KR20180089126A - Apparatus For Rehabilitating A Knee Joint Having Measuring Apparatus Of Knee Bending Angle, And Operating Method Therefor - Google Patents

Abstract

The present invention discloses a knee joint rehabilitation device including a knee angle measurement device, and an operating method thereof. According to an embodiment of the present invention, the knee joint rehabilitation device (100) is to induce exercise for knee joint rehabilitation of a patient by being worn in the shape of surrounding a portion of a leg including a knee of the patient. The knee joint rehabilitation device (100) comprises: an upper support (110) which is mounted in the shape of surrounding at least a portion of a thigh (11) of a patient, and is mounted with a first inertial measurement sensor (111); a lower support (120) which is mounted in the shape of surrounding at least a portion of a lower leg (12) of the patient, and is mounted with a second inertial measurement sensor (121); and a control unit (130) which is mounted in the upper support (110) or the lower support (120), calculates a knee joint bending angle based on the inertial data detected by the first inertial measurement sensor (111) and the second inertial measurement sensor (121), and outputs the calculated knee joint bending angle to the patient. Therefore, the knee joint rehabilitation device includes a knee angle measurement device which can induce repetitive training so that a patient can recognize a knee bending angle for himself or herself.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a knee joint rehabilitation apparatus and a knee joint rehabilitation apparatus,

The present invention relates to a knee joint rehabilitation apparatus and a method of operating the same, and more particularly, to a knee joint rehabilitation apparatus including a knee angle measurement apparatus and a method of operating the same.

Brain plasticity is a property that can restore damaged function after brain damage. It means that when a specific brain cell is lost, other neurons increase the axon prominence to make up for missing part to recover.

For example, when a specific area of the brain is damaged due to a cerebral hemorrhage or cerebral infarction, the corresponding body part can not be used. At this time, if the body part is continuously exercised, the brain plasticity is improved and the damaged brain function can be restored to the normal state. In addition, even in patients suffering from traumatic brain injury due to various accidents such as traffic accidents, industrial accidents, sports injuries, etc., it is possible to improve the brain plasticity by restoring the traumatized parts to restore the damaged function.

On the other hand, in the case of an orthopedic surgery patient such as a fractured patient or a joint-operated patient or a trauma patient suffering from a muscle injury as well as the above-mentioned brain injury patients, continuous and repetitive exercise is required for postoperative rehabilitation. If the patient consciously exercises to repair the injured or affected area, the corresponding brain function becomes active and brain plasticity is increased, so that the effect of the rehabilitation treatment can be improved.

As the exercise device for recovering the damaged brain function or the body function of the patients as described above, there is a continuous passive motion (CPM) device. The CPM device is a device that performs passive exercise irrespective of the will of the patient, and allows the body part to move by the force of the machine. In this case, the patient can exercise without applying force, so the recovery rate is slower than when the patient is actively exercising with force. For example, in a patient who has undergone knee surgery, the knee joint tissues are aligned when the knee joint tissues are not aligned and are actively exercised immediately after surgery. Therefore, the joint tissue is strengthened and the recovery speed is faster than when the exercise is performed only by the mechanical force.

In addition, since the CPM device exercises passively by the force of the machine, it can not control the exercise intensity according to the degree of the patient's body damage or the degree of recovery of the body. For example, in the case of pain during exercise, the intensity of exercise can not be controlled depending on the degree to which the patient feels pain. Therefore, it is difficult for the CPM device to obtain a proper rehabilitation exercise effect according to the patient's condition.

In order to solve the problem according to the related art, a knee rehabilitation device including one or more link structures as shown in FIG. 1 or 2 may be used.

However, the knee rehabilitation apparatus shown in FIGS. 1 and 2 can provide an environment in which a patient can actively exercise force, but it is not suitable for a patient who can not recognize the degree of knee bending by himself / herself.

In order to solve such a problem, as shown in FIG. 3, the driving device 50 is mounted on the link connection portion to control the degree of bending of the knee so that the patient himself can feel the bending angle of the knee.

