KR20190029175A - Rehabilitation training system and rehabilitation training method using the same - Google Patents

Rehabilitation training system and rehabilitation training method using the same Download PDF

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KR20190029175A
KR20190029175A KR1020170116414A KR20170116414A KR20190029175A KR 20190029175 A KR20190029175 A KR 20190029175A KR 1020170116414 A KR1020170116414 A KR 1020170116414A KR 20170116414 A KR20170116414 A KR 20170116414A KR 20190029175 A KR20190029175 A KR 20190029175A
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user
rehabilitation training
unit
training
walking
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KR1020170116414A
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김학병
이진원
박진혁
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(주)메디즈
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane
    • A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
    • A61B5/112—Gait analysis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0218—Drawing-out devices
    • A61H1/0229—Drawing-out devices by reducing gravity forces normally applied to the body, e.g. by lifting or hanging the body or part of it
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H3/008—Appliances for aiding patients or disabled persons to walk about using suspension devices for supporting the body in an upright walking or standing position, e.g. harnesses
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B23/00—Exercising apparatus specially adapted for particular parts of the body
    • A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
    • A63B23/04—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs
    • A63B23/0405—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs involving a bending of the knee and hip joints simultaneously
    • A63B23/0464—Walk exercisers without moving parts
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
    • A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
    • A63B2071/0694—Visual indication, e.g. Indicia

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Rehabilitation Therapy (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Animal Behavior & Ethology (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Dentistry (AREA)
  • Physiology (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Physics & Mathematics (AREA)
  • Biophysics (AREA)
  • Pathology (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Surgery (AREA)
  • Rehabilitation Tools (AREA)

Abstract

The present invention relates to a walk guide apparatus for a rehabilitation training, which enables a patient to perform a recognition function training and a walk training at the same time and introduces interest elements to strengthen motivation. To this end, the walk guide apparatus for a rehabilitation training comprises: a frame unit including a side surface support unit which has a pair of vertical supports across a user and an upper side support unit which connects the pair of vertical supports to each other; a user support unit worn on the body of the user; a rope connected to the user support unit; a weight maintaining unit provided at the frame unit to maintain tension of the rope; a wheel unit provided at a lower part of the frame unit; and a control unit controlling driving of the weight maintaining unit. Therefore, the present invention enables a patient to walk to a wanted place by himself or herself without wearing complex robot equipment, thereby maximizing effect of the rehabilitation training.

Description

재활훈련시스템 및 그것을 이용한 재활훈련방법{Rehabilitation training system and rehabilitation training method using the same}[0001] The present invention relates to a rehabilitation training system and a rehabilitation training method using the same,

본 발명은 재활훈련시스템 및 그것을 이용한 재활훈련방법에 관한 것이며, 구체적으로 환자의 인지기능훈련과 보행훈련을 동시에 할 수 있고 흥미요소를 도입하여 동기부여를 강화한 재활훈련시스템 및 그것을 이용한 재활훈련방법에 관한 것이다.The present invention relates to a rehabilitation training system and a rehabilitation training method using the rehabilitation training system. More specifically, the present invention relates to a rehabilitation training system in which a cognitive function training and a walking training can be simultaneously performed, .

뇌졸중, 척추손상 등으로 인해 재활훈련이 필요한 사람이 늘어나고 있으나, 이러한 재활훈련을 도와줄 인력, 장비 등은 턱없이 부족한 현실이다. 특히 재활훈련을 위해서는 스스로 걷도록 도와주는 장치가 필요한데, 대부분 런닝머신과 같은 제자리에서 움직이는 장치로 되어 있어 환자들은 말그대로 힘든 훈련으로 인식하고 있다.Stroke, and spinal injuries are increasing the number of people who need rehabilitation training, personnel and equipment to help with this rehabilitation training is inadequate reality. Particularly for rehabilitation training, a device that helps people to walk themselves is necessary. Most of them are made of a moving device like a running machine, so patients recognize it as hard training.

도 1에 나타낸 등록특허 제10-1694848호에 의하면, 로봇 몸체를 환자가 착용하고 환자의 보행을 지지하는 보행기를 포함하도록 함으로써, 로봇 몸체와 보행기가 결합되어 환자가 자연스럽게 움직이며 보행하도록 지원하는 재활 로봇이 개시되어 있다.According to Japanese Patent Application No. 10-1694848, shown in FIG. 1, the robot body is mounted on a walker supporting the patient's walking, thereby allowing the robot body and the walker to be combined, A robot is disclosed.

상기한 발명은 환자의 다리에 로봇을 착용하게 함으로써 로봇의 움직임을 통해 환자가 스스로 보행하게 할 수 있는 장점이 있다.The above-described invention has an advantage that the robot can be worn on the legs of the patient, thereby enabling the patient to walk on the robot himself.

하지만, 상기한 발명은 환자가 로봇 다리에 대한 거부감이 드는 경우가 많으며, 실제 로봇 다리를 착용하는 과정이 매우 불편하고 시간도 많이 걸린다. 또한, 로봇 다리의 작동과정에서 자연스럽지 못한 느낌을 받을 수 있으며, 스스로 움직이는 것이 아니다보니 재활훈련의 효과도 미미해지는 단점이 있다.However, the above-mentioned invention often affects the patient's feeling of rejection of the robot leg, and the process of actually wearing the robot leg is very inconvenient and takes a lot of time. In addition, the robot legs may feel uncomfortable in the operation process, and since it is not moved by itself, the effect of the rehabilitation training becomes insignificant.

