KR20180013420A - Rehabilitation apparatus of ischemic stroke patient's arm - Google Patents

Abstract

The present invention relates to an upper extremity rehabilitation training device for stroke patients, which enables stroke patients to perform horizontal adduction exercise and sublation exercise of shoulders and perform rotation exercise of elbows so as to realize movement in daily life. The upper extremity rehabilitation training device for stroke patients according to the present invention comprises: a main body having a chair part on which a patient can sit; an arm exercise device configured to perform horizontal adduction exercise and sublation exercise of shoulders and perform rotation exercise of elbows while the arm is supported after sitting on the chair part; and a left and right water transducer installed at the rear of the main body to connect the arm exercise device and the main body, and selectively moving the arm exercise device to the left and right positions of the patient.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a rehabilitation apparatus,

[0001] The present invention relates to an upper limb rehabilitation training apparatus for a stroke patient. In particular, it can perform horizontal adduction exercise of a shoulder, a collar movement and an elbow rotation exercise for a stroke patient, The present invention relates to an upper limb rehabilitation training device for a stroke patient.

In general, motor dysfunction in stroke patients is more prominent in the upper limb than in the upper limb. Upper limb movement dysfunction may inhibit essential daily activities such as eating, thereby lowering the quality of life. Rehabilitation treatment methods are urgently required.

In the conventional apparatus for rehabilitation of hand part rehabilitation training, as disclosed in, for example, Japanese Patent Laid-Open Publication No. 2015-0142952, a pair of support frames corresponding to each other is provided on the support frame, and a rotation frame is fixedly installed between the support frames, A second holding table for holding the lower forearm is provided at the rear of the rotating frame so that the frame can rotate around the rotating shaft and a driving device controlled by the control device is provided at one side of the supporting table, And a rotation mechanism for rotating the rotary shaft; A base plate protruding frontward is provided on the pivotal frame, a lower end of the pivotal plate is coupled to a support bracket provided at the tip of the base plate with a rotary pin, and a fixing member for mounting the first cradle is installed on the upper end of the pivotal plate and; A first connection link is connected to a support link fixed to the upper surface of the support by a rotation pin, a second connection link is connected to a lower end of the rotation plate by a rotation pin, and the first and second connection links are connected by a rotation pin ; Wherein the palm rest part is fixed to the pivot frame and the finger pivot part is fixed to the pivoting plate by a fixing part between the pivot frame and the fixing member of the pivoting plate, And is fixed to a member.

The conventional device for rehabilitation training is effective in that it enables selective stretching of the wrist joint or the middle knee joint and the finger joint, but the horizontal adduction movement of the shoulder and the rotation movement of the collar and the elbow are performed And thus it is not suitable for rehabilitation training of stroke patients because it is not enough to implement the action of daily life of stroke patients.

Accordingly, the present invention has been made to solve the above-mentioned problems, and it is an object of the present invention to provide a method and apparatus for a stroke patient in which a horizontal adduction motion of a shoulder and a rotation motion of a collar motion and an elbow are performed, And to provide an upper extremity rehabilitation training device for a stroke patient.

According to an aspect of the present invention, there is provided a stroke rehabilitation training apparatus for a stroke patient, comprising: a body having a chair section on which a patient can sit; An arm exercise device configured to perform a horizontal adduction motion and a vertical motion of the shoulder and a rotation motion of the elbow while the arm is supported after sitting on the chair part; And a left and right water transducer installed at a rear side of the main body to connect the arm exercise device and the main body, and to selectively move the arm exercise device to left and right positions of the patient.

In the upper limb rehabilitation training apparatus of a stroke patient according to the above embodiment, the arm exercising apparatus includes an arm support configured to support the lower arm and the lower arm of the arm and the lower arm; A horizontal adiabatic exercise part coupled to the left and right water conversion device and configured to perform a horizontal adduction motion of the shoulder; A collimating part coupled to the horizontal adiabatic exercise part and configured to perform a collimation motion of the shoulder; And an elbow rotating portion coupled to the elevation portion to rotate the elbow.

