KR20160141095A - upper limb rehabilitating system - Google Patents

upper limb rehabilitating system Download PDF

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Publication number
KR20160141095A
KR20160141095A KR1020150074601A KR20150074601A KR20160141095A KR 20160141095 A KR20160141095 A KR 20160141095A KR 1020150074601 A KR1020150074601 A KR 1020150074601A KR 20150074601 A KR20150074601 A KR 20150074601A KR 20160141095 A KR20160141095 A KR 20160141095A
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KR
South Korea
Prior art keywords
rehabilitation
upper limb
control terminal
patient
motion
Prior art date
Application number
KR1020150074601A
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Korean (ko)
Inventor
정의성
Original Assignee
주식회사 셈앤텍
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Publication date
Application filed by 주식회사 셈앤텍 filed Critical 주식회사 셈앤텍
Priority to KR1020150074601A priority Critical patent/KR20160141095A/en
Publication of KR20160141095A publication Critical patent/KR20160141095A/en

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0292—Stretching or bending or torsioning apparatus for exercising for the spinal column
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1657—Movement of interface, i.e. force application means
    • A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5023—Interfaces to the user
    • A61H2201/5043—Displays
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5097—Control means thereof wireless

Abstract

The present invention relates to an upper limb rehabilitating robot. More specifically, the upper limb rehabilitating robot maximizes efficacy of a rehabilitation therapy with a standardized upper limb rehabilitation therapy by displaying a movement trajectory of an upper limb part with a standard rehabilitation motion when a patient exercises upper limb rehabilitation. Moreover, the upper limb rehabilitating robot displays upper limb rehabilitation movement and standardized rehabilitation motion of the patient in a three-dimensional way, and aids the patient to accurately perform upper limb rehabilitation exercise without guidance of a rehabilitation therapist.

Description

Upper limb rehabilitating system}

The present invention relates to an upper limb rehabilitation treatment robot, more specifically, a rehabilitation patient can maximize the therapeutic effect by using standardized upper limb rehabilitation treatment by displaying the movement trajectory of the upper limb area together with the standard rehabilitation operation during upper limb rehabilitation exercise, The upper limb rehabilitation operation and the standardized rehabilitation operation are displayed in three dimensions, thereby enabling the rehabilitation patient to accurately perform the upper limb rehabilitation exercise without the assistance of the rehabilitation therapist.

Every year, many people become partially or totally paralyzed by spinal cord injury, and disability limits their daily lives. Spinal cord injury can be partially improved or restored through rehabilitation.

The upper limb rehabilitation exercise is mainly used for rehabilitation therapy due to spinal cord injuries. External rotation, shoulder adduction, scapular retraction, shoulder abduction exercise, Shoulder Abduction, Shoulder Flexion, and Shoulder Extension. These joints are all about the upper body, and they are often used for the treatment and diagnosis of spinal cord injury.

The exercise method of upper extremity rehabilitation treatment is as follows.

Shoulder external rotation

- Rotate your arm 45 degrees outward from 90 degrees at right angles

Fish transplantation exercise

- Rotation from outside shoulder to horizontal diaphragm

Scapular adduction exercise

- Shaping the row in front of the back row

Shoulder external electrode movement

- 90 degrees out of neutral position

Shoulder flexion

- Move your arms forward and down

Shoulder temple exercise

- extend your hand to a height of 45 degrees and then rotate to a neutral position

Rehabilitation is the most effective way to perform occupational therapy in a facility designated by a therapist, but it does not depend on the patient's accessibility to the facility, the regularity to train whenever necessary, and the therapist's instructions. Has a problem that it is costly and time-consuming as well as a problem of spontaneity and the like.

In addition, in the upper limb rehabilitation exercise, the rehabilitation therapist should check the exercise status of the rehabilitation patient, and apply different rehabilitation exercises to the rehabilitation patients according to the experience and skill of the rehabilitation therapist. Has a different problem.

In addition, the rehabilitation patient and the rehabilitation therapist monitor the rehabilitation exercise of the rehabilitation patient and the problem that the upper limb rehabilitation treatment system which can correct and supplement the rehabilitation exercise of the rehabilitation patient in real time according to the upper limb rehabilitation exercise state of the rehabilitation patient is lacking I have.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems of conventional upper limb rehabilitation therapy, and it is an object of the present invention to provide a rehabilitation patient and a rehabilitation therapist together to monitor the rehabilitation exercise of a rehabilitation patient, And to provide an upper extremity rehabilitation treatment system capable of correcting and supplementing the upper extremity rehabilitation exercise of a rehabilitation patient in real time.

