KR20210108063A - Home traininng system for rehabilitation of upper limb and method using the same - Google Patents

Abstract

According to an embodiment of the present invention, a home training system for upper extremity rehabilitation training, comprises: an object movable by an upper extremity motion of a user; a display unit for providing the user with a training instruction for moving the object; a measurement unit for measuring the time required for moving the object in accordance with the training instruction; and a processing unit for generating user training result information on the basis of the measured time. Accordingly, the time required to perform a motion for moving the object by the user can be automatically measured by a sensor for sensing movement of the object, and thus, feedback information on the upper extremity control ability and weakness of the user can be provided. According to an embodiment of the present invention, the control ability of the user can be automatically evaluated by using a digitized system to allow simple operation and usage, and a rehabilitation training process of the user can be monitored in real time to intelligently recognize the weakness and to present an adaptive training method.

Description

HOME TRAININNG SYSTEM FOR REHABILITATION OF UPPER LIMB AND METHOD USING THE SAME

The present invention relates to a home training system and method for upper extremity rehabilitation, and more particularly, by measuring the time required for a user to move an object and evaluating upper extremity control ability by digitizing a rehabilitation tool. Accordingly, it relates to a home training system and method for automatically measuring the time required to move an object and providing feedback accordingly.

[Description of state-funded R&D]

This research was conducted under the supervision of the Korea Research Institute of Science and Technology, with the funding of the Ministry of Science and ICT, the National Research Foundation of Korea-Bionic Arm Mechatronics Convergence Technology Development Project, project identification number: 2014M3C1B2048419) and the government (Ministry of Science and Technology) in 2018. It was made with the support of the Creative Convergence Research Project (No. CAP-18-01-KIST) of the Technology Research Council.

Rehabilitation training is a program that is provided to help patients whose motor functions have deteriorated due to injuries recover their physical functions or to adapt to assistive devices such as prosthetic limbs worn by patients with body defects. In general, rehabilitation training focuses on improving muscle strength and restoring muscle nerves by repeatedly moving parts of the body with reduced functions according to the instructions of medical staff or rehabilitation trainers.

Recently, a technology to assist such rehabilitation training through computer devices and programs has been developed. For example, when a computer device, not a medical staff, transmits instructions to a patient through a display, the patient performs body movements according to the instructions and detects body motions through sensors to determine whether the patient performed the correct motions . The computer may assist the patient in rehabilitation training by providing a corresponding feedback to the patient or medical staff.

These rehabilitation training aids and programs are mainly focused on evaluating the patient's performance according to the motions in daily life in a time measurement method. In general, the rehabilitation tool according to the prior art is composed of a movable object and a timer that can measure the time required for a user (patient) to move the object. For example, a patient with an injury to his right arm (or a patient who wears a prosthetic because his right hand is missing) is instructed to move an object from point A to point B using his right hand (or prosthetic hand), and the Evaluate the patient's ability to control the body by measuring time.

In such a conventional tool for rehabilitation training, the time required to perform the operation should be measured in such a way that the user directly operates the timer after completing the instruction operation, but an error occurs depending on the timing or method of operating the timer It was difficult to accurately measure the time required to perform the In addition, with this training method, it is difficult to provide customized rehabilitation training according to the patient's weakness, and the lack of feedback on the degree of adaptation makes it difficult for the patient to actively continue rehabilitation training.

Republic of Korea Patent Publication No. 10-1541095

Accordingly, the present invention digitizes a tool for rehabilitation in a method that evaluates upper extremity control ability by measuring the time required for a user to move an object, and automatically measures the time required for moving an object and provides feedback accordingly An object of the present invention is to provide a home training system that can do this, and furthermore, to provide a home training method using the same.

A home training system for upper extremity rehabilitation training according to an embodiment of the present invention includes: an object movable by a user's upper extremity motion; a display unit providing a training instruction for moving the object to a user; a measurement unit for measuring the time required for the object to move according to the training instruction; and a processing unit for generating user training result information based on the measured time.

According to an embodiment, the training instruction is an instruction to move the object from a first position to a second position and then to a first position again, and the measurement unit includes: a light emitting element fixed to the first position; and a light receiving element for detecting light emitted from the light emitting element, wherein the object is placed between the light emitting element and the light receiving element in the first position so that the light emitted from the light emitting element does not reach the light receiving element The light emitted from the light emitting device is not blocked at positions other than the first position.

