KR20220077309A - Rehabilitation exercise apparatus for muscle strengthening - Google Patents

Rehabilitation exercise apparatus for muscle strengthening Download PDF

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KR20220077309A
KR20220077309A KR1020200165963A KR20200165963A KR20220077309A KR 20220077309 A KR20220077309 A KR 20220077309A KR 1020200165963 A KR1020200165963 A KR 1020200165963A KR 20200165963 A KR20200165963 A KR 20200165963A KR 20220077309 A KR20220077309 A KR 20220077309A
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unit
muscle strength
bed
user
foot
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KR1020200165963A
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Korean (ko)
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모지현
김학병
김두봉
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주식회사 알피오
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/001—Apparatus for applying movements to the whole body
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/005—Moveable platform, e.g. vibrating or oscillating platform for standing, sitting, laying, leaning
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0214—Stretching or bending or torsioning apparatus for exercising by rotating cycling movement
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved in a plane substantially parallel to the body-symmetrical-plane
    • A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H39/00—Devices for locating or stimulating specific reflex points of the body for physical therapy, e.g. acupuncture
    • A61H39/002—Using electric currents
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H2001/0211—Walking coordination of arms and legs
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/01—Constructive details
    • A61H2201/0119—Support for the device
    • A61H2201/0138—Support for the device incorporated in furniture
    • A61H2201/0142—Beds
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/01—Constructive details
    • A61H2201/0192—Specific means for adjusting dimensions
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/10—Characteristics of apparatus not provided for in the preceding codes with further special therapeutic means, e.g. electrotherapy, magneto therapy or radiation therapy, chromo therapy, infrared or ultraviolet therapy
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • A61H2201/1215—Rotary drive
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/1623—Back
    • A61H2201/1626—Holding means therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/1635—Hand or arm, e.g. handle
    • A61H2201/1638—Holding means therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/164—Feet or leg, e.g. pedal
    • A61H2201/1642—Holding means therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/165—Wearable interfaces
    • A61H2201/1652—Harness
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1657—Movement of interface, i.e. force application means
    • A61H2201/1671—Movement of interface, i.e. force application means rotational
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2203/00—Additional characteristics concerning the patient
    • A61H2203/04—Position of the patient
    • A61H2203/0443—Position of the patient substantially horizontal
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    • A—HUMAN NECESSITIES
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    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2203/00—Additional characteristics concerning the patient
    • A61H2203/04—Position of the patient
    • A61H2203/0481—Hanging
    • A61H2203/0493—Hanging by hanging the patient upside down or inclined downwardly

Abstract

본 발명은 팔다리의 마비 또는 근력이 약화된 환자의 재활을 위한 근력강화 재활운동장치에 관한 것이다. 이를 위하여, 본 발명은 각종 부품이 실장되는 메인프레임; 상기 메인프레임 상에 구비되며, 사용자의 등을 지지하는 베드부; 상기 베드부의 상부에 구비되는 하네스지지부; 상기 하네스지지부에 연결되어 사용자를 지지하는 하네스; 상기 베드부의 하부에 구비되어 사용자의 허벅지를 움직여 주는 하지근력부; 상기 베드부의 중간에 구비되어 사용자의 팔을 움직여 주는 상지근력부; 상기 하지근력부 및 상지근력부의 구동을 센싱하는 센싱부를 포함하여 구성되는 근력강화 재활운동장치를 제공한다.
따라서, 본 발명에 의하면, 근력강화 재활운동장치에 편안하게 이동하면서도 심리적인 안정감을 줄 수 있는 근력강화 재활운동장치를 제공할 수 있다.The present invention relates to a muscle strengthening rehabilitation exercise device for the rehabilitation of a patient with paralysis of limbs or weakened muscle strength. To this end, the present invention is a main frame on which various parts are mounted; a bed provided on the main frame and supporting the user's back; a harness support part provided on the upper part of the bed part; a harness connected to the harness support unit to support a user; a lower extremity muscle strength unit provided under the bed unit to move the user's thighs; an upper extremity muscle strength unit provided in the middle of the bed unit to move the user's arm; It provides a muscle strengthening rehabilitation exercise device configured to include a sensing unit for sensing the driving of the lower extremity muscle strength unit and the upper extremity muscle strength unit.
Therefore, according to the present invention, it is possible to provide a muscle strengthening rehabilitation exercise device that can provide psychological stability while moving comfortably to the muscle strengthening rehabilitation exercise device.

