KR102602688B1 - Device for hand rehabilitation - Google Patents

Abstract

The present invention relates to an upper extremity rehabilitation device, and more specifically, a palm resting portion on which the palm rests, a plurality of unit connecting bands provided on the lower side of the palm resting portion and fingertips resting on, and linked to extend or contract in the forward and backward directions. A finger seating unit coupled in this way, an electric cylinder installed on the palm seating unit and equipped with a piston rod that moves linearly, and hinged to the palm seating unit, one side is connected to the piston rod, and the other side is connected to the finger seating unit. A motion conversion means is connected to convert the linear motion of the piston rod into a rotational movement of the finger seating portion, and a link connects the palm seating portion and the finger seating portion, and an interlocking link links the rotational movement of the finger seating portion to extend or contract the finger seating portion. It is characterized by including wealth.

Description

Upper limb rehabilitation device {DEVICE FOR HAND REHABILITATION}

The present invention relates to an upper limb rehabilitation device, and more specifically, to an upper limb rehabilitation device that can rehabilitate fingers by assisting in stretching and bending motions.

The human hand is the body part most used during activities of daily living. At the same time, because it is an organ located at the extremities of the body, it is an area prone to disability due to aftereffects of neurological diseases or damage from external shocks. Therefore, various devices for hand rehabilitation are being developed, and recently, rehabilitation methods using robots have also been attempted.

However, the hand is a complex mechanical system with a total of 21 degrees of freedom, with the thumb having 5 degrees of freedom (DOF) and the remaining fingers each having 4 degrees of freedom. In addition, because the hand is a body part that is relatively smaller in size than other body parts, manufacturing a device by attaching actuators and sensors to correspond to all degrees of freedom of each joint is impractical due to its large volume and heavy weight, and is also difficult to manufacture from a technical standpoint. There is this difficult problem.

Meanwhile, conventionally, rehabilitation devices that assist hand movements are mainly worn on the back of the hand, but in the case of elderly people with weak muscles, there is a problem of not being able to sufficiently support the load applied in the bending direction of the wrist due to the self-weight of the rehabilitation device. In addition, since both hands must be used when worn on the back of the hand, there is a problem in that it is not easy to wear for patients who have difficulty with one hand or disabled people who cannot move their hands freely.

The background technology of the present invention is disclosed in Republic of Korea Patent Publication No. 10-1227861 (announcement dated January 31, 2013, title of invention: upper limb strength assistive device).

The object of the present invention, which was devised to solve the above-mentioned problems, is to provide an upper limb rehabilitation device that can assist the finger extension and finger bending movements by simultaneously generating linear and rotational movements when the hand is placed. It is there.

The present invention, which was devised to achieve the above problem, is an upper limb rehabilitation device, which includes a palm resting portion on which the palm rests, a plurality of unit connecting bands provided on the lower side of the palm resting portion and fingertips resting on, and extending or contracting in the forward and backward directions. A finger seating unit coupled with a temporary link, an electric cylinder installed on the palm seating unit and having a piston rod that moves linearly, hinged to the palm seating unit, one side connected to the piston rod, and the other side connected to the piston rod. A motion conversion means is connected to the finger seating portion and converts the linear motion of the piston rod into a rotational movement of the finger seating portion, and a link is connected between the palm seating portion and the finger seating portion, and is linked to the rotational movement of the finger seating portion. It includes an interlocking link portion that extends or contracts the finger seating portion.

The finger seating portion is arranged vertically in the unit connection section, and has a first rotation axis vertically coupled to the center of the unit connection section so that the unit connection sections are hinged to each other, and a second shaft coupled vertically to both ends of the unit connection section, respectively. It is characterized in that it includes two rotation axes.

A lower coupling protrusion extending from the lower end of the first rotation shaft is further formed, and a rotation coupling portion hinged to the front end of the motion conversion means is formed on the outer surface of the lower coupling protrusion.

An upper coupling protrusion extending from the upper end of the second rotation shaft is further formed, and a rotation coupling portion hinged to the front end of the interlocking link is formed on the outer surface of the upper coupling protrusion.

The motion conversion means is coupled to the lower part of the palm seating portion to enable axis rotation via a rotation axis, and the rear end is connected to the piston rod and rotates forward or backward according to the linear movement of the piston rod. A rotating member and A power transmission unit connecting the rotating member and the finger seating portion and transmitting rotational power of the rotating member such that the vertical position of the front end of the finger seating portion changes as the finger seating portion swings upward or downward. Do it as

The rear end of the power transmission unit is hinged to the rotating member, and the front end is coupled to the lower center of the finger seating unit.

