WO2013111916A1

WO2013111916A1 - Wearable rehabilitation device

Info

Publication number: WO2013111916A1
Application number: PCT/KR2012/000598
Authority: WO
Inventors: 전홍걸; 박홍수
Original assignee: 엘지전자 주식회사
Priority date: 2012-01-25
Filing date: 2012-01-25
Publication date: 2013-08-01

Abstract

The present specification provides a wearable device which is controlled by the user's intentions for movement and has two degrees of freedom associated with rehabilitation exercise. To this end, the wearable device according to one embodiment of the present disclosed specification may comprise: a body unit installed on one portion of the user's body for supporting said body portion; a motor unit for moving the body unit; a physical information acquisition unit for acquiring physical information on the movement of the body portion; and a controller for detecting the user's intentions for movement based on the acquired physical information, and controlling the motor unit based on the detected intentions for movement so that the body unit has two degrees of freedom associated with a first exercise and a second exercise.

Description

Wearable Rehabilitation Therapy Device

The present specification relates to a wearable rehabilitation therapy apparatus having two degrees of freedom associated with a recycling movement.

When a part of the spinal cord or brain is damaged due to trauma or mental causes, signals that move muscles are not normally transmitted to the muscles, which causes the parts of the body to be unable to move. Typical examples of such diseases include spinal cord injury and Hemiplegia may be mentioned.

In this case, various studies have been published on the effect of clinical treatment on the improvement of physical paralysis by restoring signal transmission function through active rehabilitation at the early stage of disease development.

The exercise rehabilitation treatment can perform the learning of the movement pattern generated by the driving device more quickly by repeatedly performing the functional tasks related to daily life, thereby effectively restoring the physical exercise function.

However, for rehabilitation treatment, a professionally trained rehabilitation therapist directly moves the disabled person's body to generate movement. At this time, the rehabilitation therapist's fatigue, etc., causes a lot of cost for long-term treatment.

In order to compensate for this, various devices have been devised to improve the effectiveness of the rehabilitation treatment by research on a method of replacing the rehabilitation treatment previously performed by a therapist with a mechanical device driven by an electric motor.

However, existing recycling apparatuses have disadvantages that are not suitable for use in some functional task movements in terms of price or size.

It is a technical object of the present disclosure to provide a wearable rehabilitation therapy apparatus controlled by a user's operation intention and having two degrees of freedom associated with a recycling exercise.

Wearable device according to the present specification for achieving the above object, the body portion mounted to the body portion of the user to support the body portion; A motor part for moving the body part; A body information acquisition unit which acquires body information related to movement of the body part; And detecting the intention of the user based on the acquired body information, and controlling the motor unit to have the two degrees of freedom associated with the first and second motions based on the detected intention of the user. It may include a control unit.

As an example related to the present specification, the body information may be information related to at least one of a force and a bio signal generated in the body part.

As an example related to the present specification, the biosignal may include bio-electric signals, bio-impedance signals, bio-acoustic signals, and bio-magnetic signals. signals, bio-mechanical signals, bio-chemical signals, and at least one of bio-optical signals, wherein the bio-electric signals include: It may include at least one of electrocardiogram (ECG, Electrocardiography), electromyography (EMG, Electromyography) and electroencephalogram (or EEG, EEG, Electroencephalography).

As an example related to the present specification, the body information acquisition unit may include a sensor for detecting the body information.

As an example related to the present specification, the sensor for detecting the body information may be a sensor for detecting at least one of a force and a bio signal generated in the body part.

As an example related to the present specification, the body information acquisition unit may be to acquire the body information from an external device or an external sensor.

As an example related to the present specification, the first motion is a motion associated with at least one of a hinge motion, an elbow joint flexion, and an extension with respect to the first axis, The second exercise may be a exercise associated with at least one of a torsional movement based on a second axis, a pronation of a forearm, and a supination.

As an example related to the present specification, the first axis may be perpendicular to the second axis.

As an example associated with the present specification, an auxiliary body part for additionally supporting the user's body; And a body connection part connecting the body part and the auxiliary body part.

As an example related to the present specification, when the motor unit includes a first motor and a second motor that rotate about a specific axis, and the body part rotates in the same direction as the first motor and the second motor, When the first movement and the first motor and the second motor rotates in the other direction, the second movement may be performed.

As an example related to the present specification, the specific axis may be the same as the first axis.

As an example associated with the present specification, a first wire friction driving device that rotates about the first axis based on the movement of the first motor; A second wire friction driving device that rotates about the first axis based on the movement of the second motor; And a wire connected to the first wire friction drive device and the second wire friction drive device, wherein the wire is in contact with one side of the body part and the first wire friction drive device and the second wire friction drive device. The frictional force generated by the contact is generated based on the rotational motion of the device, and when the first motor and the second motor rotate in different directions, the body part may perform a second motion based on the generated frictional force. have.

As an example related to the present specification, the apparatus may further include a device connecting part for connecting with an external device worn on a part of the body and another part.

As an example related to the present specification, a part of the body may be an elbow, and the external device may be at least one of devices worn on the wrist and shoulder of the user.

As an example related to the present specification, the device worn on the wrist has two degrees of freedom associated with a third exercise and a fourth exercise, and the device worn on the shoulder includes a fifth exercise, a sixth exercise, and a seventh exercise. It may have three degrees of freedom associated with it.

As an example related to the present specification, the third exercise is a movement associated with flexion or extension of a wrist joint, and the fourth exercise is an abduction of the wrist joint. The movement is related to Abduction or adduction, and the fifth movement is a movement related to the flexion or extension of the shoulder joint, and the sixth movement is the shoulder joint. The motion is related to Abduction or Adduction of the shoulder joint, and the seventh motion is to be related to internal rotation or external rotation of the shoulder joint. Can be.

