WO2018016765A1 - Système d'exercice de rééducation immersive basé sur l'équilibre postural dynamique - Google Patents

Système d'exercice de rééducation immersive basé sur l'équilibre postural dynamique Download PDF

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Publication number
WO2018016765A1
WO2018016765A1 PCT/KR2017/006908 KR2017006908W WO2018016765A1 WO 2018016765 A1 WO2018016765 A1 WO 2018016765A1 KR 2017006908 W KR2017006908 W KR 2017006908W WO 2018016765 A1 WO2018016765 A1 WO 2018016765A1
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WIPO (PCT)
Prior art keywords
user
main body
rehabilitation exercise
motion frame
exercise system
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PCT/KR2017/006908
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English (en)
Korean (ko)
Inventor
권대규
홍철운
강승록
신선혜
유미
Original Assignee
전북대학교산학협력단
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Publication of WO2018016765A1 publication Critical patent/WO2018016765A1/fr

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H23/00—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms
    • A61H23/02—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms with electric or magnetic drive
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B26/00—Exercising apparatus not covered by groups A63B1/00 - A63B25/00
    • A63B26/003—Exercising apparatus not covered by groups A63B1/00 - A63B25/00 for improving balance or equilibrium
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
    • A63B21/005—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using electromagnetic or electric force-resisters
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
    • A63B21/40—Interfaces with the user related to strength training; Details thereof
    • A63B21/4001—Arrangements for attaching the exercising apparatus to the user's body, e.g. belts, shoes or gloves specially adapted therefor
    • A63B21/4007—Arrangements for attaching the exercising apparatus to the user's body, e.g. belts, shoes or gloves specially adapted therefor to the chest region, e.g. to the back chest
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
    • A63B21/40—Interfaces with the user related to strength training; Details thereof
    • A63B21/4027—Specific exercise interfaces
    • A63B21/4033—Handles, pedals, bars or platforms
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B26/00—Exercising apparatus not covered by groups A63B1/00 - A63B25/00
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
    • A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
    • A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
    • A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/50—Force related parameters
    • A63B2220/56—Pressure
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2230/00—Measuring physiological parameters of the user
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S482/00—Exercise devices
    • Y10S482/901—Exercise devices having computer circuitry
    • Y10S482/902—Employing specific graphic or video display

