518241 Α7 _________ Β7 五、發明說明（） 發明領域： 本發明係有關於一種動態腳壓回饋重力適應 、平衡及踏步訓練三機一體之復健設備，尤指一 種具有可模擬正常之踏步頻率、高度與速度等訓 練參數，可即時擷取病患在踏步過程雙腳載重變 化，用Μ評估站姿平衡及踏步訓練療效；並具有 懸吊安全裝置，用以保護病患安全，供慢性病患 居家護理使用之復健設備。 發明背景： 依據衛生暑統計資料顯示，國內腦血管病變 及意外傷亡，近年來高居國人十大死因之第二位 及第四位，死亡人數每年超過兩萬人*這些病患 經過緊急救護如未死亡，常會殘留神經性運動功能 之障礙，而此類神經性蓮動功能障礙者，均須接 受路療院所長期的復健才能重建其喪失之肢體運 動功能，進而訓練其步行活動及日常生活自理能 力，其所耗費之家庭、社會成本及豁療資源相當 ni m - ^i^ttW^P^^^Visintin^DBarbcau 在 經濟部智慧財產局員工消費合作社印製 其聲學研究報告中指出，步行能力之訓練是神經 性運動障礙患者臨床復健工作主要的目檷*而體 重支撐、平衡、踏步則是步行復健的三項基本訓 練要素。然而由於目前世界上尚無結合此三種訓 練功能於一體之復健設備，為使臨床上能兼顧病 患體重支撐、平衡和踏步等三項復健訓練工作目 標，常須使用平衡桿、站立訓練平台等輔助器具 ，由復健治療人員Μ 口断方式分三階段進行復健 ，不但耗時、費力，且復健訓練效果因未能定董 3 一 本紙張尺度適用中國國家標準（CNS)A4規格（210 X 297公釐） 518241 A7 B7 五、發明說明（) 而無法彰顯。另外市售之運動用跑步機、腳踏車 及登高機等雖然有下肢運動之功能，但是這些設 備都是主動模式，也就是說使用者下肢運動功能 必須是正常的才能用自已的腳進行蓮動，但是前 述運動功能障礙病患由於其下肢運動功能不良， 其雙腳不像正常人可活動自如，在復健時需要的 是由機器帶動下肢運動之方法進行訓練（即被動 模式），因此市售供正常人使用之運動器材實無 > 法適合下肢運動功能障礙之病患使用。基於以上 原因，本發明主要係為了突破臨床上對神經性運 動功能障礙病患步行復健治療與訓練之瓶頸，開 發一種動態腳壓回饋且結合體重支撐、平衡和踏 步等三項訓練功能於一髏之復健設備，Μ期發揮 綜合性復健療效、縮短訓練療程、並提供定量評 估病患站立平衡及踏步訓練成效者。 請 先 閱 讀· 背 Sj 之， 注 意 事 項 I 頁. 訂 經濟部智慧財產局員工消費合作社印製 發明概述 ¥ 本發 病患步行 饋重力適 備，其主 機架本體 及腳壓量 及人機介 組設有兩 桿及腳踏 裝於左右 明之目 能力復 應、平 要構件 之腳踏 測裝置 面視窗 個伺服 板等構 導柱及 的係為 健的需 衡及踏 包括有 板驅動 等咅15份 顯示蟹 馬達、 件，兩 導螺桿 滿足神 要，提 步訓練 :機架 機構模 ;其機 幕，而 變速齒 組腳踏 上 兩 £\ 線 經性運 供一種 三機一 本體、 組-懸 架本體 腳踏板 車命組、 板係分 導螺桿 動功能障礙 動態腳壓回 體之復健設 兩組裝設於 吊安全裝置 上設有把手 驅動機構模 導柱、導虫累 別套設及旋 係由兩個伺 本紙張尺度適用中國國家標準（CNS)A4規格（210 X 297公釐） 518241 A7 B7 五、發明説明（） (請先閱讀背面之注意事項再填寫本頁) 服馬達透過變速齒輪組予以推動旋轉，使得兩個腳 踏板可沿著導柱產生交替性垂直上下移動，而Μ 裝設在機架本體之上下兩個極限開關來限制其上 升或下降之極限位置，並另配置有安全緊急開關 來控制伺服馬達之運轉，Μ便當踏步機操作不當 或病患無法適應踏步訓練時，得Μ緊急停止運作，加 強病患踏步過程之安全保障；懸吊安全裝置可用 來支撐病患體重，Μ減輕其踏步時雙腳的負荷， > 讓無法平衡或無法支撐體重的病患亦能接受訓練 ，並用Μ保護患者增加訓練的安全，另夕卜，懸吊 安全裝置亦可Μ作為病患由輪椅上下本項設備時 坐站姿勢轉換之撐扶輔助裝置。除此，本發明腳 壓量測回饋裝置係以薄膜壓阻式感測元件貼附於 兩組腳踏板上，用Μ即時回饋接受訓練病患腳底 與腳踏板間之壓力，作為判定接受訓練病患踏步 時左右腳交替、體位轉換正常與否及站立平衡復 健療效之定量評估依據，Μ供慢性病患居家護理 使用。 發明的詳細說明： 經濟部智慧財產局員工消費合作社印製 本發明糸統構造及其功能特點依據附圖所示 之實施例進一步更詳細說明如下： 本發明「動態腳壓回饋重力適應、平衡及踏 步訓練三機一體之復健設備」之糸統設計架構（ 請參閲第一圖），除了機台本體1外，包括有安全 懸吊裝置2、安全緊急開關3、腳壓量測回饋裝置 4 、訊號轉換器41、電腦監控糸統42、腳踏板定 位極限開關5、兩組伺服馬達6、兩組伺服馬達驅 本紙張尺度適用中國國家標準（CNS ) A4規格（210X297公釐）~ 518241 Α7 Β7 Φ 經 濟 部 智 慧 財 產 局 員 工 消 合 作 社 印 製 五、發明説明（） 動器7、馬達 可程式控制器 傳輸，俾能發 介面視窗顯示 本發明機 圖）除把手上 主要設有兩個 及導螺桿1 6等 旋裝於左右側 胃1 6貝丨J j系0 grj 14予Μ推動旋 直上下移動 制器9雙脈波 於兩組腳踏板 開關5來限制 腳踏板1 3安全 開關3供使用 機件運轉，Μ 本發明懸 圖）主要設有 懸吊架24及安 内側之一組電 五圖），使能 訓練患者身高 僅可利用電動 患上下機台， 勢變換，更可 讓無法平衡或 轉向控制繼 9 在透過兩組 揮遠端操控之 營幕1 2 〇 架本體1 (請參 設有人機介面 腳踏板1 3、變 構件，兩組腳 兩組導柱1 5及 由兩個伺服馬 轉，使腳踏板 ，該伺服馬 形式來進行正 係以裝設在機 其上升或下降 活動範圍，並 者遇到機械故 策安全。 吊安全裝置2 ( :主體架台2 1 全吊帶25等， 動姐來推動内 調整安全吊帶 ;由於病患係 缸上下帶動安 或用Μ協助輪 用來減輕患者 無法支撐體重 6 一 電器8，其係採用 遠端數據機10、11之 機制。並另設有人機 閲第二、三圖及第四 視窗顯示蟹幕12外* 速齒輪組14、導柱15 踏板1 3係分別套設及 導螺桿16上，兩導螺 達6 透過變速齒輪組 13沿著導柱15產生垂 達6係Μ可程式控 轉與反轉之控制；至 架本體上下兩個極限 之極限位置，Μ確保 另配置有一安全緊急 障時得以按紐來停止 請參閱 、內管 其係Μ 管22升 25之高 穿載安 全吊帶 椅乘坐 踏步時 的患者 第二圖 22、夕卜 裝設在 降（請 度，奴因 全吊帶 Μ發揮 者由坐 雙腳的 亦能接 及第三 管23 > 內管22 參閲第 應接受 ，其不 撐扶病 到站姿 負荷， 受踏步 (請先閱讀背面之注意事項再填寫本頁) 本紙張尺度適用中國國家標準（CNS ) Α4規格（210Χ297公釐） 518241 A7 B7 五、發明説明（） 訓練，並同時保護患者在踏步訓練過程萬一站不 穩也不致跌倒發生危險。 本缉明腳壓量測回饋裝置4 係於兩組腳踏板 13上各貼設若干個薄膜壓阻式感測元件40，用Μ 即時回饋病患踏步時腳底與腳踏板間之壓力，作 為判定病患踏步時左右腳交替、體位轉換正常與 否及站立平衡復健療效之定量評估依據；該薄膜 壓阻式感測元件40在實施例上亦得設置於病患鞋 底或鞋塾上〇 本發明人機介面視窗顯示營幕1 2係為增加操 作者與本糸統間之互動性和親和力而設計，以作 為操作者下達踏步運動參數及即時回饋腳壓訊號 之傳輸介面，本糸統人機介面視窗顯示螢幕並設 有視聽介面（請參閲第六圖），使當患者在踏步訓 練過程中到達預定復健運動訓練目標參數後能獲 得語音及盡面之鼓励，達成寓訓練於娛樂之效果 。