As an example related to the present specification, the apparatus may further include a communication unit configured to receive first device information from the external device and transmit second device information to the external device.

As an example related to the present specification, the controller controls the body unit to be driven based on at least one of the first device information and the sensed operation intention, generates the second device information, and generates the external device. May be linked to the body unit based on the second device information.

As an example related to the present specification, the first device information is at least one of a user's operation intention information of the external device and driving information of the external device, and the second device information is a description of the detected operation. It may be at least one of FIG. Information, driving information of the body unit, and control information for controlling the external device.

According to an example related to the present disclosure, the method of claim 1, further comprising a memory unit for storing a specific exercise pattern, the control unit may be to control the motor unit to move the body based on the stored specific exercise pattern. have.

According to one embodiment disclosed herein, there is provided a wearable rehabilitation treatment device that is controlled by the user's intention and has two degrees of freedom associated with the recycling movement.

According to the wearable device disclosed in this specification, the physical information related to the movement of a part of the user's body of the wearable device is acquired, and the driving effect is increased based on the obtained body information. There is this.

In particular, according to the wearable device disclosed in the present disclosure, there is provided a connection means for connecting a plurality of wearable devices, and modularized with communication means for sharing the operation intention or driving information of the device. By providing a wearable device, the user can selectively use the modular wearable device or device as needed in consideration of their physical characteristics (or degree of damage to the body) or the progress of rehabilitation treatment. The advantage is that efficient rehabilitation treatment is possible.

1 is a block diagram illustrating a configuration of a wearable device according to embodiments disclosed herein.

2 is an exemplary view showing a movement associated with the wearable device according to the first embodiment disclosed herein.

3 is an exemplary view showing an embodiment of the wearable device according to the first embodiment disclosed herein.

4 is a cross-sectional view showing the configuration of the wearable device according to the first embodiment disclosed herein.

5 is an exemplary view showing an embodiment of a body information acquisition unit of the wearable device according to the second embodiment disclosed in the present specification.

6 is an exemplary view showing another embodiment of the body information acquisition unit of the wearable device according to the second embodiment disclosed herein.

7 is an exemplary view showing another embodiment of the body information acquisition unit of the wearable device according to the second embodiment disclosed herein.

8 is an exemplary view showing another embodiment of the body information acquisition unit of the wearable device according to the second embodiment disclosed herein.

9 is a block diagram showing the configuration of the wearable device according to the third embodiment disclosed herein.

10 is a block diagram showing another configuration example of the wearable device according to the third embodiment disclosed herein.

11 is an exemplary view illustrating a motion of an external device according to a third embodiment disclosed herein.

12 is an exemplary view illustrating a motion of an external device according to a third embodiment disclosed herein.

13 is a block diagram showing the configuration of a wearable device according to a fourth embodiment disclosed herein.

The technique disclosed herein can be applied to a wearable rehabilitation device having two degrees of freedom associated with a recycling movement, controlled by the user's intention to operate. However, the technology disclosed herein is not limited thereto, and may be applied to all wearable exercise devices and rehabilitation devices to which the technical spirit of the technology may be applied.

The intention of the user may be sensed through various body information generated from the user's body. For example, the user's manipulation intention is an EMG signal, which is a biological signal generated by the body to measure a moment applied to a joint or the like that can rotate the wearable device due to the force generated in the muscle, or to generate force to the muscle. It is possible to determine by measuring and analyzing it in real time.

In addition, according to the technology disclosed herein, when movement is generated through a driver such as an electric motor included in the wearable rehabilitation therapy device in synchronization with the user's operation intention, the movement of the user and the wearable rehabilitation treatment The device may move synchronously, resulting in a superior rehabilitation effect.

In addition, according to the technology disclosed herein, by using an independent modular device device capable of rehabilitation of a part of the user's physical exercise, a device for enabling the treatment of specific area exercise rehabilitation and connecting a plurality of modular device devices, etc. There may be an advantage to expand the function of exercise rehabilitation treatment.

In addition, through the wearable rehabilitation treatment apparatus according to the technology disclosed herein, it can be expected that the spinal cord injury or hemiplegic impaired person and the general public who have reduced muscle strength commonly obtain the effect of exercise rehabilitation.

In addition, according to the technology disclosed herein, each of the independent modules (or a plurality of modular wearable rehabilitation devices) is provided with a separate signal processing device (or control unit) and the user operation intention information measured by the device And a communication device capable of sharing exercise information driven through the same. The shared information has a function of changing the driving of each module by identifying a state of each module by a separate signal processing device and generating a command for synchronization between the connected modules through the separate signal processing device.

In a specific embodiment, in the upper body rehabilitation treatment, a two degree of freedom wearable device device module (or wearable) capable of simultaneously identifying and driving a user's intention during elbow bending and rotation of a hand due to forearm twisting Rehabilitation devices).

The two degree of freedom wearable device device module may further be connected to a modular device device for generating a two degree of freedom bending motion of a wrist or a modular device device for generating a three degree of freedom rotational motion of a shoulder to expand a range of exercise rehabilitation. It may be provided.

It is to be noted that the technical terms used herein are merely used to describe particular embodiments and are not intended to limit the spirit of the technology disclosed herein. In addition, the technical terms used herein should be construed as meanings generally understood by those skilled in the art to which the technology disclosed herein belongs, unless defined otherwise in this specification. It should not be interpreted in a comprehensive sense, or in an overly reduced sense. In addition, when the technical terms used herein are incorrect technical terms that do not accurately express the spirit of the technology disclosed herein, it should be replaced with technical terms that can be understood correctly by those skilled in the art. In addition, the general terms used herein should be interpreted as defined in the dictionary, or according to the context before and after, and should not be interpreted in an excessively reduced sense.

