KR20230076352A - Apparatus for rehabilitation training - Google Patents

Abstract

An apparatus for rehabilitation training is disclosed. The apparatus for rehabilitation training according to an aspect of the present invention, as an apparatus for rehabilitation training for inducing muscle movement during rehabilitation training, comprises: a wearing unit which is worn on a trainee's body; a control unit which is formed to determine and control a pattern of stimulation that induces movement of the trainee's muscles while the wearing unit is worn on the trainee's body; and a stimulation generating unit which is formed on the wearing unit, and generates stimulation based on the pattern determined by the control unit.

Description

Rehabilitation training device {Apparatus for rehabilitation training}

The present invention relates to a rehabilitation training device, and more particularly, to a rehabilitation training device that performs rehabilitation training by applying a stimulus to guide muscle movement.

Nervous system damage and disease lead to impairment of motor function and sensory function, as well as functional limitations in activities of daily living, muscle atrophy, muscle contracture, muscle tendon shortening, joint movement disorder, osteoporosis, chronic pain, mobility and gait disorders, etc. It can lead to complications and sequelae.

Muscle rehabilitation training is a rehabilitation treatment method for activating the muscles and nerves of a rehabilitation patient who needs rehabilitation treatment because movement is not natural due to muscle dysfunction or muscle tone control due to disease or damage of the nervous system.

A rehabilitation training device is a device for assisting the above-mentioned rehabilitation patients in muscle rehabilitation training. In general, a conventional rehabilitation training device attaches an electrical stimulator to a body part of a patient in need of muscle rehabilitation and applies electrical stimulation to the muscles. I have been performing muscle rehabilitation training.

However, since the conventional rehabilitation training device is a device for passive treatment that can only apply electrical stimulation to muscles according to a pattern built into the electrical stimulator, the patient not only depends on the simple function of stimulation of the electrical stimulator, There has been a problem in that patients cannot induce active rehabilitation training in which they directly exercise their own muscles.

In addition, conventional electric stimulators do not have elements that can arouse interest in patients, and thus do not provide active motivation for rehabilitation, making efficient rehabilitation training impossible for a long period of time in a situation where long-term treatment is required.

Therefore, there has been a demand for development of a rehabilitation training device capable of providing a stimulus for guiding a muscle movement direction or movement sequence for active rehabilitation in which a patient directly exercises muscles using his or her own nerves. In addition, there has been an urgent need to develop a rehabilitation training apparatus capable of giving an active motivation for rehabilitation by arousing a patient's interest in the course of rehabilitation training.

The present invention is to solve the above problems, and an object of the present invention is rehabilitation training that can perform active rehabilitation training in which the patient directly exercises his muscles by giving a stimulus to guide the movement of the muscles to the trainee. to provide the device.

Another object of the present invention is to provide a rehabilitation training device that can motivate a trainee for continuous rehabilitation training by inducing interest in the rehabilitation training process.

The tasks of the present invention are not limited to the tasks mentioned above, and other tasks not mentioned will be clearly understood by those skilled in the art from the description below.

According to one aspect of the present invention, a rehabilitation training device for inducing muscle movement during rehabilitation training, comprising: a wearable part worn on a trainee's body; a controller configured to determine and control a pattern of stimulation inducing movement of the trainee's muscles while the wearer is worn on the trainee's body; and a stimulus generating unit formed on the wearable part and generating a stimulus based on the pattern determined by the controller.

In this case, the stimulus inducing the exercise of the trainee's muscles may be a stimulus inducing at least one of the order and direction of contraction or relaxation of the muscles.

At this time, it further includes a first sensor for sensing the movement of the muscle, and the stimulus generating unit generates a stimulus having a predetermined pattern when the pattern of the stimulus matches the movement of the muscle detected by the first sensor. can

In this case, the intensity of the stimulus generated by the stimulus generating unit may increase as the rehabilitation training time passes.

In this case, the intensity of the stimulation may increase step by step.

In this case, the intensity of the stimulus may continuously increase.

In this case, the increased intensity of stimulation may be reset to an initial value when rehabilitation training is started again after the rehabilitation training is finished.

In this case, the stimulus generator may include a plurality of stimulus modules.

At this time, the stimulus inducing the movement of the trainee's muscle is a stimulus inducing at least one of the order and direction of contraction or relaxation of the muscle, and the plurality of stimulation modules are arranged corresponding to the direction in which the muscle is contracted or relaxed. It can be.

In this case, the control unit may control the pattern of the stimulation applied by the plurality of stimulation modules to correspond to at least one of the order, direction, speed, and interval of contraction or relaxation of the muscles.

At this time, a second sensor for sensing the movement of the muscle may be located on one side of each of the plurality of stimulation modules.

At this time, a second sensor for sensing the activity of the muscle may be located on one side of each of the plurality of stimulation modules.

In this case, the stimulus generator may include a vibrator capable of providing a vibration stimulus.

In this case, the stimulus generating unit may include a stimulus generator disposed on one side of the vibrator to further generate at least one of a low-frequency stimulus, an electrical stimulus, a magnetic stimulus, and a pressure stimulus together with the vibration stimulus.

At this time, the wearing unit, a pad surrounding a part of the user's body; and a fixing member providing a fixing force so that the pad can be fixed to a part of the user's body.

At this time, it may further include an assisting force generating unit for generating an assisting force capable of assisting the trainee's rehabilitation training.

According to the configuration described above, in the rehabilitation training apparatus according to an embodiment of the present invention, the control unit determines a stimulation pattern for guiding a trainee's muscle movement direction or exercise sequence, and the stimulation generation unit applies the trainee's muscles to the stimulation pattern determined by the control unit. By applying a stimulus according to the above, it is possible to perform active rehabilitation training in which the patient directly exercises his or her own muscles.

