilitation trainee's body is fastened, a driving part that generates an auxiliary force to assist the rehabilitation trainee's exercise, and a device generated from the driving part It consists of an auxiliary force transmission part that transmits auxiliary force to the fastening part.

The fastening unit and the assisting force transmission unit of the conventional rehabilitation training device have been composed of a frame with appropriate rigidity in order to transmit the assisting force generated by the driving unit to the trainee's body, and the trainee's body has been directly fastened to this frame.

At this time, the fastening part of the conventional rehabilitation training device is made of a frame with a fixed shape, so it is difficult to fasten it appropriately to the bodies of trainees who may have various conditions such as size, and there has been a problem of not stably supporting the body of the trainee.

In addition, in the conventional rehabilitation training device, in the process of applying assistive force to the user's body by the assistive force transmission unit and driving unit during rehabilitation training, the frame with strong rigidity presses the soft user's body, causing discomfort or pain to the trainer. There are problems that can arise.

Accordingly, there has been an urgent need for the development of a rehabilitation training device that can comfortably and stably support the trainee's body while being fastened to the rehabilitation training device during rehabilitation training and transmit assistive force.

The present invention is to solve the above problems, and the purpose of the present invention is to provide a rehabilitation training device that can stably support the body of a trainee fastened to the rehabilitation training device during rehabilitation training and provide a comfortable fit to the trainee. It is provided.

Another object of the present invention is to provide a rehabilitation training device that can effectively transmit assistive force to the trainee's body during rehabilitation training and provide a comfortable fit without discomfort or pain caused by the assistive force.

Another object of the present invention is to provide a rehabilitation training device that can induce or guide the exercise of the trainee's body without causing discomfort or pain to the trainee during rehabilitation training.

The problems of the present invention are not limited to the problems mentioned above, and other problems not mentioned can be clearly understood by those skilled in the art from the description below.

According to one aspect of the present invention, a frame having an accommodation space where a part of the trainee's body can be fixed; a first fixing member formed on the frame and fastened to the body part; a second fixing member formed to surround at least one side of the receiving space and having a plurality of fluid pockets that expand according to the physical condition of the trainee to fix and support the body part; an actuator located on one side of the frame to apply an assisting force to the frame in a first direction so that the trainee can exercise the body part; And a control unit configured to receive information about the first direction from the actuator and increase the internal pressure of a fluid pocket located closest to a portion of the body part opposite to the first direction among the plurality of fluid pockets. , a rehabilitation training device is provided.

At this time, the control unit adjusts the pressure of the fluid pocket located closest to the portion of the body part in the first direction among the plurality of fluid pockets to the fluid pocket located closest to the portion of the body part opposite to the first direction. It can be formed to increase in response to the internal pressure of.

At this time, the control unit,

It may be formed to lower the pressure of a fluid pocket located closest to a portion of the plurality of fluid pockets in a direction perpendicular to the first direction of the body part.

At this time, the control unit may be configured to lower the pressure of a fluid pocket located closest to a portion of the body part in the first direction among the plurality of fluid pockets.

At this time, the control unit may be formed to adjust the pressure of the plurality of fluid pockets so that the pressure of the plurality of fluid pockets decreases as it moves toward the first direction.

At this time, the control unit may be formed to increase the pressure of a fluid pocket located closest to a portion of the body part opposite to the second direction among the plurality of fluid pockets in order to induce the body part to move in the second direction. You can.

At this time, the control unit may be configured to lower the pressure of a fluid pocket located closest to a portion of the body part in the second direction among the plurality of fluid pockets.

At this time, the second fixing member includes a plurality of fluid injection pipes connected to each of the plurality of fluid pockets and injecting fluid into the plurality of fluid pockets, and the control unit adjusts the pressure of the fluid pocket to an ideal pressure range. It may be formed to block the fluid injection pipe when entering.

At this time, the frame includes: a fixed frame supporting one side of the body part; a rotating frame rotatably coupled to the fixed frame and supporting the other side of the body part; And it may include a connection frame that is coupled to the fixed frame and the actuator and transmits the assisting force to the fixed frame.

At this time, each of the plurality of fluid pockets may be installed on the inside of the frame and may include a curved surface protruding toward the body part.

At this time, each of the plurality of fluid pockets includes: a first fluid receiving portion located adjacent to the frame; and a second fluid accommodating part located closer to the body part than the first fluid accommodating part and isolated from the first fluid accommodating part by a separation membrane, wherein the first fluid accommodating part and the second fluid accommodating part are individually It can be formed to expand.

According to another aspect of the present invention, a frame having an accommodation space where a part of the trainee's body can be fixed; a first fixing member formed on the frame and fastened to the body part; a second fixing member formed to surround at least one side of the receiving space and having a plurality of fluid pockets that expand according to the physical condition of the trainee to secure and support the body part by applying a first pressure to the body part; an actuator located on one side of the frame to apply an assisting force to the frame in a first direction so that the trainee can exercise the body part; and receiving information about the first direction from the actuator so that the internal pressure of the fluid pocket located closest to the portion opposite the first direction of the body part among the plurality of fluid pockets is higher than the first pressure. A rehabilitation training device is provided, including a control unit that controls internal pressure of the plurality of fluid pockets.

At this time, the control unit adjusts the internal pressure of the plurality of fluid pockets so that the pressure of the fluid pocket located closest to the portion of the body part in the first direction among the plurality of fluid pockets is higher than the first pressure. You can control it.

At this time, the control unit adjusts the internal pressure of the plurality of fluid pockets so that the pressure of the fluid pocket located closest to the portion of the body part in the first direction among the plurality of fluid pockets is lower than the first pressure. You can control it.

According to another aspect of the present invention, a frame having an accommodation space in which a part of the trainee's body can be fixed; a first fixing member formed on the frame and fastened to the body part; a second fixing member formed to surround at least one side of the receiving space and having a plurality of fluid pockets that expand according to the physical condition of the trainee to fix and support the body part; an actuator located on one side of the frame to apply an assisting force to the frame in a first direction so that the trainee can exercise the body part; and a control unit configured to receive information about the first direction from the actuator and lower the internal pressure of the plurality of fluid pockets when the angle between the first direction and the direction of gravity is less than 90 degrees. .

At this time, the control unit may be configured to increase the internal pressure of the plurality of fluid pockets when the angle formed between the first direction and the direction of gravity is greater than 90 degrees.

According to the above configuration, the rehabilitation training device according to an embodiment of the present invention is provided with a fluid pocket that expands to suit the physical condition of the trainee after appropriately placing and fastening the trainee's body to the rehabilitation training device by the first fixing member. By fixing and supporting the trainee's body by the second fixing member, the trainee's body fastened to the rehabilitation training device during rehabilitation training can be stably supported and a comfortable fit can be provided to the trainee.

