KR20180046409A - hand rehabilitation apparatus for neurological disease and nuscular skeletal disease - Google Patents

Abstract

The present invention relates to a hand rehabilitation apparatus capable of performing an operation of towing a wrist joint, a gliding operation for applying pressure to a wrist part of a patient, and a stretching operation for a palm and finger parts. The hand rehabilitation apparatus comprises: a base plate which an arm part is fixed to and seated in; a sliding plate which includes a palm holding member which the palm part is fixed to and seated in and is coupled to the base plate to be able to slide; a gliding member which pressurizes a wrist part while covering the wrist part to provide a gliding treatment effect; at least one driving means for power transmission; a link member which allows the sliding plate to be slid or allows the palm holding member to axially rotate by transmitting power generated by the driving means, or allows pressure to be applied to a wrist by pulling the gliding member; and a control means which tows a wrist by sliding the sliding plate by controlling the driving means while simultaneously applying pressure to the wrist by pulling the gliding member, and which axially rotates the palm holding member for stretching the palm.

Description

Technical Field [0001] The present invention relates to a hand rehabilitation apparatus for neurological disease and musculoskeletal disease,

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a hand rehabilitation device including a wrist and a finger, and more particularly to a hand rehabilitation device including a wrist joint pulling operation, a gliding operation for applying pressure to a wrist portion of a patient, ≪ / RTI >

Stretching is generally used for rehabilitation because it can relieve muscle stiffness while increasing flexibility of muscles and joints. Such a stretching operation is used as one of therapeutic methods useful not only for patients suffering from muscle stiffness caused by nervous system diseases but also for patients having musculoskeletal diseases.

On the other hand, rehabilitation treatment is intensive and requires a long-term treatment process, and therapies using robots and ancillary devices are proposed.

Korean Patent Publication No. 10-1615365 discloses an apparatus for rehabilitation of a hand rehabilitation apparatus capable of stretching joints and muscles by artificially pulling the hand of a nerve injured patient. The above-mentioned 10-1615365 proposes a structure in which a finger portion can be stretched by using a motor while the arm portion and the finger portion are fixed using a fixing band or the like. However, such a 10-1615365 patent is effective as a device for stretching the palm and fingers, but there is a limit to improve the effect of the hand rehabilitation treatment of the nervous system and musculoskeletal patients.

In general, various physiotherapy methods are applied to the hand rehabilitation of nervous system patients and musculoskeletal patients. For example, the cartilage gap between the bones of the wrist bone should be maintained at an average of 2 mm. However, if the wrist is narrowed due to various causes such as repetitive motion or long-time operation, traction treatment of the wrist is effective for rehabilitation.

In addition, the motion of the wrist is a dual joint system in which movement occurs at the same time and must be based on the dynamic relationship between the two joints. The concave and convex double joint system in the two joints is effective for the wedge gliding therapy to achieve the advantage of producing a larger overall range of motion by combining the intermediate motion of the individual joints.

Stretching also not only improves flexibility, but also prevents muscle and joint disability, while at the same time increasing the flexibility of the body, helping balance and coordination to maximize movement, and increasing muscle strength. effective.

Such traction, stretching and gliding treatment methods need to be performed individually or in combination depending on the condition of the patient.

Furthermore, in order to improve the rehabilitation effect of the patient, it is necessary to perform the electric stimulation treatment method such as EMG-induced neuromuscular electrical stimulation and the massage treatment method using the muscle vibration in addition to the traction, gliding and stretching treatment methods.

Korean Patent Publication No. 10-1615365

SUMMARY OF THE INVENTION Accordingly, the present invention has been made keeping in mind the above problems occurring in the prior art, A pulling motion for pulling the wrist joint, a gliding motion for pressing the joint portion of the wrist, and a stretching motion for stretching the finger portion can be selectively provided according to the patient's condition. The purpose is to provide.

Another object of the present invention is to provide a hand rehabilitation apparatus capable of providing electrical stimulation and / or muscle vibration treatment in parallel with traction, gliding and stretching treatment methods in order to solve the problems of the related art as described above .

