KR20220073598A - a robot device of strengthening muscle rehabilitation exercise of upper and lower limbs - Google Patents

Abstract

The posted content relates to a rehabilitation exercise robot device for strengthening the upper and lower extremities for rehabilitation by assisting or reinforcing insufficient muscle strength while the user's arm or leg with a damaged upper or lower extremity is fixed to the rehabilitation exercise robot with a harness. ,
The upper and lower extremity strength strengthening rehabilitation exercise robot apparatus according to an embodiment of the present specification
A lower base, an upper base movably mounted on the lower base, and a lower extremity exercise device rotatably mounted on the upper base in the front-rear direction and for walking in place on the bed and left and right footrests on which the user boards A body, a hip joint exercise device mounted on the lower left and right sides of the body and disposed on the same line with the user's hip joint to restrain the user's thigh by the rotational force of the driving motor, and the upper left and right sides of the body mounted on the upper left and right sides of the body for upper extremity movement In the upper extremity and lower extremity muscle strength strengthening rehabilitation exercise robot apparatus for rehabilitating the user's muscle strength damaged in the upper extremity or lower extremity by providing an upper extremity exercise device for:
The upper and lower extremities, characterized in that it comprises a; is mounted on one side of the body, the user's thigh is fixed by a cuff, and slides in the vertical direction along the rail, and is rotatable in the front and rear directions around the central hinge pin. It provides a robot device for muscle strengthening rehabilitation exercise.

Description

A robot device of strengthening muscle rehabilitation exercise of upper and lower limbs

The present specification relates to a muscular strength reinforcement rehabilitation robot device, and more specifically, to assist or strengthen insufficient muscle strength in a state in which the arm or leg of a user with a damaged upper or lower extremity is fixed to the rehabilitation robot with a harness. For, it relates to an upper and lower extremity muscle strengthening rehabilitation exercise robot device.

Unless otherwise indicated herein, the material described in this section is not prior art to the claims of this application, and inclusion in this section is not an admission that it is prior art.

In general, an exoskeleton robot used for rehabilitation is a type of wearable robot that can assist or strengthen muscle strength lacking due to damage to an exercise organ by mounting a robot arm or leg to a user.

As the exoskeleton robot always operates in a state coupled with the wearer, it is very important to reduce the feeling of foreign body felt by the wearer. Although the goal of rehabilitation treatment can be achieved through the use of fast control and sensitive sensors, if the hardware does not have movements similar to the joint structure of the human body, the inconsistency between the wearer's and the robot's movements will inevitably occur.

For this reason, research on a technology capable of increasing the stability and wearability of a wearer wearing a wearable robot is steadily progressing. Recently, research and development of a robot having a mechanical structure applicable to various sizes by composing a minimum of mechanical elements for a method of matching the yaw axis of the robot and the wearer is being conducted.

As the above-mentioned wearable robot is used in close contact with the body part by mimicking the joints of the human body, pressure is continuously applied to the contact part of the wearable robot, and the wearer's skin is bruised or even the skin is decomposed due to this pressure. may cause side effects.

A device for preventing skin damage by a wearable robot has been registered in Republic of Korea Patent Publication No. 10-1958621, and a wearable robot for muscle strength support has been published in Korean Patent Publication No. 10-2013-0045874.

In the embodiment of the present specification, when a rotating shaft is disposed on the same line as the user's hip joint (hip joint), but the thigh is constrained by the rotational force of the driving motor to implement a walking motion in place, the user can slide and rotate by a two-degree-of-freedom mechanism. It is related to a robot device for reinforcing muscle strength in the upper and lower extremities that allows rotational force to be transmitted in an optimal condition without physical pressure on the legs.

In an embodiment of the present specification, in an active assist mode for constantly supporting a leg lifting force when a user walks, measuring the load acting on the thigh to force the user's leg It is related to a robot device for strengthening the upper and lower extremities and strengthening the lower extremities, which can push the lower part of the thigh so as not to exceed the preset force when lifting it with the .

The embodiment of the present specification variably adjusts the length of the upper extremity exercise handle according to the user's arm length and minimizes the stress acting on the wrist by a two-degree-of-freedom rotation mechanism. related to the device.

