TW201946606A - Auxiliary rehabilitation device - Google Patents

Abstract

An auxiliary rehabilitation device is provided to solve the problem where the conventional rehabilitation device can only repeat a single movement without meeting the needs of different users. The auxiliary rehabilitation device includes a base having a rotary member pivotally connected to a platform, a movable arm including a slider slidably engaged with a main rod, a fixing member including a pedal, a sensor module and a control unit. The rotary member includes a driving member having a shaft. The main rod includes one end connected to the shaft. The sensor module is received in the driving member via a torque sensor and is disposed on the pedal via a pressure sensor. The control unit is coupled with the driving member, the torque sensor and the pressure sensor and includes a movement mathematic mode used in analysis of the information collected by the sensor module.

Description

   Rehabilitation exercise assisting device   

The invention relates to a rehabilitation exercise assisting device, in particular to a rehabilitation exercise assisting device that can change exercise modes according to the condition of a user to perform exercise therapy suitable for the user.

Physical disability caused by factors such as disease, trauma, sports injury, and postoperative weakness can be enhanced by physical therapy, and even restore or strengthen physical functions. However, effective physical therapy must be diagnosed by a physician, and then the rehabilitation therapist will arrange the treatment content according to the patient's personal condition. The ideal way is one-on-one personalized exercise therapy guidance.

The rehabilitation therapist can also use the rehabilitation exercise machine to assist the treatment process, which can reduce the workload of the rehabilitation therapist. The conventional rehabilitation exercise machine uses a motor to drive the mechanical device to traction the patient's limbs for exercise therapy in a monotonous repetitive motion. However, the conventional rehabilitation exercise machine only provides a single and compulsory drive, and cannot change the exercise mode according to the condition of the patient, resulting in a decrease in the treatment effect. If it is not suitable for exercise, if the machine cannot be stopped immediately, the patient may suffer secondary injuries.

In view of this, the conventional rehabilitation exercise machine does still need to be improved.

In order to solve the above problems, an object of the present invention is to provide a rehabilitation exercise assisting device, which can adjust the exercise angle and extension distance of the device according to the different stature of the user, and arrange a personalized exercise therapist.

A secondary object of the present invention is to provide a rehabilitation exercise assisting device, which can monitor and record the user's exercise status in real time, and adjust to an appropriate treatment mode after judgment.

The rehabilitation exercise assisting device of the present invention comprises: a base, which is pivotally connected to a platform by a rotary table, the rotary table has a power element, the power element has a rotating shaft, and a movable arm is connected by a slider. Slidingly located on a main rod, one end of the main rod is coupled to the rotating shaft; a fixing member has a pivoting portion which can be pivotally connected to the slider of the movable arm, and the fixing member has a pedal A sensing module, a torque sensor is disposed in the power element, and a pressure sensor is disposed on the pedal; and a control unit, the control unit is coupled to the power element of the base, The torque sensor and the pressure sensor of the sensing module, the control unit has a motion mathematical model, and the motion mathematical model is used to analyze the information collected by the sensing module.

According to this, the rehabilitation exercise assisting device of the present invention can change the relative moving positions of the rotary table, the movable arm, the slider and the pedal, and the user can adjust the angle of the pedal according to the physical conditions and treatment needs And height, and personalized path for sports therapy, has a wide range of effects. In addition, by analyzing the user's condition through the mathematical model of the movement, the treatment mode can be adjusted in real time, which has the effect of improving the treatment effect and preventing the user from being injured twice.

Wherein, the fixing member has a sheath, and the sheath fixes a user's lower limb to the fixing member. In this way, the lower limb of the user can be prevented from detaching from the fixing member during the exercise treatment, and the effect of maintaining the exercise to ensure the treatment effect is ensured.

Wherein, two sides of the fixing member respectively have a pivot joint portion, and any one of the pivot joint portions is rotatably coupled to the slider. In this way, the system has the effect of being suitable for left and right feet, respectively.

Wherein, the motion mathematical model determines whether the output of the user has increased based on the detection result of the torque sensor. If the determination result is yes, the control unit reduces the traction force of the power element. If the determination result is no The control unit raises the traction of the power element. In this way, the power element can assist the user to maintain the frequency of exercise, and has the effect of improving the therapeutic effect.

Wherein, if the motion mathematical model judges that the user recovers without auxiliary traction, the control unit controls the power element to reverse, turning the traction force into a gradually increasing resistance. In this way, users can gradually increase muscle strength, which has the effect of weight training.

