TW201422221A - Rehabilitation device - Google Patents

Abstract

A rehabilitation device is provided including a moving body, a motor, a control system and a sensor module. The moving body has a housing and a moving mechanism. The motor, disposed in the housing, connects with the moving mechanism and drives the moving mechanism. The control system, disposed in the moving body, couples to the motor. The sensor module, dispose in the moving body, couples to the control system. The control system controls the operation of the motor according to the information detected by the sensor module to move the moving body.

Description

Rehabilitation device

The present invention relates to a rehabilitation device, and more particularly to a rehabilitation device for assisting walking.

The conventional auxiliary walking device includes a walking stick and a walking aid, and the person with limited mobility can use it as a support to rely on the hand or the arm as an auxiliary during walking. However, such an auxiliary walking device requires a user. It is very difficult to use by using your hands to move. In addition, such an auxiliary walking device is a passive operation, and the post-rehabilitation treatment and walking posture cannot be further designed, so that the effect of rehabilitation cannot achieve the desired goal.

The invention provides a rehabilitation device comprising a mobile body, a motor, a control system and a sensing module. The moving body has a casing and a moving mechanism. The motor is disposed in the casing, connected to the moving mechanism and drives the moving mechanism. The control system is disposed in the moving body and electrically connected to the motor, and the sensing module is disposed in the moving body. And electrically connected to the control system, the control system controls the operation of the motor to move the moving body according to the data detected by the sensing module.

Other purposes, features, and advantages can be more clearly understood. The preferred embodiment will be described in detail with reference to the accompanying drawings.

100‧‧‧Rehabilitation device

110‧‧‧Mobile subject

111‧‧‧Shell

112‧‧‧Mobile agencies

1121‧‧‧Support frame

1122‧‧‧Rollers

113‧‧‧ Holding components

120‧‧‧Motor

130‧‧‧Control system

140‧‧‧Sense Module

141‧‧‧ Pressure sensing unit

142‧‧‧ Distance sensing unit

1421‧‧‧First distance sensor

1422‧‧‧Second distance sensor

1423‧‧‧ third distance sensor

150‧‧‧Switching elements

160‧‧‧Power supply unit

170‧‧‧Operator interface

180‧‧‧Lighting equipment

1 is a front view of the rehabilitation device of the present invention; FIG. 2 is a schematic view of the rehabilitation device in FIG. 1 , wherein the illustration of the housing is omitted; FIG. 3 is a schematic view of the rear side of the rehabilitation device of the present invention; FIG. 3 is a schematic diagram of a rehabilitation device in which the illustration of the housing is omitted; and FIGS. 5A and 5B are diagrams showing a method for detecting a footstep according to an embodiment of the present invention.

Referring to Figures 1 to 4, the rehabilitation device 100 of the present invention is particularly useful for assisting a patient with a foot injury to perform a rehabilitation course. The rehabilitation device 100 includes a moving body 110, two motors 120, a control system 130, and a The sensing module 140, a switching element 150, a power supply unit 160, an operation interface 170, and a lighting device 180.

As shown in FIG. 1 and FIG. 3, the moving body 110 includes a housing 111 and a moving mechanism 112. The moving mechanism is composed of a supporting frame 1121 and a plurality of rollers 1122. The supporting frame 1121 is covered by the housing. 111, and the support frame 1121 extends from the inside of the housing 111 to the outside of the housing 111 to form a holding member 113. The roller 1122 is disposed under the support frame 1121 to drive the support frame 1121 to move in a rolling manner, and the user can support Grip member 113 And moves as the rehabilitation device 100 moves.

It should be noted that, in this embodiment, the housing 111 is composed of an upper housing and a lower housing to facilitate the disassembly and assembly of the power supply unit 160 disposed therein, but is not limited thereto, and the housing 111 is also Can be in the form of a single piece.

As shown in FIGS. 2 and 4, the motor 120 and the control system 130 are disposed in the housing 111, the control system 130 is electrically coupled to the motor 120, and the motor 120 is coupled to the rear roller 1122 of the moving mechanism 112 by the control system. The indication of 130 can control the operation of the motor 120 and drive the roller 1122 via a transmission mechanism connected thereto. In addition, the control system 130 further provides signals for the forward, reverse, cornering, and braking of the transmission mechanism, so that the moving body 110 can be according to the control system 130. Signaling in different directions or stopping.

As shown in FIG. 3, the sensing module 140 is disposed on the mobile body 110 and electrically connected to the control system 130. The control system 130 can control the operation of the motor 120 according to the data detected by the sensing module 140. The moving module 110 is moved, and the sensing module 140 includes a pressure sensing unit 141 and a distance sensing unit 142.