According to an embodiment, the measurement unit includes a first time point at which the light receiving element starts to detect the light emitted from the light emitting element as the object deviates from the first position, and the object returns to the first position. Accordingly, the time required for the object to move may be calculated based on a difference between the second time points at which the light receiving device does not detect the light emitted from the light emitting device.

According to an embodiment, the training instruction is an instruction to move the object from a first position to a second position, wherein the object includes a pattern detectable by a detection element, and the measuring unit is configured to move the object from the first position to the second position. a first pattern detecting element for detecting a pattern and a second pattern detecting element for detecting the pattern at the second position, wherein the measuring unit is disposed on the first pattern detecting element as the object deviates from the first position. The object is moved based on a difference between a first time point at which the pattern is not detected by You can calculate the time it takes to do it.

According to an embodiment, a storage unit for storing a database may be further included, and the training result information may include feedback information related to a user's upper limb control ability or a user's vulnerability generated based on the database.

According to an embodiment, the training result information may be provided to the user through the display unit or may be provided to an external terminal through wired or wireless communication.

According to an embodiment, it may further include a speed sensor attached to the user's upper limb for measuring the speed of the upper limb motion according to the training instruction.

According to an embodiment, it may further include a motion tracking sensor attached to the user's upper limb for measuring the accuracy of the upper limb motion according to the training instruction.

A home training method for upper extremity rehabilitation training according to an embodiment of the present invention includes: providing a training instruction for moving a movable object by an upper extremity motion to a user; measuring a time required for the object to move according to the training instruction; and generating the user's training result information based on the measured time.

According to an embodiment, the training instruction is an instruction to move the object from a first position to a second position, and the step of measuring the time required for the object to move may include: storing 1 time point; storing a second time point at which the object arrives at the second location; and measuring a time taken for the object to move based on a difference between the first time point and the second time point.

A computer program stored in a computer-readable recording medium for performing the home training method according to an embodiment may be provided.

According to an embodiment of the present invention, there is provided a digitized rehabilitation training system configured to automatically measure the time required for the user to move an object to evaluate the user's upper extremity control ability. According to this, it is possible to automatically detect and store the point in time when an object moves to a specific location using a sensor that can detect the movement of the object, and measure the time it takes for a user to perform an operation to move the object based on this. can Based on the measured time information and a pre-stored database, it is possible to provide feedback information on the user's upper limb control ability and/or weakness.

According to an embodiment, since the user's control ability is automatically evaluated using a digitized system, operation and use are easy, and additional components such as a speed sensor and a motion tracking sensor are provided to improve the accuracy of control ability evaluation can do it Furthermore, the generated evaluation information and feedback information may be provided to a user in real time or may be provided to a third party such as a guardian, a medical person, or a researcher through a server. In this way, it is possible to intelligently identify vulnerabilities and suggest adaptive training methods by monitoring the user's rehabilitation training progress in real time.

1 is a block diagram showing the configuration of a home training system for upper extremity rehabilitation training according to an embodiment.
2A to 2C are diagrams exemplarily illustrating a method of measuring a time required to move an object in a home training system according to an embodiment.
3A to 3C are diagrams exemplarily illustrating a method of measuring a time required to move an object in a home training system according to another embodiment.
4 is a flowchart illustrating steps of a home training method for upper extremity rehabilitation training according to an embodiment.
5 is a flowchart illustrating steps of a home training method for upper extremity rehabilitation training according to another embodiment.

The terms used in the present specification have been selected as widely used general terms as possible while considering their functions, but may vary depending on the intention or custom of a person skilled in the art or the advent of new technology. In addition, in specific cases, there are also terms arbitrarily selected by the applicant, and in this case, the meaning will be described in the description of the corresponding specification. Therefore, it is intended to clarify that the terms used in this specification should be interpreted based on the actual meaning of the terms and the contents of the entire specification, rather than the names of simple terms.

Further, embodiments described herein may have aspects that are entirely hardware, partially hardware and partially software, or entirely software. As used herein, "unit", "device" or "system" refers to hardware, a combination of hardware and software, or a computer-related entity such as software. For example, a unit, device, or system may refer to hardware constituting a part or all of a platform and/or software such as an application for driving the hardware.

Hereinafter, the embodiments will be described in detail with reference to the accompanying drawings and the contents described in the accompanying drawings, but the scope of the claims is not limited or limited by the embodiments.

