WO2019039854A1 - Method for supporting rehabilitation by using forward moving platform - Google Patents

Abstract

Provided is a method for supporting rehabilitation by using a forward moving platform. The forward moving platform operates to have the location of a user return to the center point of the forward moving platform, and a rehabilitation method comprises: a step of determining a basal plane having a predetermined size, on the basis of the location of contact between the user and the forward moving platform; a step of determining the location of a body reference point of the user; and a step of controlling the return-to-center point operation of the forward moving platform on the basis of a first displacement indicating the difference between the basal plane and the location of the body reference point.

Description

How to support rehabilitation using omnidirectional mobile platform

The present invention relates to a novel industrial growth engine for 2017 (task number: 10080121, entitled: Ministry of Industry and Trade, research institute: keit, research project name: 2017 creative industry future growth power project, The results of this study are as follows: 1) The development of the VR walking rehabilitation training system for the disabled patients was conducted by the TOLEMI system.

The present invention relates to a method of supporting rehabilitation therapy, and more particularly, to an apparatus for supporting rehabilitation therapy using an omni-directional movement platform.

The virtual reality system is a highly technology-intensive system that allows people to enjoy offline facilities without any limitations.

In other words, most of the races and games, games, military equipment, and relaxation facilities of resorts that are realized in reality are programmed into a system in a virtual space, and a virtual system is realized in a programmed state. It is also possible to exercise sports such as racing, competition, etc. in a more free state by deviating from time or space constraints such as enormous budgets, environmental destruction and local restrictions.

The virtual reality system includes a display device for visually displaying a virtual reality to a user, a mobile platform installed in front of the display device for enabling a user to experience a situation in which the user is walking or running while walking in a virtual reality, And sensors for detecting and reflecting the movement of the user in real time in the virtual reality.

On the other hand, rehabilitation treatment means recovery of a disease, injury or disaster experienced by a person in a broad sense, and it is also a process of learning how to live with a chronic dysfunction due to damage. Damage in rehabilitation therapy means that changes in body structure and body function are caused by some cause. This is the state of temporary or permanent appearance of abnormality such as loss or lack of psychological or physical structure or function.

The goal of rehabilitation therapy is to minimize the disability of the patient and it is best to restore the original physical, sensory, intellectual, psychological and social level of the patient before the disorder occurs. Rehabilitation therapy therefore means all medical treatment that is performed so that a person with a disability can maintain a healthy life.

Among these rehabilitation treatments, especially exercise therapy, gait training is accompanied. However, there is a problem that it is not easy to secure a space necessary for gait training.

In order to overcome the difficulties of the above-mentioned rehabilitation treatment, a virtual reality system including a mobile platform can be utilized for rehabilitation treatment. However, the conventional mobile platform has a disadvantage in that it can only move in one direction like a treadmill, and the multi-directional mobile platforms have difficulties in the direction of the direction and have a problem that the platform size is large.

SUMMARY OF THE INVENTION It is an object of the present invention to solve the above-mentioned problems and to provide an omnidirectional mobile platform for enabling a user to move in all directions even in a small- And to provide a method for supporting rehabilitation.

SUMMARY OF THE INVENTION It is an object of the present invention to solve the problems described above and to provide a mobile platform in which a center of gravity of a patient deviates from a base supporting the patient and a position of the patient, And restoring the position of the user to the center by controlling the returning motion.

It should be understood, however, that the present invention is not limited to the above-described embodiments, but may be variously modified without departing from the spirit and scope of the invention.

According to an aspect of the present invention, there is provided a method for supporting rehabilitation using an omnidirectional movement platform, the method comprising: returning a position of a user to a center of the omni-directional movement platform; The method comprising: determining a base surface of a predetermined size based on a contact position of the user and the forward movement platform; Determining a position of the user's body reference point; And controlling a midpoint returning operation of the forward movement platform based on a first displacement that is a positional difference between the base surface and the body reference point.

According to an aspect of the present invention, the step of controlling the center point returning operation may control the center point returning operation based on the second displacement, which is a position difference between the center point of the forward movement platform and the center point of the base plane.

According to an aspect, controlling the heavy point regression operation may further control the speed of the heavy point regression operation based on at least one of the rate of change of the first displacement and the rate of change of the second displacement.

According to one aspect, the first displacement may indicate a positional difference between a point at which the body reference point is projected onto the plane including the base plane and the base plane.

According to one aspect, the body reference point may represent the center of gravity of the user.

According to one aspect, the body reference point may be determined by tracking a marker attached to the upper body of the user.

According to one aspect, the basal plane may be determined by tracking a marker attached to a user's support means.

According to an aspect, the size of the basal plane may be determined according to at least one of a disease classification and a disease severity evaluation value of a user.

According to one aspect, controlling the heavy point return operation may increase the speed of the heavy point return operation in proportion to the magnitude of the first displacement.

According to an aspect of the present invention, the step of controlling the heavy point regeneration operation may start the heavy point regeneration operation only when the first displacement and the second displacement are respectively equal to or more than a threshold value.

According to an aspect of the present invention, the forward movement platform is capable of forming an omnidirectional gradient based on a plurality of actuators, and interlocks with a content displayed through a display device connected to the forward movement platform, May be configured to be adjusted.

