WO2020162700A1

WO2020162700A1 - Hand rehabilitation exercise device

Info

Publication number: WO2020162700A1
Application number: PCT/KR2020/001740
Authority: WO
Inventors: 박병걸; 최용근; 유경환; 노성준; 김현수; 전준하
Original assignee: 주식회사 네오펙트
Priority date: 2019-02-08
Filing date: 2020-02-07
Publication date: 2020-08-13
Also published as: KR20200097849A; KR102202859B1

Abstract

The present invention relates to a hand rehabilitation exercise device, and is characterized by including: a finger movement sensing sensor which is disposed on a finger and senses the movement of the finger; a pressure measurement unit which measures the pressure generated by the movement of the finger; and a control unit which receives and combines finger movement data sensed by the finger movement sensing sensor and pressure data measured by the pressure measurement unit.

Description

Hand rehabilitation exercise device

The present invention relates to a hand rehabilitation exercise device, and more particularly, to a hand rehabilitation exercise device capable of performing rehabilitation training while checking the force applied during finger rehabilitation training.

In the case of stroke or Parkinson's disease, various physical changes appear depending on the condition. In particular, in the case of the above disease, the hand is paralyzed and the finger is shrunk.

If the numbness of the hand and the shrinking of the fingers are continuously neglected, the muscles or joints gradually harden and cause pain when moving, and even when the nerves recover, it may interfere with normal activities.

In addition, in addition to the specific disease described above, there are many cases where finger movements are impaired due to accidents.

Therefore, in such a case, it is very important to maintain motor skills as much as possible by promoting blood circulation and nerve communication by performing rehabilitation treatment to keep the paralyzed or disabled hand moving.

A prior art for such a finger exercise device is disclosed in Korean Patent Publication No. 10-1541082.

As disclosed, in the conventional finger movement device, for example, a finger sensing unit for detecting the movement of the node is disposed on the first node of the finger located adjacent to the palm of the user, and the second node adjacent to the free end of the finger. , Each finger detection part is fixed by wrapping the corresponding joint of the finger by a fixing string.

However, such a conventional finger exercise device can visually check the joint motion of the finger when performing the joint motion of the finger, but there is a problem in that it cannot be ascertained as to how much force is applied to the finger joint motion.

In addition, the conventional finger exercise device can visually check the pinch movement of the finger even when the finger is pinched, but there is a problem in that it is not possible to determine how much force is applied to perform the finger pinch movement.

The present invention is to solve the above problems, and an object of the present invention is to provide a hand rehabilitation exercise device capable of performing rehabilitation training while simultaneously measuring the bending of the finger and the force applied to the finger when performing a joint exercise. will be.

In addition, another object of the present invention is to provide a hand rehabilitation exercise device capable of performing rehabilitation training while simultaneously measuring the bending of the finger and the force applied to the finger when pinching the finger.

An object of the present invention, is disposed on the finger, a finger motion detection sensor for detecting the movement of the finger; A pressure measuring unit for measuring pressure generated by the movement of the finger; And a control unit configured to receive and collect the finger motion data sensed by the finger motion detection sensor and the pressure data measured by the pressure measurement unit, respectively.

Here, the pressure measuring unit may include a grip part for gripping a finger; And a grip measurement sensor that measures a pressure acting on the grip portion or a pressure according to a bending degree of a finger gripped on the grip portion.

In another embodiment, the pressure measuring unit, a thumb tube worn on the thumb; And a pinch pressure sensor provided on the thumb tube and contacting any one of the index finger, middle finger, ring finger, and holding finger to measure a pinch force with the thumb.

The finger motion detection sensor may include any one of an IMU sensor, a flex sensor, an acceleration sensor, and a gyroscope sensor.

The finger motion detection sensor has a sensor attachment and detachment unit, and may include a finger wearing unit worn on the finger.

A wire connected to the finger motion detection sensor and extending along a length direction of the finger; And the wire is connected, it may include a wearable back of the hand worn on the back of the hand.

The back of the hand motion detection sensor is disposed on the back of the hand to detect movement of the hand, and the control unit may receive and collect motion data of the back of the hand detected by the back of the hand motion detection sensor.

A wrist wearing unit worn on the wrist; And a wrist motion detection sensor disposed on the wrist wearing part to sense the motion of the wrist, and the controller may receive and collect wrist motion data sensed by the wrist motion detection sensor.

