KR20170135459A - Rehabilitation training apparatus for an arm - Google Patents

Abstract

The present invention relates to an upper limb rehabilitation training device. The device determines training concentration by using bio-signals measured from brain, muscles, etc. of a user who performs upper limb rehabilitation training, and can improve training participation will by giving a user feedback on training concentration sensuously in real time. Moreover, the device evaluates individual exercise functions based on the bio-signals and exercise abilities collected from a plurality of users, extracts properties for assisting rehabilitation treatment by analyzing evaluation results and can provide training modes suitable for each person by comparing and learning the extracted properties and medical information.

Description

REHABILITATION TRAINING APPARATUS FOR AN ARM}

TECHNICAL FIELD The present invention relates to an upper limb rehabilitation training apparatus, and more particularly, to a technique for a limb rehabilitation training apparatus using a robot.

Robotic medication is applied to upper limb rehabilitation training for elderly people whose strength is weak enough to feel uncomfortable in daily life or for paralysis caused by stroke. In the robot mediation therapy, the upper limb of the patient is fixed to the robot apparatus, and a driving system is used to support the upper limb rotational motion.

In general, patients with paralysis who have problems with upper extremity function feel uncomfortable in daily life, so it is necessary to improve brain plasticity by repeatedly performing rehabilitation movements / tasks related to daily life movements. Brain plasticity refers to the phenomenon that other parts can learn the ability of the brain to repair the function of the body, such as the ability to control the movement, which was damaged.

However, in the case of the robot medication treatment, the robot does not improve the rehabilitation effect because the robot moves the upper limb of the patient even if the patient does not concentrate on the training, and if the training task is not continuously achieved, .

The embodiment of the present invention provides an upper extremity rehabilitation training apparatus capable of improving the willingness of the user to participate in training in upper limb rehabilitation training and providing an appropriate training mode for each individual.

The upper limb rehabilitation training apparatus according to an embodiment of the present invention includes a rehabilitation training means for controlling upper limb movement of a user according to a training mode and sensing exercise capacity of the user with respect to the upper limb movement to generate exercise capacity information; Bio-signal measuring means for measuring bio-signals of the user to generate bio-activity information; Wherein the bioinformatics information acquisition unit acquires user information, medical information, athletic performance information, and bio-activation information for a plurality of users by determining the concentration of the user based on the bio-activation information and generates feedback information, A rehabilitation management means for making a decision; And interface means for providing an interface corresponding to the training mode, and for feedbacking the biometric to the user according to the feedback information.

Here, the rehabilitation management means evaluates the upper limb function of the user in accordance with the athletic performance information and the biometric activation information, extracts at least one feature necessary for a treatment assist from the evaluation result, And determines the training mode by learning the extracted features.

And, the training mode provides the required path, intensity, and frequency for performing the daily life operation and the target operation. The athletic performance information includes at least one of a magnitude and direction of a resistance generated by the user, a position of an arm, an angle, a moving speed, and an acceleration.

Further, the rehabilitation training means provides at least one of a sitting state, a state where the two feet are supported on the ground, and a walking state. And, the bio-activation information includes muscle and brain activity.

The interface device may further include: image capturing means for capturing an upper limb of the user to generate a user image; Display means for displaying an image corresponding to the training mode, a feedback image for stimulating the time of the user, and the user image; A head mounted display means for displaying a virtual reality image and an augmented reality image corresponding to the training mode; And a feedback module for stimulating at least one of the auditory, tactile, and olfactory angles of the user.

The present invention can determine whether or not the training is concentrated by using the bio-signals measured in the brain, muscle, etc. of the user who is in the upper limb rehabilitation training and improve the willingness to participate in the training by sensibly feedbacking the training concentration state to the user in real time.

In addition, the present invention evaluates individual exercise functions based on bio-signals and exercise capacities collected from a plurality of users, extracts features for assisting rehabilitation by analyzing evaluation results, It is possible to provide an appropriate training mode for each individual by comparing and learning.