Description

근력강화 재활운동장치{Rehabilitation exercise apparatus for muscle strengthening}Rehabilitation exercise apparatus for muscle strengthening

본 발명은 근력강화 재활운동장치에 관한 것이며, 구체적으로 팔다리의 마비 또는 근력이 약화된 환자의 재활을 위한 근력강화 재활운동장치에 관한 것이다.The present invention relates to a muscle strengthening rehabilitation exercise apparatus, and more particularly, to a muscular strength strengthening rehabilitation exercise apparatus for the rehabilitation of a patient with paralysis or weakened muscle strength.

팔다리가 마비되거나 근력이 약화된 환자들에게 재활치료를 위해 보조기구 및 물리치료사의 도움을 통한 근력강화 훈련, 스트레칭, 균형훈련 등을 하고 있다.For rehabilitative treatment of patients with paralyzed limbs or weakened muscle strength, we are providing strength training, stretching, and balance training with the help of assistive devices and physical therapists.

최근에는 이러한 훈련을 돕기 위해 다양한 종류의 운동기구 및 로봇장치들이 개발되고 있으며, 이러한 기구 및 장치들의 이용은 더욱 증대되고 있다.In recent years, various types of exercise equipment and robot devices have been developed to help such training, and the use of these devices and devices is further increasing.

그리고, 종래의 하지 재활 치료 장치들은 사용자의 상체를 고정하여 기립상태를 유지한 후 사용자의 의지에 의해 보행토록 하는 장치가 있으며, 이와 비슷하게 런닝머신이 구비된 것으로, 사용자의 의지와 함께 런닝머신을 이용한 강제보행이 병행되어 하지 단련을 하는 기구 및 장치가 있다.And, the conventional lower extremity rehabilitation treatment apparatus has a device that allows the user to walk by the will of the user after maintaining a standing state by fixing the user's upper body. There are instruments and devices that train the lower extremities in parallel with forced walking.

또한, 근래에는 상술한 재활 기구 및 치료장치의 여러 문제점 등을 개선한 장치 중에 사용자가 누워서 하지 단련을 할 수 있는 것으로, 사용자가 테이블 위에 누운 자세로 발을 발판에 올려놓은 자세로 무릎을 굽혔다 펴는 운동을 반복적으로 수행할 수 있도록 하여 사용자의 의지에 관계없이 강제적인 하지 단련이 이루어지도록 하는 재활 치료 장치가 있다.In addition, in recent years, among the devices that have improved the various problems of the aforementioned rehabilitation apparatus and treatment device, the user can train the lower extremities while lying down, and the user bends and straightens the knee in a posture lying on the table and placing the foot on the footrest. There is a rehabilitation treatment device that allows the exercise to be repeatedly performed so that compulsory lower extremity training is performed regardless of the user's will.

특히, 등록특허 제10-0878358호에 의하면, 사용자의 몸무게를 지탱하며 하지를 승강시키는 발판부위에 환자의 발목을 착탈가능한 벨트로 고정하여 발판의 지지력을 균일하게 유지할 수 있고, 발판 승강시 발판에 놓인 환자의 하지가 정상보행시에 행해지는 관절각도와 동일하도록 하여 불편함을 느끼지 않도록 하는 하지 재활 치료 장치를 제공한다.In particular, according to Patent Registration No. 10-0878358, it is possible to maintain the support force of the footrest uniformly by fixing the ankle of the patient to the footrest part that supports the user's weight and elevates the lower extremities with a detachable belt, and Provided is an apparatus for rehabilitation of lower extremities in which the lower extremities of a placed patient do not feel discomfort by making them the same as the joint angles performed during normal walking.

하지만, 상기한 특허기술은 환자가 경사진 프레임에 의지해 일어설 경우 앞으로 넘어질 것 같은 두려움을 느끼게 되어 안정감을 줄 수 없다.However, the above-described patented technology cannot give a sense of stability because the patient feels the fear of falling in the future when he stands up on the inclined frame.

또한, 근육이 약화되어 발목을 들지 못하고 발등을 몸쪽으로 당기지 못하여 발이 아래로 떨어지는 족하수 환자들에게 효과적인 재활치료방법을 제공하지 못하는 문제점이 있다.In addition, there is a problem in that it is not possible to provide an effective rehabilitation treatment method to patients with pediculosis who have their feet fall down because their muscles are weakened, and they cannot lift the ankle or pull the back of the foot toward the body.