1 is a block diagram showing the configuration of a home training system for upper extremity rehabilitation training according to an embodiment. Referring to FIG. 1 , the home training system according to an embodiment includes a movable object 10 , a display unit 20 for instructing a user to move the object 10 , and a measurement for measuring the time it takes for the object to move. It is composed of a unit 30, a processing unit 40 for generating training result information based on the measured time, and a storage unit 50 for storing various data necessary for driving the system, including a database.

The object 10 corresponds to any type of object that can be moved by a user's motion. Preferably, it may be an object of relatively light weight that the user can hold and move in order to evaluate the control ability of the upper extremities (hand, arm, shoulder, etc.). In addition, the object 10 is not limited to a specific type of object included in the rehabilitation tool, and may be any object having a size and shape suitable for detecting the movement of the object in the measurement unit.

The display unit 20 is a component for providing a training instruction to the user. In this specification, the user may correspond to, for example, a patient in need of rehabilitation training due to reduced body functions due to an injury, or an athlete who desires to be quantitatively evaluated for physical ability. The training instruction may be preset according to the purpose, object, intensity, etc. of the rehabilitation training, for example, "Move object A from the first position to the second position" or "Move object B from the first position to the second position." It may include specific instructions related to the movement of the object, such as "Put it back to the first position after the

The display unit 20 may output a message regarding the training instruction through a display device such as a display device. According to an embodiment, the display may be a display device that outputs an image while worn on the head, such as a head mounted display (HMD). According to another embodiment, the display unit 20 may provide the training instruction in the form of a voice instead of an image by using a voice output device such as a speaker. For example, the speaker may provide a training instruction to the user by outputting a voice such as "Move object A from the first position to the second position".

When the user moves the object according to the training instruction provided to the user through the display unit 20 , the measurement unit 30 detects the movement of the object 10 and measures the time required for the object to move. In order to detect the movement of the object 10, various measurement methods may be used as follows.

2a to 2c exemplarily show a method of measuring the time required for the movement of an object in the home training system according to an embodiment. In this embodiment, the training instruction provided to the user includes instructions for moving the object from the first position to the second position and then again to the first position. That is, the user moves the object to a specific position according to the instruction and measures the time it takes to return to the original position to evaluate the user's motion performance capability (it is assumed that the shorter the time required, the higher the performance capability).

Referring to FIG. 2A , the measurement unit includes a light emitting device 301 fixed to a first position and a light receiving device 302 for detecting light emitted from the light emitting device 301 . The light emitting device 301 may be, for example, an LED device capable of outputting visible light of a specific wavelength. In this case, the light receiving device 302 may be an optical sensor capable of detecting light and converting it into an electrical signal. Alternatively, the light emitting element 301 and the light receiving element 302 may be configured with an infrared LED capable of outputting infrared rays and an infrared sensor capable of detecting infrared rays, respectively.

In this embodiment, the object 10 is placed between the light emitting element 301 and the light receiving element 302 in the first position as shown in FIG. 2A so that light emitted from the light emitting element 301 is transmitted to the light receiving element 302 . block it from reaching. For example, the light emitting element 301 is inserted under the bottom surface, and when the object 10 is placed thereon, the light is blocked by the object 10 so that the light receiving element 302 cannot detect the light.

As shown in FIG. 2B , when the object 10 is moved out of the first position by the user, the light emitted from the light emitting device 301 is no longer blocked, so that the light receiving device 302 can sense the light. As described above, a time point at which light from the light emitting element 301 starts to be detected by the light receiving element 302 is stored as the first time point. In other words, the first time point is a time point at which the object 10 starts to move from the first position (initial position) by the user.

The user moves the object 10 to the second position according to the training instruction and then moves it back to the first position. In this case, since the light emitted from the light emitting device 301 is blocked by the object 10 as shown in FIG. 2C , the light receiving device 302 can no longer sense the light. In this way, a time point at which light emitted from the light emitting device 301 is not detected is stored as a second time point. In other words, the second time point is a time point at which the object 10 is returned to the first position (ie, the initial position) by the user.

The measurement unit 30 calculates a time required for the object 10 to return after moving based on the difference between the first time point and the second time point. This means the time it takes for the user to perform a specific action according to the training instruction. Therefore, it can be evaluated that the higher the time required is, the higher the user's motion performance ability, that is, the upper extremity control ability.

