KR20190008028A - Cuff for rehabilitation robots and rehabilitation apparatus - Google Patents

Abstract

The present invention relates to a rehabilitation robot cuff and a rehabilitation training apparatus including the same, designed to increase a rehabilitation effect and a body aid effect. According to an embodiment of the present invention, the rehabilitation robot cuff comprises: a plurality of curved surface guides formed by being successively laminated; and a guide adjusting unit adjusting a curvature of each curved surface guide. The curved surface guide forms an individual pressing point to support each point of a body part.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a rehabilitation robot cuff and a rehabilitation training apparatus including the same.

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a rehabilitation robot cuff and a rehabilitation training apparatus including the same, and more particularly, to a cuff for providing rehabilitation training by assisting a rehabilitation patient in normal motion and an apparatus including the same.

In general, patients who have undergone surgery due to damage to the knee joints should be treated with a casting fixture until the lesion is recovered. However, as soon as the Gibbs is removed, the joints that have been fixed for a long time are hardened, and it takes a considerable amount of time to perform the rehabilitation treatment, and the patients themselves need a lot of effort to restore their original condition by strengthening their muscles through rehabilitation .

On the other hand, the joint orthosis is a device for supporting or correcting the operated part due to the rupture of the cruciate ligament. It minimizes the movement of the injured ligament and supports the joint.

A variety of techniques related to articulating organs are under research and development, and related prior art documents are disclosed in Korean Patent Laid-Open Publication No. 2010-0018599 (published on Feb. 17, 2010), a rehabilitation exercise machine for ankle aids.

In addition, there are more and more cases of using the underarm rehabilitation robot to treat physical paralysis (hemiplegia) caused by diseases such as stroke by physical training.

In this case, the rehabilitation robot generates the motion of the joints (the hip, the knee joint, and the ankle joint) by the driver (i.e., the motor) in order to create a normal gait pattern of the user (i.e., the patient). At this time, the limb is restrained with the cuff so that the motion of the driver (i.e., motor) is well followed by the body part of the patient.

The cuff usually uses a soft tissue such as a sponge or an air cell. In this case, there is a problem in that the cuff is not adjusted in accordance with movement of the body part (for example, movement of the lower limb during walking), so that the body is not excessively squeezed or restrained. When using a cuff that is rigid and restraining the body at many points, the patient's motion is similar to the motion of the robot, which can increase the effectiveness of the training, but there is a problem of providing strong pain to the patient. Therefore, there is a need for an invention that provides a high rehabilitation effect by restraining a body part in accordance with body movements in a wide range.

The present invention relates to a cuff which provides a high rehabilitation training effect and a body assist effect by real-time controlling the shape in real time according to the shape of the body part and the body movement according to the real-time condition of the body part, To provide a rehabilitation training device.

The problems to be solved by the present invention are not limited to the above-mentioned problems, and other problems which are not mentioned can be clearly understood by those skilled in the art from the following description.

A rehabilitation robot cuff according to an embodiment of the present invention includes: a plurality of curved guides formed by continuous lamination; And a guide adjuster for adjusting the curvature of each curved guide, wherein the curved guide forms a separate point of compression to support each point of the body part.

Further, in another embodiment, the apparatus further includes a control unit for controlling the guide adjusting unit to individually adjust the plurality of curved guides.

In another embodiment, the control unit adjusts the curvature of each curved guide based on a specific walking cycle.

Further, in another embodiment, the walking cycle is a type determined for treadmills and for general walking.

The guide adjusting unit may include a plurality of control belts included in the curved guide and controlling the curvature of the curved guide according to the degree of pulling.

A rehabilitation training device according to another embodiment of the present invention includes: a cuff according to embodiments of the present invention; And a joint motor disposed at a joint of the patient to assist joint movement.

According to another embodiment of the present invention, the distance between the joint motor and the cuff is fixed, and the circumferential length of each curved guide is initially set according to the patient to be worn.

Further, in another embodiment, the treadmill in which the patient wearing the cuff and the joint motor performs walking is used.

Further, in another embodiment, the treadmill is applied in the same manner as the walking cycle applied to the cuff.

According to the present invention as described above, the following various effects are obtained.

First, it can be restrained in a wider range than existing cuffs, so that the rehabilitation robot can accurately provide movement to the body part of the patient. In other words, the multi-point squeeze can reliably restrain the body part rather than the existing cuff and accurately provide the movement of the rehabilitation training device to the body.

