KR20180002984A - apparatus for using lumbar erector spinae muscle strengthening - Google Patents

Abstract

Disclosed is a rehabilitation training apparatus capable of strengthening lumbar erector muscles. An embodiment of the present invention provides the rehabilitation training apparatus capable of strengthening the lumbar erector muscles, comprising: an upper limb exercise unit enabling a user to perform rehabilitation training for upper limbs of the user; and a support unit supported on a bottom unit, connected to the upper limb exercise unit and supporting a physical body of the user. The upper limb exercise unit includes: a body unit connected to the support unit; and an arm seating unit on which the arm of the user is seated. The arm seating unit is connected to the body unit to enable the whole of the arm of the user seated on the arm seating unit to rotate in a yaw direction and in a pitch direction. In this case, the arm seating unit includes a first connection member, an upper arm seating unit, a lower arm seating unit, a second connection member and a third connection member. The first connection member is connected to the body unit to be able to rotate in the yaw direction. The upper arm seating unit has one side connected to the first connection member to be able to rotate in the pitch direction and gets the upper arm of the user to be seated thereon. The lower arm seating unit gets the lower arm of the user to be seated thereon. The second connection member connects the other side of the upper arm seating unit to the lower arm seating unit to enable the lower arm seating unit to rotate in the pitch direction. The third connection member connects the upper arm seating unit to the first connection member and changes the length in the case that the upper arm seating unit rotates in the pitch direction.

Description

[0001] The present invention relates to a rehabilitation training apparatus for strengthening a lumbar spinal muscle,

The present invention relates to a rehabilitation training device, and more particularly, to a rehabilitation training device for rehabilitating a user's part, particularly, a rehabilitation treatment device capable of strengthening a lumbar support muscle with an upper limb exercise part for allowing a lumbar support muscle strengthening rehabilitation treatment to proceed Training device.

In recent years, with the development of medical technology, the life span of people is increasing, and the aging population is accelerating. With the increase in the elderly population, the incidence of geriatric diseases such as paralysis and joint aging is increasing. In addition, as people's standard of living improves, more and more people are enjoying leisure time through various sports activities. The increase in population enjoying sports activities necessarily entails an increase in the number of patients whose body parts are injured due to unintentional accidents that occur during sports activities. People who are suffering from such geriatric diseases or injuries to the body parts usually undergo a process of restoring strength through rehabilitation. Rehabilitation is needed to restore some or all of the damaged physical function due to injuries, stroke, traumatic brain injury, cerebral palsy, central nervous system injury, or weakened strength due to aging.

Generally, rehabilitation treatment is performed through long-term and systematic physical rehabilitation by experts such as physicians and physical therapists. In order to perform systematic rehabilitation training, it is necessary to store and manage the rehabilitation training information of rehabilitation patients during the rehabilitation treatment process. Currently, progress of rehabilitation treatment and storage of rehabilitation training information are managed and managed by experts such as doctors and physiotherapists. Therefore, in order to carry out rehabilitation training safely and repeatedly, professions of physicians and physiotherapists are required, and a fluid and time-consuming effort by experts is required. However, the number of rehabilitation specialists who are discharged compared with the increase in the number of patients requiring rehabilitation is insufficient. As a result, studies on rehabilitation devices such as rehabilitation robots have been actively conducted.

In the case of upper extremity rehabilitation exercise equipment, rotational movement according to various positions and angles is required depending on the patient's condition. Most of the conventional upper extremity exercise apparatuses are in a position and angle-controlled manner, . Conventional techniques related to upper extremity rehabilitation devices include Korean Patent No. KR 10-1115545 entitled " Upper and Lower Interlocking Exercise Device for Rehabilitation Therapy "and Korean Exemplary Patent KR 10-1316840" Exoskeleton Apparatus for Upper Rehabilitation Exercise ". These conventional techniques can perform rehabilitation on only one upper limb of a patient and perform rehabilitation on both upper limbs of the patient at the same time. In the present specification, in which the width, height, There is a difference from the rehabilitation training device.

The present invention provides a rehabilitation training device capable of strengthening the lumbar spine to solve the conventional problems. The rehabilitation training device according to the present invention may be configured such that a user can perform a rehabilitation training on his / her upper limb through an upper limb exercise part including an arm rest part connected to the body part so as to be able to rotate in the yaw direction and rotate in the pitch direction Rehabilitation can be performed. In addition, the technique disclosed in the present specification provides a technique capable of simultaneously performing rehabilitation for both upper extremity parts of a user through an upper limb motion part including a pair of arm rest parts slidably connected to the body part.

In one embodiment, a rehabilitation training device capable of strengthening the lumbar spine is disclosed. The rehabilitation training device is supported by an upper limb motion part and a floor part for allowing rehabilitation of the upper limb of the user to proceed, and a support part connected to the upper limb motion part and supporting the body of the user.

The upper limb movement part includes a body part connected to the support part and an arm rest part on which the arm of the user is seated. The arm rest part is connected to the body part so that the entire arm of the user seated on the arm rest part can rotate in the yaw direction and rotate in the pitch direction.

In this case, the arm rest part includes a first connecting member, an upper arm rest part, a lower arm rest part, a second connecting part and a third connecting part. The first connecting member is connected to the body portion so as to be rotatable in the yaw direction. The upper arm seating part is connected to the first connecting member at one side so as to be rotatable in the pitch direction, and the upper arm of the user's arm is seated. And the lower arm of the arm of the user is seated in the lower arm seating portion. The second connecting member connects the other side of the upper arm seating portion and the lower arm seating portion so that the lower arm seating portion can rotate in the pitch direction. The third connecting member connects the upper arm seating portion and the first connecting member, and the length is varied when the upper arm seating portion rotates in the pitch direction.

The body portion may include a top base frame connected to the support portion and a sliding portion slidably coupled to the top base frame. The first connection member is connected to the sliding member, and the arm rest may be slidably connected to the body through the connection between the first connection member and the sliding member.

For example, a pair of the arm rests, hereinafter referred to as a first arm rest part and a second arm rest part, may be spaced apart from each other in the body part. The body portion may include a pair of the sliding portions - hereinafter referred to as a first sliding portion and a second sliding portion, which are spaced apart from each other. Wherein the first arm rest part and the second arm rest part are configured such that the first linking member of the first arm rest part and the first link member of the second arm rest part respectively engage with the first sliding part and the second sliding part And can be slidably connected to the body by being connected. The distance between the first arm rest part and the second arm rest part can be adjusted through the slidable connection of the first arm rest part and the second arm rest part to the body part.

The rehabilitation training device may further include a leg restricting portion for fixing the leg rest of the user. The lower fixing unit includes a lower base frame fixedly connected to the upper base frame and a pair of leg rests connected to the lower base frame and facing each other with the lower base frame interposed therebetween, .

In this case, the leg rest part includes a thigh seat part connected to one side of the leg base frame and on which the thigh of the user is seated, a calf seat part on which the user's foot is rested and on which the calf of the user is seated, and a fourth connecting member connecting the other side of the thigh seat part to the calf seat receiving part so as to be rotatable in the pitch direction. At this time, the thigh seat part and the calf seat part can be varied in length according to the change of the length of the user's body.

In addition, the rehabilitation training device may further include a lifting unit disposed at the bottom and positioned below the user with respect to the gravity direction to support the weight of the user.

The elevating portion includes a first pedestal mounted on the bottom portion, a second pedestal disposed on the first pedestal based on the gravity direction and contacting the user, a lift frame disposed between the first pedestal and the second pedestal, And a lift synchronization mechanism for driving the lift frame to move the second pedestal up and down relative to the first pedestal. The user may drive the access port synchronization to raise the second pedestal so that the upper portion of the user is positioned at a position corresponding to the upper motion portion.

A weight sensor may be disposed on the lifting unit. And the weight of the user can be transmitted to the elevating unit through close contact between the second pedestal and the user. The weight sensor may sense a change in the center of the weight of the user who changes in the course of the rehabilitation treatment for the upper part of the user through the upper limb movement part by the user.