본 발명은 상기한 문제점을 해결하기 위한 것이며, 환자 스스로 보행을 할 수 있도록 유도하여 재활훈련의 효과를 극대화하고, 동기부여를 해줌으로써 흥미롭게 재활훈련에 임할 수 있도록 하는 것이 본 발명의 목적이다.SUMMARY OF THE INVENTION It is an object of the present invention to solve the above-mentioned problems and to provide a method of inducing a patient to walk, thereby maximizing the effect of rehabilitation training and motivating him to engage in rehabilitation training.

상기한 목적을 달성하기 위하여, 본 발명은 사용자를 사이에 두고 한 쌍의 세로지지대를 포함하는 측면지지부 및 상기 한 쌍의 세로지지대를 연결하는 상방지지부를 포함하는 프레임부; 사용자의 몸통에 착용되는 사용자지지구; 상기 사용자지지구에 연결되는 로프; 상기 프레임부에 구비되어 상기 로프의 텐션을 유지하여 주는 체중유지부; 상기 프레임부의 하부에 구비되는 바퀴부; 상기 체중유지부의 구동을 제어하는 제어부를 포함하는 재활훈련용 보행유도장치를 제공한다.According to an aspect of the present invention, there is provided an image forming apparatus including: a frame portion including a side support portion including a pair of vertical support portions with a user therebetween, and an image preventive portion connecting the pair of vertical support portions; A user support to be worn on the torso of the user; A rope connected to said user support; A weight holding part provided in the frame part to maintain the tension of the rope; A wheel portion provided at a lower portion of the frame portion; And a control unit for controlling the driving of the weight holding unit.

상기 로프는 도르레에 의해 방향이 전환되며, 상기 도르레는 가드레일에 의해 전후로 이동되는 것이 바람직하다.It is preferable that the rope is turned by a pulley and the pulley is moved back and forth by a guard rail.

상기 프레임에는 사용자의 전방으로 보행위치를 표시하여 주는 영상처리부가 구비되는 것이 바람직하다.Preferably, the frame includes an image processing unit for displaying a walking position in front of the user.

여기서, 상기 영상처리부는 발자국이미지를 사용자의 전방으로 표시하여 주는 레이저 프로젝터 및 상기 발자국이미지를 촬영하는 카메라를 포함하며, 상기 제어부는 상기 카메라에 의해 촬영된 영상을 분석하여 보행의 정확성을 판단하는 것이 바람직하다.Here, the image processor includes a laser projector for displaying a footprint image in front of the user and a camera for photographing the footprint image, and the controller analyzes the image photographed by the camera to determine the accuracy of the walk desirable.

상기 영상처리부는 짐벌유닛에 의해 상기 프레임에 회동가능하게 결합되어 상기 프레임의 움직임에 대해 대응되는 각도로 회전하여 상기 보행위치를 고정위치에 표시하여 줄 수 있다.The image processing unit may be rotatably coupled to the frame by a gimbal unit, rotated at a corresponding angle with respect to the movement of the frame, and may display the walking position at a fixed position.

본 발명에 의하면, 복잡한 로봇장비를 착용하지 않고 환자 스스로 원하는 장소로 보행할 수 있도록 함으로써 재활훈련의 효과를 극대화할 수 있다.According to the present invention, it is possible to maximize the effect of the rehabilitation training by allowing the patient to walk to a desired place by themselves without wearing complicated robotic equipment.

또한, 인지기능 훈련과 보행 훈련을 동시에 수행할 수 있어 종합적인 재활훈련을 할 수 있으며, 환자의 훈련성고를 객관적인 데이터를 통해 확인할 수 있는 장점이 있다.In addition, cognitive function training and gait training can be performed at the same time, so that comprehensive rehabilitation training can be performed, and the patient training performance can be confirmed through objective data.

도 1은 종래기술에 의한 재활 로봇의 구성을 나타내는 사시도;
도 2는 본 발명에 의한 재활훈련용 보행유도장치를 나타내는 정면도;
도 3은 본 발명에 의한 재활훈련용 보행유도장치의 측면도;
도 4는 본 발명에 의한 재활훈련과정을 나타내는 예시도;
도 5는 본 발명에 의한 재활훈련용 보행유도장치에서 짐벌유닛의 예를 나타내는 예시도.1 is a perspective view showing a configuration of a rehabilitation robot according to the prior art;
2 is a front view showing a walking and guiding apparatus for rehabilitation training according to the present invention;
3 is a side view of a walking and guiding apparatus for rehabilitation training according to the present invention;
4 is an exemplary view showing a rehabilitation training process according to the present invention;
5 is an exemplary view showing an example of a gimbals unit in a walking and guiding apparatus for rehabilitation training according to the present invention.

본 발명의 실시예의 구성 및 작용에 대하여 첨부한 도면을 참조하여 상세하게 설명한다.The configuration and operation of the embodiment of the present invention will be described in detail with reference to the accompanying drawings.