In the upper limb rehabilitation training device for a stroke patient according to the above embodiment, the left and right water conversion device may include a body having two horizontal grooves formed in the lateral direction; And a horizontal moving unit formed with sliding portions inserted into the two horizontal grooves to generate a pressure by a driving power source to reciprocate the rod unit.

In the upper limb rehabilitation exercise device of a stroke patient according to the above embodiment, the horizontal adiabatic exercise part is a motor for horizontal adiabatic exercise in which one side is coupled to the rod part and is vertically moved, And a worm gear reducer gear-coupled to an output side of the planetary speed reducer and configured to decelerate the motor shaft while changing its axis by 90 degrees; And a horizontal adduction motion bar coupled to one side of the axis of the worm reducer to horizontally adduce the shoulder.

In the upper limb rehabilitation training device for a stroke patient according to the above embodiment, the above-mentioned elevation motion part is connected through a first connection part in the lower part of the horizontal adiabatic exercise bar, and is driven by a driving motor, A worm gear configured to decelerate the rotational force of the motive motor and change the motion axis by 90 degrees, and a helical gear including a helical gear that is gear-coupled to the output side of the worm gear and configured to decelerate; And a vertical motion bar coupled to an output side of the helical gear and configured to vertically move the shoulder.

In the upper limb rehabilitation training device of a stroke patient according to the above-described embodiment, the elbow rotation part is coupled by a second connection part at the lower part of the elevation movement bar, is rotated by a driving power source, decelerates a rotational force, An elbow motion gear box configured to also change the direction of rotation; And an elbow motion bar coupled to an output side of the elbow motion gear box and configured to rotationally move the elbow.

In the upper limb rehabilitation training apparatus of a stroke patient according to the above embodiment, the elbow moving bar is formed with a horizontal groove in its inside, and is inserted into the horizontal groove and fixed by a length fixing unit while slidingly moving. And a handle vertically coupled to an end of the length adjuster.

The upper limb rehabilitation training apparatus of a stroke patient according to the above embodiment may further include a motion setting unit configured to set motion conditions of the horizontal moving unit, the horizontal adduct moving unit, the elevation motion unit, and the elbow rotation unit; A horizontal adiabatic angle sensor configured to sense a horizontal adduction motion angle of the horizontal adiabatic motion part; An elevation angle sensor configured to detect an elevation angle of the elevation portion; An elbow rotation angle sensor configured to sense an elbow rotation angle of the elbow rotation section; A horizontal inertial angle sensor, an elevation angle sensor, and an elbow rotation angle sensor, and detects a horizontal inertial motion angle, a normal motion angle, and an elbow rotation motion angle, and outputs a corresponding control signal ; A horizontal moving unit driving unit configured to receive a control signal from the control unit and to perform switching operation to control driving of the horizontal moving unit; A horizontal adiabatic movement part driving part configured to receive a control signal from the control part and to be switched to control driving of the horizontal adiabatic part; A normal motion part driving part configured to receive a control signal from the control part and to be switched to control driving of the elevation part; And an elbow rotation part driving part configured to receive a control signal from the control part and to be operated by switching to control driving of the elbow rotation part.

According to the upper limb rehabilitation training apparatus of a stroke patient according to the embodiment of the present invention, there is provided a limb rehabilitation training apparatus comprising: a body in which a chair section capable of seating a patient is formed; An arm movement device configured to perform a lift motion and a rotation movement of the elbow; a second arm movement device installed at a rear side of the main body to connect the arm movement device to the main body and selectively move the arm movement device to the left and right positions of the patient And a left and right handedness transducer configured to rotate the shoulder in a direction perpendicular to the shoulder, thereby allowing the user to implement the motion of the everyday life by performing the horizontal adduction motion of the shoulder, the collimating motion and the elbow motion.