Definitions

  • the present invention relates to a rehabilitation exercise system, and more particularly to a dynamic posture balance based rehabilitation exercise system.
  • Balance ability is the ability to keep the body in equilibrium, that is, to maintain the center of gravity on its base in the right posture, which has a significant effect on all movements.
  • Static balance ability refers to the ability to maintain balance when maintaining posture.
  • the ability to maintain the desired posture by keeping the center of gravity within the support base while moving.
  • Musculoskeletal factors are all processes in which the musculoskeletal system affects postural alignment and flexibility needed for balance. Sensory processing here refers to the control of vision, vestibular and proprioceptive systems.
  • physiological factors such as muscle tension, hearing and attention, and fear, and environmental factors such as the condition of the sole of the shoe and clothing also affect balance.
  • the posture training balance system includes a base frame, a support frame extending upward from the base frame, a roll motion frame coupled by a first axis to rotate left and right above the support frame, and the roll motion frame back and forth. And a pitch motion frame coupled by the second shaft to rotate, a connection member extending downward from the pitch motion frame, and a blasting portion provided at a lower end of the connection member.
  • the conventional posture training balance system merely requires physical performance and has a limit to induce interest of the user, and thus there is a problem that the training effect is not high.
  • An object of the present invention is to provide a dynamic posture balance based rehabilitation exercise system that can increase the exercise effect by inducing interest of the user.
  • a pitch motion frame 114 which is horizontally extended to the roll motion frame 113 and rotatably coupled about a second axis of rotation perpendicular to the first axis of rotation, and extends downward from the pitch motion frame 114
  • An exercise mechanism part 110 having a connection frame 115 to be connected and a footrest part 116 installed on the connection frame 115; And a display panel for providing a screen to the user and including a main body portion interacting with the exercise device portion.
  • the pitch motion frame may include a vibration device for applying vibration stimulation to a user.
  • the scaffolding unit may include a pressure sensor for detecting foot pressure of a user and transmitting the pressure to the main body.
  • the dynamic posture balance based sensory rehabilitation exercise system may further include a biosignal measuring sensor attached to a body of a user to measure a biosignal of the user and transmit the biosignal to the main body.
  • Dynamic posture balance-based sensory rehabilitation exercise system may further include an inertial sensor for measuring the body movement of the user and transmits it to the body portion.
  • the dynamic postural balance-based sensational rehabilitation exercise system may further include interbody clothing coupled with the exercise device to provide the user's trunk safety.
  • the interbody garment may further include a vibrating element for stimulating muscles used during exercise to improve the efficiency of exercise.
  • the monitor and the HMD can be used to enhance the visual effect and induce interest in the training.
  • the IMU sensor and the wireless EMG can be used to improve the training effect and the accuracy of the evaluation. Through this, it is possible to induce the correct operation of the user.
  • FIG. 1 is a conceptual view schematically showing the configuration of a dynamic posture balance based sensory rehabilitation exercise system according to an embodiment of the present invention.
  • FIG. 2 is a block diagram showing the configuration of the main body shown in FIG.
  • FIG. 3 is a conceptual diagram schematically showing the configuration of a dynamic posture balance based sensory rehabilitation exercise system according to another embodiment of the present invention.
  • FIG. 4 is a conceptual diagram schematically showing the configuration of a posture correction diagnosis training system according to an embodiment of the present invention.
  • FIG. 5 is a conceptual diagram schematically showing the configuration of a posture correction diagnosis training system according to another embodiment of the present invention.
  • the dynamic posture balance based sensory rehabilitation exercise system 100 schematically shows the configuration of a dynamic posture balance based sensory rehabilitation exercise system according to an embodiment of the present invention.
  • the dynamic posture balance based sensory rehabilitation exercise system 100 includes an exercise device unit 110 and a body unit 150 that interacts with the exercise device unit 110. do.
  • the exercise mechanism part 110 is a roll rotatably coupled around a base 111, a support pillar 112 extending upward from the base 111, and a first rotational axis extending horizontally to the support pillar 112.
  • a pitch motion frame 114 and a pitch motion frame 114 rotatably coupled to a motion frame 113, a second axis of rotation extending horizontally to the roll motion frame 113 and perpendicular to the first axis of rotation, and a pitch motion frame 114. It is provided with a connecting frame 115 extending downward from the connection and a footrest portion 116 is installed on the connecting frame 115.
  • the roll motion frame 113 is formed by extending in both directions with a first axis of rotation interposed therebetween, and the pitch motion frame 114 is rotatably coupled to both ends of the roll motion frame 113.
  • the roll motion frame 113 rotates about the support pillar 112 about the first axis of rotation by a drive motor such as a step motor capable of precise control.