In addition, the rehabilitation training apparatus according to an embodiment of the present invention includes a sensor capable of sensing the movement of a trainee's muscle, and when the pattern of stimulation and the movement of the muscle detected by the sensor match, the stimulus generating unit generates a predetermined value. By generating a stimulus having a pattern and granting a reward to the trainee, it is possible to motivate the trainee for continuous rehabilitation training by arousing the trainee's interest in the rehabilitation training process.

In addition, in the rehabilitation training apparatus according to an embodiment of the present invention, the intensity of the stimulus generated by the stimulus generator increases as the rehabilitation training time passes, and the increased intensity of the stimulus starts the rehabilitation training again after the rehabilitation training is finished. By resetting to the initial value at this time, it is possible to prevent the effect of rehabilitation training from being reduced as the trainee becomes accustomed to the stimulation as the training progresses, and to maximize the training effect.

In addition, the rehabilitation training device according to an embodiment of the present invention further generates a vibrator for inducing rehabilitation training by guiding a muscle movement direction or movement sequence by the stimulus generating unit, and at least one of low-frequency stimulation, electrical stimulation, magnetic stimulation, and pressure stimulation. It is provided with a stimulation module consisting of a stimulation generator to perform active therapy and passive therapy for rehabilitation at the same time.

The effects of the present invention are not limited to the above effects, and should be understood to include all effects that can be inferred from the detailed description of the present invention or the configuration of the invention described in the claims.

1 is a perspective view showing a state in which an upper limb of a trainee is fastened to a rehabilitation training device according to an embodiment of the present invention.
2 is a perspective view showing a state in which the upper limbs of a trainee are placed in a rehabilitation training apparatus according to an embodiment of the present invention. For purposes of illustration, the trainee's upper limbs are indicated by dotted lines.
Figure 3 (a) is a diagram showing the first stimulus generating unit of the rehabilitation training apparatus according to an embodiment of the present invention, Figure 3 (b) is a second diagram of the rehabilitation training apparatus according to an embodiment of the present invention It is a drawing showing the stimulus generating unit.
4 is a block diagram showing components for transmitting and receiving signals to and from a control unit of a rehabilitation training apparatus according to an embodiment of the present invention.
5 is a diagram illustrating a process in which a first stimulus pattern determined by a controller according to an embodiment of the present invention is expressed in a first vibrator of a first stimulus generator.
6 is a diagram illustrating a process in which a second stimulus pattern determined by a controller according to an embodiment of the present invention is expressed in a first vibrator of a first stimulus generator.
7 is a diagram illustrating a process in which a third stimulus pattern determined by a controller according to an embodiment of the present invention is expressed in a first oscillator of a first stimulus generator and a second oscillator of a second stimulus generator.
8 is a graph showing the relationship between the intensity of stimulation and the rehabilitation training time generated by the rehabilitation training apparatus according to an embodiment of the present invention.
9 is a perspective view showing a state in which the upper limbs of a trainee are placed in a rehabilitation training device according to a modified example of an embodiment of the present invention. For purposes of illustration, the trainee's upper limbs are indicated by dotted lines.
10 is a view showing a state in which the upper limbs of a trainee are fastened to a rehabilitation training device according to another modified example of an embodiment of the present invention. For explanation of the invention, the configuration projected by the assisting force generator is indicated by a dotted line.

Hereinafter, with reference to the accompanying drawings, embodiments of the present invention will be described in detail so that those skilled in the art can easily carry out the present invention. This invention may be embodied in many different forms and is not limited to the embodiments set forth herein. In order to clearly describe the present invention, parts irrelevant to the description are omitted in the drawings, and the same reference numerals are assigned to the same or similar components throughout the specification.

Words and terms used in this specification and claims are not construed as limited in their ordinary or dictionary meanings, but in accordance with the principle that the inventors can define terms and concepts in order to best describe their inventions. It should be interpreted as a meaning and concept that corresponds to the technical idea.

In this specification, terms such as "include" or "have" are intended to describe the presence of features, numbers, steps, operations, components, parts, or combinations thereof described in the specification, but one or more other features It should be understood that the presence or addition of numbers, steps, operations, components, parts, or combinations thereof is not precluded.

A component being in the "front", "rear", "above" or "below" of another component means that it is in direct contact with another component, unless there are special circumstances, and is "in front", "rear", "above" or "below". It includes not only those disposed at the lower part, but also cases in which another component is disposed in the middle. In addition, the fact that certain components are “connected” to other components includes cases where they are not only directly connected to each other but also indirectly connected to each other unless there are special circumstances.

1 is a perspective view showing a state in which an upper limb of a trainee is fastened to a rehabilitation training device according to an embodiment of the present invention. 2 is a perspective view showing a state in which the upper limbs of a trainee are placed in a rehabilitation training apparatus according to an embodiment of the present invention. For purposes of illustration, the trainee's upper limbs are indicated by dotted lines. Figure 3 (a) is a diagram showing the first stimulus generating unit of the rehabilitation training apparatus according to an embodiment of the present invention, Figure 3 (b) is a second diagram of the rehabilitation training apparatus according to an embodiment of the present invention It is a drawing showing the stimulus generating unit.

In describing the drawings, each direction is defined and explained from the perspective of a trainee performing rehabilitation training by means of a rehabilitation training device on the drawing. More specifically, as seen in FIG. 1, the right direction in which the trainee's forearm 2b is positioned is defined as the front, and the left direction in which the trainee's upper arm 2a is positioned is defined as the rear. The direction in which the elbow of the trainee is bent and the forearm 2b is moved is defined as an upward direction, and the direction in which the elbow of the trainee is extended and the forearm 2b is moved is defined as a downward direction. In addition, based on the state in which the trainee's palm faces upward, the direction in which the trainee's thumb is positioned is defined as the right direction, and the direction in which the trainee's little finger is positioned is defined as the left direction.