Another object of the present invention is to provide an upper extremity rehabilitation robot capable of correctly performing upper extremity rehabilitation through a rehabilitation exercise state of a rehabilitated patient to be displayed.

Another object of the present invention is to provide an upper extremity rehabilitation robot capable of maximizing the effect of upper extremity rehabilitation of a rehabilitated patient by simultaneously displaying the upper extremity rehabilitation operation and the standardized rehabilitation operation of the rehabilitation patient.

In order to accomplish the object of the present invention, the upper limb rehabilitation treatment system according to the present invention captures the upper limb movement of the rehabilitation patient, calculates the direction and the force that the upper limb of the rehabilitation patient wants to move, An upper limb rehabilitation robot for guiding the upper limbs of the rehabilitation patient and assisting the force and acquiring motion information of the upper limbs of the upper limb rehabilitation patient, and a display unit. The upper limb movement information received from the upper limb rehabilitation robot And a control terminal for displaying rehabilitation exercise information of the user on the basis of the rehabilitation therapy information, wherein the control terminal and the rehabilitation therapy robot communicate with each other by a wireless communication method.

Here, the rehabilitation robot includes a sensing unit for capturing the movement of the upper limb of the rehabilitation patient, a motion unit for calculating a direction and a force that the upper limb of the rehabilitation patient wants to move based on the motion captured through the sensing unit, A motion control unit for generating a signal and outputting a signal; and a motion control unit that is mounted on the upper limb of the rehabilitation patient and guides the upper limb of the rehabilitation patient selectively along the X-axis, Y-axis, or Z-axis line according to the motion control signal of the motion control unit And a robot transceiver unit for transmitting and controlling movement information of the upper limb according to movement of the articulated robot module to a control terminal.

Herein, the control terminal includes a first control terminal allocated to the rehabilitation patient and a second control terminal assigned to the rehabilitation therapist. The control terminal includes a rehabilitation command input last through the rehabilitation command input through the first control terminal or the second control terminal Are synchronized with each other.

Preferably, the control terminal displays and controls the standard rehabilitation exercise locus and the upper limb movement information corresponding to the selected upper limb rehabilitation exercise according to the rehabilitation command on the display unit.

Preferably, the control terminal compares the information on the upper limb movement with the standard rehabilitation trajectory, and determines whether the number of times of the selected rehabilitation exercise is completed according to the user command.

Preferably, when a modified rehabilitation instruction is input from the second control terminal, the rehabilitation activity information displayed on the first control terminal is synchronized by a modified rehabilitation instruction.

Preferably, the control terminal identifies the rehabilitation patient based on the input rehabilitation patient identifier, maps the rehabilitation patient to the identified rehabilitation patient, searches for the previously stored treatment program, and generates a drive control signal for driving and controlling the rehabilitation treatment robot according to the treatment program The motion control unit generates a motion control signal by correcting the movement path of the articulated robot module according to the drive control signal and the motion of the upper limb of the rehabilitation patient sensed through the sensing unit.

The upper extremity rehabilitation treatment system according to the present invention has the following various effects.

First, in the upper limb rehabilitation treatment system according to the present invention, the rehabilitation patient and the rehabilitation therapist monitor the rehabilitation exercise of the rehabilitation patient and correct and supplement the upper limb rehabilitation exercise of the rehabilitation patient in real time according to the upper limb rehabilitation exercise state of the rehabilitation patient, Of the rehabilitation exercise is possible according to the state of rehabilitation.

Second, the upper extremity rehabilitation treatment system according to the present invention can accurately perform the upper extremity rehabilitation treatment by displaying the movement trajectory of the upper extremity part in the rehabilitation exercise.

Third, the upper extremity rehabilitation treatment system according to the present invention displays both the upper extremity rehabilitation operation and the standardized rehabilitation operation of the rehabilitation patient, so that the rehabilitation patient can maximize the rehabilitation effect according to the standardized rehabilitation operation, Rehabilitation patients can receive standard upper extremity rehabilitation treatment.

