KR20180080674A - A motion assist apparatus and a control method thereof - Google Patents

Abstract

According to an embodiment of the present invention, an exercise assistant device comprises: a nerve blocking electrode for electrically blocking a nerve transmitting an electrical signal from a user′s brain to a connecting muscle which connects a proximal portion of the user and a distal portion of the user; a compulsion exercise module for relatively moving the proximal portion and the distal portion; and a control part operating the compulsion exercise module depending on the operation of the nerve blocking electrode.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a motion assisting apparatus and a control method thereof,

The following description relates to an exercise assisting apparatus and a control method thereof.

People or animals with neurological disorders can cause muscle contractions that are not related to their will depending on the disease, which causes great discomfort in daily life. For example, although the rigid contraction of the calf muscles that occurs in children with cerebral palsy is the main cause of foot and lower limb gait, the intervention technique is the only way to disable the use of calf muscles through surgery or surgery. However, secondary side effects are significant, including severe pain and sudden weakness.

Although the electrodes can be inserted directly into the nerve by surgical methods to inhibit involuntary movement, such surgical methods are inconvenient. In addition, there was no alternative for the weakening of muscle strength caused by nerve block when using such an insertion electrode.

The involuntary muscle contraction is a common symptom in patients with central nervous system disorders such as stroke or cerebral palsy. Currently, clinical use of botox injection or neurosurgery, which has a large side effect, is used as a way to alleviate the symptoms, but severe pain and weakness of the muscles are caused and thus the method is not practiced.

An object of one embodiment is to provide an exercise assisting apparatus and a control method thereof that suppresses involuntary exercise by using a surface electrode in a non-surgical manner and artificially generates normal movement.

An exercise assisting apparatus according to an embodiment includes: a nerve blocking electrode for electrically interrupting a nerve that transmits an electrical signal from a user's brain to a connecting muscle connecting a proximal portion of the user and a distal portion of the user; A force motion module for relatively moving said proximal portion and said distal portion; And a control unit for operating the forced movement module depending on whether the nerve blocking electrode is operated or not.

The nerve blocking electrode may include a pair of attachable surface electrodes attached to the skin of the user.

The compulsory motion module comprising: a proximal mounting portion mounted on a proximal portion of the user; A distal mounting portion attached to a distal portion of the user; And an actuator for relatively moving the distal mounting portion relative to the proximal mounting portion.

The actuator may be pivotally connected to the distal mounting portion.

The compulsory motion module may include an electrical stimulation module for delivering electrical signals for contracting the connecting muscles.

The electric stimulation module may include a pair of detachable surface electrodes attached to the skin of the user.

The exercise assist device of one embodiment may further include an inertial sensor for sensing the motion of the user, and the controller may detect the inertial sensor and define the motion state of the user.

The exercise assist device of one embodiment may further include a power supply unit for supplying a current to the nerve shielding electrode, and the control unit may be connected to the power source unit until the current supplied to the nerve shielding electrode reaches the rated alternating current The magnitude of the current can be gradually increased.

The current applied to the nerve blocking electrode from the power supply may include a high frequency alternating current between 1 kHz and 100 kHz.

According to an embodiment of the present invention, there is provided a method of controlling an exercise assisting apparatus comprising: turning on a power of an exercise assisting apparatus; Blocking a nerve that carries an electrical signal from a user's brain to a connecting muscle connecting the proximal portion of the user and the distal portion of the user; And a motion assisting step for actuating a force motion module for relatively moving the proximal portion and the distal portion.

The exercise assistance step may be performed while the step of blocking the nerve is performed.

Wherein the step of blocking the nerve comprises: supplying a rated alternating current to the nerve blocking electrode; And a preliminary AC supplying step performed immediately before the rated AC supplying step and supplying a preliminary AC having a magnitude smaller than the rated AC to the nerve blocking electrode.

The motion assisting step may include a motion assisting module operation step of operating an actuator for relatively moving the proximal mounting part and the distal mounting part mounted on the proximal part and the distal part of the user, respectively.