도 2 및 도 3을 참조하면, 본 발명에 의한 재활훈련용 보행유도장치는 측면지지부(110), 상방지지부(130), 사용자지지구(300), 로프(210), 체중유지부(400), 바퀴부(600)를 포함하여 구성된다.2 and 3, the walking and guiding apparatus for rehabilitation training according to the present invention includes a side supporting portion 110, an upper preventing portion 130, a user supporting portion 300, a rope 210, a weight holding portion 400 And a wheel unit 600, as shown in FIG.

상기 측면지지부(110) 및 상방지지부(130)는 본 발명에 의한 재활훈련용 보행유도장치의 프레임을 구성하는데, 상기 측면지지부(110)는 사용자의 측면에서 세로로 길게 구비되는 한 쌍의 세로지지대를 포함한다. 상기 세로지지대는 사람키보다 약간 높게 구비되는 것이 바람직한데, 일체형으로 구비될 수도 있고 길이를 늘리거나 줄일 수 있도록 두 개의 부재가 연결된 형태로 구비될 수도 있다.The side support portion 110 and the top preventive portion 130 constitute a frame of a walking and guiding apparatus for rehabilitation training according to the present invention. The side support portion 110 includes a pair of longitudinal Lt; / RTI > It is preferable that the vertical support is slightly higher than a human key. The vertical support may be integrally formed, or may have two members connected to each other to increase or decrease the length.

상기 상방지지부(130)는 수평으로 한 쌍의 세로지지대를 연결하며, 각종 부품이 실장된다. 상기 상방지지부(130)에는 사용자의 어깨 넓이 정도의 폭으로 한 쌍의 가드레일(230)이 구비된다. The image restraining part 130 horizontally connects a pair of vertical supports, and various components are mounted. The pair of guard rails 230 are provided on the image restraining part 130 with a width corresponding to the shoulder width of the user.

상기 가드레일(230)은 전방으로 돌출된 형태로 구비되며, 내측도르레(212)를 전방 및 후방으로 움직일 수 있도록 해주는 역할을 한다. 즉, 내측도르레(212)는 도르레브라켓(232)의 하부에 결합되어 있으며, 상기 도르레브라켓(232)은 가드레일(230)에 슬라이딩 가능하게 결합된다. 이러한 가드레일(230)에 의하여 사용자의 움직임에 따라 내측도르레(212)가 전방 또는 후방으로 이동하므로 제어부에서는 사용자가 움직이려는 방향을 감지해 낼 수 있다.The guard rails 230 protrude forward and serve to move the inner pulley 212 forward and backward. That is, the inner drum 212 is coupled to the lower portion of the drum bracket 232, and the drum bracket 232 is slidably coupled to the guard rail 230. Since the inner drum 212 moves forward or backward according to the movement of the user by the guard rail 230, the controller can detect the direction in which the user wishes to move.

한편, 사용자는 사용자지지구(300)를 착용한 후 본 발명에 의한 재활훈련용 보행유도장치를 이용할 수 있다. 상기 사용자지지구(300)는 가슴, 허리, 골반 등에 착용할 수 있다. 상기 사용자지지구(300)는 착용시 사용자가 안정감을 느끼기 위하여 부드럽고 질긴 천으로 구비되는 것이 바람직하다. 또한, 상기 사용자지지구(300)에는 사용자의 움직임을 감지할 수 있는 센서가 부착될 수도 있다.On the other hand, the user can use the walker for rehabilitation training according to the present invention after wearing the user support 300. The user support 300 may be worn on a chest, a waist, a pelvis, or the like. It is preferable that the user support unit 300 is provided with a soft and strong cloth for the user to feel a sense of security when worn. In addition, a sensor capable of detecting movement of the user may be attached to the user support 300.

상기 사용자지지구(300)는 로프(210)에 연결된다. 또한, 상기 로프(210)는 복수 개의 도르레를 통해 체중유지부(400)에 연결된다.The user support 300 is connected to the rope 210. The rope 210 is connected to the weight holding part 400 through a plurality of pulleys.

구체적으로, 상기 로프(210)는 한 쌍으로 구비되고, 가드레일(230)에 결합되는 내측도르레(212)를 거쳐 측면지지부(110)에 결합되는 외측도르레(214)에 의해 방향이 전환되어 세로지지대를 따라 연장된 후 체중지지부(400)에 연결된다. 상기 한 쌍의 내측도르레(212)의 폭은 사용자의 어깨 넓이보다 약간 큰 것이 바람직하다.Specifically, the ropes 210 are arranged in pairs and are turned by the outer pulley 214 coupled to the side support portion 110 via the inner pulley 212 coupled to the guard rail 230, Extends along the support, and is connected to the weight support 400. The width of the pair of inner pulleys 212 is preferably slightly larger than the shoulder width of the user.

상기 체중유지부(400)는 제어부의 구동에 따라 상기 로프의 텐션을 유지시켜 줌으로써 사용자가 선 자세를 유지할 수 있도록 해주는 역할을 한다. 즉, 사용자가 다리에 힘이 풀려 주저앉는 경우 상기 체중유지부에서는 로프를 잡아당겨 사용자가 선 자세를 유지할 수 있도록 하여 주고, 걷는 자세에서는 상황에 따라 살작 로프를 들어 올려 주어 사용자가 쉽게 걸을 수 있도록 하여 준다.The weight holding unit 400 maintains the tension of the rope according to the driving of the control unit, thereby enabling the user to maintain the standing posture. That is, when the user sits down on the legs, the weight holding portion pulls the rope so that the user can maintain the standing posture. In the walking posture, the user lifts the rope according to the situation so that the user can easily walk I will.