The interlocking link portion has a rear end coupled to a lower portion of the front end of the palm seating portion, a front end portion is disposed spaced apart from a first link member coupled to an upper portion of the finger seating portion, and an outer side of the first link member, and a front end of the palm seating portion. The rear end is coupled to the lower part, and the front end includes a second link member coupled to the upper part of the finger seating part.

Characterized in that it includes a pair of connecting members connecting the first link member and the palm seating portion, and connecting the second link member and the palm seating portion.

The connecting member is formed on a body portion, an upper surface of the body portion, a first rotational coupling portion hinged to a lower front end portion of the palm seating portion, and an outer surface of the body portion, and is formed on a rear end portion of the first link member and The rear end of the second link member is characterized in that it includes a second rotation coupling portion to which the rear end is hinged.

When the finger seating portion is rotated upward, the first link member and the second link member swing and rotate in opposite directions, thereby narrowing the left and right gap between the front end of the first link member and the front end of the second link member. When the finger seating portion is extended and the finger seating portion is rotated downward, the first link member and the second link member are swing-rotated in opposite directions, so that the front end of the first link member and the front end of the second link member The finger seating portion is contracted as the left and right spacing between the portions widens.

The present invention is a motion conversion means that converts the linear motion of the piston rod into a rotational movement of the finger seating portion, and an interlocking link portion that extends or contracts the finger seating portion in conjunction with the rotational movement of the finger seating portion. It has the effect of rehabilitating the fingers by assisting in the stretching and bending motions of the fingers.

In addition, the present invention has the effect of improving the efficiency of rehabilitation exercises by satisfying a wide range of finger joint movement range through a structure of one degree of freedom corresponding to finger movement using one electric cylinder.

In addition, the present invention can minimize contact with the body because only the tip of the finger is in contact with the finger resting area, which has the effect of minimizing discomfort during wearing and rehabilitation exercise.

1 and 2 are perspective views showing an upper extremity rehabilitation device according to an embodiment of the present invention;
3 to 6 are exemplary diagrams for explaining the operation process of the upper extremity rehabilitation device according to an embodiment of the present invention.

Hereinafter, an embodiment of an upper limb rehabilitation device according to the present invention will be described with reference to the attached drawings. In this process, the thickness of lines or sizes of components shown in the drawings may be exaggerated for clarity and convenience of explanation. In addition, the terms described below are terms defined in consideration of functions in the present invention, and may vary depending on the intention or custom of the user or operator. Therefore, definitions of these terms should be made based on the content throughout this specification.

1 and 2 are perspective views showing an upper extremity rehabilitation device according to an embodiment of the present invention.

Referring to Figures 1 and 2, the upper extremity rehabilitation device according to a preferred embodiment of the present invention includes a palm seating portion 100, a finger seating portion 200, an electric cylinder 300, a motion conversion means 400, and an interlocking link. It consists of components including a unit 500, which will be described in detail as follows.

The palm seating portion 100 is on which the user's palm rests, and is formed integrally with a flat plate-shaped seating plate 110 on which the palm rests on the upper surface, and the lower part of the seating plate 110, and includes a movement conversion means 400. It may be configured to include a bracket 120 that is hinged.

The finger resting portion 200 is provided on the lower front side of the palm seating portion 100 on which the fingertips of the user whose palm is resting on the palm resting portion 100 are placed. The user's fingertip is placed on the upper surface of the front end of the finger resting portion 200.

The finger seating portion 200 includes a plurality of unit connecting rods 210 connected in a link manner so that the length is extended or contracted in the front-to-back direction. In the finger seating portion 200, unit connecting rods 210 are arranged to be spaced apart from each other at the top and bottom.

The finger seating portion 200 connects the unit connecting rods 210 arranged up and down, and includes a first rotating shaft 220 and a second rotating shaft 230 so that the unit connecting rods 210 are hinged to each other.

The first rotation shaft 220 passes vertically through the center of the unit connection stand 210 arranged above and below and is rotatably coupled to the center of the unit connection stand 210.

