KR20230155641A - Walking Rehabilitation Training Apparatus - Google Patents

Abstract

The present invention relates to a gait rehabilitation training device that gives users a sense of stability and helps them maintain correct posture. To this end, the present invention includes a main frame on which various components are mounted; a bed provided on the main frame and supporting the user's back; A harness support portion provided on an upper portion of the bed portion; A harness connected to the harness support unit to support the user; a lower limb strength unit provided at the lower part of the bed to move the user's thighs; An upper limb strength unit provided in the middle of the bed unit to move the user's arms; A gait rehabilitation training device is provided that includes a sensing unit that senses the driving of the lower limb strength unit and the upper limb strength unit.
Therefore, according to the present invention, there is an advantage that the patient can perform gait training most conveniently and efficiently by controlling the patient's foot movements more precisely during gait training and synchronizing the support device that supports the patient to the patient's movements.

Description

Walking Rehabilitation Training Apparatus}

The present invention relates to a gait rehabilitation training device, and specifically to a gait rehabilitation training device that provides a sense of stability to the user and allows the user to maintain a correct posture.

A gait rehabilitation robot is a device used for gait rehabilitation training of patients, and is equipped with a force sensor on the leg actuator for training. These walking rehabilitation robots may consist of a weight support device, a treadmill, a wearable robot, etc. In other words, a walking rehabilitation robot is a robot that supports the patient's body and forces the patient's muscles to move, preventing muscle weakness and helping to maintain health.

According to the prior art, Registered Patent No. 10-1131972, the gait rehabilitation device according to the prior art is a pair of footrests corresponding to the user's left and right feet, respectively, and is installed on the footrests to absorb the load applied to the footrests by the user's left and right feet. At least one load cell for measuring, a body information sensor for measuring physical information about the user's body condition while rehabilitation training is in progress, and a walking trajectory suitable for the user based on the information received from the load cell and the body information sensor, and It includes a central control unit that determines exercise prescriptions. The central control unit adjusts at least one of the vertical position, horizontal position, and inclination of the footrests according to the walking trajectory and exercise prescription. According to the above-described prior art, the efficiency of rehabilitation training can be maximized by providing rehabilitation training according to a walking trajectory suitable for the user's condition and preventing fatal secondary injuries during training by relieving the user's weight.

However, according to the prior art, there is a limit to precisely embodying the foot movements when walking because the feet only move up and down, and there is a problem in that there is no device that can provide detailed support according to the patient's movement when walking.

The present invention is intended to solve the above problems, and specifically, controls the patient's foot movements more precisely during gait training and synchronizes the support device that supports the patient to the patient's movements so that the patient can perform gait training most conveniently and efficiently. The purpose of the present invention is to enable this.

In order to achieve the above object, the present invention includes a main frame on which various components are mounted; a bed provided on the main frame and supporting the user's back; A harness support portion provided on an upper portion of the bed portion; A harness connected to the harness support unit to support the user; A lower limb strength unit provided at the lower part of the bed to move the user's thighs; An upper limb strength unit provided in the middle of the bed unit to move the user's arms; A gait rehabilitation training device is provided that includes a sensing unit that senses the driving of the lower limb strength unit and the upper limb strength unit.

The upper limb strength unit preferably includes a motor support portion provided in front of the bed portion, an upper limb motor supported by the motor support portion, an upper limb rotation portion connected to the upper limb motor to rotate, and a handle portion connected to the rotation portion.

The lower limb strength unit includes a foot cylinder that moves up and down; It is preferable to include a foot support portion provided on the foot cylinder and rotating around the front end.

The gait rehabilitation training device includes an electrical stimulation unit, and the electrical stimulation unit can receive the rotation state of the foot support unit from the sensing unit and determine the timing of electrical stimulation according to the rotation angle.

The gait rehabilitation training device preferably further includes a safety guide portion that is provided with a rotating portion on a side of the bed portion and rotates up and down.

According to the present invention, there is an advantage in that the patient's foot movements can be controlled more precisely during gait training, and the support device that supports the patient can be synchronized with the patient's movements, allowing the patient to perform gait training most conveniently and efficiently.

1 is a perspective view showing the configuration of a gait rehabilitation training device according to the present invention;
2A to 3B are exemplary diagrams 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 limb strength unit in Figure 1;
Figure 4 is an exemplary diagram showing an example of use of the lower limb strength unit;
5A and 5B are diagrams showing an example of a foot exercise unit;
6A and 6B are exemplary views showing an embodiment of the posture correction unit;
Figure 7 is an exemplary diagram showing an example of attachment of the electrical stimulation unit;
Figure 8 is an exemplary diagram showing an embodiment of a virtual reality unit;
Figure 9

The configuration and operation of specific embodiments according to the present invention will be described in detail with reference to the drawings.

