KR20210032206A - Apparatus for rehabilitation - Google Patents

Abstract

The present invention relates to a rehabilitation apparatus, which comprises: a base unit; an operating unit mounted on the base and movable; a chair unit capable of height and angle adjustment by the operating unit; and an exoskeleton unit mounted to the chair unit, mounted to be rotatable in response to the joint, and inducing the lower body movement of a patient. Therefore, the patient can safely perform rehabilitation exercises.

Description

Rehabilitation device {APPARATUS FOR REHABILITATION}

The present invention relates to a rehabilitation apparatus, and more particularly, to a rehabilitation apparatus capable of helping a patient's rehabilitation by safely performing rehabilitation exercises while adjusting the angle of a chair.

With the recent increase in the elderly population and the spread of extreme sports, surgeries and treatments due to damage to the joints and ligaments of the human body are increasing, and rehabilitation treatments are accompanied to prevent rapid recovery and deterioration of joint function during surgery and treatment. .

In this way, clinicians use a joint exercise device to give a patient a passive motion, and to shorten the patient's rehabilitation period, it is performed immediately after the procedure and consists of continuous and repetitive movements.

Conventionally, a drive frame having a moving block that moves in the longitudinal direction according to the driving of a motor, and an adjustment frame that is coupled to one end of the drive frame and has a rotation shaft, and is coupled to the moving block and the rotation shaft, and raises the leg of the fracture patient. It is composed of a supporting frame to be placed. According to this configuration, rehabilitation treatment is performed using joints through rotational movement while the part requiring rehabilitation movement is fixed.

However, the prior art has a problem in that it is difficult to find the cause of a failure occurring during use because a power unit for rotational motion and a sensor for sensing an angle are separately provided, and repair time and cost are increased. Therefore, there is a need to improve this.

The background technology of the present invention is published in Korean Registered Patent Publication No. 10-1829827 (registered on February 9, 2018, title of invention: rehabilitation chair for strengthening the pelvis and trunk muscles).

The present invention has been conceived to improve the above problems, and an object of the present invention is to provide a rehabilitation device capable of assisting the rehabilitation of a patient by safely performing rehabilitation exercises while adjusting the angle of the chair.

The rehabilitation apparatus according to the present invention includes: a base; An operation unit mounted on the base and movable; A chair part capable of adjusting height and angle by the operation part; And an exoskeleton unit mounted on the chair unit, mounted to be rotatable in correspondence with the joint, and inducing movement of the lower body of the patient.

The base portion is seated on the ground and spaced apart from a pair of first and second base portions; A third base portion formed on the first base portion and extending upward; And a fourth base portion connecting the first base portion and the second base portion and forming first and second base holes.

The operation unit is rotatably mounted to the third base unit, the first operation rod unit coupled to the chair unit; A second operating rod portion rotatably mounted on the chair portion; A third operating rod portion rotatably mounted to the first operating rod portion; A second actuating wheel part rotatably mounted on the second actuating rod part and in contact with the ground through the first base hole part; A third actuating wheel part rotatably mounted on the third actuating rod part and in contact with the ground through the second base hole part; A third actuating motor unit driving the third actuating wheel unit; And a fourth actuating wheel part rotatably mounted on the third actuating wheel part and passing through the second base hole part and in contact with the ground.

The chair portion is mounted so as to be rotatable at a rear end of the first operating rod, and a chair rod portion which is rotatably mounted at the front end of the second operating rod; A chair hip support that is mounted on the chair rod and supports the patient's hips; And a chair back support that is mounted on the first operating rod and supports the patient's back.

The exoskeleton unit includes a first skeleton unit mounted on the chair unit; A second skeletal part rotatably connected to the first skeletal part to induce hip joint motion; A third skeletal part rotatably connected to an end of the second skeletal part to induce a knee joint motion; And a fourth skeletal part rotatably connected to the third skeletal part and for inducing a patient's ankle joint motion.

The second skeleton and the third skeleton are characterized in that the length can be adjusted.