At this time, a lower coupling protrusion 221 to which the front end of the motion conversion means 400 is coupled is further formed at the lower end of the first rotation shaft 220. The lower engaging protrusion 221 extends downward from the lower end of the first rotation shaft 220 to a certain length. A rotational coupling portion 221a is formed on the outer surface of the lower coupling protrusion 221, and the front end of the power transmission unit 420, which will be described later, is hinged to the rotational coupling portion 221a.

The second rotation shaft 230 vertically penetrates both ends of the unit connection stand 210 arranged up and down and is rotatably coupled to both ends of the unit connection stand 210, respectively.

At this time, an upper coupling protrusion 231 to which the front end of the interlocking link part 500 is coupled is further formed at the upper end of the second rotation shaft 230. The upper engaging protrusion 231 extends upward for a certain length from the upper end of the second rotation shaft 230. A rotational coupling portion 231a is formed on the outer surface of the upper coupling protrusion 231, and the front ends of the first link member 510 and the second link member 520, which will be described later, are hinged to the rotational coupling portion 231a.

The electric cylinder 300 may be installed on the palm seating unit 100 while being positioned below the palm seating unit 100 . External power may be applied to the electric cylinder 300 and may be electrically connected to a portable battery. At this time, the electric cylinder 300 may be installed in the palm seating unit 100 in a downwardly inclined state toward the front of the palm seating unit 100.

The electric cylinder 300 includes a piston rod 310 that moves linearly in the axial direction. The electric cylinder 300 may be provided with the rotational force of a servo motor to move the piston rod 310 axially coupled to the cylinder in a straight line, and may use the hydraulic pressure inside the cylinder to move the piston rod 310 axially coupled to the cylinder in a straight line. It may be a hydraulic-type electric cylinder that moves it.

The movement conversion means 400 is hinged to the palm seating portion 100, one side is connected to the piston rod 310, and the other side is connected to the finger seating portion 200. The motion conversion means 400 serves to convert the linear motion in the axial direction of the piston rod 310 axially coupled to the electric cylinder 300 into the rotary motion of the finger seating portion 200.

The motion conversion means 400 may be configured to include a rotating member 410 and a power transmission unit 420.

The upper end of the rotating member 410 is coupled to the lower end of the bracket 120 formed below the seating plate 110 of the palm seating portion 100 so as to be rotatable via the rotation axis H.

The rear end of the rotating member 410 is connected to the piston rod 310 and rotates forward or backward toward the front or rear of the palm seating portion 100 according to the linear movement of the piston rod 310.

The power transmission unit 420 connects the rotating member 410 and the finger seating unit 200 to transmit rotational power of the rotating member 410 so that the finger seating unit 200 swings upward or downward. The rear end of the power transmission unit 420 is hinged to the front end of the rotating member 410, and the front end of the power transmission unit 420 is a rotation coupling portion formed on the lower coupling protrusion 221 of the first rotation shaft 220 ( It is hinged to 221a).

At this time, the power transmission unit 420 may have a structure in which a pair of connecting rods 421 are coupled to each other, and the opposing ends of the pair of connecting rods 421 may be hinged so that the length is extended or contracted in the front and rear direction. You can.

The finger seating unit 200 can be supported by the power transmission unit 420 being coupled to the lower part of the finger seating unit 200, and the power transmission unit 420 being coupled to the lower center of the finger seating unit 200 to support the finger. It is possible to prevent the seating portion 200 from swinging and rotating in the left and right directions.

The interlocking link unit 500 provides a link between the palm seating unit 100 and the finger seating unit 200, and serves to extend or contract the finger seating unit 200 in conjunction with the rotational movement of the finger seating unit 200. Do it.

The interlocking link unit 500 may include a first link member 510 and a second link member 520.

The rear end of the first link member 510 is coupled to the lower front end of the palm seating portion 100. The front end of the first link member 510 is hinged to the rotation coupling portion 231a formed on the upper coupling protrusion 231 of the second rotation shaft 230 coupled to one end of the unit connection bar 210. At this time, it may be configured to include a connecting member 600 connecting the first link member 510 and the palm seating portion 100.

The connecting member 600 may include a body portion 610, a first rotary coupling portion 620, and a second rotary coupling portion 630.

The first rotational coupling portion 620 is formed on the upper surface of the body portion 610. The first rotation coupling portion 620 is coupled to one side of the lower front end of the palm seating portion 100, and is hinged to the palm seating portion 100 so that the body portion 610 can rotate in the horizontal direction.