In addition, in the rehabilitation training device according to an embodiment of the present invention, the control unit receives information from an actuator that applies assisting force to the trainee's body, and in response to the received information, adjusts the internal pressure of a plurality of fluid pockets surrounding the trainee's body. By controlling, it is possible to effectively transmit assistive force to the trainee's body during rehabilitation training while providing a comfortable fit without discomfort or pain caused by assistive force.

In addition, the rehabilitation training device according to an embodiment of the present invention causes discomfort or pain to the trainee during rehabilitation training by controlling the internal pressure of a plurality of fluid pockets surrounding the trainee's body according to the desired movement direction by the control unit. It is possible to induce or guide the exercise of the trainee's body without doing so.

The effects of the present invention are not limited to the effects described above, and should be understood to include all effects that can be inferred from the configuration of the invention described in the detailed description or claims of the present invention.

Figure 1 is a perspective view showing a state in which a trainer's upper limb is fastened to a rehabilitation training device according to an embodiment of the present invention.
Figure 2 is a perspective view of a rehabilitation training device according to an embodiment of the present invention viewed from another angle.
Figure 3 is a perspective view showing the upper arm frame and the lower arm frame in an open state according to an embodiment of the present invention.
Figure 4 is a cross-sectional view taken along line I-I' of Figure 2. At this time, the first pressure measurement sensor is not shown.
Figure 5 is a diagram showing an actuator, pressure measurement sensor, control unit, and fluid pump in block form according to an embodiment of the present invention.
6 to 9 are diagrams showing a state in which the internal pressure of the fluid pockets is adjusted by the control unit of the rehabilitation training device according to an embodiment of the present invention. At this time, the pressure measurement sensor is not shown in FIGS. 7 to 9 .
Figure 10 (a) is a diagram showing the state in which the internal pressure of the fluid pockets is adjusted by the control unit of the rehabilitation training device according to an embodiment of the present invention, and Figure 10 (b) is a diagram showing the state in which the internal pressure of the fluid pockets is adjusted. This is a diagram showing a state in which the movement of the trainee's upper limbs is guided in one direction.

Hereinafter, with reference to the attached drawings, embodiments of the present invention will be described in detail so that those skilled in the art can easily implement the present invention. The present invention may be implemented in many different forms and is not limited to the embodiments described herein. In order to clearly explain the present invention, parts not related to the description have been omitted in the drawings, and identical or similar components are given the same reference numerals throughout the specification.

The words and terms used in this specification and claims are not to be construed as limited in their usual or dictionary meanings, but according to the principle that the inventor can define terms and concepts in order to explain his or her invention in the best way. It must be interpreted with meaning and concepts consistent with technical ideas.

In this specification, terms such as “comprise” or “have” are intended to describe the existence of features, numbers, steps, operations, components, parts, or combinations thereof described in the specification, but are not intended to describe the presence of one or more other features. It should be understood that it does not exclude in advance the possibility of the existence or addition of elements, numbers, steps, operations, components, parts, or combinations thereof.

A component being “in front,” “rear,” “above,” or “below” another component means that it is in direct contact with the other component, unless there are special circumstances. This includes not only those placed at the “bottom” but also cases where another component is placed in the middle. In addition, the fact that a component is "connected" to another component includes not only being directly connected to each other, but also indirectly connected to each other, unless there are special circumstances.

Figure 1 is a perspective view showing a state in which a trainer's upper limb is fastened to a rehabilitation training device according to an embodiment of the present invention. Figure 2 is a perspective view of a rehabilitation training device according to an embodiment of the present invention viewed from another angle. Figure 3 is a perspective view showing the upper arm frame and the forearm frame in an open state according to an embodiment of the present invention. Figure 4 is a cross-sectional view taken along the line Ⅰ-Ⅰ' in Figure 2. At this time, the first pressure measurement sensor is not shown.

In describing the drawings below, each direction is defined and described from the perspective of a trainer performing rehabilitation training using a rehabilitation training device in the drawings. More specifically, when looking at FIG. 1, the right direction where the trainer's forearm 2b is located is defined as the front, and the left direction where the trainer's upper arm 2a is located is defined as the rear. The direction in which the trainee's thumb is located is defined as the left direction, and the direction in which the trainee's little finger is located is defined as the right direction. The direction in which the trainee's elbow is bent and the forearm (2b) moves is defined as the upper direction, and the direction in which the trainee's elbow is straightened and the forearm (2b) moves is defined as the downward direction.

1, 2, and 3, the rehabilitation training device 1 according to an embodiment of the present invention may include a frame 10, 20, a driving unit 30, and a fixing member 50, 60. there is.

The frames 10 and 20 may refer to members having an accommodation space where a part of the trainee's body can be fixed. The frames 10 and 20 may be formed in a form suitable for the part of the trainee's body that is fixed in the receiving space.

At this time, the part of the trainee's body may mean the trainer's upper extremities (2). In addition, the frames 10 and 20 may be composed of an upper arm frame 10 on which the trainer's upper arm 2a is fixed and a forearm frame 20 on which the trainer's forearm 2b is fixed.

On one side of the frames 10 and 20, a driving unit 30 may be located that generates an assistive force applied in a predetermined direction so that the trainee can exercise a body part fixed to the frames 10 and 20. For example, based on FIG. 1, the drive unit 30 may be located on the right side of the trainer's upper limb 2 between the upper arm frame 10 and the forearm frame 20. The driving unit 30 may generate a force (hereinafter referred to as ‘auxiliary force’) to rotate the upper arm frame 10 and the forearm frame 20 about the first rotation axis C1.

Assisting force is transmitted to the trainer's upper arm (2a) and forearm (2b) by the upper arm frame (10) and forearm frame (20), helping the trainee exercise the upper arm (2a) and forearm (2b). can be performed.

Referring to Figures 1 and 3, fixing members 50 and 60 capable of supporting and fixing the trainee's body may be located inside the upper arm frame 10 and the forearm frame 20.

At this time, the fixing members 50 and 60 may be composed of a first fixing member 50 and a second fixing member 60. The first fixing member 50 and the second fixing member 60 may fix the upper arm 2a and forearm 2b of the trainee's body to the upper arm frame 10 and the forearm frame 20, respectively. As a result, the trainee's upper limbs 2 can be stably supported and fixed to the frames 10 and 20 and receive assistive force.

Below, each component of the rehabilitation training device according to an embodiment of the present invention will be described in more detail.

Referring to Figures 2 and 3, the upper arm frame 10 may be mounted on the upper arm 2a of the upper limb 2 of the trainer, and the forearm frame 20 may be mounted on the forearm 2b of the upper limb 2 of the trainer. Can be installed.

At this time, the upper arm frame 10 and the forearm frame 20 may have a receiving space inside, and may have a hollow shape with the front and rear sides open so that the receiving space communicates with the outside.

The upper arm frame 10 may be composed of a first fixed frame 12, a first rotating frame 14, a first rotating shaft member 13, and a first connecting frame 16.

The first fixing frame 12 may have a predetermined thickness and a semicircular arc-shaped cross-section with an open upper side. At this time, the first fixing frame 12 may be formed to extend forward and backward. One side of the trainer's upper arm 2a may be seated and fixed inside the arc-shaped cross section of the first fixing frame 12.