Any one or more of the connecting portion of the first skeleton and the second skeleton, the connecting portion of the second skeleton and the third skeleton, and the connecting portion of the third skeleton and the fourth skeleton is within a set rotation range. It is characterized in that it can be rotated in.

Any one or more of the connecting portion of the first skeleton and the second skeleton, the connecting portion of the second skeleton and the third skeleton, and the connecting portion of the third skeleton and the fourth skeleton at a set rotation point It is characterized in that rotation is limited.

The rehabilitation apparatus according to the present invention can fix the foot on the exoskeleton while the patient is seated on the chair and perform hip joint, knee joint, and ankle joint rehabilitation exercises.

The rehabilitation device according to the present invention can be used by adjusting the length of the exoskeleton to suit various body sizes.

In the rehabilitation apparatus according to the present invention, the exoskeleton portion is rotated within a set rotation range to prevent patient injury due to an excessive range of motion, and rotation of the exoskeleton portion is restricted at the set rotation point, so that only some joint rehabilitation exercises can be performed.

In the rehabilitation apparatus according to the present invention, as the angle of the chair backrest increases, the patient's lumbar disc pressure decreases, enabling rehabilitation in a comfortable posture, relaxation of the patient's leg muscles, increasing the rehabilitation effect, and setting the angle of the chair backrest. It can be changed within the range to prevent injury to the patient due to sudden change in angle, and also to avoid interference of hamstrings during the rehabilitation process, and multiple backrest holes, which are square holes, are formed in the chair backrest. Weight can be reduced.

In the rehabilitation apparatus according to the present invention, since the second skeleton, the third skeleton, and the fourth skeleton can be rotated within a set range, rehabilitation is possible within the set range, and injury to the patient due to excessive exercise can be prevented. It is designed so that the length can be adjusted based on the average number of heights of Koreans and the corresponding standard deviation, so that it can be used by patients with various physical conditions, and the skeletal hole is formed to reduce the overall weight of the system.

The rehabilitation apparatus according to the present invention can rehabilitate the knee joint and the ankle joint separately or at the same time, activate the muscles of the rectus femoris, biceps femoris, and gastrocnemius during rehabilitation of the knee joint, and activate the tibialis anterior muscle, the long extremity muscle, and It can activate the muscles of the soleus and gastrocnemius.

1 is a diagram schematically showing a rehabilitation apparatus according to an embodiment of the present invention.
2 is a view schematically showing a base according to an embodiment of the present invention.
3 is a view schematically showing an operation unit according to an embodiment of the present invention.
4 is a view schematically showing a chair according to an embodiment of the present invention.
5 is a view schematically showing an exoskeleton according to an embodiment of the present invention.
6 is a view schematically showing a structure for adjusting the length of an exoskeleton according to an embodiment of the present invention.
7 is a diagram schematically illustrating a structure in which an exoskeleton unit can rotate within a set rotation range according to an embodiment of the present invention.
8 is a diagram schematically illustrating a structure in which rotation of an exoskeleton unit is restricted at a set rotation point according to an embodiment of the present invention.

Hereinafter, an embodiment of a rehabilitation apparatus according to the present invention will be described with reference to the accompanying drawings. In this process, the thickness of the lines or the size of components shown in the drawings may be exaggerated for clarity and convenience of description. In addition, terms to be described later are terms defined in consideration of functions in the present invention, which may vary according to the intention or custom of users or operators. Therefore, definitions of these terms should be made based on the contents throughout the present specification.

1 is a diagram schematically showing a rehabilitation apparatus according to an embodiment of the present invention. Referring to FIG. 1, a rehabilitation apparatus 1 according to an embodiment of the present invention includes a base unit 10, an operation unit 20, a chair unit 30, and an exoskeleton unit 40.

The operation unit 20 is mounted on the base unit 10 and is movable. For example, the operation unit 20 may be mounted on the base unit 10 seated on the ground, and may be moved in the longitudinal direction of the base unit 10.

The chair part 30 can be adjusted in height and angle by the operation part 20. As an example, a plurality of operation units 20 are mounted to be rotatable on the chair unit 30, and may adjust the height and angle of the chair unit 30 itself while being moved in the length direction of the base unit 10.