According to an aspect of the present invention, the step of controlling the heavy point regression operation may be configured to further control the speed of the heavy point regression operation based on the direction of the heavy point regression operation and the ascending or descending depending on the formed gradient.

According to one aspect, the forward moving platform comprises: a first belt; A first driving unit for transferring the first belt in a first direction; A ball constrained to the first belt so as to freely rotate with respect to all directions and conveyed in the first direction together with the first belt; A second belt disposed below the first belt and contacting the ball; And a second belt for transferring the second belt in a second direction crossing the first direction.

The disclosed technique may have the following effects. It is to be understood, however, that the scope of the disclosed technology is not to be construed as limited thereby, as it is not meant to imply that a particular embodiment should include all of the following effects or only the following effects.

According to the method for supporting rehabilitation using an omnidirectional movement platform according to an embodiment of the present invention, an omnidirectional movement platform that allows a user to move in all directions even with a small- It is possible to support rehabilitation therapy so that the user can freely change direction and move.

In addition, according to the method for supporting rehabilitation using an omnidirectional movement platform according to an embodiment of the present invention, the degree of deviation of the center of gravity of the patient from the base supporting the patient and the position of the patient deviate from the center of the movement platform So that the movement platform can control the movement of returning the user to the center, thereby making it possible to return the position of the user to the center more stably and accurately.

In addition, the virtual reality contents are reproduced in cooperation with the forward movement platform, and the movement of the forward movement platform is controlled by interlocking with the virtual reality contents, while the inclination of the platform can be controlled in all directions in conjunction with the contents, Thereby realizing realistic gait training to alleviate empirical evidence for rehabilitation therapy.

FIG. 1 is a configuration diagram illustrating a configuration of an omni-directional moving platform according to an embodiment.

2A to 2C are perspective views showing a part of an omni-directional moving platform according to an embodiment.

3 shows a configuration of a first belt of an omni-directional moving platform according to an embodiment.

4 is an enlarged cross-sectional view illustrating a coupling relationship between the first belt and the ball of the forward movement platform according to one embodiment.

5 is an enlarged cross-sectional view illustrating a coupling relationship between the first belt and the ball of the forward moving platform according to another embodiment.

FIG. 6 is a conceptual diagram for explaining a rotation direction of a ball of an omni-directional moving platform according to an embodiment.

7 is a block diagram illustrating a virtual experience omnidirectional movement experience apparatus according to an embodiment.

FIGS. 8A to 8C are views illustrating the determination of a base and a base point in a method for supporting rehabilitation according to an embodiment of the present invention.

9A to 9C are diagrams illustrating movement of a body reference point in a method for supporting rehabilitation according to an embodiment of the present invention.

Figs. 10A to 10D are views illustrating the positional difference from the basal plane according to the movement of the body reference point in Fig. 9. Fig.

11A to 11C are diagrams illustrating control of regression operation according to a position of a reference plane in a method for supporting rehabilitation according to an embodiment of the present invention.

12 is a flowchart of a method for supporting rehabilitation using an omni-directional moving platform according to an embodiment of the present invention.

While the invention is susceptible to various modifications and alternative forms, specific embodiments thereof are shown by way of example in the drawings and will herein be described in detail.

It should be understood, however, that the invention is not intended to be limited to the particular embodiments, but includes all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.

The terms first, second, etc. may be used to describe various components, but the components should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, the first component may be referred to as a second component, and similarly, the second component may also be referred to as a first component. And / or < / RTI > includes any combination of a plurality of related listed items or any of a plurality of related listed items.

It is to be understood that when an element is referred to as being "connected" or "connected" to another element, it may be directly connected or connected to the other element, . On the other hand, when an element is referred to as being "directly connected" or "directly connected" to another element, it should be understood that there are no other elements in between.

The terminology used in this application is used only to describe a specific embodiment and is not intended to limit the invention. The singular expressions include plural expressions unless the context clearly dictates otherwise. In the present application, the terms "comprises" or "having" and the like are used to specify that there is a feature, a number, a step, an operation, an element, a component or a combination thereof described in the specification, But do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or combinations thereof.

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with the meaning in the context of the relevant art and are to be interpreted in an ideal or overly formal sense unless explicitly defined in the present application Do not.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In order to facilitate the understanding of the present invention, the same reference numerals are used for the same constituent elements in the drawings and redundant explanations for the same constituent elements are omitted.

Omnidirectional platform

The method for supporting rehabilitation according to an embodiment of the present invention may use an omni-directional moving platform. Hereinafter, an exemplary forward movement platform that can be used in the rehabilitation support method will be described in detail. However, the method for supporting rehabilitation of the present invention is not limited to the use of the omnidirectional movement platform described below, and any movement platform allowing the user to move in all directions may be used.

2 is a perspective view showing a part of an omnidirectional moving platform according to an embodiment, and Fig. 3 is a perspective view showing an omnidirectional moving platform according to an embodiment of the present invention. And shows the configuration of the first belt of the forward movement platform.

1 to 3, an omnidirectional moving platform 100 according to the present embodiment may include a first belt 110 and a first driving unit 115.

The first belt 110 is transported in a first direction. The first driving part 115 is for transporting the first belt 110 in the first direction and includes a pair of first driving rollers 111 forming a closed loop of the first belt 110, And a first driving motor 113 for driving one of the driving rollers 111 to rotate.