1 is an external perspective view showing an entire configuration of a limb rehabilitation training apparatus for a stroke patient according to an embodiment of the present invention.
2 is a control block diagram of an upper limb rehabilitation training apparatus for a stroke patient according to an embodiment of the present invention.
FIG. 3 is a view for explaining the operation of the horizontally moving part of the horizontal transfer part shown in FIG. 1, wherein (a) shows a state in which the rod part of the horizontally moving part is contracted, .
FIG. 4 is a detailed configuration diagram of a horizontal adiabatic gear box of FIG. 1; FIG.
Fig. 5 is a view for explaining the operation state of the horizontal adiabatic motion part of Fig. 1, wherein (a) shows a state where the shoulder is -30, and Fig. 5 (b) shows the state where the shoulder is 110 degrees.
FIG. 6 is a detailed configuration diagram of a high-pass motion gear box of the elevation portion of FIG. 1. FIG.
Fig. 7 is a view for explaining an operating state of the elevation portion of Fig. 1, wherein (a) shows a state where the shoulder is 100 degrees, and Fig. 7 (b) shows a state where the shoulder is 20 degrees.
Fig. 8 is a view for explaining the operating state of the elbow rotating portion of Fig. 1, wherein (a) shows a state where the elbow is 90 degrees, and Fig. 8 (b) shows a state where the elbow is -60 degrees.
FIG. 9 is a view for explaining the operating state of the second connecting portion and the elbow moving bar, which are adjusted according to the length of the upper and lower legs of the patient in FIG. 1, wherein (a) shows a state in which the second connecting portion and the elbow- , (b) show a state in which the second connecting portion and the elbow rotating portion are elongated.
Fig. 10 is a view for explaining the operating state of the left and right water converting apparatus of Fig. 1, in which (a) shows a state at a wide shoulder width, (b) shows a state at a narrow shoulder width, (D) shows a state of excellent exercise.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

FIG. 1 is an external perspective view showing an overall configuration of an upper limb rehabilitation training apparatus for a stroke patient according to an embodiment of the present invention, and FIG. 2 is a control block diagram of a limb rehabilitation training apparatus for a stroke patient according to an embodiment of the present invention .

1 and 2, the upper limb rehabilitation training device for a stroke patient according to an embodiment of the present invention includes a main body 100, an arm exercise device 300, a left / right water conversion device 200, The vertical inertia angle sensor 316, the elevation angle sensor 325, the elbow rotation angle sensor 335, the control unit 140, the horizontal movement unit driving unit 400, the horizontal inertia movement unit driving unit 410, A driving unit 420 and an elbow rotation unit driving unit 430.

The main body 100 includes a chair portion 110 on which a patient can sit and a leg portion 120 to be brought into contact with the ground. The chair portion 110 uses a chair with a narrow backrest for natural movement. The legs 120 are equipped with two wheels on the rear side of the lower part of the apparatus for convenient movement of the upper extremity rehabilitation training apparatus of the stroke patient of the present invention.

The arm exercise device 300 plays a role of performing the horizontal adduction movement and the elevation movement of the shoulder and the rotation movement of the elbow while the patient is seated on the chair part 110 and supports the arm, A normal motion portion 310, an elevation portion 320, and an elbow rotation portion 330. [

The arm rest 340 is formed of two pieces to support the upper and lower arms of the arm at the lower and lateral sides thereof. One is mounted to the collimating bar 326, the other is mounted to the elbow rotating portion 333, May be suitably modified within the arm exercise device (330).

The horizontal adiabatic movement part 310 is coupled to the left and right water conversion device 200 and performs a horizontal adiabatic motion of the shoulder and includes a horizontal adiabatic gear box 312 and a horizontal adiabatic motion bar 317.

1 and 4, the horizontal adiabatic gear box 312 is vertically moved by being coupled to one side of the rod portion 224 of the horizontal moving portion 220, A planetary speed reducer 314 configured to decelerate the rotational force of the motor 313 for motion, a motor 313 for horizontal adiabatic motion, and a planetary gear set 313, which is gear-coupled to the output side of the planetary speed reducer 314, And includes a worm reducer 315, and a horizontal abduction angle sensor 316 is built therein.

The horizontal inertial movement bar 317 is configured to be engaged with one side of the shaft 315a of the worm reducer 315 so as to perform a horizontal adduction motion of the shoulder and is connected to the collimator gear box 321 through the first connection portion C1 Lt; / RTI >

The counterweight movement part 320 is coupled with the horizontal adiabatic movement part 310 through the first connection member C1 to perform a vertical movement of the shoulder and is provided with a counterweight movement gear box 321 and a counterweight movement bar 326, .