In addition, the rehabilitation training device may further include a connection portion connecting the support portion and the body portion by universal joint connection, and a buffer disposed between the support portion and the body portion so as to be spaced apart from the connection portion.

In this case, the upper limb movement part can freely move by universal joint between the support part and the body part through the connection part. Wherein the shock absorber is disposed so that one side thereof is connected to the support portion and the other side thereof is spaced apart from the body portion such that when the upper motion portion moves beyond the reference range, the other side abuts on the body portion, It is possible to buffer the movement beyond the reference range. Alternatively, the buffer may be arranged such that the one side is connected to the body part and the other side is arranged to have a predetermined gap with the supporting part, and when the upper side moving part moves beyond the reference range, the other side contacts the supporting part The motion of the upper extremity motion part exceeding the reference range can be buffered.

The rehabilitation training device may further include a rotation sensor for sensing a yaw rotation of the first connection member by the user, a rotation sensor for sensing rotation of the upper arm seat in the pitch direction, Information about the yaw rotational movement of the first linking member, which is received from the elongation sensor, the rotation sensor and the elongation sensor, respectively, and information about the rotational movement of the third linking member, And a controller for measuring the strength of the user based on the information about the stretching movement.

In this case, the rehabilitation training device may further include a first driving unit disposed on the first connecting member and a second driving unit disposed on the third connecting member. The operation of the first driver and the second driver may be controlled by the controller. In this case, if the rotation of the first connection member in the yaw direction is detected through the rotation sensor, the control unit may detect the rotation of the first connection member, The first driving unit may be controlled so that the first connecting member rotates in a direction opposite to the yaw rotational motion. Further, when the stretching movement of the third linking member is sensed through the elongation sensor, the control unit controls the stretching movement of the third linking member in a direction opposite to the stretching movement sensed by the elongation sensing sensor, And the second driving unit may be controlled to operate the third connecting member in the direction of the second driving unit. The rehabilitation training device may cause the rehabilitation treatment to be performed on the upper limb of the user.

The body portion of the rehabilitation training device may further include a rotation roller rotatably coupled to the upper base frame such that an axial direction of rotation of the body portion has a direction substantially perpendicular to the upper base frame. A portion of the first sliding portion and a portion of the second sliding portion abut each other at the first contact and the second contact with the rotating roller, and the portion of the first sliding portion and the portion of the second sliding portion contact the rotating roller Can face each other.

In this case, an imaginary line connecting the first contact and the second contact may be defined by a sliding movement direction of the first arm rest part with respect to the body part and a sliding movement direction of the second arm rest part with respect to the body part, Lt; / RTI > The first arm rest part and the second arm rest part may be connected to the first sliding part and the second sliding part so as to be located at the same distance from the first contact and the second contact, respectively. Accordingly, when the gap between the first arm rest part and the second arm rest part is adjusted through the sliding movement with respect to the body part, the first arm rest part and the second arm rest part are fixed to the rotation roller It is possible to slide the same distance on the basis of the distance.

In this case, the rehabilitation training device may further include a leg restricting portion for fixing the leg rest of the user. The lower fixing unit includes a lower base frame fixedly connected to the upper base frame and a pair of leg rests connected to the lower base frame and facing each other with the lower base frame interposed therebetween, .

In this case, the leg rest part includes a thigh seat part connected to one side of the leg base frame and on which the thigh of the user is seated, a calf seat part on which the user's foot is rested and on which the calf of the user is seated, and a fourth connecting member connecting the other side of the thigh seat part to the calf seat receiving part so as to be rotatable in the pitch direction. The thigh seat part and the calf seat part may vary in length depending on a change in the length of the user's body. Wherein the first arm rest part and the second arm rest part are spaced apart from each other by the same distance about the imaginary line and are disposed on the body part, and each of the pair of leg rest parts has the same The centerline of the user's body may substantially coincide with the imaginary line by being spaced apart from one another by the distance and being disposed in the base frame.

In addition, the rehabilitation training device may further include a lift portion disposed at the bottom portion and positioned below the user with respect to the gravity direction to support the weight of the user. The elevating portion includes a first pedestal mounted on the bottom portion, a second pedestal disposed on the first pedestal based on the gravity direction and contacting the user, a lift frame disposed between the first pedestal and the second pedestal, And a lift synchronization mechanism for driving the lift frame to move the second pedestal up and down relative to the first pedestal. The user may drive the access port synchronization to raise the second pedestal so that the upper portion of the user is positioned at a position corresponding to the upper motion portion.

In addition, the rehabilitation training device may further include a weight sensor disposed on the lifting unit. The calf seat portion may include a footrest portion that supports the foot of the user. In this case, the footrest portion and the second pedestal may be in close contact with each other. The weight of the user can be transmitted to the elevating unit through tight contact between the second pedestal and the footrest. The weight sensor may sense a change in the center of the weight of the user who changes in the course of the rehabilitation treatment for the upper part of the user through the upper limb movement part by the user.

The rehabilitation training device may further include a rotation detection sensor, a stretch detection sensor, and a control unit. The rotation detecting sensor may sense a rotational movement of the first connecting member in the yaw direction by the user. The elongation and contraction detection sensor may sense a stretching movement of the third linking member according to the pitch rotation of the upper arm seating portion by the user. Wherein the control unit is configured to extract information on the rotational movement of the first connecting member provided in the yaw direction and the information on the elastic movement of the third connecting member received from the rotation sensor and the elongation sensor, Muscle strength can be measured.

In this case, the rehabilitation training device may further include a display unit disposed at a predetermined distance from the upper limb movement unit, and a motion detection sensor disposed adjacent to the display unit or the display unit.

In this case, a rehabilitation image related to the rehabilitation treatment for the upper part of the user may be displayed on the display unit. The motion detection sensor may sense motion of the user performing an operation indicated in the rehabilitation image. Wherein the control unit controls the rotation sensor and the elasticity sensing sensor to detect the movement of the user in the course of performing the operation indicated by the user in the rehabilitation image, The motion data of the user can be extracted from the information on the yaw direction rotational movement of the first linking member and the information on the elastic movement of the third linking member.

The rehabilitation training device may further include a first driving unit disposed on the first connection member and a second driving unit disposed on the third connection member. The operation of the first driver and the second driver may be controlled by the controller. Wherein when the yaw rotation movement of the first connection member is sensed through the rotation sensor, the control unit controls the rotation of the first connection member in accordance with an input command of the user or a pre- yaw direction rotating motion of the first linking member. Further, when the stretching movement of the third linking member is sensed through the elongation sensor, the control unit controls the stretching movement of the third linking member in a direction opposite to the stretching movement sensed by the elongation sensing sensor, So that the third linking member is operated in the direction of the second linking member. In this case, the rehabilitation training device may cause the rehabilitation treatment to be performed on the upper limb of the user.

In this case, the rehabilitation training device may further include a display unit disposed at a predetermined distance from the upper limb movement unit, and a motion detection sensor disposed adjacent to the display unit or the display unit.

In this case, a rehabilitation image related to the rehabilitation treatment for the upper part of the user may be displayed on the display unit. The motion detection sensor may sense motion of the user performing an operation indicated in the rehabilitation image. The control unit may include a database for storing information on standard motion data corresponding to the motion indicated by the rehabilitation image.

Wherein the rotation detecting sensor and the elongation sensor respectively detect the rotational movement of the first connecting member in the yaw direction and the stretching movement of the third connecting member in the process of performing the operation indicated by the user in the rehabilitation image, Motion can be detected. Correspondingly, the control unit rotates the first linking member in a direction opposite to the standard movement data stored in the database, in association with the movement of the user sensed by the movement detecting sensor, The operation of the first driving unit and the operation of the second driving unit can be controlled.

The rehabilitation training device disclosed in this specification performs a rehabilitation for a user's own upper limb through an upper limb exercise part including an arm rest part connected to the body part so as to be able to rotate in the yaw direction and rotate in the pitch direction Provide technology that can be done.