According to an aspect of the present invention, A sliding plate including a palm rest member on which a palm portion is fixedly seated, and which is slidably engaged with the base plate; A gliding member for applying a gliding treatment effect by pressing the wrist part while surrounding the wrist part; At least one drive means for transmitting power; A link member that transmits power generated by the driving unit to slide the sliding plate, rotate the palm mounting member or pull the gliding member to apply pressure to the wrist; And control means for controlling the driving means to slide the sliding plate to pull the wrist, to apply pressure to the wrist by pulling the gliding member, and to rotate the palm mounting member to stretch the palm.

Preferably, the driving means includes: first driving means for sliding the sliding plate; Second driving means for axially rotating the palm rest member; And third driving means for pulling the gliding member.

Preferably, the palm rest member includes a first plate on which a palm portion is located, and a second plate on which a finger portion is located and which is rotatably coupled to the first plate.

Preferably, when the palm is stretched, the control means operates the second driving means to raise and lower the palm rest, and then operates the first driving means to perform the control operation of elevating and lowering the second plate .

Preferably, the present invention relates to A base plate on which arm portions are fixedly seated; A sliding plate including a palm rest member on which a palm portion is fixedly seated, and which is slidably engaged with the base plate; At least one drive means for transmitting power; A link member for transmitting the power generated by the driving means to slide the sliding plate or to rotate the palm mounting member; A control means for controlling the driving means to draw the wrist by sliding the sliding plate or stretching the palm by pivoting the palm rest member; And electrical stimulation generating means controlled by the control means for applying electrical stimulation to the muscles of the hand.

Preferably, the present invention further includes a vibration generating means for generating vibration in the muscles of the hand under the control of the control means.

Preferably, the present invention further includes a gliding member for providing a gliding treatment effect by pressing the wrist part while surrounding the wrist part.

The present invention is as follows. The pulling motion for pulling the wrist joint, the gliding motion for pressing the joint portion of the wrist, and the extension motion for stretching the finger portion are selectively provided according to the state of the patient. The optimal rehabilitation treatment effect can be provided according to the patient's condition.

The present invention may also provide electrical stimulation and / or muscle vibration therapy in combination with traction, gliding, and stretching therapies.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is an overall front view of a hand rehabilitation apparatus according to an embodiment of the present invention; FIG.
2 is a perspective view of a water rehabilitation apparatus according to an embodiment of the present invention.
3 is a bottom perspective view of a water rehabilitation apparatus according to an embodiment of the present invention.
4 and 5 are a perspective view and a front view showing only the second driving means, the gliding member, and the palm rest member of the water rehabilitation apparatus according to the embodiment of the present invention.
Figs. 6 and 7 are perspective views at different angles in Figs. 4 and 5. Fig.
8 is a perspective view illustrating a palm rest member of a hand rehabilitation apparatus according to an embodiment of the present invention.
9 is a partial cross-sectional perspective view showing only a palm rest member of a hand rehabilitation apparatus according to an embodiment of the present invention.
10 and 11 are partial perspective views showing a third driving means and a third link member of a water rehabilitation apparatus according to an embodiment of the present invention.
12 and 13 are an exploded perspective view and a bottom perspective view showing a relationship between a base plate and a sliding plate of a water rehabilitation apparatus according to an embodiment of the present invention.
14 is a perspective view showing a first driving means and a first link member of a water rehabilitation apparatus according to an embodiment of the present invention.
FIG. 15 is a conceptual diagram showing a combination of a control unit and a driving unit of a water rehabilitation apparatus according to an embodiment of the present invention. FIG.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the following drawings, like reference numerals refer to like elements, and the size of each element in the drawings may be exaggerated for clarity and convenience of explanation. On the other hand, the embodiments described below are merely illustrative, and various modifications are possible from these embodiments.

In the following, the terms first, second, etc. may be used to describe various elements, but the elements should not be limited by terms. Terms are used only for the purpose of distinguishing one component from another.

The singular expressions include plural expressions unless the context clearly dictates otherwise. Also, when an element is referred to as "comprising ", it means that it can include other elements as well, without departing from the other elements unless specifically stated otherwise.