Second, the cuff shape can be controlled in real time in accordance with the shape of the body part, so accurate rehabilitation training and exercise aids are possible. That is, the cuff is deformed in real time according to the shape of the body part (for example, the arm or the leg) changed by the muscles according to the movement, thereby providing accurate rehabilitation training compared to the existing cuff.

Third, by applying the walking cycle, the cuff shape can be modified in real time in a form that matches the body movements during walking. This can provide a rehabilitation patient with a motion that matches the normal motion (e.g., a normal walking motion).

1 is a configuration diagram of a cuff according to an embodiment of the present invention.
2 is a top view of a curved guide according to an embodiment of the present invention.
3 is a cross-sectional view of a curved guide according to an embodiment of the present invention.
Figure 4 is an exemplary illustration of a motor, pulley, and control belt connected in accordance with one embodiment of the present invention.
FIG. 5 is a graph showing a change in a main compression point according to a walking cycle according to an embodiment of the present invention. FIG.
Figure 6 is a graph of the torque change of a joint in a walking cycle according to an embodiment of the invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS The advantages and features of the present invention, and the manner of achieving them, will be apparent from and elucidated with reference to the embodiments described hereinafter in conjunction with the accompanying drawings. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. To fully disclose the scope of the invention to those skilled in the art, and the invention is only defined by the scope of the claims. Like reference numerals refer to like elements throughout the specification.

Unless defined otherwise, all terms (including technical and scientific terms) used herein may be used in a sense commonly understood by one of ordinary skill in the art to which this invention belongs. Also, commonly used predefined terms are not ideally or excessively interpreted unless explicitly defined otherwise.

The terminology used herein is for the purpose of illustrating embodiments and is not intended to be limiting of the present invention. In the present specification, the singular form includes plural forms unless otherwise specified in the specification. The terms " comprises "and / or" comprising "used in the specification do not exclude the presence or addition of one or more other elements in addition to the stated element.

Herein, the 'rehabilitation robot' includes a device for performing rehabilitation training and a device for assisting movement (for example, walking) of a rehabilitation patient.

The rehabilitation robot cuff and rehabilitation training apparatus according to the embodiments of the present invention will be described in detail with reference to the drawings.

1 is a configuration diagram of a cuff 100 according to an embodiment of the present invention.

The rehabilitation robot cuff 100 according to an embodiment of the present invention includes a curved guide 110; And a guide adjuster 120.

The curved guide 110 serves to support each point of the body part. For example, in the case of a curved guide 110 used in a walking rehabilitation robot, the rehabilitation patient plays a role of supporting the leg so as to perform a leg motion during walking.

The cuff 100 is formed by continuously stacking a plurality of curved guides 110. Each curved guide 110 forms an individual point of compression to support each point of the body part (i. E., A plurality of body points spaced at a certain distance). The point of compression refers to the point (i.e., the point at which the body is gripped) pressed on the body to support the body. Since the legs or arms are different in thickness and continuously change depending on the position, a plurality of curved guides 110 formed with a specific thickness are controlled by the guide adjusting part 120 to be described later to form a pressing point conforming to the body shape .

The curved guide 110 may be made of a flexible material so that it can be deformed to have different curvatures by the guide adjusting part 120, which will be described later.

In addition, the curved surface guide 110 can be manufactured in various forms. In one embodiment, the curved surface guide 110 may be U-shaped to surround one side of the body part. At this time, both ends of the U-shape can form a pressing point of the curved guide 110. Specifically, in the U-shaped curved surface guide 110, the forward point (point A) and the rear point (point B) can be pressed against the body. The front point (point A) and the rear point (point B) of the curved surface guide 110 approach or depart from each other when the curvature of the U-shaped curved surface guide 110 is changed by the guide adjusting unit 120 described later. Thus, the distance between the forward point (point A) and the rear point (point B) is adjusted in accordance with the change in the circumferential length of the specific body point according to the movement of the body part.

The guide adjuster 120 serves to deform the body point where each curved guide 110 is disposed. That is, the guide adjuster 120 adjusts the curvature of each curved guide 110 so that the cuff 100 can restrain the body part. If the cuff 100 is larger than the body part to be rehabilitated (i.e., the body part to be restrained), the cuff 100 can not assist the patient in the normal walking unless the body part is squeezed.

In one embodiment, when the curved guide 110 has a U-shape to press the forward point and the backward point, the guide adjuster 120 controls the curvature of each curved guide 110.

The guide adjuster 120 may be formed in various shapes. In one embodiment, the guide adjuster 120 may be coupled to one side of the curved guide 110 or may be included within the curved guide 110 to adjust the curvature of the curved guide 110, The control belt 121 (or strap). One control belt 121 is provided in one curved guide 110 and the curvature of the curved guide 110 is adjusted as the specific control belt 121 is adjusted.