In addition, the rehabilitation training device disclosed in this specification may be configured such that the user adjusts the size of the upper limb movement part to the size of her upper body through the upper limb motion part including a pair of arm rest parts slidably connected to the body part, We suggest a technique that can perform rehabilitation at the site simultaneously.

In addition, the rehabilitation training device disclosed in the present specification provides a technique for allowing a user having different sizes of stretches to perform rehabilitation according to his or her body size through a lifting portion. At this time, the user can detect the change of the center of gravity during the rehabilitation exercise for the upper part through the weight sensor disposed at the elevating part.

In addition, the rehabilitation training apparatus disclosed in the present specification provides a technique that allows the user to stably fix the user's body in the process of rehabilitating the user's upper extremity region through the leggings. In this case, the pair of arm rest portions and the leg rest portion can be positioned at the same distance with respect to the rotating roller, and rehabilitation can be performed on the upper limb based on the center line of the user's body. Meanwhile, a change in the center of gravity of the user, which is changed during the rehabilitation process for the user's upper limb region, can be detected through the weight sensor disposed on the lifting unit. Thus, the rehabilitation apparatus disclosed in this specification enables the application of the standardized rehabilitation program.

In addition, the rehabilitation training device disclosed in this specification includes a rotation sensing sensor for sensing a rotational movement in the yaw direction of the first linking member, an elongation sensing sensor for sensing the elastic movement of the third linking member, The rehabilitation data including the strength of the user performing the rehabilitation for the user can be collected.

Also, the rehabilitation training device disclosed in this specification controls the first driving unit and the second driving unit, which are respectively disposed on the first connecting member and the third connecting member, by a control unit to provide a force in a direction opposite to the user's motion, It provides a technique that can improve the effect.

In addition, the rehabilitation training device disclosed in the present specification provides an effect of allowing a user to perform upper limb rehabilitation with a feeling of enjoying a game through a display unit and a motion detection sensor.

The foregoing provides only a selective concept in a simplified form as to what is described in more detail hereinafter. The present disclosure is not intended to limit the scope of the claims or limit the scope of essential features or essential features of the claims.

1 is a conceptual diagram of a rehabilitation training device capable of strengthening the lumbar spasm;
2 is a view for explaining the connection relationship between the upper limb movement part and the support part and the structure of the rising part.
3 is a view showing a state of an upper limb movement part and a limb rest part.
4 is a view for explaining the structure and operation of the upper limb movement part.
Fig. 5 is a view for explaining the structure and operation of the restraining part.
6 is a view for explaining a process of measuring a user's strength from a yaw rotation movement of the first connection member and a stretching movement of the third connection member.
7 is a view showing a state in which the user 10 proceeds to rehabilitate through a rehabilitation image displayed on the display unit.

Hereinafter, embodiments disclosed in this specification will be described in detail with reference to the drawings. Like reference numerals in the drawings denote like elements, unless the context clearly indicates otherwise. The exemplary embodiments described above in the detailed description, the drawings, and the claims are not intended to be limiting, and other embodiments may be utilized, and other variations are possible without departing from the spirit or scope of the disclosed technology. Those skilled in the art will appreciate that the components of the present disclosure, that is, the components generally described herein and illustrated in the figures, may be arranged, arranged, combined, or arranged in a variety of different configurations, all of which are expressly contemplated, As shown in FIG. In the drawings, the width, length, thickness or shape of an element, etc. may be exaggerated in order to clearly illustrate the various layers (or films), regions and shapes. When a component is referred to as being " deployed "to another component, it may include the case where the component is directly disposed on the other component, as well as the case where additional components are interposed therebetween.

When one component is referred to as being "disposed" to another component, it may include the case where the one component is disposed directly on the other component, as well as the case where additional components are interposed therebetween.

When one component is referred to as "connecting to another component ", it includes not only the case where the one component is directly connected to the other component, but also a case where an additional component is interposed therebetween.

When one component is referred to as being "coupled to another component ", it includes not only the case where the one component is directly coupled to the other component, but also a case where additional components are interposed therebetween.

When one component is referred to as being " seated "with another component, it may include the case where the one component is seated directly on the other component as well as the case where additional components are interposed therebetween.

The description of the disclosed technique is merely an example for structural or functional explanation and the scope of the disclosed technology should not be construed as being limited by the embodiments described in the text. That is, the embodiments are to be construed as being variously embodied and having various forms, so that the scope of the rights of the disclosed technology should be understood to include equivalents capable of realizing the technical ideas.

It is to be understood that the singular " include " or "have" are to be construed as including the stated feature, number, step, operation, It is to be understood that the combination is intended to specify that it is present and not to preclude the presence or addition of one or more other features, numbers, steps, operations, components, parts or combinations thereof.

All terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the disclosed technology belongs, unless otherwise defined. Terms defined in commonly used dictionaries should be interpreted to be consistent with meaning in the context of the relevant art and can not be construed as having ideal or overly formal meaning unless expressly defined in the present application.

1 is a conceptual diagram of a rehabilitation training device capable of strengthening the lumbar spasm; 2 is a view for explaining the connection relationship between the upper limb movement part and the support part and the structure of the rising part. Fig. 2 (a) is a side view, Fig. 2 (b) is a view showing the combination of the upper limb movement part and the support part, and Fig. 2 (c) is a view showing the elevation part. 3 is a view showing a state of an upper limb movement part and a limb rest part. 3 (a) and 3 (b) are views showing an oblique view of the upper limb motion part and the limb-rest part from the front and an oblique view from the rear, respectively. 4 is a view for explaining the structure and operation of the upper limb movement part. Fig. 5 is a view for explaining the structure and operation of the restraining part. 6 is a view for explaining a process of measuring a user's strength from a yaw rotation movement of the first connection member and a stretching movement of the third connection member. 7 is a view showing a state in which the user 10 proceeds to rehabilitate through a rehabilitation image displayed on the display unit.

Referring to FIGS. 1 to 6, a rehabilitation training device 100 capable of strengthening the lumbar standing muscles includes a support portion 110 and an upper limb exercise portion 120. In some other embodiments, the rehabilitation device 100 may further include a portion 130 that is optional. In some other embodiments, the rehabilitation apparatus 100 may optionally further include a notch elevator 140. In some other embodiments, the rehabilitation apparatus 100 may optionally further include a weight sensor (not shown). In some other embodiments, the rehabilitation apparatus 100 may further optionally include a lower limb connection 150 and a cushion 160. In some other embodiments, the rehabilitation apparatus 100 may further include a rotation sensing sensor (not shown), an elastic sensing sensor (not shown), and a controller (not shown). In some further embodiments, the rehabilitation apparatus 100 may further include a first driver (not shown) and a second driver (not shown). In some other embodiments, the rehabilitation apparatus 100 may further include a display portion 170 and motion detection sensors (not shown).

The support portion 110 is supported by the bottom portion 20 and is connected to the upper limb movement portion 120 to support the body of the user 10. In the figure, a plate-like bottom portion in which a caster, a caster holder, a guide bar, and an air balancer are disposed as the bottom portion 20 is shown as an example. The bottom portion 20 is movable through the casters. The user 10 can move while holding the guide bar in the process of wearing the upper limb movement part 120. [ Through the air balancer, the bottom portion 20 can be balanced and can be separated from the peripheral vibration. For example, the supporting portion 110 and the moving portion 120 may be disposed directly on the floor or the floor of the building where the rehearsal training device 100 is disposed. In this case, the bottom surface or the ground of the building can serve as the bottom portion 20. [ In other words, the shape or structure of the bottom surface 20 is not limited as long as the support portion 110 and the upper limb motion portion 120 can be disposed.

The upper limb exercise unit 120 allows rehabilitation to be performed on the upper limbs of the user 10. The upper limb movement part 120 includes a body part 122 connected to the support part 110 and arm rest parts 124, 124-1 and 124-2 on which the arm of the user 10 is seated. The arm rests 124, 124-1 and 124-2 are arranged so that the entire arm of the user 10 seated in the arm rests 124, 124-1 and 124-2 is rotated in the yaw direction and the pitch pitch direction to be rotatable.

