WO2019004616A1

WO2019004616A1 - Upper limb rehabilitation robot

Info

Publication number: WO2019004616A1
Application number: PCT/KR2018/006203
Authority: WO
Inventors: 박민재; 주현재; 최용근
Original assignee: 주식회사 네오펙트
Priority date: 2017-06-30
Filing date: 2018-05-31
Publication date: 2019-01-03

Abstract

The present invention relates to an upper limb rehabilitation robot comprising: a finger exercising part mounted on the back of a patient's hand so as to allow a rehab exercise of a patient's finger; a wrist exercising part arranged on a patient's wrist portion so as to exercise a patient's wrist; and an upper limb exercising part disposed to be spaced apart from the wrist exercising part so as to exercise a patient's upper limb.

Description

Upper limb rehabilitation robot

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to an upper limb rehabilitation robot, and more particularly, to an upper limb rehabilitation robot capable of simultaneously exercising a finger, a wrist, and an upper limb.

Generally, each joint region of the human body has a structure in which the joint region and adjacent regions can rotate based on the joint region.

On the other hand, the elderly and the rehabilitation patients with weak muscles have difficulty in exercising the joints compared with the healthy people, and it is practically difficult to exercise with the general exercise apparatus although the exercise is practically necessary.

In particular, in the case of stroke or Parkinson's disease, a variety of physical changes occur depending on the condition. Particularly, in the case of the above-mentioned diseases, the hand is paralyzed and the finger is shrunk.

If these hand paralysis and fingers are constantly left untreated, the muscles and joints become harder and harder to feel pain, and even if the nerves are restored, they can interfere with normal activities.

In addition, patients who have undergone joint surgery such as the wrist or shoulder can not exercise by themselves, resulting in weak muscles and a lack of smooth nutrition, which may cause the joints of the wrists and shoulders to become stiff and become stiff.

As a result, it is very important to maintain the maximum exercise capacity by promoting blood circulation and nerve communication by rehabilitating the hand that has become paralyzed or has a disability continuously.

In other words, to prevent deformation of the joints and to return to normal activities, rehabilitation should be performed with pain for a long time.

SUMMARY OF THE INVENTION It is an object of the present invention to provide an upper limb rehabilitation robot capable of changing a joint angle of a patient's hand, wrist and upper limb without relying on excessive force, The purpose of

An object of the present invention is to provide a finger exercise device which is mounted on a patient's hand and rehabilitates a patient's finger; A wrist motion part provided on the wrist part of the patient for moving the wrist of the patient; And an upper limb motion part disposed apart from the wrist motion part to move the upper limbs of the patient.

Here, the finger exercise unit may include a hand wearing unit to be worn on the back of a patient; A strap for forming a movement path on the back of the user; A finger engaging portion that supports one end of the strap and is engaged with a finger of a patient; And a strap driving unit provided on the back of the user's hand for winding and unwinding the strap supported by the finger fitting unit.

The strap driving unit includes: a strap winding roller on which the strap is wound and unwound; And a strap drive motor for rotating the strap take-up roller in normal and reverse directions.

And a strap guide roller provided on the movement path of the strap for guiding movement of the strap.

Wherein the wrist motion part comprises: a wrist rest; And a track provided along the rotational locus of the wrist for guiding the rotational movement of the wrist rest.

And a roller connected to the wrist rest and provided on the track so as to be able to roll and move along the track by the rotational movement of the wrist rest.

Wherein the upper limb movement part comprises: an elbow rest which rests an elbow; And a lifting / lowering operation unit that operates according to lifting / lowering movement of the upper limb mounted on the elbow rest.

The elevating operation unit includes: a first joint link pivotably hinged to the elbow rest; A second articulated link pivotably hinged to the first articulated link; A pivot joint pivotally hingedly coupled to the first articulated link and the second articulated link; And a pivoting portion that pivotally moves the first joint link, the second joint link, and the pivot joint according to a movement of the upper limb mounted on the elbow rest.

The pivoting portion includes: a spring whose one end is supported by the first joint link, and which is compressed and tensioned; A first wire pulley provided on the first joint link with an interval from the spring; A second wire pulley provided at a portion where one end of the first joint link is hinged to one end of the second joint link; A third wire pulley provided in the pivot joint; A fourth wire pulley provided at the other end of the second joint link; And a wire having one end supported by the other end of the spring and the other end supported by the fourth wire pulley through the first wire pulley, the second wire pulley, and the third wire pulley can do.

The upper limb movement part may further include right and left movement parts that operate according to left and right movement of the upper limbs.