1, 2 and 3, the rehabilitation training apparatus 1 according to an embodiment of the present invention includes wearing parts 10 and 30, stimulus generators 20 and 40, sensors 26 and 46, 50) and a control unit 60.

The wearing parts 10 and 30 may refer to a member worn on a body of a trainee. The trainee's body may be the trainee's upper extremity (2). That is, the rehabilitation training apparatus 1 according to an embodiment of the present invention can perform training to rehabilitate the exercise of the upper limb 2 of a trainee.

At this time, the wearing parts 10 and 30 may be formed of a strap, pad, or band type fastened while surrounding the upper limb 2 of the trainee in the circumferential direction. At this time, the wearing parts 10 and 30 are the upper arm wearing part 10 worn on the upper arm 2a of the upper limb 2 of the trainee and the forearm wearing part 30 worn on the forearm 2b of the upper limb 2 of the trainee. ) may be included.

Stimulus generators 20 and 40 may be positioned on the side of the wearer's body of the wearable parts 10 and 30 to generate and transmit stimulation for rehabilitation training to the trainee's body. The wearing parts 10 and 30 may perform a function of fixing and attaching the stimulus generators 20 and 40 to the trainee's body so that the stimulus generators 20 and 40 can transmit stimuli to the trainee's body.

Meanwhile, the upper arm wearable part 10 and the forearm worn part 30 may be coupled by a separate connecting member. The connecting member may extend from one end of the front side of the wearable part 10 toward the wearable part 30 for the forearm and be coupled to one end of the wearable part 30 on the rear side of the wearable part 30 for the forearm. At this time, the connecting member may be disposed on the right side of the upper limb 2 of the trainee. The connection member may be formed of a frame or band having a predetermined rigidity and allowing the exercise of a trainee's elbow.

A third sensor 50 may be disposed on the connection member. At this time, the third sensor 50 may be disposed on the right side of the elbow of the upper limb 2 . The third sensor 50 may sense the movement of a trainee's elbow or the movement of a muscle positioned between the upper arm 2a and the forearm 2b. Alternatively, the third sensor 50 may sense the movement or rotation angle of the trainee's elbow joint.

Meanwhile, the third sensor 50 may include a flex sensor or an acceleration sensor. The bending sensor may refer to a sensor capable of calculating an angle or degree of bending of an object using a resistance value that changes according to a degree of bending of the object to which the sensor is attached. An acceleration sensor may refer to a sensor capable of measuring an acceleration of an object to which the acceleration sensor is attached and measuring a rotation angle of the object using the acceleration.

A strap may be formed on the front side of the forearm wearing part 30 to surround the wrist of the trainee after extending to the wrist of the trainee. A fourth sensor 80 may be disposed outside the strap surrounding the wrist. In this case, the fourth sensor 80 may be disposed on one side of the wrist joint in the rotation axis direction. The fourth sensor 80 may sense the movement of the wrist joint of the trainee or the rotation angle of the wrist joint.

On the other hand, so that the fourth sensor 80 can be easily fixed to one side of the trainee's wrist, one side of the strap surrounding the trainee's wrist is hooked on the trainee's index finger and an elastic ring-shaped band is formed. It can be. Meanwhile, the fourth sensor 80 may be formed of a bending sensor similar to the third sensor 50 .

Specific functions of the third sensor 50 and the fourth sensor 80 will be described later together with the first sensor 26 and the second sensor 46 .

A controller 60 may be disposed outside the third sensor 50 . The controller 60 is electrically connected to the stimulus generators 20 and 40 and the sensors 26, 46 and 50, and electrically communicates with the stimulus generators 20 and 40 and the sensors 26, 46 and 50. information can be transmitted and received.

An electric circuit electrically connecting the control unit 60 and the stimulus generators 20 and 40 may be accommodated inside the connection member and protected from the outside. However, as long as the controller 60 can be electrically connected to the stimulus generators 20 and 40 and the sensors 26, 46, and 50, the location of the controller 60 is not particularly limited.

The control unit 60 may be configured to determine and control a pattern of stimulation that induces the exercise of the trainee's muscles. In this case, the stimulus inducing the movement of the trainee's muscles may be a stimulus inducing at least one of the order and direction of contraction or relaxation of the muscles.

Referring to FIG. 2 , the upper arm wearing part 10 of the rehabilitation training device 1 according to an embodiment of the present invention may include a first body 12 and a first fixing member 14 . The first body 12 may be formed of a strap, pad, or band type fastened while surrounding the upper arm 2a of the trainee in the circumferential direction. At this time, the first body 12 may be made of a material having flexibility such as easily deformable rubber or cloth. The first body 12 may provide a base on which a first magnetic pole generator 20 to be described later may be installed.

The first stimulus generator 20 may be disposed on the upper arm 2a side of the first body 12 . If the stimulus generated by the first stimulus generator 20 can be transmitted through the first body 12, the first stimulus generator 20 can be located on the outer surface of the first body 12 is of course

At this time, the first stimulus generator 20 may be formed in an appropriate size and shape according to a muscle part to which the stimulus generated by the first stimulus generator 20 is to be delivered. In addition, the first stimulus generating unit 20 may extend along a direction for inducing movement of a trainee's muscles. That is, the first stimulus generator 20 may be formed according to the order and direction of contraction or relaxation of the trainee's muscles.

For example, based on FIG. 2, the first stimulus generator 20 extends in the longitudinal direction of the upper arm 2a in order to induce muscle movement in the longitudinal direction of the upper arm 2a of the trainee, and the upper arm ( 2a) It can be formed to have a predetermined width according to the size of the muscle.