The arm rests 124, 124-1 and 124-2 include a first connecting member 124a connected to the body portion 122 so as to be capable of rotating in the yaw direction, An upper arm seating portion 124b connected to the first connection member 124a and on which the upper arm of the arm of the user 10 is seated, a lower seating portion 124c on which the lower arm of the arm of the user 10 is seated, The second connecting member 124d and the upper arm seating portion 124b that connect the other side of the upper arm seating portion 124b and the lower arm seating portion 124c so that the seating portion 124c can rotate in the pitch direction, And a third connecting member 124e connecting the connecting member 124a and varying in length when the upper arm seating portion 124b rotates in the pitch direction. In FIG. 4, the upper limb motion part 120 is shown as an example.

The body portion 122 may include upper and lower base frames 122a and 122b connected to the support portion 110 and sliding portions 122b and 122b-1 and 122b-2 slidably engaged with the upper and lower base frames 122a and 122b . The first connection member 124a is connected to the sliding portions 122b, 122b-1 and 122b-2 and is connected to the first connection member 124a and the sliding portions 122b, 122b-1 and 122b-2 The arm rests 124, 124-1 and 124-2 can be slidably connected to the body 122. [ Namely, since the arm rests 124, 124-1, 124-2 can slide along the body portion 122, the user 10 can move the arm rests 124, 124-1, 124-2 in accordance with the width of his or her upper body, 124-2 may be slid along the body portion 122 and then the arm rests 124, 124-1, 124-2 may be worn.

The first connecting member 124a may be a hydraulic cylinder or an electric cylinder capable of rotating in the axial direction. As shown in the example of FIG. 4, the first linking member 124a is rotatably coupled to the body portion 122 at a position adjacent to both ends of the shaft or both ends of the shaft so as to be rotatable in the yaw direction, (Not shown). Meanwhile, the first linking member 124a may be rotated by an external hydraulic pressure or a power source. As an example for the sake of understanding, the above example can be used as the first connecting member 124a in various structures rotatably coupled to the body portion 122 and capable of rotating in the yaw direction.

The third connecting member 124e may be a hydraulic cylinder or an electric cylinder capable of extending and contracting in the longitudinal direction. 4, one end of the third connecting member 124e is rotatably connected to the upper arm receiving portion 124b and the other end of the third connecting member 124e is rotatably connected to the first connecting member 124a, The first connection member 124b and the first connection member 124a can be connected. Through this, the length of the third connecting member 124e can be varied when the upper arm receiving portion 124b rotates in the pitch direction. On the other hand, the third linking member 124e can be elongated and contracted by an external hydraulic pressure or a power source. The above example connects the upper arm 124b and the first connecting member 124a as an example for the sake of understanding and may be modified as long as the length of the upper arm 124b varies in the pitch direction, May be used as the third connecting member 124e.

In one embodiment, as shown in the figure, the body portion 122 includes a pair of arm rests 124 - hereinafter referred to as a first arm rest 124-1 and a second arm rest 124- 2) may be spaced apart from each other. The body portion 122 may include a pair of sliding portions 122b which are spaced apart from each other, hereinafter referred to as a first sliding portion 122b-1 and a second sliding portion 122b-2. The first arm rest part 124-1 and the second arm rest part 124-2 are connected to the first arm rest part 124a of the first arm rest part 124-1 and the second arm rest part 124-2 May be slidably connected to the body portion 122 by being connected to the first sliding portion 122b-1 and the second sliding portion 122b-2, respectively. The first arm rest part 124-1 and the second arm rest part 124-2 are slidably connected to the body part 122 of the first arm rest part 124-1 and the second arm rest part 124-2, The interval between the first and second electrodes 124-2 can be adjusted.

The fixing unit 130 can fix the lower part of the user 10. The fixing unit 130 is connected to the lower base frame 132 and the lower base frame 132 which are fixedly connected to the upper base frame 122a and faces the user 10 with the lower base frame 132 therebetween. And a pair of leg rests 134 on which legs of the leg rests are seated.

5, the leg rest portion 134 includes a thigh seat portion 134a to which the thigh of the user 10 is seated, one side of which is connected to the lower base frame 132, The other end of the thigh seat part 134a and the calf seat receiving part 134b can be rotated so that the calf seat part 134b and the calf seat part 134b on which the calf of the user 10 is seated can rotate in the pitch direction And a fourth connecting member 134c for connecting the first and second connecting members 134a and 134b. The calf seat portion 134b may include a boot base that supports the foot of the user 10. In this case, the length of the thigh seat part 134a and the calf seat part 134b may vary depending on the change in the length of the user's body.

On the other hand, as shown in the figure, the thigh seat part 134a and the calf seat part 134b have pinholes and the lengths thereof can be varied through the pin coupling of the two members that can slide with each other . As an example for the understanding of the above example, various structures that can vary the lengths of the thigh seat part 134a and the calf seat part 134b may be used.

The lifting portion 140 is disposed on the bottom portion 20 and can be positioned below the user 10 with respect to the gravity direction to support the weight of the user 10. [ The elevating part 140 includes a first pedestal 142 that is seated on the bottom part 20, a second pedestal 144 that is disposed on the first pedestal 142 with respect to the gravity direction and contacts the user 10, The lifting frame 146 and the second lifting frame 146 disposed between the first and second supports 142 and 144 drive the lifting and lowering frame 146 to move up and down relative to the first lifting frame 142 And a door opening / The user 10 may drive the elevation gate synchronizer 148 to raise the second pedestal 144 such that the upper portion of the user 10 is positioned at a position corresponding to the upper limb motion portion 120. [

For example, as shown in the example of Fig. 2, the lift frame 146 may be formed as an X-shaped link bar. The upper and lower portions of the lifting frame 146 may be in contact with the lower surface of the second pedestal 144 and the upper surface of the first pedestal 142, respectively. A part of the lifting frame 146 in contact with the upper surface of the first pedestal 142 may be rotatably engaged with the first pedestal 142 and another part of the lifting frame 146 may be coupled to the upper surface of the first pedestal 142 As shown in FIG. In this case, another part of the lifting frame 146 may be connected to each other by the connecting frame 146a. The connection frame 146a may be formed with a through hole having a spiral. On the other hand, the elevator shaft synchronization mechanism 148 may include a motor 148a and a rotary shaft 148b that receives rotational force from the motor 148a, as shown in FIG. The outer surface of the rotary shaft 148b may be formed with a screw thread capable of screwing with the through hole of the connection frame 146a. When the motor 148a rotates, the rotation shaft 148b receives the rotation force and the connection frame 146a, which is screwed with the rotation shaft 148b, is rotated by the rotation of the rotation shaft 148b, It is possible to move back and forth with respect to the direction. In this process, the upper portion of the lifting frame 146 is lifted and the second base 144 is lifted. As an example for the sake of understanding, the above example is not limited to the structure of the lifting part 140 as long as the second pedestal 144 can be lifted.

The weight sensor (not shown) may be disposed on the lifting unit 140. The weight of the user 10 can be transmitted to the elevating unit 140 through the close contact between the second pedestal 144 and the user 10. The weight sensor detects a change in the center of the weight of the user 10 that changes in the course of the rehabilitation treatment of the upper part of the user 10 through the upper exercise part 120 by the user 10 . The figure shows an example in which the weight of the user 10 is transferred to the elevating unit 140 through the tight contact between the boot base of the leg fixing unit 130 and the second pedestal 144. [

The connection part 150 can connect the support part 110 and the body part 122 of the upper limb movement part 120 by universal joint connection. The upper limb movement part 120 can freely move by universal joint coupling between the support part 110 and the body part 122 via the connection part 150. [

The shock absorber 160 may be disposed between the supporting portion 110 and the body portion 122 of the upper leg moving portion 120 so as to be spaced apart from the connecting portion 150. [ The shock absorber 160 may be, for example, a hydraulic piston, but is not limited thereto as long as it can perform a shock absorbing function.