A lift module 111a for individually supporting the rotary shafts of the respective drive rollers 111 and for individually elevating the rotary shafts of the respective first drive rollers 111 is provided at a lower portion of the bearing for supporting the rotary shafts of the pair of first drive rollers 111, May be disposed.

As described above, the first belt 110 transported in the first direction may be provided with a ball 130 for allowing the user to freely move in the first direction as well as in the forward direction.

On the other hand, as shown in FIG. 1, the forward moving platform 100 may include an auxiliary support 101 to allow the patient to hold the auxiliary support 101 to stand and perform the training. Also, as shown in Fig. 2A, other configurations other than the first belt 110 and the ball 130 can be visually covered by configuring the cover on top of the frame including the frame 103. Fig.

4 is an enlarged cross-sectional view showing a coupling relationship between the first belt and the ball of the forward moving platform according to the present embodiment.

Referring to FIG. 4, the first belt 110 includes a unit ball assembly 140a having a length in a second direction that intersects the first direction. The unit ball assemblies 140a are linked together in a first direction to form a first belt 110 forming a closed loop. Each unit ball assembly 140b may include a top plate 141 and a bottom plate 143 that are vertically spaced apart. The plurality of balls 130 may be arranged in the second direction so that the balls 130 may be constrained to the upper plate 141 and the lower plate 143.

The upper plate 141 is formed with an upper hole 141a having an inner diameter smaller than the diameter of the ball 130 and a lower hole 143a having an inner diameter smaller than the diameter of the ball 130 is formed on the lower plate 143 . The lower plate 143 is disposed below the ball 130 and the upper plate 141 is disposed above the ball 130. [ In this state, the upper plate 141 and the lower plate 143 are fastened. At this time, the distance between the upper surface of the upper plate 141 and the lower surface of the lower plate 143 is preferably smaller than the diameter of the balls 130. A part of the ball 130 is exposed to the upper side of the upper plate 141 through the upper hole 141a and a part of the ball 130 is exposed to the lower side of the lower plate 143 through the lower hole 143a. However, since the upper hole 141a and the lower hole 143a have an inner diameter smaller than the diameter of the ball 130, the ball 130 is not released to the outside of the upper hole 141a and the lower hole 143a.

The upper hole 141a and the lower hole 143a are formed on the outer peripheral surface of the ball 130 so that the ball 130 constrained between the upper plate 141 and the lower plate 143 can freely rotate in all directions. A distance between the upper surface of the upper plate 141 and the lower plate 143 should be maintained.

Thus, since the ball 130 is constrained to the first belt 110 freely freely rotatable in all directions, the user pressing the ball 130 can freely move in all directions without being limited to any one direction .

5 is an enlarged cross-sectional view illustrating a coupling relationship between the first belt and the ball of the forward moving platform according to another embodiment.

Referring to FIG. 5, the first belt 110 includes a unit ball assembly 140b having a length in a second direction that intersects the first direction. The unit ball assemblies 140b are linked together in a first direction to form a first belt 110 forming a closed loop. Each of the unit ball assemblies 140b may include a first support plate 145 in the form of a flat plate and a second support plate 147 connected to the first support plate 145 in a square shape. The plurality of balls 130 may be arranged in a second direction so that the balls 130 may be constrained to the first and second support plates 145 and 147.

That is, the first support plate 145 and the second support plate 147 may have a thickness smaller than the diameter of the ball 130. A first receiving groove 145a is formed in the first supporting plate 145 to be opened toward the second supporting plate 147 and a second receiving groove 145b is formed in the second supporting plate 147, The first electrode 147a may be formed. The radius of the first receiving groove 145a and the radius of the second receiving groove 147a may be larger than the radius of the ball 130. The first support plate 145 and the second support plate 147 have a thickness smaller than the diameter of the ball 130 and the radius of the first receiving groove 145a and the second receiving groove 147a is smaller than the radius of the ball 130. [ When the first support plate 145 and the second support plate 147 are connected to each other, the first support plate 145 and the second support plate 147 are provided with an upper hole 149a and a lower hole 149b may be formed.

When the first support plate 145 and the second support plate 147 are fastened with the ball 130 interposed therebetween, a part of the ball 130 is exposed to the upper side of the upper plate 141 through the upper hole 149a , And a part of the ball 130 is exposed to the lower side of the lower plate 143 through the lower hole 149b. However, since the upper hole 149a and the lower hole 149b have an inner diameter smaller than the diameter of the ball 130, the ball 130 is not released to the outside of the upper hole 149a and the lower hole 149b.

Thus, since the ball 130 is constrained to the first belt 110 freely freely rotatable in all directions, the user pressing the ball 130 can freely move in all directions without being limited to any one direction .

Referring again to Figures 1-3, the second belt 120 is transported in a second direction. The second driving part 125 is for transporting the second belt 120 in the second direction and includes a pair of second driving rollers 121 forming a closed loop of the second belt 120, And a second driving motor 123 for driving one of the driving rollers 121 to rotate.

A lift module 121a for individually supporting the rotation axes of the drive rollers 121 and for individually elevating the rotation axes of the respective second drive rollers 121 is provided at a lower portion of the bearing for supporting the rotation axes of the pair of second drive rollers 121, May be disposed.