However, the knee rehabilitation mechanism according to the above-mentioned prior art has a problem that it is inconvenient to carry, as it has a structure including at least one link structure.

In addition, the knee applicator according to the related art has a problem that the knee joint motion optimized for the patient can not be induced by reflecting the muscular condition of the thigh and the lower leg of the patient.

Therefore, there is a need for a technique for a knee joint rehabilitation device capable of solving the problems according to the related art.

Korean Patent Publication No. 10-2016-0022120 (published on February 29, 2016)

SUMMARY OF THE INVENTION An object of the present invention is to provide a knee joint rehabilitation apparatus and a method of operating the same that can induce repeated training so that the patient himself can recognize the bending angle of the knee, .

In order to accomplish the above object, according to one aspect of the present invention, there is provided a knee joint rehabilitation apparatus for wrestling a part of a leg including a knee of a subject to induce a motion for rehabilitation of a knee joint of a subject, An upper support mounted to surround at least a part of a thigh of the subject and having a first inertia measurement sensor mounted thereon; A lower support mounted to surround at least a part of the lower leg of the subject and having a second inertial measurement sensor mounted thereon; And a control unit mounted on the upper supporter or the lower supporter for calculating the bending angle of the knee joint based on the inertial data detected through the first inertial sensor and the second inertial sensor and outputting the calculated bending angle of the knee joint to the target patient, ; ≪ / RTI >

In one embodiment of the present invention, the first inertia measurement sensor and the second inertia measurement sensor include an accelerometer capable of measuring the mobile inertia, a gyro system capable of measuring the rotational inertia, and a magnetic field Lt; / RTI >

In one embodiment of the present invention, the upper support and the lower support are integrally formed and may be made of a flexible material.

In addition, a storage portion is formed on the outer surface of the upper support and the lower support in an area of a predetermined size, and a heating member having a flexible structure is stored in the storage portion, and the heating member can be controlled by a control signal of the control portion have.

The storage unit may include an inner supporting surface composed of a porous fiber material mounted in a direction in which the subject's skin contacts the skin; And an outer supporting surface composed of an insulating fiber material mounted in a direction exposed to the outside.

In this case, the inner supporting surface may be constituted by an electrically conductive fiber material or an electrically conductive metal material.

In one embodiment of the present invention, the knee joint rehabilitation apparatus includes an electromyogram measuring sensor mounted on the upper supporter and the lower supporter for measuring electromyograms of a target patient and transmitting the detected electromyogram data to the controller; And an electric stimulation apparatus mounted on the upper and lower supports and configured to receive a drive control signal from the controller to apply electric stimulation to the thigh and lower legs of the subject.

In this case, the controller calculates fatigue data or muscle activity data based on the EMG data received from the EMG measurement sensor, determines the electrical stimulation intensity and pattern based on the calculated data and the knee joint bending angle , And transmit the determined electrical stimulus intensity and pattern command to the electrical stimulation device.

The control unit may include a data storage unit capable of storing muscle fatness data, muscle activity data, knee joint bending angle, electric stimulation intensity, and pattern data, and the data storage unit stores a predetermined electric stimulation pattern and a rehabilitation exercise history Data can be stored.

In this case, the control unit may vary the electric stimulation intensity or pattern of the electric stimulation device by raising the target value in real time on the basis of the fatigue data, the bending angle of the knee joint, the electric stimulation intensity, The target knee joint bending angle can be reset.

In one embodiment of the present invention, the controller may include a wireless communication module that transmits the calculated knee joint bending angle to external communication equipment.

In this case, the control unit can perform wireless communication with the portable terminal of the operator using the built-in wireless communication module.

The present invention also provides a method of operating the knee joint rehabilitation apparatus, wherein a method of operating a knee joint rehabilitation apparatus according to an aspect of the present invention includes: a) a knee joint rehabilitation apparatus in a thigh and a hip of a patient, Wearing wearing phase; b) The electromyogram of the subject is measured using the electromyography sensor, and the target knee angle, thigh and lower heating degree, electric stimulation intensity, electric stimulation pattern are calculated based on the detected electromyogram data and the recent exercise history stored in the control section An initial setting step of determining the initial setting step; c) performing a knee motion to perform the knee joint bending motion of the subject; And d) a notification output step of outputting a notification when the knee joint bending angle reaches an initial target knee angle.