Wherein, the sensing module has a physiological sensor, the physiological sensor is for a user to wear, and the control unit is coupled to the physiological sensor. In this way, the physiological sensor can judge the user's blood pressure, heart rate, blood oxygen concentration and other states, and has the effect of monitoring the user's health status in real time.

Wherein, if the control unit determines that the health status of the user is abnormal according to the detection result of the physiological sensor, the control unit controls the power element to stop exerting force and issues a warning message. In this way, it has the effect of avoiding causing secondary injuries and reminding medical staff to do further processing.

Wherein, the fixing member has a vibrator, and the control unit is coupled to the vibrator. In this way, the vibrator can drive the fixing member to perform vibration massage on the lower limb of the user, and has the effects of relaxing muscle tension and releasing spasms.

Wherein, if the torque sensor and the pressure sensor detect a momentary increase in the output of a user, and the motion mathematical model judges it to be an abnormal condition, the control unit controls the reverse output of the power element and drives the power The vibrator of the fixed part vibrates. In this way, the control unit can immediately assist in alleviating the state of spasm, and has the effect of reducing the workload of medical personnel.

The control unit stores a user's condition during the treatment, and loads data to continue the treatment progress during the next treatment. In this way, the rehabilitation therapist can grasp the recovery status of each user through the data, which has the effect of improving the efficiency of medical work.

1‧‧‧ base

11‧‧‧ Rotary Stage

12‧‧‧ platform

13‧‧‧ Power components

131‧‧‧ shaft

2‧‧‧ movable arm

21‧‧‧ Slider

22‧‧‧ Main Pole

3‧‧‧Fixed parts

31‧‧‧ pedal

32‧‧‧ Pivot

33‧‧‧Sheath

34‧‧‧Vibrator

4‧‧‧ Sensor Module

41‧‧‧Torque sensor

42‧‧‧Pressure sensor

43‧‧‧ physiological sensor

5‧‧‧Control unit

51‧‧‧Motion Mathematical Model

B‧‧‧Diagnosis Bed

P‧‧‧User

L1‧‧‧ body axis

L2‧‧‧ extension line

θ‧‧‧ angle

Figure 1: A combined perspective view of a preferred embodiment of the present invention.

Fig. 2: A use case diagram of a preferred embodiment of the present invention.

Fig. 3: Operation situation diagram shown in Fig. 2.

Figure 4: A plan view as shown in Figure 3.

FIG. 5 is a system block diagram of a preferred embodiment of the present invention.

In order to make the above and other objects, features, and advantages of the present invention more comprehensible, the following describes the preferred embodiments of the present invention in detail with the accompanying drawings as follows: Please refer to FIG. 1, It is a preferred embodiment of the rehabilitation exercise assisting device of the present invention, and includes a base 1, a movable arm 2, a fixing member 3, a sensing module 4 and a control unit 5. The movable arm 2 can It is swingably coupled to the base 1, the fixing member 3 is rotatably coupled to the movable arm 2, and the sensing module 4 can detect the distance between the base 1, the movable arm 2 and the fixed member 3. For relative movement, the control unit 5 is coupled to the base 1 and the sensing module 4.

The base 1 is pivoted to a platform 12 by a rotating table 11 so that the rotating table 11 can rotate relative to the platform 12. The base 1 can be set and fixed on one side of a diagnosis bed B. The diagnosis bed B can be used by a user P to lie down. The user P has a central axis L1 of the body. The base 1 may also have a power element 13. The power element 13 may be a motor. The power element 13 may be disposed on the base. The rotary table 11 includes a rotating shaft 131.

The movable arm 2 has a main rod 22 having an extension line L2 in the longitudinal direction. The extension line L2 has an included angle θ with the central axis L1 of the body. The main rod 22 has a slider 21. The slider 21 can move along the main rod 22, and one end of the main rod 22 is coupled to the rotating shaft 131 of the power element 13, so that the power element 13 can drive the movable arm 2 to rotate.