The second belt 120 may be in contact with the lower portion of the ball 130. Accordingly, the feed speed of the first belt 110 and the feed speed of the second belt 120 can be controlled, and the rotational direction and rotational speed of the ball 130 can be adjusted. The first driving unit 115 and the second driving unit 125 are connected to the driving control unit 160. The driving control unit 160 drives the first driving unit 115 and the second driving unit 125 based on the moving direction, (125) to control the feed speed of the first belt (110) and the second belt (120).

FIG. 6 is a conceptual view for explaining the rotation direction of the ball of the forward movement platform according to the present embodiment.

6, when the user is moving in the advancing direction D1 of the first direction, the ball 130 which is in contact with the soles of the user is moved in a direction opposite to the direction of movement of the user, that is, in the backward direction D2 ). At this time, the driving control unit 160 controls the first driving unit 115 to feed the first belt 110 in the advancing direction D1 of the first direction. Since the lower part of the ball 130 is in contact with the second belt 120, as the first belt 110 is transported in the advancing direction D1 in the first direction, the ball 130 is moved in the reverse direction D2 to provide a ground reaction force to the user.

On the contrary, if the user is moving in the backward direction D2 of the first direction, the ball 130 that is in contact with the sole of the user is rotated in the direction opposite to the direction of movement of the user, i.e., in the advancing direction D1 of the first direction . At this time, the driving control unit 160 controls the first driving unit 115 to transfer the first belt 110 in the backward direction D2 of the first direction. Since the lower portion of the ball 130 is in contact with the second belt 120, as the first belt 110 is transported in the backward direction D2 in the first direction, the ball 130 moves in the forward direction D1 to provide a ground reaction force to the user.

On the other hand, if the user is moving in the forward direction D3 of the second direction, the ball 130 which is in contact with the user's sole is rotated in the direction opposite to the user's moving direction, that is, in the backward direction D4 in the second direction . At this time, the drive control unit 160 controls the second driving unit 125 to transfer the second belt 120 in the forward direction D3 of the second direction. Since the lower part of the ball 130 is in contact with the second belt 120, as the second belt 120 is transported in the forward direction D3 in the second direction, the ball 130 moves in the backward direction in the second direction D4 to provide a ground reaction force to the user.

 On the contrary, if the user is moving in the backward direction D4 of the second direction, the ball 130 which is in contact with the sole of the user is rotated in the direction opposite to the direction of movement of the user, that is, in the forward direction D3 of the second direction . At this time, the driving control unit 160 controls the second driving unit 125 to transfer the second belt 120 in the backward direction D4 of the second direction. Since the lower portion of the ball 130 is in contact with the second belt 120, as the second belt 120 is transported in the backward direction D4 in the second direction, the ball 130 moves in the forward direction D3 to provide a ground reaction force to the user.

On the other hand, if the user is moving in the left forward direction D5 between the first direction and the second direction, the ball 130 that is in contact with the sole of the user is moved in the opposite direction of the user's moving direction, And can be rotated in the rightward backward direction D6 between the two directions. At this time, the drive control unit 160 feeds the first belt 110 in the advancing direction D1 in the first direction and feeds the second belt 120 in the advancing direction D3 in the second direction. The ball 130 is in contact with the second belt 120 so that by the sum of the vectors of the advancing direction D1 in the first direction and the advancing direction D3 in the second direction, Forward direction D6 between the first direction and the second direction so as to provide a ground reaction force to the user.

On the contrary, if the user is moving in the right forward direction D5 between the first direction and the second direction, the ball 130 that is in contact with the sole of the user is moved in the opposite direction of the user's moving direction, And can be rotated in the leftward backward direction D6 between the two directions. At this time, the drive controller 160 transfers the first belt 110 in the forward direction D1 of the first direction and the second belt 120 in the backward direction D4 of the second direction. The ball 130 is in contact with the second belt 120 so that by the sum of the vectors of the forward direction D1 in the first direction and the backward direction D4 in the second direction, And the rightward backward direction D6 between the first direction and the second direction to provide a ground reaction force to the user.

On the other hand, if the user is moving in the leftward backward direction D8 between the first direction and the second direction, the ball 130 which is in contact with the sole of the user is moved in the opposite direction of the user's moving direction, And can be rotated in the right advancing direction D7 between the two directions. At this time, the drive control unit 160 feeds the first belt 110 in the backward direction D2 in the first direction and feeds the second belt 120 in the forward direction D3 in the second direction. The ball 130 is in contact with the second belt 120 so that by the sum of the vectors of the backward direction D2 in the first direction and the forward direction D3 in the second direction, And a leftward backward direction D8 between the first direction and the second direction to provide a ground reaction force to the user.

On the contrary, if the user is moving in the rightward backward direction D6 between the first direction and the second direction, the ball 130 which is in contact with the sole of the user is moved in the opposite direction of the user's moving direction, And can be rotated in the left advancing direction D6 between two directions. At this time, the drive control unit 160 feeds the first belt 110 in the backward direction D2 in the first direction and feeds the second belt 120 in the backward direction D4 in the second direction. The ball 130 is in contact with the second belt 120 so that by the sum of the vectors of the backward direction D2 in the first direction and the backward direction D4 in the second direction, And the rightward backward direction D6 between the first direction and the second direction to provide a ground reaction force to the user.