Also, the terms of a unit, module, and the like described in the specification mean units for processing at least one function or operation, which may be implemented by hardware or software, or a combination of hardware and software.

1 to 3, a hand rehabilitation apparatus 10 for a nervous system disease and a musculoskeletal disease according to an embodiment of the present invention includes a base plate 100 on which an arm portion is fixedly secured, A sliding plate 200 including a mounting member 300 slidably coupled to the base plate 100 and a gliding member 400 for covering the wrist and pressing the wrist to provide a gliding treatment effect, .

At this time, at least one driving means M for transmitting the power and a driving force transmitting means for transmitting the power generated by the driving means M to slide the sliding plate 200 or to move the palm- A link member L for causing the gliding member 400 to rotate or pulling the gliding member 400 to apply pressure to the wrist and the driving means M to slide the sliding plate 200 to pull the wrist, There is provided a control means CON (see Fig. 11) for applying pressure to the wrist by pulling the member 400, and rotating the palm mounting member 300 to stretch the palm.

That is, the sliding plate 200 is advanced in the finger direction (direction 1) by the driving means M to pull the wrist, or the palm is elevated by the palm restricting member 300 so that the wrist is lifted, The rehabilitation efficiency can be improved.

The driving means M includes a first driving means M1 for sliding the sliding plate 200, a second driving means M2 for pivoting the palm mounting member 300, And a third drive means M3 for pulling the second drive means M3. The driving means M may be a well-known electric motor or the like and may be controlled by a control unit described later.

The link member L includes a first link member 500 for sliding the sliding plate 200 by the first driving means M1 and a second link member 500 for sliding the palm rest member 300 by the second driving means M2. And a third link member 700 for pulling the gliding member 400 by the second link member 600 and the third drive means M3.

1 to 4, the gliding member 400 includes a shaft 410 rotated by a first driving means M1 provided on a bottom surface of the base plate 100 and a shaft 410 interlocked with the shaft 410 A clutch unit 440 that transmits power to the second link member 600 to rotate the palm rest 300 and a pair of fixing brackets 420 provided on the sliding plate 200. The second link member 600 is rotatably provided between the fixing brackets 420, which will be described later.

That is, the rotational force generated by the first driving means M1 is transmitted to the second link member 600 through the clutch unit 440, and the second link member 600 rotates the palm mounting member 300 do.

4 to 6, the clutch unit 440 includes a first clutch unit 441 receiving power primarily from the shaft 410 and a second clutch unit 442 transmitting power from the first clutch unit 441 And a second clutch portion 442 that receives and changes the torque.

The first clutch portion 441 is composed of a plurality of rollers having different diameters as shown in the drawing. The first clutch portion 441 includes an eleventh roller 441a in contact with the shaft 410 and a third roller 441b adjacent to the first roller 441a And a thirteenth roller 441c disposed adjacent to the twelfth roller 441b and having a diameter smaller than that of the twelfth rolls 441b. The twelfth roller 441b has a relatively small diameter.

The second clutch portion 442 may also include a plurality of rollers having different diameters. The second clutch portion 442 may have a small diameter as in the illustrated embodiment and may include a 21st roller 442a, A twenty-second roller 442b having a relatively large diameter, and a twenty-third roller 442c having a largest diameter disposed adjacent to the twenty-second roller 442b.

The twenty-third roller 442a is disposed to face the eleventh roller 441a, the twenty-second roller 442b is disposed to face the twelfth roller 441b, and the twenty- 13 roller 441c.

For example, the diameter of the roller of the second clutch portion 442 increases toward the right side in the figure, and the roller of the first clutch portion 441 is arranged so that the diameter decreases as it goes to the right side in the figure.

Therefore, the torque can be transmitted to the second link member 600 with different torque according to the selection of the roller which is in contact with the second clutch 442 and the first clutch 441.

In the illustrated embodiment, the eleventh roller 441a of the first clutch is in contact with the shaft 410 and is rotated. The twelfth roller 441b and the thirteenth roller 441c are interlocked and rotated. The twenty-third roller 442c of the second clutch portion 442 abuts on the thirteenth roller 441c.