1 is a view for explaining a state of use of the upper limb rehabilitation robot according to the present invention.
FIG. 2 is a functional block diagram for explaining an upper limb rehabilitation robot according to the present invention.
FIG. 3 illustrates an example of inputting a rehabilitation command through a user interface according to the present invention.
4 is a view for explaining an example of a rehabilitation exercise state displayed on a display according to the present invention.

Hereinafter, the upper limb rehabilitation robot according to the present invention will be described in more detail with reference to the accompanying drawings.

1 is a view for explaining an upper extremity rehabilitation treatment system according to the present invention.

Referring to FIG. 1, the rehabilitation patient 10 is seated on the upper extremity rehabilitation robot 100 and prepares for upper extremity rehabilitation treatment. The upper limb rehabilitation robot 100 has a seat on which a rehabilitation patient 10 can be seated. The rehabilitation patient 10 inputs a rehabilitation command for selecting a rehabilitation exercise to be performed while sitting on a seat.

The rehabilitation patient 10 can input an identifier for identifying the rehabilitation patient or a rehabilitation command for selecting the rehabilitation operation through the first control terminal 200 allocated to the rehabilitation patient. However, instead of selecting the rehabilitation exercise through the first control terminal 200, the rehabilitation therapist 20 may select the rehabilitation therapist 20 through the second control terminal 300 allocated to the rehabilitation therapist 20, ) Can select the rehabilitation exercise to be performed.

The rehabilitation patient 10 inputs the identifier of the rehabilitation patient 10 through the first control terminal 200. The process of selecting the rehabilitation session through the first control terminal 200 will now be described. Here, an ID or a password assigned to the rehabilitation patient 10 may be used as the identifier.

In the state where the rehabilitation patient 10 has logged in the upper limb rehabilitation treatment system on the basis of the inputted identifier of the rehabilitation patient 10, the rehabilitation patient 10 performs rehabilitation for the type of rehabilitation exercise to be performed or the number of rehabilitation exercises Command is input through the first control terminal 200. The standard rehabilitation motion locus corresponding to the type of rehabilitation exercise to be performed by the rehabilitation patient 10 is displayed on the first control terminal 200 according to the inputted rehabilitation command.

The rehabilitation therapist 20 may select a rehabilitation exercise based on the information about the type and number of rehabilitation exercises to be performed by the rehabilitation patient 10 according to the state of the rehabilitation patient 10, Through the second control terminal 300. The first control terminal The first control terminal 200 and the second control terminal 300 communicate with each other and information about the type or number of rehabilitation exercises to be performed by the rehabilitation patient 10 is inputted through the second control terminal 300 The first control terminal 200 is synchronized with the second control terminal 300, and information on the type and frequency of the same rehabilitation movement is displayed.

After the rehabilitation patient 10 confirms the type of rehabilitation exercise displayed or the number of rehabilitation exercises displayed on the rehabilitation patient 10, the upper part of the rehabilitation patient 10, that is, the arms and shoulders, And get ready for upper extremity rehabilitation exercise. The rehabilitation patient 10 performs the upper limb rehabilitation treatment by moving the upper limb by referring to the standard rehabilitation exercise trajectory displayed on the first control terminal 200. The upper limb rehabilitation robot 100 is provided with the rehabilitation robot 100 according to the intention of the rehabilitation patient 10 The robot arm module 150 guides the movement direction of the upper limb of the rehabilitation patient to move along the standard rehabilitation motion locus based on the upper limb movement sensed by the sensing unit Helps force.

When the rehabilitation patient 10 performs the rehabilitation exercise, the first control terminal 200 or the second control terminal 300 receives information on the upper limb movement of the rehabilitation patient from the upper limb rehabilitation robot 100, The control terminal 200 or the second control terminal 300 simultaneously displays the standard rehabilitation exercise locus of the rehabilitation exercise performed by the rehabilitation patient and the actual movement of the upper limb of the rehabilitation patient. Accordingly, the rehabilitation patient 10 can receive the standardized upper extremity rehabilitation treatment according to the standard rehabilitation locus, and the rehabilitation therapist 20 can monitor the rehabilitation treatment state of the rehabilitation patient 10 in real time.

The number of rehabilitation movements counted by counting the number of times of rehabilitation exercises performed by the rehabilitation patient 10 by comparing the actual movement direction or the movement position of the rehabilitation patient 10 with the standard rehabilitation movement locus, (200) or the second controlling terminal (300).