Also, the singular forms used herein include the plural forms unless the context clearly indicates otherwise. In this specification, terms such as “consisting of” or “comprising” should not be construed as necessarily including all of the various components or steps described in the specification, and some of the components or some steps It should be construed that it may not be included or may further include additional components or steps.

In addition, terms including ordinal numbers, such as first and second, as used herein may be used to describe various components, but the components should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, the first component may be referred to as the second component, and similarly, the second component may also be referred to as the first component.

DETAILED DESCRIPTION Hereinafter, exemplary embodiments disclosed herein will be described in detail with reference to the accompanying drawings, and the same or similar components will be given the same reference numerals regardless of the reference numerals, and redundant description thereof will be omitted.

In addition, in describing the technology disclosed herein, if it is determined that the detailed description of the related known technology may obscure the gist of the technology disclosed herein, the detailed description thereof will be omitted. In addition, it is to be noted that the accompanying drawings are only for easily understanding the spirit of the technology disclosed in this specification, and the spirit of the technology should not be construed as being limited by the accompanying drawings.

Description of a wearable device according to embodiments disclosed herein

The wearable device according to the embodiments disclosed in the present disclosure may be mounted to a body part of a user to support a body part, a motor part to move the body part, and to acquire body information related to the movement of the body part. Detect the intention of the user based on the body information acquiring unit and the acquired body information, and make the body part have two degrees of freedom associated with the first and second movements based on the detected intention of the user. It may include a control unit for controlling the motor unit.

Referring to FIG. 1, the wearable device 100 according to the exemplary embodiments disclosed herein may include a control unit 110, a body information acquisition unit 120, a motor unit 130, and a body unit 140. Can be.

In addition, the wearable device may further include an auxiliary body part (not shown) for additionally supporting the user's body and a body connection part connecting the body part and the auxiliary body part.

In addition, the wearable device 100 may further include various components for performing an exercise function for rehabilitation treatment.

The components shown in FIG. 1 are not essential, so that the wearable device 100 with more or fewer components may be implemented.

Hereinafter, the components will be described in order.

The controller 110 may perform various functions for providing a rehabilitation exercise treatment function for the user of the wearable device 100.

Basically, the controller 110 may control the components of the wearable device 100 to perform the rehabilitation exercise treatment function.

According to the embodiments disclosed herein, the controller 110 may detect the intention of the user based on the body information obtained by the body information acquisition unit 120.

In addition, the controller 110 may control the motor unit 130 to have two degrees of freedom associated with the first motion and the second motion based on the detected motion intention.

For example, when a part of the spinal cord or the brain of the user is damaged due to a trauma or a mental cause, a signal for moving the user's muscles is not normally transmitted to the muscles, which makes it impossible to move a part of the body. May occur. Representative examples of such diseases include spinal cord injury and hemiplegia.

In this case, clinical treatment may be necessary to restore the signal transmission function of the user through active exercise rehabilitation at the early stage of disease development to improve physical paralysis.

According to an embodiment, since the wearable device 100 is driven according to the sensed intention of the user, the user wears the wearable device 100 and uses the wearable device 100. It is possible to perform a variety of task (task) exercise required in everyday life. Accordingly, the user may obtain a high clinical treatment effect through various task exercises using the wearable device 100.

According to one embodiment, the first motion may be a motion associated with at least one of a hinge motion, an flexion of an elbow joint, and an extension with respect to the first axis. In other words, the first exercise may mean a bending or stretching motion of the elbow joint of the user.

According to an embodiment of the present disclosure, the second exercise may be a exercise associated with at least one of a torsional movement based on a second axis, Pronation of a forearm, and supination. In other words, the second exercise may be a torsional movement of the forearm of the user.

In addition, according to an embodiment, the first axis may be perpendicular to the second axis.

The body information acquisition unit 120 may acquire body information for detecting an operation intention of the user. For example, the body information acquisition unit 120 may acquire body information related to the movement of a part of the user's body.

According to an embodiment, the body information may be information related to at least one of a force and a bio signal generated in the body part.

For example, the biosignal may be a bio-electric signal, a bio-impedance signal, a bio-acoustic signal, a bio-magnetic signal, a bio-signal. It may include at least one of bio-mechanical signals, bio-chemical signals and bio-optical signals.

Here, the bio-electric signals may include at least one of electrocardiogram (ECG), electrocardiography (EMG), electromyography (EMG), and electroencephalogram (or EEG, EEG, Electroencephalography).

The body information acquisition unit 120 may obtain the body information in various ways.

According to an embodiment, the body information acquisition unit 120 may include at least one sensor for detecting the body information.

According to another embodiment, the body information acquisition unit 120 may obtain the body information from an external device or an external sensor.

The body information acquisition method or the acquisition method of the body information acquisition unit 120 will be described later with reference to FIGS. 5 to 8.

The motor unit 130 may serve to move (or drive) the body unit under the control of the controller 110.

For example, the motor unit 130 drives the body part to move the body part 140 with two degrees of freedom associated with the first motion and the second motion based on the detected motion intention. can do.

The motor unit 130 may include various types of motors. For example, the motor unit 130 may include an electric motor. In addition, for example, the motor unit 130 may include a flat motor.

According to an embodiment, the motor unit 130 may include a first motor and a second motor rotating based on a specific axis. Here, the specific axis may be the same as the first axis.

In this case, when the first motor and the second motor rotate in the same direction, the body part 140 performs the first movement, and when the first motor and the second motor rotate in different directions, It may be to the second exercise.

A motor unit including the first motor and the second motor will be described later with reference to FIGS. 3 to 4.

The body unit 140 may be mounted on a body part of the user to support the body part.