1 to 3, the user steps on the ball 130 to use the platform, and the load of the user is transmitted to the second belt 120 through the ball 130. The second belt 120 A sag prevention plate 150 for preventing sagging of the second belt 120 may be installed. The sag prevention plate 150 may be provided with a weight sensor 171 for sensing the weight of the user. Accordingly, the drive controller 160 may control the transfer speed of the first belt 110 and the second belt 120 by reflecting the weight of the user.

In addition, at least one motion sensor 173 may be installed around the platform. The motion sensor 173 can detect the direction of the user by detecting the motion of the user. Accordingly, the driving control unit 160 can control the feeding speed and the feeding direction of the first belt 110 and the second belt 120 by reflecting the direction change of the user.

In addition, a load cell (not shown) may be installed in the frame for supporting the rotation axis of the pair of first driving rollers 111 and the frame for supporting the rotation axis of the pair of second driving rollers 121, respectively. The position of the user on the platform can be determined according to the pressure distribution transmitted to the load cell (not shown) arranged as described above. The position of the user on the platform can be reflected in a simulation image or the like.

Hereinafter, the operation of the forward movement platform according to the present embodiment will be described.

The user rides on top of the first belt 110. As the user climbs onto the first belt 110, the user steps on the ball 130 and the load on the first belt 110 is transferred to the second belt 120. The sag prevention plate 150 prevents sagging of the first belt 110, and the weight sensor 171 senses the weight of the user. And the position of the user on the platform can be sensed according to the pressure distribution sensed by the load cell (not shown).

Subsequently, when the user moves the body for movement, the motion sensor 173 senses the movement of the user. The driving control unit 160 may control the feeding direction and the feeding speed of the first belt 110 and the second belt 120 according to the moving direction of the user sensed by the motion sensor 173. [

As described above, the omnidirectional mobile platform according to the present embodiment detects the weight of the user, the movement of the user, the position of the user on the platform, and controls the rotational speed and the rotational direction of the ball based on the sensed data, A reaction force can be provided.

Therefore, the omnidirectional mobile platform according to the present embodiment can produce various situations even in the virtual reality because the user can freely change direction and move in the current position.

The omnidirectional mobile platform according to the present embodiment can reduce the equipment investment cost by minimizing the equipment size with a simple structure.

On the other hand, when the omni-directional moving platform according to the present embodiment as described above, the display device 200 for displaying the virtual reality and the camera 300 for photographing the user on the platform are combined as shown in Fig. 7, It is possible to construct a real omnidirectional mobile experience system. The display device 200 may be a combination of at least one projector disposed on the platform above the platform to display a virtual reality image and at least one screen 210 installed around the platform, A head mount display (HMD) or the like may be used.

How to support rehabilitation using omnidirectional mobile platform

12 is a flowchart of a method for supporting rehabilitation using an omni-directional moving platform according to an embodiment of the present invention. Hereinafter, referring to FIG. 12, a method of supporting rehabilitation using an omni-directional moving platform according to an embodiment of the present invention will be described in detail.

As described above, the method for supporting rehabilitation according to an embodiment of the present invention may use an omnidirectional mobile platform capable of continuously returning the position of the user to its center.

Referring to FIG. 12, a method of supporting rehabilitation using an omnidirectional movement platform according to an embodiment of the present invention may first determine a base surface of a predetermined size based on a contact position of a user and an omnidirectional movement platform (step 1310 ). The base surface may be set as a virtual supporting surface for supporting the user to stand on the ground.

FIGS. 8A to 8C are views illustrating the determination of a base and a base point in a method for supporting rehabilitation according to an embodiment of the present invention. As shown in Figs. 8A to 8C, the base surface can be determined as a predetermined size including the feet of the user in contact with the forward moving platform.

8A shows the determination of the base surface with the two feet of the user in contact with the forward moving platform. 8A, when both the left foot 810-1 and the right foot 810-2 of the user are in contact with the forward moving platform, both the left foot 810-1 and the right foot 810-2 are included The base surface 820 can be determined. Since both feet of the user are in contact with the forward moving platform, the base surface 820 can be formed relatively wide. According to one aspect, the midpoint of the base surface 820 may be determined as the base point 830.

8B shows the determination of the base surface with one foot of the user in contact with the forward moving platform. 8B, the left foot 810-1 of the user is in contact with the forward movement platform, and the right foot 810-2 is in contact with the base surface 810-1 so as to include the left foot 810-1 in a state away from the forward movement platform, (820) may be formed. Since only one foot of the user is in contact with the omni-directional platform, the base surface 820 can be formed relatively narrowly. Similarly, in accordance with one aspect, the midpoint of the base surface 820 may be determined as the base point 830.

Figure 8c shows the determination of the base plane with two feet in contact with the forward moving platform after one foot of the user has moved. As shown in FIG. 8C, in a state where the user's left foot 810-1 is fixed and the right foot 810-2 first moves and is in contact with the forward moving platform again at a position moved forward, The base surface 820 can be determined to include both the right foot 810-1 and the right foot 810-2. In this case, the base surface 820 can be formed wider. Similarly, in accordance with one aspect, the midpoint of the base surface 820 may be determined as the base point 830.

According to one aspect, the size of the basal plane may be determined according to at least one of a user's disease classification and disease severity assessment values. For example, the size of the basal plane may be increased depending on whether the user's disease is classified as a disease accompanied by severe exercise capacity degradation, thereby controlling the exercise to perform more stable exercise therapy. Even for the same disease classification, the size of the basal plane can be adjusted differently by reflecting the predetermined disease severity evaluation value. The increase and / or decrease in basal size according to at least one of the aforementioned disease classification and disease severity assessment values may be applied to the same extent as in the cases of FIGS. 8A to 8C, or may be different for each of FIGS. 8A to 8C .