A first fixing member 14 is provided on both sides of the upper arm 2a of the first pad 22 in the circumferential direction to provide a fixing force so that the first pad 22 can be fixed to the upper arm 2a of the trainee. It can be. At this time, the first fixing member 14 is made of a material such as Velcro and may be formed in the longitudinal direction of the upper arm 2a. Of course, the first fixing member 14 may be formed of a belt-type member that can be worn on the upper arm 2a of the trainee and can provide fixing force by adjusting the length according to the trainee's physical condition.

Referring to FIG. 3 , the first stimulus generator 20 may include a first pad 22 , a first stimulus module 24 and a first sensor 26 . A first stimulation module 24 and a first sensor 26 may be installed in the first pad 22 . The first pad 22 may function as a coupling member for attaching and fixing the first stimulation module 24 and the first sensor 26 to the first body 12 .

At this time, a plurality of first stimulation modules 24 may be formed, and the plurality of first stimulation modules 24 may be arranged to correspond to directions of stimulations that induce exercise of a trainee's muscles for rehabilitation training. More specifically, the first stimulation module 24 may be arranged according to at least one of an order and direction in which muscles are contracted or relaxed for rehabilitation training. For example, based on FIG. 3 , the first stimulation module 24 may be arranged in the longitudinal direction of the first pad 22 to induce movement of muscles in the longitudinal direction of the upper arm 2a.

Also, the first stimulation module 24 may simultaneously generate stimulation for active treatment of rehabilitation and stimulation for passive treatment of rehabilitation. At this time, as described above, the stimulation for active treatment may refer to stimulation that induces movement of the trainee's muscles, and the stimulation for passive therapy for rehabilitation includes at least one of low-frequency stimulation, electrical stimulation, magnetic stimulation, and pressure stimulation. can include

That is, the first stimulation module 24 may include a device for generating stimulation for active treatment and stimulation for passive treatment. Accordingly, the rehabilitation training apparatus 1 according to an embodiment of the present invention can simultaneously perform active treatment and passive treatment for rehabilitation.

For example, referring to FIG. 3 , the first stimulation module 24 includes a first vibrator 241 that provides vibration stimulation to induce the exercise of the trainee's muscles and a first high frequency that generates high frequency waves for rehabilitation of the trainee. generator 242.

The first vibrator 241 may be a piezoelectric element capable of applying vibration stimulation in the form of tapping to the trainee. The piezoelectric element may apply a stimulus by transforming an electrical signal received from the control unit 60 into a vibration signal. Of course, various types of vibration stimulation application methods other than piezoelectric elements may be applied.

In this case, the number of first vibrators 241 may be plural, and the plurality of first vibrators 241 may be arranged in a direction forming a predetermined angle with the direction in which the plurality of first stimulation modules 24 are arranged. The predetermined angle may be an angle such that the arrangement direction of the first vibrator 241 and the arrangement direction of the first stimulation module 24 form a perpendicular line.

For example, based on FIG. 3 , the plurality of first vibrators 241 may be arranged in the width direction of the first pad 22 . In addition, the arrangement length of the plurality of first vibrators 241 may be appropriately formed according to the size of the muscle in which the motion is induced. Accordingly, the rehabilitation training apparatus 1 according to an embodiment of the present invention can provide vibration stimulation to induce muscle movement to a wider range of muscles.

Meanwhile, the first high frequency generator 242 may be disposed on one side of the first pad 22 of the first vibrator 241 in the longitudinal direction. The first high frequency generator 242 may generate high frequency for passive treatment of rehabilitation and apply it to the muscles of the trainee.

The number of first sensors 26 may be plural, and the plurality of first sensors 26 may be disposed on one side of each of the first stimulation modules 24 . The first sensor 26 may detect contraction or relaxation of muscles positioned adjacent to the first sensor 26 . The first sensor 26 may be formed of a motion sensor (motion detector) capable of detecting a motion of a muscle.

At this time, the first sensor 26 may be disposed on one side of a direction perpendicular to the direction of stimulation that induces the exercise of the trainee's muscles for rehabilitation training of the first stimulation module 24 .

Accordingly, the plurality of first sensors 26 provide information that can be used to determine whether the trainee's muscles have properly exercised in response to the direction or sequence of stimulation generated by the first vibrator 241. can

Meanwhile, referring to FIGS. 2 and 3 , the forearm wearable part 30 may include a second body 32 and a second fixing member 34, and the second stimulus generator 40 may include a second pad ( 42), the second stimulation module 44 and the second sensor 46. In addition, the second stimulation module 44 may include a second vibrator 441 and a second high frequency generator 442 .

At this time, the second body 32, the second fixing member 34, the second pad 42, the second vibrator 441, the second high frequency generator 442, and the second sensor 46 are respectively connected to the first body. (12), the first fixing member 14, the first pad 22, the first vibrator 241, the first high frequency generator 242 and the first sensor 26 may be formed similarly, A detailed description is omitted.

The first sensor 26 and the second sensor 46 can respectively sense the movement of the muscle of the upper arm 2a and the movement of the muscle of the forearm 2b, and the third sensor 50 can sense the movement of the muscle of the upper arm 2a and A movement of a muscle or an elbow positioned between the forearms 2b may be sensed. Also, the third sensor 50 may sense the rotation angle of the elbow joint of the trainee. The fourth sensor 80 may sense the movement or rotation angle of the wrist joint of the trainee.

Accordingly, in the rehabilitation training apparatus 1 according to an embodiment of the present invention, based on the information collected through the first sensor 26 to the fourth sensor 80, the trainee's muscles are stimulated by the first stimulus generating unit 20 ) and the direction or sequence of the stimulus generated by the second stimulus generating unit 40, it can be determined whether the exercise has been performed appropriately.