As shown in FIGS. 1 to 4, the pressure sensing unit 141 includes two pressure sensors respectively disposed in the left and right halves of the grip member 113 to detect the pressure received. The distance sensing unit 142 includes a first distance sensor 1421 (shown in Figures 1 and 2), a second distance sensor 1422 (shown in Figures 3 and 4), and a plurality of third distance senses. The detector 1423 (shown in Figures 1 and 3), please refer to the figures 1 to 4 at the same time, the first distance sensor 1421 and the second distance sensor 1422 are, for example, a laser sensor, disposed in the shell In the body 111, and respectively facing the front and the rear of the moving body 110, respectively, the sensing body is located in the moving body 110 front and rear objects, and the first distance sensor 1421 transmits its own distance from the front obstacle to the control system 130, which can assist in constructing or correcting the environment map. The third distance sensor 1423 is, for example, super The sound sensors are arranged on the front side of the casing 111 and on the left and right sides to more closely sense the obstacles around the body 110 at a close distance.

In addition, the sensing module 140 can further include other sensing units, such as an image sensing unit and a sound sensing unit. The image sensing unit can be disposed on the front side of the moving body 110 and display images through the operation interface. The sound sensing unit can receive the sound signal, and the control unit 130 drives the motor 120 according to the positioning of the sound signal and the built-in map of the system, so that the rehabilitation device 110 moves to the sound. s position. Alternatively, the user can use the remote control to send a signal to the rehabilitation device 100. After receiving the signal, the control unit 130 can drive the motor 120 according to the built-in map of the system to move the rehabilitation device 110 to the sound. s position.

As shown in FIG. 4, the switching element 150 is disposed on the moving body 110. In this embodiment, the switching element 150 is disposed on the holding member 113 and electrically connected to the power supply unit 160 in the housing 111. However, the present invention is not limited thereto. The switching element 150 can be disposed at any position on the moving body 110. The switching element 150 is used as a protection mechanism. When an emergency occurs, the user can stop the rehabilitation device by pressing the switching element 150. 100 operations to avoid accidents.

Referring to FIGS. 2 and 4, the power supply unit 160 is disposed in the housing 111 and, in addition to being electrically coupled to the switching element 150, is electrically coupled to the control system 130 to provide power to the control system 130.

Referring to Figures 3 and 4, the operation interface 170 can be, for example, a touch type. The screen is placed on the support frame 1121 and exposed to the housing 111, and the operation interface 170 is electrically connected to the control system 130. More precisely, the control system 130 and the operation interface 170 are integrated into an electronic device. To further illustrate, the control system 130 has different usage modes, such as an autonomous mode and a rehabilitation mode. The user can switch between the autonomous mode and the rehabilitation mode by operating the interface 170, and control the switch of the sensing module 140. .

Referring again to FIG. 1, the illumination device 180 is disposed on the front side of the housing 111 to provide illumination when the user uses the rehabilitation device 100. The illumination device 180 can be electrically connected to the power supply unit 160 and the control system 130, that is, The user can operate the lighting device 180 directly with a switch or control the switch of the lighting device 180 via the operation interface 170.

When the control system 130 switches to the rehabilitation mode, the pressure sensing unit 141 and the distance sensing unit 142 are turned on, the user stands on the back side of the rehabilitation device 100, and the pressure feeling on the grip member 113 is held by both hands. The measuring unit 141, the left and right pressure sensing units 141 respectively transmit the detected pressure values to the control system 130, so that the control system 130 determines the rehabilitation device 100 according to the left and right different or approximately the same pressure value. The direction of travel, that is, the rehabilitation device 100 can be turned left, right, or straight according to the pressure value, and the magnitude of the turning angle is determined by the magnitude of the pressure value.

The first distance sensor 1421 and the third distance sensor 1423 are configured to detect an environmental obstacle in front, and the control system 130 can transmit data according to the first distance sensor 1421 and the third distance sensor 1423. The distance between the rehabilitation device 100 and the obstacle in front is determined. In detail, the first distance sensor 1421 is mainly for sensing an object far from the rehabilitation device 100, and is disposed at The third distance sensor 1423 of the front side of the moving body 110 and the left and right sides can sense an object closer to the rehabilitation device 100, in particular, if an object suddenly appears in the third distance sensor 1423 Within the measurement range, the control system 130 signals to stop the rehabilitation device 100 or to bypass the rehabilitation device 100 to avoid colliding with the object. The second distance sensing unit 1422 is configured to detect the position of the user's feet and the forward motion. When the user walks forward, the second distance sensing unit 1422 returns the detected data to the control system 130. The rehabilitation device 100 can be moved or stopped relative to the user's pace based on this information. In other words, in a normal guiding mode, the rehabilitation device 100 advances to the user one step further as the user moves forward. The distance of the rehabilitation device 100 is also stopped when the user stops traveling, and the control system 130 can further determine the rehabilitation device 100 according to the frequency of the user's feet interaction detected by the second distance sensing unit 1422. The speed of movement, in turn, achieves the function of step by step.