The exercise assistance step may include operating an electrical stimulation module to deliver a functional electrical stimulus to the nerve using an electrical stimulation module attached to the skin proximate the nerve connected to the user's connection muscle.

According to an embodiment of the present invention, there is provided a control method of an exercise assisting apparatus comprising: a motion state sensing step of sensing a motion state of the user through an inertial sensor; And determining whether or not the motion state of the user satisfies the setting condition through the control unit. The blocking of the nerve may be performed when the motion state of the user satisfies the setting condition .

According to one embodiment, it is possible to provide an exercise assisting device for assisting normal motion with nerve block.

According to one embodiment, by blocking the nerve and compensating for weakened muscle strength, there is less concern about severe pain or muscle weakness, and it is possible to effectively assist a user with involuntary muscle contraction.

According to one embodiment, non-surgical treatment is possible because the surface electrode is used. Compared with occlusion of the nerve using an insertion electrode, the involuntary motion blockade coupled with surface electrodes and exercise aids can help the daily life of users with neurological disorders.

In addition, when CPM (Continuous Passive Motion) equipment is used for increasing the range of movement of the joint in the rehabilitation field, there is an inconvenience to temporarily stop the operation of the device and the exercise because the flexural contraction occurs during the exercise. If the rigidity is severe, the duration of exercise is short and the therapeutic effect does not occur. However, according to the embodiment, by using the electric nerve blocker and the exercise assisting device, it is possible to perform the joint movement motion more effectively together with the pain and the motor nerve block due to the high frequency stimulation.

FIG. 1 illustrates a state in which an exercise assisting apparatus according to an embodiment is mounted on a user's body.
FIG. 2 shows a state in which a forced movement module according to an embodiment is mounted on a user's body.
3 shows a block diagram of an exercise assisting apparatus according to an embodiment.
4 is a flowchart showing a control method of the exercise assisting apparatus according to an embodiment.
FIG. 5 is a flowchart illustrating steps for blocking a nerve according to an embodiment.
6 is a flowchart illustrating an exercise assistance phase according to one embodiment.

Hereinafter, embodiments will be described in detail with reference to exemplary drawings. It should be noted that, in adding reference numerals to the constituent elements of the drawings, the same constituent elements are denoted by the same reference symbols as possible even if they are shown in different drawings. In the following description of the embodiments, detailed description of known functions and configurations incorporated herein will be omitted when it may make the best of an understanding clear.

In describing the components of the embodiment, terms such as first, second, A, B, (a), and (b) may be used. These terms are intended to distinguish the constituent elements from other constituent elements, and the terms do not limit the nature, order or order of the constituent elements. When a component is described as being "connected", "coupled", or "connected" to another component, the component may be directly connected or connected to the other component, Quot; may be "connected," "coupled," or "connected. &Quot;

The components included in any one embodiment and the components including common functions will be described using the same names in other embodiments. Unless otherwise stated, the description of any one embodiment may be applied to other embodiments, and a detailed description thereof will be omitted in the overlapping scope.

FIG. 1 shows a state in which a motion assisting device according to an embodiment is mounted on a user's body, FIG. 2 shows a state in which a forced motion module according to an embodiment is mounted on a user's body, FIG. 2 shows a block diagram of an exercise assisting apparatus according to the present invention.

1 to 3, the exercise assisting apparatus 100 according to an embodiment may be mounted on a part of the user's body to suppress the involuntary muscle contraction of the user and assist the exercise. In other words, the exercise assisting apparatus 100 suppresses inadvertent muscle contraction of the connecting muscles that are installed in the joints of the user and relatively move the proximal portion 91 and the distal portion 92, At the same time, it can assist to move the distal portion 92 relative to the proximal portion 91.

For example, referring to FIG. 1, a portion of the exercise assisting apparatus 100 may be mounted on the ankle portion of the user. However, it is to be understood that the mounting site of the exercise assisting apparatus 100 is not limited thereto, but may be mounted on other joints of the user.