1 illustrates a topo rehabilitation training system in accordance with an embodiment of the present invention.
FIG. 2 is a diagram illustrating a part of the upper limb rehabilitation training system according to the embodiment of the present invention. FIG.
Fig. 3 is a view showing the robot unit 110 shown in Fig. 2. Fig.
4 shows the seat member 132 shown in Fig. 2. Fig.
FIGS. 5 and 6 are diagrams for explaining another embodiment of the body support 130 shown in FIG.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily carry out the present invention. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. In order to clearly illustrate the present invention in the drawings, parts not related to the description are omitted. Like numbers refer to like parts throughout the specification.

Throughout the specification, when a part is referred to as being "connected" to another part, it includes not only "directly connected" but also "electrically connected" with another part in between. Also, when a part is referred to as "including " an element, it does not exclude other elements unless specifically stated otherwise.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

FIG. 1 is a view showing an upper limb rehabilitation training system according to an embodiment of the present invention. FIG. 2 is a diagram illustrating a part of the upper limb rehabilitation training system according to an embodiment of the present invention. FIG. 4 is a view showing the seat member 132 shown in FIG. 2, and FIGS. 5 and 6 are views showing another embodiment of the body support 130 shown in FIG. Is an illustration showing an example.

1, the upper limb rehabilitation training system 1 according to the embodiment of the present invention includes a rehabilitation training device 100, an interface device 200, a living body signal measurement device 300, and a system control device 400, And a rehabilitation management device 500. The upper limb rehabilitation training system 1 according to the embodiment of the present invention may be used for the treatment of stroke, cerebral palsy, spinal cord injury, multiple sclerosis, amyotrophic lateral sclerosis ), Rotator cuff tear, adhesive capsulitis, and other nerve injuries and musculoskeletal injuries. Here, the upper limb includes the shoulder joint, the upper arm, the lower arm, the elbow joint, and the wrist joint.

Specifically, the rehabilitation training apparatus 100 receives the training mode including the request path, the intensity and the frequency from the system control device 400 in real time, and performs the rehabilitation training to the user according to the training mode. Here, the required path is a motion path in which the upper limb should move in the three-dimensional space in order to perform the daily living operation or the task (target operation) provided in the rehabilitation training program.

The strength of the training may be determined by the user's ability to return to the desired path if the user is out of the desired path or the magnitude of the assist force to assist the user when the user fails to perform the motion along the desired path, The number of repetitions of motion according to the required path, and the like.

For example, an assist force is a force applied by a robot or the like in a direction of a desired path so that a patient having a weak force can move along a desired path, and resistance can be moved in a direction opposite to a desired path, Direction.

And, the frequency of training may include the number and duration of training sessions. For example, the frequency of training indicates whether training should be conducted twice or three times a week.

In addition, the rehabilitation training apparatus 100 senses the user's exercise ability to generate exercise ability information, and transmits the exercise ability information to the system control device 400 and the rehabilitation management device 500 in real time. Here, the athletic performance information includes the magnitude and direction of the resistance generated by the user, the position of the arm, the angle, the moving speed, and the acceleration.

2, the rehabilitation training apparatus 100 includes a robot unit 110, an athletic performance sensing unit 120, and a body support unit 130. As shown in FIG. The robot unit 110 is physically coupled to a user's hand and is driven according to a training mode provided from the system control device 400 to allow a user to perform rehabilitation training.

Herein, the training mode includes a passive mode in which the patient moves according to a training program, an active mode in which the patient moves without resistance according to the patient's motion, an active assist mode in which the patient's motion is assisted, an active assistive mode, an active isokinetic mode in which the patient's arm moves at an adjustable constant speed, An isometric mode that provides a constant or variable magnitude of resistance in a fixed state where the patient's arm is immobile, a virtual force mode that provides a virtual force field possible under a virtual environment, and a field mode.