사용자가 앞으로 전진하려 하는 경우 상체가 앞으로 기울면서 로프의 장력에 의해 내측도르레(212)가 가드레일을 따라 앞으로 전진하게 된다. 그러면, 내측도르레센서(미도시)에 의해 내측도르레가 앞으로 전진한 것이 감지되고, 제어부에서는 바퀴부(600)를 구동시켜 앞으로 전진시킨다. When the user tries to move forward, the upper body is forwardly tilted forward, and the inner pulley 212 is advanced forward along the guard rail by the tension of the rope. Then, it is sensed that the inner pulley has advanced forward by an inner pulley sensor (not shown), and the control unit drives the wheel unit 600 to move forward.

상기 바퀴부(600)는 하부프레임에 구비될 수 있으며, 전방부, 후방부, 중앙부에 각각 구비될 수 있다. 상기 바퀴부(600)는 모터에 의해 구동되는 것이 바람직하다.The wheel unit 600 may be installed in a lower frame, and may be provided in a front portion, a rear portion, and a central portion, respectively. The wheel unit 600 is preferably driven by a motor.

한편, 사용자가 옆방향으로 이동하고자 몸을 돌리는 경우 체중유지부(400)에서 감지되는 양쪽 로프의 장력(당기는 힘)이 달라지게 된다. 즉, 몸을 오른쪽으로 돌리는 경우 오른쪽 로프의 장력에 비해 왼쪽 로프의 장력이 커지게 된다. 제어부에서는 내측도르레의 움직임 및 양쪽 로프의 장력 차이를 계산하여 왼쪽 바퀴부와 오른쪽 바퀴부의 구동을 다르게 하여 준다. On the other hand, when the user turns to move in the lateral direction, the tension (pulling force) of both ropes sensed by the weight holding part 400 is changed. That is, when the body is turned to the right, the tension of the left rope becomes larger than the tension of the right rope. In the control part, the movement of the inner pulley and the tension difference between the ropes of both ropes are calculated to drive the left wheel and the right wheel differently.

예를 들어, 내측도르레가 앞으로 이동하면서 왼쪽 로프의 장력이 오른쪽 로프의 장력보다 커지는 경우 제어부에서는 왼쪽 바퀴부의 구동속도를 오른쪽 바퀴의 구동속도보다 빠르게 제어한다. 또한, 내측도르레가 뒤로 이동하면서 오른쪽 로프의 장력이 왼쪽 로프의 장력보다 커지는 경우 제어부에서는 오른쪽 바퀴부를 후진으로 하면서 오른쪽 바퀴부의 구동속도를 왼쪽 바퀴부의 구동속도보다 빠르게 제어한다.For example, when the inner pulley moves forward and the tension of the left rope becomes larger than the tension of the right rope, the control unit controls the driving speed of the left wheel faster than the driving speed of the right wheel. When the tension of the right rope is greater than the tension of the left rope while the inner drum moves backward, the control unit controls the driving speed of the right wheel faster than the driving speed of the left wheel, while moving the right wheel backward.

상기 프레임의 상부에는 사용자의 전방으로 보행위치를 표시하여 주는 영상처리부(500)가 구비된다. 상기 영상처리부(500)는 전방으로 발자국이미지를 표시하여 주는 레이저프로젝터 및 상기 발자국이미지를 촬영하는 카메라를 포함한다.And an image processing unit 500 for displaying a walking position in front of the user on the upper portion of the frame. The image processor 500 includes a laser projector for displaying a footprint image forward and a camera for photographing the footprint image.

즉, 도 4를 참조하면, 상기 영상처리부(500)의 레이저프로젝터에서는 사용자의 전방으로 발자국이미지를 표시하여 주며, 사용자는 상기 발자국이미지를 보면서 다음 발을 딛을 위치를 확인하게 된다. 뇌졸중 등의 환자들은 보통 마비증세와 더불어 인지능력이 떨어지게 되는데, 본 발명에 의하면 보행위치를 표시하여 줌으로써 올바른 보행을 유도함과 동시에 목표의식을 느끼게 해주어 인지훈련과 재활훈련이 동시에 이루어지게 된다.Referring to FIG. 4, the laser projector of the image processing unit 500 displays a footprint image in front of the user, and the user views the footprint image and confirms a position to take a next foot. Stroke, and the like are usually accompanied by paralysis and cognitive impairment. According to the present invention, since the walking position is indicated, it is possible to induce the correct walking and to realize the target consciousness, so that the cognitive training and the rehabilitation training are simultaneously performed.

사용자는 레이저프로젝터에서 방사되는 발자국이미지를 따라 다리를 딛게 되며, 상기 카메라에서는 사용자가 발자국이미지를 올바로 밟는지 촬영하게 된다. 그리고, 제어부의 비전분석부에서는 상기 카메라로 촬영된 영상을 분석하여 보행의 정확성을 판단하게 된다.The user follows the footprint image projected from the laser projector, and the camera takes a picture of whether the user steps on the footprint image correctly. The vision analyzing unit of the control unit analyzes the image photographed by the camera to determine the accuracy of the walking.