The cross section of the first rotating frame 14 may have a shape that corresponds to the semicircular arc shape of the first fixed frame 12 and extends forward and backward. The other side of the trainer's upper arm 2a may be seated and fixed inside the arc-shaped cross section of the first rotation frame 14.

A first rotating shaft member 13 arranged in the longitudinal direction of the first fixed frame 12 may be provided on the left side of the first fixed frame 12. The first rotating shaft member 13 may hinge-couple the first rotating frame 14 and the first fixed frame 12. The first rotation shaft member 13 forms the second rotation shaft C2.

As a result, the first rotation frame 14 can rotate about the second rotation axis C2 with respect to the first fixed frame 12. Accordingly, the first rotation frame 14 can rotate around the second rotation axis C2 and cover the upper side of the first fixed frame 12.

Hereinafter, the state in which the first rotating frame 14 completely covers the upper side of the first fixed frame 12 is defined as a 'closed state', and the first rotating frame 14 is defined as the 'closed state' of the first fixed frame 12. The state in which the trainer's upper arm 2a can enter and exit the inside of the first fixed frame 12 because the upper side is not covered is defined as an 'open state'.

At this time, so that the first rotating frame 14 and the first fixed frame 12 can be maintained in a closed state, a buckle or A coupling member (not shown) such as a button may be provided.

In a state where the first rotating frame 14 is closed to the first fixed frame 12, the combination of the first rotating frame 14 and the first fixed frame 12 creates an accommodation space where the upper arm 2a of the trainer is fixed. can be formed.

That is, when the first rotating frame 14 is positioned to cover the upper side of the first fixed frame 12 with the trainee's upper arm 2a seated on the inside of the first fixed frame 12, the trainer's upper arm (2a) is positioned to cover the upper side of the first fixed frame 12. The other side of 2a) may be seated and fixed inside the first rotating frame 14.

Meanwhile, the cross section of the receiving space may have a shape corresponding to the cross section of a part of the trainee's body. Thereby, a part of the trainee's body can be stably fixed with an appropriate fit in the receiving space of the frames 10 and 20.

A protrusion may be formed on the lower side of the first fixing frame 12 to have a predetermined height on the outside of the first fixing frame 12. A plane may be formed at the outer end of the protrusion in the longitudinal direction of the upper arm 2a.

The first connection frame 16 may couple the driving unit 30 and the first fixed frame 12. At this time, the first connection frame 16 may perform the function of transmitting the power generated by the driving unit 30 to the user's upper arm 2a.

One side of the first connection frame 16 may be coupled to the driving unit 30 and the other side may be coupled to the first fixed frame 12. More specifically, the first connection frame 16 includes a plate parallel to the plane formed at the end of the protrusion of the first fixed frame 12 and having a predetermined thickness, and a plate bent and extending from the left side of the plate toward the driving unit 30. It may be made of a connecting member. At this time, the end of the connecting member may be coupled to the gear box 34 of the driving unit 30.

At this time, the plate of the first connection frame 16 may have a longer length than the first fixed frame 12 toward the driving unit 30. As a result, the first connection frame 16 stably supports the first fixed frame 12 and provides a space for the upper arm frame 10 to rotate around the first rotation axis C1. .

Meanwhile, the forearm frame 20 may be composed of a second fixed frame 22, a second rotating frame 24, a second rotating shaft member 23, and a second connecting frame 26. At this time, the second fixed frame 22, the second rotating frame 24, the second rotating shaft member 23, and the second connecting frame 26 are respectively the first fixed frame 12 and the first rotating frame 14. , may be formed similarly to the first rotation shaft member 13 and the first connection frame 16, and detailed description thereof will be omitted.

Referring again to FIG. 1, the drive unit 30 may be located between the upper arm frame 10 and the forearm frame 20. The driving unit 30 may be composed of an actuator 32 and a gear box 34.

The actuator 32 may generate an assistive force that can assist the physical movement of the trainee fixed to the frames 10 and 20. As a non-limiting example, actuator 32 may be a rotation motor.

A gear may be coupled to the rotation axis of the actuator 32 and coupled to the gear box 34. Gear box 34 may be placed on one side of the actuator 32. A plurality of gears may be disposed inside the gear box 34.

Gear teeth are formed on the ends of the first connection frame 16 and the second connection frame 26 on the drive unit 30 side and can be coupled to the gear of the gear box 34. Additionally, the rotation shaft gear of the actuator 32 may also be coupled to the gear of the gear box 34.

Accordingly, the rotational force of the actuator 32 can be converted to an appropriate rotation speed and direction by a plurality of gears inside the gear box 34. Therefore, the actuator 32 rotates the upper arm frame 10 and the forearm frame 20 about the first rotation axis C1, thereby providing an assistive force that can assist the exercise of the trainer's upper arm 2a and forearm 2b. can be applied to the trainer's upper extremities (2).

Referring to FIG. 3, the fixing members 50 and 60 may be composed of a first fixing member 50 and a second fixing member 60. The first fixing member 50 and the second fixing member 60 may perform the function of fixing and supporting parts of the trainee's body to the frames 10 and 20.

The first fixing member 50 is installed inside the first fixing frame 12 and the second fixing frame 22, and extends to the outside of the first fixing frame 12 and the second fixing frame 22. It can be.

The first fixing member 50 may be made of a belt-type member so that it can be worn on the arm or leg of a trainee. Of course, the first fixing member 50 may be formed as a strap made of a material such as Velcro so that it can be easily attached and detached.

The trainee places a part of the body on the fixing frame (12, 22) with the rotating frame (14, 24) open, and then manipulates the first fixing member (50) to fix the fixing frame (12, 22) and the upper arm (2a). and the relative positions of the forearm 2b can be adjusted appropriately. Afterwards, the trainer can fasten the first fixing member 50 to the upper arm 2a and forearm 2b.

Accordingly, the rehabilitation training device 1 according to an embodiment of the present invention primarily attaches the upper limb 2 to the fixing frames 12 and 22 so that the upper limb 2 and the fixing frame do not deviate from their appropriately adjusted relative positions. It can be fixed with .

At this time, manipulating the first fixing member 50 means a series of actions to fix and support the upper limb 2 to the fixing frames 12 and 22 by adjusting the length or position of the first fixing member 50. You can.

Of course, the first fixing member 50 may be formed in plural pieces and spaced apart from each other at a predetermined distance between the first fixing frame 12 and the second fixing frame 22. As a result, the first fixing member 50 can more stably fix and support the trainee's body.

The second fixing member 60 may have a plurality of fluid pockets 62 and 64. The plurality of fluid pockets 62 and 64 are formed along the inner peripheral surface of the first fixed frame 12 and the inner peripheral surface of the first rotating frame 14, the upper arm fluid pocket 62 and the inner peripheral surface of the second fixed frame 22, and It may include a forearm fluid pocket 64 formed along the inner peripheral surface of the second rotating frame 24. The upper arm fluid pocket 62 and the forearm fluid pocket 64 may be formed to extend parallel to the longitudinal direction of the upper arm frame 10 and the forearm frame 20, respectively.