The embodiment of the present invention is not limited thereto, and the training mode according to the embodiment of the present invention may include a mode of adjusting the difficulty of the training by changing the training environment. For example, it is possible to increase the degree of difficulty of training by changing the training environment from a regulated constant environment to an unregulated, non-constant environment.

Here, the regulated constant environment is an environment in which the size, shape, weight, support surface, etc. of an object do not change and can be predicted. An unregulated, non-uniform environment is an unpredictable environment due to factors that may interfere with motor functions, such as ambient brightness, noise, and support surface.

In other words, the exercise control function can be further improved by training first in a predicted environment such as a sitting posture or a standing posture, by walking on an unstable ground, or by raising the difficulty of training.

3, the robot unit 110 includes a robot arm 112, a hand holding member 114, a driving unit 116, and a control unit 118. [ The robot arm 112 is engaged with the user's hand through the hand-supporting member 114, and is driven according to the required path and the required strength. The robot arm 112 may have at least one degree of freedom.

The hand supporting member 114 is connected to the end of the robot arm 112 and supports the user's hand so that the user can hold it by hand. The driving unit 116 is connected to the pivot shaft of the robot arm 112 to drive the robot arm 112. The driving unit 116 includes an x-axis driving member 116a driven in the x-axis direction, a y-axis driving member 116b driven in the y-axis direction, and a z-axis driving member 116c driven in the z-axis direction. Here, each of the x, y, and z-axis driving members 116a, 116b, and 116c may include a motor. The control unit 118 is controlled by the system control device 400 to control the driving of the driving unit 116.

The exercise capacity sensing unit 120 is coupled to the robot arm 112 and senses the exercise capacity of the user supporting the robot arm 112 to generate exercise capacity information. Here, the athletic performance information includes the magnitude and direction of the resistance generated by the user, the position of the arm, the angle, the moving speed, and the acceleration.

The motion sensing unit 120 includes a six-axis force-torque sensor (not shown) for measuring a resistance force, a position sensor (not shown) for measuring a distal end position of the robot arm 112, And a joint angle measurement sensor (not shown) for measuring the joint angle. Here, the six-axis force-torque sensor may be disposed on the hand-supporting member 114. The exercise capacity sensing unit 120 transmits the exercise capacity information to the system control unit 400 and the rehabilitation management unit 500, respectively.

The body support 130 supports a portion of the user's body such that at least a portion of the user's weight acts on the leg including the thigh. The body support 130 may provide the user with at least one of a sitting state, a state in which the two feet are supported on the ground, and a walking state such as walking or running. The embodiment of the present invention is not limited thereto, and the body support 130 may provide various postures required for the training of the user.

For example, the body support 130 may include a seat member 132 that supports the user's buttocks and back and supports the user in a seated state. At least one of the position, height, and rotation angle of the seat member 132 can be adjusted. For example, as shown in FIG. 4, the seat member 132 can be adjusted in the front and rear directions, the height can be adjusted in the vertical direction, and the seat member 132 can be rotated in the horizontal direction. The present invention is not limited to this, and the seat member 132 may be tilted at an angle with respect to the front and rear axes or the left and right axes of the body.

The seat member 132 may include a lever (not shown) or the like to be manually adjusted by a user, and may be automatically adjusted by the system controller 400, including a motor (not shown). For example, the seat member 132 can be automatically adjusted according to the user-specific chair position information collected through the rehabilitation management device 500. [

5, the body supporting portion 130 includes a foot member 134 for supporting the user's foot in a line state with two feet, a first and a second body supporting member 130 for supporting the user's upper body, Members 136a and 136b.

The first upper body supporting member 136a is engaged with the foot member 134 to fix the second upper body supporting member 136b. The second upper body supporting member 136b is combined with the upper body of the user to assist the user's weight during rehabilitation treatment or protect the user from injury. Here, as shown in FIG. 6, the foot member 134 is constituted by a treadmill device and can provide a walking posture of the user such as walking or running.