As shown in FIGS. 1 and 6, the coarse motion gear box 321 is coupled through a first connection part C1 at a lower portion of the horizontal adiabatic motion bar 317, The input side is coupled to the shaft of the elevation motor 322 so as to reduce the rotational force of the motor 322 for normal operation and the rotational axis of the motor 322 for the elevation motions, A worm gear 323 and a helical gear 324 composed of a plurality of gears for gearing and decelerating the output side of the worm gear 323. The elevation gear box 321 incorporates a elevation angle sensor 325 therein.

The upper end of the second connecting portion C2 is connected to the upper end of the second connecting portion C2 and the lower end of the second connecting portion C2 is connected to the upper end of the second connecting portion C2. And is coupled with the elbow motion gear box 331 of the elbow rotating portion 330 through the through-

The elbow rotating part 330 is engaged with the balancing bar 326 through the second connecting part C2 to perform the rotation of the elbow and includes the elbow moving gear box 331 and the elbow moving bar 333 do.

The elbow motion storage box 331 includes an elbow rotational motion motor (not shown) coupled by the second connection portion C2 at the lower portion of the vertical motion bar 326 and rotationally driven by a driving power source, And gears (not shown) that change the motion axis by 90 degrees, and an elbow rotation angle sensor 335 is built therein.

The elbow motion bar 333 is coupled to the output side of the elbow motion gear box 331 to rotationally move the elbow, and one arm rest 340 is mounted on one side. 1 and 9, a horizontal groove (not shown) is formed in the inside of the elbow-moving bar 333 so that the elbow-moving bar 333 is inserted into the horizontal groove and is fixed by the length fixing portion 333c while sliding. And a handle 333a vertically coupled to an end of the length adjuster 333b.

As shown in FIGS. 1 and 9, the second connection part C2 is slidably fixed to a groove formed in the elevation movement bar 326, and is adjustable according to the arm length of the patient. Adjustment according to the arm length of the patient can be made simultaneously or independently by the length adjusting portion 333b and the second connecting portion C2.

1 and 3, the left-right water-conversion device 200 is installed at the rear of the main body 100 to connect the arm exercise device 300 to the main body 100, 300 to the left and right positions of the patient, and includes a body 210 and a horizontal movement unit 220. [

The body 210 is formed with two horizontal grooves 212 in the horizontal direction so that the sliding part 222 of the horizontal moving part 220 can be inserted and slid.

The horizontal moving part 220 has two sliding parts 222 which are inserted into the two horizontal grooves 212 to slide and generate pressure by the driving power source to reciprocate the rod part 224 do. A horizontal inertial gear box 312 is coupled to the rod portion 224 to adjust the height of the arm exercise device 300 according to the shoulder height of the patient by adjusting the extension length of the rod portion 224.

The motion setting unit 130 sets the motion conditions of the horizontal moving unit 220, the horizontal adiabatic motion unit 310, the elevation unit 320 and the elbow rotation unit 330 (the height of the rod 224 of the horizontal movement unit 220, A horizontal inertial movement angle of the horizontal adiabatic movement part 310, a vertical inertial movement angle of the horizontal inertial movement part 310, a vertical movement angle of the elevation part 320, and a rotation angle of the elbow rotation part 330), such as a keypad, a mouse, . These input devices may be mounted on one side of the main body 100, for example.

The horizontal inertial angle sensor 316 is embedded in the horizontal inertial gear box 312 to sense a horizontal inertial movement angle of the horizontal inertial movement unit 310. The installed position is a position capable of sensing a horizontal inertial movement angle And is not particularly limited.

The elevation angle sensor 325 is embedded in the elevation gear box 321 and detects the elevation angle of the elevation portion 320. The elevation angle sensor 325 is not particularly limited as long as the elevation angle sensor 325 can sense the elevation angle .