Meanwhile, in a modified example according to an embodiment of the present invention, the first sensor 26 and the second sensor 46 may be formed of sensors that sense activity of muscles. In this case, the first sensor 26 and the second sensor 46 may be electromyogram sensors that contact the surface of the trainee's body and measure the activity of the trainee's muscles. The EMG sensor may refer to a sensor capable of measuring an action potential of a muscle.

Accordingly, the first sensor 26 and the second sensor 46 can collect and provide information that can be used to numerically display the degree of contraction or relaxation of the trainee's muscles. Information collected by the first sensor 26 and the second sensor 46 may be used to determine the performance or progress of rehabilitation training.

Hereinafter, a process of generating a stimulus pattern for rehabilitation training by the rehabilitation training apparatus according to an embodiment of the present invention will be described in detail. 4 is a block diagram showing components for transmitting and receiving signals to and from a control unit of a rehabilitation training apparatus according to an embodiment of the present invention.

The control unit 60 according to an embodiment of the present invention may include a receiving unit 62, a determining unit 64, a pattern determining unit 66, and a transmitting unit 68. At this time, the control unit 60 includes an external DB 3 capable of providing information on the basis of the stimulation patterns generated by the stimulation generators 20 and 40 and a stimulation generator that generates stimuli that induce muscle movement of the trainee ( 20,40) can be electrically connected.

More specifically, the receiving unit 62 of the control unit 60 may receive basic information for determining a stimulation pattern from the external DB 3 . In this case, basic information for determining the stimulation pattern may be provided from a storage unit (not shown) separately provided in the control unit 60 .

The determination unit 64 of the control unit 60 may create information for determining a stimulation pattern through a series of processes of interpreting the received information. The pattern determination unit 66 of the control unit 60 may receive information for determining a stimulation pattern from the determination unit 64 to determine a stimulation pattern for rehabilitation training. Of course, when the information received by the receiver 62 is information on a stimulus pattern, the determiner 64 may directly transmit the information received by the receiver 62 to the transmitter 68.

The transmission unit 68 of the control unit 60 receives information on the stimulation pattern from the determination unit 64 or the pattern determination unit 66, and then converts it into an electrical signal that the stimulation generators 20 and 40 can interpret. It can be converted and transmitted to the stimulus generators 20 and 40. The stimulus generators 20 and 40 may operate according to signals received from the control unit 60 to apply a stimulus corresponding to the determined stimulus pattern to the trainee's body.

Meanwhile, the receiving unit 62 of the control unit 60 according to an embodiment of the present invention may receive information about the movement of the trainee's muscles from the sensors 26, 46, and 50. After that, the determination unit 64 of the control unit 60 may compare the information on the trainee's muscle movement with the stimulation pattern determined by the determination unit 64 or the pattern determination unit 66. The determination unit 64 may compare the amount of information to evaluate the trainee's rehabilitation training and determine whether the rehabilitation training was successfully performed. Thereafter, the determination unit 64 may transmit a signal for generating a predetermined pattern to the pattern determination unit 66 when it is determined that the rehabilitation training has been successfully performed.

The pattern determination unit 66 of the control unit 60 may determine a predetermined pattern based on the signal received by the determination unit 64 and transmit information on the determined stimulation pattern to the transmission unit 68 . The transmitter 68 may convert the received signal into an electrical signal that the stimulus generators 20 and 40 can interpret and transmit to the stimulus generators 20 and 40 . The stimulus generators 20 and 40 may operate according to signals received from the control unit 60 and apply predetermined stimuli according to the determined pattern to the body of the trainee.

The trainee can recognize the success of the rehabilitation training he/she has performed by recognizing the stimulus having a predetermined pattern generated by the stimulus generators 20 and 40 . Accordingly, according to another embodiment of the present invention, the rehabilitation training apparatus 1 can use the stimulus pattern to make the trainee aware of the success of the rehabilitation training, and arouse the trainee's interest in the rehabilitation training process so that continuous rehabilitation training can be performed. can motivate you to

5 is a diagram illustrating a process in which a first stimulus pattern determined by a controller according to an embodiment of the present invention is expressed in a first vibrator of a first stimulus generator. 6 is a diagram illustrating a process in which a second stimulus pattern determined by a controller according to an embodiment of the present invention is expressed in a first vibrator of a first stimulus generator. 7 is a diagram illustrating a process in which a third stimulus pattern determined by a controller according to an embodiment of the present invention is expressed in a first oscillator of a first stimulus generator and a second oscillator of a second stimulus generator. 8 is a graph showing the relationship between the intensity of stimulation and the rehabilitation training time generated by the rehabilitation training apparatus according to an embodiment of the present invention.

The rehabilitation training apparatus according to an embodiment of the present invention may determine a stimulation pattern in various ways to generate stimulation for inducing a trainee's muscle movement. Hereinafter, with reference to FIGS. 6 to 8 , non-limiting examples of stimulation patterns that can be generated by the rehabilitation training apparatus 1 according to an embodiment of the present invention will be described.

Referring to (a) of FIG. 5 , the plurality of first vibrators 241a disposed in the first column to the left of the first pad 22 may generate vibration stimuli. Then, referring to (b) of FIG. 5, the plurality of first vibrators 241a disposed in the first column on the left of the first pad 22 do not generate a vibration stimulus, and the plurality of first vibrators 241a disposed in the second column on the left The vibrator 241b may generate a vibration stimulus.

Accordingly, the first stimulus generator 20 of the rehabilitation training apparatus 1 according to an embodiment of the present invention applies a rightward vibration pattern to the trainee's upper arm 2a, thereby forming the trainee's upper arm 2a. ) can lead to the direction or order in which muscles move. Hereinafter, the stimulation pattern described with reference to FIG. 5 is defined as a 'first stimulation pattern'.