3A to 3C are diagrams exemplarily illustrating a method of measuring a time required to move an object in a home training system according to another embodiment. In this embodiment, the training instruction provided to the user includes instructions for moving the object from the first position to the second position. That is, the user's motion performance is evaluated by measuring the time required for the user to move the object to a specific location according to the instruction (similarly, it is assumed that the longer the time taken, the higher the performance).

Referring to FIG. 3A , the movable object 10 includes a pattern 100 detectable by a detection device. The measuring unit 30 includes a first pattern detecting element 303 that detects the pattern 100 at a first position and a second pattern detecting element 304 that detects the pattern 100 at a second position. . By scanning the pattern 100 with respect to a predetermined position using the pattern detection elements 303 and 304, it can be determined whether the object 10 exists at the corresponding position.

As shown in FIG. 3A , at the start of training, the object 10 is placed in the first position, and the first pattern detecting element 303 detects the pattern 100 displayed on the object so that the object 10 is in the first position. can recognize that Meanwhile, since the second pattern detecting element 304 does not detect the pattern at the second position, it is determined that the object does not exist at the second position.

When the rehabilitation training starts and the user starts to move the object 10 toward the second position according to the training instruction, the first pattern detecting element 303 cannot detect the pattern 100 . As described above, a time point at which the first pattern detecting element 303 cannot detect the pattern of the object at the first position is stored as the first time point. In other words, the first time point is a time point at which the object 10 starts to move from the first position by the user.

When the user moves the object 10 to the second position according to the training instruction, the second pattern detecting element 304 can detect the pattern 100 displayed on the object. As described above, a time point at which the second pattern detecting element 304 starts to detect a pattern of an object at the second position is stored as a second time point. In other words, the second time point is a time point at which the object 10 is moved to the second position by the user.

The measurement unit 30 calculates a time required for the object 10 to move based on the difference between the first time point and the second time point. This means the time it takes for the user to perform a specific action according to the training instruction. Therefore, it can be evaluated that the higher the time required is, the higher the user's motion performance ability, that is, the upper extremity control ability.

Although embodiments of specific methods for measuring the time required for an object to move have been described above, the technical spirit of the present invention is not limited thereto. Therefore, in addition to the described embodiments, various methods for measuring the time it takes for an object to move, that is, the time it takes for a user to perform an operation according to a training instruction, may be provided. For example, after attaching an electronic tag to an object, the electronic tag is detected at a specific position, or the time required to move the object can be measured by tracking the movement of the object through a vision sensor.

Referring back to FIG. 1 , the processing unit 40 generates training result information of the user based on the time measured by the measurement unit 30 . According to an embodiment, the training result information may include feedback information related to the user's upper extremity control ability or the user's weakness generated based on the database. The database includes information about the time it takes for a person with a general body structure to perform a specific motion, not a patient who is injured or wears a prosthetic arm, and may be stored in the storage unit 50 . The processing unit 40 can evaluate the user's upper extremity control ability by comparing the time required to perform an operation using the upper extremities (body parts such as hands, arms, shoulders, etc.) of the user (patient) and the control group based on the information in the database. have. Furthermore, if the time required for an operation using a specific body part is longer than that of other movements, it is determined as a vulnerable part and related rehabilitation training information can be provided.

According to an embodiment, the training result information generated by the processing unit 40 may be directly provided to the user through the display unit 20 . By monitoring the rehabilitation training results in real time, the user can identify the weak areas and conduct intensive rehabilitation training. According to another embodiment, the training result information may be provided to an external terminal such as a smartphone or a computer possessed by a third party, such as a guardian, a caregiver, a medical person, or a researcher, through wired or wireless communication. In this way, guardians can intelligently identify vulnerabilities and suggest adaptive training methods by monitoring the patient's rehabilitation training progress in real time.

A home training system according to an embodiment is attached to the user's upper extremity (hand, arm) or the amputated patient's prosthetic limb, and a speed sensor for measuring the speed of the upper extremity motion according to the training instruction, and/or the upper extremity motion according to the training instruction It may further include a motion tracking sensor for measuring the accuracy of. As in the above embodiment, the user's ability to control the entire body part can be evaluated by measuring the time required to move the object, but it may be difficult to determine the control ability or weakness of each body part.

Therefore, as in the present embodiment, by using a speed sensor (eg, an IMU sensor), the speed, acceleration, and direction of the upper extremity are sensed, and the motion performance capability can be evaluated in detail by comparing it with a database. In addition, by using a motion tracking sensor to recognize a motion and comparing it with a database to measure the accuracy of the motion, it is possible to evaluate the motion performance in detail.