  • the pitch motion frame 114 surrounds the user U, and is rotatably coupled to both ends of the roll motion frame 113 about the second rotation axis extending at a right angle to the first rotation axis and extending horizontally. do.
  • the pitch motion frame 114 is positioned to surround the pelvis of the user U, and includes a vibration element 1141 for applying a vibration stimulus to the pelvis of the user U.
  • the vibrating element 1141 operates by receiving a control signal from the main body 150 and provides a vibrating stimulus when the posture of the user U does not coincide with the presented posture.
  • connection frame 115 extends downward from the pitch motion frame 114 to fix the footrest 116 at the bottom.
  • the connection frame 115 is integrally formed with the roll motion frame 113.
  • the footrest part 116 is fixedly installed at the lower end of the connection frame 115.
  • the scaffold 116 includes a pressure sensor for detecting foot pressure of the user U, a scaffold driving motor for adjusting the inclination of the scaffold 116 and providing vibration, and the main body 150. Scaffold communication module for communication with).
  • the footrest portion 116 is provided with a seating portion in which both feet of the user U are located.
  • the seating portion is preferably made of a material having excellent friction such as rubber so that the user U does not slip.
  • the pressure sensor measures the foot pressure of the user U and transmits the foot pressure to the main body 150 through the scaffold communication module.
  • the pressure sensing sensor may include at least one of a Force Sensing Resistor (FSR) or a Load Cell.
  • FSR Force Sensing Resistor
  • a plurality of pressure sensing sensors consisting of FSR and / or load cell may be formed in the seating part 115.
  • FSR is a polymer film whose resistance decreases as the force increases on the surface and has its own resistance value, which is inversely proportional to the magnitude of the force applied to the active area. It has a characteristic and can use it to detect foot pressure of the user (U).
  • the pressure sensor may be configured as a load cell in the form of a film.
  • the FSR and / or the load cell may be installed symmetrically in the front, rear, left, and right directions to more accurately determine the center or the moving direction of the user U. If the pressure sensor is installed in the scaffolding unit 116 to measure the pressure applied by the user U, another type of sensor may be applied.
  • the scaffold driving motor changes the inclination and vibration of the scaffold 116 in accordance with the contents presented from the main body 150. Accordingly, it is possible to improve the fun of the exercise by providing a virtual reality according to the ground conditions such as bumpy ground, uphill, downhill.
  • the scaffold communication module transmits various information such as foot pressure and the center of gravity detected by the pressure sensing sensor to the main body unit 150, and receives the scaffold driving motor control signal transmitted from the main body unit 150.
  • the footrest 110 and the main body 150 may be connected by wire, in consideration of the ease of use and design, the footrest 110 and the main body 150 are preferably used in a wireless communication method.
  • the scaffold communication module may communicate with the main body 150 using short range wireless communication or long range wireless communication. Here, it may be one of Bluetooth, Zigbee, Near Field Communication (NFC), and Wibree.
  • Bluetooth is one of short-range wireless communication standards, and wirelessly connects and controls various electronic and information communication devices within a radius of 10 to 100 m, uses a 2.45 GHz frequency, and uses a 2.4 GHz frequency band. Wirelessly connect and control multiple devices at a communication speed of 1Mbps over a distance of up to 10m.
  • the present invention is not limited to the short range wireless communication, and other wireless communication schemes may be adopted.
  • the exercise device 110 may further include a biosignal measuring sensor 120 and an inertial sensor 130.
  • the biosignal measuring sensor 120 is attached to the body of the user U to measure a biosignal such as an electrocardiogram, electrocardiogram, skin temperature, skin resistance, etc. of the user U and transmits the result to the main body 150.
  • a biosignal such as an electrocardiogram, electrocardiogram, skin temperature, skin resistance, etc. of the user U and transmits the result to the main body 150.
  • the biosignal measuring sensor 120 transmits the measured biosignal by communicating with the main body unit 150 in a wireless manner.
  • the inertial sensor 130 is attached to the body of the user U through an X band to measure the movement of the body of the user U, and transmits the measurement data to the main body 150 in a wireless communication method.
  • the inertial sensor 130 detects the acceleration and the angular velocity and transmits it to the main body 150.
  • the inertial sensor 130 includes a six-axis gyro sensor capable of simultaneously detecting the three-axis acceleration and the three-axis angular velocity.
  • the main body 150 includes a display module 151, a motion recognition sensor 152, a main body communication module 153, an evaluation module 154, a main body control module 155, A main body storage module 156 is provided.
  • the display module 151 displays content related to the rehabilitation exercise through the display panel.
  • the content related to the rehabilitation exercise to induce interest of the user U may be a posture balance game or a testable content to which a user-controlled emotion customized GUI is applied.