Please refer to Figs. 1 to 3, the fixing member 3 has a pedal 31, which can be used by the user P to step on the force, the fixing member 3 has a pivoting portion 32, and the fixing member 3 can be The pivoting portion 32 is rotatably pivoted to the slider 21 of the movable arm 2, and the power element 13 can drive the movable arm 2 to rotate according to the rotating shaft 131, and the pedal 31 lifts the user P's Lower limbs for exercise therapy; in addition, the user P can also apply force to the pedal 31 by pedaling, so that the angle θ between the extension line L2 of the movable arm 2 and the central axis L1 of the body can be changed, and the pivot joint The portions 32 are preferably formed on two sides of the fixing member 3, so that the fixing member 3 can choose one of the pivoting portions 32 to be pivotally connected to the movable arm 2. In this way, the base 1 can be selectively provided and It is fixed on either side of a medical treatment bed B, and is suitable for rehabilitation of left or right foot. The fixing member preferably has a sheath 33, through which the ankle or lower leg of the user P can be fixed and covered, so as to prevent the lower limb of the user P from detaching from the fixing member 3 during the exercise treatment. The fixing member 3 may further include a vibrator 34, and the vibrator 34 may drive the fixing member 3 to vibrate.

The sensing module 4 includes a torque sensor 41 and a pressure sensor 42. The torque sensor 41 is located in the power element 13 of the base 1, and the pressure sensor 42 is located in the fixing member 3. On the pedal 31, the torque sensor 41 and the pressure sensor 42 can judge the force exerted by the user P on the pedal 31, the traction force generated by the power element 13, and the user P exercise frequency and other activities. The sensing module 4 may also have a physiological sensor 43. When the user P wears the physiological sensor 43, it can judge the health status of the user P (such as blood pressure, heart rate, blood oxygen concentration, etc.). ).

The control unit 5 may be a component having functions such as data processing, signal generation, and drive control. The control unit 5 may be a Micro Control Unit (MCU). The control unit 5 is coupled to the power element 13 of the base 1 and the vibrator 34 of the fixing member 3. The control unit 5 can adjust the output of the power element 13 and activate the vibrator 34 to vibrate. The control unit 5 is coupled to the torque sensor 41, the pressure sensor 42, and the physiological sensor 43 of the sensing module 4, and can receive and store the user P's during exercise therapy. Information (activity and health). As shown in FIG. 5, the control unit 5 may further have a movement mathematical model 51. The movement mathematical model 51 is used to analyze various information of the user P, and the control unit 5 issues instructions according to the analysis result. For adjustment and disposal. In this embodiment, the control unit 5 may be installed on a side edge of the base 1, but is not limited thereto.

Please refer to FIG. 4, when the user P wants to use the rehabilitation exercise assisting device of the present invention, he can set the base 1 on the treatment bed according to the needs of rehabilitation treatment of the left foot or the right foot. On the left or right side of B, the user P can apply force to the pedal 31 by pedaling to rotate the rotary table 11 relative to the platform 12 so that the extension line L2 of the movable arm 2 and the body The change of the included angle θ of the axis L1 can adjust the motion path according to the user's hip expansion, leg bending, and other movement states and degrees, and has the effect of treating in an ergonomic manner.

Please refer to FIGS. 2 and 3, the user P can lift the height of the pedal 31 by applying force, so that the slider 21 of the movable arm 2 moves along the main lever 22, and the main lever 22 Rotating relative to the rotating table 11, in this way, the user P lifts the pedal 31 of the fixing member 3 with the force of the foot, and can perform the exercise of straightening and flexing his knees cyclically. In addition, since the slider 21 can be moved along the main rod 22 of the rehabilitation exercise assisting device of the present invention, the rehabilitation exercise assisting device of the present invention can be based on the physical status of the user P (Degrees, etc.) are adjusted for exercise with proper stretching distance and knee flexion angle.

Please refer to FIG. 5, when the movement mathematical model 51 determines that the output of the user P increases according to the detection result of the torque sensor 41, the control unit 5 reduces the traction of the power element 13 so that the The user P must maintain the original exercise frequency with a higher output; when the exercise mathematical model 51 judges that the output of the user P is declining, the control unit 5 increases the traction of the power element 13 to assist the user P The original exercise frequency is maintained; when the user P is restored to need no auxiliary traction, the control unit 5 can control the power element 13 to reverse, turning the traction force into gradually increasing resistance, thereby exercising the user P's Muscle strength.

When the user P has spasm during exercise therapy, the torque sensor 41 and the pressure sensor 42 can detect the instantaneous increase in the output of the user P, and judge by the exercise mathematical model 51 to confirm the The lower limb of user P is spasm, and the control unit 5 controls the reverse output of the power element 13 to make the output of the power element 13 equal to the torque detected by the torque sensor 41, which can support the user P's The lower limb, and the vibrator 34 of the fixing member 3 driven by the control unit 5 to vibrate, can perform vibration massage on the lower limb of the user P to assist the user P to relieve the state of spasm.