The embodiment of the present specification has a high cost-effectiveness (excellent function and quality of the product compared to the price), thereby increasing the utilization of equipment with various functions, and having price competitiveness to cope with expensive imported products. and lower extremity muscle strengthening rehabilitation exercise robot device.

According to an embodiment of the present specification to achieve the above and other purposes of the present specification,

A lower base, an upper base movably mounted on the lower base, and a lower extremity exercise device rotatably mounted on the upper base in the front-rear direction and for walking in place on the bed and left and right footrests on which the user boards A body, a hip joint exercise device mounted on the lower left and right sides of the body and disposed on the same line with the user's hip joint to restrain the user's thigh by the rotational force of the driving motor, and the upper left and right sides of the body mounted on the upper left and right sides of the body for upper extremity movement In the upper extremity and lower extremity muscle strength strengthening rehabilitation exercise robot apparatus for rehabilitating the user's muscle strength damaged in the upper extremity or lower extremity by providing an upper extremity exercise device for:

upper and lower extremities, characterized in that it includes a thigh fixture mounted on one side of the body, fixing the user's thigh by a cuff, sliding in the vertical direction along the rail, and rotatable in the front and rear directions around the central hinge pin. It provides a robot device for muscle strengthening rehabilitation exercise.

The upper extremity and lower extremity strength reinforcement rehabilitation robot apparatus according to the embodiment of the present specification having the above-described configuration has the following advantages.

When the rotating shaft is arranged on the same line as the user's hip joint, but the thigh is constrained by the rotational force of the drive motor to implement the walking motion in place, the sliding and rotating two-degree-of-freedom mechanism ensures optimal rotational force without physical pressure on the user's leg. As a result, it is possible to prevent skin damage (for example, skin bruising) due to stress acting on the thigh support and maximize the effect of rehabilitation exercise.

In addition, in the active support mode to constantly support the leg lifting force when the user walks, the load acting on the thigh is precisely measured by the load cell and a preset force is applied when forcibly lifting the occupant's leg. By pushing the lower part of the thigh so as not to exceed it, the effect of lower extremity exercise can be increased.

In addition, by variably adjusting the length of the upper extremity movement handle according to the length of the user's arm, and minimizing the stress acting on the wrist by the two-degree-of-freedom rotation mechanism, the user's feeling of inconvenient movement is reduced, thereby giving reliability to the robot device. .

In addition, it has a high cost-effectiveness, increases the utilization of equipment having various functions, and has price competitiveness, thereby having an import substitution effect for high-priced products.

1 is a front perspective view of an upper and lower extremity muscle strength strengthening rehabilitation exercise robot apparatus according to a preferred embodiment of the present specification;
2 is a rear perspective view of the robot device shown in FIG. 1;
3 is a view showing a state of use of the robot device shown in FIG. 1;
Figure 4 (a, b) in the robot device shown in Figure 1, the state of use of the thigh fixing part,
Figure 5 (a, b) is a view for explaining the movement of the lower extremities in the robot device shown in Figure 1,
6 is a perspective view of an upper extremity exercise mechanism in the robot device shown in FIG. 1;
Figure 7 (a, b, c) is a view for explaining the caster lock state in the robot device shown in Figure 1,
FIG. 8 is a view for explaining the adjustment of the thigh fixing part to which the thigh part is fixed to an arbitrary width according to the user's body type in the robot device shown in FIG. 1;
9 is a schematic side view of the robot device shown in FIG. 1;
10 is a view for explaining the movement of the left and right footrests in the robot device shown in FIG. 1;
11 and 12 are diagrams of a driving unit for moving the left and right footrests in the robot device shown in FIG. 1 .

Hereinafter, with reference to the accompanying drawings, a robot apparatus for strengthening upper and lower extremity muscles according to a preferred embodiment of the present specification will be described in detail.