  • the motion recognition sensor 152 recognizes a change in posture according to the motion of the user U. That is, when the user U exercises in the exercise device unit 110, the user U recognizes a change in posture.
  • the motion recognition sensor 152 may be a kinetic sensor or a camera.
  • the kinetic sensor detects the depth data to detect the movement of the user U or the like.
  • the user's U is photographed and analyzed by the camera. For example, depth data may be extracted from image data of a camera, and a joint position and a moving direction of the user may be detected through user recognition and background filtering.
  • the body communication module 153 communicates with the scaffold communication module of the scaffolding unit 110, the biosignal measurement sensor 120, and the inertial sensor 130 to exchange data.
  • the main body communication module 153 may use short range wireless communication or long range wireless communication.
  • the main body communication module 153 may communicate with an external device (eg, an external computer, portable device, etc. capable of controlling the rehabilitation exercise system 100).
  • an external device eg, an external computer, portable device, etc. capable of controlling the rehabilitation exercise system 100.
  • such an external device may be a variety of communication devices such as a general mobile communication terminal, a terminal capable of serving 2G / 3G / 4G WiBro wireless networks, a PDA, a smart phone, and the like, and a wireless LAN connection such as an IEEE 802.11 WLAN network card. It may be a device equipped with an interface for.
  • it may be an information communication device such as a computer, a laptop, or the like provided with a wireless LAN access interface in addition to the mobile communication terminal.
  • the evaluation module 154 may evaluate the posture balancing ability of the user using various obtained data.
  • the evaluation module 154 may be configured based on the user's movement based on the posture change recognized by the motion recognition sensor 152, the foot pressure and the center of gravity transmitted from the scaffold 110, and the interbody movement transmitted from the inertial sensor 130. The ability to balance posture can be assessed.
  • the main body control module 155 controls the main body 150 as a whole.
  • the main body control module 155 stores the user U-related data received through the main body communication module 153 in the main body storage module 156 and transmits the data to the evaluation module 154, and the evaluation module 154.
  • May be stored in the main body storage module 156 is processed in the posture balance capability evaluation data output.
  • the main body control module 155 may control to store various types of data in the main body storage module 156.
  • the main body control module 155 stores the data related to the posture change received through the motion recognition sensor 152 in the main body storage module 156, transmits the data related to the posture change to the evaluation module 154,
  • the posture balance evaluation capability data processed and output by the evaluation module 154 may be stored in the main body storage module 156.
  • the main body control module 155 may control to store various data in a main body storage module 156 as a database.
  • the main body control module 155 may control the display module 151 to display contents related to posture balance training that may cause interest of the user U stored in the main body storage module 156 through the display module 151. .
  • the main body storage module 156 stores various data transmitted through the main body communication module 153 and contents related to posture balance training. At this time, the main body storage module 156 may store the data and information such as the database to facilitate the search, management, etc. of the stored various information and data.
  • the dynamic posture-based rehabilitation exercise system 200 further includes the trunk trunk garment 220 in the base rehabilitation exercise system 100 shown in FIG. 1.
  • the trunk garment 220 is a garment for a severe patient that is difficult to cover the trunk itself, the trunk trunk garment 220 is coupled to the exercise device 110 in a state worn on the user (U) aboard.
  • the trunk garment 220 By the trunk garment 220, the movement of the user U is limited, thereby improving safety.
  • the trunk clothing 220 is provided with a vibrating element to stimulate the muscles used during the exercise through the fine vibration.
  • the posture correction training system 300 includes a treadmill device 310, a user safety device 320, and a head mounted display (HMD) 330.
  • the treadmill device 310 is a device commonly referred to as a runny machine, and is configured such that speed, front and rear slopes, and left and right slopes can be adjusted.
  • the user safety device 320 considers an elderly person having difficulty in controlling an instant balance, and supports a support (not shown), a harness 332 worn on the user U, and a harness 332 connected to a support (not shown). Two connecting ropes 333 are provided.
  • the head mounted display (HMD) 330 can be worn and used by the user U.
  • the HMD 330 provides the front, rear, left, and right eyes in real time according to a direction desired by the user U, thereby increasing the immersion of the exercise. Will be improved.
  • the posture correction diagnosis training system 400 may include a bicycle exercise device 410, an HMD 420 worn by a user U, and a main body 450 interacting with the bicycle exercise device 410. ).
  • the main body 450 interacts with the bicycle exercise device 410 in a substantially identical configuration to the main body 150 shown in FIG. 1.
  • the main body 450 is equipped with a fan 460 for generating artificial wind, which is controlled by the main body 450 according to the content and the speed of the user U to transmit the appropriate wind to the user U.