본 발명은 상기한 문제점을 해결하기 위한 것으로서, 근력강화 재활운동장치에 편안하게 이동하면서도 심리적인 안정감을 줄 수 있는 근력강화 재활운동장치를 제공하기 위한 것이다.The present invention is to solve the above problems, and to provide a muscle strengthening rehabilitation exercise device that can give a psychological stability while moving comfortably to the muscle strengthening rehabilitation exercise device.

또한, 족하수 환자들을 비롯하여 근육이 약화된 환자들에게 효과적인 전기자극치료를 위한 재활치료방법을 제공하기 위한 것이다.Another object of the present invention is to provide a rehabilitation treatment method for effective electrical stimulation treatment for patients with weakened muscles, including patients with foot paws.

그리고, 가상현실을 이용하여 환자들에게 실감나게 훈련할 수 있는 환경을 만들어 주어 훈련효과를 배가시키기 위한 것이다.And, it is to double the training effect by creating an environment where patients can realistically train using virtual reality.

상기한 목적을 달성하기 위하여, 본 발명은 각종 부품이 실장되는 메인프레임; 상기 메인프레임 상에 구비되며, 사용자의 등을 지지하는 베드부; 상기 베드부의 상부에 구비되는 하네스지지부; 상기 하네스지지부에 연결되어 사용자를 지지하는 하네스; 상기 베드부의 하부에 구비되어 사용자의 허벅지를 움직여 주는 하지근력부; 상기 베드부의 중간에 구비되어 사용자의 팔을 움직여 주는 상지근력부; 상기 하지근력부 및 상지근력부의 구동을 센싱하는 센싱부를 포함하여 구성되는 근력강화 재활운동장치를 제공한다.In order to achieve the above object, the present invention is a main frame on which various parts are mounted; a bed provided on the main frame and supporting the user's back; a harness support part provided on the upper part of the bed part; a harness connected to the harness support unit to support a user; a lower extremity muscle strength unit provided under the bed unit to move the user's thighs; an upper extremity muscle strength unit provided in the middle of the bed unit to move the user's arm; It provides a muscle strengthening rehabilitation exercise device configured to include a sensing unit for sensing the driving of the lower extremity muscle strength unit and the upper extremity muscle strength unit.

상기 상지근력부는, 상기 베드부의 전방으로 구비되는 모터지지부, 상기 모터지지부에 의해 지지되는 상지모터, 상기 상지모터에 연결되어 회전하는 상지회전부, 상기 회전부에 연결되는 손잡이부를 포함하는 것이 바람직하다.The upper extremity muscle strength unit may include a motor support unit provided in front of the bed unit, an upper extremity motor supported by the motor supporting unit, an upper extremity rotating unit connected to the upper extremity motor to rotate, and a handle unit connected to the rotating unit.

상기 하지근력부는, 상하로 이동하는 풋실린더; 상기 풋실린더상에 구비되고 전방 끝단을 중심으로 회동하는 풋회동부를 포함하는 것이 바람직하다.The lower extremity muscle strength unit, a foot cylinder that moves up and down; It is preferable to include a foot rotating part provided on the foot cylinder and rotating around the front end.

상기 근력재활운동장치는 전기자극부를 구비하고, 상기 전기자극부는 상기 풋회동부에 의한 회동상태를 상기 센싱부로부터 수신받아 회동각도에 따라 전기자극시점을 결정할 수 있다.The muscle rehabilitation apparatus may include an electrical stimulation unit, and the electrical stimulation unit may receive the rotation state by the foot rotation unit from the sensing unit to determine the electrical stimulation time point according to the rotation angle.

근력재활운동장치는, 상기 베드부의 측면에 회동부가 구비되어 상하로 회동하는 안전가이드부를 더 포함하는 것이 바람직하다.It is preferable that the muscle rehabilitation exercise device further includes a safety guide part that is provided with a rotating part on the side surface of the bed part and rotates up and down.

본 발명에 의하면, 근력강화 재활운동장치에 편안하게 이동하면서도 심리적인 안정감을 줄 수 있는 근력강화 재활운동장치를 제공할 수 있다.Advantageous Effects of Invention According to the present invention, it is possible to provide a muscle strengthening rehabilitation exercise apparatus capable of providing psychological stability while moving comfortably to the muscle strength strengthening rehabilitation exercise apparatus.

또한, 족하수 환자들을 비롯하여 근육이 약화된 환자들에게 효과적인 전기자극치료를 위한 재활치료방법을 제공할 수 있다.In addition, it is possible to provide a rehabilitation treatment method for effective electrical stimulation treatment for patients with weakened muscles, including patients with foot paws.