The back of the hand motion detection sensor and the wrist motion detection sensor may include any one of an IMU sensor, a flex sensor, an acceleration sensor, and a gyroscope sensor.

The grip measurement sensor may be provided on any one of the grip part, the back of the hand, and the wrist.

According to the present invention, when performing joint exercise of a finger, it is possible to perform rehabilitation training while simultaneously measuring the bending of the finger and the force applied to the finger. In addition, when pinching the finger, it is possible to perform rehabilitation training by simultaneously measuring the bending of the finger and the force applied to the finger.

1 is a perspective view of a hand rehabilitation exercise device according to an embodiment of the present invention,

Figure 2 is an exploded perspective view of the main part of Figure 1,

Figure 3 is a rear perspective view of Figure 1,

4 is a view showing a state in which a pressure measuring unit according to an embodiment is mounted to the hand rehabilitation exercise device of FIG. 1;

5 is a view showing a state in which the hand rehabilitation exercise device of FIG. 1 is worn on a hand;

6 is a view showing a state in which a grip part is gripped in the hand rehabilitation exercise device of FIG. 4;

7 is a view showing a state in which a thumb and an index finger are pinched in the hand rehabilitation exercise device of FIG. 1;

8 is a perspective view of a hand rehabilitation exercise device according to another embodiment of the present invention,

9 is a rear perspective view of FIG. 8;

10 is a view showing a state in which the hand rehabilitation exercise device of FIG. 8 is worn on a hand;

11 is a view showing a state in which a grip part is gripped in the hand rehabilitation exercise device of FIG. 8;

12 is a view showing a state in which the thumb and index finger are pinched in the hand rehabilitation exercise device of FIG. 8.

Advantages and features of the present invention, and a method of achieving them will become apparent with reference to the embodiments described below in detail together with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but may be implemented in a variety of different forms, only the present embodiments are intended to complete the disclosure of the present invention, It is provided to fully inform the technician of the scope of the present invention.

The terms used in the present specification are for describing exemplary embodiments and are not intended to limit the present invention. In this specification, the singular form also includes the plural form unless otherwise specified in the phrase. As used in the specification, “comprises” and/or “comprising” do not exclude the presence or addition of one or more other elements other than the mentioned elements. Throughout the specification, the same reference numerals refer to the same elements, and "and/or" includes each and all combinations of one or more of the mentioned elements. Although "first", "second", and the like are used to describe various elements, it goes without saying that these elements are not limited by these terms. These terms are only used to distinguish one component from another component. Therefore, it goes without saying that the first component mentioned below may be the second component within the technical idea of the present invention.

Unless otherwise defined, all terms (including technical and scientific terms) used in the present specification may be used with meanings that can be commonly understood by those of ordinary skill in the art to which the present invention belongs. In addition, terms defined in a commonly used dictionary are not interpreted ideally or excessively unless explicitly defined specifically.

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

Prior to the description, in various embodiments, components having the same configuration are typically described in one embodiment by using the same reference numerals, and in other embodiments, only configurations different from the one embodiment will be described.

1 to 4 show a hand rehabilitation exercise device according to an embodiment of the present invention.

As shown in these drawings, the hand rehabilitation exercise device 1a according to an embodiment of the present invention includes a finger motion detection sensor 10,

pressure measurement units

60a and 60b, and a control unit 70. .

The finger motion detection sensor 10 is disposed on the finger, preferably disposed on the finger joint, and detects the movement of the finger. As shown in FIG. 6, the finger motion detection sensor 10 is shown to be disposed on the second finger joint from the fingertip, but is not limited thereto, and the finger motion detection sensor 10 may be disposed on the remaining finger nodes. have.

The finger motion detection sensor 10 includes an IMU sensor (inertial measurement unit sensor).

The IMU sensor may be a 9-axis IMU sensor based on a micro mechanical system (MEMS). The 9-axis IMU sensor includes a 3-axis acceleration sensor, a 3-axis gyroscope sensor, and a 3-axis terrestrial magnetism sensor. The 3-axis acceleration sensor measures the moving inertia (acceleration) of the x-axis, y-axis, and z-axis. The 3-axis gyroscope sensor measures the rotational inertia (angular velocity) of the x-axis, y-axis and z-axis. The 3-axis geomagnetic sensor measures the x-axis, y-axis, and z-axis azimuth (geomagnetic direction). Here, as the finger motion detection sensor 10, instead of the IMU sensor, a flex sensor, an acceleration sensor, and a gyroscope sensor for measuring the bending displacement of the finger may be disposed.