At this time, the plurality of fluid pockets 62 and 64 are connected to the fixed frames 12 and 22 and the rotating frames 14 and 24 to surround at least one side of the receiving space provided in the upper arm frame 10 and the forearm frame 20. It can be placed inside. Meanwhile, the plurality of fluid pockets 62 and 64 may be made of an elastic material such as rubber.

The plurality of fluid pockets 62 and 64 of the rehabilitation training device 1 according to an embodiment of the present invention may be formed in four numbers in the upper arm frame 10 and the forearm frame 20, respectively. Of course, the number and shape of the fluid pockets 62 and 64 may be adjusted depending on the shape of the frames 10 and 20 and the characteristics of the trainee's body accommodated within the frames 10 and 20.

Each of the plurality of fluid pockets 62 and 64 includes a fluid injection pipe (not shown) for injecting fluid into the inside of the plurality of fluid pockets 62 and 64, and a fluid inside the plurality of fluid pockets 62 and 64 to the outside. A fluid discharge pipe (not shown) may be connected.

The fluid injection pipe and fluid discharge pipe may connect a plurality of fluid pockets 62 and 64 and fluid pumps 66 and 68 (shown in FIG. 6). More specifically, a first fluid pump 66 may be installed on the lower surface of the first connection frame 16 to inject or discharge fluid into the upper arm fluid pocket 62 through a fluid injection pipe and a fluid discharge pipe. Additionally, a second fluid pump 68 may be installed on the lower surface of the second connection frame 26 to inject or discharge fluid into the forearm fluid pocket 64 through a fluid injection pipe and a fluid discharge pipe.

Of course, a single pipe that simultaneously functions as a fluid injection pipe and a fluid discharge pipe may be connected to each of the plurality of fluid pockets 62 and 64. At this time, the fluid may include at least one of a gas such as air and a liquid such as water.

Meanwhile, the fluid injected into the plurality of fluid pockets 62 and 64 may be a fluid other than air. At this time, a fluid storage device (not shown) that stores and supplies fluid may be separately provided.

In addition, the fluid pumps 66 and 68, the fluid supply pipe, and the fluid discharge pipe are disposed inside the upper arm frame 10 and the forearm frame 20, and are protected from the outside by the upper arm frame 10 and the forearm frame 20. You can.

The plurality of fluid pockets (62, 64) expand as fluid flows into them through the fluid inlet pipe and form curved surfaces that protrude convexly toward the inside of the fixed frames (12, 22) and the rotating frames (14, 24). You can.

The curved surface of the plurality of fluid pockets 62 and 64 may contact one side of the trainee's body as the plurality of fluid pockets 62 and 64 expand and may apply a predetermined pressure to the trainee's body. At this time, the plurality of fluid pockets 62 and 64 are arranged to surround the receiving space, so that the trainee's body can receive the same pressure in all directions in contact with the plurality of fluid pockets 62 and 64.

Accordingly, the plurality of fluid pockets 62 and 64 of the rehabilitation training device 1 according to an embodiment of the present invention are individually expanded to different degrees according to the physical conditions of the trainee, thereby secondaryly fixing the trainee's body. and can be supported.

In addition, the rehabilitation training device 1 according to an embodiment of the present invention gently presses the user's body using the fluidity of the fluid and the elasticity of the plurality of fluid pockets 62 and 64 to generate fixation and support force, allowing the trainee to It can provide a comfortable fit.

At this time, individual expansion and adjustment of internal pressure of the plurality of fluid pockets 62 and 64 may be controlled by a control unit described later.

Of course, the plurality of fluid pockets 62 and 64 may be arranged along the longitudinal direction of the frames 10 and 20. In this case, each of the plurality of fluid pockets 62 and 64 expands to different degrees according to conditions such as the curvature of the trainee's body that varies along the longitudinal direction of the frames 10 and 20, thereby more stably fixing and supporting the trainee's body. It can be done, and it can provide a comfortable fit to the trainer.

Referring to FIG. 4, the upper arm fluid pocket 62 disposed inside the first fixed frame 12 and the second rotating frame 24 includes a first fluid receiving portion 621 and a second fluid receiving portion 622. and a separator 623.

The first fluid receiving portion 621 and the second fluid receiving portion 622 may be composed of a space formed inside the fluid pocket 62 and a membrane surrounding the fluid pocket 62 to allow fluid to flow in and be accommodated. At this time, the first fluid receiving portion 621 and the second fluid receiving portion 622 may be formed to extend along the longitudinal direction of the fluid pocket 62.

The first fluid receiving part 621 may be located adjacent to the first fixed frame 12 or the first rotating frame 14, and the second fluid receiving part 622 is located further than the first fluid receiving part 621. It can be located closer to the trainee's body.

More specifically, the first fluid receiving portion 621 is in surface contact with the inner peripheral surface of the first fixed frame 12 or the inner peripheral surface of the first rotating frame 14 and moves in the longitudinal direction or first rotation of the first fixed frame 12. It may be formed to extend in the longitudinal direction of the frame 14. The second fluid accommodating part 622 covers the surface opposite to the first fluid accommodating part 621, and both sides may be fixed in contact with the inner peripheral surface of the first fixed frame 12 or the first rotating frame 14.

At this time, the inner space of the first fluid accommodating part 621 and the inner space of the second fluid accommodating part 622 are separated by a separation membrane 623 located between the first fluid accommodating part 621 and the second fluid accommodating part 622. ) can be isolated.

Additionally, separate fluid injection pipes and fluid discharge pipes may be connected to the first fluid receiving portion 621 and the second fluid receiving portion 622, respectively. Accordingly, the first fluid accommodating part 621 and the second fluid accommodating part 622 may individually expand or contract.

Accordingly, one of the first fluid receiving part 621 and the second fluid receiving part 622 can expand to approximately match the physical condition of the trainee to secondarily fix and support the trainee's body. Afterwards, the other one expands more precisely according to the physical conditions of the trainee to fix and support the trainee's body in a third way.

Of course, the expansion of the upper arm fluid pocket 62 and adjustment of the internal pressure can be controlled by the control unit 40, which will be described later. In addition, the internal structure of the forearm fluid pocket 64 disposed inside the second fixed frame 22 and the second rotating frame 24 is formed in the same manner as the internal structure of the plurality of upper arm fluid pockets 62 described above. It can be.

Figure 5 is a diagram showing an actuator, pressure measurement sensor, control unit, and fluid pump in block form according to an embodiment of the present invention. 6 to 9 are diagrams showing a state in which the internal pressure of the fluid pockets is adjusted by the control unit of the rehabilitation training device according to an embodiment of the present invention. At this time, the pressure measurement sensor is not shown in FIGS. 7 to 9 .