그리고, 가상현실을 이용하여 환자들에게 실감나게 훈련할 수 있는 환경을 만들어 주어 훈련효과를 배가시킬 수 있다.In addition, the training effect can be doubled by creating an environment where patients can realistically train using virtual reality.

도 1은 본 발명에 의한 근력강화 재활운동장치의 구성을 나타내는 사시도;
도 2a 내지 도 3b는 본 발명에 의한 안전가이드부의 작동을 나타내는 예시도;
도 3은 도 1에서 상지근력부의 구성을 나타내는 구성도;
도 4는 하지근력부의 사용예를 나타내는 예시도;
도 5a 및 도 5b는 발운동부의 실시예를 나타내는 예시도;
도 6은 전기자극부의 부착예를 나타내는 예시도;
도 7은 가상현실부의 실시예를 나타내는 예시도.1 is a perspective view showing the configuration of a muscle strengthening rehabilitation exercise device according to the present invention;
2a to 3b are exemplary views showing the operation of the safety guide unit according to the present invention;
Figure 3 is a configuration diagram showing the configuration of the upper extremity muscle strength unit in Figure 1;
4 is an exemplary view showing an example of use of the lower extremity muscle strength unit;
5A and 5B are exemplary views showing an embodiment of the foot movement unit;
6 is an exemplary view showing an example of attachment of the electrical stimulation unit;
7 is an exemplary diagram illustrating an embodiment of a virtual reality unit.

본 발명에 의한 구체적인 실시예의 구성 및 작용에 대하여 도면을 참조하여 상세하게 설명한다.The configuration and operation of specific embodiments according to the present invention will be described in detail with reference to the drawings.

도 1을 참조하면, 본 발명에 의한 근력강화 재활운동장치는 메인프레임(100), 베드부(200), 하네스(300), 상지근력부(400), 하지근력부(500), 센싱부, 전기자극부, 제어부, 가상현실부(600)를 포함하여 구성된다.Referring to FIG. 1 , the muscle strength rehabilitation exercise apparatus according to the present invention includes a main frame 100 , a bed unit 200 , a harness 300 , an upper extremity muscle strength unit 400 , a lower extremity strength unit 500 , a sensing unit, and electricity. It is configured to include a stimulation unit, a control unit, and a virtual reality unit (600).

상기 메인프레임(100)은 베드부(200) 및 상지근력부(400), 하지근력부(500) 등을 지지하는 역할을 하며, 후면의 메인회동부에 의해 각도가 조절되도록 되어 있다. 즉, 도 2a 내지 도 2c를 참조하면, 메인프레임(100)은 메인회동부(110)에 의해 회동되어 환자가 침대처럼 누운 자세로 착석한 후 메인회동부(110)에 의해 선 자세로 움직일 수 있다.The main frame 100 serves to support the bed unit 200, the upper extremity muscle strength unit 400, the lower extremity strength unit 500, and the like, and the angle is adjusted by the main rotating unit at the rear side. That is, referring to FIGS. 2A to 2C , the main frame 100 is rotated by the main rotating unit 110 , and after the patient is seated in a lying position like a bed, it can be moved to a standing position by the main rotating unit 110 . have.

상기 메인프레임(100)의 전면에는 베드부(200)가 구비된다. 상기 베드부(200)는 사용자의 등부분이 접촉하여 지지되는 부분으로서, 사용자로 하여금 푹신하고 따뜻한 느낌을 줄 수 있도록 구비된다.A bed 200 is provided on the front side of the main frame 100 . The bed part 200 is a part supported by contact with the user's back, and is provided to give the user a soft and warm feeling.

상기 베드부(200)의 상부에는 하네스지지부(350)가 구비되며, 상기 하네스지지부(350)에는 하네스가 설치된다.A harness support part 350 is provided on the upper part of the bed part 200 , and a harness is installed on the harness support part 350 .

상기 하네스(300)는 메인프레임(100)이 회동하여 기립시 사용자가 아래쪽으로 쓰러지지 않도록 직접적으로 지지하는 역할을 하며, 사용자는 상기 하네스에 양쪽 다리 및 어깨를 걸쳐 지지하도록 한다.The harness 300 serves to directly support the user so that the user does not fall down when the mainframe 100 rotates to stand up, and the user supports the harness with both legs and shoulders.