Please refer to FIG. 1. When the user P enters a state unsuitable for exercise, the physiological sensor 43 can detect the abnormal condition of the user P (such as hypotension, low blood oxygen concentration, or severe heart rate). Change, etc.), and then the control unit 5 confirms whether it exceeds the preset normal range. If the confirmation result is yes, the control unit 5 controls the power element 13 to stop exerting force and sends a warning message to remind the medical staff to make further Processing, if the result of the confirmation is no, the exercise is continued and the physiological sensor 43 continuously monitors.

The control unit 5 can also store the status of each user P during the treatment process, so that the rehabilitation therapist can grasp the recovery status of each user P through the stored data, and by loading the data the next time Continuing treatment progress during treatment has the effect of improving medical work efficiency.

In summary, according to the rehabilitation exercise assisting device of the present invention, by changing the relative movement positions of the rotary table, the movable arm, the slider and the pedal, the user can adjust the angle of the pedal according to physical conditions and treatment needs. And height, and personalized path for exercise therapy, has a wide range of functions. In addition, by analyzing the user's condition through the mathematical model of the movement, the treatment mode can be adjusted in real time, which has the effect of improving the treatment effect and preventing the user from receiving secondary injuries.

Although the present invention has been disclosed using the above-mentioned preferred embodiments, it is not intended to limit the present invention. Anyone skilled in the art can make various changes and modifications to the above embodiments without departing from the spirit and scope of the present invention. The technical scope protected by the invention, so the scope of protection of the present invention shall be determined by the scope of the appended patent application.

Claims (10)

    A rehabilitation exercise assisting device includes: a base, pivoted to a platform by a rotary table, the rotary table having a power element, the power element having a rotating shaft; a movable arm, which can be slidably moved by a slider Located on a main rod, one end of the main rod is coupled to the rotating shaft; a fixing member having a pivoting portion which can be pivotally connected to the slider of the movable arm; the fixing member has a pedal; A sensing module is provided by a torque sensor in the power element, and a pressure sensor on the pedal; and a control unit, the control unit is coupled to the power element and the sensor connected to the base. The torque sensor and the pressure sensor of the measurement module, and the control unit has a motion mathematical model, and the motion mathematical model is used to analyze the information collected by the sensing module.         The rehabilitation exercise assisting device according to item 1 of the patent application scope, wherein the fixing member has a sheath, and the sheath fixes a user's lower limb to the fixing member.         The rehabilitation exercise assisting device according to item 1 of the scope of patent application, wherein each side of the fixing member has a pivoting portion.         The rehabilitation exercise assisting device described in item 1 of the scope of patent application, wherein the mathematical model of the movement determines whether the output of the user has increased based on the detection result of the torque sensor, and if the determination result is yes, then The control unit lowers the traction force of the power element. If the result of the determination is negative, the control unit increases the traction force of the power element.         The rehabilitation exercise assisting device as described in item 4 of the scope of patent application, wherein if the exercise mathematical model judges that the user is restored to need no auxiliary traction, the control unit controls the power element to reverse and turn the traction force gradually Rising resistance.         The rehabilitation exercise assisting device according to item 1 of the scope of patent application, wherein the sensing module has a physiological sensor, the physiological sensor is for a user to wear, and the control unit is coupled to the physiological sensor. Device.         The rehabilitation exercise assisting device according to item 6 of the scope of patent application, wherein if the control unit determines that the user's health status is abnormal based on the detection result of the physiological sensor, the control unit controls the power element Stop exerting force and issue a warning message.         The rehabilitation exercise assisting device according to item 1 of the patent application scope, wherein the fixing member has a vibrator, and the control unit is coupled to the vibrator.         The rehabilitation exercise assisting device according to item 8 of the scope of the patent application, wherein if the torque sensor and the pressure sensor detect a momentary increase in the output of a user, the exercise mathematical model judges it to be abnormal Condition, the control unit controls the reverse output of the power element and drives the vibrator of the fixed component to vibrate.         The rehabilitation exercise assisting device described in item 1 of the scope of patent application, wherein the control unit stores a user's condition during the treatment, and loads data to continue the treatment progress during the next treatment.