The exoskeleton part 40 is mounted on the chair part 30, is mounted so as to be rotatable in correspondence with the joint, and induces the lower body movement of the patient. As an example, the exoskeleton unit 40 may induce hip joint, knee joint, and ankle joint movement within a set rotation range, and thus may be suitable for rehabilitation patients.

2 is a view schematically showing a base according to an embodiment of the present invention. 2, the base portion 10 according to an embodiment of the present invention includes a first base portion 11, a second base portion 12, a third base portion 13, and a fourth base. Includes part 14.

A pair of the first base portion 11 and the second base portion 12 is disposed to be seated on the ground and spaced apart. For example, the first base portion 11 and the second base portion 12 are formed with a flat surface to correspond to the ground, a separate pad is attached to prevent slipping, or by a separate fixing means to prevent movement. It can be fixedly installed on the ground.

The third base portion 13 is formed on the first base portion 11 and extends upward. For example, the third base portion 13 may be integrally formed with the first base portion 11, and both ends thereof may be connected to the first base portion 11 and the central portion may protrude upward.

The fourth base portion 14 connects the first base portion 11 and the second base portion 12, and first and second base hole portions 141 and 142 are formed. As an example, the fourth base portion 14 is formed integrally with the first base portion 11 and the second base portion 12, and both ends thereof are the upper rear end and the second base portion of the first base portion 11 It can be connected to the upper front end of (12). The first base hole part 141 and the second base hole part 142 are formed in the longitudinal direction of the fourth base part 14, and the first base hole part 141 is disposed in front of the second base hole part 142. I can.

3 is a view schematically showing an operation unit according to an embodiment of the present invention. Referring to FIG. 3, the operation unit 20 according to an embodiment of the present invention includes a first operation rod portion 21, a second operation rod portion 22, and a third operation rod portion 23, It includes a second actuating wheel part 24, a third actuating wheel part 25, a third actuating motor part 26, and a fourth actuating wheel part 27.

The first operating rod portion 21 is rotatably mounted on the third base portion 13 and coupled to the chair portion 30. For example, the base portion 10 may be disposed so that a pair of the base portions 10 face each other, and the lower portion of the first operating rod portion 21 may be rotatably mounted on the upper portion of the third base portion 13, respectively. Any one point between the central portion of the first operating rod portion 21 and the lower end portion of the first operating rod portion 21 may be mounted so as to be rotatable with the rear end portion of the chair portion 30. In this case, when one or more reinforcing rod portions are connected in the longitudinal direction of the first operating rod portion 21, the pair of first operating rod portions 21 may stably maintain the coupled state.

The second operating rod portion 22 is mounted to the chair portion 30 so as to be rotatable. As an example, the upper end of the second operation rod 22 is rotatably mounted to the front end of the chair 30, and the lower end is between the fourth base 14 in which the first base hole 141 is formed. Can be placed. In this case, when one or more reinforcing rod portions are connected in the longitudinal direction of the second operating rod portion 22, the pair of first operating rod portions 21 may stably maintain the coupled state.

The third operating rod portion 23 is mounted to the first operating rod portion 21 so as to be rotatable. For example, the upper end of the third operating rod portion 23 may be rotatably connected to the third operating rod portion 23 disposed between the chair portion 30 and the third base portion 13. The lower end of the third operating rod portion 23 may be disposed between the fourth base portion 14 in which the second base hole portion 142 is formed. In this case, when one or more reinforcing rod portions are connected in the longitudinal direction of the third operating rod portion 23, the pair of third operating rod portions 23 may stably maintain the coupled state.

The second actuating wheel part 24 is rotatably mounted on the second actuating rod part 22 and passes through the first base hole part 141 to contact the ground. As an example, the second operation wheel part 24 has a second operation shaft 241 that is rotatably mounted to the second operation rod part 22 through the first base hole part 141, and the second operation shaft ( It may include a second operation wheel 242 mounted on both ends of the 241 and in contact with the ground.