In one embodiment of the present invention, the method of operating the knee joint rehabilitation apparatus may further include: e) a muscle relaxation step of relaxing the thigh and the hip after the knee joint flexing exercise or after the exercise.

In this case, the muscle relaxation step may relax the femoral region and the lower leg region using a heating member or an electric stimulation apparatus.

Further, the method of operating the knee joint rehabilitation apparatus may further include: (f) an electric stimulation step of applying electric stimulation to the thigh and the lower thigh using an electric stimulation device before or after the bending motion of the knee joint.

Optionally, the electrical stimulation step may be performed simultaneously with the knee motion performing step.

In addition, the notification outputting step may include a step of outputting information related to a knee bend angle, a fatigue degree, a kinetic state, a kinetic history, a degree of heating of the thigh and lower leg, an electric stimulation intensity, To the terminal.

In this case, the notification output step may output a notification to the target patient or the operator using the portable terminal to induce repetitive motion.

As described above, according to the knee joint rehabilitation apparatus of the present invention, by providing the upper support, the lower support, and the control unit having a specific structure, it is possible to induce repeated training so that the patient himself can recognize the bending angle of the knee A knee joint rehabilitation device including a knee angle measurement device can be provided.

Further, according to the present invention, since the first inertia measurement sensor and the second inertia measurement sensor having a specific structure are provided, the knee joint bending angle of the subject can be accurately calculated.

Further, according to the present invention, since the upper support and the lower support are integrally formed with a flexible material, they can be easily and stably worn on the knee of the patient, can be folded and stored, A knee joint rehabilitation apparatus can be provided.

According to the knee joint rehabilitation apparatus of the present invention, the heating member having a specific structure is accommodated in the storage portion provided on the outer surface of the upper support and the lower support, so that the thigh and the lower portion of the patient can be heated and relaxed, Rehabilitation exercise can be implemented.

According to the knee joint rehabilitation apparatus of the present invention, since the housing portion including the inner support surface and the outer support surface having the specific structure is provided, it is possible to easily and stably mount or detach the heat generating member for heating the thigh and the hip of the patient have.

According to the present invention, there is provided a knee joint rehabilitation apparatus comprising an electromyogram measuring sensor and an electric stimulation device mounted at a specific position to measure an electromyogram of a subject and measure an electric stimulation intensity and an electric stimulation pattern based on the detected electromyogram data So that the electric stimulation apparatus can be effectively operated.

In addition, according to the present invention, kinesthetic degree data are calculated on the basis of electromyographic data received from an electromyographic measurement sensor, electric strength and patterns of electric stimulation are determined on the basis of fatigue data and knee joint bending angle, It is possible to optimally perform the electric stimulation according to the muscular condition of the patient and to maximize the effect of the knee joint rehabilitation according to the electric stimulation by providing the controller for transmitting the electric stimulation intensity and the pattern command determined by the electric stimulation device.

In addition, according to the method for operating the knee joint rehabilitation apparatus of the present invention, by including the wearing step of the specific configuration, the initial setting step, the knee motion performing step, the notification output step, the muscle relaxation step, and the electric stimulation step, The optimal knee motion can be induced by maximizing the effect of the knee joint rehabilitation.

According to the method for operating the knee joint rehabilitation apparatus of the present invention, the bending angle of the knee, the fatigue degree, the exercise state, the exercise history, the degree of heating of the thigh and the hip, the electric stimulation intensity, Can be transmitted to the portable terminal of the operator so that a more convenient and easy knee joint rehabilitation exercise can be induced.