The elbow rotation angle sensor 335 is embedded in the elbow motion gear box 331 and senses the elbow rotation angle of the elbow rotation unit 330. The installation position is a position at which the angle of rotation of the elbow can be sensed Is not particularly limited.

The control unit 140 is mounted on one side of the main body 100 and is driven by the motion condition set by the motion setting unit 130 and the horizontal inertial angle sensor 316, the elevation angle sensor 325 and the elbow rotation angle sensor 335 Horizontal inertial motion angle, elevation angle and elbow rotation angle, and outputs the corresponding control signal.

The horizontal movement unit driving unit 400 receives a control signal from the control unit 140 and performs a switching operation to control the driving of the horizontal movement unit 220 by controlling the driving power applied to the horizontal movement unit 220.

The horizontal adiabatic motion unit driving unit 410 receives a control signal from the control unit 140 and performs a switching operation to control the driving of the horizontal adiabatic motion unit 310 by interrupting the driving power applied to the horizontal adiabatic motion unit 310.

The counter movement unit driving unit 420 receives a control signal from the control unit 140 and performs switching operation to control the driving of the counter movement unit 320 by interrupting the driving power applied to the counter movement unit 320.

The elbow rotation unit drive unit 430 receives the control signal from the control unit 140 and performs a switching operation to control driving of the elbow rotation unit 330 by interrupting the driving power applied to the elbow rotation unit 330. [

Hereinafter, the operation of the upper extremity rehabilitation training apparatus of a stroke patient according to the embodiment of the present invention constructed as described above will be described.

3, 9 and 10, the patient is seated on the chair portion 110 and, depending on whether the upper limb to be treated is the left or right side, the width of the shoulder width, and the height of the shoulder, After adjusting the water transducer 200, the length adjuster 333b is adjusted according to the lengths of the upper arm and the lower arm, and the upper arm and the lower arm are placed on the arm rest 340.

When the exercise condition is set using the motion setting unit 130, the horizontal adiabatic motion unit 310, the elevation unit 320, and the elbow rotation unit 330 operate according to the set operation conditions, And the rotational motion of the elevation and elbow are performed according to the set conditions.

5, the rotation range of the shoulder is -30 to 110 degrees, (a) shows the state where the shoulder is -30, and (b) shows the state where the shoulder is 110 degrees.

7, the rotation range of the shoulder is 20 to 100 degrees, (a) shows the state where the shoulder is 100 degrees, and (b) shows the state where the shoulder is 20 degrees, as shown in Fig.

8, the rotation range of the elbow is -60 to 90 degrees, (a) shows the state where the elbow is 90 degrees, (b) shows the state where the elbow is -60 degrees .

According to the upper limb rehabilitation training apparatus of a stroke patient according to the embodiment of the present invention, there is provided a limb rehabilitation training apparatus for a stroke patient, comprising: a body in which a chair part for seating a patient is formed; An arm movement device configured to perform a lift motion and a rotation movement of the elbow; a second arm movement device installed at a rear side of the main body to connect the arm movement device to the main body and selectively move the arm movement device to the left and right positions of the patient And the left and right handed transducers are configured to allow the user to implement the movement of the everyday life by performing the horizontal adduction motion of the shoulder and the rotation movement of the shoulder by the collimation motion and the elbow motion to help the rehabilitation.

Although the best mode has been shown and described in the drawings and specification, certain terminology has been used for the purpose of describing the embodiments of the invention and is not intended to be limiting or to limit the scope of the invention described in the claims. It is not. Therefore, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the scope of the present invention. Accordingly, the true scope of the present invention should be determined by the technical idea of the appended claims.