The third actuating wheel part 25 is rotatably mounted on the third actuating rod part 23 and passes through the second base hole part 142 to contact the ground. As an example, the third actuating wheel part 25 has a third actuating shaft 251 rotatably mounted to the third actuating rod part 23 through the second base hole part 142 and a third actuating shaft ( It may include a third operation wheel 252 mounted on both ends of the 251 and in contact with the ground.

The third actuating motor unit 26 drives the third actuating wheel unit 25. As an example, the third operation motor unit 26 includes a third motor base unit 261 through which the third operation shaft 251 passes, and a third motor base unit 261 mounted on the third motor base unit 261 and driven when power is applied. The third motor drive part 262 is connected to the third motor drive part 262 and rotates by driving the third motor drive part 262, and the third motor shaft part 263 is formed in the third motor shaft part 263. It may include three motor gear units 264. The third motor gear unit 264 may transmit rotational force by being engaged with the third operating gear 253 formed on the third operating shaft 251.

The fourth actuating wheel part 27 is rotatably mounted to the third actuating motor part 26, and passes through the second base hole part 142 to contact the ground. As an example, the fourth actuating wheel part 27 has a fourth actuating shaft 271 rotatably mounted to the third motor base part 261 through the second base hole part 142 and the fourth actuating shaft ( It may include a fourth operating wheel 272 mounted on both ends of the 271) and in contact with the ground.

4 is a view schematically showing a chair according to an embodiment of the present invention. Referring to FIG. 4, a chair part 30 according to an embodiment of the present invention includes a chair rod part 31, a chair hip support part 32, and a chair back support part 33.

The first operating rod portion 21 is rotatably mounted at the rear end of the chair rod portion 31, and the second operating rod portion 22 is rotatably mounted at the front end of the chair rod portion 31. A pair of such chair bar portions 31 may be disposed to face each other.

The chair hip support part 32 is mounted on the chair rod part 31 and may support the hip of the patient. The chair back support portion 33 is mounted on the first operating rod portion 21 and may support the patient's back. For example, when the operation unit 20 is driven, the chair hip support unit 32 may only change its height while maintaining a horizontal state, and the chair back support unit 33 may change the angle of the patient's seating state. .

5 is a view schematically showing an exoskeleton according to an embodiment of the present invention. 5, the exoskeleton unit 40 according to an embodiment of the present invention includes a first skeleton unit 50, a second skeleton unit 60, a third skeleton unit 70, and a fourth skeleton unit 80. ).

The first skeleton part 50 is mounted on the chair part 30. As an example, the first skeleton portion 50 is coupled to both sides of each of the chair rod portion 31 and the chair hip support portion 32 to face the first skeleton fixing portion 51, and the first skeleton fixing portion ( 51) may include a first skeletal connection portion 52 extending upward. The first skeletal connection part 52 may have a first connection hole part 521 formed in the center thereof, and one or more first slot hole parts 522 may be formed around the first connection hole part 521.

The second skeletal part 60 is rotatably connected to the first skeletal part 50 to induce hip joint motion. As an example, the second skeleton part 60 may include a 2-1 skeleton part 61 and a 2-2 skeleton part 65. The 2-1 skeleton part 61 extends from the 2-1 skeletal connection part 62 and the 2-1 skeletal connection part 62 facing the first skeletal connection part 52, and the 2-2 skeletal part 65 ) And may include a 2-1 skeleton assembly part 63 that is assembled. The 2-1 skeleton connection part 62 includes a 2-1 connection pin part 621 pin-coupled to the first connection hole part 521 and a 2-1 slot movable within the range of the first slot hole part 522. It may include a pin portion 622. The 2nd-2 skeleton part 65 extends from the 2nd-2 skeleton connection part 66 and the 2-2 skeleton connection part 66 facing the 3rd skeleton part 70, and the 2-1 skeleton assembly part ( 63) and may include a 2-2 skeleton assembly unit 67 to be assembled. The 2-2 skeletal connection part 66 includes a 2-2 connection pin 661 pin-coupled with the third skeletal part 70, and a 2-2 movable within the rotation range of the third skeletal part 70. It may include a slot pin portion 662. At this time, the 2-1 skeleton assembly 63 may be inserted into the 2-2 skeleton assembly 67, and may be selectively pin-coupled to a plurality of holes to adjust the length.