除此，人機介面上亦可即時顯示雙腳壓力分佈 及兩腳載重平衡狀態，使病患能自我調整踏步步 態發揮復健效果。 綜上所述，本發明動態腳壓回饋重力適應、 平衡及踏步訓練三機一體之復健設備，主要是利 用兩組伺服馬達推動腳踏板，產生模擬人體雙腳 踏步之交替性運動型態，使接受訓練之病患能被 動地接受雙腳踏步之運動訓練，達到下肢運動及 步行復健之功效，本糸統並附有懸吊安全裝置， 用Μ撐扶病患上下機台，並用Μ減輕病患在站立 接受復健時雙腳承受重力之負荷，讓無法平衡或 支撐自身體重的患者，亦能接受踏步訓練，並提 本紙張尺度適用中國國家標準（CNS ) A4規格（210X297公釐） (請先閱讀背面之注意事項再填頁)518241 Α7 _________ Β7 V. Description of the invention () Field of the invention: The present invention relates to a rehabilitation device with three units of dynamic foot pressure feedback gravity adjustment, balance and step training, especially a device that can simulate normal step frequency and height. Training parameters such as speed and speed can instantly capture the patient's foot load changes during stepping, use M to evaluate standing balance and stepping training effect; and have a suspension safety device to protect the patient's safety and provide home for chronic patients Rehabilitation equipment used in nursing. Background of the Invention: According to the health summer statistics, domestic cerebrovascular disease and accidental injuries have ranked second and fourth among the top ten causes of death in China in recent years, and the number of deaths exceeds 20,000 per year * Death often leaves residual neuromotor deficits, and those with such neurological deficits must undergo long-term rehabilitation at the road clinic to rebuild their lost limb movements, and then train their walking and daily life. Ability, the family, social costs and remedy resources it consumes are quite ni m-^ i ^ ttW ^ P ^^^ Visintin ^ DBarbcau pointed out in the acoustic research report printed by the Consumer Cooperative of the Intellectual Property Bureau of the Ministry of Economic Affairs that the walking ability Training is the main goal of clinical rehabilitation for patients with neurokinetic disorders *, while weight support, balance, and stepping are the three basic training elements for rehabilitation. However, since there is currently no rehabilitation equipment combining these three training functions in the world, in order to clinically take into account the three rehabilitation training goals of the patient's weight support, balance and stepping, balance bars and standing training are often required. Auxiliary devices such as platforms are rehabilitated in three stages by the rehabilitation therapy personnel's M interruption method, which is time-consuming and labor-intensive, and the rehabilitation training effect cannot be determined due to the failure of the director. 3 A paper standard is applicable to the Chinese National Standard (CNS) A4 Specifications (210 X 297 mm) 518241 A7 B7 V. Description of the invention () Cannot be displayed. In addition, although commercially available sports treadmills, bicycles, and ascenders have the function of lower limb movement, these devices are in active mode, which means that the user's lower limb movement function must be normal in order to perform lotus movements with his own feet. However, the aforementioned motor dysfunction patients have poor mobility of