100:
110: Chair section
120: leg
130:
140:
200: right and left water converting device
210: right and left water conversion body
212: Horizontal groove
220: Horizontal moving part
222: sliding portion
224:
300: arm exercise device
310: horizontal adiabatic motion part
312: Horizontal internal gear box
313: Motor for horizontal adduction motion
314: Planetary reducer
315: Worm reducer
315a: Worm reducer shaft
316: Horizontal inertia angle sensor
317: horizontal adduction exercise bar
320: a colossal motion part
321: Emergency gearbox
323: Worm gear
324: Helical gear
325: Vertical angle sensor
326: Colossus exercise bar
330: elbow rotation part
331: Elbow motion gearbox
333: Elbow exercise bar
333a: Handle
333b:
333c:
335: Elbow rotation angle sensor
340: arm bracket
400: Horizontal moving part driving part
410: Horizontal Adiabatic Movement Part Drive
420:
430: Elbow rotating part drive part

Claims (8)

A body formed with a chair portion on which a patient can sit;
An arm exercise device configured to perform a horizontal adduction motion and a vertical motion of the shoulder and a rotation motion of the elbow while the arm is supported after sitting on the chair part; And
And a left and right water transducer installed at the rear of the main body for connecting the arm exercise device and the main body to selectively move the arm exercise device to the left and right positions of the patient, Device. The method according to claim 1,
The arm exercise device
An arm support configured to rest on the lower and lateral sides of the upper arm and lower arm of the arm;
A horizontal adiabatic exercise part coupled to the left and right water conversion device and configured to perform a horizontal adduction motion of the shoulder;
A collimating part coupled to the horizontal adiabatic exercise part and configured to perform a collimation motion of the shoulder; And
And an elbow rotating portion coupled to the elevation portion to rotate the elbow. 3. The method of claim 2,
The left / right number converter
A body having two horizontal grooves formed in a lateral direction; And
And a horizontal moving part formed to slide in the two horizontal grooves to form a sliding part and generate pressure by driving power to reciprocate the rod part. The method of claim 3,
The horizontal adiabatic movement part
A planetary gear reducer configured to decelerate the rotational force of the horizontal adiabatic-drive motor; and a planetary gear reducer disposed on the output side of the planetary speed reducer, And a worm gear reducer configured to decelerate the motor shaft while changing its axis by 90 degrees; And
And a horizontal adduction exercise bar coupled to one side of the axis of the worm reducer to horizontally adduce the shoulder. 5. The method of claim 4,
The above-
A worm gear coupled to the horizontal adiabatic exercise bar through a first connection unit and driven by a driving power source, a worm gear configured to decelerate a rotational force of the elevation motor and change its axis by 90 degrees, A high frequency gear box including a helical gear configured to be gear-coupled to an output side of the worm gear to decelerate; And
And a collimated motion bar coupled to an output side of the helical gear and configured to perform a shoulder elevation movement. 6. The method of claim 5,
The elbow-
An elbow motion gear box coupled by a second connecting portion at a lower portion of the elevation motion bar, configured to rotate by a driving power source, to decelerate a rotational force and change a motion axis by 90 degrees; And
And an elbow motion bar coupled to an output side of the elbow motion gear box to rotate the elbow. The method according to claim 6,
The elbow moving bar has a horizontal groove formed therein,
A length adjusting unit inserted in the horizontal groove and configured to be fixed by a length fixing unit while sliding;
And a handle vertically coupled to an end of the length adjuster. The method of claim 3,
A motion setting unit configured to set motion conditions of the horizontal moving unit, the horizontal adiabatic motion unit, the elevation motion unit, and the elbow rotation unit;
A horizontal adiabatic angle sensor configured to sense a horizontal adduction motion angle of the horizontal adiabatic motion part;
An elevation angle sensor configured to detect an elevation angle of the elevation portion;
An elbow rotation angle sensor configured to sense an elbow rotation angle of the elbow rotation section;
A horizontal inertial angle sensor, an elevation angle sensor, and an elbow rotation angle sensor, and detects a horizontal inertial motion angle, a normal motion angle, and an elbow rotation motion angle, and outputs a corresponding control signal ;
A horizontal moving unit driving unit configured to receive a control signal from the control unit and to perform switching operation to control driving of the horizontal moving unit;
A horizontal adiabatic movement part driving part configured to receive a control signal from the control part and to be switched to control driving of the horizontal adiabatic part;
A normal motion part driving part configured to receive a control signal from the control part and to be switched to control driving of the elevation part; And
Further comprising an elbow rotational motion part driving part configured to receive a control signal from the control part and to be switched so as to control driving of the elbow rotational part.

Images