Wherein the left and right operating portions include a pair of arms provided so as to be mutually approachable and spaced apart from each other; And a bracket pivotally hingedly coupled to respective opposite ends of the pair of arms in response to lateral movement of the upper limb, wherein either arm of the pair of arms is hinged to the pivot joint .

According to the present invention, rehabilitation exercise can be performed by changing the joint angle of the patient's hand, wrist, and upper limb without applying excessive force.

1 is a front perspective view of an upper limb rehabilitation robot according to an embodiment of the present invention,

Fig. 2 is a rear perspective view of Fig. 1,

Fig. 3 is an enlarged view of the main part of the finger moving part of Fig. 1,

4 is a sectional view of the main part of Fig. 1,

FIG. 5 is a view showing a state in which an upper limb is mounted on the upper limb rehabilitation robot of FIG. 1. FIG.

Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

1 to 5 show an upper limb rehabilitation robot according to an embodiment of the present invention.

As shown in these drawings, the upper limb rehabilitation robot 10 according to an embodiment of the present invention includes a finger motion unit 11, a wrist motion unit 61, and an upper limb motion unit 101.

The finger moving part 11 is mounted on the back of the patient's hand so as to rehabilitate the patient's finger.

The finger moving section 11 includes a hand wearing section 21, a strap driving section 23, a finger fitting section 31, and a strap 41.

The back of the hand 21 has a shape corresponding to the back of a human's hand and is worn on the back of the patient by a fixing means such as a band not shown.

A strap driving part 23 for winding and releasing the strap 41 is provided on the back part 21 of the hand.

The strap drive unit 23 includes a strap take-up roller 25 which is disposed laterally with respect to the moving direction of the strap 41 and on which the strap 41 is wound and unwound, a strap drive motor 25 for rotating the strap take- (27).

Thereby, as the strap drive motor 27 is rotated in the forward and reverse directions, the strap 41 is wound and unwound by the strap take-up roller 25.

A plurality of strap guide rollers 29 provided on the movement path of the strap 41 moving along the upper surface of the hand warmer 21 and guiding the movement of the strap 41, Respectively. The strap guide rollers 29 are provided corresponding to the number of the straps 41, and the plurality of strap guide rollers 29 are arranged in parallel with each other.

The finger engagement portion 31 has an annular ring made of a silicone material and is joined to each finger of the patient. In the present embodiment, the finger coupling unit 31 is shown as being adapted to correspond to the detection, stop, ring finger, and hand finger, respectively. However, the finger coupling unit 31 is not limited thereto, Stop, ring finger, or possession of the user.

The strap 41 has a band shape having a constant width and forms a movement path in the back of the hand wearing portion 21. [ One end of the strap 41 is supported by the finger engagement portion 31 and the other end is connected to the strap driving portion 23. [

The strap 41 is made of a material which is elastically deformed along the longitudinal direction according to the bending operation of the finger. Here, it is preferable that the strap 41 is designed so as to minimize the resistance when the patient bends the finger, which is difficult to apply a large force to the finger.

A strain sensor for measuring the force acting on the strap 41 may be provided on one side of the strap 41 in accordance with the elastic deformation of the strap 41.

The strain sensor includes a metal pattern forming a circuit and a strain sensor forming a terminal electrically connected to the metal pattern. The strain sensor may be printed or attached to one side of the strap 41.

Thus, the force acting on the strap 41 is measured, for example, by measuring the resistance of the metal pattern depending on the extent to which the strap 41 is stretched or shrunk in the longitudinal direction according to the degree of expansion and contraction of the strain sensor.

For example, in the strain sensor, as the strap 41 is stretched and stretched, the length of the metal pattern is increased and the resistance value of the metal pattern is increased. On the other hand, as the strap 41 is compressed and reduced, The resistance value of the metal pattern decreases.

Then, the driving of the strap driver 23 is controlled in accordance with the resistance value measured by the strain sensor.

For example, when the resistance value measured by the strain sensor increases and exceeds the range of the reference resistance value, it is judged that the finger is bent and the strap driving section 23 is driven so as to wind the strap 41, .

As the strap 41 is tensioned, the finger coupled to the finger engagement portion 31 is stretched without being bent.

When the strap driving unit 23 is driven so that the strap 41 is retracted, the strap 41 is released from the strap driving unit 23, and the finger is restored to the initial state and bent.

The strap driving unit 23 is provided so that the strap 41 is retracted and retracted in the state where the finger bonding unit 21 is attached to the patient's hand and the finger engagement unit 31 is engaged with each bent finger of the patient The user can exercise the patient's fingers to perform rehabilitation.

The wrist motion part 61 is provided on the wrist part of the patient, and moves the wrist.