1 is a perspective view showing a rehabilitation apparatus for a knee joint according to the prior art.
2 is a photograph showing a knee rehabilitation device according to the prior art.
3 is a front view showing a conventional knee joint rehabilitation exercise device.
4 is a perspective view illustrating a knee joint rehabilitation apparatus according to an embodiment of the present invention.
5 is a perspective view showing the knee joint rehabilitation apparatus shown in FIG.
FIG. 6 is a perspective view showing the knee joint rehabilitation apparatus shown in FIG. 4 worn on the thigh and the hip of the subject.
FIG. 7 is a schematic view for explaining the operation principle of the first inertial measurement sensor and the second inertial measurement sensor shown in FIG. 4. FIG.
FIG. 8 is a schematic diagram for explaining the operation principle of the first inertial measurement sensor and the second inertial measurement sensor shown in FIG. 7. FIG.
9 is a schematic diagram for explaining a method of calculating the knee joint bending angle based on the inertial data detected from the first inertial measurement sensor and the second inertial measurement sensor shown in FIG.
FIG. 10 is a block diagram of a control unit of a knee joint rehabilitation apparatus according to an embodiment of the present invention. Referring to FIG.
11 is a flowchart illustrating a method of operating a knee joint rehabilitation apparatus according to an embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the drawings. Prior to the description, terms and words used in the present specification and claims should not be construed as limited to ordinary or dictionary meanings and should be construed in accordance with the technical concept of the present invention.

Throughout this specification, when a member is "on " another member, this includes not only when the member is in contact with another member, but also when there is another member between the two members. Throughout this specification, when an element is referred to as "including" an element, it is understood that it may include other elements as well, without departing from the other elements unless specifically stated otherwise.

FIG. 4 is a perspective view illustrating a knee joint rehabilitation apparatus according to an embodiment of the present invention. FIG. 5 is a perspective view illustrating a knee joint rehabilitation apparatus shown in FIG. A knee joint rehabilitation apparatus is worn on the thigh and the lower leg of the subject.

Referring to these figures, the knee joint rehabilitation apparatus 100 according to the present embodiment includes an upper support 110 and a second inertial measurement sensor 121 on which a first inertial measurement sensor 111 having a specific structure is mounted, A knee joint rehabilitation device including a knee angle measuring device capable of inducing repeated training so that the patient himself can recognize the bending angle of the knee by providing the lower support 120 and the controller 130 have.

Hereinafter, each constitution of the knee joint rehabilitation apparatus 100 according to the present embodiment will be described in detail with reference to the drawings.

4 to 6, the upper support 110 according to the present embodiment is mounted in the form of wrapping at least a part of the thigh 11 of the subject, and the first inertial measurement sensor 111, May be mounted on one side portion.

The lower support 120 may be configured to surround at least a portion of the lower leg 12 of the subject and may be configured to mount the second inertial measurement sensor 121 on one side.

The upper support 110 and the lower support 120 according to this embodiment are integrally formed and are preferably made of a flexible material. For example, the upper support 110 and the lower support 120 may be integrally formed in a band structure, and may be formed of a fiber material having an elastic force of a predetermined size.

Therefore, according to the knee joint rehabilitation apparatus 100 of the present invention, since the upper support 110 and the lower support 120 are formed of a flexible material and integrally formed, the knee joint can be easily and stably worn on the knee of the patient, It is possible to provide a knee joint rehabilitation apparatus which can be folded and stored, thereby remarkably improving the portability.

5, the receiving portion 140 may be formed on the outer surface of the upper support 110 and the lower support 120 with an area of a predetermined size.

In this case, the heating member 150 having a flexible structure is housed in the housing part 140, and the heating member 150 can be controlled by a control signal of the control part (130 in FIG. 6).

Therefore, according to the knee joint rehabilitation apparatus 100 of the present invention, the heating member 150 having a specific structure is housed in the housing section 140 provided on the outer surface of the upper support platform 110 and the lower support platform 120, The thighs 11 and the legs 12 of the patient can be heated and relaxed, thereby realizing a more effective rehabilitation exercise.