도 3을 참조하면, 상기 상지근력부(400)는 양쪽 팔의 근력을 강화시켜 주기 위해 하지근력부(500)와 동기화되어 움직이며, 모터지지부(420), 상지모터(410), 상지회전부(430), 손잡이부(440)를 포함하여 구비된다.3, the upper extremity muscle strength unit 400 moves in synchronization with the lower extremity strength unit 500 to strengthen the muscle strength of both arms, and the motor support unit 420, the upper extremity motor 410, and the upper extremity rotation unit ( 430), including a handle portion 440 is provided.

상기 모터지지부(420)는 메인프레임의 측면에 연결되어 전방으로 구비되며, 상부끝단에는 상지모터(410)가 지지된다. 또한, 상기 상지모터(410)에는 상지회전부(430)가 연결되어 상지모터에 의해 상하로 회전운동을 하게 된다. 그리고, 상기 상지회전부(430)에는 손잡이부(440)가 연결된다.The motor support 420 is connected to the side of the main frame and provided in the front, and the upper extremity motor 410 is supported at the upper end. In addition, the upper extremity rotating unit 430 is connected to the upper extremity motor 410 to perform a vertical rotation motion by the upper extremity motor. In addition, the handle part 440 is connected to the upper extremity rotation part 430 .

상기 손잡이부(440)는 내부에 중공이 형성된 원형고리모양의 테두리부 및 테두리부의 내부에 일자형으로 구비되는 파지부를 포함한다.The handle portion 440 includes a circular ring-shaped rim portion having a hollow formed therein and a grip portion provided in a straight line inside the rim portion.

상기 하지근력부(500)는 허벅지승강부(590) 및 발운동부(550)를 포함하며, 사용자의 다리를 움직여 하지근육을 강화시키는 역할을 한다. The lower extremity muscle strength unit 500 includes a thigh lifting unit 590 and a foot exercise unit 550, and serves to strengthen the lower extremity muscles by moving the user's legs.

도 4를 참조하면, 상기 허벅지승강부(590)는 사용자가 허벅지에 벨트를 착용한후 사용자의 허벅지를 상하로 왕복운동시켜줌으로써 사용자의 보행에 도움을 주어 근력을 강화시킨다.Referring to FIG. 4 , the thigh lifting unit 590 helps the user to walk by reciprocating the user's thigh up and down after the user wears the belt on the thigh, thereby strengthening the muscular strength.

한 쌍의 상기 허벅지승강부(590)와 상지모터(410)는 제어부에 의해 동기화되어, 오른쪽 허벅상기 허벅지승강부(590)가 상승할 경우 오른쪽 상지모터(410)는 상지회전부(430)가 하강하도록 제어되고, 오른쪽 허벅상기 허벅지승강부(590)가 하강할 경우 오른쪽 상지모터(410)는 상지회전부(430)가 상승하도록 제어된다. 이와 같이 상지근육부의 상지모터에 의해 정확하게 동기화시킬 수 있어 효율적인 근육강화훈련이 될 수 있도록 한다.The pair of the thigh elevating unit 590 and the upper extremity motor 410 are synchronized by the control unit, and when the right thigh elevating unit 590 rises, the right upper extremity motor 410 moves the upper extremity rotating unit 430 down. and the right upper extremity motor 410 is controlled so that the upper extremity rotating unit 430 rises when the right thigh upper thigh lifting unit 590 descends. In this way, it can be precisely synchronized by the upper extremity motor of the upper extremity muscle part, so that it can be an effective muscle strengthening training.

한편, 발운동부(550)는 상기 허벅지승강부(590)의 움직임에 연동되어 보행할 때 발의 자연스러운 움직임을 구현하는 역할을 하며, 본 실시예에 의한 발운동부(500)는 풋구동부(559), 풋실린더(552), 풋회동부(554)를 포함하여 구성된다.On the other hand, the foot movement unit 550 is linked to the movement of the thigh lifting unit 590 to implement a natural movement of the foot when walking, and the foot movement unit 500 according to this embodiment includes a foot driving unit 559, It is configured to include a foot cylinder 552 and a foot rotation unit 554 .

상기 풋구동부(559)는 내부에 모터가 구비되어 풋실린더(552)를 상하로 움직여주는 역할을 한다. 이러한 풋구동부(559)는 상기 허벅지승강부(590)와 동기화되어 허벅지승강부(590)의 구동에 따라 상하구동이 제어된다.The foot driving unit 559 is provided with a motor inside and serves to move the foot cylinder 552 up and down. The foot driving unit 559 is synchronized with the thigh lifting unit 590 to control vertical driving according to the operation of the thigh lifting unit 590 .