The wrist moving part 61 is provided with a wrist rest 71 on which the wrist is rested and a track 81 provided along the wobbling trajectory of the wrist for guiding the rotational movement of the wrist rest 71. [

The wrist rest 71 has a circular cross-sectional shape, for example, a U-shaped cross section, which is open on the upper side so as to partially surround the wrist. Thereby, the patient can stably mount the wrist on the wrist rest 71. Here, a band may be provided on the wrist rest 71 so that the wrist can be fixed so that the wrist does not come off the wrist rest 71 during wrist movement.

The track 81 has a U-shaped cross-sectional shape corresponding to the shape of the wrist rest 71. The track 81 is supported by a support 85. The support 85 is provided with a gap adjusting knob 87 for adjusting the distance between the wrist rest 71 and the palm dream stand 111 of the upper arm moving part 101 to be described later.

On the other hand, in correspondence with the rotational movement of the wrist rest 71 against the track 81, a roller 91 is provided on the track 81. [ The roller 91 is rollably and movably provided on the track 81 and is connected to the wrist rest 71 by a roller supporting bracket 93. [

Thereby, the wrist rest 71 is moved along the track 81 by the rotational force acting on the wrist.

When the wrist rest 71 is rotated by applying a rotational force to the wrist after mounting the wrist on the wrist rest 71, the wrist rest 71 moves along the track 81 and the wrist naturally rotates.

The upper limb movement part (101) is disposed apart from the wrist moving part to move the upper limb (7) of the patient.

The upper limb movement part 101 includes an elbow rest 111 on which the elbow is rested and an elevation operation part 121 that operates in accordance with the elevation movement of the upper limb 7.

The elbow rest 111 has a circular cross-sectional shape, for example, a U-shaped cross-section, which is open on the upper side so as to partially surround the elbow. As a result, the patient can stably mount the elbow on the elbow rest 111. Here, a band may be provided on the elbow rest 111 so that the elbow can be fixed so that the elbow does not separate from the elbow rest 111 when the upper limb 7 is exercised.

On the other hand, the elbow rest 111 is connected to the support 85 of the wrist moving part 61 by the connecting bracket 115.

The lifting and lowering operation unit 121 includes a pair of articulated

links

123 and 125, a pivot joint 127 and a pair of articulated

links

123 and 125 in accordance with the lifting movement of the upper body 7, And a pivoting portion for pivoting the pivot joint 127.

The pivoting portion includes a spring 133, a first wire pulley 141, a second wire pulley 143, a third wire pulley 145, a fourth wire pulley 147, and a wire 151 .

On the other hand, the pair of articulated links includes a first articulated link 123, one end of which is coupled to the elbow rest 111, and a second articulated link 125, which is coupled to the other end of the first articulated link 123 .

The first joint link 123 has a hollow bar shape. One end of the first joint link 123 is pivotably hinged to the elbow rest 111 and the other end of the first joint link 123 is connected to one end of the second joint link 125 and the pivot joint 127 (Not shown).

On the other hand, a spring 133 for compressing and tensioning is accommodated in the first joint link 123. One end of the spring 133 is supported by the first joint link 123, and the wire 151 is connected to the other end. Here, the first joint link 123 and the wire 151 are not directly connected but the first joint link 123 and the wire 151 are connected to each other by a connection block (not shown) The link 123 and the wire 151 may be connected.

One end of the second joint link 125 is hinged to the other end of the first joint link 123 and the pivot joint 127.

On the other hand, on the movement path of the wire 151, a plurality of wire pulleys are provided.

The plurality of wire pulleys includes a first wire pulley 141 provided at an inner side of the first joint link 123 at an interval from the spring 133 and a second wire pulley 141 provided at one end of the first joint link 123 and the second joint link 125 A third wire pulley 145 provided at the pivot joint 127 and a fourth wire pulley 147 provided at the other end of the second joint link 125. The second wire pulley 143, ).

Thus, the wire 151 has a predetermined length. The wire 151 is supported by the fourth wire pulley 147 from the other end of the spring 133 through the first wire pulley 141 and the second wire pulley 143 and the third wire pulley 145.

The pivot joint 127 pivotally supports the other end of the first joint link 123 and one end of the second joint link 125.

A third wire pulley 145 is exposed under the pivot joint 127.

4, the spring 133 is pulled and the wire 151 between the third wire pulley 145 and the fourth wire pulley 147 is pulled out, The longer the length of the link. At this time, the gravity load generated as the elbow of the patient is placed on the elbow rest 111 is compensated by the elastic force of the spring 133.