The base surface 820 and / or the reference point 830 determined as described above is a method of supporting rehabilitation using an omnidirectional movement platform according to an embodiment of the present invention, in which a forward movement platform returns a user to the center Can be used to control. The control of the regression operation according to one aspect of the present invention may be accomplished by either: i) determining a first displacement that is a positional difference between the basal surface 820 and a body reference point and / or ii) a first displacement that is a difference in position between the basal surface 820 and the midpoint of the forward movement platform , Which will be described later.

Referring again to FIG. 12, the position of the user's body reference point may be determined (step 1320). According to one aspect, the user's body reference point can represent the center of gravity of the user. For example, the position of the body reference point can be determined by tracking a marker worn by a user on a part of the upper body using a three-dimensional detector, and in addition, any method for determining a point representing a user's body reference value is applied . On the other hand, the determined body reference point can be utilized to determine the first displacement indicating the positional difference from the basal plane described above.

FIGS. 9A to 9C are diagrams illustrating movement of a body reference point in a method for supporting rehabilitation according to an embodiment of the present invention, and FIGS. 10A to 10D are views illustrating a positional difference with respect to a base surface according to the movement of the body reference point in FIG. FIG. 9 and 10, a first displacement determination for a rehabilitation treatment support method according to an embodiment of the present invention will be described in more detail.

As shown in Fig. 9A, there may be a case where the user is standing upright on the omni-directional platform. In this case, the user ' s body reference point 910 may be at a vertical position of the center point (e.g., base point 830) of the base surface 820. According to one aspect, the first displacement may indicate a positional difference between a point at which a body reference point 910 is projected onto a plane containing the basal plane and the basal plane. For example, the first displacement can be determined by detecting the three-dimensional position of the body reference point 910 and measuring the distance between the point representing the horizontal and vertical positions where the height value of the three-dimensional coordinate is removed and the basal plane . Referring to FIG. 10A, when the user is standing upright as in FIG. 9A, the distance between the basal plane projection point 920 of the body reference point 910 and the base surface 820 may be zero.

As shown in Fig. 9B, there may be a case where the user tilts the upper body forward on the forward movement platform. In this case, the user's body reference point 910 may be moved and positioned forward at a vertical position of the center point (e.g., base point 830) of the base surface 820. According to one aspect, the first displacement may represent a positional difference between a point at which a body reference point 910 is projected onto a plane including the base plane and a base plane. Referring to FIG. 10B, The base planar projection point 920 of the body reference point 910 may be moved forward and away from the base surface 820 when standing tilted forward.

As shown in FIG. 9C, there may be a case where the user tilts the upper body sideways on the forward movement platform. In this case, the user's body reference point 910 may be moved laterally at a vertical position of the center point (e.g., base point 830) of the base surface 820. According to one aspect, the first displacement may indicate a positional difference between a point at which a body reference point 910 is projected onto a plane containing the base plane and a base plane. Referring to FIG. 10C, The basal plane projection point 920 of the body reference point 910 may be moved laterally from the base surface 820 when standing tilted sideways.

10D shows the position of the basal plane projection point 920 when the user tilts the upper body diagonally forward and laterally on the forward movement platform. 10D, the basal plane projection point 920 of the body reference point 910 is positioned at a distance from the base surface 820 to the base surface 820. In other words, when the user tilts the upper body diagonally forward and laterally on the forward movement platform, It can be moved laterally and forwardly.

On the other hand, the measurement point at the basal plane for determination of the first displacement may be i) the boundary of the basal plane 820 or ii) the base point 830 which is the midpoint of the basal plane 820. The distance from the boundary of the base surface 820 to the base plane projection point 920 of the body reference point 910 may be determined as the first displacement and the distance from the base point 830 to the base plane projection point 910 of the body reference point 910, The distance to the first position 920 may be determined as the first displacement, and may be selected according to the embodiment. On the other hand, when the distance from the boundary of the base surface 820 to the base plane projection point 920 of the body reference point 910 is determined as the first displacement, for example, the base point 830 and the base plane projection point 920 And the boundary of the bottom surface 820 may be the starting point of the first displacement measurement.

The first displacement measurement for regression control according to an embodiment of the present invention has been described above, and the second displacement measurement will be described in more detail below. The second displacement can be determined as the position difference between the base surface 820 and the midpoint of the forward movement platform. 11A to 11C are diagrams illustrating control of regression operation according to a position of a reference plane in a method for supporting rehabilitation according to an embodiment of the present invention.

As shown in Figs. 11A to 11C, positioning of the base surface 820 is necessary for determination of the second displacement. The base surface 820 is determined on the basis of the foot of the user contacting the forward moving platform, and the positioning of the base surface 820 can be performed based on the position of the user's foot. For convenience of explanation, the user's foot is illustrated as being in contact with the omnidirectional platform, however, for example, a driving assistance means such as crutches may be used, It should be understood as an example.

In order to track a user's support means, a method of measuring a marker attached to a user's support means with a three-dimensional camera may be used. In addition, a plurality of laser sensors may be provided in the X- , Any measuring instrument for tracking the position of the user's support means may be used.