1 and 2, the interface device 200 provides an input and output interface between the system control device 400 and the rehabilitation management device 500 and the user. The interface device 200 includes a display unit 210, an image capturing unit 220, a head mounted display unit 230, and a feedback module unit 240.

The display unit 210 is controlled by the system control device 400 and the rehabilitation management device 500 to display an image. The display unit 210 includes a first screen 212 arranged in the vertical direction with respect to the robot base B and a second screen 214 arranged in the horizontal direction. Each of the first and second screens 212 and 214 may implement a touch screen or a stereoscopic screen.

Such a touch screen can provide an input interface and an output interface between any one of the system control device 400 and the rehabilitation management device 500 and a user. For example, user information, training program interface information, and the like may be input, and virtual and augmented reality images associated with images and training programs provided by the training programs, user images capturing the user's upper limb motion, feedback images And so on.

Here, the training image may be, for example, an image including a meal table, a comb, a mirror, a cup, and the like when the training program is related to daily living activities / tasks such as eating, hair brushing, brushing and cupping. In addition, the virtual and augmented reality images are provided so that the user may be interested in the training.

In addition, the feedback image is an image provided to enable the user to actively participate in the training, such as an image for inducing user's concentration and an image for encouraging the user.

In addition, the feedback image may include a magnitude and a direction of the resistance measured through the motion capability sensing unit 120 when a resistance force is applied from the robot arm 112 to the user when the user's upper limb moves on the required path, Can be displayed.

In addition, a training task including a touch operation can be performed by a touch screen. For example, a training task requiring a user's cognitive ability can be performed, such as escaping a maze on a plane, selecting a result of a calculation formula, finding the same picture as a presented picture, or memorizing and selecting the same two cards.

Further, each of the first and second screens 212 and 214 may be controlled by the system control device 400 so that at least one of the direction and the height may be adjusted.

The image capturing unit 220 captures an upper limb of a user, generates a user image, and transmits the generated user image to the rehabilitation management apparatus 500. The image capturing unit 220 can capture a user's upper limb motion in real time to generate a user image. For this, the image capturing unit 220 may include a camera or the like.

The head mounted display 230 may be mounted on the head of the user and may be controlled by the rehabilitation management device 500 to provide a virtual reality image and an augmented reality image associated with the training program. For example, the head-mounted display 230 may photograph an environment of the user and provide an augmented reality image in which a peripheral environment image is enhanced to a training image. Such a virtual reality image and an augmented reality image can induce the interest of the user and enhance the effect of the rehabilitation treatment.

The embodiments of the present invention are not limited to this, and one of the virtual reality image and the augmented reality image may be provided through the first and second screens 220 and 230. In addition, a feedback image may be provided through the head mounted display 230.

The feedback module 240 receives feedback information from the rehabilitation management device 500 and provides a feedback feeling to the user according to the feedback information. For example, the feedback module unit 240 can stimulate a user's sense of hearing, tactile sense, smell, and the like. To this end, the feedback module section 240 may include acoustic output means, a haptic module, and the like.

That is, the user receives the feedback image through the first screen 212, the second screen 214, the head mounted display 230, etc., and receives the sound, vibration, and fragrance through the feedback module 240 It is stimulated by sight, hearing, touch, and smell. Therefore, the user can confirm his / her movement, degree of participation in training, and degree of training immersion due to the eyes, ears, and skin senses. Thus, in patients with central nervous system damage, the efficiency of rehabilitation therapy can be improved by increasing concentration, which is an essential element of exercise learning based on the neuro-plasticity theory.

The bio-signal measuring apparatus 300 measures biological signals of the user in real time to generate bio-activation information, and transmits bio-activation information to the system control apparatus 400 and the rehabilitation management apparatus 500. Herein, the bio-activation information may include activity of the user's muscles and brain.