Referring to Figures 1 and 6, the rehabilitation training device 1 according to an embodiment of the present invention may further include a control unit 40 and pressure measurement sensors 67 and 69. At this time, the control unit 40 is disposed on one side of the gear box 34 and includes an actuator 32, a fluid pump 66, 68 that provides power to inject or discharge fluid into the interior of the fluid pocket, and a fluid pocket 62. 64) It can be electrically connected to pressure measurement sensors 67 and 69 that measure internal pressure.

At this time, the pressure measurement sensors 67 and 69 are the first pressure measurement sensor 67 and the forearm fluid pocket 64 disposed inside the upper arm fluid pocket 62 to measure the internal pressure of the upper arm fluid pocket 62. It may include a second pressure measurement sensor 69 disposed inside the forearm fluid pocket 64 to measure the internal pressure.

The control unit 40 receives signals from the actuator 32 and the pressure measurement sensors 67 and 69, performs a series of judgments or calculations, and then controls the fluid pockets 62 and 64. It may be configured to control the operation of the pumps 66 and 68.

Referring to Figures 5 and 6, the driving unit 30 of the rehabilitation training device 1 according to an embodiment of the present invention moves the trainee's upper limb 2 in the first direction in order to assist the inward bending exercise. The upper arm frame 10 can be rotated by applying force F1, and the forearm frame 20 can be rotated by applying force F2 in the second direction. Accordingly, the user's upper arm 2a and forearm 2b receive assisting forces corresponding to F1 and F2, respectively, by the upper arm frame 10 and the forearm frame 20.

At this time, the receiving unit 42 of the control unit 40 may receive information about F1 and F2 from the actuator 32. As a non-limiting example, the information about F1 and F2 may include information about the rotation direction of the rotation axis of the actuator 32 and the rotation load. Information about the rotation direction and rotation load may include information about the direction and size of F1 and the direction and size of F2.

The determination unit 44 of the control unit 40 determines and determines the pressure of the fluid pockets 62 and 64 or the degree of expansion of the fluid pockets 62 and 64 based on the information about F1 and F2 received from the actuator 32. You can. The transmission unit 46 of the control unit 40 may control the operation of the fluid pump by converting the determination result of the determination unit 44 into an electrical signal and transmitting it to the fluid pumps 66 and 68. The fluid pumps 66 and 68 may operate according to the received electrical signals to adjust the pressure of the fluid pockets 62 and 64 according to the judgment result of the determination unit 44.

Below, a non-limiting example of a method of controlling the pressure or expansion of the upper arm fluid pocket 62 of the control unit 40 will be described. The control unit 40 of the rehabilitation training device 1 according to an embodiment of the present invention may receive information about the direction (hereinafter referred to as ‘first direction’) and size of F1 from the actuator 32.

Thereafter, the determination unit 44 determines the fluid pockets 62c and 62b of the upper arm fluid pocket 62 located closest to the portion opposite to the first direction of the upper arm 2a based on the received information about the first direction. A judgment or decision may be made to increase the degree of internal pressure or expansion.

In addition, the determination unit 44 determines the internal pressure of the fluid pockets 62f and 62g located closest to the first direction side portion of the upper arm 2a among the upper arm fluid pockets 62 based on the received information about the first direction. Alternatively, it may be judged or decided to reduce the degree of expansion.

In addition, the determination unit 44 determines the pressure of the upper arm fluid pocket 62 as it moves toward the first direction (that is, from 62c and 62b to 62f and 62g, based on FIG. 6) based on the received information about the first direction. Alternatively, the degree of expansion may be judged or determined to be reduced.

The transmitter 46 may convert the determination result of the above-described determination unit 44 into an electrical signal that the first fluid pump 66 can interpret and transmit it to the first fluid pump 66. The first fluid pump 66 may interpret the signal from the transmitter 46 and then operate accordingly to inject or discharge fluid into the upper arm fluid pocket 62. That is, the first fluid pump 66 may increase the pressure of the upper arm fluid pocket 62 or expand the upper arm fluid pocket 62 based on the signal from the transmitter 46.

Additionally, the determination unit 44 may determine a reference pressure of the internal pressure of each upper arm fluid pocket 62 based on information about the size of F1. At this time, the determination unit 44 may set the range of pressure exceeding the standard pressure as the ideal pressure range. At this time, the receiver 42 may receive information about the pressure value inside the upper arm fluid pocket 62 from the first pressure measurement sensor 67 installed inside the upper arm fluid pocket 62.

When the pressure value inside the upper arm fluid pocket 62 received by the receiver 42 enters the abnormal pressure range, the determination unit 44 stops the operation of the first fluid pump 66 or determines whether the pressure value inside the upper arm fluid pocket 62 enters the abnormal pressure range. It may be determined or determined to block the fluid injection pipe that injects fluid into the interior of the upper arm fluid pocket 62.

The transmission unit 46 may transmit the determination result of the above-described determination unit 44 to the first fluid pump 66. The first fluid pump 66, which receives information about the determination result from the transmitter 46, may stop operating or block the target fluid injection pipe.

As described above, the control unit 40 of the rehabilitation training device 1 according to an embodiment of the present invention controls the upper arm fluid pockets 62b and 62c adjacent to the portion of the trainer's upper arm 2a to which the assisting force F1 is applied. The internal pressure or degree of expansion may be increased, and the internal pressure or degree of expansion of the upper arm fluid pockets 62f and 62g located on the opposite side may be reduced.

As a result, the control unit 40 and the upper arm fluid pocket 62 of one embodiment of the present invention can efficiently transmit the assistive force F1 to the upper arm 2a of the trainer. In addition, the control unit 40 and the upper arm fluid pocket 62 of an embodiment of the present invention gently press the user's body using the fluidity of the fluid and the elasticity of the upper arm fluid pocket 62 and transmit assistive force through this. , It can provide a comfortable fit without any discomfort or pain caused by assistive force.

In addition, the control unit 40, the first fluid pump 66, the first pressure sensor 67, and the fluid injection pipe in one embodiment of the present invention prevent the pressure of the upper arm fluid pocket 62 from becoming greater than a predetermined pressure. , damage to the upper arm fluid pocket 62 and the first fluid pump 66 can be prevented. In addition, the control unit 40, the first fluid pump 66, the first pressure sensor 67, and the fluid injection pipe in one embodiment of the present invention prevent excessively high pressure from being transmitted to the trainee's body, allowing the trainee to It can prevent discomfort or pain caused by excessive pressure.

Meanwhile, the control unit 40 of the rehabilitation training device 1 according to an embodiment of the present invention receives information about F2 in the same way as previously observed with respect to the first fluid pump 66 and the upper arm fluid pocket 62. Then, based on this, the operation of the second fluid pump 68 and the pressure and expansion degree of the forearm fluid pocket 64 can be controlled.

Hereinafter, other examples in which the internal pressure of a plurality of fluid pockets of the rehabilitation training device according to an embodiment of the present invention are controlled will be described with reference to FIGS. 7 to 9. At this time, the process by which the internal pressure of a plurality of fluid pockets according to an embodiment of the present invention is controlled by the control unit is the same as described above, so the description thereof is omitted, and the direction of the auxiliary force by the actuator and the internal pressure of the fluid pocket Let us explain the relationship in more detail.