The second distance sensing unit 1422 can be a laser sensor that detects the motion of the user's legs by monitoring the step distance, the walking speed, and the moving acceleration of each step of the user's legs. Referring to Figures 5A and 5B, L _t,i represents the walking time of the i-th step of the left leg, and R _t,i represents the walking time of the i-th step of the right leg. The walking time is defined here as the time elapsed between the moment when one foot starts moving and the moment when the other foot starts moving. Next, the second distance sensing unit 1422 is mounted to the rehabilitation device, which is close to the user's thigh, about 45 cm from the ground. Referring to the robot odometer, the applicant converts the sensing point of the second distance sensing unit 1422 into a world coordinate system (refer to FIGS. 5A, 5B). Among them, the black point is the laser point, and the center of the leg L _{c is} the center point of the laser point group, which is projected on the ground. The laser points are labeled L _i , L _n , where n represents the total number of laser points in the group. If n is a double number, the center point is the average of L _n/2 and L _(n/2)+1 . Let L _c,i be the first step of L _c with the left foot, and L _{c,i,y be} its Y coordinate. With the above detection, the step distance, the walking speed, and the acceleration of the movement can be calculated.

In an embodiment of the invention, the moving speed and the moving distance of each movement of the rehabilitation device are fixed, for example, 300 mm/s (moving speed). The moving speed of the rehabilitation device can be adjusted by the user.

The rehabilitation device of the embodiment of the present invention can switch between different modes according to the information collected by the pressure sensing unit 141 and the distance sensing unit 142.

For example, patients with Parkinson's Disease often move in small steps but do not stop. In an embodiment of the invention, a critical step can be preset, such as from 0.3 meters to 0.45 meters. When the second distance sensing unit 1422 finds that the user walks in a small step and the step is smaller than the critical step, the rehabilitation device is switched to a promotion guidance mode, and the state of stepping with the user is ended. In this way, patients with Parkinson's disease can be protected from falling.

In an embodiment, a critical distance _Dmin between the user and the rehabilitation device is predetermined. When the user approaches the rehabilitation device in a small step so that the distance between the user and the rehabilitation device is less than the critical distance, the rehabilitation device automatically moves to maintain the distance from the user.

In addition, when the pace of patients with Parkinson's disease freezes, they hold the grip tightly and their leg muscles are stiff. Even when the patient is in a normal walking state, the patient may suddenly experience this condition. therefore, When the pressure sensing unit 141 finds that the user grips the grip tightly, the rehabilitation device can be switched to a walking freeze mode to protect the patient with Parkinson's disease from falling.

When the control system 130 switches to the autonomous mode, the pressure sensing unit 141 and the second distance sensor 1422 are turned off, and the first distance sensor 1421 and the third distance sensor 1423 are turned on to keep the rehabilitation device 100 in one In the standby state, when the user makes a long-distance call or remote control, the user can determine the position of the user according to the received signal, and automatically move to the signal source. When the rehabilitation device 100 moves by itself, the control system 130 according to the first The distance between the sensor 1421 and the third distance sensor 1423 and the obstacle respectively determines the moving direction of the rehabilitation device 100 and changes the traveling route in time to avoid the obstacle ahead.

In addition, the control system 130 can display the rehabilitation information, display the walking posture recommended by the physician and the time of the rehabilitation on the operation interface 170, and provide the reference to the user, and the control system 130 can also build the multimedia information and use the operation. Interface 170 plays a short video or an interactive game.

The rehabilitation device 100 of the present invention can move the mobile body 110 step by step according to the physiological information of the user (the pressure of the user and the movement of the footsteps) by the sensing data provided by the sensing module 140. The active traction user continuously performs the rehabilitation operation, and at the same time as the rehabilitation, the front obstacle and the emergency brake can be avoided, and the safety in use is further increased. The rehabilitation device of the present invention 100 In a positive way, safely assisting users to complete rehabilitation independently can accelerate the effectiveness of rehabilitation.