As shown in FIG. 11A, when both feet of the user are positioned to move forward at the center point 1110 of the forward movement platform, the base surface 820 may also be positioned forward at the center point 1110 of the forward movement platform . In this case, the center returning operation of the forward movement platform can be controlled to move the user backward. In this regard, the starting point for the measurement of the second displacement can be either the boundary or base point 830 of the base surface 820 as previously described in connection with the first displacement measurement, The return motion may be controlled to move the user backward by the distance of the second displacement.

11B shows a case where both feet of the user are moved from the center point 1110 to the right side of the forward movement platform, with a similar point to that described above with reference to FIG. 11A, the center point return operation moves the user from the second displacement As shown in FIG.

11C shows a case in which both feet of the user are moved and positioned both forward and rightward from the center point 1110 of the forward movement platform, with a similar point to that described above, the heavy point return operation moves the user to the right rearward, As shown in FIG.

11A to 11C illustrate a case in which both feet of the user are moved to one side from the center point 1110 of the forward movement platform. However, even if the two feet are located in different directions, And to control the heavy regression operation for the user by determining the positional difference between the base point 830 as the center point thereof and the center point 1110 of the forward movement platform as the second displacement .

12, a method of supporting rehabilitation using an omnidirectional movement platform according to an embodiment of the present invention may include: i) a first displacement, which is a positional difference between the base surface 820 and a body reference point, and / or ii) The center point returning operation of the forward movement platform may be controlled based on the second displacement that is the position difference between the base surface 820 and the center point of the forward movement platform (step 1330). On the other hand, the control of the central regression operation can control the speed of the central regression as well as the degree of movement to return the user to the central point. At least one of the rate of change of the first displacement and the rate of change of the second displacement, for example, based on the position of the body reference point 910 or the position of the support means, measured at predetermined time intervals such as 120 frames per second And the speed of the midpoint regression operation can be controlled based on at least one of the rate of change of the first displacement and the rate of change of the second displacement.

Control of the center point return operation of the forward movement platform in accordance with the first displacement and the second displacement may be implemented in various embodiments using at least one of the first displacement and the second displacement. According to one aspect, the midpoint regression operation can be controlled based only on either the first displacement or the second displacement. In response to the projection point 920 of the user's body reference point 910 being displaced from the base surface 820, or in response to the base surface 820 departing from the center point 1110 of the forward movement platform, A regression operation can be started.

According to an aspect, there is also provided a method of controlling a midpoint return motion based on all of a first displacement and a second displacement, the method comprising the steps of: determining a movement distance and direction of a midpoint return motion based on a second displacement (displacement between a midpoint of the base plane and the forward movement platform) And control the speed of the center point return operation based on the first displacement (the distance between the base point and the projection point of the body reference point). For example, the moving speed can be controlled according to whether the measured direction of the second displacement corresponds to the direction of the measured first displacement. It is possible to increase the moving speed when the directions of the first and second displacements coincide with each other and decrease the moving speed when the directions of the first and second displacements are opposite to each other. It is also possible to increase the speed of the midpoint return operation in proportion to the magnitude of the first displacement. That is, the first displacement may be utilized as an element for detecting a preaction or reaction to the user's walking and reflecting the same in the midpoint return operation.

According to an aspect, the central point regression operation can be set to start only when the first displacement and the second displacement are respectively equal to or greater than a threshold value. For example, if the first displacement is generated by moving the upper body despite the fact that the user does not move, if the central regression operation is started, the user may fall down as a patient in which quick reaction is impossible. Therefore, even if the first displacement is detected, the middle point return operation can be set to start only when the second displacement also occurs above the threshold value.

Virtual reality content interlocking and gradient formation

As described above, the rehabilitation training performed in the room can easily cause boredom to the user, and sometimes the user gives up the exhausted training. The rehabilitation training support method according to an embodiment of the present invention provides an effect that a user moves in an external environment by reproducing virtual reality contents through a display device connected to an omnidirectional movement platform, Users can be more interested and less easily tired.

Here, the forward moving platform can be configured to form a forward slope. 1 to 3, an omni-directional moving platform 100 according to an embodiment of the present invention includes a plurality of elevating devices 111a and 121a, It is possible to form a gradient in all directions 360 degrees. The forward movement platform illustrated in FIGS. 1 to 3 may have a total of four actuators (elevators). By adjusting the actuators to have different heights, the forward, backward, .

According to an aspect of the present invention, an omnidirectional moving platform capable of forming an omnidirectional gradient can be set to adjust a gradient in conjunction with content displayed through a display device connected to the omni-directional moving platform. Thus, a user climbing up the virtual reality content can experience an uphill slope in an actual forward moving platform. In addition, in the above-described control of the central regression operation, the speed of the central regression operation can further be controlled on the basis of the direction of the central regression operation and the ascending or descending depending on the formed gradient. For example, when climbing uphill, it is possible to prevent the patient from falling backward due to the inability of the patient to perform an appropriate reaction, and to lower the speed of the midpoint return motion. In the case of descending downhill, It is possible to prevent the user from being pushed forward or downward.