their lower limbs, and their feet are not as flexible as normal people. During rehabilitation, the machine needs to be used to train the lower limbs (that is, passive mode), so it is commercially available. There is no sports equipment for normal people. The method is suitable for patients with lower limb motor dysfunction. Based on the above reasons, the present invention is mainly to break the bottleneck of clinical rehabilitation therapy and training for patients with neuromotor dysfunction, and develop a dynamic foot pressure feedback and combine three training functions such as weight support, balance and stepping into one. Skeleton rehabilitation equipment, phase M exerts comprehensive rehabilitation effects, shortens the training course, and provides a quantitative assessment of patients' standing balance and step training effectiveness. Please read · Back to Sj, Precautions, page I. Order the printed invention summary of the Intellectual Property Bureau's Consumer Cooperatives of the Ministry of Economic Affairs ¥ The patient is equipped with walking feed, and the main body and foot pressure and human-machine interface group It is equipped with two poles and pedals installed on the left and right eyes, capable of responding, pedal measurement device for flat components, a window, a servo board, and other structural guide columns. It shows crab motors, parts, two lead screws to meet the needs of the gods, training step: rack mechanism mold; its machine screen, while the gear shifting gear set on two foot pedals \ Suspension body pedal pedal car life group, plate system split guide screw movement dysfunction, dynamic foot pressure recovery, two sets of assembly, mounted on the hanging safety device, equipped with a handle drive mechanism, mold guide column, insect guide, and The winding system consists of two paper sizes, which are in accordance with Chinese National Standard (CNS) A4 (210 X 297 mm) 518241 A7 B7 V. Description of the invention () (Please read the precautions on the back before filling this page) The speed gear set is pushed and rotated, so that the two foot pedals can alternately move vertically up and down along the guide column, and M is installed on the rack body with two limit switches to limit its ascent or descent limit positions, and It is also equipped with a safety emergency switch to control the operation of the servo motor. When the stepper is not operated properly or the patient cannot adapt to step training, the emergency stop operation can be strengthened to strengthen the patient's stepping safety. The suspension safety device can be used to support Patient weight, M reduces the load on both feet when stepping, > Allows patients who cannot balance or support weight to receive training, and uses M to protect patients to increase training safety. In addition, suspension safety devices can also be used. Μ is used as a supporting aid for the patient to change the sitting posture when the wheelchair is getting on and off the device. In addition, the foot pressure measurement feedback device of the present invention is attached to two sets of foot