For example, as shown in FIG. 2, the shock absorber 160 may be disposed such that one side of the shock absorber 160 is connected to the support 110 and the other side of the shock absorber 160 is spaced apart from the body 122. Accordingly, when the upper limb movement part 120 moves beyond the reference range, the other side abuts on the body part 122, thereby buffering the movement of the upper limb movement part 120 beyond the reference range.

As another example, the buffer 160 may be disposed such that one side of the buffer 160 is connected to the body 122, and the other side of the buffer 160 is spaced apart from the support 110 by a predetermined distance. Accordingly, when the upper limb movement part 120 moves beyond the reference range, the other side abuts on the support part 110 to buffer the movement of the upper limb movement part 120 beyond the reference range.

The rotation detection sensor (not shown) may sense the rotational movement of the first connection member 124a by the user 10 in the yaw direction. The rotation sensor is preferably disposed on the first connection member 124a. So that it is possible to sense the rotational movement of the first connection member 124a by the user 10 in the yaw direction. The rotation sensor may be, for example, a torque sensor disposed on the first connection member 124a and sensing a rotational force of the first connection member 124a in the yaw direction. As an example for the sake of understanding, the above example is not limited to the kind of the rotation detection sensor as long as it can detect the yaw direction rotational movement of the first connection member 124a by the user 10. [

The elastic sensing sensor (not shown) may sense the elastic movement of the third linking member 124e according to the pitch rotation of the upper arm seating portion 124b by the user 10. [ The elasticity sensor is preferably disposed on the third connection member 124e. The user can sense the stretching movement of the third linking member 124e according to the pitch rotation of the upper arm receiving portion 124b by the user 10. The expansion / contraction sensor may be, for example, a pressure sensor, a hydraulic pressure sensor, or the like, which is disposed on the third connection member 124e and senses elongation and contraction of the third connection member 124e. As an example for the sake of understanding, the above example is not limited as long as it can detect the elongation and contraction of the third connecting member 124e by the user 10.

The control unit (not shown) receives information about the rotational movement of the first connecting member 124a received from the rotation detecting sensor and the elongation and contraction sensor, and the information about the rotational movement of the third connecting member 124e The strength of the user 10 can be measured. A detailed description thereof will be described in detail with reference to FIG.

The first driving unit (not shown) may be disposed on the first connecting member 124a. The first driving unit may be a motor that provides rotational force, for example. When the first connection member 124a rotates with respect to the axis of the first connection member 124a or when the first connection member 124a rotates about the axis of the first connection member 124a, It is possible to provide a repulsive force.

The second driving unit (not shown) may be disposed on the third connecting member 124e. The second driving part may be, for example, a piston which provides a stretching force. Alternatively, the second driving portion may be a hydraulic cylinder that supplies hydraulic pressure to the hydraulic cylinder when the hydraulic cylinder or the electric cylinder is used as the third connecting member 124e, or an external power source that applies power to the motor of the electric cylinder.

The operation of the first driver and the second driver may be controlled by the controller. In this case, if the rotation of the first connection member 124a in the yaw direction is sensed through the rotation sensor, the controller may control the rotation sensor It is possible to control the first driving unit so that the first connecting member 124a rotates in a direction opposite to the yaw direction rotational movement sensed by the first driving unit 124a. When the extension / contraction movement of the third connection member 124e is sensed through the expansion / contraction sensor, the control unit controls the expansion / contraction of the third connection member 124e based on the input command of the user 10 or the pre- The second driving unit can be controlled so that the third linking member 124e operates in a direction opposite to the motion. In other words, when the movement of the user 10 is detected through the rotation detection sensor and the elasticity detection sensor, the control unit controls the operations of the first driving unit and the second driving unit to oppose the movement of the user 10 The operation of the first linking member 124a and the operation of the third linking member 124e can be controlled so as to provide a repulsive force in the direction of the arrow. Through this, the user 10 can receive the repulsive force during the rehabilitation exercise through the upper limb exercise unit 120, thereby enhancing the effect of the rehabilitation exercise.

4, the body portion 122 of the upper limb motion part 120 is formed so that the axial direction of rotation is perpendicular to the upper limb base frame 122a, And a rotating roller 122c rotatably coupled with the rotating shaft 122c. A part of the first sliding part 122b-1 and a part of the second sliding part 122b-2 come in contact with the rotating roller 122c at the first contact and the second contact, respectively, and the first sliding part 122b- And the part of the second sliding portion 122b-2 may be opposed to each other with the rotating roller 122c therebetween.

In this case, a hypothetical line connecting the first contact and the second contact is formed between a sliding movement direction of the first arm rest part 124-1 with respect to the body part 122 and a second sliding contact direction with respect to the body part 122, And may be substantially perpendicular to the sliding movement direction of the arm rest part 124-2. The first arm rest part 124-1 and the second arm rest part 124-2 are disposed at the same distance L from the first contact point and the second contact point, And the second sliding portion 122b-2. Through the sliding movement of the first arm rest part 124-1 and the second arm rest part 124-2 with respect to the body part 122, the first arm rest part 124-1 and the second arm rest part 124-1, The first arm rest part 124-1 and the second arm rest part 124-2 slide the same distance with respect to the rotation roller 122c when the gap between the seat part 124-2 is adjusted, Can be moved. Accordingly, the user 10 using the rehabilitation training device 100 disclosed in the present specification has the first arm rest 124-1 and the second arm rest 124-2 based on the center of his upper body, Can be easily worn.

At this time, each of the pair of leg seats 134 may be disposed on the base frame 132 spaced apart from each other by the same distance about the imaginary line. Whereby the centerline of the body of the user 10 using the rehabilitation apparatus 100 disclosed herein can be made substantially coincident with the virtual line.

In other words, the rehabilitation training device 100 disclosed in the present specification can reliably fix the user's body in the process of performing the rehabilitation of the upper part of the user 10 through the rehabilitation unit 130 have. The rehabilitation training apparatus 100 disclosed in the present specification has a pair of arm rests 124, 124-1 and 124-2 and a leg rest portion 130 with the same distance So that rehabilitation of the upper limbs can be performed based on the center line of the user's body. The rehabilitation training device 100 disclosed in the present specification is a device for rehabilitating the weight of the user 10 during a rehabilitation process of the upper part of the user 10 via a weight sensor (not shown) It can detect the change of the center. Through this, the rehabilitation apparatus 100 disclosed in the present specification enables the application of the standardized rehabilitation program.

The display unit 170 may be spaced apart from the upper limb movement unit 120 by a predetermined distance.

The motion detection sensor 172 may be disposed adjacent to the display unit 170 or the display unit 170.

The rehabilitation image related to the rehabilitation treatment of the upper part of the user 10 may be displayed on the display unit 170. [ The motion detection sensor 172 may detect a motion of the user 10 performing an operation indicated in the rehabilitation image.

The motion detection sensor 172 may be, for example, a motion detection camera or a Kinect sensor. The motion of the user 10 can be captured through the motion detection camera and the user's motion or physical information can be analyzed therefrom. The Kinect sensor is a device that emits infrared rays of a pixel unit to an object on the front face, that is, a user 10, by using an infrared projector, receives infrared rays reflected from the user 10, . In order to more accurately recognize the physique information of the user 10, the Kinect sensor may include a database storing position data of the main skeleton constituting the human body. That is, the Kinect sensor can easily obtain the information of the body part corresponding to the skeleton of the user 10 by utilizing the skeleton information of the human body stored in the infrared projector and the database. Thus, the physique information of the user 10 can be obtained and information on the motion of the user 10 can be obtained. A sensor directly attached to the human body of the user 10 may be used as the motion detection sensor 172. In this case, the control unit may control the operation of the user 10 through the information provided from the sensor, The physique information and the motion information of the robot 10 can be obtained.