Here, the proximal portion 91 and the distal portion 92 may be referred to as a proximal portion 91 and a distal portion 92 away from the user's body with respect to the user's joint,

For example, when a part of the exercise assisting apparatus 100 is installed on the ankle part of the user as shown in FIG. 1, the calf part near the torso with respect to the ankle joint of the user is divided into the proximal part 91, May be referred to as distal portion 92. It should be understood, however, that the proximal portion 91 and the distal portion 92 are not limited in this manner, and may vary depending on the joint site on which the exercise assisting device 100 is mounted.

For example, a user may include people and animals. In other words, the exercise assisting apparatus 100 can be mounted on and operated on the body of a person or animal.

For example, the exercise assisting apparatus 100 may include a nerve blocking electrode 20, a forced movement module 10, a power supply unit 40, a control unit 30, and an inertial sensor 50.

The nerve shielding electrode 20 may electrically shield the nerve that carries electrical signals to the connecting muscles connecting the proximal portion 91 and the distal portion 92 around the joint to block the involuntary muscle movement of the user . For example, the nerve shielding electrode 20 may be a pair of surface electrodes consisting of a cathode 20a and an anode 20b which are detached and attached to the skin near the nerve of the user's connecting muscles.

According to the nerve shielding electrode 20 made of a detachable surface electrode, it is less dangerous and painful than the insertion electrode inserted in the body, and can be used easily. The nerve shielding electrode 20 may be attached to a region where the nerve passes without muscles in the subcutaneous layer. According to such an attachment position, it is possible to prevent a muscle contraction caused by electrical stimulation of an electrode attached to the skin just above the muscle.

The nerve blocking electrode 20 can be operated by receiving the current generated by the power supply unit 40 through the control unit 30. [ When a current is applied to the nerve shielding electrode 20, the muscular movement of the connecting muscle is suppressed, so that the involuntary muscle movement symptoms can be suppressed.

The compulsory motion module 10 can move the proximal and distal portions of the user relative to each other. The forcible movement module 10 may assist in the voluntary movement of the compulsive movement module 10 when the nerve shielding electrode 20 is operated to block the nerve of the user's connecting muscles.

For example, the forced movement module 10 may include an exercise assistance module 11 and / or an electric stimulation module 12.

The motion assisting module 11 may be installed over the proximal portion 91 and the distal portion 92 of the user and may utilize an external power source to create relative movement of the proximal portion 91 and the distal portion 92 .

For example, the motion assisting module 11 may include a proximal mounting portion 111, a distal mounting portion 112, and an actuator 113.

The proximal mounting portion 111 may be mounted to the proximal portion 91 and may be formed to wrap around the proximal portion 91 and be secured to the proximal portion 91. [ For example, as shown in FIGS. 1 and 2, when the motion assisting module 11 is installed on a human ankle portion, the proximal mounting portion 111 can be mounted so as to surround the calf portion.

The distal mounting portion 112 may be mounted to the distal portion 92 and may be configured to wrap around the distal portion 92 and be secured to the distal portion 92. For example, as shown in FIGS. 1 and 2, when the motion assisting module 11 is installed on a human ankle portion, the distal attachment portion 112 may be mounted to surround the foot.

The actuator 113 may be a prime mover that is installed between the proximal mounting portion 111 and the distal mounting portion 112 to cause the distal mounting portion 112 to move relative to the proximal mounting portion 111. [ The actuator 113 can receive power from the power supply unit 40 and can be controlled through the control unit 30.

1 and 2, one side of the actuator 113 is fixed to the proximal mounting portion 111, and the other side of the actuator 113, which is relatively movable with respect to one side of the actuator 113, And can be pivotally connected.

As one side and the other side of the actuator 113 translate relative to each other, the distal mounting portion 112 is movable relative to the proximal mounting portion 111 and eventually the distal portion 92 and the proximal portion 91 are relatively movable You can move.