Recognizing the stimulation pattern generated by the first stimulation generator 20, the trainee can perform rehabilitation training by exercising the upper arm muscles in the direction and sequence induced by the stimulation pattern.

Referring to (a) of FIG. 6 , the plurality of first vibrators 241a disposed in the first column to the left of the first pad 22 may generate a strong vibration stimulus. At the same time, the plurality of first vibrators 241b disposed in the second column from the left of the first pad 22 generate vibration stimuli having a weaker intensity than those generated by the plurality of first vibrators 241a disposed in the first column. can cause

Referring to (b) of FIG. 6 , the plurality of first vibrators 241b disposed in the second column from the left of the first pad 22 may generate a strong vibration stimulus. At the same time, the plurality of first vibrators 241a and 241c disposed on both sides of the plurality of first vibrators 241b disposed in the second left column are generated by the plurality of first vibrators 241b disposed in the second left column. It is possible to generate vibration stimulation having a weaker intensity than the vibration stimulation.

Referring to (c) of FIG. 6, after that, the plurality of first vibrators 241c disposed in the third column from the left of the first pad 22 can generate a vibration stimulus of strong intensity, and at the same time, the third column from the left The plurality of first vibrators 241b and 241d located on both sides of the plurality of first vibrators 241c disposed in the column generate vibration stimulation having a weaker intensity than the plurality of first vibrators 241c disposed in the third column from the left. can

Accordingly, the rehabilitation training apparatus 1 according to an embodiment of the present invention applies a rightward vibration pattern to the upper arm 2a of the trainee, so that the direction or order in which the muscles of the upper arm 2a of the trainee exercise. can induce

In addition, in the rehabilitation training apparatus 1 according to an embodiment of the present invention, the vibrators on both sides of the vibrator generating a strong stimulus generate a weaker vibration stimulus to induce a direction or order of muscle movement, so that a wider range of Stimuli for inducing muscle movement can be transmitted to the muscles, and side effects such as muscle spasms can be prevented from occurring in the muscles of the trainee due to the suddenly applied vibration stimulation. Hereinafter, the stimulation pattern described with reference to FIG. 6 is defined as a 'second stimulation pattern'.

Meanwhile, the control unit of the rehabilitation training apparatus according to an embodiment of the present invention may control the speed at which the stimulation pattern progresses. For example, the controller may control the speed at which the first stimulation pattern progresses to the right.

Also, when a plurality of stimulation patterns are applied during rehabilitation training, the controller may adjust intervals between stimulation patterns. In this case, the interval may mean a time interval. For example, the control unit may set a time interval between the end of the first stimulation pattern and the start of the second stimulation pattern to be smaller than the time interval between the end of the second stimulation pattern and the start of the third stimulation pattern. The time interval between stimulation patterns can be adjusted.

Referring to FIGS. 7(a) and 7(b) , the first stimulus generator 20 may generate the same stimulus pattern as the above-described first stimulus pattern in the right direction. Referring to (c) of FIG. 7 , the plurality of first vibrators disposed on the rightmost side of the first stimulus generator 20 no longer generate vibration stimuli, and are located in the first row on the left of the second stimulus generator 40. Vibration stimulation may be generated from the plurality of second vibrators disposed thereon. Of course, the stimulation pattern generated by the stimulation generators 20 and 40 may be the same stimulation pattern as the above-described second stimulation pattern.

Accordingly, the rehabilitation training apparatus 1 according to an embodiment of the present invention includes the first vibrator disposed on the first stimulus generator 20 and the second vibrator disposed on the second stimulus generator 40. In conjunction with each other, it is possible to generate a stimulation pattern for inducing movement of a wider range of muscles.

Referring to FIG. 8, the intensity of stimulation generated by the stimulation generator of the rehabilitation training apparatus according to an embodiment of the present invention increases as the rehabilitation training time passes (ie, the value of the time coordinate axis in FIG. 7 increases from t1 to t3). As) can be formed to increase.

More specifically, referring to (a) of FIG. 8 , the intensity of the stimulus generated by the stimulus generating unit may increase step by step as rehabilitation training time elapses. Also, referring to (b) of FIG. 8 , the intensity of the stimulus generated by the stimulus generating unit may continuously increase.

In addition, referring to FIGS. 8(a) and 8(b), the increased intensity of stimulation is when rehabilitation starts again after rehabilitation is finished (ie, the value of the time coordinate axis of FIG. 8 is at t3 It may be formed to be reset to an initial value at a corresponding time point). In this case, the stimulus intensity corresponding to the initial value may be the same stimulus intensity as the stimulus intensity when the previous training starts or a preset stimulus intensity.

Accordingly, the rehabilitation training device according to an embodiment of the present invention can prevent the effect of rehabilitation training from being reduced because the trainee gets used to the stimulation as the training progresses.

In addition, the rehabilitation training apparatus according to an embodiment of the present invention resets the intensity of stimulation to an initial value when training is started again after training is finished, so that an excessively large stimulus is not applied to the trainee when rehabilitation training is restarted. authorization can be prevented.

Referring back to FIGS. 1 and 4 , the rehabilitation training apparatus 1 according to an embodiment of the present invention may further include an interface 70 . The interface 70 is connected to the control unit 60 by wire or wireless, and receives training results of the trainee from the transmission unit 68 of the control unit 60 and outputs the result to the trainee or training assistant in real time. A training assistant may refer to a person who assists a trainer in order to manage the overall process of rehabilitation training, such as planning rehabilitation training for a trainee, confirming a training result, and suggesting a training direction.

At this time, the interface 70 may be a separate device such as an independent monitor disposed in a place where rehabilitation training is performed, or may be a personal portable terminal of a trainee or training assistant. At this time, the personal portable terminal may receive information on the training result from the transmission unit 68 of the control unit 60 through wireless communication.