The finger motion detection sensor 10 is attached to and detached from the finger wearing part 20a.

The finger wearing part 20a is worn on the finger, and includes a finger tube 21 and a sensor attachment/detachment part 27.

The finger tube 21 has a shape of a hollow tube to be inserted into a finger. Each finger tube 21 has a length at which the tip of each finger can be exposed when mounted on the corresponding finger joint. The finger tube 21 may be made of an elastic material, for example, a rubber material, or made of an elastic material so that the finger tube 21 is in close contact with the finger.

A pair of wings 22 are protruding from both ends of the finger tube 21. Each wing 22 is disposed while partially enclosing the upper part of the finger, but each wing 22 may be held and used when the finger tube 21 is inserted or removed from the finger.

In this embodiment, the finger tube 21 is shown to be worn on the second finger joint from the fingertip, but the present invention is not limited thereto, and the finger tube 21 may be worn on the other finger joint.

Meanwhile, among the finger tubes 21, a sensor mounting hole (not shown) in which a pinch pressure sensor 64 for measuring a pinch force of a finger to be described later is mounted on a finger tube, for example, a thumb tube 21 ′, which is worn on the thumb. Is formed.

The sensor attachment/detachment part 27 is provided on one side of the finger tube 21, and the finger motion detection sensor 10 is detachably fitted. The sensor attachment/detachment part 27 is formed in a rectangular receiving groove so that the finger motion detection sensor 10 is inserted and coupled. In this embodiment, the sensor attachment/detachment part 27 is formed as a rectangular receiving groove, but the present invention is not limited thereto, and the sensor attachment/detachment part 27 has a hook shape with an open top thereof, and the finger motion detection sensor 10 is The sensor attachment/detachment portion 27 may be inserted and coupled from the upper side to the lower side, and the sensor attachment/detachment portion 27 may support both sides of the finger motion detection sensor 10.

Here, as another embodiment of the finger wearing unit, as shown in FIGS. 8 and 9, the finger wearing unit 20b may be formed in a ring shape.

The finger wearing part 20b according to another embodiment includes a pair of mounting rings 23 and a sensor attachment/detachment part 27.

A pair of mounting rings 23 are arranged at intervals from each other, and the fingers penetrate and are fitted.

The sensor attachment/detachment part 27 is connected to the pair of mounting rings 23, and the finger motion detection sensor 10 is fitted. The sensor attachment/detachment part 27 is formed in a rectangular receiving groove so that the finger motion detection sensor 10 is inserted and coupled.

In addition, in the case of the finger wearing portion 20b according to another embodiment of the present invention, which is worn on the thumb, a thumb tube 21″ in the form of a thimble surrounding the end of the thumb among the finger wearing portions 20b is extended.

A sensor mounting hole (not shown) in which a pinch pressure sensor 64 for measuring a pinch force of a finger to be described later is mounted is formed in the thimble-shaped thumb tube 21″.

As described above, since the finger wearing unit 20b according to another embodiment has a configuration in which the pair of mounting rings 23 are worn on the finger joints at intervals, the tube-shaped finger wearing unit according to the above-described embodiment Compared to (20a), even if one area of the finger joint partially contracts during the joint movement of the finger, the joint movement of the finger can be naturally induced.

Meanwhile, the finger motion detection sensor 10 is connected to the wire 30.

The wire 30 has a strip shape extending along the length direction of the finger. The wire 30 is made of an elastic material so as to be flexibly bent against the joint motion of the fingers.

For example, it is preferable that the wire 30 has a length such that when the finger is bent to the maximum, the wire 30 is not bent and spreads flat. Accordingly, the wire 30 according to the present invention flexibly stretches and contracts according to the joint motion of the finger worn on the finger wearing part 20a, for example, when the finger is not bent to the maximum, by the elastic force of the wire 30 One area of the wire 30 has a shape protruding to be partially curved by an elastic force.

Meanwhile, the wire 30 corresponds to various finger lengths and is provided in various lengths. Thus, by selecting a wire 30 corresponding to the length of the finger on which the hand rehabilitation exercise device 1a according to an embodiment of the present invention is worn, the wire 30 is connected to the finger motion detection sensor 10 and the back of the hand to be described later. It can be used by connecting to the wearing part 40.