상기 풋회동부(554)는 풋고정부(556)와 힌지(555)로 연결되어 회동가능하게 구비되며, 상기 힌지는 풋회동부 및 풋고정부의 전방 끝단에 위치하여 풋회동부는 전방 끝단을 중심으로 회동하게 된다. 센싱부에서는 상기 풋회동부의 움직임을 감지하여 풋회동부의 회동각도를 감지할 수 있다.The foot rotation part 554 is connected to the foot fixing part 556 and a hinge 555 to be rotatably provided, and the hinge is located at the front end of the foot rotation part and the foot fixing part so that the foot rotation part rotates around the front end. do. The sensing unit may sense a movement of the foot rotating unit to detect a rotation angle of the foot rotating unit.

풋고정부(556)는 풋회동부(554)가 회전함에 따라 풋회동부 내부로 삽입될 수 있으며, 타단에는 회동감지부(557)가 구비될 수 있다. 상기 회동감지부(557)는 풋회동부(554)가 위로 회전된 상태, 즉, 사용자의 뒤꿈치가 들린 상태인지 아니면 풋회동부(554)가 아래로 회전되지 않은 상태, 즉, 사용자의 뒤꿈치가 바닥에 닿은 상태인지를 판별하는 역할을 한다.The foot fixing unit 556 may be inserted into the foot rotating unit as the foot rotating unit 554 rotates, and a rotation detecting unit 557 may be provided at the other end. The rotation detecting unit 557 determines whether the foot rotation unit 554 is rotated upward, that is, the user's heel is raised, or the foot rotation unit 554 is not rotated downward, that is, the user's heel is on the floor. It plays a role in determining whether or not it is in contact.

상기 회동감지부(557)는 리미트스위치 등으로 구비될 수 있으며, 풋회동부(554)의 회동에 따라 온오프 식으로 작동될 수 있다. 센싱부는 상기 회동감지부를 포함할 수 있다.The rotation detection unit 557 may be provided with a limit switch or the like, and may be operated in an on-off manner according to the rotation of the foot rotation unit 554 . The sensing unit may include the rotation sensing unit.

상기 센싱부는 프레임의 움직임, 상지근력부 및 하지근력부의 구동상태를 감지하여 제어부에 전송하는 역할을 한다. 구체적으로, 상기 센싱부는 모터에 의한 회전각도, 움직인 거리 등을 감지하는 역할을 할 수 있다. 제어부에서는 이러한 센싱부에 의한 데이터에 기초하여 상지모터를 제어하여 상지근력부와 하지근력부의 동기화를 할 수 있으며, 이에 따라 풋구동부의 모토를 제어함으로써 사용자로 하여금 자연스러운 보행 움직임을 유도할 수 있다.The sensing unit serves to detect the motion of the frame and the driving state of the upper and lower extremity muscle strength units and transmit them to the control unit. Specifically, the sensing unit may serve to sense a rotation angle, a moving distance, and the like by a motor. The control unit may control the upper extremity motor based on the data from the sensing unit to synchronize the upper extremity muscle strength unit and the lower extremity muscle strength unit, and accordingly, by controlling the moto of the foot driving unit, the user may induce a natural walking movement.

본 실시예에 의한 근력강화 재활운동장치는 도 6과 같이 전기자극부(FES)를 구비할 수 있으며, 상기 전기자극부는 환자에게 기능적 전기자극을 가하여 발끌림과 족하수를 방지하고 정확한 보행보조를 수행한다.The muscular strength strengthening rehabilitation exercise device according to this embodiment may include an electrical stimulation unit (FES) as shown in FIG. 6 , and the electrical stimulation unit applies functional electrical stimulation to the patient to prevent foot drag and prolapse and perform accurate walking assistance. do.

구체적으로, 센싱부에서는 풋회동부(554)의 회동에 따라 환자의 발상태를 감지하며, 풋고정부(556)의 뒤끝부분이 풋회동부(554)의 뒤끝부분에 삽입된 상태로 되면 회동감지부(557)에서는 풋회동부가 풋고정부에 안착한 것으로 판단하고 안착신호를 전기자극부로 전송한다.Specifically, the sensing unit detects the foot state of the patient according to the rotation of the foot rotation unit 554, and when the rear end of the foot fixing unit 556 is inserted into the rear end of the foot rotation unit 554, the rotation detecting unit ( 557), it is determined that the foot rotation unit has been seated on the foot fixing unit, and a seating signal is transmitted to the electrical stimulation unit.