Referring to Figures 5 and 7, the control unit 40 of the rehabilitation training device 1 according to an embodiment of the present invention controls the direction and size of F1 from the actuator 32. You can receive information about

Thereafter, the determination unit 44 determines the fluid pockets 62c and 62b of the upper arm fluid pocket 62 located closest to the portion opposite to the first direction of the upper arm 2a based on the received information about the first direction. The degree of internal pressure or expansion can be adjusted. For example, the determination unit 44 is configured to increase the degree of internal pressure or expansion of the fluid pockets 62c and 62b of the upper arm fluid pocket 62, which are located closest to the portion on the opposite side of the first direction of the upper arm 2a. You can judge or decide. Of course, the determination unit 44 determines or determines to lower the degree of internal pressure or expansion of the fluid pockets 62c and 62b of the upper arm fluid pocket 62 located closest to the portion opposite to the first direction of the upper arm 2a. You can decide.

In addition, the determination unit 44 determines the inside of the fluid pockets 62f and 62g located closest to the first direction side portion of the upper arm 2a among the upper arm fluid pockets 62 based on the received information about the first direction. The degree of pressure or expansion may be adjusted in response to the internal pressure of the fluid pockets 62b and 62c located closest to the portion of the upper arm 2a opposite the first direction. For example, the determination unit 44 determines the degree of internal pressure or expansion of the fluid pockets 62f and 62g located closest to the first direction side portion of the upper arm 2a among the upper arm fluid pockets 62 ( It may be determined or determined to increase in response to the internal pressure of the fluid pockets 62b and 62c located closest to the portion opposite to the first direction of 2a). Of course, the determination unit 44 determines or determines to lower the degree of internal pressure or expansion of the fluid pockets 62f and 62g located closest to the first direction side portion of the upper arm 2a among the upper arm fluid pockets 62. You can decide.

In addition, based on the received information about the first direction, the determination unit 44 determines a fluid pocket 62a located closest to the portion of the upper arm fluid pocket 62 in a direction perpendicular to the first direction of the upper arm 2a. The degree of pressure or expansion (62d, 62e, 62h) can be adjusted. For example, the determination unit 44 determines the pressure of the fluid pockets 62a, 62d, 62e, and 62h located closest to the portion of the upper arm fluid pocket 62 in a direction perpendicular to the first direction of the upper arm 2a. Alternatively, it may be judged or decided to reduce the degree of expansion. Of course, the determination unit 44 determines the pressure or expansion of the fluid pockets 62a, 62d, 62e, and 62h located closest to the portion of the upper arm fluid pocket 62 in the direction perpendicular to the first direction. It can be judged or decided to increase the level of

The transmitter 46 may convert the determination result of the above-described determination unit 44 into an electrical signal that the first fluid pump 66 can interpret and transmit it to the first fluid pump 66. The first fluid pump 66 may interpret the signal from the transmitter 46 and then operate accordingly to inject or discharge fluid into the upper arm fluid pocket 62. That is, the first fluid pump 66 may increase the pressure of the upper arm fluid pocket 62 or expand the upper arm fluid pocket 62 based on the signal from the transmitter 46.

As described above, the control unit 40 of the rehabilitation training device 1 according to an embodiment of the present invention includes upper arm fluid pockets 62b and 62c adjacent to the portion of the trainer's upper arm 2a to which assisting force F1 is applied, and Increase the internal pressure or degree of expansion of the upper arm fluid pockets (62f, 62g) in the area opposite to the area to which the auxiliary force F1 is applied, and the internal pressure of the upper arm fluid pockets (62a, 62d, 62e, 62h) located between them. Alternatively, the degree of swelling may be reduced.

As a result, the control unit 40 and the upper arm fluid pocket 62 of an embodiment of the present invention increase the pressure and rigidity of the plurality of fluid pockets 62b, 62c, 62f, and 62g disposed in the direction in which the auxiliary force F1 is applied. The fixing force and support force can be increased, and the pressure and rigidity of the plurality of fluid pockets (62a, 62d, 62e, 62g) disposed in a direction perpendicular to the direction in which the auxiliary force F1 is applied is lowered to reduce the load applied to the upper arm (2a). can alleviate.

Accordingly, the rehabilitation training device 1 according to an embodiment of the present invention can efficiently transmit assistive force F1 to the trainer's upper arm 2a. In addition, the control unit 40 and the upper arm fluid pocket 62 of an embodiment of the present invention gently press the user's body using the fluidity of the fluid and the elasticity of the upper arm fluid pocket 62 and transmit assistive force through this. , It can provide a comfortable fit without any discomfort or pain caused by assistive force.

Meanwhile, the control unit 40 of the rehabilitation training device 1 according to an embodiment of the present invention receives information about F2 in the same way as previously observed with respect to the first fluid pump 66 and the upper arm fluid pocket 62. Then, based on this, the operation of the second fluid pump 68 and the pressure and expansion degree of the forearm fluid pocket 64 can be controlled.

Meanwhile, referring to Figures 5 and 8, the control unit 40 of the rehabilitation training device 1 according to an embodiment of the present invention controls the direction F1 from the actuator 32 (hereinafter referred to as the 'first direction'). and size information can be received. Additionally, the control unit 40 may receive information about the direction of gravity from a separate gravity direction sensor (not shown) for measuring the direction of gravity.

At this time, a gyro sensor may be used as the gravity direction sensor. A gyro sensor may refer to a sensor that can measure how tilted an object is relative to the direction of gravity by converting the Coriolis Force generated when an object rotates into an electrical signal.

The determination unit 44 of the control unit 40 may determine or determine to lower the internal pressure of the upper arm fluid pocket 62 when the angle between the first direction and the direction of gravity is less than 90 degrees.

The transmitter 46 may convert the determination result of the above-described determination unit 44 into an electrical signal that the first fluid pump 66 can interpret and transmit it to the first fluid pump 66. The first fluid pump 66 may interpret the signal from the transmitter 46 and then operate accordingly to discharge fluid from the upper arm fluid pocket 62. That is, the first fluid pump 66 may reduce the pressure of the upper arm fluid pocket 62 or contract the upper arm fluid pocket 62 based on the signal from the transmitter 46.

Referring to FIGS. 5 and 9, the determination unit 44 of the control unit 40 determines to increase the internal pressure of the upper arm fluid pocket 62 when the angle between the first direction and the direction of gravity is greater than 90 degrees. You can decide.

The transmitter 46 may convert the determination result of the above-described determination unit 44 into an electrical signal that the first fluid pump 66 can interpret and transmit it to the first fluid pump 66. The first fluid pump 66 may interpret the signal from the transmitter 46 and then operate accordingly to inject fluid into the upper arm fluid pocket 62. That is, the first fluid pump 66 may increase the pressure of the upper arm fluid pocket 62 or expand the upper arm fluid pocket 62 based on the signal from the transmitter 46.