Here, the wire 30 is made of an optical cable, and in addition to the function of interconnecting the finger motion detection sensor 10 and the back of the hand wearing part 40, power is supplied to the finger motion detection sensor 10, and the finger motion detection sensor ( It may have a function of transmitting the finger motion data detected in 10) to the controller 70 to be described later.

In addition, the free end of the wire 30 is mounted on the back of the hand wearing portion 40.

The back of the hand wearing part 40 has a shape similar to the back of a human hand, and is worn on the back of the user's hand by a fixing means such as a band 41. In more detail, the fixing means has a ring shape so as to surround part of the circumference of the palm. Here, the back of the hand wearing part 40 may be formed of a ring-shaped elastic band so that the palm can be inserted.

In addition, the back of the hand wearing unit 40 is provided with a movement detection sensor 45 for detecting the movement of the back of the hand. The back of the hand motion detection sensor 45 includes an IMU sensor (inertial measurement unit sensor).

The IMU sensor may be a MEMS (micro mechanical system)-based 9-axis IMU sensor, and the 9-axis IMU sensor includes a 3-axis acceleration sensor, a 3-axis gyroscope sensor, and a 3-axis geomagnetic sensor. Here, as the back of the hand motion detection sensor 45, instead of the IMU sensor, a flex sensor, an acceleration sensor, and a gyroscope sensor may be disposed.

In addition, a plurality of wire mounting holes 43 into which each wire 30 is mounted is formed in the back of the hand wearing part 40.

The hand rehabilitation exercise device 1a according to an embodiment of the present invention may further include a wrist wearing part 50.

The wrist wearing part 50 is worn on the user's wrist by the band 51.

The wrist wearing part 50 is provided with a wrist motion detection sensor 55 for detecting the motion of the wrist. The wrist motion detection sensor 55 includes an inertial measurement unit sensor (IMU).

The IMU sensor may be a MEMS (micro mechanical system)-based 9-axis IMU sensor, and the 9-axis IMU sensor includes a 3-axis acceleration sensor, a 3-axis gyroscope sensor, and a 3-axis geomagnetic sensor.

Therefore, the IMU sensor that detects the movement of the wrist, the wrist flexion in the downward direction, the wrist extension in the upward direction, the wrist flexion in the left direction (radial flexion), the wrist flexion in the right direction ( Ulnar flexion), wrist rotation, etc. can be detected. Here, as the wrist motion detection sensor 55, instead of the IMU sensor, a flex sensor, an acceleration sensor, and a gyroscope sensor may be disposed.

In addition, the wrist wearing unit 50 supplies power to each finger motion detection sensor 10, the back of the hand motion detection sensor 45, the wrist motion detection sensor 55, the controller 70 to be described later, and the communication module 80. A battery (not shown) may be incorporated as a power supply unit for the purpose.

Meanwhile, the wrist wearing part 50 and the back wearing part 40 are interconnected by a plurality of wires 59.

Accordingly, when the wrist wearing unit 50 is worn on the user's wrist with the band 51 and the finger on which the finger wearing unit 20a is mounted is jointly moved, the back wearing unit 40 and the finger motion detection sensor ( 10) will not be separated from the hand.

Here, the wire 59 is made of an optical cable, and in addition to the function of interconnecting the wrist motion detection sensor 55 and the back of the hand wearing part 40, power is supplied to the wrist motion detection sensor 55, and the wrist motion detection sensor ( It may have a function of transmitting the wrist movement data sensed by 55) to the controller 70 to be described later.

The

pressure measuring units

60a and 60b measure pressure generated by the movement of the finger.

4 shows a grip pressure measurement unit 60a for measuring a grip pressure of a finger according to a grip operation of the finger as a pressure measurement unit.

The grip pressure measurement unit 60a includes a grip unit 61, a grip measurement sensor 63, and a connection tube 65.

The grip part 61 grips the hand to be treated for rehabilitation, for example, grips the remaining fingers including the palm and thumb. Accordingly, it is possible to perform joint motion of all or part of fingers through the grip part 61.

The grip part 61 has a cylindrical tube shape having a certain volume. In addition, the grip portion 61 is accommodated to accommodate a fluid, preferably air to flow. The grip portion 61 is preferably made of a flexible material that can be stretched by the grip force of the hand.