pedals with a thin film piezoresistive sensing element, and uses M to instantly feedback the pressure between the soles of the patients and the foot pedals for training and acceptance as a judgment acceptance. Patients are trained to alternate left and right feet when stepping, normal or not, and quantitative evaluation of the efficacy of standing balance rehabilitation. M is used for home care of chronic patients. Detailed description of the invention: The structure of the system of the present invention and its functional characteristics are printed by the Consumer Cooperatives of the Intellectual Property Bureau of the Ministry of Economic Affairs according to the embodiment shown in the drawings. The invention is described in more detail as follows: The present invention "dynamic foot pressure feedback gravity adaptation, balance and The unified design architecture of the three-in-one rehabilitation equipment for step training (see the first picture), in addition to the machine body 1, includes a safety suspension device 2, a safety emergency switch 3, and a foot pressure measurement feedback device 4. Signal converter 41, computer monitoring system 42, foot pedal positioning limit switch 5. Two sets of servo motors 6. Two sets of servo motors. The paper size is applicable to China National Standard (CNS) A4 specification (210X297 mm) ~ 518241 Α7 Β7 Φ Printed by the Consumers ’Cooperative of the Intellectual Property Bureau of the Ministry of Economic Affairs 5. Description of the invention () Actuator 7, the motor can be programmed by the controller, and the interface window can be displayed to display the machine diagram of the invention) In addition to the handle, there are mainly two And the lead screw 1 and 6 are screwed on the left and right stomach 1 6 shells J J series 0 grj 14 Yu M pushes the screw straight up and down to move the device 9 double pulse waves open on the two sets of pedals 5 to limit the foot pedal 1 3 safety switch 3 for the use of parts to run, Μ hanging picture of the present invention) is mainly provided with a suspension frame 24 and a set of electric five pictures), to enable the training of patients height can only use electric The upper and lower machines can change the potential, which can make it impossible to balance or steer control. Following the camp screen that is controlled by two sets of remote swings, 1 2 0 frame 1 (please refer to the human-machine interface foot pedal 1 3, variable components Two sets of feet, two sets of guide posts 15 and two servo horses turn to make the pedals, the servo horses form a positive system to be installed on the machine to rise or fall in the range of activity, and encountered mechanical countermeasures Safety. Hanging safety device 2 (: main body platform 2 1 full sling 25, etc., to move the inner sling to adjust the safety sling; because the patient's cylinder is driven up and down or the M assist wheel is used to reduce the patient's inability to support the weight 6-electrical 8 It adopts the mechanism of remote modems 10 and 11. It also has man-machine reading the second, third and fourth windows