The home training system according to an embodiment of the present invention can be used to evaluate the control performance of the prosthetic arm by measuring the time required to perform an operation of moving an object using the prosthetic arm worn by the user. A prosthetic arm refers to an artificially manufactured auxiliary device so that, when a part of an upper limb is amputated, it can be attached to the amputated limb to use some functions of the upper limb. The recently developed prosthetic hand is being manufactured so that the user can move it at a desired angle by using power such as electric power or gas pressure. Because each user has different amputation sites and different prosthetic abilities, it is important to objectively evaluate the performance of the prosthetic (ie, the ability to assist interaction with objects).

Since the above-mentioned components are expressed separately so that the operation of the home training system according to the embodiment can be easily understood, each component does not necessarily have to be independently implemented by an individual device or program. That is, all components may be implemented by one processor included in one computer, or independently implemented by a plurality of computers or processors. In addition, the display unit may be interpreted as a comprehensive meaning including a display device such as a display and elements for connecting it to a computer, and the measuring unit is also interpreted as a comprehensive meaning including a measurement tool and elements for connecting it with a computer. could be

Hereinafter, an embodiment of a home training method using the home training system for upper extremity rehabilitation training described above will be described with reference to FIGS. 4 and 5 . The home training method according to the embodiment may be performed by a processor provided in a computer. Each step may be implemented by one processor included in one computer, or may be implemented independently by a plurality of computers or processors.

4 is a flowchart illustrating steps of a home training method for upper extremity rehabilitation training according to an embodiment. The home training method according to the embodiment may be implemented by interaction of a program including a processing device provided in a computer device, a display device such as a display connected to the computer, and computer instructions for operating the devices.

Referring to FIG. 4 , first, a step of providing a training instruction for moving a movable object by an upper extremity motion to a user is performed ( S401 ). As described above, the object may be any object that the user can hold and move in order to evaluate the control ability of the upper limb (hand, arm, shoulder, etc.). The training instruction includes instructions for moving the object to a specific position to the user, and is provided to the user in the form of an image or a voice message through an output device such as a display or a speaker.

Next, a step of measuring the time required for the object to move according to the training instruction is performed (S402). The automated home training system calculates the time difference from the moment when the movement of an object is sensed to the moment when the movement according to the instruction is finished (that is, the moment the object is moved to the target movement position), thereby reducing the time it takes for the user to move the object. measure As described above, for example, the movement of an object can be detected by using an LED light emitting element and a light receiving element or by detecting a pattern displayed on the object.

Next, a step of generating the user's training result information based on the measured time is performed (S403). According to an embodiment, the training result information may include feedback information related to the user's upper extremity control ability or the user's weakness generated based on the database (stored in the storage device). By comparing the time required to perform motions using the upper extremities (body parts such as hands, arms, and shoulders) of the user (patient) and the control group, the user's upper extremity control ability is quantitatively evaluated. The generated training result information may be provided to a user through a display device or transmitted to an external terminal possessed by a third party (medical person, guardian, caregiver, etc.) through a wired/wireless network.

5 is a flowchart illustrating each step of a home training method according to a more specific embodiment.

Referring to FIG. 5 , first, a step of providing a training instruction for moving a movable object from a first position to a second position by an upper limb motion to the user is performed ( S501 ). Then, when the user starts moving the object according to the instruction, the first time point at which the object deviates from the first position is stored (S502), and when the object reaches the second position, the corresponding time point is stored as the second time point. performed (S503). Various methods for detecting the motion of an object are as described above. For example, the movement of an object may be detected by using an LED light emitting element and a light receiving element or by detecting a pattern displayed on the object.

Next, based on the difference between the first time point and the second time point, a step of measuring the time required for the object to move (ie, the time required for the user to complete the operation according to the training instruction) is performed ( S504 ). Next, a step of generating the user's training result information based on the measured time is performed (S505). Since the embodiment related to the training result information is similar to that described above, a redundant description will be omitted.

The home training method for upper extremity rehabilitation according to the embodiment may be implemented as an application or implemented in the form of program instructions that may be executed through various computer components and recorded in a computer-readable recording medium. The computer-readable recording medium may include program instructions, data files, data structures, etc. alone or in combination.

Examples of the computer-readable recording medium include hard disks, magnetic media such as floppy disks and magnetic tapes, optical recording media such as CD-ROMs and DVDs, and magneto-optical media such as floppy disks. media), and hardware devices specially configured to store and execute program instructions, such as ROM, RAM, flash memory, and the like.