The grip measurement sensor 63 is accommodated in the back wearing part 40 of the hand and measures the pressure acting on the grip part 61. That is, the grip measurement sensor 63 measures the pressure of the fluid discharged from the grip part 61 as the user grips the grip part 61 and measures the pressure acting on the grip part 61.

The connection tube 65 is made of a material that can be freely bent. The connection tube connects the grip measurement sensor 63 and the grip part 61. This connection tube 65 guides the fluid discharged from the grip part 61 to flow to the grip measurement sensor 63.

Accordingly, in order to flow the fluid discharged from the grip part 61 to the grip measurement sensor 63, the back wearing part 40 is formed with a connection tube mounting hole 49 through which the connection tube 65 is attached and detached.

Thus, when the grip part 61 is mounted in the connection tube mounting hole 49 by the connection tube 65 as shown in FIG. 6, the grip part 61, the connection tube 65, and the grip measurement sensor 63 Forms a closed loop. That is, a fixed volume of fluid is accommodated between the grip part 61 and the connection tube 65 and the grip measurement sensor 63. Accordingly, when the user grips the grip part 61 and contracts the grip part 61, the fluid contained in the grip part 61 is discharged from the grip part 61 and flows along the connection tube 65, and the grip measurement sensor 63 Is pressed, and thus the grip measurement sensor 63 measures the pressure acting on the grip part 61. And, when the user releases the grip of the grip part 61, the fluid that pressurized the grip measurement sensor 63 flows into the grip part 61 through the connection tube 65, and the grip part 61 expands to its initial shape. . In this way, the grip part 61 contracts and expands by a grip or a grip release operation, and when the grip part 61 is gripped, the grip force of the finger can be measured through the grip measurement sensor 63.

Here, in the present embodiment, the grip measurement sensor 63 is shown to be provided on the back of the hand wearing portion 40, but is not limited thereto, and the grip measurement sensor 63 is a grip portion 61 instead of the back of the hand wearing portion 40 Alternatively, it may be provided on the wrist wearing part 50.

In addition, the grip pressure measurement unit 60a in the above-described embodiment includes the tube-shaped grip unit 61 in which the fluid is accommodated, the grip measurement sensor 63, and the fluid discharged from the grip unit 61. 63) is shown as being provided with a connection tube 65 for flow to, but is not limited thereto, and the grip pressure measurement unit is not shown, but as another embodiment, a grip part for gripping a finger and a grip part provided in the grip part for gripping the finger Accordingly, it may include a grip measurement sensor that measures the pressure acting on the grip portion. In this case, the grip measurement sensor may be formed of a load cell.

In addition, as another embodiment of the grip pressure measurement unit, although not shown, a grip unit to which a finger is gripped, and a grip measurement sensor configured on the finger to measure pressure according to a degree of bending of a finger gripped by the grip unit may be included. In this case, the grip measurement sensor may be formed of a separate bending sensor or may be replaced with the aforementioned finger motion detection sensor.

3 shows a pinch pressure measurement unit 60b for measuring a pinch force of a finger as a pressure measurement unit.

The pinch pressure measurement unit 60b includes a thumb tube 21 ′ that is worn on the tip of the thumb among the finger wearing portions, and a pinch pressure sensor 64.

A pinch pressure sensor 64 is mounted on the thumb tube 21'.

The pinch pressure sensor 64 has the form of a load cell, and any one of the index finger, middle finger, ring finger, and holding finger contacts, and measures the pinch force with the thumb. The pinch pressure sensor 64 is connected to the wearing part 40 on the back of the hand by a wire not shown.

The pressure measuring unit 60b using such a pinch pressure sensor 64 is useful when one of the thumb and the remaining fingers grips and moves, for example, when the finger performs a pinch movement, and is useful when measuring the pressing force of the gripped finger. .

The control unit 70 is provided on the back of the hand wearing unit 40, is electrically connected to each finger movement detection sensor 10, and the finger movement data detected by each finger movement detection sensor 10, and a grip pressure measurement unit ( 60a) and the pinch pressure measuring unit 60b respectively receive and collect the measured pressure data.

In this embodiment, the control unit 70 is shown to be provided on the back of the hand wearing unit 40, but is not limited thereto, and the control unit 70 may be provided on the wrist wearing unit 50 instead of the back of the hand wearing unit 40. have.