Preferably, the rehabilitation therapist 20 monitors the rehabilitation treatment state of the rehabilitation patient 10 in real time. The rehabilitation therapist 20 monitors the rehabilitation treatment state of the rehabilitation patient 10 in real- The user can input a modified rehabilitation command for modifying the type or frequency of the rehabilitation movement through the controller 300. [ The first control terminal 200 and the second control terminal 300 are synchronized with each other to display information on the type or number of the rehabilitation work and the standard rehabilitation workout log according to the input corrected rehabilitation command.

2 is a functional block diagram illustrating a control terminal according to the present invention.

The first control terminal assigned to the rehabilitation patient and the second control terminal assigned to the rehabilitation therapist have the same components. Hereinafter, the control terminal will be described as the first control terminal.

2, an identifier of a rehabilitation patient is entered through the user interface 210, or a rehabilitation command such as the type or frequency of a rehabilitation exercise to be performed by the rehabilitation patient is input.

The display control unit 230 searches the rehabilitation DB 240 for information on the standard rehabilitation exercise trajectory corresponding to the type of the rehabilitation exercise in accordance with the input rehabilitation command and displays the retrieved standard rehabilitation exercise trail on the display 250 do. Here, the display 250 displays rehabilitation patient information such as name, age, and the like for the rehabilitation patient identified by the rehabilitation patient identifier, and the type and frequency of the rehabilitation exercise selected by the rehabilitation command together with the standard rehabilitation motion trajectory.

Preferably, when the rehabilitation patient's treatment program is pre-set in the rehabilitation treatment DB 240, the display control unit 230 searches the rehabilitation treatment DB 240 for a treatment program corresponding to the inputted identifier of the rehabilitation patient, The type of rehabilitation exercise corresponding to one rehabilitation treatment program, the number of rehabilitation exercises, and the standard rehabilitation exercise trail are displayed on the display 250.

Meanwhile, the terminal transceiver unit 270 transmits information about the input rehabilitation patient identifier, the type or number of rehabilitation movements to the second control terminal so that the first control terminal and the second control terminal are synchronized with each other.

When the rehabilitation patient starts the rehabilitation movement, the terminal transceiver unit 270 receives information on the upper limb movement of the rehabilitation patient from the upper limb rehabilitation robot and transmits information on the received upper limb movement to the display controller 230 to provide. The display controller 230 displays the standard rehabilitation motion trajectory of the rehabilitation patient and the actual upper limb movement together on the display 250 based on the information on the upper limb movement. Herein, the information on the upper limb movement is the motion information of the multifunctional joint module received from the upper extremity rehabilitation robot described below.

The display control unit 230 divides the upper limb movement observed on the side, the upper limb movement observed on the upper side, and the upper limb movement observed on the upper side based on the information on the upper limb movement, and controls the display in three dimensions.

Preferably, the display controller 230 compares the motion of the upper limbs of the rehabilitation patient with the standard rehabilitation motion trajectory, determines whether the rehabilitation patient has completed the number of times of rehabilitation exercise, counts the number of rehabilitation exercises, On the display (250). Here, the display controller 230 calculates an error between the upper limb movement and the standard rehabilitation locus of the rehabilitation patient, and determines that the unit count is completed when the calculated error is in the critical range.

More preferably, the display control unit 230 compares the upper limb movement and the standard rehabilitation motion trajectory of the rehabilitation patient, and controls the output of the completion tone when the rehabilitation patient completes the rehabilitation exercise a unit of times or outputs a completion message to the display unit .

On the other hand, when receiving the correction rehabilitation command from the second control terminal, the synchronization unit 280 corrects information on the type and frequency of the rehabilitation command previously entered and registered by the received correction rehabilitation command, that is, Synchronize the control terminal with the rehabilitation information.

The second control terminal assigned to the rehabilitation therapist operates in the same manner as the first control terminal described above. The synchronization unit of the second control terminal receives the user identifier, information on the type or number of rehabilitation movements from the first control terminal The user is searched for the rehabilitation patient by the user identifier and information on the type or the number of the received rehabilitation work is displayed on the display. Meanwhile, when the rehabilitation therapist inputs a modified rehabilitation command for changing the type and frequency of the rehabilitation exercise by monitoring the real-time rehabilitation exercise state of the rehabilitation patient, the synchronization unit of the second control terminal transmits the modified rehabilitation command to the first control terminal And the synchronization unit of the first control terminal having received the modified rehabilitation command changes the rehabilitation exercise information by the modified rehabilitation command to synchronize the first control terminal and the second control terminal with each other.