예를 들어, 상기 비전분석부에서는 발자국이미지 면적의 80% 이상이 사용자의 발로 채워지면 올바른 보행으로 판단하며, 제어부에서는 스피커(미도시)를 통해 알람을 줌으로써 올바른 보행을 했음을 알려줄 수 있다. 이와는 반대로, 상기 비전분석부에서는 발자국이미지 면적의 50% 미만이 사용자의 발로 채워지면 보행실패로 판단하며, 제어부에서는 스피커를 통해 경고알람 또는 "발의 위치를 이동시켜 주세요"와 같은 안내방송을 하여줌으로써 보행이 원활하게 이루어질 수 있도록 유도하여 준다.For example, in the vision analyzing unit, if more than 80% of the footprint image area is filled with the user's feet, the control unit determines that the user is walking correctly, and the control unit can notify the user of the correct walking by giving an alarm through a speaker (not shown). On the other hand, in the vision analyzing unit, when less than 50% of the footprint image area is filled with the user's foot, it is determined that the walking is unsuccessful, and the controller issues a warning message such as a warning alarm or " This leads to smooth walking.

이와 함께, 상기 제어부에서는 타이머를 가동시켜 한 발을 딛고 난 후, 몇초 만에 다음 발을 딛는지를 측정한다. 이러한 데이터는 저장부에 저장되거나, 무선통신부를 통해 중앙서버로 전송되어 저장될 수 있다.At the same time, the control unit activates a timer to measure one foot after the other foot is stepped on. Such data may be stored in a storage unit or transmitted to a central server through a wireless communication unit and stored.

또한, 상기 제어부에서는 보행성공 개수를 카운트하여 레이저프로젝터를 통해 실시간으로 점수를 표시하여 줄 수 있다. 이렇게 하여 사용자는 목표의식이 생기게 되고 흥미를 유발할 수 있다.In addition, the controller counts the number of successes of walking and displays the score in real time through the laser projector. In this way, the user may become aware of the goal and cause interest.

한편, 상기 영상처리부(500)는 도 5와 같은 짐벌유닛을 이용하여 프레임에 결합될 수 있다. 상기 짐벌유닛은 IMU센서를 포함할 수 있으며, 이를 통해 현재의 위치를 추정하여 사용자가 어느 방향으로 얼만큼 이동하였는지를 판단할 수 있다.Meanwhile, the image processor 500 may be coupled to a frame using a gimbal unit as shown in FIG. The gimbal unit may include an IMU sensor to estimate the current position and determine in which direction the user has moved.

상기 짐벌유닛에 의하여 레이저프로젝터는 사용자가 앞으로 전진하여도 일정 위치에 보행위치를 표시하여 줄 수 있다. 즉, 상기 영상처리부는 짐벌유닛에 의해 프레임에 회동가능하게 결합되고, 프레임의 움직임을 감지하여 이에 대응되는 각도로 회전하여 프레임이 움직여도 보행위치를 바닥의 고정위치에 표시하여 주게 된다. 이후, 사용자가 보행위치를 밟으면 다음 보행위치를 연속적으로 표시하여 줄 수 있다.The gimbals unit allows the laser projector to display the walking position at a predetermined position even if the user moves forward. That is, the image processing unit is rotatably coupled to the frame by the gimbal unit, detects the motion of the frame, rotates at an angle corresponding thereto, and displays the walking position at the fixed position of the floor even when the frame moves. Thereafter, when the user steps on the walking position, the user can continuously display the next walking position.

본 발명에 의한 재활훈련용 보행유도장치를 이용한 훈련과정은 모두 중앙서버로 전송되어 관리된다. 따라서, 중앙서버의 훈련프로그램에 따라 영상처리부에서 표시되는 내용은 달라진다. 즉, 사용자의 이전 점수 및 보행시간에 따라 보폭이나 방향전환 등의 난이도가 달라질 수 있다.The training process using the walking and guiding apparatus for rehabilitation training according to the present invention is all transmitted to the central server and managed. Accordingly, the content displayed in the image processing unit varies depending on the training program of the central server. That is, the degree of difficulty such as stride or direction change may vary depending on the user's previous score and walking time.

다음으로, 본 발명에 의한 재활훈련용 보행유도장치를 이용한 재활훈련방법에 대해 설명한다.Next, a rehabilitation training method using the walking guidance apparatus for rehabilitation training according to the present invention will be described.

사용자가 사용자지지구(300)를 착용하고 사용자 이름(ID)을 입력하면 영상처리부(500)에 의해 보행위치가 표시된다. 이때, 사용자 이름이 입력되면 상기 사용자 이름은 무선통신부를 통해 중앙서버로 전송되고, 중앙서버에서는 해당 사용자 이름에 대한 훈련과정을 조회하여 적절한 훈련프로그램을 다시 전송하여 준다. 영상처리부에서는 상기 중앙서버에서 전송된 훈련프로그램을 이용하여 대응하는 영상을 레이저프로젝터를 이용하여 표시하여 준다.When the user wears the user support zone 300 and inputs a user name (ID), the image processing unit 500 displays the walking position. At this time, if the user name is input, the user name is transmitted to the central server through the wireless communication unit, and the central server inquires the training process for the user name and transmits the appropriate training program again. The image processor displays a corresponding image using a laser projector using the training program transmitted from the central server.