2 to 4, the control belt 121 is disposed in a curved guide made of a soft material, and is coupled to a pulley 122 connected to the motor 123, . The control belt 121 may have a distal end fixed to one end of the curved guide 110. At this time, as the motor 123 rotates in the direction of winding the control belt 121 around the pulley 122, the curved surface guide 110 is pulled by the control belt 121 so that the curvature becomes large, .

The cuffs can be made in different sizes depending on the body part to be worn. For example, in the case of a lower-limb rehabilitation robot, the cuff may be formed in a size wearable on the undergarment.

Further, in another embodiment, the control unit 130 is further included. The controller 130 controls the guide controller 120 to adjust the plurality of curved guides 110 individually. The body such as an arm or a leg varies in thickness depending on the position, and the thickness varies depending on the movement state of the body. For example, in the case of using the cuff 100 for leg rehabilitation, the calf region where the cuff 100 is placed (i.e., the leg portion between the knee and ankle) The width varies. Accordingly, since the compression point of each curved surface guide 110 must be adjusted according to each body point and the movement state, the controller 130 may calculate the shape of each curved surface 110 corresponding to each body point , And the curvature of the guide).

The controller 130 applies a different shape change pattern (e.g., a curvature change pattern) to each curved surface guide 110 included in the cuff 100. [ That is, since each curved guide 110 is continuous but is disposed at a different body point, the controller 130 controls the shape of the curved guide 110 in accordance with the body position at which the curved guides 110 are disposed (for example, Curvature change pattern) is applied. For example, when the curved guide 110 has a separate guide adjusting portion 120 for adjusting the curved guide 110, the controller 130 may change the shape changing pattern corresponding to the body point at which the curved guide 110 is disposed, 110 to the guide regulating portion 120.

The controller 130 controls the guide adjusting unit 120 so that the plurality of curved surface guides 110 stacked at a specific time have a layout conforming to the body shape. That is, the controller 130 applies a shape change pattern (e.g., a curvature change pattern) so that the plurality of curved surface guides 110 stacked have a shape along the body surface at a specific point in time.

In one embodiment, when the cuff is used for underarm rehabilitation training (i.e., normal gait training) by wearing the cuffs, the controller 130 calculates curvatures of the curved guides 110 based on a specific walking cycle, . As shown in FIG. 5, the main pressing point of the lower limb is changed at the time of walking, and the shape formed by the plurality of curved guides 110 is changed accordingly. The desired pressing point / position refers to the point at which the desired pressing point should be squeezed to provide proper body movement. That is, when the cuff of the rehabilitation robot is worn below the knee to assist leg motion, the desired pressing point / position is a specific point in the vertical section between the ankle and below the knee, It means the point that should be squeezed to move the user's legs efficiently.

For example, as shown in Fig. 6, in the case of the knee joint in the moment (torque) graph of each joint with respect to the gait cycle, when a large joint torque is required (for example, There is a part passing through a leg supporting the cuff and a part of the cuff at the bottom of the cuff and a part of the cuff being worn between the knee and the ankle, The controller 130 may change the shape of the plurality of curved guides 110 so that the point near the knee is the main pressing point in order to press the curved point near the knee, The torque efficiency of the rehabilitation robot can be increased.

In addition, for example, in the C-D section in the walking cycle, the rehabilitation robot must forcibly push the foot backward. Therefore, at this time, the control unit 130 sets a point near the ankle as a main pressing point, and controls the curved surface guide 110 to press the point near the ankle.

The control unit 130 stores a walking cycle corresponding to a user wearing the cuff 100 (i.e., a patient), and controls the guide adjusting unit 120 when walking. For example, since the walking cycle is different according to the physical condition of the user (i.e., the patient), the controller 130 applies the shape change pattern of the curved guide 110 matching the body condition, ). That is, the control unit 130 calculates and stores the optimal compression curvature suitable for supporting the user's body during walking based on the physical information of each user (for example, the circumferential length of the lower limb in the case of the lower limb) And the curvature according to the walking cycle can be adjusted on the basis of the calculated walking distance. Further, the type of the walking cycle can be determined for the treadmill and the general walking. Since there is a difference in the human walking cycle at the time of the general gait and the treadmill 300 walking (specifically, there is a difference in the change of the legs during the general walking and the treadmill 300 walking) 100) can be applied to the walking cycle.

