WO2019004676A1 - Dispositif d'aide au mouvement corporel - Google Patents

Dispositif d'aide au mouvement corporel Download PDF

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Publication number
WO2019004676A1
WO2019004676A1 PCT/KR2018/007174 KR2018007174W WO2019004676A1 WO 2019004676 A1 WO2019004676 A1 WO 2019004676A1 KR 2018007174 W KR2018007174 W KR 2018007174W WO 2019004676 A1 WO2019004676 A1 WO 2019004676A1
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WO
WIPO (PCT)
Prior art keywords
strap
tension
wrist
patient
unit
Prior art date
Application number
PCT/KR2018/007174
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English (en)
Korean (ko)
Inventor
주현재
최용근
박민재
Original Assignee
주식회사 네오펙트
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from KR1020170111093A external-priority patent/KR102021744B1/ko
Application filed by 주식회사 네오펙트 filed Critical 주식회사 네오펙트
Priority to EP18823136.9A priority Critical patent/EP3646843B1/fr
Publication of WO2019004676A1 publication Critical patent/WO2019004676A1/fr
Priority to US16/728,875 priority patent/US20200129360A1/en

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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
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • 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
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • 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
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
    • 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
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
    • A61H1/0277—Elbow
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    • 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
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
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    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
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    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
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    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
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    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
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    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
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    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
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    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
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    • A61H2201/165—Wearable interfaces
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    • 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
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    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
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    • 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
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Definitions

  • the present invention relates to an apparatus for assisting a body movement of a rehabilitation patient.
  • 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.
  • 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.
  • rehabilitation should be performed with pain for a long time.
  • 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.
  • a body motion assisting apparatus 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.
  • 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.
  • 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.
  • the body wearing part is a plurality of finger wearing parts worn on the fingertips.
  • a plurality of strap drivers are provided for winding or releasing the straps connected to the respective fingers.
  • an encoder for measuring rotation data of the strap driving unit, wherein the rotation data is a rotation number or a rotation angle.
  • 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.
  • 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.
  • a top support which is spaced apart from the wrist support and supports the patient's upper limb.
  • 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.
  • 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.
  • 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.
  • 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 .
  • FIG. 1 is a block diagram of a body motion assisting apparatus according to an embodiment of the present invention.
  • FIG. 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,
  • FIG. 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. 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.
  • 'applied tension' means a tension obtained by a strain sensor at each measurement time point.
  • 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.
  • &quot minimum tension &quot
  • minimum tension &quot means a tension set to be at least applied to a strap or strain sensor.
  • &quot maximum tension &quot
  • maximum tension &quot means a tension set to a maximum value that can be applied to the strap or strain sensor.
  • FIG. 1 is a structural view of a body motion assisting apparatus according to an embodiment of the present invention.
  • a body motion assisting apparatus 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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
  • 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.
  • 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.
  • 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
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the communication unit 700 is further included.
  • 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.
  • 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.
  • State i.e., batch state data
  • 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.
  • the finger wearer 31 is shown as being adapted to correspond to the detection, stop, ring finger, and hand finger, respectively.
  • the present invention is not limited thereto. Or may correspond to one or more of the possibilities.
  • the body motion assisting apparatus 10 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the wrist rest 71 is moved along the track 81 by the rotational force acting on the wrist.
  • the wrist rest 71 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.
  • 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.
  • 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.
  • 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 .
  • 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).
  • 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.
  • 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.
  • 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 ).
  • 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.
  • 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.
  • the body motion assisting apparatus 10 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.
  • 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.
  • 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.
  • 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.

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  • Health & Medical Sciences (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Rehabilitation Tools (AREA)

Abstract

L'invention concerne un dispositif d'aide au mouvement corporel. Selon un mode de réalisation de l'invention, le dispositif d'aide au mouvement corporel comprend: un module vestimentaire porté sur une partie spécifique du corps d'un utilisateur; une sangle dont un côté est relié au module vestimentaire; un capteur de contrainte disposé sur la sangle de façon à mesurer une tension appliquée sur celle-ci; et un module d'entraînement de la sangle reliée à la sangle pour l'enrouler ou la dérouler en rotation. Le module d'entraînement de la sangle tourne de sorte qu'une tension de référence d'une force spécifique soit appliquée sur le capteur de contrainte dans un état stationnaire, et tourne dans un sens prédéterminé lorsque la tension d'application appliquée sur la sangle est supérieure ou inférieure à la tension de référence en fonction du mouvement de l'utilisateur.
PCT/KR2018/007174 2017-06-29 2018-06-25 Dispositif d'aide au mouvement corporel WO2019004676A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP18823136.9A EP3646843B1 (fr) 2017-06-29 2018-06-25 Dispositif d'aide au mouvement corporel
US16/728,875 US20200129360A1 (en) 2017-06-29 2019-12-27 Apparatus for assisting physical movement

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
KR10-2017-0082706 2017-06-29
KR20170082706 2017-06-29
KR1020170111093A KR102021744B1 (ko) 2017-06-29 2017-08-31 신체움직임보조장치
KR10-2017-0111093 2017-08-31

Related Child Applications (1)

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US16/728,875 Continuation US20200129360A1 (en) 2017-06-29 2019-12-27 Apparatus for assisting physical movement

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WO2019004676A1 true WO2019004676A1 (fr) 2019-01-03

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EP4088880B1 (fr) 2021-10-26 2023-12-06 Gesnaer Consulting SLNE Système d'exosquelette munie de détecteurs

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EP3646843A4 (fr) 2020-06-24
EP3646843A1 (fr) 2020-05-06

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