According to the embodiments described above, there is provided a rehabilitation training system configured to automatically measure the time required for the user to move an object to evaluate the user's upper extremity control ability. According to this, it is possible to automatically detect and store the point in time when an object moves to a specific location using a sensor that can detect the movement of the object, and measure the time it takes for a user to perform an operation to move the object based on this. can Based on the measured time information and a pre-stored database, it is possible to generate and provide feedback information on the user's upper extremity control ability and/or weakness.

In addition, according to an embodiment, since the user's control ability is automatically evaluated using a digitized system, operation and use are easy, and additional components such as a speed sensor and a motion tracking sensor are provided to increase the accuracy of control ability evaluation. can be improved Furthermore, the generated evaluation information and feedback information may be provided to a user in real time or may be provided to a third party such as a guardian, a medical person, or a researcher through a server. In this way, it is possible to intelligently identify vulnerabilities and suggest adaptive training methods by monitoring the user's rehabilitation training progress in real time.

Although described above with reference to the embodiments, those skilled in the art can variously modify and change the present invention within the scope without departing from the spirit and scope of the present invention described in the claims below You will understand.

Claims (11)

an object movable by the user's upper extremity motion;
a display unit providing a training instruction for moving the object to a user;
a measurement unit for measuring the time required for the object to move according to the training instruction; and
A home training system for upper extremity rehabilitation, comprising a processing unit for generating training result information of a user based on the measured time.
According to claim 1,
The training instruction is an instruction to move the object from the first position to the second position and then to the first position again,
The measuring unit may include: a light emitting device fixed to a first position; and a light receiving element for detecting light emitted from the light emitting element,
The object is placed between the light emitting element and the light receiving element at the first position to block the light emitted from the light emitting element from reaching the light receiving element, and is emitted from the light emitting element at a position other than the first position A home training system for upper extremity rehabilitation, characterized in that it does not block the light.
3. The method of claim 2,
The measuring unit includes: a first time point at which the light receiving element starts to detect the light emitted from the light emitting element as the object deviates from the first position; and when the object returns to the first position, the light receiving element A home training system for upper extremity rehabilitation, characterized in that it calculates the time it takes for the object to move based on the difference between the second time points when the light emitted from the light emitting device is not detected.
According to claim 1,
The training instruction is an instruction to move the object from a first position to a second position,
The object includes a pattern detectable by a detection element,
The measuring unit includes a first pattern detecting element detecting the pattern at the first position and a second pattern detecting element detecting the pattern at the second position,
The measuring unit may include: a first time point at which the pattern is not detected by the first pattern detecting element as the object deviates from the first position; and detecting the second pattern as the object arrives at the second position. A home training system for upper extremity rehabilitation, characterized in that the time required for the object to move is calculated based on the difference between the second time points at which the pattern starts to be detected by the device.
According to claim 1,
Further comprising a storage unit in which the database is stored,
The training result information, a home training system for upper extremity rehabilitation training, characterized in that it includes feedback information related to the user's upper extremity control ability or the user's weakness generated based on the database.
6. The method of claim 5,
The training result information is provided to the user through the display unit, or is provided to an external terminal through wired or wireless communication, a home training system for upper extremity rehabilitation training.
According to claim 1,
Attached to the user's upper limb, the home training system for upper limb rehabilitation, characterized in that it further comprises a speed sensor for measuring the speed of the upper limb motion according to the training instruction.
According to claim 1,
The home training system for upper extremity rehabilitation, which is attached to the user's upper extremity and further comprises a motion tracking sensor for measuring the accuracy of upper extremity motion according to the training instruction.
providing a training instruction for moving a movable object by an upper extremity motion to a user;
measuring a time required for the object to move according to the training instruction; and
A home training method for upper extremity rehabilitation, comprising the step of generating training result information of a user based on the measured time.
10. The method of claim 9,
The training instruction is an instruction to move the object from a first position to a second position,
Measuring the time it takes for the object to move includes:
storing a first time point at which the object deviates from the first position;
storing a second time point at which the object arrives at the second location; and
Based on the difference between the first time point and the second time point, the home training method for upper extremity rehabilitation, characterized in that it comprises the step of measuring the time it takes for the object to move.
A computer program stored in a computer-readable recording medium for performing the home training method for upper extremity rehabilitation according to claim 9 or 10.

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