to display the crab screen 12 outside * speed gear set 14, guide post 15 pedal 1 3 sets respectively And the lead screw 16, the two lead screws 6 pass through the transmission gear set 13 Along the guide column 15 produces vertical 6 series M programmable turning and reversing control; to the extreme positions of the upper and lower limits of the frame body, M ensures that a safety emergency barrier can be pressed to stop the button. See also, The inner tube is a 22-liter and 25-meter high wear-resistant safety sling chair. The patient is riding on a second step. Figure 22, Xibu equipment is installed in the lowering (please, the player who can use the full sling of the sling can also be seated on both feet. Access to the third tube 23 > Inner tube 22 Refer to the first acceptance, it does not support the load to the standing position, step by step (please read the precautions on the back before filling this page) This paper size applies Chinese national standards (CNS ) Α4 specification (210 × 297 mm) 518241 A7 B7 5. Description of the invention () Training, and at the same time protect the patient during the step training process in case of instability and will not cause a fall hazard. The foot pressure measurement feedback device 4 is attached to two sets of foot pedals 13, each of which is provided with a plurality of thin film piezoresistive sensing elements 40, which uses M to instantly feedback the pressure between the sole of the foot and the foot pedal when the patient steps. As a quantitative evaluation basis for judging the effect of left and right foot alternation, normal body position conversion and standing balance rehabilitation when the patient is stepping; the thin film piezoresistive sensing element 40 may also be provided on the patient's shoe sole or shoe last in the embodiment. 〇The inventor's man-machine interface window display camp screen 12 is designed to increase the interaction and affinity between the operator and the system, as a transmission interface for the operator to issue step motion parameters and real-time feedback of foot pressure signals. The human-machine interface window display screen and audio-visual interface (see Figure 6), so that when the patient reaches the predetermined rehabilitation training target parameters during the step training process, he can get voice and full encouragement to achieve training. For entertainment effect. In addition, the human-machine interface can also display the pressure distribution of the two feet and the load balance state of the two feet in real time, so that the patient can self-adjust the gait and display the rehabilitation effect. To sum up, the three-machine integrated rehabilitation device of dynamic foot pressure feedback gravity adaptation, balance and step training of the present invention mainly uses two sets of servo motors to push the pedals to generate an alternating movement type that simulates the human two foot steps State, so that patients receiving training can passively receive two-step exercise training to achieve the effects of lower limb exercise and walking rehabilitation. This system is also equipped with a suspension safety device to support patients to get on and off the machine. And use M to reduce the patient's feet to bear the load of gravity when standing and undergo rehabilitation, so that patients who can not balance or support their own weight can also receive step training, and the paper size applies Chinese National Standard (CNS) A4 specifications 210X297 mm) (Please read the notes on the back before filling in the page)