상기 중앙서버에는 훈련정도에 따라 보폭이 정해지고, 보행을 완료해야 할 시간이 데이터베이스화되어 저장된다. In the central server, the stride is determined according to the degree of training, and the time to complete the walking is stored in a database.

훈련과정이 어느 정도 진행되면, 난이도를 점점 높여갈 수 있으며, 중간에 장애물을 표시하여 줄 수도 있다. 장애물이 표시되면, 사용자로 하여금 장애물을 피해갈 수 있도록 유도하여 준다. 즉, 장애물이 표시도면, 재활훈련용 보행유도장치는 좌우 로프 및 바퀴의 구동을 제어하여 사용자가 장애물을 회피할 수 있도록 유도할 수 있다. 또한, 장애물 회피에 성공하였을 경우 영상처리부에서는 성공하였음을 알리는 영상을 표시함과 동시에 스피커를 통해 성공메세지를 알려줄 수 있다.As the training progresses, you can increase the difficulty and mark the obstacles in the middle. When an obstacle is displayed, the user is guided to avoid the obstacle. That is, the walking guidance device for obstacles and rehabilitation training can control the driving of the left and right ropes and the wheels so as to guide the user to avoid obstacles. Also, if the obstacle avoidance is successful, the image processing unit displays an image indicating success, and can notify the success message through the speaker.

상기에서는 본 발명의 실시예들을 참조하여 설명하였지만, 해당 기술 분야에서 통상의 지식을 가진 자라면 하기의 특허 청구범위에 기재된 본 발명의 사상 및 영역으로부터 벗어나지 않는 범위 내에서 본 발명을 다양하게 수정 및 변경시킬 수 있음을 이해할 수 있을 것이다.While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, and variations and modifications may be made without departing from the scope of the invention. It will be understood that the present invention can be changed.

110 : 측면지지부 130 : 상방지지부
210 : 로프 212 : 내측도르레
214 : 외측도르레 230 : 가드레일
300 : 사용자지지구 400 : 체중유지부
500 : 영상처리부 600 : 바퀴부110: side support part 130:
210: rope 212: inner pulley
214: outer pulley 230: guard rail
300: user support zone 400: weight maintenance unit
500: image processor 600:

Claims (3)

사용자지지구에 의해 사용자가 지지되며, 앞으로 이동가능한 재활훈련장치를 이용한 재활훈련시스템에 있어서,
상기 재활훈련장치는 제어부 및 무선통신부를 포함하고,
상기 무선통신부를 통해 사용자의 아이디가 중앙서버로 전송되고,
상기 중앙서버는 상기 아이디에 대응하는 훈련프로그램을 검출하여 상기 재활훈련장치로 전송하여 주고,
상기 재활훈련장치는 상기 아이디에 특화된 훈련프로그램을 수행하는 것을 특징으로 하는 재활훈련시스템.
In a rehabilitation training system using a rehabilitation training apparatus which is supported by a user and which can be moved forward,
Wherein the rehabilitation training device includes a control unit and a wireless communication unit,
The ID of the user is transmitted to the central server through the wireless communication unit,
The central server detects a training program corresponding to the ID and transmits the detected training program to the rehabilitation training device,
Wherein the rehabilitation training device performs a training program specific to the ID.
제1항에 있어서,
상기 재활훈련장치는 영상처리부를 포함하고,
상기 영상처리부는 상기 아이디에 특화된 보행위치를 표시하여 주는 것을 특징으로 하는 재활훈련시스템.
The method according to claim 1,
Wherein the rehabilitation training apparatus includes an image processing unit,
Wherein the image processing unit displays a walking position specific to the ID.
제2항에 있어서,
상기 영상처리부는 레이저프로젝터 및 카메라를 포함하고,
상기 카메라는 상기 레이저프로젝터에 의해 표시된 발자국이미지를 촬영하며,
상기 제어부는 상기 카메라에 의해 촬영된 영상을 분석하여 보행의 정확성을 판단하는 것을 특징으로 하는 재활훈련시스템.3. The method of claim 2,
Wherein the image processing unit includes a laser projector and a camera,
The camera captures an image of a footprint displayed by the laser projector,
Wherein the control unit analyzes the image photographed by the camera to determine the accuracy of the walking.
KR1020170116414A 2017-09-12 2017-09-12 Rehabilitation training system and rehabilitation training method using the same KR20190029175A (en)