The second rotation coupling portion 630 is formed on the outer surface of the body portion 610, and the rear end of the first link member 510 is hinged to the second rotation coupling portion 630 to form the first link member 510. Allows for upward or downward swing rotation.

The second link member 520 is disposed spaced apart from the first link member 510 . The rear end of the second link member 520 is coupled to the lower front end of the palm seating portion 100. The front end of the second link member 520 is hinged to the rotation coupling portion 231a formed on the upper coupling protrusion 231 of the second rotation shaft 230 coupled to the other end of the unit connection bar 210. At this time, it may be configured to include a connecting member 600 connecting the second link member 520 and the palm seating portion 100.

The connecting member 600 may include a body portion 610, a first rotary coupling portion 620, and a second rotary coupling portion 630.

The first rotational coupling portion 620 is formed on the upper surface of the body portion 610. The first rotation coupling portion 620 is coupled to the other side of the lower front end of the palm seating portion 100, and is hinged to the palm seating portion 100 so that the body portion 610 can rotate in the horizontal direction.

The second rotation coupling portion 630 is formed on the outer surface of the body portion 610, and the rear end of the second link member 520 is hinged to the second rotation coupling portion 630 to form the second link member 520. Allows for upward or downward swing rotation.

The operation process of the upper extremity rehabilitation device according to an embodiment of the present invention consisting of the above-described configuration will be described as follows.

3 to 6 are exemplary diagrams for explaining the operation process of the upper extremity rehabilitation device according to an embodiment of the present invention.

Referring to Figures 3 and 4, when the length of the piston rod 310 axially coupled to the electric cylinder 300 is extended and the piston rod 310 moves linearly toward the rotating member 410, the piston rod 310 The rotating member 410 connected to rotates toward the front where the finger seating portion 200 is located.

When the rotating member 410 is pivoted toward the front where the finger seating unit 200 is located, the finger seating unit is moved by the power transmission unit 420 that transmits the rotational power of the rotating member 410 to the finger seating unit 200. (200) rotates upward.

When the position of the front end of the finger seating portion 200 changes upward due to the rotation of the finger seating portion 200, the first link member 510 and the second link member 520 swing and rotate in opposite directions to each other. As the left and right spacing between the front end of the first link member 510 and the front end of the second link member 520 narrows, the length of the finger seating portion 200 increases.

Due to the rotation of the finger seating portion 200, the position of the front end of the finger seating portion 200 changes upward and the length of the finger seating portion 200 increases, so that the finger resting on the finger seating portion 200 It can assist in the unfolding motion.

Referring to Figures 5 and 6, when the length of the piston rod 310 axially coupled to the electric cylinder 300 is contracted and the piston rod 310 moves linearly in the opposite direction of the rotating member 410, the piston rod ( The rotating member 410 connected to 310) rotates toward the rear.

When the rotating member 410 is pivoted toward the rear, the finger seating portion 200 is rotated downward by the power transmission unit 420 that transmits the rotational power of the rotating member 410 to the finger seating portion 200. .

When the position of the front end of the finger seat 200 changes downward due to the rotation of the finger seat 200, the first link member 510 and the second link member 520, with the left and right spacing between the front ends narrowed, are connected to each other. As the swing rotates in the opposite direction, the left and right spacing between the front end of the first link member 510 and the front end of the second link member 520 widens, thereby contracting the length of the finger seating portion 200.

Due to the rotation of the finger seating unit 200, the position of the front end of the finger seating unit 200 is changed downward and the length of the finger seating unit 200 is contracted, so that the finger resting on the finger seating unit 200 It can assist in bending movements.

The upper extremity rehabilitation device according to an embodiment of the present invention includes a motion conversion means 400 for converting the linear motion of the piston rod 310 into a rotational movement of the finger seating portion 200, and a rotational movement of the finger seating portion 200. The finger can be rehabilitated by assisting in the stretching and bending movements of the finger seated on the finger seating unit 200 through the configuration of the interlocking link unit 500 that extends or contracts the finger seating unit 200. .

In addition, the upper limb rehabilitation device according to an embodiment of the present invention can satisfy a wide range of finger joint movement range through a structure of one degree of freedom corresponding to finger movement using one electric cylinder 300, thereby enabling rehabilitation exercise. Efficiency can be improved.

In addition, the upper limb rehabilitation device according to an embodiment of the present invention can minimize contact with the body because only the tip of the finger is in contact with the finger seating portion 200, thereby minimizing discomfort during wearing and rehabilitation exercise. there is.