1 to 12, the upper and lower extremity muscle strength reinforcement rehabilitation robot apparatus according to an embodiment of the present specification

The lower base 10, the upper base 11 movably mounted on the lower base 10, the bed 12 rotatably mounted on the upper base 11 in the front-rear direction and the user rides, and the left and right footrests The body 14 including the lower extremity exercise mechanism 13 for climbing on the 26 and the lower extremity exercise device 13 for walking in place, is mounted on the left and right sides of the body 14 and is disposed on the same line with the user's hip joint to respond to the rotational force of the driving motor 15 By providing a hip joint exercise device 16 for restraining the user's thigh and an upper extremity exercise device 17 mounted on the left and right sides of the body 14 for upper extremity movement of arms and wrists, the muscle strength of an occupant whose upper or lower extremities are damaged is rehabilitated In the upper and lower extremity muscle strength strengthening rehabilitation exercise robot device for exercising:

A thigh fixture ( 20);

According to a more preferred embodiment, as in Figs. 1, 3, and 6, the above-mentioned upper extremity exercise mechanism 17 is

a connection bracket 35 having one end movably coupled to the rail 34 spaced apart from the left and right sides of the body 14;

a drive motor 21 for upper extremity movement mounted on the connection bracket 35;

an arm 22 connected to the other end of the connection bracket 35 and rotated in the front-rear direction by the rotational force of the driving motor 21 for upper extremity exercise or manually rotated by the user during resistance exercise;

A rotating ring 23 that is movably mounted on the arm 22 so that the length can be variably adjusted according to the length of the user's arm, and is rotatably formed on the arm 22 in a forward and reverse direction to prevent bending of the wrist during upper extremity exercise. And, a wrist support (25) comprising a grip portion (24) rotatably formed in the forward and reverse directions in the circumferential direction on the rotating ring (23); characterized in that it comprises.

As shown in Fig. 5 (a, b), in the active assist mode (active assist mode) for constantly supporting the lifting force of the user's leg during the walking exercise by the aforementioned lower extremity exercise device 13, the thigh (thigh) A load cell (not shown) mounted on the thigh fixture 20 in order to measure the load acting on the It is characterized in that it assists with a certain force when moving.

12, the aforementioned rehabilitation exercise robot device is

A footrest cylinder (not shown) for elevating the entire plate 44 on which the left and right footrests 26 are mounted so that the distance from the user's hip joint position to the left and right footrests 26 can be adjusted (as an example, an electric cylinder can be used have);

The footrest 26 is driven by servomotors 45,46 and servomotors 45,46 for controlling the elevation of the left and right footrests 26 in response to the hip joint angle measured in real time to assist the in-place walking motion. Ball screws (47, 48) for elevating and lowering to an arbitrary height; characterized in that it further comprises.

At this time, the driving pulley 49 mounted on the output shaft of the servomotors 45 and 46 described above, the driven pulley 50 mounted on the ball screws 47 and 48, the driving pulley 49 and the driven pulley 50 ) connected to the belt 51 and the servomotors 45 and 46, moving along the ball screws 47 and 48 to elevate the left and right footrests 26 to a preset arbitrary height (52, 53) Since the technical content including the are commonly used in the technical field to which the present specification belongs, detailed description of their configuration will be omitted.

7 is a caster 28 that is rotatably mounted on the four corners of the bottom surface of the lower base 10 described above. For the convenience of the therapist, if only one caster is set with a locking device, the locking device is automatically set on the other caster. formed to be

As shown in Fig. 7(a), in a state in which the locking state of the above-described caster 28 is released, it is a mode in which the robot device can be freely moved.

As shown in FIG. 7( b ), in the locked state in which the direction change of the caster 28 described above is locked, the caster 28 can move while in a mode in which rotation is impossible.

As shown in Fig. 7(c), in a state in which movement and rotation of the aforementioned caster 28 is impossible, it is a mode for preventing the movement of the robot device during training.

As shown in FIG. 8, the body 14 is mounted on the left and right sides of the body 14 to be stretched and driven in the left and right directions,

In order to arbitrarily adjust the thigh width (referring to the pelvic width) according to the user's physical body type fixed to the thigh fixture 20, the driving unit 38 of the thigh fixture 20 is moved by a random distance in the left and right direction of the body 14 For the third cylinder 39 (as an example, an electric cylinder may be used); characterized in that it further comprises.