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KR20230103061A (en) 2021-12-31 2023-07-07 주식회사 헥사휴먼케어 Method for controlling of apparatus for rehabilitation
KR20230103178A (en) 2021-12-31 2023-07-07 주식회사 헥사휴먼케어 Rehabilitation training method of device for Rehabilitation training
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US11801423B2 (en) 2019-05-10 2023-10-31 Rehab2Fit Technologies, Inc. Method and system for using artificial intelligence to interact with a user of an exercise device during an exercise session
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US11833393B2 (en) 2019-05-15 2023-12-05 Rehab2Fit Technologies, Inc. System and method for using an exercise machine to improve completion of an exercise
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US11896540B2 (en) 2019-06-24 2024-02-13 Rehab2Fit Technologies, Inc. Method and system for implementing an exercise protocol for osteogenesis and/or muscular hypertrophy
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US11915816B2 (en) 2019-10-03 2024-02-27 Rom Technologies, Inc. Systems and methods of using artificial intelligence and machine learning in a telemedical environment to predict user disease states
US11923065B2 (en) 2019-10-03 2024-03-05 Rom Technologies, Inc. Systems and methods for using artificial intelligence and machine learning to detect abnormal heart rhythms of a user performing a treatment plan with an electromechanical machine
US11923057B2 (en) 2019-10-03 2024-03-05 Rom Technologies, Inc. Method and system using artificial intelligence to monitor user characteristics during a telemedicine session
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US11950861B2 (en) 2019-10-03 2024-04-09 Rom Technologies, Inc. Telemedicine for orthopedic treatment
US11955223B2 (en) 2019-10-03 2024-04-09 Rom Technologies, Inc. System and method for using artificial intelligence and machine learning to provide an enhanced user interface presenting data pertaining to cardiac health, bariatric health, pulmonary health, and/or cardio-oncologic health for the purpose of performing preventative actions
US11955222B2 (en) 2019-10-03 2024-04-09 Rom Technologies, Inc. System and method for determining, based on advanced metrics of actual performance of an electromechanical machine, medical procedure eligibility in order to ascertain survivability rates and measures of quality-of-life criteria
US11955218B2 (en) 2019-10-03 2024-04-09 Rom Technologies, Inc. System and method for use of telemedicine-enabled rehabilitative hardware and for encouraging rehabilitative compliance through patient-based virtual shared sessions with patient-enabled mutual encouragement across simulated social networks
US11951359B2 (en) 2019-05-10 2024-04-09 Rehab2Fit Technologies, Inc. Method and system for using artificial intelligence to independently adjust resistance of pedals based on leg strength
US11955220B2 (en) 2019-10-03 2024-04-09 Rom Technologies, Inc. System and method for using AI/ML and telemedicine for invasive surgical treatment to determine a cardiac treatment plan that uses an electromechanical machine
US11955221B2 (en) 2019-10-03 2024-04-09 Rom Technologies, Inc. System and method for using AI/ML to generate treatment plans to stimulate preferred angiogenesis
US11957956B2 (en) 2019-05-10 2024-04-16 Rehab2Fit Technologies, Inc. System, method and apparatus for rehabilitation and exercise
US11961603B2 (en) 2019-10-03 2024-04-16 Rom Technologies, Inc. System and method for using AI ML and telemedicine to perform bariatric rehabilitation via an electromechanical machine
US11957960B2 (en) 2019-05-10 2024-04-16 Rehab2Fit Technologies Inc. Method and system for using artificial intelligence to adjust pedal resistance
US11978559B2 (en) 2019-10-03 2024-05-07 Rom Technologies, Inc. Systems and methods for remotely-enabled identification of a user infection
US12020800B2 (en) 2019-10-03 2024-06-25 Rom Technologies, Inc. System and method for using AI/ML and telemedicine to integrate rehabilitation for a plurality of comorbid conditions
US12020799B2 (en) 2019-10-03 2024-06-25 Rom Technologies, Inc. Rowing machines, systems including rowing machines, and methods for using rowing machines to perform treatment plans for rehabilitation
US12029940B2 (en) 2019-03-11 2024-07-09 Rom Technologies, Inc. Single sensor wearable device for monitoring joint extension and flexion
US12057237B2 (en) 2020-04-23 2024-08-06 Rom Technologies, Inc. Method and system for describing and recommending optimal treatment plans in adaptive telemedical or other contexts
US12062425B2 (en) 2019-10-03 2024-08-13 Rom Technologies, Inc. System and method for implementing a cardiac rehabilitation protocol by using artificial intelligence and standardized measurements
US12087426B2 (en) 2023-10-31 2024-09-10 Rom Technologies, Inc. Systems and methods for using AI ML to predict, based on data analytics or big data, an optimal number or range of rehabilitation sessions for a user