Referring to Figure 1, the muscle strengthening rehabilitation exercise device according to the present invention includes a main frame 100, a bed unit 200, a harness 300, an upper limb strength unit 400, a lower limb strength unit 500, a sensing unit, and an electric unit. It is composed of a stimulation unit, a control unit, and a virtual reality unit 600.

The main frame 100 serves to support the bed unit 200, the upper limb strength unit 400, and the lower limb strength unit 500, and the angle is adjusted by the main rotating part at the rear. That is, referring to FIGS. 2A to 2C, the main frame 100 is rotated by the main rotating part 110 so that the patient can sit in a lying position like a bed and then move to a standing position by the main rotating part 110. there is.

A bed portion 200 is provided on the front of the main frame 100. The bed part 200 is a part that is supported by contact with the user's back, and is provided to give the user a soft and warm feeling.

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.

The harness 300 serves to directly support the user so that the user does not fall down when the main frame 100 rotates and stands up, and the user places both legs and shoulders on the harness for support.

Referring to Figure 3, the upper limb strength unit 400 moves in synchronization with the lower limb strength unit 500 to strengthen the strength of both arms, and includes a motor support unit 420, an upper limb motor 410, and an upper limb rotation unit ( 430) and a handle portion 440.

The motor support part 420 is connected to the side of the main frame and is provided forward, and the upper limb motor 410 is supported at the upper end. In addition, the upper limb rotation unit 430 is connected to the upper limb motor 410 and rotates up and down by the upper limb motor. Additionally, a handle portion 440 is connected to the upper limb rotation portion 430.

The handle portion 440 includes a circular ring-shaped rim portion with a hollow interior, and a grip portion provided in a straight line inside the rim portion.

The lower limb strength unit 500 includes a thigh lifting unit 590 and a foot exercise unit 550, and serves to strengthen the lower limb muscles by moving the user's legs.

Referring to FIG. 4, the thigh lifting unit 590 helps the user walk and strengthens the user's muscles by reciprocating the user's thighs up and down after the user wears the belt on the thighs.

A pair of the thigh lifting unit 590 and the upper limb motor 410 are synchronized by the control unit, so that when the right thigh lifting unit 590 rises, the right upper limb motor 410 lowers the upper limb rotation unit 430. It is controlled so that when the thigh lifting unit 590 on the right thigh descends, the right upper limb motor 410 is controlled so that the upper limb rotation unit 430 rises. In this way, the upper limb muscles can be accurately synchronized by the upper limb motor, enabling efficient muscle strengthening training.

Meanwhile, referring to FIGS. 5A and 5B and 6A and 6B, the foot exercise unit 550 serves to implement the natural movement of the foot when walking in conjunction with the movement of the thigh lifting unit 590, and in this embodiment The foot exercise unit 500 according to the example includes a foot driving unit 558, a foot cylinder 552, a foot support unit 554, and a posture correction unit 553.

The foot driving unit 558 is provided with a motor inside and serves to move the foot cylinder 552 up and down. This foot driving unit 558 is synchronized with the thigh lifting unit 590 and the up and down movement is controlled according to the driving of the thigh lifting unit 590.

The foot support part 554 is connected to the foot support part 556 and a hinge 555 and is rotatable, and the hinge is located at the front end of the foot support part and the foot support part so that the foot support part rotates around the front end. do. The sensing unit may detect the rotation angle of the foot support unit by detecting the movement of the foot support unit.

The foot fixing unit 556 may be inserted into the foot support unit 554 as it rotates, and a rotation detection unit 557 may be provided at the other end. The rotation detection unit 557 detects whether the foot support unit 554 is rotated upward, that is, the user's heel is lifted, or when the foot support unit 554 is not rotated downward, that is, the user's heel is on the floor. It serves to determine whether it has been touched.

The rotation detection unit 557 may be provided as a limit switch, etc., and may be operated in an on-off manner according to the rotation of the foot support unit 554. The sensing unit may include the rotation detection unit.

The sensing unit serves to detect the movement of the frame and the driving status of the upper limb strength unit and the lower limb strength unit and transmit them to the control unit. Specifically, the sensing unit may serve to detect the rotation angle and distance moved by the motor. The control unit can control the upper limb motor based on the data from the sensing unit to synchronize the upper limb strength unit and the lower limb strength unit. Accordingly, by controlling the foot drive unit's motto, the user can induce natural walking movements.