상기 전기자극부에서는 회동감지부(557)로부터 안착신호를 수신받으면 이를 전기자극의 자극시점으로 판단하고 전기자극을 인가한다. 반면, 풋회동부가 회동하여 풋회동부의 뒤끝부분이 풋고정부의 뒤끝부분으로부터 떨어지게 되면 회동감지부에서는 오프신호를 전송하고, 전기자극부에서는 전기자극을 해제한다.When the electrical stimulation unit receives a seating signal from the rotation detection unit 557, it is determined as the stimulation time of the electrical stimulation and the electrical stimulation is applied. On the other hand, when the foot rotation unit rotates and the rear end of the foot rotation unit is separated from the rear end of the foot fixing unit, the rotation detecting unit transmits an OFF signal, and the electrical stimulation unit releases the electrical stimulation.

이와 같이 전기자극부에서는 풋회동부에 의한 회동상태를 센싱부로부터 수신받아 회동각도에 따라 전기자극시점을 결정할 수 있다.As such, the electrical stimulation unit may receive the rotation state by the foot rotation unit from the sensing unit and determine the electrical stimulation time point according to the rotation angle.

한편, 상기 전기자극부에서 가해지는 전기자극의 세기는 풋실린더(552)의 높이에 따라 결정될 수 있다. 즉, 상하로 왕복하는 풋실린더의 최고높이가 높아질수록 전기자극의 세기는 작아지는 것이 바람직하다.On the other hand, the strength of the electrical stimulation applied by the electrical stimulation unit may be determined according to the height of the foot cylinder (552). That is, it is preferable that the intensity of the electrical stimulation decreases as the maximum height of the vertical reciprocating foot cylinder increases.

도 2a 내지 도 2c를 참조하면, 본 실시예에 의한 근력강화 재활운동장치는 상하로 회동하는 안전가이드부(700)를 구비할 수 있다. 상기 안전가이드부(700)는 베드부의 측면에 구비된 회동부(750)에 의해 상하로 회동할 수 있게 구비되며, 누워서 위치한 환자가 메인프레임이 기립하면서 일어선 자세로 되는데, 상기 안전가이드부가 환자의 앞에서 보호를 해주므로, 환자는 상기 안전가이드부에 기대어 앞으로 넘어질 것 같은 심리적인 불안을 해소시켜 줄 수 있다.Referring to FIGS. 2A to 2C , the muscle strength strengthening rehabilitation exercise apparatus according to the present embodiment may include a safety guide unit 700 that rotates up and down. The safety guide part 700 is provided to be able to rotate up and down by the rotation part 750 provided on the side of the bed part, and the patient who is lying down becomes in a standing position while the main frame stands up, the safety guide part is the patient Since it provides protection in front of the patient, it is possible to relieve the psychological anxiety of the patient leaning against the safety guide and falling forward.

상기 가상현실부(600)는 센싱부에 의한 데이터에 기초하여 디스플레이부를 통해 사용자에게 적절한 화면을 표시하여 준다.The virtual reality unit 600 displays an appropriate screen to the user through the display unit based on the data by the sensing unit.

도 7을 참조하면, 디스플레이 모니터에는 센싱부에 의한 각종 데이터가 표시될 수 있으며, 특히, 하지근력부(500)에 의한 데이터에 기초하여 화면상에 발자국(610)을 표시하여 준다.Referring to FIG. 7 , various data by the sensing unit may be displayed on the display monitor, and in particular, a footprint 610 is displayed on the screen based on the data by the lower extremity muscle strength unit 500 .

이러한 발자국은 사용자가 실제로 걷는 느낌을 줌과 동시에 보행하고자 하는 의욕을 불러일으킬 수 있다.These footprints may give the user the feeling of actually walking and at the same time motivate the user to walk.

구체적으로, 센싱부에서는 풋실린더(552)의 최대높이를 측정하고 이와 관련된 데이터를 가상현실부로 전송한다. 그러면, 가상현실부(600)에서는 상기 풋실린더의 최대높이에 대응하는 화면상의 보폭을 산출하고, 이에 해당하는 위치에 발자국(610)을 표시하여 준다.Specifically, the sensing unit measures the maximum height of the foot cylinder 552 and transmits related data to the virtual reality unit. Then, the virtual reality unit 600 calculates a stride length on the screen corresponding to the maximum height of the foot cylinder, and displays the footprint 610 at the corresponding position.