In addition, the body part 140 may be driven by the motor part 130 to serve to move the body part.

For example, the body part 140 may move with two degrees of freedom associated with the first motion and the second motion as the motor part 130 is driven.

First embodiment-device worn on the elbow

The first embodiment disclosed herein may be embodied in some or a combination of configurations or steps included in the above-described embodiments, or may be implemented in a combination of the embodiments, and the following provides a clear representation of the first embodiment disclosed herein. Duplicate parts can be omitted.

The wearable device according to the first embodiment disclosed in the present specification may include a body part mounted on a body part of a user to support the body part, a motor part to move the body part, and body information related to the movement of the body part. Detect the intention of the user based on the body information acquiring unit and the acquired body information, and to have the body part have two degrees of freedom associated with the first and second movements based on the detected intention of the user. It may include a control unit for controlling the motor unit.

In addition, according to the first embodiment, the body information may be information related to at least one of a force and a bio signal generated in the body part.

Further, according to the first embodiment, the first movement is a movement related to at least one of a hinge movement, an elbow joint flexion, and an extension with respect to the first axis. Can be. In other words, the first exercise may mean a bending or stretching motion of the elbow joint of the user.

In addition, according to the first embodiment, the second exercise may be a movement related to at least one of a torsional movement based on a second axis, a pronation of a forearm, and a supination. In other words, the second exercise may be a torsional movement of the forearm of the user.

According to an embodiment, the first axis may be perpendicular to the second axis.

Referring to FIG. 2, the wearable device according to the first embodiment of the present disclosure may serve to perform an exercise related to an elbow joint or a wrist of the wearable device user.

For example, the wearable device may have a degree of freedom associated with the hinge movement about the first axis a100 (FIG. 2 (a)). The hinge movement may refer to a bending (m110) or straightening (m120) movement of the elbow joint p100 of the user. The hinge movement may be an exercise associated with flexion (m110) or extension (m120) of the elbow joint (p100).

Also, for example, the wearable device may have a degree of freedom associated with a torsional movement about the second axis a200 (FIG. 2B). The torsional movement may mean a torsional movement (m210 or m220) for the forearm of the user. In other words, the torsional movement may be a movement associated with Proearm m210 and Supination m220 of Forearm.

3A to 3B are exemplary views showing an embodiment of the wearable device according to the first embodiment disclosed herein.

Referring to FIG. 3A, the wearable device 100 according to the first embodiment of the present disclosure may include a body 140 mounted on a body part of a user to support the body part, and a motor part to move the body part. 130, a body information acquiring unit (not shown) for acquiring body information related to the movement of the body part and the intention of the user based on the acquired body information, and detecting the detected intention of the user. The controller may include a controller (or a signal processor, not shown) that controls the motor unit so that the body part has two degrees of freedom associated with the first and second motions.

The body part 140 may include a body support part 1401 for supporting a part of the user's body and a body fixing part 1402 for fixing a part of the user's body.

According to the first embodiment, the body part 140 may have two degrees of freedom associated with the first motion and the second motion by the motor part 130.

The motor unit 130 may serve to drive and move the body unit 140. For example, the motor unit 130 may drive the body 140 to move the body 140 with two degrees of freedom associated with the first and second motions.

According to the first embodiment, the motor unit 130 may include a first motor 130a and a second motor 130b that rotate about a specific axis (or elbow bending joint, a101).

In this case, when the first motor 130a and the second motor 130b rotate in the same direction, the body part 140 performs the first movement, and the first motor 130a and the second motor. When the motor 130b rotates in another direction, the second movement may be performed.

In addition, according to the first embodiment, the specific axis a101 may be the same as the first axis a100.

In addition, the wearable device 100 according to the first embodiment may include a first wire friction drive device 131a rotating based on the first axis a100 based on the movement of the first motor 130a, The second wire friction drive device 131b and the first wire friction drive device 131a and the second wire friction drive that rotate based on the first axis a100 based on the movement of the second motor 130b. Further comprising a wire 133 connected to the device (131b), the wire 133 is in contact with one side of the body portion 140, the first wire friction drive device (131a) and the second wire When the frictional force generated by the contact is generated based on the rotational movement of the friction drive device 131b, and the body part 140 rotates the first motor 130a and the second motor 130b in different directions. The second movement may be performed based on the generated frictional force.

In addition, the wearable device 100 according to the first embodiment may further include

rollers

132a and 132b that support the wire 133 and allow the wire 130 to move easily.

In addition, the wearable device 100 according to the first embodiment may further include an auxiliary body 141 for additionally supporting the user's body, and a body connection part connecting the body 140 and the auxiliary body 141. It may further include.

The auxiliary body 141 additionally supports the user's body, and the body 140 is based on a reference axis (for example, the first axis a100 or the second axis a200). It can serve as an assistant to move without shaking.

The auxiliary body 141 may include an auxiliary body support 1411 for additionally supporting the user's body and an auxiliary body fixing part 1412 for additionally fixing the user's body.

Referring to FIG. 3B, it can be seen that components of the wearable device 100 according to the first embodiment are assembled.

Referring to FIG. 4, when the first motor 130a and the second motor 130b rotate in different directions, the first wire friction drive device 131a and the second wire friction drive device 131b are respectively rotated. Can rotate in the opposite direction.

In this case, the wire 133 may move through the

rollers

132a and 132b and generate frictional force based on the movement and contact with the body part 140.

In addition, the body part 140 may perform the second movement based on the generated frictional force.

According to the first modified embodiment, the wearable device 100 is provided with one flat motor on a specific axis (or elbow bend joint, a101) to generate elbow bend movement and a separate small motor to the forearm fixation site. It can be operated as a drive mechanism to generate a rotational movement of the hand by the forearm twist through it.

