KR20090111343A - 재활지원장치 - Google Patents
재활지원장치 Download PDFInfo
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- KR20090111343A KR20090111343A KR1020097018454A KR20097018454A KR20090111343A KR 20090111343 A KR20090111343 A KR 20090111343A KR 1020097018454 A KR1020097018454 A KR 1020097018454A KR 20097018454 A KR20097018454 A KR 20097018454A KR 20090111343 A KR20090111343 A KR 20090111343A
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- South Korea
- Prior art keywords
- frame
- sensor
- extension
- correction value
- biosignal
- Prior art date
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- A—HUMAN NECESSITIES
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- A—HUMAN NECESSITIES
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- A63B2230/00—Measuring physiological parameters of the user
- A63B2230/60—Measuring physiological parameters of the user muscle strain, i.e. measured on the user
- A63B2230/605—Measuring physiological parameters of the user muscle strain, i.e. measured on the user used as a control parameter for the apparatus
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Abstract
Description
Claims (13)
- 생체의 가동부 중 계측 대상이 되는 관절로부터 뻗은 제1 골격을 따라 장착되는 제1 프레임과,상기 관절로부터 상기 제1 골격과 다른 방향으로 뻗은 제2 골격을 따라 장착되는 제2 프레임과,상기 관절의 회동축에 대해 동축(同軸) 상에 회동중심이 배치되어 상기 제1 프레임과 상기 제2 프레임 사이의 회동각도위치를 검출하는 각도센서와,상기 관절을 중심으로 상기 제1 골격과 상기 제2 골격을 굴곡시키는 굴근에 대응한 체표면에 접촉하여, 상기 굴근의 생체신호를 검출하는 굴곡측 생체신호센서와,상기 관절을 중심으로 상기 제1 골격과 상기 제2 골격을 신전시키는 신근에 대응한 체표면에 접촉하여, 상기 신근의 생체신호를 검출하는 신전측 생체신호센서와,상기 굴곡측 생체신호센서의 출력치를 교정하는 굴곡측 보정치 및 상기 신전측 생체신호센서의 출력치를 교정하는 신전측 보정치를 각각 설정하는 교정수단과,개체마다 다른 생체신호의 개별 보정치와, 상기 굴곡측 보정치 및 상기 신전측 보정치를 기억하는 기억부를 구비하는 것을 특징으로 하는 재활지원장치.
- 제1항에 있어서,상기 굴곡측 생체신호센서는, 상기 생체신호로서, 상기 굴근을 수축시키기 위해 뇌로부터 출력되어 상기 굴근에 대응한 굴곡측 신경전달신호와, 상기 굴근이 수축하는 경우에 발생하는 굴곡측 근전위신호 중 적어도 한쪽을 계측하며,상기 신전측 생체신호센서는, 상기 생체신호로서, 상기 신근을 수축시키기 위해 뇌로부터 출력되어 상기 신근에 대응한 신전측 신경전달신호와, 상기 신근이 수축하는 경우에 발생하는 신전측 근전위신호 중 적어도 한쪽을 계측하는 것을 특징으로 하는 재활지원장치.
- 제1항에 있어서,시각과 청각과 촉각 중 적어도 하나에 대해 통지하는 교시수단을 구비하며,상기 교시수단은, 상기 굴곡측 생체신호센서의 출력치를 상기 굴곡측 보정치에 의거하여 보정한 굴근출력신호와, 상기 신전측 생체신호센서의 출력치를 상기 신전측 보정치에 의거하여 보정한 신근출력신호와, 상기 각도센서의 회동각도위치에 의거하여 출력하는 것을 특징으로 하는 재활지원장치.
- 제1항에 있어서,상기 교정수단은, 상기 각도센서가 검출한 각도변화량, 상기 제1 프레임이 상기 제2 프레임에 대해 상기 각도변화량만큼 회동하기까지 동안에 계측되는 시간, 상기 각도변화량만큼 회동하기까지 상기 굴곡측 생체신호센서 및 상기 신전측 생체신호센서의 출력치로부터 구하는 역적(力積)에 의거하여, 상기 굴곡측 보정치 및 상기 신전측 보정치를 설정하는 것을 특징으로 하는 재활지원장치.
