WO2019004676A1

WO2019004676A1 - Body movement assistance device

Info

Publication number: WO2019004676A1
Application number: PCT/KR2018/007174
Authority: WO
Inventors: 주현재; 최용근; 박민재
Original assignee: 주식회사 네오펙트
Priority date: 2017-06-29
Filing date: 2018-06-25
Publication date: 2019-01-03
Also published as: EP3646843A1; EP3646843B1; EP3646843A4

Abstract

The present invention relates to a body movement assistance device. The body movement assistance device according to one embodiment of the present invention comprises: a body-wearable part worn on a specific body part of a user; a strap having one side connected to the body-wearable part; a strain sensor arranged on the strap so as to measure tension applied to the strap; and a strap driving part connected with the strap, and winding or unwinding the strap according to rotation, wherein the strap driving part rotates such that reference tension of specific strength is applied to the strain sensor in a stationary state, and rotates in a predetermined direction when application tension applied to the strap is higher or lower than the reference tension according to the movement of the user.

Description

Body motion assist device

The present invention relates to an apparatus for assisting a body movement of a rehabilitation patient.

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.

(Prior Art 1) Korean Patent Registration No. 10-1163903 (entitled "Exoskeleton Robot for Rehabilitation of Upper Limb of Stroke Patients", Registered on July 2, 2012)

The present invention provides a body motion assisting apparatus that provides an effective body rehabilitation training by appropriately providing a power assisting a body motion by grasping a body motion intention of a patient based on a tension on a strap obtained through a strain sensor I want to.

The problems to be solved by the present invention are not limited to the above-mentioned problems, and other problems which are not mentioned can be clearly understood by those skilled in the art from the following description.

A body motion assisting apparatus according to an embodiment of the present invention includes: a body wearing part to be worn on a specific body of a user; A strap having one side connected to the body wearing part; A strain sensor disposed on the strap for measuring a tension applied to the strap; And a strap driving unit for winding or reducing the strap as the strap is connected and rotated. The strap driving unit rotates to apply a reference tension of a specific intensity to the strain sensor in a stopped state, The applied tension applied to the strap is rotated in a predetermined direction as the applied tension is higher or lower than the reference tension.

According to another embodiment of the present invention, there is further provided a control unit for controlling the strap driving unit based on the measured value of the strain sensor, wherein the control unit sets the reference tension and the maximum tension.

According to another aspect of the present invention, the control unit rotates the strap driving unit in a direction of winding the strap when the applied tension becomes smaller than the reference tension by at least a threshold value, and when the applied tension is greater than or equal to a threshold value , The strap driving unit is rotated in a direction to release the strap.

According to another embodiment of the present invention, the body wearing part is a plurality of finger wearing parts worn on the fingertips.

In another embodiment of the present invention, a plurality of strap drivers are provided for winding or releasing the straps connected to the respective fingers.

According to another embodiment of the present invention, there is further provided an encoder for measuring rotation data of the strap driving unit, wherein the rotation data is a rotation number or a rotation angle.

According to another embodiment of the present invention, there is further provided a communication unit for transmitting the rotation data to a terminal, wherein the terminal generates and outputs a body image corresponding to the rotation data.

According to another aspect of the present invention, there is provided a wrist support unit for supporting a wrist of a patient, the wrist support unit being provided on a wrist of a patient when the body worn unit is mounted on a patient's hand and rehabilitates the patient's finger. And a top support which is spaced apart from the wrist support and supports the patient's upper limb.

Further, in another embodiment, the upper limb support portion may include an elbow rest which rests an elbow; And a lifting and lowering operation part that operates according to lifting and lowering movement of the upper limb fixed to the elbow rest.

According to another embodiment of the present invention, the elevating operation portion includes: a first joint link pivotally 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 in accordance with a lifting movement of the upper limb mounted on the elbow rest.