Further, in another embodiment, the controller 130 may sense movement of a user (e.g., a patient) to implement a cuff shape change for motion aiding of a user (e.g., a patient). That is, when the rehabilitation robot is a rehabilitation patient assisting device, the control unit can sense the movement pattern when the patient wants to perform a specific movement on a specific body part, and can control the cuff to assist the weak muscle strength. For example, if a rehabilitation patient wishes to walk forward, the controller may apply a gait cycle of normal gait to the cuff that is worn on the lower limb by sensing movement of the lower extremity muscles to perform a normal gait (i.e., walking forward).

Further, in another embodiment, it further includes a tension sensor (not shown). The tension sensor may be provided on a curved guide 110 or a control belt 121 made of a soft material to measure the pressure at the time of pressing the body. The control unit 130 adjusts the control belt 121 to a tension level with a high compression efficiency based on the tension data measured by a tension sensor (not shown). That is, the control unit controls the curved surface guide 110 to firmly restrain the body based on the tension data measured by the tension sensor, so that the user's pain due to the pressing can be reduced.

The rehabilitation training device according to another embodiment of the present invention includes a cuff 100 according to embodiments of the present invention; And a joint motor (200). The joint motor 200 is disposed at the joint of the patient to assist joint movement. For example, when performing the underarm rehabilitation training, the joint motor 200 is worn on the knee joint, the cuff 100 is worn on the lower limb between the feet and the knee, and when walking on the basis of the motion of the joint motor 200 The lower limb moves and adjusts the cuff 100 state in real time in accordance with the limb movement.

In another embodiment, the distance between the joint motor 200 and the cuff 100 is fixed, and the curvature of the curved guide 110 is initially set according to the wearer of the cuff 100 .

According to another embodiment of the present invention, the treadmill 300 performs the walking by the patient wearing the cuff 100 and the joint motor 200. The treadmill 300 is applied in the same manner as the walking cycle applied to the cuff 100. [ That is, the bottom surface of the treadmill 300 is controlled at a speed at which the rehabilitation patient can perform the walking due to the change of the shape of the cuff 100 according to the walking cycle.

According to the present invention as described above, the following various effects are obtained.

First, since the cuff 100 can be restrained in a wider range than the conventional cuff 100, the rehabilitation robot can accurately provide movement to the body part of the patient. That is, it is possible to reliably restrain the body part rather than the existing cuff 100 through the multi-point pressing and accurately provide the movement of the rehabilitation training device to the body.

Second, since the shape of the cuff 100 can be adjusted in real time in accordance with the shape of the body part, accurate rehabilitation training and exercise assisting are possible. That is, the cuff 100 is deformed in real time in accordance with the shape of the body part (for example, the arm or the leg) changed by the muscles according to the movement, thereby providing accurate rehabilitation training compared to the existing cuff 100.

Third, by applying a walking cycle, the shape of the cuff 100 can be modified in real time in accordance with the movement of the body during walking. This can provide a rehabilitation patient with a motion that matches the normal motion (e.g., a normal walking motion).

While the present invention has been described in connection with what is presently considered to be practical exemplary embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, You will understand. Therefore, it should be understood that the above-described embodiments are illustrative in all aspects and not restrictive.

100: Cuff 110: Curved guide
120: guide adjusting part 121: control belt
130: controller 200: joint motor
300: Treadmill

Claims (9)

In the rehabilitation robot cuff,
A plurality of curved guides formed by successive lamination; And
And a guide adjuster for adjusting a curvature of each curved guide,
Wherein the curved guide defines a respective point of compression to support each point of the body part. The method according to claim 1,
And a control unit for controlling the guide adjusting unit to individually adjust the plurality of curved guides. 3. The method of claim 2,
Wherein,
Wherein the curvature of each curved guide is adjusted based on a specific gait cycle. The method of claim 3,
The walking cycle includes:
Wherein the type is determined for treadmills and for general gait. The method according to claim 1,
The guide adjuster includes:
And a plurality of control belts included in the curved guide and adjusting the curvature of the curved guide according to the degree of pulling. A cuff according to any one of claims 1 to 5; And
And a joint motor disposed at a joint of the patient to assist the movement of the joint. The method according to claim 6,
The distance between the joint motor and the cuff is fixed,
The cuff,
And the peripheral length of each curved surface guide is initially set according to the patient to be worn. The method according to claim 6,
And a treadmill for performing a walk by a patient wearing the cuff and the joint motor. 9. The method of claim 8,
The treadmill
The same applies to a walking cycle applied to the cuff.

Images