For example, in response to the movement of the user 10 sensed by the motion detection sensor 172, the control unit may control the rotation sensor and the motion sensor 160 in the course of performing the operation indicated by the user 10 in the rehabilitation image, The movement data of the user 10 is extracted from the information about the rotational movement of the first connecting member 124a sensed by the elasticity sensing sensor and the information about the elastic movement of the third connecting member 124e . 6, the movement data of the user are connected to each other so that the length L-1 of the first connecting member 124a forming the triangle, the length L-2 of the upper arm seating portion 124b, 3 can be extracted from the length L-3, the rotational force T, and the stretching force F of the connecting member 124e. The extracted exercise data may be muscle strength information of the user 10, for example. The motion data of the user 10 may be stored in a database (not shown).

As another example, the control unit may include a database (not shown) for storing information on standard motion data corresponding to the motion indicated by the rehabilitation image. The standard exercise data may be, for example, muscle strength information associated with age, age and physical strength information of a normal person using the rehabilitation apparatus 100 disclosed in the present specification. The strength information may be stored and managed in the database in consideration of at least one of the change of the center of gravity, the movement of the center line of the body, and the combination thereof, which occurs in the process of using the upper limb movement unit 120 have. Alternatively, the standard motion data may include a yaw direction rotation angle of the first connection member 124a associated with the age, age, and physique information of a normal person using the rehabilitation apparatus 100 disclosed in the present specification, The expansion / contraction distance of the connecting member 124e, and combinations thereof. These information may be stored and managed in the database in consideration of at least one of the change of the center of gravity, the movement of the center line of the body, and the combination thereof occurring in the course of using the upper limb movement unit 120 .

In the course of performing the operation indicated by the user 10 in the rehabilitation image, in the yaw rotation movement of the first connection member 124a and the rotation movement of the third connection member 124a from the rotation detection sensor and the expansion / In response to the movement of the user 10 sensed by the motion detection sensor, the control unit detects the extension movement of the first connection member 124e in the direction opposite to the standard movement data stored in the database, And the operation of the first driving unit and the second driving unit can be controlled so that the third connecting member operates. Through this, the user 10 can receive the repulsive force during the rehabilitation exercise through the upper limb exercise unit 120, thereby enhancing the effect of the rehabilitation exercise.

On the other hand, a wire roller and a roller bracket may be disposed in various places in the rehabilitation training machine 100. Through this, rehabilitation training using wire can be performed together. In the drawing, various wire rollers and roller brackets arranged in the support portion 110, the upper motion portion 120, and the lower and upper fixing portion 130 are shown as an example.

Hereinafter, the process of extracting the exercise data of the user 10 and the process of applying the standard exercise data will be described with reference to FIGS. 6 and 7.

Referring to FIG. 6, the user 10 of the rehabilitation apparatus 100 disclosed herein may seat his upper limb on the arm rest 124. Although not shown in the figure, the user 10 can fix his / her leg to the fixing unit 130. Although not shown in the drawing, the user 10 may be provided with an upper arm seating portion 124b, a lower arm seating portion 124c, and an upper arm seating portion 124b in the process of seating their upper and lower legs on the arm rest portion 124 and the leg rest portion 134, The tongue seat 134a and the calf seat 134b can be tightly coupled to each other through a strap or a press bandage or the like.

Thereafter, the user 10 can move the upper limb. 6, the first linking member 124a and the third linking member 124e rotate in the yaw direction and in the pitch direction, respectively, in accordance with the movement of the upper side of the user 10, Rotation. At this time, the rotation sensing sensor (not shown) and the expansion / contraction sensor (not shown) disposed in the first connection member 124a and the third connection member 124e respectively transmit the rotational forces T and T1 and the stretching forces F and F1 ).

The first connecting member 124a, the upper arm seating portion 124b and the third connecting member 124e are connected to each other by a predetermined length L-1, L-2 and L-3 to form a triangle. The stretching length? L-3 of the third connecting member 124e that is stretched or contracted in the process of moving the upper limb of the user 10 can be measured by the elongation sensor. The angle of the third connecting member 124e and the angle of rotation of the first connecting member 124a varying according to the movement of the upper side of the user 10, Theta] and [theta] + [Delta] [theta] between the rotational axis of the first connecting member 124a and the third connecting member 124e. The rotational force (T, T1) and the stretching force (F, F1) according to the movement of the upper limb of the user 10 can be measured by the rotation sensor and the elongation sensor, respectively. Accordingly, the rehabilitation training device 100 disclosed in the present specification can extract the exercise data of the user 10 moving the upper limb after wearing the upper limb exercising part 120. The exercise data of the extracted user 10 can be stored in the database and can be compared with the exercise data of the user 10 obtained in the rehabilitation process to diagnose the rehabilitation progress status of the user 10.

Although not shown in the drawing, as described above, the first driving unit and the second driving unit, which are controlled by the control unit, may be disposed on the first connecting member 124a and the third connecting member 124e. In addition, the database may store standard motion data of a normal person corresponding to the physique, age, sex, etc. of the user 10. The control unit controls the first driving member 124a and the second driving member 124e so as to provide the repulsive force to the first connecting member 124a and the third connecting member 124e based on the normal motion data of the normal person stored in the database during the rehabilitation movement of the user 10. [ The effect of the rehabilitation exercise can be maximized by controlling the driving portions.

7 shows a state in which the user 10 proceeds to rehabilitate through a rehabilitation image displayed on the display unit 170. FIG. The rehabilitation video can also be played in the form of a game. In the figure, a rehabilitation image in which a user 10 catches a fish displayed on a display unit 170 and moves the fish to a box is shown as an example. During the rehabilitation process in which the user 10 guides the rehabilitation image of the display unit 170, the rotation sensing sensor and the elasticity sensing sensor sense the rotational force and the stretching force. The control unit can analyze the motion data to extract motion data of the user.

Although not shown in the figure, the display unit 170 may display a menu window for inputting the age, sex, and physique information of the user 10. In addition, the display unit 170 may display a menu window for allowing the user 10 to input age, gender, physique information, and the like so as to utilize the standard exercise data of the normal person while performing the rehabilitation training. The display unit 170 may also display a control menu window for controlling the operation of the components of the rehabilitation apparatus 100 described in this specification. The user 10 can retrieve the standard input data through the control menu window.

For example, when the user 10 requests the standard input data through the control menu window, the display unit 170 displays a reference path for the user 10 to follow during the rehabilitation process Can be presented together with rehabilitation images. The user can advance the rehabilitation movement by recognizing the predetermined pattern (for example, beckoning) in the motion detection sensor 172 in advance. At this time, the reference path may be displayed on the display unit 170 as shown in FIG. In the course of rehabilitation training of the user 10, the movement of the user 10 is recognized through the motion detection sensor 172, and the control unit can receive information from the motion detection sensor 172. The user 10 can receive feedback through a warning sound, vibration, warning through a screen, etc. when his / her movement is out of the reference path. Accordingly, the rehabilitation training device 110 disclosed in the present specification can provide a systematic rehabilitation exercise to the user 10. [ In addition, as described above, the controller may control the operation of the first driving unit and the second driving unit during the rehabilitation process of the user 10 according to an input command of the user 10 or a preprogrammed system, have. The repulsive force may be provided by a control unit according to standard motion data of a normal person. In other words, when the user 10 moves along the rehabilitation image provided on the display unit 170, the control unit can provide a repulsive force corresponding to the movement of the user 10. [ Accordingly, the rehabilitation training device 100 disclosed in the present specification can maximize the rehabilitation effect of the user 10. [ In this case, more effective rehabilitation training may be possible in connection with the reference path. More specifically, the movement of the user 10 is generally difficult to predict. Accordingly, it is also difficult to effectively provide a repulsive force. The user 10 motion can be predicted when the reference path is linked, and at the same time, the repulsive force along the reference path can be provided in a systematic manner in which the rehabilitation effect can be maximized.

In summary, the rehabilitation apparatus 100 disclosed in this specification includes an arm rest portion 124 including an arm rest portion 124 connected to the body portion 122 so as to be capable of rotation in the yaw direction and rotation in the pitch direction, And provides a technique through which the user 10 can perform rehabilitation for his or her upper extremity region.