Further, in another embodiment, an encoder for measuring rotation data of the strap driving part; A placement state measurement unit for measuring the real-time placement state of the wrist support unit and the upper support unit to generate placement state data; And a communication unit for transmitting the rotation data and the arrangement state data to the terminal, wherein the terminal generates and outputs a real time body image based on the rotation data and the arrangement state data.

According to the present invention as described above, the body movement of the patient can be grasped through comparison between the reference tension and the applied tension, and an auxiliary power corresponding to the direction of movement of the patient can be provided, thereby providing effective body rehabilitation training .

1 is a block diagram of a body motion assisting apparatus according to an embodiment of the present invention.

2 is a block diagram of a body motion assisting apparatus including an encoder according to an embodiment of the present invention.

FIG. 3 is a block diagram of a body motion assisting apparatus including a communication unit according to an embodiment of the present invention.

FIG. 4 is a front perspective view of a body motion assisting apparatus including a finger wearer, a wrist support, and an upper support according to an embodiment of the present invention;

FIG. 5 is a rear perspective view of FIG. 4,

Fig. 6 is an enlarged view of a main part of the finger moving part of Fig. 4,

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

FIG. 8 is a view showing a state in which an upper limb is mounted on the body motion assisting apparatus of FIG. 4. FIG.

9 is a configuration diagram of a body motion assisting apparatus including a upper support and a wrist support according to an embodiment of the present invention.

10 is a view showing an operation process of the strain sensor.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS The advantages and features of the present invention and the manner of achieving them will become apparent with reference to the embodiments described in detail below with reference to the accompanying drawings. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. To fully disclose the scope of the invention to those skilled in the art, and the invention is only defined by the scope of the claims. Like reference numerals refer to like elements throughout the specification.

Unless defined otherwise, all terms (including technical and scientific terms) used herein may be used in a sense commonly understood by one of ordinary skill in the art to which this invention belongs. Also, commonly used predefined terms are not ideally or excessively interpreted unless explicitly defined otherwise.

The terminology used herein is for the purpose of illustrating embodiments and is not intended to be limiting of the present invention. In the present specification, the singular form includes plural forms unless otherwise specified in the specification. The terms " comprises " and / or " comprising " used in the specification do not exclude the presence or addition of one or more other elements in addition to the stated element.

In the present specification, 'applied tension' means a tension obtained by a strain sensor at each measurement time point.

In the present specification, the 'reference tension' refers to the tension set as a reference for comparison with the applied tension for determining the movement direction of the user's body.

As used herein, the term " minimum tension " means a tension set to be at least applied to a strap or strain sensor.

As used herein, the term " maximum tension " means a tension set to a maximum value that can be applied to the strap or strain sensor.

Hereinafter, with reference to the drawings, a detailed description of a body motion assisting apparatus according to embodiments of the present invention will be described.

1 is a structural view of a body motion assisting apparatus according to an embodiment of the present invention.

Referring to FIG. 1, a body motion assisting apparatus according to an embodiment of the present invention includes a body wearing section 100; A strap 200; A strain sensor 300; A control unit 500; And a strap driving unit 400. [0052] Fig.

The body wearing part 100 is worn on a specific body of the user. The body wearing part 100 is worn on the body part which is assisted by the body motion assisting device 10 and moves. For example, when the finger rehabilitation training is performed, the body wearing part 100 may be a finger wearing part. That is, the body wearing part 100 is worn on the body part where the joint is located between the body part where the strap driving part 400 to be described later is disposed.

One side of the strap 200 is connected to the body wearing part 100. One end of the strap 200 is connected to the body wearing part 100 and the other end is connected to a strap driving part 400 described later.

The strap 200 may be a bending operation of the body part where the body wearing part 100 is worn (i.e., a bending operation of the joint positioned between the body wearing part 100 and the strap driving part 400) And is elastically deformed along the longitudinal direction. Here, it is preferable that the strap 200 is designed so as to minimize the resistance when the patient bends the finger, which is difficult to apply a great force to the finger.