Meanwhile, the control unit 40 of the rehabilitation training device 1 according to an embodiment of the present invention receives information about F2 in the same way as previously observed with respect to the first fluid pump 66 and the upper arm fluid pocket 62. Then, based on this, the operation of the second fluid pump 68 and the pressure and expansion degree of the forearm fluid pocket 64 can be controlled.

Therefore, the rehabilitation training device 1 according to an embodiment of the present invention adjusts the pressure of the fluid pockets 62 and 64 in response to the direction of the assisting force and the direction of gravity, thereby applying the assisting force to the trainer's upper extremity (2). can be delivered efficiently.

In addition, the control unit 40 and the fluid pockets 62 and 64 of one embodiment of the present invention gently press the user's body using the fluidity of the fluid and the elasticity of the fluid pockets 62 and 64, thereby providing assistive force. By delivering this, it is possible to provide a comfortable fit without discomfort or pain caused by assistive force.

Figure 10 (a) is a diagram showing the state in which the internal pressure of the fluid pockets is adjusted by the control unit of the rehabilitation training device according to an embodiment of the present invention, and Figure 10 (b) is a diagram showing the state in which the internal pressure of the fluid pockets is adjusted. This is a diagram showing a state in which the movement of the trainee's upper limbs is guided in one direction.

Referring to Figures 5 and 10 (a), the determination unit 44 of one embodiment of the present invention determines the trainer's upper arm (2a) in the upper arm fluid pocket 62 in order to induce the trainee's upper arm (2a) to move in the third direction. A judgment or decision may be made to increase the pressure of the upper arm fluid pockets 62f and 62g located closest to the portion opposite to the third direction of the upper arm 2a.

In addition, the determination unit 44 may determine or determine to lower the pressure of the upper arm fluid pockets 62c and 62b located closest to the third direction side portion of the trainer's upper arm 2a among the upper arm fluid pockets 62. there is.

Additionally, the determination unit 44 may determine that the pressure of the upper arm fluid pocket 62 decreases as it moves toward the third direction (that is, from 62f and 62g to 62c and 62b, based on FIG. 10 ).

At this time, the judgment or decision of the above-described determination unit 44 may be made based on data regarding rehabilitation training. Data regarding rehabilitation training may be data recorded in a storage unit (not shown) provided separately in the control unit 40, data received through wired or wireless communication from an external database, or data received through an external interface.

The transmitter 46 may convert the judgment or decision result of the determination unit 44 into an electrical signal and transmit it to the first fluid pump 66. The first fluid pump 66 may operate to adjust the pressure of the upper arm fluid pocket 62 based on the transmitted signal.

As a result, the trainer's upper arm 2a receives a force due to high pressure from the upper arm fluid pockets 62f and 62g located on the opposite side of the third direction, and the upper arm fluid pocket 62c located on the side of the third direction. 62b), it is possible to receive force from relatively low pressure. As a result, the trainer's upper arm 2a may receive a force F3 applied in the third direction (i.e., the resultant force of forces applied to the trainer's upper arm 2a by the pressure of the upper arm fluid pocket 62). .

A trainee who recognizes the force F3 applied to the upper arm 2a in the third direction can perform rehabilitation training by exercising the upper arm 2a in the third direction.

As previously observed, the control unit 40 and the first fluid pump 66 according to an embodiment of the present invention induce or guide the exercise of the trainer's upper arm 2a by controlling the internal pressure of the upper arm fluid pocket 62. can do.

In addition, the control unit 40 and the first fluid pump 66 according to an embodiment of the present invention induce exercise of the trainee's upper arm 2a by gently pressing the user's body using the fluidity of the fluid and the elasticity of the fluid pocket. Because it provides training or guidance, it may not cause discomfort or pain to the trainee during rehabilitation training.

Meanwhile, the control unit 40 of the rehabilitation training device 1 according to an embodiment of the present invention has the second control unit 40, the first fluid pump 66, and the upper arm fluid pocket 62, as previously discussed. By controlling the operation of the fluid pump 68 and the pressure of the forearm fluid pocket 64, the movement of the trainee's forearm 2b can be induced or guided in the fourth direction.

Below, a modified example of the control unit 40 according to an embodiment of the present invention will be described.

Referring again to FIG. 6, the determination unit 44 of the modified example of one embodiment of the present invention may determine or determine that the upper arm fluid pocket 62 applies the first pressure to the upper arm 2a of the trainer. At this time, the first pressure may refer to the internal pressure of the upper arm fluid pocket 62 suitable for fixing and supporting the trainer's upper arm 2a according to the physical condition of the trainee.

The control unit 40 may receive information about the direction (first direction) and size of F1 from the actuator 32.

Thereafter, the determination unit 44 determines the upper arm fluid pockets 62c and 62b located closest to the portion on the opposite side of the first direction of the upper arm 2a among the upper arm fluid pockets 62 based on the received information about the first direction. It may be determined that the internal pressure of is higher than the first pressure.

In addition, the determination unit 44 determines the inside of the upper arm fluid pockets 62f and 62g located closest to the first direction side portion of the upper arm 2a among the upper arm fluid pockets 62 based on the received information about the first direction. The pressure may be determined to be lower than the first pressure.

In addition, the determination unit 44 determines the pressure of the upper arm fluid pocket 62 as it moves toward the first direction (that is, from 62c and 62b to 62f and 62g, based on FIG. 6) based on the received information about the first direction. Alternatively, a decision may be made to reduce the degree of expansion. At this time, the determination unit 44 determines that the pressure of the upper arm fluid pockets 62d, 62e, 62h, and 62a located closest to the portion perpendicular to the first direction of the upper arm 2a among the upper arm fluid pockets 62 is the first. 1 You can decide to maintain the pressure.

The transmitter 46 may convert the determination result of the above-described determination unit 44 into an electrical signal that the first fluid pump 66 can interpret and transmit it to the first fluid pump 66. The first fluid pump 66 may operate according to a signal from the transmitter 46 to control the degree of pressure or expansion of the upper arm fluid pocket 62.

As described above, the control unit 40 according to a modified example of an embodiment of the present invention determines the internal pressure or expansion level of the upper arm fluid pockets 62b and 62c adjacent to the portion of the trainer's upper arm 2a to which the assisting force F1 is applied. It is possible to increase the internal pressure or degree of expansion of the upper arm fluid pockets 62f and 62g located on the opposite side.

As a result, the control unit 40 and the upper arm fluid pocket 62 of the modified example of one embodiment of the present invention can efficiently transmit the assisting force F1 to the upper arm 2a of the trainer. In addition, the control unit 40 and the upper arm fluid pocket 62 of a modified example of an embodiment of the present invention gently press the user's body and transmit assistive force using the fluidity of the fluid and the elasticity of the upper arm fluid pocket 62, It can provide a comfortable fit without any discomfort or pain caused by assistive force.