In the drawing, reference numeral 37 denotes a rotation shaft (not shown) of the drive motor 15 and the thigh fixture 20 structure to move the hip joint as the structure of the thigh fixture 20 is rotated by the rotational force of the drive motor 15 . is a connector that connects the , and 40 is a cylinder (as an example, an electric cylinder) that is not shown in the harness 41 for fixing the upper body of the user seated on the bed 12 (for fixing the shoulder, chest, and waist). ) It is a hoistway for pulling up as a whole by driving.

Hereinafter, a robot apparatus for strengthening the upper and lower extremities according to an embodiment of the present specification will be described with reference to the accompanying drawings.

1 to 12, the shoulder, chest, and waist of the user (rehabilitator) with damaged upper extremity muscles or lower extremity muscles are fixed to the bed 12 of the rehabilitation robot using a harness 41, and the thighs are cuffed It is fixed to the thigh fixture 20 by means of 27, and input in advance according to the user's health condition in a state in which the ankle is fixed to the footrest 26 using a belt (it can prevent the patient from falling during rehabilitation) Rehabilitation exercise is performed according to the corresponding program.

As an example, the rehabilitation exercise robot can be used in physical therapy centers, public health centers, welfare centers, and general homes in hospitals, so it can be used in the upper extremity and It can be used as a lower extremity muscle strengthening exercise robot.

By means of the upper extremity exercise device 17 mounted on the left and right outer surfaces of the body 14 described above, the user's upper extremity exercise and the in-place walking exercise (gait exercise) can be simultaneously performed, or the upper extremity exercise and the lower extremity exercise can be performed separately. there will be

When explaining the upper extremity movement of the user's arm movement and wrist movement by the above-mentioned upper extremity exercise device 17,

Arm and wrist movements can be performed by the arm 22 rotated in the forward and reverse directions by the drive motor 21 for upper extremity movement. That is, the arm is rotated by the rotational force of the driving motor 21 for upper extremity motion while the user holds the gripping part 24 formed on the rotating ring 23 of the wrist support 25 fixed to the end of the arm 22 . Following (22), upper extremity exercises are performed.

At this time, the position of the wrist support 25 can be variably adjusted along the arm 22 according to the length of the user's arm, and the rotating ring 23 is rotatably formed in the forward and reverse direction with respect to the arm 22, As the holding part 24 is formed to be rotatable in the forward and reverse directions in the circumferential direction with respect to the rotating ring 23 (that is, the rotating ring 23 and the holding unit 24 are rotated in two degrees of freedom), when exercising the upper extremities It is possible to minimize the stress acting on the wrist and to prevent injuries caused by excessive wrist bending.

On the other hand, after fixing the user's feet to the footrests 26 symmetrically formed on the lower left and right sides of the lower left and right sides of the body 14 erected at an arbitrary angle by the extension driving of the second cylinder 31 described above, walking in place under gravity In the case of exercise, the hip joint is exercised by the hip joint exercise device 16, and the ankle movement can be simultaneously performed by alternately pushing the left and right footrests 26.

The above-mentioned footboard 26 can adjust the height of the footrest to fit the height of the user, and is formed to measure the user's load by a load cell (not shown) under the footrest 26 .

At this time, in a state in which the position of the hip joint of the thigh is fixed on the same straight line with the drive motor 15 by the cuff 27 on the thigh fixture 20 mounted on one side of the body 14 (the height of the footrest 26) can be adjusted according to the height of the user), when walking in place by the rotational force of the drive motor 15, the thigh fixture 20 can slide along the rail 18 by an arbitrary distance in the vertical direction, In addition, the thigh fixture 20 is formed to be rotatable within an arbitrary angle range in the front-rear direction around the central hinge pin 19 (that is, the thigh fixture 20 flows in two degrees of freedom).

As described above, when the lower extremity exercise is performed by the hip joint exercise mechanism 16 that is rotated in the front-rear direction by driving the drive motor 15, it slides in the vertical direction along the rail 18 of the LM guide, and also the hinge The thigh is restrained by the thigh fastener 20 which is rotated in the front and rear direction around the pin 19 .