The strap 200 may have a band shape having a predetermined width so that a strain sensor 300, which will be described later, is disposed.

The strain sensor 300 is disposed on the strap 200 and measures the tension applied to the strap 200. The strain sensor may be printed or attached to one side of the strap 200. That is, the strain sensor 300 for measuring the force acting on the strap 200 may be provided on one side of the strap 200 according to the elastic deformation of the strap 200.

Hereinafter, the

strain sensors

300 and 51 will be described in more detail with reference to FIG. The

strain sensors

300 and 51 include a metal pattern 53 forming a circuit and

strain sensors

300 and 51 formed with a terminal 55 electrically connected to the metal pattern 53. The

strain sensors

300 and 51 may be printed or attached to one side of the straps 200 and 41.

The resistance applied to the metal pattern 53 is measured in accordance with the degree of expansion and contraction of the

strain sensors

300 and 51 according to the degree of stretching or shrinking of the straps 200 and 41 along the longitudinal direction, 200 and 41 are measured.

As shown in Fig. 10 (a), in a state in which the

strain sensors

300 and 51 are maintained in a normal shape, as shown in Fig. 6 (b) The resistance value of the metal pattern 53 increases while the length of the metal pattern 53 of the

strain sensors

300 and 51 increases and conversely the resistance values of the straps 200 and 41 The resistance value of the metal pattern 53 decreases as the length of the metal pattern 53 of the

strain sensors

300 and 51 decreases. Then, the driving of the strap driver 400 is controlled according to the resistance value measured by the

strain sensors

300 and 51.

The strap driving unit 400 is connected to the strap 200 and rotates the strap 200 as the strap 200 is rotated. The strap driving unit 400 rotates so that a reference tension of a specific strength is applied to the strain sensor 300 in a stopped state, and when the applied tension applied to the strap 200 is higher than the reference tension Or rotates in a predetermined direction in accordance with lowering.

6, the strap driving unit 400 includes a strap 200 on which the straps 200 and 41 are wound and unwound, which are disposed laterally with respect to the moving direction of the strap 200, And a strap 200 driving motor 27 for rotating the strap 200 around the take-up roller 25 in the forward and reverse directions. The straps 200 and 41 are wound and unwound by the winding roller 25 of the strap 200 as the strap 200 driving motor 27 is rotated in the forward and reverse directions.

The control unit 500 controls the strap driving unit 400 based on the measured value (i.e., the resistance value) of the strain sensor 300. The control unit 500 adjusts the rotation direction of the strap driving unit 400 (for example, a rotation motor) by comparing the reference tension and the real-time applied tension. That is, when the applied tension is smaller than the reference tension, the controller 500 rotates the strap driving unit 400 in a direction to wrap the strap 200, and when the applied tension is greater than the reference tension, The strap driving unit 400 is rotated in a direction in which the strap 200 is loosened. If the difference between the applied tension calculated based on the resistance value of the strain sensor 300 and the reference tension is within the threshold value, the control unit 500 determines that the body is not moving and stops, Do not drive.

The control unit 500 controls the strap driving unit 400 to apply the reference tension to the strap 200 when the body part where the body wearing unit 100 is worn stops. In one embodiment, the reference tension may be fixed at a minimum tension value. That is, the controller may repeatedly drive the strap driver to apply a minimum tension to the strap when the user moves the body. Further, in another embodiment, the reference tension may be set to a value equal to or greater than the minimum tension, or may be periodically changed. For example, when the movement of the user's body is stopped, the reference tension is applied as the minimum tension, and when the user's body moves, the reference tension may be changed based on the applied tension. When the reference tension is periodically updated in accordance with the applied tension, the controller 500 can determine the direction of movement of the user's body without having to continuously drive the strap driver 400, and the changed reference tension is applied to the maximum tension It is possible to drive the strap driver 400 to lower the applied tension applied to the strap and to update the reference tension to match the applied tension.