For example, the bio-signal measuring apparatus 300 can acquire an EMG signal from a sensor 310 attached to a user's upper limb muscle, and can detect muscle activity using an EMG signal.

In addition, the bio-signal measuring apparatus 300 acquires an electroencephalogram signal through a potential variation occurring in the cerebrum from a sensor 320 including a user's scalp invasive and noninvasive electrodes, Brain activity of each region can be detected. The embodiment of the present invention is not limited thereto, and a method of detecting muscle and brain activity may be variously applied. For example, brain activity may be detected through near infrared spectroscopy (fNIRS), brain magnetic resonance imaging (MEG), functional magnetic resonance imaging (fMRI), and electrocorticography (ECoG).

The system control device 400 receives the training mode from the rehabilitation management device 500 in communication with the rehabilitation management device 500 and controls the rehabilitation training device 100 and the interface device 200 according to the training mode.

The system control device 400 receives the bio-activity information from the bio-signal measuring device 300 and adjusts the magnitude of the auxiliary force and the resistance force provided to the user from the robot arm 112 in real time according to the bio- For example, the system control device 400 determines the training commitment of the user in real time using the bio-activation information, and decreases the size of the auxiliary force when the training immersion degree is low, so that the user can actively participate in the training .

In addition, the system control device 400 can stop driving the rehabilitation training apparatus 100 by determining an emergency situation based on the biologic activation information. For example, when an emergency occurs such as a user having muscle spasms, the system control device 400 can forcibly stop the training.

The rehabilitation management device 500 is a big data-based artificial intelligence device that collects big data from a plurality of rehabilitation training devices 100 via a wired / wireless network, analyzes big data, and manages a training mode suitable for each user do.

Specifically, the rehabilitation management device 500 receives the exercise ability information from the exercise ability detection unit 120, receives the basic information of the user through the interface device 200, receives the user's basic information from the living body signal measurement device 300, Information is received. Here, the basic information may include information that can identify the user such as the user's name, patient registration number, and the like within each country, as permitted by the relevant law.

The rehabilitation management device 500 collects user information and medical information using basic information of the user. Herein, the user information includes gender, age, disease, degree of lesion, elapsed period, etc., and the medical information may include a diagnosis / rehabilitation training prescription of a medical staff such as a doctor. The user information and the medical information may be stored in a database (not shown) in the rehabilitation management apparatus 500 and may be information extracted from a separate external server (not shown).

The rehabilitation management device 500 evaluates the upper limb function of the user according to the exercise ability information and the biometric activation information, and stores the evaluation result. For example, the rehabilitation management device 500 may perform a perceptual evaluation, a cognitive evaluation, and a behavioral evaluation in order to evaluate a personal exercise function. Here, the perception evaluation is to evaluate the interpreting ability of peripheral sensory input such as visual, tactile, and intrinsic receptive senses, and the cognitive evaluation evaluates concentration, motivation, and emotional factors for the desired movement .

Behavioral assessment is assessing muscle strength, muscle tension, joint freedom, muscle-joint coordination, and functional movement. These results may include strength, range of motion, proprioceptive sense, muscle tension, degree of freedom of the joint, coordinated movement of the muscles - joints, stability, and mechanical resistance of the joints.

The rehabilitation management device 500 analyzes the evaluation results of a plurality of users through data mining, machine learning, pattern recognition, cluster analysis, and large data analysis techniques such as multivariate statistics, Extract features to aid in treatment.

For example, a discriminant analysis for analyzing a disease as an evaluation result, or a factor analysis for a disease-based evaluation result, may be used to determine a fundamental factor (e.g., strength, sensation, , Range of motion, etc.), or regression analysis of data analyzed for each disease can predict disease progression and recovery. Here, the data analyzed by disease may be data including the severity of the disease, the degree of recovery over time, and the like.