The present invention has been described with reference to the embodiments shown in the drawings, but these are merely exemplary, and those skilled in the art will recognize that various modifications and other equivalent embodiments are possible therefrom. You will understand. Therefore, the true technical protection scope of the present invention should be determined by the scope of the patent claims below.

100: Palm seating portion 200: Finger seating portion
210: unit connecting rod 220: first rotation axis
221: lower coupling protrusion 221a, 231a: rotation coupling portion
230: second rotation axis 231: upper coupling protrusion
300: electric cylinder 310: piston rod
400: Movement conversion means 410: Rotating member
420: Power transmission unit 500: Interlocking link unit
510: first link member 520: second link member
600: Connecting member 610: Body part
620: first rotary coupling part 630: second rotary coupling part
H: axis of rotation

Claims (10)

A palm resting portion on which the palm rests;
a finger resting portion provided on the lower side of the palm resting portion, on which the fingertips rest, and in which a plurality of unit connecting bands are linked in a link manner to extend or contract in the forward and backward directions;
An electric cylinder installed on the palm seating portion and having a piston rod that moves linearly;
Motion conversion means hinged to the palm seating portion, one side connected to the piston rod, and the other side connected to the finger seating portion to convert the linear motion of the piston rod into a rotary motion of the finger seating portion; and
a link connecting the palm seating portion and the finger seating portion, and interlocking link portions that extend or contract the finger seating portion in conjunction with rotational movement of the finger seating portion;
An upper extremity rehabilitation device comprising: According to paragraph 1,
The finger seating portion,
The unit connectors are arranged vertically and include a first rotation shaft vertically coupled to the center of the unit connector so that the unit connectors are hinged together, and a second rotation shaft vertically coupled to both ends of the unit connector. An upper extremity rehabilitation device characterized in that. According to paragraph 2,
A lower engaging protrusion extending from the lower end of the first rotation shaft is further formed,
Upper extremity rehabilitation device, characterized in that a rotational coupling portion hinged to the front end of the motion conversion means is formed on the outer surface of the lower coupling protrusion. According to paragraph 2,
An upper engaging protrusion extending from the upper end of the second rotation shaft is further formed,
Upper extremity rehabilitation device, characterized in that a rotational coupling portion hinged to the front end of the interlocking link portion is formed on the outer surface of the upper coupling protrusion. According to paragraph 1,
The motion conversion means is,
a rotating member rotatably coupled to the lower part of the palm seating portion via a rotation axis, the rear end of which is connected to the piston rod and rotated forward or backward according to the linear movement of the piston rod; and
A power transmission unit that connects the rotating member and the finger seating portion and transmits rotational power of the rotating member so that the vertical position of the front end of the finger seating portion changes as the finger seating portion swings upward or downward;
An upper extremity rehabilitation device comprising: According to clause 5,
An upper limb rehabilitation device, characterized in that the rear end of the power transmission unit is hinged to the rotating member, and the front end is coupled to the lower center of the finger seating unit. According to paragraph 1,
The interlocking link unit,
a first link member whose rear end is coupled to the lower front end of the palm seating portion and whose front end is coupled to the upper portion of the finger seating portion; and
a second link member disposed spaced apart from the first link member, a rear end of which is coupled to a lower front end of the palm seating portion, and a front end of which is coupled to an upper portion of the finger seating portion;
An upper extremity rehabilitation device comprising: In clause 7,
a pair of connecting members connecting the first link member and the palm seating portion, and connecting the second link member and the palm seating portion;
An upper extremity rehabilitation device comprising: According to clause 8,
The connecting member is,
body part;
a first rotational coupling portion formed on the upper surface of the body portion and hinged to a lower front end portion of the palm seating portion; and
a second rotational coupling portion formed on the outer surface of the body portion and hinged to the rear end of the first link member and the rear end of the second link member;
An upper extremity rehabilitation device comprising: According to clause 9,
When the finger seating portion is rotated upward, the first link member and the second link member swing and rotate in opposite directions, thereby narrowing the left and right gap between the front end of the first link member and the front end of the second link member. The finger seating portion is extended,
When the finger seating portion rotates downward, the first link member and the second link member swing and rotate in opposite directions, thereby widening the left and right gap between the front end of the first link member and the front end of the second link member. Upper extremity rehabilitation device, characterized in that the finger seating portion is contracted.

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