The control unit 500 compares the reference tension and the applied tension to determine the motion direction or motion type of the body part (for example, bending motion or stretching motion), so that the strap driver 400 adjusts the body When the motion is assisted and then stopped, the strap driver 400 rotates the strap driver 400 so that the resistance value corresponding to the reference tension is measured by the strain sensor 300, and then stops. That is, the controller 500 controls the strap driver 400 to form a reference state in which a reference tension is applied to the strain sensor 300 so that the direction of the next movement can be determined when the body part is stopped.

In another embodiment, the controller 500 sets the maximum tension. That is, when the applied tension measured by the strain sensor 300 is within a specific range from the maximum tension, the control unit 500 can stop the strap driving unit 400 or adjust the rotating speed. If the body part of the patient is pulled with a too large tensile force, the body may be overloaded, so that the control unit 500 controls to prevent the maximum tension from being applied during the body part movement.

For example, when the body part is stretched (for example, when a bent finger is stretched), the control unit 500 determines that the stretched joint is an operation to stretch the strap 200 as the applied tension is lowered to the reference tension or less When the strap driving unit 400 is controlled so as to rotate in the winding direction, the movement speed of the body part is slower than the motor rotation speed, so that the tension applied to the strap 200 can be made higher to the maximum tension. At this time, when the strap driver 400 continuously rotates at a speed higher than the movement speed of the body part and pulls the body part, excessive force may be exerted on the body, so that when the applied tension is close to the maximum tension, Stop or slow down the speed of rotation.

Also, for example, the bent state of the muscles of the body part of the patient may be in a normal posture. Accordingly, the body part can be bent rapidly while the patient performs the operation of stretching the bent body part and then pulling out the force. The applied tension applied to the strap 200 can be gradually increased when the body part is bent faster than the strap driving part 400 releases the strap 200. The control unit 500 can increase the rotation speed of the strap driving unit 400 (for example, a rotation motor) so that the strap 200 is quickly released and the applied tension is lowered when the applied tension is close to the maximum tension.

This provides appropriate power to assist the movement of the body part that is not performing normal joint motion, thereby providing rehabilitation training in accordance with the patient's condition.

Further, in another embodiment, as in Fig. 2, the encoder 600 is further included. The encoder 600 measures rotation data of the strap driver 400. The rotation data is a rotation number or a rotation angle. The rotation data can be used to calculate the degree to which the strap 200 is wound.

For example, if the total length of the strap 200 and the circumferential length of the strap 200 are stored, the strap 200 is wound on the take-up roller through the number of rotations or rotation angle obtained by the encoder 600 The current length of the strap 200 between the body wearing part 100 and the strap driving part 400 can be grasped by calculating the length of the strap 200. The current length of the strap 200 between the body wearing part 100 and the strap driving part 400 can be used to calculate the current state of the body part.

Further, in another embodiment, the controller 500 may store the encoder 600 maximum and minimum values. That is, the controller 500 sets the value of the encoder 600 when the body part is bent at the maximum to a minimum value, and sets the value of the encoder 600 when the body part is fully extended to the maximum value. Accordingly, when the measured value of the encoder 600 reaches the maximum value or the minimum value, the control unit 500 stops the rotation of the strap driving unit 400 to prevent the body part from being assisted beyond the movable range . The control unit 500 may initialize the maximum value and the minimum value of the measured values of the encoder 600 by extending and folding the body part when the patient starts rehabilitation training. Since the patient may not be able to perform the joint motion as much as the actual motion possible range, the maximum value and the minimum value of the measured value of the encoder 600 can be initially set by performing motion in the maximum bending state and the maximum unfolding state by the assistant at initial setting have.