The knee joint rehabilitation apparatus 100 according to the present invention includes the storage portion 140 including the inner support surface 141 and the outer support surface 142 of a specific structure, And the heating member 150 for heating the lower leg portion 12 can be easily and stably mounted or detached.

The receiving portion 140 includes an inner supporting surface 141 composed of a porous fiber material attached to the skin of the subject and an outer supporting surface 142 composed of an insulating fiber material mounted in a direction exposed to the outside . ≪ / RTI >

In some cases, the inner support surface 141 of the storage portion 140 according to the present embodiment may be formed of an electrically conductive fiber material or an electrically conductive metal material. In this case, it can be utilized as an electrode constituting the electric stimulation apparatus 170 described later. In this case, the area occupied by the electric stimulation apparatus 170 and the storage section 140 can be minimized, and the overall configuration of the knee joint rehabilitation apparatus 100 can be compact.

7 to 9, the first inertial measurement sensor 111 and the second inertial measurement sensor 121 according to the present embodiment include an accelerometer (a in Fig. 8) capable of measuring the mobile inertia and an accelerometer It is preferable that it is one integrated unit consisting of a gyro system (b in Fig. 8) capable of measuring rotational inertia and a magnetic field capable of measuring an azimuth angle (c in Fig. 8).

7 to 9, the knee joint rehabilitation apparatus 100 according to the present embodiment uses the first inertial measurement sensor 111 and the second inertial measurement sensor 121 to measure the bending angle of the knee joint Can be accurately detected.

Therefore, according to the present invention, since the first inertia measurement sensor 111 and the second inertia measurement sensor 121 having the specific structure are provided, the knee joint bending angle of the target patient can be accurately calculated .

6, the controller 130 may wirelessly communicate with the portable terminal 200 of the user using wireless communication, and may output the bending angle of the knee joint to the user.

The details of this will be described in detail below.

FIG. 10 is a block diagram illustrating a control unit of a knee joint rehabilitation apparatus according to an embodiment of the present invention, and FIG. 11 is a flowchart illustrating a method of operating a knee joint rehabilitation apparatus according to an embodiment of the present invention .

The control unit 130 according to the present embodiment may be mounted on the upper support 110 or the lower support 120 and may be installed on the basis of the inertia data detected through the first inertial sensor 111 and the second inertial sensor 121 The knee joint bending angle is calculated, and the calculated knee joint bending angle can be output to the target patient.

In addition, the knee joint rehabilitation apparatus 100 according to the present embodiment may further include the proximity measurement sensor 160 and the electric stimulation device 170 at specific positions as shown in FIG.

Specifically, the electromyogram measuring sensor 160 is mounted on the upper supporter 110 and the lower supporter 120, and can measure the electromyogram of the target patient and transmit the detected electromyogram data to the controller 130. [

The electric stimulation device 170 is mounted on the upper support platform 110 and the lower support platform 120 and receives a drive control signal from the control unit 130 so as to be electrically connected to the thighs 11 and the lower legs 120 of the patient. Stimulation can be performed.

At this time, the controller 130 calculates the muscle fatness data based on the EMG data received from the EMG sensor 160, determines the electrical stimulation intensity and pattern based on the muscle fatigue data and the knee joint bending angle, And transmit the determined electrical stimulus intensity and pattern command to the stimulation device 170. [

Therefore, according to the present invention, the knee joint rehabilitation apparatus 100 includes the electromyogram measuring sensor 160 and the electric stimulation apparatus 170 mounted at specific positions, thereby measuring the electromyogram of the subject and detecting the detected electromyogram data It is possible to calculate the electric stimulation intensity and the electric stimulation pattern to effectively operate the electric stimulation apparatus.

In addition, the controller 130 may include a data storage unit 180 that stores fatigue data, a knee joint bending angle, electric stimulus intensity, and pattern data. At this time, it is preferable that the data storage unit 180 stores predetermined electric stimulation patterns and rehabilitation exercise history data.

In some cases, the control unit 130 may include a wireless communication module 190 that transmits the calculated knee joint bending angle to external communication equipment.

In this case, the control unit 130 can perform wireless communication with the portable terminal 200 of the operator by using the built-in wireless communication module 190.