Meanwhile, the posture correction unit 559 prevents the user's posture from being disturbed due to the user's legs being tilted inward or outward, and helps the user to walk in the correct posture. That is, the posture correction unit 550 may include a drive motor, and when the leg is tilted inward, the foot support portion 554 is rotated outward to correct the posture of the leg, as shown in FIG. 6A, and the leg is rotated outward. When the leg is tilted to the side, the foot support portion 554 is rotated inward as shown in FIG. 6b to correct the leg posture.

The muscle strengthening rehabilitation exercise device according to this embodiment may be equipped with an electrical stimulation unit (FES) as shown in FIG. 7, and the electrical stimulation unit applies functional electrical stimulation to the patient to prevent foot dragging and foot drop and provide accurate walking assistance. do.

Specifically, the sensing unit detects the state of the patient's feet according to the rotation of the foot support unit 554, and when the rear end of the foot fixing unit 556 is inserted into the rear end of the foot support unit 554, the rotation detection unit ( In 557), it is determined that the foot support unit is seated on the foot fixing unit, and a seating signal is transmitted to the electrical stimulation unit.

When the electrical stimulation unit receives a settling signal from the rotation detection unit 557, it determines this as the timing of electrical stimulation and applies electrical stimulation. On the other hand, when the foot support unit rotates and the rear end of the foot support unit separates from the rear end of the foot fixing unit, the rotation detection unit transmits an off signal, and the electrical stimulation unit releases the electrical stimulation.

In this way, the electrical stimulation unit can receive the rotation state of the foot support unit from the sensing unit and determine the timing of electrical stimulation according to the rotation angle.

Meanwhile, the intensity of the electrical stimulation applied from the electrical stimulation unit may be determined depending on the height of the foot cylinder 552. In other words, it is desirable that the intensity of the electrical stimulation decreases as the maximum height of the foot cylinder moving up and down increases.

Referring to FIGS. 2A to 2C, the muscle strengthening rehabilitation exercise device according to this embodiment may be provided with a safety guide unit 700 that rotates up and down. The safety guide unit 700 is provided to be able to rotate up and down by the rotation unit 750 provided on the side of the bed, and a patient who is lying down is placed in a standing position when the main frame stands up, and the safety guide unit moves the patient. Since it provides protection in front of the patient, the patient can relieve the psychological anxiety of falling forward by leaning on the safety guide part.

The virtual reality unit 600 displays an appropriate screen to the user through the display unit based on data from the sensing unit.

Referring to FIG. 8, various data from the sensing unit can be displayed on the display monitor, and in particular, footprints 610 are displayed on the screen based on data from the lower limb strength unit 500.

These footprints can give the user the feeling of actually walking and stimulate the user's desire to walk.

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 the stride length on the screen corresponding to the maximum height of the foot cylinder and displays the footprint 610 at the corresponding position.

Meanwhile, another embodiment of the harness according to the present invention will be described with reference to FIG. 9.

The harness according to this embodiment serves to support the user's back and waist, and includes an upper frame facing forward from above the user.

The upper frame is provided with two support straps on the left and right, and the tension of the support straps is controlled by a drive motor. In addition, the tension sensor provided in the upper frame detects the tension of the support string and transmits it to the control unit.

When a user begins walking training, not only the lower body but also the upper body moves naturally. As the upper body shakes left and right, the tension caused by the support strap changes. The control unit pulls the left or right support strap depending on the condition of the legs to help the user maintain the correct posture.

Additionally, if the user falls or is tilted to one side, a load exceeding the setting range is applied to one support strap, thereby exceeding the normal tension range of the support strap.

In this case, pulling the support strap on the side where tension exceeds the setting range is applied helps maintain the user's posture as much as possible.

Although the present invention has been described above with reference to embodiments, those skilled in the art can make various modifications and modifications to the present invention without departing from the spirit and scope of the present invention as set forth in the following patent claims. You will understand that you can change it.

100: main frame 200: bed part
300: Harness 400: Upper limb strength unit
410 ; Upper limb motor 440: handle part
500: Lower limb strength unit 552: Foot cylinder
554: Foot support unit 550: Foot exercise unit
590: Thigh lifting unit 600: Virtual reality unit

Claims (1)

A mainframe on which various components are mounted;
a bed provided on the main frame and supporting the user's back;
A harness support portion provided on an upper portion of the bed portion;
A harness connected to the harness support unit to support the user;
a lower limb strength unit provided at the lower part of the bed to move the user's thighs;
It is configured to include a sensing unit that senses the driving of the lower limb muscle unit,
The lower limb strength department,
Foot cylinder moving up and down;
A gait rehabilitation training device comprising a foot support unit provided on the foot cylinder and rotating around the front end.