The rehabilitation training device 100 disclosed in the present specification may further include an upper limb motion part 120 including a pair of arm rests 124-1 and 124-2 slidably connected to the body part 122 The user 10 presents a technique capable of simultaneously performing rehabilitation for both upper limbs after adjusting the size of the upper limb exercise unit 120 to the size of the upper limb of the user.

In addition, the rehabilitation training device 100 disclosed in the present specification provides a technique by which a user 10 having an elongation of different sizes through the lifting unit 140 can perform rehabilitation according to his or her body size. At this time, the user 10 provides a function of detecting a change in the center of gravity during the rehabilitation exercise for the upper part through a weight sensor (not shown) disposed on the lifting unit 10. [ The change in the center of gravity of the sensed user 10 is utilized for extracting motion data of the user 10 and can be utilized for establishing standard motion data, thereby contributing to increase the accuracy of the rehabilitation motion.

In addition, the rehabilitation training device 100 disclosed in the present specification stably fixes the body of the user 10 in the course of performing the rehabilitation of the upper part of the user 10 through the rehabilitation part 130 We present technology that can give. In this case, the pair of arm rests 124-1 and 124-2 and the leg rest portion 130 can be positioned at the same distance with respect to the rotation roller 122c, The rehabilitation of the upper extremity part can be performed based on the reference value. A change in the center of gravity of the user 10 that changes in the rehabilitation process of the upper part of the user 10 through the weight sensor (not shown) disposed on the lifting unit 140 can be detected. Through this, the rehabilitation apparatus 100 disclosed in the present specification enables the application of the standardized rehabilitation program.

The rehabilitation training apparatus 100 disclosed in this specification includes a rotation detecting sensor (not shown) for sensing the rotational movement of the first connecting member 124a in the yaw direction, For example, exercise data including the muscular strength of the user 10 performing rehabilitation for the upper extremity region through an elasticity sensing sensor (not shown) and a control unit (not shown).

The rehabilitation training apparatus 100 disclosed in the present specification may include a first driving unit (not shown) and a second driving unit (not shown) disposed in the first connecting member 124a and the third connecting member 124e, respectively, Thereby providing a technique capable of improving the effect of the rehabilitation exercise by providing the force in the opposite direction to the motion of the user 10, that is, the repulsive force.

The rehabilitation training device 100 disclosed in the present specification has an effect of allowing the user 10 to perform upper limb rehabilitation with the feeling that the user 10 is enjoying the game through the display unit 172 and the motion detection sensor 172 It provides.

In addition, the rehabilitation training device 100 disclosed in the present specification can improve the trunk stability and the muscle strength of the core muscle due to the instability of the central nervous system and the injuries to the lumbar spine due to sports injuries, Strengthening, and strengthening of general fitness, agility and balance ability during the whole period of rehabilitation therapy, medical technology can be applied to improve the treatment effect and can provide practical treatment technology. The user 10 using the rehabilitation training apparatus 100 disclosed in the present specification can improve the balance ability by himself or herself according to an instruction of the equipment or a rehabilitation image (for example, game content or the like) displayed on the display unit 170 Provide the technology to be able to.

From the foregoing it will be appreciated that various embodiments of the present disclosure have been described for purposes of illustration and that there are many possible variations without departing from the scope and spirit of this disclosure. And that the various embodiments disclosed are not to be construed as limiting the scope of the disclosed subject matter, but true ideas and scope will be set forth in the following claims.

T, T1: Torque
F, F1: Stretch
L: Distance between the first arm rest part and the second arm rest part from the imaginary line
L-1: Length of the first linking member
L-2: Length of upper arm seating
L-3: Length of the third connecting member
10: User
20:
100: Rehabilitation training device that can strengthen the lumbar spine
110: Support
120: upper limb athlete
122:
122a: upper base frame
122b, 122b-1, 122b-2:
122c:
124, 124-1, 124-2: arm rest portion
124a: first connecting member
124b:
124c:
124d: second connecting member
124e: third connecting member
However,
132: not base frame
134: leg rest portion
134a:
134b: calf seat portion
134c: fourth connecting member
140:
142: First stand
144: Second pedestal
146: Lift frame
146a: connection frame
148: Paddle motive
148a: motor
148b:
150:
160: buffer
170:
172: motion detection sensor

Claims (17)