According to the present invention, the kinesthetic performance data is calculated based on the electromyographic data received from the electromyometric measurement sensor 160, and the electric stimulation intensity is calculated based on the fatigue data and the knee joint bending angle. And a control unit 130 that transmits a determined electric stimulation intensity and a pattern command to the electric stimulation apparatus 170 after determining the pattern so that the electric stimulation can be performed optimally according to the muscular state of the subject, The effect of the knee joint rehabilitation can be maximized.

Hereinafter, the method of operating the knee joint rehabilitation apparatus (S100) according to the present embodiment will be described in detail with reference to FIG. 11 together with FIG.

The knee joint rehabilitation apparatus operating method S100 according to the present embodiment includes a configuration including a wearing step S110, an initial setting step S120, a knee exercise performing step S130, and a notification output step S140 of a specific configuration Lt; / RTI >

As shown in FIG. 11, the method S100 for operating the knee joint rehabilitation apparatus according to the present embodiment may further include a muscle relaxation step (S150) and an electric stimulation step (S160).

More specifically, the wearing step S110 is a step of wearing the knee joint rehabilitation apparatus 100 in the thigh 11 and the lower leg 12 of the subject.

In the initial setting step S120, the electromyogram of the target patient is measured using the electromyogram measuring sensor 160, and based on the detected electromyogram data and the recent exercise history stored in the controller 130, the target knee angle, The degree of heating of the lower leg, the electric stimulation intensity, and the electric stimulation pattern.

At this time, the stored rehabilitation exercise history data is data on the degree of heating of the thighs and lower legs inputted by the operator or the user, the intensity of the electric stimulation, and the stimulation pattern of the battery. The operator or the user can modify and input such history data and set it to operate automatically according to the control logic of the control unit 130. [

Thereafter, the knee joint bending motion of the subject is performed through the knee motion execution step (S130).

At this time, the notification output step (S140) is performed, and a notification can be output when the knee joint bending angle reaches the initial target knee angle. The wireless communication module 190 is used to transmit information about the knee bend angle, muscle activity, muscle fatigue, exercise state, exercise history, degree of thigh and lower leg heating, electric stimulation intensity, To the terminal (200).

The operator or the user can monitor the operation state of the knee joint rehabilitation apparatus 100 and the state of the subject's femur 11 and the lower leg 12 at a glance based on the information transmitted to the portable terminal 200. [

Since the strength of the electric stimulation differs depending on the patient, the operation of the knee joint rehabilitation apparatus 100 can be easily controlled by the control using the portable terminal 200 according to the intention of the patient or the intention of the operator . Specifically, the operation of the knee joint rehabilitation apparatus 100 can be easily controlled by modifying the information about the femoral and tibial heating degrees, the intensity of the electric stimulus, and the battery stimulation pattern using the portable terminal 200.

In some cases, the muscle relaxation step S150 is a step of relaxing the femur 11 and the hip joint 12 before or after the knee joint bending motion.

Specifically, the muscle relaxation step S150 may relax the femur 11 and the lower leg 12 using the heating member 170 described above.

In some cases, the muscle relaxation step S150 may relax the femoral region 11 and the lower leg 12 using the massage function (Tense function of EMS) by lowering the cell stimulation frequency of the electric stimulation apparatus 170. [ Specifically, the electric stimulation application frequency band of the general electric stimulation device 170 is 80 to 90 Hz, and the frequency band when used as the massage function may be 5 to 10 Hz. When the femoral portion 11 and the leg portion 12 are loosened using the electric stimulation apparatus 170, the configuration in which the heat generating member 150 is omitted can be realized.

Furthermore, the control unit 130 according to the present embodiment can vary the electric stimulation intensity or pattern of the electric stimulation device 170 by increasing the target value in real time based on the maximum electromyogram value detected from the subject patient. At this time, the operator or the user can check this state in real time through the portable terminal 200, and the degree of upward of the target value can be arbitrarily changed by the operator or the user depending on the case.