Second Embodiment-Acquisition of Physical Information through Sensors

The second embodiment disclosed herein may be embodied in some or a combination of configurations or steps included in the above-described embodiments, or may be implemented in a combination of embodiments, and the following clearly describes the second embodiment disclosed herein. Duplicate parts can be omitted.

In the wearable device according to the second embodiment of the present disclosure, a body part mounted on a body part of a user to support the body part, a motor part to move the body part, and acquire body information related to the movement of the body part Detect the intention of the user based on the body information acquiring unit and the acquired body information, and to have the body part have two degrees of freedom associated with the first and second movements based on the detected intention It may include a control unit for controlling the motor unit.

According to a second embodiment, the body information may be information related to at least one of a force and a bio signal generated in the body part.

The biosignal may include bio-electric signals, bio-impedance signals, bio-acoustic signals, bio-magnetic signals, and biomechanical signals. Bio-mechanical signals, bio-chemical signals, and at least one of bio-optical signals, wherein the bio-electric signals include electrocardiography (ECG). It may include at least one of electromyography (EMG, Electromyography) and electroencephalogram (or EEG, EEG, Electroencephalography).

Further, according to the second embodiment, the body information acquisition unit may include a sensor for detecting the body information.

The sensor for detecting the body information may be a sensor for detecting at least one of a force generated from the body part and a bio signal.

Referring to FIG. 5, the body information acquisition unit 120 may include a sensor that detects a force generated from a part of the user's body.

That is, according to the second embodiment, the wearable device 100 so that deformation occurs when a force or a moment is applied to the connection portion of the body portion 130 for supporting the body of the motor unit 130 and the user. ) Can be measured using a measuring means that converts the amount of deformation generated by the force into an electrical signal using a strain gage 121 or the like.

In the case of FIG. 5, deformation of the member to which the strain gauge 121 is attached may occur due to the tension change occurring in the wire 133.

In addition, the body information acquisition unit 120 may measure the deformation through the strain gauge 121.

Such a characteristic of the method of measuring the force through the strain gauge 121 is that the force acting from the outside by the guidance of the therapist and the like, along with the force generated by the user's operation intention may be measured together. By doing so, the user performs the exercise rehabilitation treatment according to the exercise pattern generated by the therapist operation intention according to the rehabilitation stage by the same measuring means even in the severe state where the user cannot move himself and receives the rehabilitation treatment through the force measurement result It may be possible to monitor the situation of exercise interventions in real time.

The force measuring method according to a second embodiment of the present invention may further include disposing an additional mechanism such as a cuff between the body part 140 and the user's body connected to the motor unit 130 for driving, and between the cuff and the structure. It may be possible to measure the repulsive force acting between the structure and the force generated by the user's willingness to act purely by having a means to measure. The characteristics obtained by the arrangement of the force measuring means are capable of driving the device by the pure intention of the user without being influenced by external force, and can monitor the pure force generated by the user while driving. Can be mentioned.

Hereinafter, an embodiment of the wearable device based on the EMG signal will be described with reference to FIGS. 6 to 8.

According to the second embodiment, the EMG signal may be an EMG signal corresponding to at least one of the biceps, triceps, and forearm twist of the upper arm of the user.

That is, in relation to the bending motion of the elbow, the motion may be generated by the biceps and triceps of the upper arm.

In this case, the wearable device is designed to devise a bellows mechanism of the mechanism device and to arrange an electrode for signal acquisition so that an electrode is placed in the vicinity of the two muscles according to the exercise to measure an EMG signal that generates muscle movement. It can be applied to the device.

In addition, in relation to the hand rotational movement due to the forearm of the forearm, the movement is generated by the supinator and the pleator disposed in the form wound around the radial and ulna of the forearm.

In this case, in order to measure the EMG signals of the two muscles according to the exercise, a configuration in which a bell claw is placed near the forearm connected to the elbow and an electrode for signal acquisition may be applied to the wearable device. The mold apparatus can thereby grasp the operation intention of the user.

Referring to FIG. 6, the body information acquisition unit 120 may include a sensor for detecting a biosignal generated from a part of the user's body.

For example, the biosignal may be an EMG signal, and the EMG signal may be generated from the biceps muscle of the user.

Thus, the body information acquisition unit 120 may include a biceps muscle electromyogram sensor 122, and the biceps muscle electromyogram sensor 122 may be located at the body part fixing unit 1402.

That is, as in the case of Figure 6, the wearable device 100 has a Velcro attached to the body portion fixing portion (or the inner surface of the belt, 1402) so that the biceps EMG sensor 122 is attached to the inner surface of the belt. Can be implemented. Accordingly, the wearable device 100 may be implemented such that the biceps muscle electromyogram sensor 122 may be slightly positioned near the biceps muscle of the upper arm while wearing the wearable device 100.

Referring to FIG. 7, the body information acquisition unit 120 may include a triceps muscle EMG sensor 123 that detects an EMG signal generated by the triceps muscle of the user. In addition, the triceps muscle EMG sensor 123 may be located in the body support 1401.

That is, as in the case of Figure 7, the triceps muscle EMG sensor 123 may be configured by the Velcro is also attached to the body support (or pad, 1401), the wearable device 100 is the forearm It may be implemented to have a slight position adjustment function so that it can be naturally in close contact with the triceps when fixed to the.

Referring to FIG. 8, the body information acquisition unit 120 may include a forearm electromyogram sensor 124 that detects an EMG signal generated from the forearm of the user.

That is, as shown in FIG. 8, the forearm torsion EMG sensor 124 may be located at both ends of the body support (or pad) 1401 or inside the body fixing part (or belt) 1402.

In this case, the forearm torsion electromyogram sensor 124 may be attached to be close to the muscle used for elbow torsion naturally when the wearable device 100 is attached to the user arm.