、1T 線 經濟部智慧財產局員工消費合作社印製 經濟部智慧財產局員工消費合作社印製 518241 A7 B7 五、發明説明（） 供患者訓練時的安全機制；除此*本糸統選設有 即時腳壓量測回饋裝置，作為判定病患踏步步 態、站立平衡復健療效定量評估機制*其糸統構 造為前所未見，不僅具有新穎性及進步性，且具 有臨床上實用價值，為一合於發明專利要件之創 作。 圖式簡單說明： 第一圖為本發明糸統示意圖。 第二圖為本發明立體圖。 第三圖為本發明及懸吊安全裝置使用狀態示 意圖。 第四圖為本發明機架本體驅動元件配置構造 圖。 第五圖為本發明懸吊安全裝置構造圖。 第六圖為本發明腳壓即時回饋視窗介面。 1.. .機台本體，2...懸吊安全裝置， 3 ...安全緊急開關，4 ..腳壓量測回饋裝置， 5 ···腳踏板定位極限開關，6 ...伺服馬達， 7 ...伺服馬達驅動器，8 ...馬達轉向控制繼電器 9.. .可程式控制器，10、11..遠端數據機， 12.. 人機介面視窗顯示發幕，13..腳踏板* 14.. 變速齒輪組，15，.導柱，16..導螺桿* 21.. 主體架台，22..内管，23..外管， 24.. 懸吊架，25.，安全吊帶， 40 ..薄膜壓阻式感測元件，4 1 ..訊號轉換器， 42 ..電腦監控糸統。 本紙張尺度適用中國國家標準（CNS ) A4規格（21〇X：297公釐）1. Printed by the Consumer Property Cooperative of the Intellectual Property Bureau of the Ministry of Economic Affairs of the 1T line. Printed by the Consumer Cooperative of the Intellectual Property Bureau of the Ministry of Economic Affairs. Printed by the Consumer Cooperative of the Ministry of Economic Affairs. 518241 A7 B7. 5. Description of the invention () Safety mechanism for patient training; Foot pressure measurement and feedback device, as a quantitative evaluation mechanism for judging the patient's gait and standing balance rehabilitation effect * Its system structure has never been seen before. It is not only novel and progressive, but also has clinical practical value. It is a creation that combines the elements of an invention patent. Brief description of the drawings: The first figure is a schematic diagram of the system of the present invention. The second figure is a perspective view of the present invention. The third figure is a schematic view showing the use state of the present invention and the suspension safety device. The fourth figure is a configuration diagram of the driving elements of the rack body of the present invention. The fifth figure is a structural diagram of the suspension safety device of the present invention. The sixth figure is the interface of the foot pressure real-time feedback window of the present invention. 1 ... machine body, 2 ... suspension safety device, 3 ... safety emergency switch, 4 ... foot pressure measurement feedback device, 5 ... foot pedal positioning limit switch, 6 ... Servo motor, 7 ... Servo motor driver, 8 ... Motor steering control relay 9 .. Programmable controller, 10, 11 .. Remote modem, 12 .. Human machine interface window display, 13 .. foot pedal * 14. gear shift set, 15, guide post, 16. lead screw * 21. main body stand, 22. inner tube, 23. outer tube, 24. suspension bracket, 25., safety sling, 40 .. film piezoresistive sensing element, 4 1 .. signal converter, 42 .. computer monitoring system. This paper size applies to China National Standard (CNS) A4 (21〇X: 297mm)