- 제1항에 있어서,상기 각도센서의 회동중심과 동축으로 설치되어 상기 제1 프레임을 상기 제2 프레임에 대해 회동시키는 구동유닛과,상기 각도센서의 회동중심과 동축으로 설치되어 상기 제1 프레임을 상기 제2 프레임에 대해 회동시키는 토크를 검출하는 토크센서와,상기 굴곡측 생체신호센서, 상기 신전측 생체신호센서, 상기 각도센서, 상기 토크센서에 의해 얻어지는 정보, 및 상기 교정수단에 의해 얻어지는 각(各) 보정치를 토대로 상기 구동유닛을 작동시키는 제어부를 더 구비하는 것을 특징으로 하는 재활지원장치.
- 제5항에 있어서,상기 제어부는, 정지하고 있는 상태의 상기 관절에 대해 미리 결정된 토크를 상기 구동유닛에 의해 부하(負荷)하며,상기 교정수단은, 상기 관절의 자세를 유지하기 위해 상기 토크에 대항하여 상기 굴근 및 상기 신근이 각각 작용하는 경우에, 상기 굴곡측 생체신호센서, 상기 신전측 생체신호센서, 상기 토크센서의 출력치에 의거하여, 상기 굴곡측 보정치 및 상기 신전측 보정치를 설정하는 것을 특징으로 하는 재활지원장치.
- 제5항에 있어서,상기 굴곡측 생체신호센서의 출력치를 상기 굴곡측 보정치에 의거하여 보정한 굴근출력신호 및 상기 신전측 생체신호센서의 출력치를 상기 신전측 보정치에 의거하여 보정한 신근출력신호를 상기 제어부에 출력하는 보정수단을 구비하며,상기 제어부는, 상기 굴근출력신호와 상기 신근출력신호와 상기 각도센서의 회동각도위치에 의거하여 상기 구동유닛을 작동시키는 것을 특징으로 하는 재활지원장치.
- 제1항에 있어서,상기 제1 프레임을 상기 제2 프레임에 대해 임의 각도로 고정하는 고정구와,상기 제1 프레임에 장착되어 상기 제1 프레임에 부여되는 굽힘응력을 계측하는 제1 스트레인게이지와,상기 제2 프레임에 장착되어 상기 제2 프레임에 부여되는 굽힘응력을 계측하는 제2 스트레인게이지를 더 구비하는 것을 특징으로 하는 재활지원장치.
- 제8항에 있어서,상기 교정수단은, 상기 고정구에 의해 임의 각도로 고정된 상기 제1 프레임과 상기 제2 프레임을 회동시키기 위해 상기 굴근 및 상기 신근이 각각 작용하는 경우에, 상기 굴곡측 생체신호센서, 상기 신전측 생체신호센서, 상기 제1 스트레인 게이지, 상기 제2 스트레인게이지에 의해 얻어지는 정보를 토대로, 상기 굴곡측 보정치 및 상기 신전측 보정치를 설정하는 것을 특징으로 하는 재활지원장치.
- 제3항에 있어서,상기 교시수단은, 적어도 상기 굴근출력신호와 상기 신근출력신호와 상기 회동각도위치를 표시하는 표시수단을 구비하는 것을 특징으로 하는 재활지원장치.
- 제3항에 있어서,상기 교시수단은, 시각 및 촉각에 대해 통지하는 모의유닛이며,상기 제1 프레임 및 상기 제2 프레임에 대해 독립해서 설치되며, 단부가 연결부에 의해 회동 가능하게 연결된 제1 모의프레임 및 제2 모의프레임과,상기 연결부에 조립되어 상기 제1 모의프레임과 상기 제2 모의프레임의 회동각도위치를 검출하는 모의체각도센서와,상기 모의체각도센서의 회동중심과 동축으로 설치되어 상기 제1 모의프레임에 대해 상기 제2 모의프레임을 회동시키는 모의체구동유닛과,상기 굴곡측 생체신호센서의 출력치를 상기 굴곡측 보정치에 의거하여 보정한 굴근출력신호, 상기 신전측 생체신호센서의 출력치를 상기 신전측 보정치에 의거하여 보정한 신근출력신호, 상기 각도센서의 회동각도위치를, 상기 모의체구동유닛의 출력신호로 변환함으로써 상기 제1 모의프레임 및 상기 제2 모의프레임을 회동시키는 모의체제어부를 구비하는 것을 특징으로 하는 재활지원장치.