Further, in another embodiment, as shown in FIG. 3, the communication unit 700 is further included. For example, the communication unit 700 transmits the rotation data acquired by the encoder 600 to the terminal 20. That is, after the terminal 20 receives the rotation data from the body motion assisting apparatus 10, the rotation data is applied to the entire length of the strap 200 and the circumferential length of the strap 200, The current length of the strap 200 between the strap driving unit 400 and the strap driving unit 400 and the current length of the strap 200 between the body wearing unit 100 and the strap driving unit 400, (For example, the angle at which the body part is bent). Thereafter, the terminal 20 generates and outputs a body image corresponding to the current placement state of the body part.

In addition, for example, the communication unit 700 transmits the arrangement state data of the current body part calculated by the controller 500 to the terminal 20 based on the rotation data obtained by the encoder 600. That is, the encoder 600 transmits the rotation data to the control unit 500, and the controller 500 applies the rotation data to the entire length of the strap 200 and the circumferential length of the strap 200, The current length of the strap 200 between the body part 100 and the strap driving part 400 is calculated and based on the current length of the strap 200 between the body part 100 and the strap driving part 400, State (i.e., batch state data). Thereafter, the control unit 500 delivers the arrangement status data to the communication unit 700, and the communication unit 700 transmits the arrangement status data to the terminal 20 through wired or wireless communication. Thereafter, the terminal 20 generates and outputs a body image corresponding to the current placement state of the body part.

Further, in another embodiment, the body wearing section 100 is a plurality of finger wearing sections worn on the fingertips. 4 to 8, the case where the body wearing part 100 pulled by the strap driving part 400 is the finger wearing part will be described in detail.

The finger-wearing 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 wearer 31 is shown as being adapted to correspond to the detection, stop, ring finger, and hand finger, respectively. However, the present invention is not limited thereto. Or may correspond to one or more of the possibilities.

In addition, the body motion assisting apparatus 10 according to an embodiment of the present invention may further include a hand wearing portion 21 on which the strap driving portion 23 is disposed. A strap driving part 23 for winding and releasing the strap 41 is provided on the back part 21 of the hand.

A plurality of strap guide rollers 25 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 25 are provided corresponding to the number of the straps 41, and the plurality of strap guide rollers 25 are arranged in parallel with each other at an interval. The strap 41 has a band shape having a constant width, and the hand-wearing section 21 has a movement path including the strap 41.

The strap driving unit 23 is provided so that the strap 41 is retracted and retracted in the state in which the hand holding unit 21 is mounted on the patient's hand and the finger wearing unit 31 is engaged with each bent finger of the patient The user can exercise the patient's fingers to perform rehabilitation.

In another embodiment of the present invention, a plurality of strap drivers are provided for winding or releasing the straps connected to the respective fingers. That is, one embodiment of the body motion assist device may include a plurality of strap drivers to individually perform the motion aids corresponding to each finger to which the strap is connected. The control unit individually controls the strap driving unit to which each strap is connected based on the applied tension measured at the strain sensor on each strap.

In addition, in another embodiment, the body worn portion further includes a wrist support portion 61 and a top support portion 101 when the body worn portion is a finger wearing portion that is mounted on a patient's hand and rehabilitates a patient's finger.

The wrist support portion 61 is provided at the wrist portion of the patient to support the wrist of the patient. The wrist supporting portion 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 adjustment knob 87 for adjusting the distance between the wrist rest 71 and the elbow rest 111 of the upper support 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 support part 101 is disposed apart from the wrist support part to support the upper limbs of the patient. In one embodiment, the upper support 101 includes an elbow rest 111 on which an elbow is rested; And an elevating operation part 121 that operates in accordance with the upward / downward movement of the upper limb fixed to the elbow rest 111.

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 support 61 by the connection 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.

7, when the second joint link 125 is pivoted counterclockwise and the spring 133 is compressed and 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.

The upper support 101 may further include right and left actuators 161 that operate in accordance with left and right movements of the upper limb 7 according to an embodiment of the present invention.

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.