At this time, since the description of the LM guide for sliding the thigh fixture 20 along the rail 18 is commonly used in the technical field to which this specification belongs, a detailed description of their configuration and operation will be omitted.

Therefore, when exercising the hip joint in a state in which the thigh is constrained and supported by the thigh fixture 20, the thigh fixture 20 slides by the LM guide of the two-degree-of-freedom mechanism even if the initial settings of the lower extremity exercise mechanism 13 are inconsistent. and a pivot mechanism.

Due to this, it is possible to provide the user with an optimal fit and effectively transmit the rotational force of the driving motor 15 under conditions that do not apply physical pressure to the user's leg and receive maximum stress (that is, the thigh portion of the thigh fastener ( 20), it can alleviate the discomfort caused by the fixation of the thigh during hip joint movement).

On the other hand, when an error occurs in the initial data setting input to the rehabilitation robot, or when the structure of the user's leg motion is inconsistent with the wearable robot, the thigh support unit 20 for fixing the thigh cannot flow. Damage to the skin (for example, bruising may occur due to pressure of the thigh fixture 20) may occur due to the stress acting on the skin.

On the other hand, after fixing the user's foot to the aforementioned footrest 26, an active support mode ((() In active assist mode), as the load applied to the thigh (thigh) is measured by the load cell mounted on the thigh fixture (20), the driving motor (15) pushes the lower part of the thigh up within the range that does not exceed the preset load. will be able to control

As in FIGS. 9 and 10, the movement distance of the footrest 26 described above is adjusted by an electric cylinder (stroke 0-150mm) according to the user's height (lower limb length), and then the footrest 26 is moved by the restoring force of the built-in spring. You can manually control the distance.

Therefore, since it is difficult to adjust the moving distance of the footrest 26 according to the user, it is possible to automatically control the spring manual control.

That is, after adjusting the footrest 26 by elevating it by an electric cylinder (not shown) according to the height of the user, servo motors 45 and 46 and ball screws 47 and 48 are installed on the left and right sides of the left and right footrest 26, respectively. It becomes possible to automatically control the moving distance of the footrest 26 by the following method.

As shown in FIG. 9 , when the lower extremity exercise is in progress, the user's lower extremities are moved by the value θ1 controlled by the hip joint driving motor.

L = L1 (thigh length) + L2 (shin length) + L3 (foot tilt length) (where L2 is proportional to the value of L1)

= L1 + K1L1 + L3, K1 is a proportionality constant (L2 value can also be expressed by L1 value)

(l1 = L1 cosθ1, l2 = L2 cosθ2)

l = l1 + l2 + l3

= L1 cosθ1 + L2 cosθ2 + l3

→ lc : control target

Approximate formula: L1 sinθ1 = L2 sinθ2

θ2 = sin-¹(L1 sinθ1/L2)

proportionally

l3 = K2 × [(L1 + L2) - (l1 + l2)], where K2 is the proportionality constant

therefore

lc = (L1 + L2 + L3) - (l1 + l2 + l3)

During lower extremity exercise, the real-time value of θ1 is measured, and when the user's thigh length and shin length are known, lc (value to be controlled) is calculated and real-time control is possible with the ball screw (47, 48) module installed at the bottom of the footrest.

In conclusion, if L1 and θ1 are known, the remaining values can be calculated, so that lc (value) can be automatically controlled.

A crank mechanism for linear motion of the lower base 10 on which the aforementioned casters 28 are rotatably mounted, and the first cylinder 29 (as an example, an electric cylinder may be used) with respect to the lower base 10 . By driving the upper base 11, which is mounted so as to be elevating as the 30 is changed into rotational motion, and the second cylinder 31 (as an example, an electric cylinder may be used) to the upper base 11 The body 14 that rotates in the front and rear direction, the footrest 26 that can be adjusted in height according to the user's height and the ankle is fixed by a belt, and the control program preset to control the rehabilitation exercise robot in an active or passive type. Built-in, rotatably mounted on the lower base 10 in the forward and reverse directions for the convenience of the therapist, and when inputting data that can recognize the user, the rehabilitation exercise (walking in place) required according to the user's personal physical condition stored in advance , referring to upper extremity or lower extremity exercise) and a touch screen type monitor 32, and an emergency stop button 33 used to stop the rehabilitation exercise program when the user's condition deteriorates or loses consciousness during rehabilitation exercise ( It is preferable that at least two or more are installed in a site where the therapist can easily access), so detailed descriptions of their configuration and operation will be omitted since the descriptions including those are commonly used in the technical field to which this specification belongs.