The third skeletal part 70 is rotatably connected to the end of the second skeletal part 60 to induce a knee joint motion. For example, the third skeleton 70 may include a 3-1 skeleton 71 and a 3-2 skeleton 75. The 3-1 skeletal part 71 extends from the 3-1 skeletal connection 72 facing the fourth skeletal part 80 and the 3-1 skeletal connection 72 so that the 3-2 skeletal part ( It may include a 3-1 skeleton assembly portion 73 to be assembled with 75). The 3-1 skeletal connection part 72 includes a 3-1 connection pin 721 pin-coupled with the fourth skeletal part 80, and a 3-1 movable within the rotation range of the fourth skeletal part 80. It may include a slot pin portion 722. The 3-2 skeleton 75 extends from the 3-2 skeleton connection 76 facing the 2-2 skeleton connection 66, and the 3-1 skeleton It may include a 3-2 skeleton assembly portion 77 that is assembled with the assembly portion 73. The 3-2 skeletal connection part 76 has a 3-2 connection hole part 761 to which the 2-2 connection pin part 661 is pin-coupled, and a second setting of the rotation range of the 2-2 slot pin part 662. It may include a 3-2 slot hole portion 762. At this time, the 3-1 skeleton assembly portion 73 may be inserted into the 3-2 skeleton assembly portion 77, and may be selectively pin-coupled to a plurality of holes to adjust the length.

The fourth skeletal part 80 is rotatably connected to the third skeletal part 70 and induces the patient's ankle joint motion. For example, the fourth skeletal part 80 extends upward from the fourth skeletal support part 81 and the fourth skeletal support part 81 that each patient can wear, and the 3-1 skeletal connection part 72 ) May include a fourth skeletal connection unit 82 connected to. The fourth skeletal connection part 82 has a fourth connection hole 821 to which the 3-1 connection pin part 721 is pin-coupled at the center, and a 3-1 slot pin part around the fourth connection hole 821 A fourth slot hole portion 822 for setting a rotation range of 722 may be formed.

6 is a view schematically showing a structure for adjusting the length of an exoskeleton according to an embodiment of the present invention. Referring to FIG. 6, the second skeleton portion 60 and the third skeleton portion 70 are adjustable in length. That is, the 2-1 skeleton assembly 63 is inserted into the 2-2 skeleton assembly 67, and is selectively pinned in a plurality of holes formed in the longitudinal direction of the 2-2 skeleton assembly 67 Combined, it is possible to adjust the length of the second skeleton 60 (see Fig. 6A). In addition, the 3-1 skeleton assembly portion 73 is inserted into the 3-2 skeleton assembly portion 77, and is selectively pinned in a plurality of holes formed in the longitudinal direction of the 3-2 skeleton assembly portion 77. Combined, it is possible to adjust the length of the third skeleton 70 (see Fig. 6b). Accordingly, the lengths of the second skeletal part 60 and the third skeletal part 70 can be adjusted to correspond to the length of the patient's body.

7 is a diagram schematically illustrating a structure in which an exoskeleton unit can rotate within a set rotation range according to an embodiment of the present invention. Referring to FIG. 7, a connection portion between the first skeleton portion 50 and the second skeleton portion 60, a connection portion between the second skeleton portion 60 and the third skeleton portion 70, and the third skeleton portion 70 ) And any one or more of the connection portions of the fourth skeleton unit 80 can be rotated within a set rotation range. That is, the 2-1 slot pin portion 622 is inserted into the first slot hole portion 522 and rotates within the length of the first slot hole portion 522 (see FIG. 7A), and the 2-2 slot pin portion 662 Is rotated within the length of the 3-2 slot hole portion 762 (see FIG. 7B), and the 3-1 slot pin portion 722 can be rotated within the length of the fourth slot hole portion 822 (FIG. 7C). Reference). Accordingly, the circumferential length of the first slot hole portion 522, the 3-2 slot hole portion 762, and the fourth slot hole portion 822 can be adjusted as needed, so that the patient's exercise intensity can be adjusted.