The diameter of the thirteenth roller 441c is the smallest, and the diameter of the thirteenth roller 442c is the largest, so that the speed is decreased and the torque is increased. This torque is transmitted to the second link member 600 to be described later.

The clutch unit 440 is disposed on one side of the fixed bracket 420 and is supported by a support bracket 430 provided on the sliding plate 200. That is, the clutch unit 440 is rotatably provided between the support bracket 430 and the fixing bracket 420. And may include a shaft rotatably supported by the support bracket 430 and the fixing bracket 420 through the first clutch portion 441 and the second clutch portion 442, respectively.

The second link member 600 includes a pair of pivot brackets 610 rotatably mounted on the fixed bracket 420 and a connecting bar 620 connecting between the pivot brackets 610, .

The pivotal bracket 610 includes a first pivotal bracket 611 rotatably mounted on the fixed bracket 420 in the direction of the clutch unit 440 and a second pivotal bracket 611 pivotally mounted on the opposite stationary bracket 420, (612).

5 to 7, the shaft 450 passing through the second clutch portion 442 is fixed to the first rotation bracket 611 after passing through the fixing bracket 420. [ Therefore, the power transmitted through the first clutch portion 441 is transmitted through the second clutch portion 442, and then the torque is changed, and the first rotating bracket 611 is rotated through the shaft 450.

The connecting bar 620 is lifted by the rotation of the first rotating bracket 611, whereby the second rotating bracket 612 is also rotated and rotated.

The connecting bar 620 is lifted and the palm rest 300 is lifted up. Whereby the palm of the user is tilted upward. At this time, since the strap S holding the wrist of the user is fixed to the sliding plate 200, only the palm is tilted upward so that the user's wrist is bent and used as a rehabilitation treatment.

The connecting bar 620 may be formed by bending a part of the connecting bar 620 so as to bypass the strap S as shown in FIG.

The palm mounting member 300 includes a first plate 310 fixed to the connecting bar 620 and disposed on the sliding plate 200 as shown in FIGS. 2 to 4, 8 and 9, And a second plate 320 coupled to the first plate 310. At this time, the upper end of the second link 340 is pin-coupled to the second plate 320. The lower end of the second link 340 is pin-coupled with the first link 330. The lower end of the first link 330 is coupled to the lower end of the second link 340 as described above and the upper end of the first link 330 is coupled to the sliding plate 200.

The first plate 310 includes a first support body 311 having a hollow box shape and supporting a palm and an opening 312 formed at a portion of the first support body 311.

The second plate 320 includes a second support body 321 having a bar shape and supporting a finger and a support block 322 formed at a distal end of the second support body 321 and supporting a finger tip.

The second support body 321 is inserted into the first support body 311 and the inserted second support body 321 is exposed by the opening 312. [

The second support body 321 is rotatably connected to the first support body 311 by a first pin P1. One end of the second support body 321 is located at the opening 312 and is pinned by the upper end of the second link 340 and the second pin P2.

The lower end of the first link 330 is pivotally coupled to the lower end of the second link 340 by the third pin P3. The upper end of the first link 330 is installed in the sliding plate 200.

The sliding plate 200 includes a plate-shaped sliding body 210 and a protrusion 220 extending downward from the sliding body 210 to the lower side of the finger supporting portion 320.

A central portion of the protrusion 220 is opened and an upper end of the first link 210 is pivotally coupled to the upper portion of the protrusion 220 by a fourth pin P4.

With this configuration, when the sliding plate 200 is advanced in the direction 1 by the first driving means M1 to be described later, the first link 330 and the second link 340 rotate about the third pin P3 Downward. As a result, the portion of the second support body 321 that is to be coupled with the second link 340 rotates downward. As a result, the opposite side of the second support body 321 rotates upward about the first pin P1.

That is, the second plate 320 is lifted by the first driving means M1, thereby lifting the user's finger upward.

10, the wrist of the user is fixed by the strap S and the wrist of the user is pressed by the gliding member 400. As shown in Fig. A third link member 700 for pulling the strap S downward and a third driving means M3 for driving the third link member 700 for this purpose.

The third driving means M3 is provided on the bottom surface of the sliding plate 200 as shown in FIGS. 3 and 10 to 13, and the third link member 700 is provided on the third driving means M3 Interworking.