The above-described method according to the present invention can be implemented as a computer-readable code on a computer-readable recording medium. The computer-readable recording medium includes all kinds of recording media storing data that can be decoded by a computer system. For example, there may be a ROM (Read Only Memory), a RAM (Random Access Memory), a magnetic tape, a magnetic disk, a flash memory, an optical data storage device and the like. The computer-readable recording medium may also be distributed and executed in a computer system connected to a computer network and stored and executed as a code that can be read in a distributed manner.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or scope of the invention as defined by the appended claims. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention.

In particular, the described features may be implemented within digital electronic circuitry, or computer hardware, firmware, or combinations thereof. The features may be implemented in a computer program product embodied in a storage device in a machine-readable storage device, for example, for execution by a programmable processor. And the features may be performed by a programmable processor executing a program of instructions for performing the functions of the described embodiments by operating on input data and generating an output. The described features include at least one programmable processor, at least one input device, and at least one output device, coupled to receive data and directives from a data storage system and to transmit data and directives to a data storage system, Such as a computer-readable recording medium. A computer program includes a set of directives that can be used directly or indirectly within a computer to perform a particular operation on a given result. A computer program may be written in any form of programming language including compiled or interpreted languages and may be implemented as a module, element, subroutine, or other unit suitable for use in other computer environments, or as a standalone program Can be used.

Suitable processors for execution of the program of instructions include, for example, both general purpose and special purpose microprocessors, and one of multiple processors of a single processor or other type of computer. Also, storage devices suitable for implementing the computer program instructions and data embodying the described features may be embodied in a computer-readable medium, such as, for example, semiconductor memory devices such as EPROM, EEPROM, and flash memory devices, Devices, magneto-optical disks, and non-volatile memory including CD-ROM and DVD-ROM disks. The processor and memory may be integrated within application-specific integrated circuits (ASICs) or added by ASICs.

While the invention has been shown and described with reference to certain preferred embodiments thereof, it will be understood by those of ordinary skill in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims. It will be apparent to one skilled in the art to which the present invention pertains.

The combination of the above-described embodiments is not limited to the above-described embodiments, and various combinations and combinations of the above-described embodiments as well as the implementation and / or the necessity may be provided.

In the above-described embodiments, the methods are described on the basis of a flowchart as a series of steps or blocks, but the present invention is not limited to the order of steps, and some steps may occur in different orders or in a different order than the steps described above have. It will also be understood by those skilled in the art that the steps depicted in the flowchart illustrations are not exclusive and that other steps may be included or that one or more steps in the flowchart may be deleted without affecting the scope of the invention You will understand.

The foregoing embodiments include examples of various aspects. While it is not possible to describe every possible combination for expressing various aspects, one of ordinary skill in the art will recognize that other combinations are possible. Accordingly, it is intended that the invention include all alternatives, modifications and variations that fall within the scope of the following claims.

Claims (13)

1. A method for supporting rehabilitation using an omni-directional mobile platform,

   Wherein the forward movement platform is operative to return the user's position to a midpoint of the forward movement platform,

   Determining a base surface of a predetermined size based on a contact position of the user and the forward movement platform;

   Determining a position of the user's body reference point;

   And controlling a midpoint returning operation of the forward movement platform based on a first displacement that is a positional difference between the base surface and the body reference point.
2. The method according to claim 1,

   Wherein the controlling the heavy point returning operation controls the heavy point returning operation based on a second displacement that is a position difference between a center point of the forward movement platform and a midpoint of the base, How to Apply.
3. 3. The method of claim 2,

   Wherein the step of controlling the midpoint regression operation further controls the speed of the midpoint regression operation based on at least one of the rate of change of the first displacement and the rate of change of the second displacement, How to Apply.
4. The method according to claim 1,

   Wherein the first displacement represents a difference in position between a point at which the body reference point is projected onto a plane including the basal plane and the basal plane.
5. The method according to claim 1,

   Wherein the body reference point represents a center of gravity of the user.
6. The method according to claim 1,

   Wherein the body reference point is determined by tracking markers attached to an upper body of a user.
7. The method according to claim 1,

   Wherein the base is determined by tracking a marker attached to a user's support means.
8. The method according to claim 1,

   Wherein the size of the basal plane is determined according to at least one of a disease classification and a disease severity evaluation value of a user.
9. The method according to claim 1,

   Wherein the step of controlling the heavy point returning operation increases the speed of the heavy point returning operation in proportion to the size of the first displacement.
10. 3. The method of claim 2,

    Wherein the control of the center point returning operation starts the center point returning operation only when the first displacement and the second displacement are respectively equal to or more than a threshold value.
11. The method according to claim 1,

    Wherein the forward movement platform is capable of forming a gradient in all directions on the basis of a plurality of actuators, and is adapted to control the gradient of the forward movement platform in association with the content displayed through a display device connected to the forward movement platform A method of supporting rehabilitation using directional movement platform.
12. 12. The method of claim 11,

    Wherein the step of controlling the center point returning operation further controls the speed of the center point returning operation based on the direction of the center point returning operation and the ascending or descending depending on the formed gradient, .
13. The method according to claim 1,

    Wherein the forward movement platform comprises:

    A first belt;

    A first driving unit for transferring the first belt in a first direction;

    A ball constrained to the first belt so as to freely rotate with respect to all directions and conveyed in the first direction together with the first belt;

    A second belt disposed below the first belt and contacting the ball; And

    And a second belt for transferring the second belt in a second direction crossing the first direction.

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