FIG. 3 is a functional block diagram illustrating an upper limb rehabilitation robot according to the present invention.

3, the sensing unit 110 senses the movement of the upper limbs of the rehabilitation patient, and the motion controller 130 senses the movement of the upper limb of the rehabilitation patient sensed through the sensing unit 110, A direction and a force of the upper limb of the patient to be moved are calculated, and a motion control signal is generated according to the calculated direction and force.

Here, the sensor 110 may be a sensor for sensing the acceleration in the X-axis direction, the Y-axis direction, and the Z-axis direction in order to sense the upper limb movement direction of the rehabilitation patient, A sensor for sensing the pressure applied in the X-axis direction, the Y-axis direction, and the Z-axis direction may be used. Preferably, the sensing unit 110 is attached to the upper limbs of the rehabilitation patient or is disposed at a site where the upper limb of the rehabilitation patient contacts the multi-joint robot module 150 described below.

The articulated robot module 150 guides the upper limb of the rehabilitation patient selectively to move along the X-axis, Y-axis, or Z-axis line according to the motion control signal, and assists the force.

The motion control unit 130 transmits information on the upper limb movement of the rehabilitation patient sensed by the sensing unit 110 to the first control terminal 200 or the second control terminal 300 through the robot transceiver unit 170, .

Preferably, the motion controller 130 acquires information on the type or number of rehabilitation commands inputted through the robot transceiver 170, that is, the rehabilitation motions. The motion controller 130 controls the motion of the joints And generates a motion control signal by correcting the movement path of the robot module and the upper limb movement of the rehabilitation patient sensed through the sensing unit 110. [ Therefore, the motion controller 130 helps the rehabilitation patient to perform the rehabilitation exercise according to the standard rehabilitation exercise trajectory according to the type of the rehabilitation exercise.

FIG. 4 illustrates an example of inputting a rehabilitation command through a user interface according to the present invention.

Referring to FIG. 4, the user interface according to the present invention can be manufactured as a touch screen capable of implementing both a display function and a user interface function. The rehabilitation patient displays a rehabilitation exercise And type the number of times.

As shown in Fig. 4 (a), the type and the number of rehabilitation movements selected by the user are displayed.

On the other hand, when the rehabilitation patient desires to further select a rehabilitation exercise, a selection command for selecting a rehabilitation exercise is input as a "+" indication as shown in FIG. 4 (b). When a selection command is input, a user interface screen for inputting the type and number of rehabilitation movements is activated, and the rehabilitation patient inputs the type and number of rehabilitation movements to be further selected through the activated user interface screen.

5 is a view for explaining an example of a rehabilitation exercise state displayed on a display according to the present invention.

5, the type and frequency of the rehabilitation exercise to be performed by the rehabilitation patient are displayed at the upper part of the display screen. When a rehabilitation patient performs a plurality of rehabilitation exercises, a rehabilitation exercise performed by a rehabilitation patient during a plurality of rehabilitation exercises is activated.

On the other hand, in the display, the movement direction or movement position of the articulated robot module observed from the side, the movement direction or movement position of the articulated robot module observed from the upper surface, and the movement direction or movement position of the articulated robot module observed from the front side Here, the standard rehabilitation motion locus is displayed along with the movement direction or the movement position of the multi-joint robot module at present.

Thus, the upper limb rehabilitation treatment system according to the present invention displays the standard rehabilitation exercise trajectory of the rehabilitation exercise performed by the rehabilitation patient together with the upper limb movement state of the rehabilitation patient, so that the rehabilitation patient can accurately perform upper limb rehabilitation . In addition, by displaying the standard rehabilitation trajectory along with the movement of the upper extremity, it is possible to standardize the rehabilitation treatment that is different according to the rehabilitation therapist, thereby maximizing the rehabilitation effect regardless of the rehabilitation therapist or without the help of the rehabilitation therapist.