An upper limb exercising part for allowing rehabilitation of the upper limb of the user to proceed; And
And a support portion that is supported by the bottom portion and is connected to the upper extremity motion portion and supports the user's body,
The upper extremity motion part
A body coupled to the support; And
And an arm rest portion on which the arm of the user is seated,
Wherein the arm rest part is connected to the body part so that the entire arm of the user seated on the arm rest part can rotate in the yaw direction and rotate in the pitch direction,
The arm rest portion
A first connecting member connected to the body portion to be rotatable in a yaw direction;
An upper arm seating part having one side connected to the first connection member so as to be rotatable in a pitch direction and on which an upper arm of the user's arm is seated;
A lower bearing seat on which a lower arm of the arm of the user is seated;
A second connecting member connecting the other side of the upper arm seating portion and the lower arm seating portion so that the lower arm seating portion can rotate in the pitch direction; And
And a third connecting member connecting the upper arm seating portion and the first connecting member and varying in length when the upper arm seating portion rotates in the pitch direction. The method according to claim 1,
The body
An upper base frame connected to the support portion; And
And a sliding portion slidably coupled to the upper base frame,
Wherein the first connection member is connected to the sliding member and the arm rest part can be reinforced by a connection between the first connection member and the sliding member so that the arm rest part is slidably connected to the body part. 3. The method of claim 2,
The body part is provided with a pair of arm rests, hereinafter referred to as a first arm rest part and a second arm rest part,
The body portion includes a pair of sliding portions spaced apart from each other, hereinafter referred to as a first sliding portion and a second sliding portion,
Wherein the first arm rest part and the second arm rest part are configured such that the first linking member of the first arm rest part and the first link member of the second arm rest part respectively engage with the first sliding part and the second sliding part And is slidably connected to the body by being connected thereto,
A first arm rest portion and a second arm rest portion are slidably connectable to the body portion of the first arm rest portion and the second arm rest portion to adjust a gap between the first arm rest portion and the second arm rest portion, Training equipment. The method of claim 3,
And a leg resting part for fixing the leg rest of the user,
The lower fixing portion
A lower base frame fixedly connected to the upper base frame; And
And a pair of leg rests connected to the base frame and facing each other with the base frame interposed therebetween and on which the legs of the user are seated,
The leg rest portion
A thigh seating part connected to the lower base frame at one side and to which the thigh of the user is seated;
A calf rest resting against the foot of the user, the calf rest resting on the calf of the user; And
And a fourth connecting member connecting the other side of the thigh seat part to the calf seat receiving part so that the calf seat receiving part can rotate in the pitch direction,
Wherein the thigh seat portion and the calf seat portion vary in length according to a change in the length of the user's body. The method according to claim 1,
And a lifting unit disposed at the bottom and positioned below the user with respect to the gravity direction to support the weight of the user,
The elevating portion
A first pedestal mounted on the bottom portion;
A second pedestal disposed on the first pedestal based on gravity direction, the second pedestal contacting the user;
A lifting frame disposed between the first pedestal and the second pedestal; And
And a lift motor for driving the lift frame so that the second pedestal moves up and down relative to the first pedestal,
Wherein the user is able to strengthen the lumbar spine capable of raising the second pedestal so that the upper limb of the user is positioned at a position corresponding to the upper limb motion part by driving the entrance / exit port synchronization. 6. The method of claim 5,
And a weight sensor disposed on the lifting portion,
Wherein the weight of the user is transmitted to the elevating unit through close contact between the second pedestal and the user,
Wherein the weight sensor is configured to perform a rehabilitation training for strengthening a lumbar support muscle that senses a change in the center of the weight of the user that changes in the course of the rehabilitation treatment for the upper extremity part of the user through the upper limb exercise part, device. 7. The method according to any one of claims 1 to 6,
A connecting portion connecting the supporting portion and the body portion by universal joint connection; And
And a buffer disposed between the support and the body to be spaced apart from the connection,
The upper limb movement part is free to move by a universal joint between the support part and the body part through the connection part,
Wherein the shock absorber is disposed so that one side thereof is connected to the support portion and the other side thereof is spaced apart from the body portion such that when the upper motion portion moves beyond the reference range, the other side abuts on the body portion, The motion that exceeds the reference range is buffered,
Wherein the shock absorber is disposed such that one side thereof is connected to the body part and the other side is spaced apart from the supporting part by a predetermined distance, and when the upper motion part moves beyond the reference range, the other side contacts the supporting part, Of the lumbar spine to cushion the movement beyond the above-mentioned reference range. 7. The method according to any one of claims 1 to 6,
A rotation detecting sensor for detecting rotational movement of the first connecting member in the yaw direction by the user;
An elongation sensor for sensing elongation and contraction of the third linking member in accordance with the rotation of the upper arm seating unit in the pitch direction by the user; And
Measuring the strength of the user from information on the rotational movement of the first connecting member provided in the yaw direction and the information on the stretching movement of the third connecting member received from the rotation detecting sensor and the elongation / Wherein the lumbar vertebrae muscles of the lumbar vertebrae muscles of the lumbar vertebrae muscles of the lumbar vertebrae muscles of the lumbar vertebrae muscle. 9. The method of claim 8,
A first driving unit disposed on the first connection member; And
And a second driving unit disposed on the third connecting member,
Wherein the first driver and the second driver are controlled by the controller,
Wherein when the yaw rotation movement of the first connection member is sensed through the rotation sensor, the control unit controls the rotation of the first connection member in accordance with an input command of the user or a pre- controlling the first driving unit such that the first connecting member rotates in a direction opposite to the yaw rotating direction,
When the extension / contraction movement of the third connection member is sensed through the expansion / contraction sensor, the control unit controls the elastic member in a direction opposite to the expansion / contraction movement sensed by the expansion / contraction sensor Wherein the control unit controls the second driving unit to operate the third linking member so that the rehabilitation treatment for the upper extremity of the user proceeds. The method of claim 3,
The body portion further includes a rotating roller rotatably coupled to the upper base frame such that an axial direction of rotation of the body portion is substantially perpendicular to the upper base frame,
A portion of the first sliding portion and a portion of the second sliding portion abut each other at the first contact and the second contact with the rotating roller, and the portion of the first sliding portion and the portion of the second sliding portion contact the rotating roller And face each other,
A virtual line connecting the first contact and the second contact is perpendicular to a sliding movement direction of the first arm rest part with respect to the body part and a sliding movement direction of the second arm rest part with respect to the body part,
The first arm rest part and the second arm rest part are respectively connected to the first sliding part and the second sliding part so as to be located at the same distance from the first contact and the second contact, When the distance between the first arm rest part and the second arm rest part is adjusted through the movement, the first arm rest part and the second arm rest part slide by the same distance based on the rotation roller A rehabilitation training device that can strengthen the lumbar spine. 11. The method of claim 10,
And a leg resting part for fixing the leg rest of the user,
The lower fixing portion
A lower base frame fixedly connected to the upper base frame; And
And a pair of leg rests connected to the base frame and facing each other with the base frame interposed therebetween and on which the legs of the user are seated,
The leg rest portion
A thigh seating part connected to the lower base frame at one side and to which the thigh of the user is seated;
A calf rest resting against the foot of the user, the calf rest resting on the calf of the user; And
And a fourth connecting member connecting the other side of the thigh seat part to the calf seat receiving part so that the calf seat receiving part can rotate in the pitch direction,
The thigh seat part and the calf seat part vary in length depending on a change in the length of the user's body,
Wherein the first arm rest part and the second arm rest part are spaced apart from each other by the same distance about the imaginary line and are disposed on the body part, and each of the pair of leg rest parts has the same Wherein the body center line of the user is arranged in the base frame so as to be spaced apart from each other by a distance so as to strengthen a lumbar support muscle substantially coincident with the imaginary line. 12. The method of claim 11,
And a lifting unit disposed at the bottom and positioned below the user with respect to the gravity direction to support the weight of the user,
The elevating portion
A first pedestal mounted on the bottom portion;
A second pedestal disposed on the first pedestal based on gravity direction, the second pedestal contacting the user;
A lifting frame disposed between the first pedestal and the second pedestal; And
And a lift motor for driving the lift frame so that the second pedestal moves up and down relative to the first pedestal,
Wherein the user is able to strengthen the lumbar spine capable of raising the second pedestal so that the upper limb of the user is positioned at a position corresponding to the upper limb motion part by driving the entrance / exit port synchronization. 13. The method of claim 12,
And a weight sensor disposed on the lifting portion,
Wherein the calf seat portion includes a footrest portion that supports the foot of the user,
The footrest portion and the second pedestal are in close contact with each other,
The weight of the user is transmitted to the elevating unit through close contact between the second pedestal and the footrest,
Wherein the weight sensor is configured to perform a rehabilitation training for strengthening a lumbar support muscle that senses a change in the center of the weight of the user that changes in the course of the rehabilitation treatment for the upper extremity part of the user through the upper limb exercise part, device. 14. The method according to any one of claims 10 to 13,
A rotation detecting sensor for detecting rotational movement of the first connecting member in the yaw direction by the user;
An elongation sensor for sensing elongation and contraction of the third linking member in accordance with the rotation of the upper arm seating unit in the pitch direction by the user; And
Measuring the strength of the user from information on the rotational movement of the first connecting member provided in the yaw direction and the information on the stretching movement of the third connecting member received from the rotation detecting sensor and the elongation / Wherein the lumbar vertebrae muscles of the lumbar vertebrae muscles of the lumbar vertebrae muscles of the lumbar vertebrae muscles of the lumbar vertebrae muscle. 15. The method of claim 14,
A display unit spaced apart from the upper limb by a predetermined distance; And
And a motion detection sensor disposed adjacent to the display unit or the display unit,
A rehabilitation image related to the rehabilitation treatment for the upper part of the user is displayed on the display unit,
Wherein the motion detection sensor detects motion of the user performing an operation indicated by the rehabilitation image,
Wherein the control unit controls the rotation sensor and the elasticity sensing sensor to detect the movement of the user in the course of performing the operation indicated by the user in the rehabilitation image, Wherein the information about the rotational movement of the first linking member in the yaw direction and the information about the elastic movement of the third linking member are extracted from the information about the user. 15. The method of claim 14,
A first driving unit disposed on the first connection member; And
And a second driving unit disposed on the third connecting member,
Wherein the first driver and the second driver are controlled by the controller,
Wherein when the yaw rotation movement of the first connection member is sensed through the rotation sensor, the control unit controls the rotation of the first connection member in accordance with an input command of the user or a pre- yaw direction rotating movement of the first connection member,
When the extension / contraction movement of the third connection member is sensed through the expansion / contraction sensor, the control unit controls the elastic member in a direction opposite to the expansion / contraction movement sensed by the expansion / contraction sensor And the third connecting member is operated so that the rehabilitation treatment for the upper part of the user can proceed. 17. The method of claim 16,
A display unit spaced apart from the upper limb by a predetermined distance; And
And a motion detection sensor disposed adjacent to the display unit or the display unit,
A rehabilitation image related to the rehabilitation treatment for the upper part of the user is displayed on the display unit,
Wherein the motion detection sensor detects motion of the user performing an operation indicated by the rehabilitation image,
Wherein the control unit includes a database for storing information on standard motion data corresponding to the motion indicated by the rehabilitation image,
Wherein the rotation detecting sensor and the elongation sensor respectively detect the rotational movement of the first connecting member in the yaw direction and the stretching movement of the third connecting member in the process of performing the operation indicated by the user in the rehabilitation image, When motion is detected,
Wherein the control unit controls the first connection member to rotate in a direction opposite to the standard motion data stored in the database in association with the motion of the user detected by the motion detection sensor, Wherein the first driving unit and the second driving unit control the operation of the lumbar support.

Images