4, the second joint link 125 is pivoted counterclockwise and the spring 133 is compressed while the third wire pulley 145 and the fourth wire pulley 145 are compressed, The length of the wire 151 between the wire 147 and the wire 147 is shortened.

Thereby, the upper limb 7 can be rehabilitated without applying excessive force to the upper limb 7 when the upper limb 7 is lifted or lowered.

In addition, the upper limb movement part 101 according to an embodiment of the present invention may further include left and right operation parts 161 operated according to the left and right movement of the upper limb 7.

The left and right operating portions 161 include a pair of

arms

171 and 173 provided so as to be mutually approachable and spaced apart.

Each of the ends of each of the pair of

arms

171 and 173 has a pair of

arms

171 and 173 facing each other at opposite ends of the pair of

arms

171 and 173 that are pivotally connected to the bracket 175, .

The other end of the arm 171 disposed adjacent to the pivot joint 127 of the pair of arms is hinged to the pivot joint 127 and the other end of the other arm 173 is pivotally connected to the pivot joint 127 in accordance with an embodiment of the present invention And is hinged to a fixture 181 for stationery of the upper limb rehabilitation robot 10 to a structure or a structure.

Thereby, when the upper limb 7 is moved to the left and right, the patient can rehabilitate the upper limb 7 without applying excessive force to the upper limb 7.

In addition, the upper limb rehabilitation robot 10 according to an embodiment of the present invention can be rewound by changing the joint angles of the patient's hand, wrist, and upper limb in a state of being spaced from the floor by being stationary with the fixture 181 .

As described above, according to the present invention, there is provided a finger movement device comprising: a finger motion part mounted on a patient's hand to rehabilitate a patient's finger; a wrist motion part provided on the wrist part of the patient to move the wrist of the patient; It is possible to perform the rehabilitation exercise by changing the joint angle of the patient's hand, wrist and upper limb without applying excessive force.

Claims

A finger motion part mounted on a patient's hand for rehabilitating the patient's finger;

A wrist motion part provided on the wrist part of the patient for moving the wrist of the patient; And

And an upper limb motion part disposed apart from the wrist motion part to move the upper limbs of the patient.
The method according to claim 1,

Wherein the finger-

A hand wearing part worn on a patient's hand;

A strap for forming a movement path on the back of the user;

A finger engaging portion that supports one end of the strap and is engaged with a finger of a patient; And

And a strap driving unit provided on the back of the hand warmer for winding and unwinding the strap supported by the finger fitting unit.
3. The method of claim 2,

The strap driver may include:

A strap winding roller on which the strap is wound and unwound; And

And a strap drive motor for rotating the strap take-up roller in normal and reverse directions.
3. The method of claim 2,

Further comprising a strap guide roller provided on a movement path of the strap for guiding movement of the strap.
The method according to claim 1,

Wherein the wrist-

Wrist rest with wrist rest; And

And a track provided along a rotational trajectory of the wrist for guiding rotational movement of the wrist rest.
6. The method of claim 5,

Further comprising a roller connected to the wrist rest and provided on the track so as to roll and move along the track by rotational movement of the wrist rest.
The method according to claim 1,

The upper extremity motion part,

Elbow rest with elbow rest; And

And a lifting and lowering operation part that operates in accordance with a lifting movement of the upper limb mounted on the elbow rest.
8. The method of claim 7,

The lifting /

A first joint link pivotably hinged to the elbow rest;

A second articulated link pivotably hinged to the first articulated link;

A pivot joint pivotally hingedly coupled to the first articulated link and the second articulated link; And

And a pivoting portion that pivotally moves the first joint link, the second joint link, and the pivot joint in accordance with a lifting movement of an upper limb mounted on the elbow rest.
9. The method of claim 8,

The pivoting motion unit includes:

A spring whose one end is supported on the first articulated link, and which is compressed and tensioned;

A first wire pulley provided on the first joint link with an interval from the spring;

A second wire pulley provided at a portion where one end of the first joint link is hinged to one end of the second joint link;

A third wire pulley provided in the pivot joint;

A fourth wire pulley provided at the other end of the second joint link; And

A wire having a predetermined length and one end supported on the other end of the spring and the other end supported by the fourth wire pulley via the first wire pulley, the second wire pulley, and the third wire pulley, , Upper extremity rehabilitation robot.
9. The method of claim 8,

The upper extremity motion part,

Further comprising left and right operating parts that operate in accordance with left and right motions of the upper limbs.
11. The method of claim 10,

Wherein the left-

A pair of arms arranged to be mutually accessible and spaced apart; And

And a bracket pivotably hinged to the mutually opposing ends of the pair of arms in response to lateral movement of the upper limb,

And one arm of the pair of arms is hinged to the pivot joint.