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  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Biophysics (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Epidemiology (AREA)
  • Electromagnetism (AREA)
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Abstract

La présente invention concerne un système d'exercice de rééducation immersive basé sur un équilibre postural dynamique, comprenant : une partie dispositif d'exercice (110), qui comprend une base (111), une colonne de support (112) s'étendant vers le haut à partir de la base (111), un cadre de mouvement de roulis (113) couplé à la colonne de support (112) de façon à pouvoir tourner autour d'une première ligne d'axe de rotation s'étendant horizontalement, un cadre de mouvement de tangage (114) couplé au cadre de mouvement de roulis (113) de manière à pouvoir tourner autour d'une seconde ligne d'axe de rotation s'étendant horizontalement et formant un angle droit avec la première ligne d'axe de rotation, des cadres de connexion (115) s'étendant vers le bas à partir du cadre de mouvement de tangage (114) de façon à être reliés l'un à l'autre, et une partie de planche pour pieds (116) disposée au niveau du cadre de connexion (115); et une partie de corps principal, qui comprend un panneau d'affichage pour fournir une image à un utilisateur et interagit avec la partie dispositif d'exercice.
PCT/KR2017/006908 2016-07-19 2017-06-29 Système d'exercice de rééducation immersive basé sur l'équilibre postural dynamique WO2018016765A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR1020160091141A KR101837284B1 (ko) 2016-07-19 2016-07-19 동적자세균형 기반 실감형 재활 운동 시스템
KR10-2016-0091141 2016-07-19

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CN113244587A (zh) * 2020-02-12 2021-08-13 丰田自动车株式会社 平衡训练系统、其控制方法及存储有控制程序的计算机可读存储介质
CN113244570A (zh) * 2020-02-12 2021-08-13 丰田自动车株式会社 平衡训练系统、其控制方法及存储有控制程序的计算机可读存储介质
US11452918B2 (en) * 2019-03-15 2022-09-27 Toyota Jidosha Kabushiki Kaisha Balance training system, control method, and program

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KR102043686B1 (ko) * 2018-02-22 2019-11-12 부산대학교병원 어지럼증 치료를 위한 평형감각의 정량화 및 개선을 목적으로 하는 혼합현실장치와 그의 실행 방법
WO2020028739A1 (fr) * 2018-08-03 2020-02-06 Figur8, Inc. Analyse de mouvement de partie corporelle à l'aide d'une cinématique
KR101923867B1 (ko) 2018-09-19 2018-11-29 김종범 Vr을 이용한 개인용 피트니스 머신장치
KR102146260B1 (ko) * 2019-01-31 2020-08-20 서울대학교병원 Vr을 이용한 보행 재활 훈련 시스템
KR102147595B1 (ko) 2019-03-04 2020-08-24 순천향대학교 산학협력단 활동형 균형보더를 이용한 균형 운동 시스템 및 방법
KR102220837B1 (ko) * 2019-05-27 2021-02-25 건양대학교 산학협력단 신경계 및 근골격계 환자의 운동재활을 위한 증강현실 기반 거울운동 시스템
KR102353841B1 (ko) * 2019-06-24 2022-01-25 고려대학교 산학협력단 동적 자세 균형 측정 시스템 및 이를 이용한 동적 자세 변화 측정 방법
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