For example, the actuator 113 may be formed of a linear actuator in the form of a cylinder, as shown in FIGS. 1 and 2, but it may be formed in various configurations such as a gear, a wire, a pulley, Of course.

The electrical stimulation module 12 may generate an electrical signal for retracting the connecting muscles to move the joint between the proximal portion 91 and the distal portion 92 of the user. In other words, the electrical stimulation module 12 can deliver functional electrical stimulation to the connecting muscles that moves the muscles.

The electric stimulation module 12 can be operated by receiving a current generated by the power supply unit 40 through the control unit 30. [ For example, the electric stimulation module 12 may be a pair of detachable surface electrodes composed of a cathode 12a and an anode 12b attached to the user's skin.

When current is applied to the electrical stimulation module 12, functional electrical stimulation may be applied through the nerves of the connecting muscles so that as the connecting muscles contract or relax, the distal portion 92 contacts the proximal portion 91 It becomes possible to exercise relatively.

The force motion module 10 may include both the motion assist module 11 and the electric stimulation module 12 but may include only one of the motion assist module 11 and the electric stimulation module 12 .

The power supply unit 40 may provide a power source for operating the forced movement module 10 and / or the nerve shielding electrode 20. For example, the power supply 40 may deliver electrical energy to the forced movement module 10 and / or the nerve shielding electrode 20. For example, the power supply unit 40 may provide a high frequency alternating current between 1 kHz and 100 kHz.

For example, the power supply unit 40 may be formed on the outside of the forced movement module 10 and the nerve shielding electrode 20, but may be a battery attached to or disposed within the motion assisting module 11. [

The control unit 30 may be connected to the power source unit 40 to receive power and may supply power to the forced movement module 10 and the nerve shielding electrode 20 and may be connected to the forced movement module 10 and the nerve blocking electrode 20, and can control the operation of the forced movement module 10 and the nerve shielding electrode 20. [ For example, the control unit 30 may be installed in the motion assisting module 11. [

For example, when the control unit 30 determines that the nerve of the connecting muscle should be blocked, the current generated in the power source unit 40 may be transmitted to the nerve blocking electrode 20. For example, the control unit 30 can gradually increase the magnitude of the current until the current supplied to the nerve blocking electrode 20 reaches the rated alternating current. For example, if a rated AC of 40 mA is needed to block (block) the neuronal activity of the connective muscles, the controller 30 may be configured to receive a nominal AC of 40 mA directly into the nerve shield 20, And can be input with a preliminary alternating current, for example, 10 mA, 20 mA, and 30 mA sequentially rising. According to this method, when the rated AC is input to the nerve block electrode from the beginning, it is possible to prevent the onset effect that the user feels uncomfortable irritation.

For example, when the control unit 30 determines that the forced movement module 10 should be operated, it is possible to drive the actuator 113 of the motion assisting module 10 and to apply the electric current to the electric stimulation module 12 can do.

The inertial sensor 50 can sense the motion of the user. For example, the inertial sensor 50 may be a gyro sensor or an Inertia Measurement Unit (IMU) sensor capable of measuring acceleration and angular acceleration of an object. For example, the inertial sensor 50 can communicate with the control unit 30 in communication. For example, the inertial sensor 50 may be attached to the proximal portion 91 and / or the distal portion 92 of the user, attached to other portions of the user, or installed in the motion assistance module 11.

According to the inertial sensor 50, the control unit 30 can detect movement and relative movement of the user's motion, that is, the proximal portion 91 and the distal portion 92, based on the data sensed by the inertial sensor 50 have. This allows the control unit 30 to determine whether the user is exercising the proximal portion 91 and the distal portion 92 and if the user determines that the exercise is to be performed, A current is applied to the nerve blocking electrode 20 to electrically shut off the nerve of the connecting muscle and to operate the forced movement module. Alternatively, the control unit 30 may detect the user's walking state using the inertial sensor 50 so that only when the leg of the user wearing the exercise assisting apparatus 100 is in the swing phase, 100 may be operated to prevent the user's foot drop symptom, thereby reducing the power consumption.