8 is a diagram schematically illustrating a structure in which rotation of an exoskeleton unit is restricted at a set rotation point according to an embodiment of the present invention. Referring to FIG. 8, a connection portion between the first skeleton part 50 and the second skeleton portion 60, a connection portion between the second skeleton portion 60 and the third skeleton portion 70, and a third skeleton portion 70. ) And any one or more of the connection portions of the fourth skeleton part 80 is limited in rotation at the set rotation point. That is, when the 2-2 connection pin part 661 has an angular shape and is inserted into the corresponding 3-2 connection hole part 761, the rotation of the third skeleton part 70 is restricted to induce pure hip joint rehabilitation. Can (see Fig. 8a). And, when the 3-1 connection pin part 721 has an angled shape and is inserted into the corresponding fourth connection hole part 821, the rotation of the fourth skeleton part 80 is restricted to induce pure hip or knee joint rehabilitation. You can (see Fig. 8A). In addition, through this angular shape, the knee or ankle can be maintained in a bent or unfolded state.

The operation process of the rehabilitation apparatus according to an embodiment of the present invention having the above configuration will be described as follows.

When the patient operates the third motor drive unit 262 while sitting on the chair hip support unit 32, the third motor gear unit 264 and the third operation gear 253 engage to transmit rotational force, and the third operation As the wheel 252 moves, the angle of the chair backrest 33 changes between 120 degrees and 160 degrees. As the third actuating wheel 252 is moved, the remaining second actuating wheel part 24 and the fourth actuating wheel part 27 are moved to change the angle of the chair backrest part 33. During rehabilitation, as the angle of the chair back support portion 33 increases, the pressure of the patient's lumbar disc decreases, so that rehabilitation is possible in a comfortable posture. In addition, the patient's leg muscles are relaxed, thereby increasing the rehabilitation effect.

The second actuating shaft 241 is movable within the length of the first base hole 141, and the third actuating shaft 251 and the fourth actuating shaft 271 are within the length of the second base hole 142. It is possible to move. For this reason, since the angle of the chair back support part 33 can be varied within a set range, it is possible to prevent the patient from being injured due to a sudden change in the angle.

The chair hip support part 32 includes a support seating part 321 on which the patient can sit, and a support protrusion 322 protruding forward from the front end of the support seating part. It is possible to avoid interference between the chair hip support part 32 and the hamstring. In addition, the chair backrest portion 33 is designed such that a plurality of backrest hole portions 331, which are square-shaped holes, are formed in order to reduce weight.

When the patient seated on the chair hip support unit 32 completes the angle adjustment of the chair back support unit 33, the patient inserts his or her feet into the fourth skeleton unit 80 and performs a rehabilitation exercise. At this time, the second skeletal part 60, the third skeletal part 70, and the fourth skeletal part 80 are rotatable within a set range. That is, the set range for rehabilitation of the hip joint, knee joint, and ankle joint can be designed by calculating 200% of the motion range of each joint. Accordingly, rehabilitation is possible within a set range, and injury to a patient due to excessive exercise can be prevented.

In addition, the length of the second skeletal part 60 and the third skeletal part 70 is designed based on the average number of heights of Koreans and the corresponding standard deviation, and their lengths are varied to cover the body of a patient undergoing rehabilitation. In addition, the second skeletal part 60 and the third skeletal part 70 are designed to have skeletal hole parts 671 and 771 to reduce weight.

On the other hand, depending on the rehabilitation method, the knee joint and the ankle joint can be rehabilitated separately or at the same time. During rehabilitation of the knee joint, the muscles of the rectus femoris, biceps femoris, and gastrocnemius are activated. During rehabilitation of the ankle joint, the muscles of the tibialis anterior, iliopsoas, soleus and gastrocnemius are activated.