In addition, the control unit 70 is electrically connected to the back of the hand motion detection sensor 45, and is electrically connected by the wrist motion detection sensor 55 and the wire 59, the hand motion detection sensor 45 and wrist movement detection Each movement data of the wrist and back of the hand sensed by the sensor 55 is received and collected.

In addition, the controller 70 transmits motion data and pressure data of fingers, wrists, and backs of hands to a server or a terminal, which are communication terminals, through the communication module 80.

The communication module 80 is synchronized to enable data communication between the communication terminal and the hand rehabilitation exercise device 1a according to an embodiment of the present invention. The communication module 80 includes each finger motion detection sensor 10, the back of the hand motion detection sensor 45, and the finger, wrist and back of the hand motion data detected by the wrist motion detection sensor 55, and each pressure measurement unit. The pressure data measured in (60a, 60b) is provided to the communication terminal in real time. The communication terminal is the user's hand motion information transmitted through the communication module 80 from the hand rehabilitation exercise device according to the present invention, for example, motion data of fingers, wrists, and the back of the hand, and measured by the

pressure measuring units

60a and 60b. The pressure data is received in real time, and a virtual hand-shaped object corresponding to the received user's hand motion information is created and displayed on the display screen. Accordingly, the user can immediately visually check his or her hand movement through the screen during the finger rehabilitation exercise, thereby being motivated for the rehabilitation exercise and thus can be interested in the rehabilitation exercise.

Here, in this embodiment, the control unit 70 is connected to each finger motion detection sensor 10, the back of the hand motion detection sensor 45, and the wrist motion detection sensor 55 by means of

wires

30 and 59 in communication. Although it has been described, the controller 70 is not limited thereto, and the controller 70 is communicatively connected to each finger motion detection sensor 10, the back of the hand motion detection sensor 45, and the wrist motion detection sensor 55 by a wireless communication method. Motion data of a finger, a wrist, and the back of the hand detected by the motion detection sensor 10, the back of the hand motion detection sensor 45, and the wrist motion detection sensor 55 may be transmitted. In addition, in the present embodiment, the control unit 70 is described as being communicatively connected to the grip measurement sensor 63 and the load cell 67 by an electric wire, but the present invention is not limited thereto, and the control unit 70 is a wireless communication method. The pressure data measured by the grip measurement sensor 63 and the load cell 67 may be transmitted by being communicatively connected to the measurement sensor 63 and the load cell 67. Wireless communication methods include near field communication (NFC), wireless USB, ultra wide band (UWB), WiFi, Bluetooth, ZIGBEE, and wireless. Examples include radio frequency (RF) and infrared data association (IrDA).

Meanwhile, reference numeral 85, which is not described, is an operation button for operating the hand rehabilitation exercise apparatus 1a according to an embodiment of the present invention.

With this configuration, a process of wearing the hand rehabilitation exercise device 1a according to an embodiment of the present invention will be described.

First, the thumb, index finger, middle finger, ring finger, and finger wearing portion (20a) is worn on each second node.

Next, the back of the hand wearing part 40 and the wrist wearing part 50 are worn on the back of the hand and the

wrist using bands

41 and 51, respectively.

Then, the finger motion detection sensor 10 connected to one end of the wire 30 is inserted and coupled to the sensor attachment/detachment part 27 of each finger wearing part 20a.

Subsequently, by attaching the other end of the wire 30 to the wire mounting hole 43 of the back of the hand wearing part 40, the finger motion detection sensor 10 is supported on the back of the hand wearing part 40 through the wire 30 do.

Accordingly, the hand rehabilitation exercise device 1a according to an embodiment of the present invention is worn on the hand to be rehabilitated as shown in FIG. 5.

As described above, in the hand rehabilitation exercise device 1a according to an embodiment of the present invention, after first wearing the finger wearing part 20a on the finger, the finger motion detection sensor 10 is attached to the sensor of the finger wearing part 20a. By attaching it to the detachable portion 27, the patient's finger can be easily worn and used even when the patient's finger is closed, thereby improving user convenience. In addition, by providing wires 30 of various lengths corresponding to various finger lengths, by selecting a wire 30 corresponding to the length of the finger on which the hand rehabilitation exercise device 1a according to an embodiment of the present invention is worn, The wire 30 can be connected to the finger motion detection sensor 10 and the back of the hand wearing part 40, and it is possible to use it regardless of the length of the finger, since only the wire can be replaced and worn corresponding to various finger lengths.