The forearm torsion EMG sensor 124 may also be implemented to be attachable through the Velcro, it may be implemented to compensate for the change in muscle position according to the wearer by enabling a slight position change.

In addition, according to the modified second embodiment, the body information acquisition unit may be to obtain the body information from an external device or an external sensor.

In this case, a separate external device (not shown) or an external sensor (not shown) for detecting the body information (for example, a force or a bio signal generated from a part of the body) is provided outside the wearable device 100. The body information acquisition unit 120 may obtain the force or the biosignal from the external device or an external sensor.

In addition, the body information acquisition unit 120 may be connected to the external device or the external sensor in a wired or wireless manner to obtain the force or bio-signal.

Further, according to the second modified embodiment, the external device may acquire the body information from an external sensor, process the body information through a signal processing process, and obtain the body information from the processed body information. It may transmit to the unit 120.

Third embodiment-wearable device connected to an external device

The third embodiment disclosed herein may be embodied in some or a combination of configurations or steps included in the above-described embodiments, or may be implemented in a combination of embodiments, and the following clearly describes the third embodiment disclosed herein. Duplicate parts can be omitted.

The wearable device according to the third embodiment disclosed in the present specification includes a body part mounted to a body part of a user to support the body part, a motor part to move the body part, and body information related to the movement of the body part. Detect the intention of the user based on the body information acquiring unit and the acquired body information, and to have the body part have two degrees of freedom associated with the first and second movements based on the detected intention of the user. It may include a control unit for controlling the motor unit.

In addition, the wearable device according to the third embodiment may further include a device connection part for connecting with an external device worn on a part different from the part of the body.

Here, the part of the body is an elbow, the external device may be at least one of the device worn on the wrist and shoulder of the user.

Specifically, the wearable device according to the third embodiment may be mechanically connected to at least one wearable external device that is worn on the body part of the user and is worn on the part of the body different from the body part. Means (or a connection part) is provided.

That is, the wearable device and the at least one wearable external device according to the third embodiment may be referred to as modular devices or devices, because the wearable device and the at least one wearable external device have a means (or a connection part) that can be mechanically connected to each other. Accordingly, the user may selectively combine the modular device or device as necessary in consideration of his / her physical characteristics (or degree of damage to the body) or the progress of rehabilitation treatment.

For example, if the entire upper body part of the user is injured, in the initial rehabilitation step, the user can connect to each modular device or device (or external device) corresponding to the shoulders, elbows and wrists of his upper body. Wearable device with a connection) can be used as one rehabilitation device. Thereafter, according to the progress of the rehabilitation treatment, when the rehabilitation of the shoulder portion is completed, the user separates the modular device (or wearable device) corresponding to the shoulder, the device corresponding to the elbow and wrist Only one can be connected and used as a rehabilitation device.

In addition, the means (or connecting portion) that can be mechanically connected to each other is optional, as needed in carrying out the daily functional task restoration treatment through a modular rehabilitation treatment device that is responsible for the exercise rehabilitation treatment of only a specific part of the arm It may mean a means that can be used by connecting.

Further, for example, the means (or connections) that can be mechanically connected to each other can be adapted to the conditions of the user by means of the respective modular modular exercise rehabilitation treatment device via a buckle-type fastening device that allows detachment with additional aids. There may be a mechanism to fix it.

Referring to FIG. 9, the wearable device 100 according to the third embodiment of the present disclosure may include a control unit 110, a body information acquisition unit 120, a motor unit 130, a body unit 140, and a connection unit ( 150).

The controller 110, the body information acquisition unit 120, the motor unit 130, and the body unit 140 may have the same function as described in the above-described embodiments.

The connection unit 150 may serve to connect the external device 200 and the wearable device 100.

According to a third embodiment, the wearable device 100 is a device that is worn on the elbow of the user of the wearable device 100, the external device 200 is worn on a portion other than the elbow of the user Can be.

Referring to FIG. 10, the wearable device 100 according to the third embodiment may include a first connection part 150a that connects the wearable device 100 to the first external device 200a and the second external device 200b. ) And the second connector 150b.

Here, the wearable device 100 is a device worn on the elbow of the user of the wearable device 100, the first external device 200a is a device worn on the wrist of the user, the second external The device 200b may be a device worn on the shoulder of the user.

Further, according to the third embodiment, the first external device 200a has two degrees of freedom associated with the third motion and the fourth motion, and the second external device 200b includes the fifth motion and the sixth motion. And three degrees of freedom associated with the seventh movement.

Movement of the first external device 200a and the second external device 200b will be described later with reference to FIG. 11.

The wearable device 100 according to the third embodiment may be connected to the first external device 200a having two degrees of freedom associated with the third motion and the fourth motion.

The connection between the wearable device 100 and the first external device 200a may be made through the first connection part 150a.

According to a third embodiment, the third movement is a movement associated with flexion or extension of a wrist joint (Complex joint), and the fourth movement is the wrist joint. (Abduction = Radial Deviation) or adduction (Adduction = Ulnar Deviation).

Referring to FIG. 11A, the first external device 200a may have a degree of freedom associated with a third movement.

The third motion corresponds to a motion (m310) or extension of the wrist joint corresponding to the flexion of the wrist joint (Wrist Joint = Complex Joint [Compound Joint]) based on the third axis (a300). May be an exercise (m320).

In addition, referring to FIG. 11B, the first external device 200a may have a degree of freedom associated with a fourth motion.

The fourth motion is a motion (m410) or an abduction (Adduction = Ulnar Deviation) corresponding to the abduction (Abduction = Radial Deviation) of the wrist joint with respect to the third axis (a300). Positioning]) may correspond to an exercise (m420).