- 제11항에 있어서,상기 각도센서의 회동중심과 동축으로 설치되어 상기 제1 프레임을 상기 제2 프레임에 대해 회동시키는 구동유닛과,상기 각도센서의 회동중심과 동축으로 설치되어 상기 제1 프레임을 상기 제2 프레임에 대해 회동시키는 토크를 검출하는 토크센서와,상기 제1 프레임에 장착되어 상기 제1 프레임에 부여되는 굽힘응력을 계측하는 제1 스트레인게이지와,상기 제2 프레임에 장착되어 상기 제2 프레임에 부여되는 굽힘응력을 계측하는 제2 스트레인게이지와,상기 굴근출력신호, 상기 신근출력신호, 상기 각도센서의 회동각도위치, 상기 토크센서의 검출치, 상기 제1 스트레인게이지 및 상기 제2 스트레인게이지의 검출치에 의거하여, 상기 구동유닛을 작동시키는 제어부를 구비하는 것을 특징으로 하는 재활지원장치.
- 제12항에 있어서,상기 제어부는, 상기 모의체각도센서의 회동각도위치에 의거하여, 상기 구동유닛을 작동시키며,상기 모의체제어부는, 상기 굴근출력신호, 상기 신근출력신호, 상기 각도센 서의 회동각도위치, 상기 토크센서의 검출치, 상기 제1 스트레인게이지의 검출치, 상기 제2 스트레인게이지의 검출치에 의거하여, 상기 모의체구동유닛을 작동시키는 것을 특징으로 하는 재활지원장치.
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KR1020097018454A KR101072104B1 (ko) | 2007-03-22 | 2008-03-17 | 재활지원장치 |
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US (1) | US8574176B2 (ko) |
EP (1) | EP2138146B1 (ko) |
JP (1) | JP5283401B2 (ko) |
KR (1) | KR101072104B1 (ko) |
CN (1) | CN101636142B (ko) |
CA (1) | CA2681346C (ko) |
PL (1) | PL2138146T3 (ko) |
RU (1) | RU2427361C2 (ko) |
WO (1) | WO2008123040A1 (ko) |
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Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
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KR101338049B1 (ko) * | 2012-11-13 | 2013-12-09 | 한국과학기술연구원 | 운동 협응 측정 장치 및 방법 |
KR20190070051A (ko) | 2017-12-12 | 2019-06-20 | 한국생산기술연구원 | 착용형 근력 측정 장치 및 시스템 |
WO2022260362A1 (ko) * | 2021-06-07 | 2022-12-15 | 삼성전자주식회사 | 사용자에게 힘을 제공하기 위한 토크를 출력하는 방법 및 장치 |
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CN101636142B (zh) | 2011-12-07 |
JP5283401B2 (ja) | 2013-09-04 |
PL2138146T3 (pl) | 2018-09-28 |
RU2009138936A (ru) | 2011-04-27 |
KR101072104B1 (ko) | 2011-10-10 |
EP2138146A4 (en) | 2017-03-15 |
EP2138146B1 (en) | 2018-04-04 |
JP2008264509A (ja) | 2008-11-06 |
CN101636142A (zh) | 2010-01-27 |
US8574176B2 (en) | 2013-11-05 |
US20100130893A1 (en) | 2010-05-27 |
WO2008123040A1 (ja) | 2008-10-16 |
CA2681346C (en) | 2013-12-10 |
RU2427361C2 (ru) | 2011-08-27 |
EP2138146A1 (en) | 2009-12-30 |
CA2681346A1 (en) | 2008-10-16 |
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