For example, the control unit 30 can control the operation of the forced movement module 10 in accordance with a pattern in which a user's joint motion is performed. For example, as shown in FIGS. 1 and 2, when the exercise assisting apparatus 100 is installed on a human ankle part, the inertial sensor 50 may be installed on the user's leg or the exercise assisting module 11, Thus, the user can detect a walking or running motion.

In this case, the controller 30 can determine whether the user is exercising or exercising based on the data sensed by the inertial sensor 50. When the controller 30 determines that the exercise is being performed, 20 to electrically shut off the nerve of the connected muscles and to operate the forced movement module 10. [

For example, when the person walks or runs through the inertial sensor 50, the control unit 30 recognizes the posture and the position of the foot attached with the exercise assisting device 100 and recognizes the repeated pattern of the walking or running motion can do. In this way, when the leg with the forced movement module 10 is pushed off, the foot 30 corresponding to the distal portion 92 is moved to the calf corresponding to the proximal portion 91 The operation of the forcible motion module 10 can be controlled so as to relatively move up and down relative to each other.

FIG. 4 is a flowchart illustrating a method of controlling an exercise assisting apparatus according to an exemplary embodiment of the present invention. FIG. 5 is a flowchart illustrating a step of blocking a nerve according to an embodiment. It is a flowchart.

4 to 6, a method of controlling the exercise assisting apparatus 100 according to an embodiment includes a step 71 of turning on the power of the exercise assisting apparatus 100, a step of detecting the exercise state 72 , An operation determination step 73, a nerve cut-off step 74, and an exercise assistance step 75.

Step 71 of turning on the power supply may be a step of applying power for operating the exercise assisting apparatus 100. [ In other words, it may be a step of applying power from the power source unit 40 to the motion assistant module 11, the nerve shielding electrode 20, the electric stimulation module 12 and the control unit 30 mounted or attached to the user's body .

The motion state sensing step 72 may include sensing the user's motion state through the inertial sensor 50. [ In other words, the inertial sensor 50 can sense motion and relative motion of the proximal portion 91 and the distal portion 92 of the user.

The operation determining step 73 may be a step of determining whether the user's motion state satisfies the setting condition in the control unit 30 based on the motion of the user sensed by the inertial sensor 50. [ In other words, the control unit 30 determines the motion state and the movement pattern of the proximal portion 91 and the distal portion 92 of the user to determine whether the nerve shield electrode 20 and the forced movement module 10 operate Lt; / RTI >

For example, as shown in FIGS. 1 and 2, when the exercise assisting apparatus 100 is mounted on an ankle joint of a person, the control unit 30 detects the movement of the user, that is, It is determined that the setting condition is satisfied and the nerve shielding electrode 20 and the forced movement module 10 can be operated. The control unit 30 determines that the setting condition is satisfied and sets the nerve block electrode 20 and the forced movement module 10 to be in the same position .

The nerve blocking step 74 may be a step of applying current to the nerve blocking electrode 20 to block the nerve of the connecting muscle. For example, nerve blocking step 74 may include a preliminary alternating supply step 741 and a rated alternating supply step 742.

The preliminary AC supply step 741 may be performed immediately before the AC current supply step 742 as a step of supplying a preliminary AC having a magnitude smaller than the rated AC to the nerve blocking electrode 20. According to the preliminary AC supply step 741, it is possible to reduce the inconvenience to the user's nerve blockage, such as the onset effect, by supplying the preliminary AC immediately before supplying the rated AC to the nerve shielding electrode 20 have. The AC current supply step 742 may be a step of applying a high frequency alternating current between 1 kHz and 100 kHz to the nerve blocking electrode 20. This can block the nerves connected to the connective muscles and inhibit the user's involuntary muscle contraction symptoms.

The exercise assistance step 75 may be a step of operating the forced movement module 10 when the control portion 30 determines that the proximal portion 91 and the distal portion 92 of the user perform the exercise. For example, an exercise-assisted step 75 may be performed after a nerve block 74 that blocks the nerves of the connecting muscles and may be performed, for example, while the nerve block 74 is being performed have.