The rehabilitation device 1 according to an embodiment of the present invention can fix the foot on the exoskeleton unit 40 while the patient is sitting on the chair unit 30 and perform hip joint, knee joint, and ankle joint rehabilitation exercises. .

The rehabilitation apparatus 1 according to an embodiment of the present invention can be used by adjusting the length of the exoskeleton unit 40 to suit various body sizes.

The rehabilitation device 1 according to an embodiment of the present invention prevents patient injury due to an excessive range of motion by rotating the exoskeleton unit 40 within a set rotation range, and rotation of the exoskeleton unit 40 at the set rotation point. Due to this limitation, only some joint rehabilitation exercises can be selected.

The present invention has been described with reference to the embodiments shown in the drawings, but these are only exemplary, and those of ordinary skill in the field to which the technology pertains, various modifications and other equivalent embodiments are possible. I will understand. Therefore, the true technical protection scope of the present invention should be determined by the following claims.

10: base portion 11: first base portion
12: second base portion 13: third base portion
14: fourth base portion 20: operating portion
21: first operating rod portion 22: second operating rod portion
23: third operating rod portion 24: second operating wheel portion
25: third actuating wheel part 26: third actuating motor part
27: fourth operating wheel part 30: chair part
31: chair rod portion 32: chair hip support portion
33: chair back support portion 40: exoskeleton portion
50: first skeleton portion 60: second skeleton portion
70: 3rd skeletal part 80: 4th skeletal part

Claims (8)

Base portion;
An operation unit mounted on the base and movable;
A chair part capable of adjusting height and angle by the operation part; And
And an exoskeleton unit mounted on the chair unit, mounted to be rotatable in correspondence with the joint, and inducing movement of the lower body of the patient.
The method of claim 1, wherein the base portion
A pair of first and second base portions seated on the ground and spaced apart;
A third base portion formed on the first base portion and extending upward; And
And a fourth base portion connecting the first base portion and the second base portion and forming first and second base holes.
The method of claim 2, wherein the operation unit
A first operating rod portion rotatably mounted on the third base portion and coupled to the chair portion;
A second operating rod portion rotatably mounted on the chair portion;
A third operating rod portion rotatably mounted to the first operating rod portion;
A second actuating wheel part rotatably mounted on the second actuating rod part and in contact with the ground through the first base hole part;
A third actuating wheel part rotatably mounted on the third actuating rod part and in contact with the ground through the second base hole part;
A third actuating motor unit driving the third actuating wheel unit; And
And a fourth actuating wheel part rotatably mounted on the third actuating wheel part and in contact with the ground through the second base hole part.
The method of claim 3, wherein the chair part
A chair rod portion rotatably mounted at a rear end of the first operating rod portion and rotatably mounted at a front end portion of the second operating rod portion;
A chair hip support that is mounted on the chair rod and supports the patient's hips; And
Rehabilitation apparatus comprising a; a chair back support that is mounted on the first operating rod portion to support the back of the patient.
The method of claim 1, wherein the exoskeleton unit
A first skeleton mounted on the chair;
A second skeletal part rotatably connected to the first skeletal part to induce hip joint motion;
A third skeletal part rotatably connected to an end of the second skeletal part to induce a knee joint motion; And
And a fourth skeletal part rotatably connected to the third skeletal part and inducing motion of the ankle joint of the patient.
The method of claim 5,
The rehabilitation apparatus, characterized in that the length of the second skeleton and the third skeleton are adjustable.
The method of claim 5,
Any one or more of the connecting portion of the first skeleton portion and the second skeleton portion, the connecting portion of the second skeleton portion and the third skeleton portion, and the connecting portion of the third skeleton portion and the fourth skeleton portion is within a set rotation range. Rehabilitation device, characterized in that rotatable in the.
The method of claim 7,
Any one or more of the connection portion of the first skeleton portion and the second skeleton portion, the connection portion of the second skeleton portion and the third skeleton portion, and the connection portion of the third skeleton portion and the fourth skeleton portion are at a set rotation point. Rehabilitation device, characterized in that the rotation is limited.

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