The electrical stimulation step S160 is a step of applying electrical stimulation to the femur 11 and the hip 12 using the electric stimulation device 170 before or after the knee joint bending motion. In some cases, the electrical stimulation step S160 is performed simultaneously with the knee exercise execution step S130, so that an electric stimulation during the rehabilitation exercise can be utilized to achieve a faster muscle training effect.

Therefore, according to the method for operating the knee joint rehabilitation apparatus (S100) of the present invention, the wearing step S110, the initial setting step S120, the knee exercise performing step S130, the notification output step S140, By including the step S150 and the electric stimulation step S160, it is possible to maximize the effect of the knee joint rehabilitation by inducing the optimum knee joint motion reflecting the muscular state and the exercise history of the subject.

According to the method (S100) for operating the knee joint rehabilitation apparatus of the present invention, the wireless communication module 190 can be used to adjust the knee flexion angle, muscle fatigue, exercise state, exercise history, degree of thigh and hip heating, By transmitting the information regarding the intensity and the electric stimulation pattern to the portable terminal 200 of the operator, it is possible to induce a more convenient and easy knee joint rehabilitation exercise.

In some cases, the notification output step S140 may output a notification to the target patient or the operator using the portable terminal 200 to induce the repetitive motion.

In the foregoing detailed description of the present invention, only specific embodiments thereof have been described. It is to be understood, however, that the invention is not to be limited to the specific forms thereof, which are to be considered as being limited to the specific embodiments, but on the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention as defined by the appended claims. .

That is, the present invention is not limited to the above-described specific embodiment and description, and various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims. And such variations are within the scope of protection of the present invention.

11: Thigh
12: lower leg
13: Knee joint
100: Knee joint rehabilitation device
110: upper support
111: First inertia measurement sensor
120: lower support
121: Second inertia measurement sensor
130:
140:
141: Inner support surface
142: outer supporting surface
150:
160: EMG measurement sensor
170: electric stimulation device
180: Data storage unit
190: Wireless communication module
200: portable terminal
S100: How to operate the knee joint rehabilitation device
S110: Wearing step
S120: Initial setting step
S130: step of performing knee motion
S140: Notification output step
S150: muscle relaxation step
S160: electric stimulation step
S170: the exercise history storage step

Claims (19)