In addition, the interface 70 may perform a function of transmitting information about a stimulation pattern for rehabilitation input by a trainee or training assistant to the receiving unit 62 of the controller 60. The controller 60 may determine the pattern of the stimulus generated by the stimulus generators 20 and 40 based on information about the stimulus pattern received from the interface 70 .

Through the interface 70 disposed adjacent to the rehabilitation training site, the trainee or training assistant can receive the result of rehabilitation training in real time and respond immediately based on the training result.

For example, a trainer or training assistant may perform rehabilitation training by determining a stimulation pattern for future rehabilitation based on a training result and then inputting the stimulation pattern to the interface 70 . In addition, a trainer or training assistant may perform rehabilitation training by inputting a predetermined stimulation pattern to the interface 70 according to a planned rehabilitation training plan.

Hereinafter, a modified example of the stimulus generator according to an embodiment of the present invention will be described. In a modified example according to an embodiment of the present invention, components other than the stimulus generating unit may be configured identically to those of the exemplary embodiment of the present invention, so description thereof will be omitted. 9 is a perspective view showing a state in which the upper limbs of a trainee are placed in a rehabilitation training device according to a modified example of an embodiment of the present invention. For purposes of illustration, the trainee's upper limbs are indicated by dotted lines.

Referring to FIG. 9 , each of the first stimulus generator 20' and the second stimulus generator 40' of the modified example 1' of an embodiment of the present invention may be configured in plurality. In this case, the first stimulus generator 20' and the second stimulus generator 40' may be formed corresponding to the shape and number of muscles to be induced.

For example, based on FIG. 9 , there may be two first stimulus generators 20', and one of the two first stimulus generators 20' is the shape of the biceps brachii muscle of the upper arm 2a and Corresponding to the position, it may be formed extending in the longitudinal direction of the biceps brachii muscle.

The other one of the two first stimulus generators 20' may extend in the longitudinal direction of the triceps brachii muscle in correspondence with the shape and position of the triceps brachii muscle of the upper arm 2a. On the other hand, the two first stimulus generators 20' are located at the part where one surface of the first pad 12 is in contact with the biceps brachii muscle and the triceps brachii muscle, respectively, in a state where the first pad 12 surrounds the upper arm 2a of the trainee. can be installed Accordingly, the first stimulus generator 20' may apply stimulation to the biceps brachii muscle and the triceps brachii muscle.

In the same way as the previous one with respect to the first stimulus generator 20', the second stimulus generator 40' may consist of two pieces, and the two second stimulus generators 40' are forearm extensors and forearms, respectively. It can be formed in response to the shape and location of the flexor muscle.

The stimulation generators 20' and 40' of the modified example of an embodiment of the present invention are formed and arranged corresponding to the shape and number of muscles to be applied with stimulation, thereby increasing the efficiency and effect of rehabilitation training.

Of course, there may be a plurality of wearing parts, and a plurality of stimulus generators may be formed in each of the plurality of wearing parts. Each of the plurality of wearing parts may be worn on different body parts of the trainee.

For example, a plurality of wearing parts are worn on a right thigh wearing part worn on a trainee's right thigh, a right calf wearing part worn on a trainee's right calf, a left thigh wearing part worn on a trainee's left thigh, and a trainee's left calf. It may include a left calf wearing part to be. Accordingly, the plurality of wearing parts and the plurality of stimulus generators may guide the order or direction of movement of the right thigh, right calf, left thigh, and left calf. At the same time, of course, the plurality of stimulus generators formed on one wearable part can individually guide the movement sequence or direction of the muscles of the body part to which the wearable part is fastened.

Hereinafter, another modified example of an embodiment of the present invention will be described. 10 is a view showing a state in which the upper limbs of a trainee are fastened to a rehabilitation training device according to another modified example of an embodiment of the present invention. For explanation of the invention, the configuration projected by the assisting force generator is indicated by a dotted line.

Referring to FIG. 10 , another modified example (1″) of an embodiment of the present invention may further include an assisting force generator 90. The auxiliary force generator 90 may be disposed on one side of the upper limb 2 of the trainee. At this time, the assisting force generating unit 90 is combined with the upper arm wearing unit 10 and the forearm wearing unit 30 to generate an assisting force capable of assisting the trainee in rehabilitation training and transmit it to the upper extremity 2 .

The auxiliary force generator 90 may include an actuator 92 , a gear box 94 , a first connection frame 96 and a second connection frame 98 .

The actuator 92 may generate an auxiliary force capable of assisting a trainee's body movement fastened to the wearable parts 10 and 30 . As a non-limiting example, the actuator 92 may be a rotary motor. The actuator 92 may be disposed on one side of the elbow of the upper limb 2 of the trainee.

A gear may be coupled to the rotary shaft of the actuator 92 to be coupled to the gear box 94 . The gear box 94 may be disposed on one side of the actuator 92 . A plurality of gears may be disposed inside the gear box 94 .

Gear teeth are formed at the ends of the gear box 94 side of the first connection frame 96 and the second connection frame 98 to be coupled to the gear of the gear box 94. In addition, the rotary shaft gear of the actuator 92 may also be coupled to the gear of the gear box 94.

Accordingly, the rotational force of the actuator 92 can be converted to an appropriate rotational speed and direction by a plurality of gears inside the gearbox 94 . Therefore, the actuator 92 can assist the exercise of the upper arm 2a and the forearm 2b of the trainee by rotating the first connecting frame 96 and the second connecting frame 98 about the first rotational axis C1. A capable assisting force may be applied to the upper limb 2 of the trainee.

The first connection frame 96 may couple the gear box 94 and the upper arm wearing part 10 . At this time, the first connection frame 96 may perform a function of transmitting power generated by the actuator 92 to the user's upper arm 2a.