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US12059591B2 (en) 2019-03-11 2024-08-13 Rom Technologies, Inc. Bendable sensor device for monitoring joint extension and flexion
US11752391B2 (en) 2019-03-11 2023-09-12 Rom Technologies, Inc. System, method and apparatus for adjustable pedal crank
US12029940B2 (en) 2019-03-11 2024-07-09 Rom Technologies, Inc. Single sensor wearable device for monitoring joint extension and flexion
US11951359B2 (en) 2019-05-10 2024-04-09 Rehab2Fit Technologies, Inc. Method and system for using artificial intelligence to independently adjust resistance of pedals based on leg strength
US11801423B2 (en) 2019-05-10 2023-10-31 Rehab2Fit Technologies, Inc. Method and system for using artificial intelligence to interact with a user of an exercise device during an exercise session
US11957960B2 (en) 2019-05-10 2024-04-16 Rehab2Fit Technologies Inc. Method and system for using artificial intelligence to adjust pedal resistance
US11904207B2 (en) 2019-05-10 2024-02-20 Rehab2Fit Technologies, Inc. Method and system for using artificial intelligence to present a user interface representing a user's progress in various domains
US11957956B2 (en) 2019-05-10 2024-04-16 Rehab2Fit Technologies, Inc. System, method and apparatus for rehabilitation and exercise
US11833393B2 (en) 2019-05-15 2023-12-05 Rehab2Fit Technologies, Inc. System and method for using an exercise machine to improve completion of an exercise
US11896540B2 (en) 2019-06-24 2024-02-13 Rehab2Fit Technologies, Inc. Method and system for implementing an exercise protocol for osteogenesis and/or muscular hypertrophy
US11955222B2 (en) 2019-10-03 2024-04-09 Rom Technologies, Inc. System and method for determining, based on advanced metrics of actual performance of an electromechanical machine, medical procedure eligibility in order to ascertain survivability rates and measures of quality-of-life criteria
US12020799B2 (en) 2019-10-03 2024-06-25 Rom Technologies, Inc. Rowing machines, systems including rowing machines, and methods for using rowing machines to perform treatment plans for rehabilitation
US11923057B2 (en) 2019-10-03 2024-03-05 Rom Technologies, Inc. Method and system using artificial intelligence to monitor user characteristics during a telemedicine session
US11942205B2 (en) 2019-10-03 2024-03-26 Rom Technologies, Inc. Method and system for using virtual avatars associated with medical professionals during exercise sessions
US11950861B2 (en) 2019-10-03 2024-04-09 Rom Technologies, Inc. Telemedicine for orthopedic treatment
US11955223B2 (en) 2019-10-03 2024-04-09 Rom Technologies, Inc. System and method for using artificial intelligence and machine learning to provide an enhanced user interface presenting data pertaining to cardiac health, bariatric health, pulmonary health, and/or cardio-oncologic health for the purpose of performing preventative actions
US12062425B2 (en) 2019-10-03 2024-08-13 Rom Technologies, Inc. System and method for implementing a cardiac rehabilitation protocol by using artificial intelligence and standardized measurements
US11955218B2 (en) 2019-10-03 2024-04-09 Rom Technologies, Inc. System and method for use of telemedicine-enabled rehabilitative hardware and for encouraging rehabilitative compliance through patient-based virtual shared sessions with patient-enabled mutual encouragement across simulated social networks
US11915816B2 (en) 2019-10-03 2024-02-27 Rom Technologies, Inc. Systems and methods of using artificial intelligence and machine learning in a telemedical environment to predict user disease states
US11955220B2 (en) 2019-10-03 2024-04-09 Rom Technologies, Inc. System and method for using AI/ML and telemedicine for invasive surgical treatment to determine a cardiac treatment plan that uses an electromechanical machine
US11955221B2 (en) 2019-10-03 2024-04-09 Rom Technologies, Inc. System and method for using AI/ML to generate treatment plans to stimulate preferred angiogenesis
US11915815B2 (en) 2019-10-03 2024-02-27 Rom Technologies, Inc. System and method for using artificial intelligence and machine learning and generic risk factors to improve cardiovascular health such that the need for additional cardiac interventions is mitigated
US11961603B2 (en) 2019-10-03 2024-04-16 Rom Technologies, Inc. System and method for using AI ML and telemedicine to perform bariatric rehabilitation via an electromechanical machine
US11887717B2 (en) 2019-10-03 2024-01-30 Rom Technologies, Inc. System and method for using AI, machine learning and telemedicine to perform pulmonary rehabilitation via an electromechanical machine
US11978559B2 (en) 2019-10-03 2024-05-07 Rom Technologies, Inc. Systems and methods for remotely-enabled identification of a user infection
US12020800B2 (en) 2019-10-03 2024-06-25 Rom Technologies, Inc. System and method for using AI/ML and telemedicine to integrate rehabilitation for a plurality of comorbid conditions
US11923065B2 (en) 2019-10-03 2024-03-05 Rom Technologies, Inc. Systems and methods for using artificial intelligence and machine learning to detect abnormal heart rhythms of a user performing a treatment plan with an electromechanical machine
US11826613B2 (en) 2019-10-21 2023-11-28 Rom Technologies, Inc. Persuasive motivation for orthopedic treatment
US12083380B2 (en) 2019-11-06 2024-09-10 Rom Technologies, Inc. Bendable sensor device for monitoring joint extension and flexion
US12057237B2 (en) 2020-04-23 2024-08-06 Rom Technologies, Inc. Method and system for describing and recommending optimal treatment plans in adaptive telemedical or other contexts
US12083381B2 (en) 2021-12-15 2024-09-10 Rom Technologies, Inc. Bendable sensor device for monitoring joint extension and flexion
KR20230103061A (en) 2021-12-31 2023-07-07 주식회사 헥사휴먼케어 Method for controlling of apparatus for rehabilitation
KR20230103178A (en) 2021-12-31 2023-07-07 주식회사 헥사휴먼케어 Rehabilitation training method of device for Rehabilitation training
US12087426B2 (en) 2023-10-31 2024-09-10 Rom Technologies, Inc. Systems and methods for using AI ML to predict, based on data analytics or big data, an optimal number or range of rehabilitation sessions for a user

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