Referring to FIG. 12, the wearable device 100 may be connected to a second external device 200b having three degrees of freedom associated with fifth, sixth, and seventh motions.

Connection between the wearable device 100 and the second external device 200b may be made through the second connection part 150b.

According to a third embodiment, the fifth exercise is an exercise associated with flexion or extension of a shoulder joint = complex joint, and the sixth exercise is the shoulder joint. Is a motion associated with abduction or adduction of a shoulder joint, and the seventh motion is a motion associated with an internal rotation or an external rotation of the shoulder joint. It may be.

Referring to FIG. 12A, the second external device 200b may have a degree of freedom associated with the fifth movement.

The fifth exercise corresponds to an exercise (m510) or extension corresponding to the flexion of the shoulder joint (Shoulder Joint = Complex Joint [Compound Joint]) based on the fourth axis (a400). m520).

In addition, referring to FIG. 12B, the second external device 200b may have a degree of freedom associated with the sixth movement.

The sixth exercise may be an exercise m610 corresponding to abduction of the shoulder joint based on a fourth axis a400 or an exercise m620 corresponding to adduction.

In addition, referring to FIG. 12C, the second external device 200b may have a degree of freedom associated with the seventh movement.

The seventh motion is a motion (m710) corresponding to an internal rotation of the shoulder joint (Shoulder Joint) or an external rotation (m720) based on a fifth axis a500. Can be.

As a result, according to the third embodiment described above, each of the modular exercise rehabilitation therapy devices (or wearable devices) can be used simultaneously on multiple parts of the user's body as needed and the connection between the wearable devices Through mechanical means for the complex rehabilitation exercise pattern generated by a plurality of exercise rehabilitation treatment device may be an advantage that it is possible to repeat the exercise.

Looking at one embodiment for the mechanical connection of each of the modular exercise rehabilitation device, each module includes a mouthpiece that can be connected to each other to secure each modular rehabilitation device through the mouthpiece in the order of wearing It may include a mechanism mechanism having a means to be present.

In addition, as another embodiment for the mechanical connection of the modular rehabilitation device, the wearable device has a means for connecting the modular rehabilitation device worn and worn on the body regardless of the order of the respective modular devices Connect multiple modular rehabilitation units to each modular rehabilitation unit by connecting each modular rehabilitation unit through additional instruments and coupling additional structures to each modular rehabilitation unit through a mouthpiece such as a buckle included in the additional unit. It may include a mechanism mechanism.

As such, the wearable device according to the third embodiment disclosed herein is expandable due to its modular nature, thereby allowing selective motor rehabilitation in a suitable form of combination according to the daily living functional tasks for motor rehabilitation therapy. It may be possible to carry out treatment.

Fourth embodiment-communication and information exchange with external devices

The fourth embodiment disclosed herein may be embodied in some or a combination of configurations or steps included in the above-described embodiments, or may be implemented in a combination of embodiments, and the following clearly describes the fourth embodiment disclosed herein. Duplicate parts can be omitted.

The wearable device according to the fourth exemplary embodiment disclosed in the present specification includes a body part mounted to a body part of a user to support the body part, a motor part to move the body part, and body information related to the movement of the body part. Detect the intention of the user based on the body information acquiring unit and the acquired body information, and to have the body part have two degrees of freedom associated with the first and second movements based on the detected intention of the user. It may include a control unit for controlling the motor unit.

In addition, the wearable device according to the fourth embodiment may further include a device connection part for connecting with an external device worn on a part different from the body part.

The wearable device according to the fourth embodiment may further include a communication unit configured to receive first device information from the external device and to transmit second device information to the external device.

Here, the first device information is at least one of user's operation intention information about the external device and driving information of the external device, and the second device information includes the detected operation intention information and the body part. It may be at least one of driving information and control information for controlling the external device.

Referring to FIG. 13, the wearable device 100 according to the fourth embodiment of the present disclosure may include a control unit 110, a body information acquisition unit 120, a motor unit 130, a body unit 140, and a connection unit ( 150 and the communicator 160.

The communication unit 160 may receive first device information from the external device 200 and transmit second device information to the external device 200.

The controller 110 may control the body to be driven based on at least one of the first device information and the intention of the motion detected by the body information acquirer 120.

In addition, the controller 110 may generate the second device information.

The external device 200 may operate in conjunction with the body unit 140 based on the second device information.

Specifically, with respect to the fourth embodiment, the modular wearable devices (e.g., exercise rehabilitation devices) coupled through the connecting means (or connections) are driven simultaneously to track one complex daily living function task trajectory. There may be a need to operate in synchronization with each other to create a.

Accordingly, according to the fourth embodiment, the wearable devices may share user operation intention information and respective driver (or motor part) driving information between respective modular exercise rehabilitation therapy devices, and change driving characteristics as necessary. It may be provided with a communication means (or communication unit) that can send and receive a command.

In addition, a distributed control technique by the communication means can be used as a means for synchronizing the wearable devices. For example, a means may be provided for communicating between a separate central processing unit and signal processing units provided in each modular wearable device (eg, an exercise rehabilitation unit), whereby all connected User motion intention information and driving information of the modular wearable devices may be collected, and an application may be generated to apply a command to influence the motion trajectory of each modular exercise rehabilitation device, which is in turn applied to each device. Each modular wearable device may include a function of changing driving characteristics to perform synchronized driving based on the command transmitted and communicated through the communication means.

In addition, a separate central processing unit and each modular exercise rehabilitation apparatus to which the distributed control implementation method is applied may include means for providing user operation intention information and driving information to the outside. All information is provided to a separate device equipped with a means for displaying the information so that the user can display all the data while performing the exercise rehabilitation treatment on the display screen in real time. It may include providing a means to store and use as information for analyzing the effect of rehabilitation treatment.