Here, although the foregoing specification has been described with reference to preferred embodiments, those skilled in the art can variously modify and modify the present specification without departing from the spirit and scope of the present specification as set forth in the following claims. You will understand that you can change it.

10; lower base
11; upper base
12; bed
13; lower extremity exercise equipment
14; body
15; drive motor
16; hip joint exercise equipment
17; upper extremity exercise equipment
18; rail
19; hinge pin
20; thigh fixture
21; drive motor for upper extremity movement
22; arm
23; rotating ring
24; grip part
25; wrist support
26; Scaffolding
27; cuff
28; caster
29; 1st cylinder
30; crank mechanism
31; 2nd cylinder
32; monitor
33; emergency stop button
34; rail
35; connection bracket
36; elastic member
37; connector
38; The driving part of the thigh fixture
39; 3rd cylinder
40; entrance

Claims (5)

A lower base, an upper base movably mounted on the lower base, and a lower extremity exercise device rotatably mounted on the upper base in the front-rear direction and for walking in place on the bed and left and right footrests on which the user boards A body, a hip joint exercise device mounted on the lower left and right sides of the body and disposed on the same line with the user's hip joint to restrain the user's thigh by the rotational force of the driving motor, and the upper left and right sides of the body mounted on the upper left and right sides of the body for upper extremity movement In the upper extremity and lower extremity muscle strength strengthening rehabilitation exercise robot apparatus for rehabilitating the user's muscle strength damaged in the upper extremity or lower extremity by providing an upper extremity exercise device for:
The upper and lower extremities, characterized in that it comprises a; is mounted on one side of the body, the user's thigh is fixed by a cuff, and slides in the vertical direction along the rail, and is rotatable in the front and rear directions around the central hinge pin. A robot device for muscle strengthening rehabilitation exercise. According to claim 1,
The upper extremity exercise device is
a connection bracket having one end movably coupled to the rail mounted spaced apart from the left and right sides of the body;
a driving motor for upper extremity movement mounted on the connection bracket;
an arm connected to the other end of the connection bracket and rotated in the front-rear direction by the rotational force of the driving motor for upper extremity movement or manually rotated by the user;
a rotation ring movably mounted on the arm so that the length can be variably adjusted according to the length of the user's arm, and rotatably formed on the arm in a forward and reverse direction to prevent wrist bending during upper extremity movement; Rehabilitation exercise robot device for strengthening upper and lower extremities, characterized in that it comprises; According to claim 1,
In an active support mode for constantly supporting the lifting force of the user's leg for walking by the lower extremity exercise device, a load cell mounted on the thigh fixture to measure the load acting on the user's thigh; as further provided, By controlling the drive motor to transmit a rotational force that does not exceed a preset load, the robot device for strengthening upper and lower extremities and lower extremities, characterized in that it assists a certain force when the user moves by his/her own force. 3. The method of claim 2,
It is mounted on the left and right sides of the body so as to be stretched and contracted in the left and right directions of the body,
Upper and lower extremities, characterized in that further comprising; a third cylinder for moving the driving part of the thigh fixture by an arbitrary distance in the left and right direction of the body in order to arbitrarily adjust the width of the thigh according to the user's body type fixed to the thigh fixture A robot device for muscle strengthening rehabilitation exercise. According to claim 1,
The rehabilitation exercise robot device is
a footrest cylinder for elevating the plate on which the left and right footrests are mounted so that the distance from the user's hip joint position to the footrest can be adjusted;
A servomotor for controlling the elevation of the left and right footrests corresponding to the hip joint angle measured in real time to assist in a walking motion in place, and a ball screw driven by the servomotor to raise and lower the footrest to an arbitrary height; further provided Rehabilitation exercise robot device for strengthening upper and lower extremities, characterized in that.

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