Although the present invention has been disclosed in the above preferred embodiments, it is not intended to limit the present invention, and those skilled in the art can Within the scope of God and the scope, there are still some modifications and refinements that may be made, and the scope of the invention is defined by the scope of the appended claims.

Although the present invention has been described above in terms of the preferred embodiments thereof, it is not intended to limit the invention, and those skilled in the art can make some modifications and refinements without departing from the spirit and scope of the invention. Therefore, the scope of the invention is defined by the scope of the appended claims.

100‧‧‧Rehabilitation device

112‧‧‧Mobile agencies

1121‧‧‧Support frame

1122‧‧‧Rollers

113‧‧‧ Holding components

120‧‧‧Motor

130‧‧‧Control system

141‧‧‧ Pressure sensing unit

1421‧‧‧First distance sensor

150‧‧‧Switching elements

160‧‧‧Power supply unit

170‧‧‧Operator interface

Claims (21)

A rehabilitation device comprising: a moving body having a housing and a moving mechanism; a motor disposed in the housing to connect with the moving mechanism and driving the moving mechanism; a control system disposed on the housing And being electrically connected to the motor; and a sensing module disposed on the moving body and electrically connected to the control system, wherein the control system controls the motor according to the information detected by the sensing module The operation further moves the moving body, wherein the sensing module includes a distance sensing unit disposed on the moving body, wherein the distance sensing unit comprises: a first distance sensor disposed on the shell And a second distance sensor disposed in the housing and facing the rear of the moving body, wherein the second distance sensor detects a step of the user And a distance between the user and the rehabilitation device, wherein when the user moves forward, the second distance sensor transmits data to the control system to cause the control system to drive or stop accordingly Rehabilitation device, wherein, when more than one step away from the critical pitches, the rehabilitation device is a normal guiding mode, the rehabilitation device moves with the user in a step-by-step manner, wherein when the step is smaller than the critical step, the rehabilitation device is switched to a promotion guidance mode, and stops to follow the trend The way to move with the user. The rehabilitation device of claim 1, wherein the moving body further comprises a holding member disposed on a rear side of the housing. The sensing device includes a pressure sensing unit disposed on the holding member and electrically connected to the control system. The rehabilitation device of claim 3, wherein the pressure sensing unit comprises two pressure sensors respectively disposed in a left half and a right half of the holding member. The rehabilitation device of claim 4, wherein when the pressure sensing unit detects that the user grips the grip, the rehabilitation device is switched to a walking freeze mode to protect Patients with Parkinson's disease are free from falls. The rehabilitation device of claim 2, further comprising a power supply unit and a switching element, the power supply unit being disposed in the housing, wherein the switching element is disposed on the holding member and coupled to the power supply Supply unit electrical connection. The rehabilitation device of claim 1, wherein the first The distance sensor and the second distance sensor are laser sensors. The rehabilitation device of claim 1, wherein the distance sensing unit comprises a plurality of third distance sensors arranged on the front side and the left and right sides of the housing. The rehabilitation device of claim 8, wherein the third distance sensor is an ultrasonic sensor. The rehabilitation device of claim 1, wherein the sensing module comprises an image sensing unit disposed on a front side of the housing. The rehabilitation device of claim 1, wherein the sensing module comprises a sound sensing unit disposed on the housing. The rehabilitation device of claim 1, further comprising an operation interface disposed on the housing and electrically connected to the control system. The rehabilitation device of claim 1, further comprising a lighting device disposed on a front side of the housing and electrically connected to the control system. The rehabilitation device of claim 1, further comprising a power supply unit disposed in the housing and electrically connected to the control system. The rehabilitation device of claim 14, further comprising a switching element disposed on the housing and electrically connected to the power supply unit. The rehabilitation device of claim 1, wherein the moving mechanism comprises: a support frame disposed in the housing; and a plurality of rollers coupled to the support frame and driving the support frame to move. The rehabilitation device of claim 16, wherein the support frame extends from the interior of the housing to a portion of the housing to form a grip member. The haptic device of claim 17, wherein the sensing module comprises a pressure sensing unit disposed on the holding member and electrically connected to the control system. The rehabilitation device of claim 18, wherein the pressure sensing unit comprises two pressure sensors respectively disposed in a left half and a right half of the holding member. The rehabilitation device of claim 1, wherein the critical step distance is between 0.3 and 0.45 meters. The rehabilitation device of claim 1, wherein the rehabilitation device automatically moves to maintain a distance from the user when the distance between the user and the rehabilitation device is less than a critical distance .