Hereinafter, a process of hand rehabilitation training while wearing the hand rehabilitation exercise device 1a according to an embodiment of the present invention will be described.

First, a process of rehabilitation exercise using the grip part 61 will be described.

As shown in FIG. 6, after mounting the connection tube 65 in the connection tube mounting hole 49, the grip part 61 is gripped using the remaining fingers including the palm and thumb.

And, in a state in which the grip part 61 is supported by the palm of the hand, as each finger grips or releases the grip part 61 with each finger, it is possible to jointly exercise each finger.

At this time, when each finger grips or releases the grip part 61, the finger motion detection sensor 10 determines the type of joint movement based on the finger motion data detected, for example, the degree of bending of the finger. It can be confirmed through the control unit 70. At the same time, when each finger grips the grip part 61, the grip part 61 contracts, and the fluid contained in the grip part 61 is transferred to the grip measurement sensor 63 through the connection tube 65 to measure the grip. The sensor 63 measures the pressure acting on the grip part 61. Based on the pressure data measured by the grip measurement sensor 63, it is possible to check through the control unit 70 how much force each finger is gripped.

Accordingly, the hand rehabilitation exercise apparatus 1a according to an embodiment of the present invention can perform rehabilitation training while simultaneously measuring the bending of the finger and the force applied to the finger when performing joint movement of the finger.

Here, after wearing the hand rehabilitation exercise device 1b according to another embodiment of the present invention on the hand to be trained for rehabilitation, as shown in FIG. 10, the connection tube 65 is connected to the connection tube as shown in FIG. After mounting in the mounting hole 49, the grip part 61 is gripped or released using the remaining fingers including the palm and thumb, and, similar to the rehabilitation exercise using the grip part 61 described above, the rehabilitation exercise can be performed. do.

Next, a process of rehabilitation exercise using the pinch pressure measuring unit 60b will be described.

As shown in FIG. 7, by contacting or separating the index finger toward the pinch pressure sensor 64 provided on the thumb tube 21 ′, the thumb and the index finger can be pinched.

At this time, when the index finger contacts or separates the pinch pressure sensor 64, for example, in what form the thumb and index finger perform the pinch movement based on the finger movement data detected by the finger movement detection sensor 10 of the thumb and the index finger. , It is possible to check the bending degree of the finger through the control unit 70. For example, based on the finger motion data sensed by each finger motion detection sensor 10, it is possible to check the pinch motion state, such as whether the index finger and thumb are in normal contact or whether the index finger and thumb are in side contact. At the same time, when the index finger contacts the pinch pressure sensor 64, the pinch pressure sensor 64 measures the pressing force by the thumb and the index finger. Based on the pressure data measured by the pinch pressure sensor 64, it is possible to check through the control unit 70 how much the pinch force generated by the thumb and forefinger is, for example, how much force the thumb and forefinger have pinched. do.

Accordingly, the hand rehabilitation exercise device 1a according to an embodiment of the present invention can perform rehabilitation training while simultaneously measuring the bending of the finger and the force applied to the finger when pinching the finger.

Here, after wearing the hand rehabilitation exercise device 1b according to another embodiment of the present invention on the hand to be trained for rehabilitation, as shown in FIG. 10, pinch pressure using the thumb and index finger as shown in FIG. By contacting or spaced apart from the sensor 64, it is possible to perform pinch rehabilitation. On the other hand, after wearing the hand rehabilitation exercise device (1b) according to another embodiment of the present invention, when performing a pinch exercise using the thumb and forefinger, the thumb tube 21″ in the form of a thimble is worn on the end of the thumb. , During the pinch exercise, each bottom surface of the thumb and index finger comes into close contact, so that the pinch movement can be performed relatively accurately compared to the tube-shaped thumb tube 21 ′ of the hand rehabilitation exercise device 1a according to the above-described embodiment. There will be.

In the above-described embodiments, the hand rehabilitation exercise device 1a, 1b according to the present invention is illustrated for pinch exercise using a thumb and forefinger, but is not limited thereto, and the pinch movement of the finger is stopped, ring finger, and holding. You can do a pinch exercise using either finger or thumb.