In addition, by monitoring the rehabilitation status of the rehabilitation patient in real time by the rehabilitation patient and the rehabilitation therapist, the rehabilitation therapist can encourage the rehabilitation of the rehabilitation patient, and the type or frequency of the rehabilitation exercise in real- And the rehabilitation treatment can be maximized.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is evident that many alternatives, modifications and variations will be apparent to those skilled in the art. Accordingly, the true scope of the present invention should be determined by the technical idea of the appended claims.

100: upper extremity rehabilitation treatment robot 200: first control terminal
300: second control terminal
110: sensing unit 130: motion control unit
150: articulated robot module 170: robot transmission /
210: user interface 230: display control unit
240: Rehabilitation treatment DB 250: Display
270: terminal transmission / reception unit 280: synchronization unit

Claims (7)

The direction and force of the upper limbs of the rehabilitation patient are calculated by capturing the movement of the upper limbs of the rehabilitation patient, and the upper limbs of the rehabilitation patient are guided according to the calculated direction and the force, An upper limb rehabilitation robot for acquiring motion information of a limb; And
And a control terminal for displaying rehabilitation motion information of a user based on the inputted rehabilitation command and the upper limb movement information received from the upper limb rehabilitation robot,
Wherein the control terminal and the rehabilitation robot communicate with each other in a wireless communication manner. The method according to claim 1, wherein the rehabilitation robot
A sensing unit for capturing a motion of the upper limbs of the rehabilitation patient;
A motion controller for calculating a direction and a force to move the upper limb of the rehabilitation patient based on the motion captured through the sensing unit and generating and outputting a motion control signal according to the calculated direction and force;
A plurality of joints for guiding a direction to move the upper limb of the rehabilitation patient selectively along the X-axis, the Y-axis, or the Z-axis line in accordance with the motion control signal of the rehabilitation patient, Robot module; And
And a robot transceiver for transmitting and receiving motion information of the upper limb according to movement of the articulated robot module to the control terminal. 3. The apparatus of claim 2, wherein the control terminal
A first control terminal assigned to the rehabilitation patient; And
A second control terminal assigned to the rehabilitation therapist,
Wherein the first control terminal or the second control terminal is synchronized with a rehabilitation command input last through the rehabilitation commands inputted through the first control terminal or the second control terminal. 4. The terminal according to claim 3, wherein the control terminal
And displays the standard rehabilitation motion locus corresponding to the type of the selected upper extremity rehabilitation exercise and information about the upper limb movement together with the display unit in accordance with the rehabilitation command. The apparatus of claim 4, wherein the upper limb control terminal
And comparing the information on the upper limb movement with the standard rehabilitation motion trajectory to determine whether the upper limit of the selected upper limb rehabilitation exercise is completed according to the user command. 6. The method of claim 5,
When a modified rehabilitation command is input from the second control terminal,
And the rehabilitation exercise information displayed on the first control terminal is synchronized by the corrected rehabilitation command. 6. The apparatus of claim 5, wherein the control terminal
Generates a drive control signal for driving and controlling the rehabilitation robot according to the type of rehabilitation motion inputted,
Wherein the motion controller generates a motion control signal by correcting a movement path of the articulated robot module according to the drive control signal and an upper limb movement of the rehabilitation patient detected through the sensing unit.
KR1020150074601A 2015-05-28 2015-05-28 upper limb rehabilitating system KR20160141095A (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20210244320A1 (en) * 2020-02-11 2021-08-12 Korea Institute Of Science And Technology Apparatus and method for evaluating force control ability of upper limb and prosthesis
KR20220063319A (en) 2020-11-10 2022-05-17 김종하 Upper limb rehabilitation method using virtual reality display unit and upper limb motility sensing unit, upper limb rehabilitation system and program using thereof
CN115463003A (en) * 2022-09-09 2022-12-13 燕山大学 Upper limb rehabilitation robot control method based on information fusion

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20210244320A1 (en) * 2020-02-11 2021-08-12 Korea Institute Of Science And Technology Apparatus and method for evaluating force control ability of upper limb and prosthesis
KR20210101825A (en) * 2020-02-11 2021-08-19 한국과학기술연구원 Apparatus and method for evaluating force control ability of upper limb and prosthesis
KR20220063319A (en) 2020-11-10 2022-05-17 김종하 Upper limb rehabilitation method using virtual reality display unit and upper limb motility sensing unit, upper limb rehabilitation system and program using thereof
CN115463003A (en) * 2022-09-09 2022-12-13 燕山大学 Upper limb rehabilitation robot control method based on information fusion

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