The rehabilitation management device 500 learns the extracted features by comparing them with the medical information, and determines the training mode of each of the users according to the learning results. The rehabilitation management device 500 delivers the determined training mode to the system control device 400. [

Here, the training mode may include the required path, the resistance provided to the patient and the size of the assist force, the frequency of the training, and the like. For example, the rehabilitation management device 500 quantitatively adjusts whether the upper limb will be assisted to move on the request path presented in the daily life operation or the task-based rehabilitation training program, . In addition, the number of times the user participates in the rehabilitation training program can be adjusted according to the user's disease, treatment progress, and past training performance.

In addition, the rehabilitation management device 500 may learn a preceding operation of the actual rehabilitation therapist and generate a different path from the desired path provided by the rehabilitation learning program. That is, the rehabilitation management device 500 can perform a role such as a doctor or a rehabilitation therapist who can prescribe rehabilitation training in a patient-customized manner, notify a patient of a treatment timing, and show therapeutic results. In addition, the rehabilitation management device 500 can manage a mechanism for adjusting the required path, resistance, assistance force, and the like necessary for the rehabilitation training.

Then, the rehabilitation management device 500 generates feedback information for determining the concentration of the user based on the biometric activation information and provides biometric feedback, and transmits the feedback information to the interface device 200. For example, the rehabilitation management device 500 judges the degree of participation of the training and the degree of engagement of the training according to the user's muscle or brain activity, and when the degree of participation of the training is low or the immersion of the training is low, And controls the interface device 200 so that the user can positively participate in the training through biofeedback stimulating hearing, tactile sense, smell, and the like.

For example, if the user can not concentrate on training, a feedback image may be generated to induce user's concentration, or a warning voice may be generated. In addition, if the user is dissatisfied with the training result, the feedback image containing the phrase encouraging the user can be generated. Then, the training image and the user image captured in real time by the user's upper limb motion can be synthesized so that the user's own motion can be confirmed directly on the required path.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, It belongs to the scope of right.

100: Rehabilitation device
200: Interface device
300: Biological signal measuring device
400: System control device
500: Rehabilitation management device

Claims (7)

A rehabilitation training means for controlling a user's upper limb movement according to a training mode and sensing exercise capacity of the user with respect to the upper extremity exercise to generate exercise ability information;
Bio-signal measuring means for measuring bio-signals of the user to generate bio-activity information;
Wherein the bioinformatics information acquisition unit acquires user information, medical information, athletic performance information, and bio-activation information for a plurality of users by determining the concentration of the user based on the bio-activation information and generates feedback information, A rehabilitation management means for making a decision; And
Providing an interface corresponding to the training mode and providing feedback to the user based on the feedback information,
The upper limb rehabilitation training device includes the upper limb. The method according to claim 1,
The rehabilitation management means
Evaluating the upper limb function of the user according to the exercise ability information and the biometric activation information, extracting at least one feature required for a treatment assist from the evaluation result, and extracting the extracted feature using the user information and the medical information And determines the training mode. The method according to claim 1,
Wherein the training mode provides a desired path, intensity and frequency for performing a daily life operation and a target operation. The method according to claim 1,
Wherein the exercise ability information includes at least one of a magnitude and direction of a resistance generated by the user, a position of an arm, an angle, a moving speed, and an acceleration. The method according to claim 1,
Wherein the rehabilitation training means provides at least one of a sitting state, a state in which the two feet are supported on the ground, and a walking state. The method according to claim 1,
Wherein the bio-activation information includes muscle and brain activity. The method according to claim 1,
The interface device
A photographing means for photographing the upper limb of the user to generate a user image;
Display means for displaying an image corresponding to the training mode, a feedback image for stimulating the time of the user, and the user image;
A head mounted display means for displaying a virtual reality image and an augmented reality image corresponding to the training mode; And
A feedback module for stimulating at least one of the auditory, tactile,
The upper limb rehabilitation training device includes the upper limb.

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