Further, in another embodiment, when the body motion assisting apparatus 10 includes the wrist support and the upper support as in Fig. 9, the encoder 600; A placement state measurement unit 800; And a communication unit (700).

The encoder 600 measures the rotation data of the strap driving unit. The detailed description of the encoder 600 described above will be omitted.

The placement state measuring unit 800 measures the real-time placement state of the wrist support unit and the upper support unit to generate placement state data. The real-time placement state can be measured through the sensors provided on the wrist support portion and the upper support portion.

For example, the placement state measurement unit 801 disposed on the wrist support unit measures the rotation of the roller 91 on the U-shaped track 81, measures the distance traveled from one end of the track, have. In addition, for example, the placement state measuring unit 802 disposed at the upper support can calculate the height at which the upper support is currently disposed based on the tensile strength applied to the spring 133. However, the manner in which the placement status measuring unit 800 disposed on the wrist support unit and the upper support unit measures the real-time placement status is not limited to this, and various methods can be applied.

The communication unit 700 transmits the rotation data or the finger placement state data obtained by the encoder 600 and the placement state data measured by the placement state measurement unit 800 disposed on the wrist support unit and the upper support unit to the terminal 20 . The terminal 20 generates and outputs a real-time body image based on the received data. Accordingly, the user can perform the rehabilitation training while viewing the image generated on the screen of the terminal 20 in the same manner as the current operation of the user.

While the present invention has been described in connection with what is presently considered to be practical exemplary embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, You will understand. Therefore, it should be understood that the above-described embodiments are illustrative in all aspects and not restrictive.

Claims

A body wearing part to be worn on a specific body of the user;

A strap having one side connected to the body wearing part;

A strain sensor disposed on the strap for measuring a tension applied to the strap; And

And a strap driver for connecting or disconnecting the strap and winding or reducing the strap as the strap is rotated,

The strap driver may include:

Rotating in such a manner that a reference tension of a specific intensity is applied to the strain sensor in a static state,

Wherein the application tension applied to the strap is rotated in a predetermined direction as the applied tension is higher or lower than the reference tension according to a movement of the user.
The method according to claim 1,

And a control unit for controlling the strap driving unit based on the measured value of the strain sensor,

Wherein the controller is configured to set a reference tension and a maximum tension.
3. The method of claim 2,

Wherein,

Wherein when the applied tension becomes smaller than the reference tension by more than a threshold value, the strap driving unit is rotated in a direction to wind the strap,

And rotates the strap driving unit in a direction to release the strap when the applied tension becomes larger than the reference tension by more than a threshold value.
The method according to claim 1,

The body-

And a plurality of finger-wearing portions which are worn on the fingers.
5. The method of claim 4,

And a plurality of strap driving portions for winding or releasing the straps connected to the respective finger wearing portions.
The method according to claim 1,

And an encoder for measuring rotation data of the strap driving unit,

Wherein the rotation data is a rotation number or a rotation angle.
The method according to claim 6,

And a communication unit for transmitting the rotation data to the terminal,

Wherein the terminal generates and outputs a body image corresponding to the rotation data.
The method according to claim 1,

When the body wearing part is a finger wearing part attached to the patient's hand and rehabilitating the patient's finger,

A wrist support provided on the wrist portion of the patient for supporting the wrist of the patient; And

Further comprising a top support portion that is spaced apart from the wrist support portion and supports the upper limbs of the patient.
9. The method of claim 8,

The upper-

Elbow rest with elbow rest; And

And an elevating operation part that operates in accordance with a lifting movement of an upper limb fixed to the elbow rest.
10. The method of claim 9,

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 part for pivotally moving 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,

An encoder for measuring rotation data of the strap driver;

A placement state measurement unit for measuring the real-time placement state of the wrist support unit and the upper support unit to generate placement state data; And

And a communication unit for transmitting the rotation data and the arrangement status data to the terminal,

Wherein the terminal generates and outputs a real-time body image based on the rotation data and the placement state data.