Embodiment 5-Wearable Device for Storing a Specific Exercise Pattern

In addition, the wearable device according to the fifth embodiment may further include a memory unit for storing a specific exercise pattern, and the controller may control the motor unit to move the body part based on the stored specific exercise pattern. .

Specifically, in the case of a wearable device having a function of exercise rehabilitation treatment, in the treatment step of a user who has severely damaged the body, the wearable device may be based on an external force applied by a therapist or an operation intention of the user. It may be necessary to have a function of generating a specific exercise pattern corresponding to the wearable device and repeatedly performing the same.

For example, the therapeutic effect of restoring motor function that was limited by disorders such as hemiplegia and spinal cord injury may be maximized by daily rehabilitation task-based exercise rehabilitation.

Accordingly, the wearable device according to the fifth embodiment may include a memory unit for storing the generated specific exercise pattern, and control the motor unit to move the body part based on the stored specific exercise pattern. have.

In addition, as in the embodiments described above, the modular wearable devices (or exercise rehabilitation therapy devices) can be used simultaneously on multiple parts of the user's body as needed and for connection between the wearable devices. Through mechanical means, it is possible to generate a complex rehabilitation exercise pattern and repeat exercise by a plurality of wearable devices.

The scope of the present invention is not limited to the embodiments disclosed herein, and the present invention can be modified, changed, or improved in various forms within the scope of the spirit and claims of the present invention.

Claims

A body part mounted on a body part of a user to support the body part;

A motor part for moving the body part;

A body information acquisition unit which acquires body information related to movement of the body part; And

Detect the intention of the user based on the obtained body information,

And a controller configured to control the motor unit to have two degrees of freedom associated with the first and second motions based on the detected intention of motion.
The method of claim 1, wherein the body information,

Wearable device that is information associated with at least one of a force and a biosignal generated in the body part.
The method of claim 2, wherein the bio-signal,

Bio-electric signals, bio-impedance signals, bio-acoustic signals, bio-magnetic signals, bio-mechanical signals, At least one of bio-chemical signals and bio-optical signals,

The bio-electric signals,

Wearable device comprising at least one of electrocardiography (ECG, Electrocardiography), electromyography (EMG, Electromyography) and electroencephalogram (or EEG, EEG, Electroencephalography).
The method of claim 1, wherein the body information acquisition unit,

Wearable device comprising a sensor for sensing the body information.
The method of claim 4, wherein the sensor for detecting the body information,

Wearable device that is a sensor for sensing at least one of the force and the bio-signals generated in the body part.
The method of claim 1, wherein the body information acquisition unit,

Wearable device to obtain the body information from an external device or an external sensor.
The method of claim 1, wherein the first exercise,

A motion associated with at least one of a hinge motion, flexion and extension of the elbow joint about the first axis,

The second exercise,

A wearable device that is associated with at least one of a torsional movement relative to a second axis, Pronation and Upination of the Forearm.
The method of claim 7, wherein the first axis,

Wearable device perpendicular to the second axis.
The method of claim 1,

An auxiliary body part for additionally supporting the user's body; And

Wearable device further comprises a body connecting portion for connecting the body portion and the auxiliary body portion.
The method of claim 1, wherein the motor unit,

It has a first motor and a second motor that rotates about a specific axis,

The body portion,

When the first motor and the second motor rotates in the same direction, the first movement,

The wearable device of claim 1, wherein when the first motor and the second motor rotate in a different direction, the second movement.
The method of claim 10, wherein the specific axis,

Wearable device that is the same as the first axis.
The method of claim 10,

A first wire friction driving device that rotates about the first axis based on the movement of the first motor;

A second wire friction driving device that rotates about the first axis based on the movement of the second motor; And

Further comprising a wire connected to the first wire friction drive and the second wire friction drive,

The wire,

In contact with one side of the body portion,

Generate frictional force due to the contact based on the rotational motion of the first wire friction drive and the second wire friction drive;

The body portion,

When the first motor and the second motor rotates in the other direction,

Wearable device for performing a second movement based on the generated frictional force.
The method of claim 1,

And a device connection portion for connecting with an external device worn on a portion of the body and another portion.
The method of claim 13, wherein the portion of the body,

Elbow,

The external device,

Wearable device that is at least one of the device worn on the wrist and shoulder of the user.
The device of claim 14, wherein the device is worn on the wrist.

Has 2 degrees of freedom associated with the third and fourth movements,

The device worn on the shoulder,

The wearable device having three degrees of freedom associated with the fifth, sixth, and seventh movements.
The method of claim 15,

The third exercise,

Movement associated with flexion or extension of the wrist joint,

The fourth exercise,

Exercise associated with abduction or adduction of the wrist joint,

The fifth exercise,

Movement associated with flexion or extension of the shoulder joint,

The sixth exercise,

Exercise associated with abduction or adduction of the shoulder joint,

The seventh exercise,

A wearable device, wherein the movement is associated with an internal rotation or an external rotation of the shoulder joint.
The method of claim 13,

Receiving first device information from the external device,

The wearable device of claim 2, further comprising a communication unit configured to transmit second device information to the external device.
The method of claim 17, wherein the control unit,

Control the body to be driven based on at least one of the first device information and the sensed operation intention;

Generating the second device information,

The external device,

Wearable device that operates in conjunction with the body based on the second device information.
The method of claim 17, wherein the first device information,

At least one of user's operation intention information of the external device and driving information of the external device;

The second device information,

Wearing device that is at least one of the detected motion intention information, drive information of the body portion and control information for controlling the external device.
The method of claim 1,

Further comprising a memory unit for storing a specific exercise pattern,

The control unit,

Wearable device to control the motor unit to move the body based on the stored specific movement pattern.