One side of the first connection frame 96 may be coupled to the gear box 94 and the other side may be coupled to the upper arm wearing part 10 . More specifically, the first connection frame 96 is made of a plate formed and coupled to the lower side of the upper arm wearing portion 10 and having a predetermined thickness, and a connecting member bent from the left side of the plate toward the gear box 94 and extending. can At this time, the end of the connecting member may be coupled to the gear box (94).

In this case, the plate of the first connection frame 96 may have a longer length toward the gear box 94 than that of the upper arm wearing part 10 . Accordingly, the first connection frame 96 can stably support the upper arm wearable part 10 and provide a space in which the first connection frame 96 can rotate around the first rotation axis C1. there is.

One side of the second connection frame 98 may be coupled to the gear box 94 and the other side may be coupled to the forearm wearable part 20 . At this time, the second connection frame 98 may be formed similarly to the first connection frame 96, and a detailed description thereof will be omitted.

As described above, in the rehabilitation training apparatus according to an embodiment of the present invention, the stimulation generating unit generates stimulation for inducing muscle movement according to the stimulation pattern determined by the control unit, so that the patient directly exercises his or her own muscles. Rehabilitation training can be performed.

In addition, the rehabilitation training apparatus according to an embodiment of the present invention includes a stimulation module capable of generating stimulation for active treatment and stimulation for passive treatment of rehabilitation, so that active treatment and passive treatment can be performed at the same time.

In addition, the rehabilitation training apparatus according to an embodiment of the present invention evaluates the rehabilitation training of a trainee by comparing the information obtained from the sensor for sensing the movement of the muscle with the stimulation pattern generated by the stimulation generator, and the rehabilitation training is successfully performed. In this case, by applying a stimulus having a predetermined pattern, it is possible to motivate a trainee for continuous rehabilitation training by inducing interest in the rehabilitation training process.

In addition, the rehabilitation training apparatus according to an embodiment of the present invention can maximize the effect of rehabilitation training by controlling the intensity of the stimulus generated by the stimulus generation unit according to the lapse of rehabilitation training.

Although the embodiments of the present invention have been described, the spirit of the present invention is not limited by the embodiments presented herein, and those skilled in the art who understand the spirit of the present invention may add or change components within the scope of the same spirit. Other embodiments can be easily proposed by adding, deleting, adding, etc., but this will also be said to be within the scope of the present invention.

1: Rehabilitation training device 2: Trainer's upper limb
3: external DB 10: upper arm wearing part
12: first body 14: first fixing member
20: first stimulus generator 22: first pad
24: first stimulation module 26: first sensor
30: forearm wearing part 32: second body
34: second fixing member 40: second stimulus generator
42: second pad 44: second stimulation module
46: second sensor 50: third sensor
60: control unit 62: receiver
64: judgment unit 66: pattern determination unit
68: transmission unit 70: interface unit
80: fourth sensor 90: auxiliary force generator
92: actuator 94: gear box
96: upper arm connection frame 98: forearm connection frame
241: first vibrator 242: first high frequency generator
441: second vibrator 442: second high frequency generator

Claims (16)

As a rehabilitation training device for inducing movement of muscles during rehabilitation training,
Wearing part worn on the body of the trainee;
a controller configured to determine and control a pattern of stimulation inducing movement of the trainee's muscles while the wearer is worn on the trainee's body; and
A stimulus generating unit formed on the wearable part and generating a stimulus based on the pattern determined by the controller. According to claim 1,
The stimulus for inducing movement of the trainee's muscles is a stimulus for inducing at least one of the sequence and direction in which the muscles contract or relax, the rehabilitation training apparatus. According to claim 1,
Further comprising a first sensor for sensing the movement of the muscle,
The stimulus generating unit generates a stimulus having a predetermined pattern when the pattern of the stimulus and the movement of the muscles detected by the first sensor match. According to claim 1,
The intensity of the stimulus generated by the stimulus generating unit increases over time in rehabilitation training, rehabilitation training apparatus. According to claim 4,
The intensity of the stimulation is increased step by step, rehabilitation training device. According to claim 4,
The intensity of the stimulation is continuously increased, rehabilitation training device. According to claim 4,
The increased intensity of stimulation is reset to an initial value when rehabilitation starts again after rehabilitation is finished. According to claim 1,
The stimulus generator comprises a plurality of stimulus modules, rehabilitation training device. According to claim 8,
The stimulus inducing the movement of the trainee's muscles is a stimulus inducing at least one of the order and direction of contraction or relaxation of the muscles,
Wherein the plurality of stimulation modules are arranged corresponding to the direction in which the muscles are contracted or relaxed. According to claim 9,
The control unit,
Controlling the pattern of the stimulation applied by the plurality of stimulation modules to correspond to at least one of the sequence, direction, speed and interval of contraction or relaxation of the muscles, rehabilitation training apparatus. According to claim 8,
A second sensor for sensing the movement of the muscle is located on one side of each of the plurality of stimulation modules. According to claim 8,
A second sensor for sensing the activity of the muscle is located on one side of each of the plurality of stimulation modules. According to claim 1,
The stimulus generating unit,
A rehabilitation training device comprising a vibrator capable of providing vibration stimulation. According to claim 13,
The stimulus generating unit,
A stimulation generator disposed on one side of the vibrator to further generate at least one of low-frequency stimulation, electrical stimulation, magnetic stimulation, and pressure stimulation along with the vibration stimulation. According to claim 1,
The wearing part,
a pad covering a part of the user's body; and
Rehabilitation training apparatus comprising a fixing member providing a fixing force so that the pad can be fixed to a part of the user's body. According to claim 1,
Rehabilitation training apparatus further comprising an auxiliary force generating unit generating an auxiliary force capable of assisting a trainee in rehabilitation training.

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