상기에서는 본 발명의 실시예들을 참조하여 설명하였지만, 해당 기술 분야에서 통상의 지식을 가진 자라면 하기의 특허 청구범위에 기재된 본 발명의 사상 및 영역으로부터 벗어나지 않는 범위 내에서 본 발명을 다양하게 수정 및 변경시킬 수 있음을 이해할 수 있을 것이다.Although the above has been described with reference to the embodiments of the present invention, those of ordinary skill in the art can variously modify and modify 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 that it can be changed.

100 : 메인프레임 200 : 베드부
300 : 하네스 400 : 상지근력부
410 ; 상지모터 440 : 손잡이부
500 : 하지근력부 552 : 풋실린더
554 : 풋회동부 550 : 발운동부
590 : 허벅지승강부 600 : 가상현실부100: main frame 200: bed part
300: harness 400: upper extremity muscle strength
410; Upper limb motor 440: handle part
500: lower extremity muscle 552: foot cylinder
554: foot rotation part 550: foot movement part
590: thigh lifting unit 600: virtual reality unit

Claims (5)

각종 부품이 실장되는 메인프레임;
상기 메인프레임 상에 구비되며, 사용자의 등을 지지하는 베드부;
상기 베드부의 상부에 구비되는 하네스지지부;
상기 하네스지지부에 연결되어 사용자를 지지하는 하네스;
상기 베드부의 하부에 구비되어 사용자의 허벅지를 움직여 주는 하지근력부;
상기 베드부의 중간에 구비되어 사용자의 팔을 움직여 주는 상지근력부;
상기 하지근력부 및 상지근력부의 구동을 센싱하는 센싱부를 포함하여 구성되는 근력강화 재활운동장치.
a main frame on which various parts are mounted;
a bed provided on the main frame and supporting the user's back;
a harness support part provided on the upper part of the bed part;
a harness connected to the harness support unit to support a user;
a lower extremity muscle strength unit provided under the bed unit to move the user's thighs;
an upper extremity muscle strength unit provided in the middle of the bed unit to move the user's arm;
A muscle strength strengthening rehabilitation exercise device comprising a sensing unit for sensing the driving of the lower extremity muscle strength unit and the upper extremity muscle strength unit.
 제1항에 있어서,
상기 상지근력부는,
상기 베드부의 전방으로 구비되는 모터지지부, 상기 모터지지부에 의해 지지되는 상지모터, 상기 상지모터에 연결되어 회전하는 상지회전부, 상기 회전부에 연결되는 손잡이부를 포함하는 것을 특징으로 하는 근력강화 재활운동장치.
According to claim 1,
The upper extremity muscle strength unit,
A motor support unit provided in front of the bed unit, an upper extremity motor supported by the motor supporting unit, an upper extremity rotating unit connected to the upper extremity motor to rotate, and a handle unit connected to the rotating unit.
 제1항에 있어서,
상기 하지근력부는,
상하로 이동하는 풋실린더;
상기 풋실린더상에 구비되고 전방 끝단을 중심으로 회동하는 풋회동부를 포함하는 것을 특징으로 하는 근력강화 재활운동장치.
According to claim 1,
The lower extremity muscle part,
Foot cylinder moving up and down;
A muscle strength strengthening rehabilitation exercise device provided on the foot cylinder and comprising a foot rotation unit rotating around the front end.
 제1항에 있어서,
상기 근력재활운동장치는 전기자극부를 구비하고, 상기 전기자극부는 상기 풋회동부에 의한 회동상태를 상기 센싱부로부터 수신받아 회동각도에 따라 전기자극시점을 결정하는 것을 특징으로 하는 근력강화 재활운동장치.
According to claim 1,
The muscle strength rehabilitation apparatus includes an electrical stimulation unit, and the electrical stimulation unit receives the rotation state by the foot rotation unit from the sensing unit and determines the electrical stimulation time according to the rotation angle.
 제1항에 있어서,
근력재활운동장치는,
상기 베드부의 측면에 회동부가 구비되어 상하로 회동하는 안전가이드부를 더 포함하는 것을 특징으로 하는 근력강화 재활운동장치.According to claim 1,
Strength rehabilitation exercise equipment,
Muscle strengthening rehabilitation exercise device, characterized in that it further comprises a safety guide part which is provided with a rotating part on the side of the bed part rotates up and down.
KR1020200165963A 2020-12-01 2020-12-01 Rehabilitation exercise apparatus for muscle strengthening KR20220077309A (en)

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