The third link member 700 supports the third link 740 and the third link 740 connected to the drive cam 720 and the drive cam 720 by the third drive means M3, And a support link 730 for supporting the link. That is, when the driving cam 720 rotates in the clockwise direction, the portion of the third link 740 interlocked with the driving cam 720 moves upward. The third link 740 is rotatably connected to the support link 730 at a central portion thereof.

The opposite side of the third link 740 is connected to the fourth link 750 and the fourth link 750 is connected to the moving block 760. The strap S is fixed to the moving block 760 by a strap fixing part 780.

The third link member 700 is supported by a support bar 710 fixed to the bottom surface of the sliding plate 200. One side of the fifth link 770 is connected to the lower end of the supporting bar 710 by a pin. The other side of the fifth link 770 is connected to a pin-coupled portion of the third link 740 and the fourth link 750 by a separate pin.

With this configuration, the strap S can be lifted and lowered. That is, when the driving cam 720 is rotated clockwise, the portion of the third link 740 coupled to the driving cam 720 moves upward. At this time, the central portion of the third link 740 is supported by the support link 730 as described above.

The other side of the third link 740 moves downward in the opposite direction. As a result, the fourth link 750 also moves downward. Since the moving block 760 is connected to the fourth link 750, the moving block 760 also moves downward. A strap fixing part 780 is provided on the moving block 760 and a strap S is fixed to the strap fixing part 780. Thus, the strap S is finally lowered to press the wrist of the user.

When the driving cam 720 rotates in the counterclockwise direction, the strap S moves upside down.

The driving cam 720 includes a cam body 721 rotated by the third driving means M3 and a holder 722 protruded from one side of the cam body 721 and pin- ).

The third driving unit M3 may include a driving unit fixing unit M3-1 mounted on the bottom surface of the sliding plate 200 and having the third driving unit M3 installed therein and being fixed to the bottom surface of the sliding plate 200 have.

The moving block 760 is moved up and down by the third link 740 and the fourth link 750. The moving block 760 includes an upper plate 761 and a lower plate 762, ). The strap fixing portion 780 is fixed to the upper plate 761. A connecting bar 763 is provided between the upper plate 761 and the lower plate 762 so as to be mutually fixed.

12 and 13, the base plate 100 includes a base body 110 in the shape of a plate and an opening 120 formed in the base body 110.

The third link portion 700 may be disposed on the bottom surface of the base plate 100 and may be installed on the bottom surface of the sliding plate 200 through the opening portion 120.

The sliding plate 200 includes a sliding body 210 and an opening portion 230 formed in the sliding body 210. The opening portion 230 is formed with the strap S May pass through and be exposed to the top.

The sliding plate 200 is moved forward and backward by the first driving means M1 and the first link member 500.

The first link member 500 is composed of a driving cam 520 rotated by the first driving means M1 and a sixth link 530 pin-coupled to the driving cam 520. The first driving means (M1) is installed on the bottom surface of the base plate (100).

The sixth link 530 is connected to the fixed bar 540 fixed to the sliding plate 200 by a pin.

Accordingly, when the driving cam 520 rotates in the clockwise direction, the sixth link 530 moves leftward in the drawing to press the fixing bar 540 in the left direction in the figure. Whereby the sliding plate 200 is moved in the left direction in the drawing.

When the sliding plate 200 is moved to the left in the drawing, the palm rest 300 moves in the left direction. However, the user's wrist is fixed to the strap S and the strap S is fixed.

Therefore, when the sliding plate 200 moves to the left in the drawing, the user's palm is hooked to the palm rest 300 and moves to the left side, and the wrist is fixed, so that the pulling action for rehabilitation treatment is performed.

The control means CON operates the second driving means M2 to raise and lower the palm rest 300 when the palm is stretched as shown in Fig. 15, and then the first driving means M1 To operate the second plate 320 to move up and down.

2, a guide slot 240 is formed in the sliding plate 200, and a guide box 120 inserted in the guide slot 240 is formed in the base plate 100, 200 can be stably moved.