As previously observed, the rehabilitation training device according to an embodiment of the present invention primarily fixes and supports the trainee's body using a first fixing member, and then secondarily fixes and supports it using a second fixing member. , It is possible to stably fix and support the trainee's body that is fastened to the rehabilitation training device during rehabilitation training.

In addition, the second fixing member of the rehabilitation training device according to an embodiment of the present invention uses the elastic force of a plurality of fluid pockets surrounding the trainee's body and the fluidity of the fluid accommodated inside the fluid pockets to soften the trainee's body. By applying pressure to generate fixation and support, it is possible to provide a comfortable and stable fit to the trainee during rehabilitation training.

In addition, the control unit of the rehabilitation training device according to an embodiment of the present invention controls the pressure or expansion degree of the fluid pocket using information about the assistive force, thereby effectively transmitting assistive force to the trainee's body during rehabilitation training and It can provide a comfortable fit without discomfort or pain, and can induce or guide the exercise of the trainee's body without causing discomfort or pain to the trainee.

Although the embodiments of the present invention have been described, the spirit of the present invention is not limited to the embodiments presented in this specification, and those skilled in the art who understand the spirit of the present invention can add or change components within the scope of the same spirit. , deletion, addition, etc., other embodiments can be easily proposed, but this will also be said to fall within the scope of the present invention.

1: Rehabilitation training device 2: Trainer's upper extremity
10: Upper arm frame 12: First fixed frame
13: first rotation shaft member 14: first rotation frame
16: first connection frame 20: forearm frame
22: second fixed frame 23: second rotating shaft member
24: second rotation frame 26: second connection frame
30: driving unit 32: actuator
34: gear box 40: control unit
42: receiving unit 44: judging unit
46: Transmitting unit 50: First fixing member
60: second fixing member 62: upper arm fluid pocket
64: forearm fluid pocket 66: first fluid pump
67: first pressure measurement sensor 68: second fluid pump
69: second pressure measurement sensor 621: first fluid receiving portion
622: second fluid receiving portion 623: separator

Claims (16)

A frame having an accommodating space where a part of the trainee's body can be fixed;
a first fixing member formed on the frame and fastened to the body part;
a second fixing member formed to surround at least one side of the receiving space and having a plurality of fluid pockets that expand according to the physical condition of the trainee to fix and support the body part;
an actuator located on one side of the frame to apply an assisting force to the frame in a first direction so that the trainee can exercise the body part; and
In order to transmit the assisting force of the actuator to a body part, a fluid pocket that receives information about the first direction from the actuator and is located closest to a portion of the body part opposite to the first direction among the plurality of fluid pockets A rehabilitation training device, comprising a control unit configured to increase internal pressure. According to clause 1,
The control unit,
Among the plurality of fluid pockets, the pressure of the fluid pocket located closest to the portion of the body part in the first direction corresponds to the internal pressure of the fluid pocket located closest to the portion of the body part opposite to the first direction. A rehabilitation training device configured to regulate. According to clause 1,
The control unit,
A rehabilitation training device configured to adjust the pressure of a fluid pocket located closest to a portion of the plurality of fluid pockets in a direction perpendicular to the first direction of the body part. According to clause 1,
The control unit,
A rehabilitation training device configured to lower the pressure of a fluid pocket located closest to a portion of the body part in the first direction among the plurality of fluid pockets. According to clause 4,
The control unit,
A rehabilitation training device configured to adjust the pressure of the plurality of fluid pockets so that the pressure of the plurality of fluid pockets decreases toward the first direction. According to clause 1,
The control unit,
A rehabilitation training device configured to increase the pressure of a fluid pocket located closest to a portion of the body part opposite to the second direction among the plurality of fluid pockets in order to induce the body part to move in the second direction. According to clause 6,
The control unit,
A rehabilitation training device configured to lower the pressure of a fluid pocket located closest to a portion of the body part in the second direction among the plurality of fluid pockets. According to clause 1,
The second fixing member is,
A plurality of fluid injection pipes connected to each of the plurality of fluid pockets to inject fluid into the plurality of fluid pockets,
The control unit,
A rehabilitation training device configured to block the fluid injection pipe when the pressure of the fluid pocket enters an ideal pressure range. According to clause 1,
The frame is,
a fixed frame supporting one side of the body part;
a rotating frame rotatably coupled to the fixed frame and supporting the other side of the body part; and
A rehabilitation training device comprising a connecting frame coupled to the fixed frame and the actuator and transmitting the assisting force to the fixed frame. According to clause 1,
Each of the plurality of fluid pockets,
A rehabilitation training device installed inside the frame and including a curved surface protruding toward the body part. According to clause 10,
Each of the plurality of fluid pockets,
a first fluid receiving portion located adjacent to the frame; and
A second fluid accommodating portion located closer to the body part than the first fluid accommodating portion and separated from the first fluid accommodating portion by a separation membrane,
A rehabilitation training device, wherein the first fluid accommodating part and the second fluid accommodating part are formed to be individually expanded. A frame having an accommodating space where a part of the trainee's body can be fixed;
a first fixing member formed on the frame and fastened to the body part;
a second fixing member formed to surround at least one side of the receiving space and having a plurality of fluid pockets that expand according to the physical condition of the trainee to secure and support the body part by applying a first pressure to the body part;
an actuator located on one side of the frame to apply an assisting force to the frame in a first direction so that the trainee can exercise the body part; and
In order to transmit the assisting force of the actuator to a body part, a fluid pocket that receives information about the first direction from the actuator and is located closest to a portion of the body part opposite to the first direction among the plurality of fluid pockets A rehabilitation training device comprising a control unit that controls the internal pressure of the plurality of fluid pockets so that the internal pressure is higher than the first pressure. According to clause 12,
The control unit,
A rehabilitation training device that controls the internal pressure of the plurality of fluid pockets so that the pressure of the fluid pocket located closest to the portion of the body part in the first direction among the plurality of fluid pockets is lower than the first pressure. . According to clause 13,
The control unit,
Rehabilitation training device for controlling the internal pressure of the plurality of fluid pockets so that the pressure of the plurality of fluid pockets decreases gradually from the portion on the opposite side of the first direction to the portion on the side in the first direction. A frame having an accommodating space where a part of the trainee's body can be fixed;
a first fixing member formed on the frame and fastened to the body part;
a second fixing member formed to surround at least one side of the receiving space and having a plurality of fluid pockets that expand according to the physical condition of the trainee to fix and support the body part;
an actuator located on one side of the frame to apply an assisting force to the frame in a first direction so that the trainee can exercise the body part; and
In order to transmit the auxiliary force of the actuator to a part of the body, information about the first direction is received from the actuator, and when the angle formed between the first direction and the direction of gravity is less than 90 degrees, the internal pressure of the plurality of fluid pockets A rehabilitation training device comprising a control unit configured to lower . According to clause 15,
The control unit,
A rehabilitation training device configured to increase the internal pressure of the plurality of fluid pockets when the angle between the first direction and the direction of gravity is greater than 90 degrees.

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