A knee joint rehabilitation apparatus (100) for inducing a movement for rehabilitation of a knee joint of a subject by wearing a part of a leg including a knee of a subject,
An upper support 110 mounted on at least a portion of a thigh 11 of a subject and having a first inertial measurement sensor 111 mounted thereon;
A lower support 120 mounted to surround at least a part of the lower leg 12 of the subject and having a second inertial measurement sensor 121 mounted thereon; And
A knee joint bending angle is calculated based on the inertia data detected through the first inertial sensor 111 and the second inertial sensor 121 mounted on the upper supporter 110 or the lower supporter 120, A controller 130 for outputting a bending angle of the knee joint to a target patient;
And a knee joint rehabilitating device.
The method according to claim 1,
The first inertia measurement sensor 111 and the second inertia measurement sensor 121 may include an accelerometer capable of measuring the mobile inertia, a gyro system capable of measuring the rotational inertia, and a single Wherein the knee joint is an integrated unit.
The method according to claim 1,
Wherein the upper support (110) and the lower support (120) are integrally formed and made of a flexible material.
The method of claim 3,
On the outer surfaces of the upper support 110 and the lower support 120, a receiving part 140 is formed with an area of a predetermined size,
A heating member 150 having a flexible structure is accommodated in the receiving portion 140,
Wherein the heating member (150) is controlled by a control signal of the controller (130).
5. The method of claim 4,
The accommodating portion 140,
An inner supporting surface 141 composed of a porous fibrous material mounted in the direction in which the subject's skin comes in contact with the skin; And
An outer supporting surface 142 made of an insulating fiber material mounted in a direction of being exposed to the outside;
Wherein the knee joint rehabilitation apparatus comprises:
6. The method of claim 5,
Wherein the inner bearing surface (141) comprises an electrically conductive fiber material or an electrically conductive metal material.
The method according to claim 1,
The knee joint rehabilitation apparatus (100)
An electromyogram measuring sensor 160 mounted on the upper supporter 110 and the lower supporter 120 for measuring the electromyogram of the subject and transmitting the detected electromyogram data to the controller 130; And
An electric stimulation device 170 mounted on the upper supporter 110 and the lower supporter 120 for receiving a drive control signal from the controller 130 and applying an electric stimulation to the thighs 11 and the lower thighs 120 of the subject, );
Further comprising: a knee joint rehabilitation device for generating a knee joint motion;
8. The method of claim 7,
The control unit 130,
Calculates muscle fatness data or muscle activity data based on the EMG data received from the EMG sensor 160,
After determining the electrical stimulation intensity and pattern based on the calculated data and the knee joint bending angle,
And transmits the determined electrical stimulation intensity and pattern command to the electrical stimulation apparatus (170).
9. The method of claim 8,
The control unit 130,
A data storage unit 180 capable of storing muscle fatigue data, muscle activity data, knee joint bending angle, electric stimulus intensity, and pattern data,
Wherein the data storage unit (180) stores predetermined electric stimulation patterns and rehabilitation exercise history data.
10. The method of claim 9,
The control unit 130 may vary the electric stimulation intensity or pattern of the electric stimulation apparatus 170 by raising the target value in real time based on the muscle fatness data, the bending angle of the knee joint, the electric stimulation intensity, And the target knee joint bending angle is reset.
The method according to claim 1,
The control unit 130,
And a wireless communication module (190) for transmitting the calculated knee joint bending angle to external communication equipment.
12. The method of claim 11,
Wherein the control unit (130) performs wireless communication with the portable terminal (200) of the operator using the built-in wireless communication module (190).
A method (S100) for operating a knee joint rehabilitation apparatus according to any one of claims 1 to 12,
a) a wearing step (S110) of wearing the knee joint rehabilitation apparatus (100) in the thighs (11) and the lower legs (12) of the patient;
b) measuring the electromyogram of the subject by using the electromyogram measuring sensor 160, calculating the target knee angle, the degree of heating of the thighs and lower thighs based on the detected electromyogram data and the recent exercise history stored in the controller 130, An initial setting step (S120) of determining the intensity and electric stimulation pattern;
c) performing a knee motion to perform a bending motion of the knee joint of the target patient (S130); And
d) a notification output step (S140) of outputting a notification when the knee joint bending angle reaches an initial target knee angle;
Wherein the knee joint rehabilitation apparatus comprises:
14. The method of claim 13,
The method for operating the knee joint rehabilitation apparatus (S100)
e) a muscle relaxation step (S150) to relax the femur (11) and the lower leg (12) before or after the knee flexion exercise;
Further comprising the steps of:
15. The method of claim 14,
The method of operating the knee joint rehabilitation apparatus according to claim 1, wherein the muscle relaxation step (S150) comprises loosening the thighs and the lower legs (12) using the heating member (150) or the electric stimulation apparatus (170).
14. The method of claim 13,
The method for operating the knee joint rehabilitation apparatus (S100)
f) an electrical stimulation step (S160) of applying electrical stimulation to the thighs (11) and the hip (12) using the electrical stimulation device (170) before or after the bending of the knee joint;
Further comprising the steps of:
17. The method of claim 16,
Wherein the electric stimulation step (S160) is performed simultaneously with the step of performing the knee motion (S130).
14. The method of claim 13,
The notification output step (S140)
Information about the knee bend angle, muscle fatigue, exercise state, exercise hysteresis, thigh and lower leg heating degree, electric stimulation intensity, and electric stimulation pattern of the subject by using the wireless communication module 190 is transmitted to the portable terminal 200 of the operator And transmitting the knee joint rehabilitation device.
19. The method of claim 18,
Wherein the notification output step (S140) outputs a notification to the target patient or the operator using the portable terminal (200) to induce repetitive motion.

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