The present invention includes a base plate 100 on which an arm portion is fixedly secured and a palm mounting member 300 on which a palm portion is fixedly secured, and a sliding plate (not shown) slidably coupled to the base plate 100 200). At least one driving means (M) for transmitting power is provided and the sliding plate 200 is slid by transmitting the power generated by the driving means M or by moving the palm mounting member 300, And a link member L for axially rotating the link member L.

In this case, the control means (CON) controls the driving means (M) to pull the wrist by sliding the sliding plate (200) or to rotate the palm mounting member (300) to stretch the palm.

On the other hand, it is also possible to include electric stimulation generating means (800) controlled by the control means (CON) to apply electric stimulation to the muscles of the hand portion (see FIG. 15).

The electric stimulation generating means 800 is for activating the biological activity by applying electric stimulation to the body tissue of the user, which is a well-known constitution, and thus a detailed description and illustration are omitted.

The present invention further includes vibration generating means (900) for generating vibration in the muscles of the hand under the control of the control means (CON). Since the vibration generating means 900 is also a well-known constitution, detailed description and illustration are omitted.

At this time, the present invention may further include a gliding member 400 for covering the wrist part and pressing the wrist part to provide a gliding treatment effect, as described above.

While the present invention has been described with reference to exemplary embodiments thereof, it will be understood by those of ordinary skill in the art that various changes in form and details may be made therein without departing from the scope of the invention as defined in the appended claims. I will understand. Therefore, the disclosed embodiments should be considered in an illustrative rather than a restrictive sense. The scope of the present invention is defined by the appended claims rather than by the foregoing description, and all differences within the scope of equivalents thereof should be construed as being included in the present invention.

100: base plate 110: base plate body
200: Sliding plate 210: Sliding plate body
300: palm rest member 310: first plate
311: first support body 312:
320: second plate 321: second support body
322: support block 400: gliding member
410: shaft 420: fixed bracket
430: support bracket 440: clutch unit
441: first clutch portion 442: second clutch portion
500: first link member 520: drive cam
530: sixth link 540: fixed bar
600: second link member 610; Pivot bracket
620: connecting bar 700: third link member
710: support bar 720: drive cam
730: Support link 740: Third link
750: fourth link 760: moving block
770: fifth link 780: strap fixing portion
800: electric stimulus generating means 900: vibration generating means

Claims (7)

A base plate on which arm portions are fixedly seated;
A sliding plate including a palm rest member on which a palm portion is fixedly seated, and which is slidably engaged with the base plate;
A gliding member for applying a gliding treatment effect by pressing the wrist part while surrounding the wrist part;
At least one drive means for transmitting power;
A link member that transmits power generated by the driving unit to slide the sliding plate, rotate the palm mounting member or pull the gliding member to apply pressure to the wrist; And
And control means for controlling the driving means to slide the sliding plate to pull the wrist and apply pressure to the wrist by pulling the gliding member to rotate the palm mounting member to stretch the palm, .
The method according to claim 1,
The driving means includes: first driving means for sliding the sliding plate; Second driving means for axially rotating the palm rest member; And third driving means for pulling the gliding member.
3. The method of claim 2,
The palm rest member
A first plate on which a palm portion is located and a second plate on which a finger portion is located and which is rotatably coupled to the first plate.
The method of claim 3,
Wherein,
Wherein when the palm is stretched, the second driving means is operated to raise and lower the palm mounting member, and then the first driving means is operated to raise and lower the second plate.
A base plate on which arm portions are fixedly seated;
A sliding plate including a palm rest member on which a palm portion is fixedly seated, and which is slidably engaged with the base plate;
At least one drive means for transmitting power;
A link member for transmitting the power generated by the driving means to slide the sliding plate or to rotate the palm mounting member;
A control means for controlling the driving means to draw the wrist by sliding the sliding plate or stretching the palm by pivoting the palm rest member; And
And electric stimulation generating means controlled by said control means for applying electric stimulation to the muscles of said hand portion.
6. The method of claim 5,
And vibration generating means for generating vibration in the muscles of the hand under the control of the control means.
The method according to claim 6,
And a gliding member for applying a gliding treatment effect by pressing the wrist part while surrounding the wrist part.

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