For example, the exercise assistance step 75 may include an exercise assistance module activation step 751 and / or an electrical stimulation module activation step 752. [

The motion assistant module operation step 751 is a step in which the control unit 30 operates the motion assistant module 11. For example, in operation 751, the controller 30 operates the actuator 113 that generates the relative movement of the proximal mounting portion 111 and the distal mounting portion 112 of the motion assisting module 11 .

For example, in operation 751, the controller 30 may operate the actuator 113 based on the motion pattern of the proximal portion 91 and the distal portion 92 of the user.

The electrical stimulation module operation step 752 is a step in which the control section 30 operates the electrical stimulation module 12. For example, in an electrical stimulation module operating step 752, the controller 30 may artificially contract the connecting muscles by applying an electrical current to the electrical stimulation module 12.

For example, in a step 752 of operating the electrical stimulation module, the process of applying current to the electrical stimulation module 12, i.e., providing a functional electrical stimulus to the connecting muscles, Based on the operation pattern of the microcomputer 92.

Although the preferred embodiments of the present invention have been disclosed for illustrative purposes, those skilled in the art will appreciate that various modifications, additions and substitutions are possible, without departing from the scope and spirit of the invention as disclosed in the accompanying claims. For example, it is contemplated that the techniques described may be performed in a different order than the described methods, and / or that components of the described structures, devices, and the like may be combined or combined in other ways than the described methods, Appropriate results can be achieved even if they are replaced or replaced.

Therefore, other implementations, other embodiments and equivalents to the claims are within the scope of the following claims.

Claims (10)

A nerve blocking electrode for electrically interrupting a nerve transmitting an electrical signal from a user's brain to a connecting muscle connecting the proximal portion of the user and the distal portion of the user;
A proximal mounting portion mounted on a proximal portion of the user;
A distal mounting portion attached to a distal portion of the user;
An actuator for relatively moving the distal mounting portion relative to the proximal mounting portion; And
And a control unit for operating the actuator according to whether the nerve blocking electrode is operated or not.
The method according to claim 1,
Wherein the nerve blocking electrode comprises a pair of attachable surface electrodes attached to the skin of the user.
The method according to claim 1,
Wherein the actuator is pivotally connected to the distal mounting portion.
The method according to claim 1,
Further comprising an inertial sensor for sensing movement of the user,
Wherein the controller detects the inertial sensor and defines a motion state of the user.
The method according to claim 1,
Further comprising a power supply for supplying a current to the nerve blocking electrode,
Wherein the control unit gradually increases the magnitude of the current until the current supplied to the nerve blocking electrode reaches the rated alternating current.
Turning on the power of the exercise assisting device;
Blocking a nerve that carries an electrical signal from a user's brain to a connecting muscle connecting the proximal portion of the user and the distal portion of the user; And
And a motion assisting step for actuating a motion assisting module for relatively moving the proximal portion and the distal portion.
The method according to claim 6,
Wherein the motion assisting module comprises:
A proximal mounting portion mounted on said proximal portion of said user;
A distal attachment portion attached to the distal portion of the user; And
And an actuator for relatively moving the distal mounting portion relative to the proximal mounting portion.
The method according to claim 6,
Wherein the exercise assistance step is performed while the step of blocking the nerve is performed.
The method according to claim 6,
The method of claim 1,
A rated alternating current supply step of supplying a rated alternating current to the nerve blocking electrode; And
And a preliminary alternating current supplying step performed immediately before the rated alternating current supplying step and supplying a preliminary alternating current having a magnitude smaller than the rated alternating current to the nerve blocking electrode.
The method according to claim 6,
A movement state sensing step of sensing a movement state of the user through an inertial sensor; And
Further comprising an operation determining step of determining whether or not the motion state of the user satisfies the setting condition through the control unit,
Wherein the step of blocking the nerve is performed when the motion state of the user satisfies the setting condition.

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