In addition, the hand rehabilitation exercise device (1a, 1b) according to the present invention, when exercising the back of the hand while only fixing each finger and wrist, based on the back of the hand motion data detected by the motion detection sensor 45 It is possible to check through the control unit 70, for example, bending or twisting the back of the hand.

And, if the wrist is moved while each finger and the back of the hand are fixed, based on the wrist motion data sensed by the wrist motion detection sensor 55, the wrist movement is determined in what form, for example, the wrist moves vertically or twisting. It is possible to check the degree to which it is performed through the control unit 70.

In addition, when each finger, the back of the hand, and the wrist are combined with each other, the movement data of the finger, wrist, and hand detected by the finger motion detection sensor 10, the back motion detection sensor 45, and the wrist motion detection sensor 55 Based on this, it is possible to check through the control unit 70 how the hand moves.

In particular, in the hand rehabilitation exercise apparatus 1a, 1b according to the present invention, when the finger motion detection sensor 10, the back of the hand motion detection sensor 45, and the wrist motion detection sensor 55 are configured as IMU sensors, rehabilitation training Since the initializing process of each

motion detection sensor

10, 45, 55 is not always necessary before, the user's convenience can be improved.

On the other hand, the hand rehabilitation exercise device (1a, 1b) according to the invention is shown that the finger motion detection sensor 10 and the wire 30 are provided to correspond to each of the thumb, index finger, middle finger, ring finger, and possession, but is not limited thereto. In another embodiment, the finger motion detection sensor 10 and the wire 30 may be provided to correspond to one or more of a thumb, an index finger, a middle finger, a ring finger, and a holding finger.

In addition, the hand rehabilitation exercise device in the above-described embodiments is shown as being provided with a finger wearing means, a back wearing part, and a wrist wearing part, but is not limited thereto, and includes a finger wearing means and a back wearing part, or It may also include a wrist wearing part.

When the hand rehabilitation exercise device includes a finger wearing means and a back wearing part of the hand, the finger motion detection sensor and the back wearing part of the hand may be communicatively connected by wire (wire) or wirelessly. In addition, a control unit may be provided on the back of the hand to receive and collect motion data of the finger and the back of the hand detected by the finger motion detection sensor and the back of the hand motion detection sensor. Accordingly, after the finger wearing means is worn on a specific finger joint, the back of the hand wearing part is worn on the back of the hand, the finger motion detection sensor is mounted on the sensor attachment and detachment part to perform rehabilitation.

When the hand rehabilitation exercise device includes a finger wearing unit and a wrist wearing unit, the finger motion detection sensor and the wrist wearing unit may be communicatively connected by wire (wire) or wirelessly. In addition, a control unit may be provided on the wrist wearing unit to receive and collect motion data of fingers and wrists sensed by the finger motion detection sensor and the wrist motion detection sensor. Accordingly, after the finger wearing means is worn on a specific finger joint and the wrist wearing unit is worn on the wrist, the finger motion detection sensor is mounted on the sensor attachment and detachment unit to perform rehabilitation.

Claims

A finger motion detection sensor disposed on a finger to detect movement of the finger;

A pressure measuring unit for measuring pressure generated by the movement of the finger; And

A hand rehabilitation exercise device comprising a control unit for receiving and collecting finger movement data detected by the finger movement detection sensor and pressure data measured by the pressure measuring unit, respectively.
According to claim 1,

The pressure measuring unit,

A grip part to which a finger is gripped; And

A hand rehabilitation exercise device comprising a grip measurement sensor that measures a pressure acting on the grip part or a pressure according to a bending degree of a finger gripped on the grip part.
According to claim 1,

The pressure measuring unit,

A thumb tube worn on the thumb; And

A hand rehabilitation exercise device comprising a pinch pressure sensor provided on the thumb tube and contacting any one of an index finger, a middle finger, a ring finger, and a holding finger to measure a pinch force with the thumb.
According to claim 1,

The finger motion detection sensor includes any one of an IMU sensor, a flex sensor, an acceleration sensor, and a gyroscope sensor.
According to claim 1,

A hand rehabilitation exercise device having a sensor attachment and detachment unit to which the finger motion detection sensor is attached and detached, and including a finger wearing unit worn on a finger.
According to claim 1,

A wire connected to the finger motion detection sensor and extending along a length direction of the finger; And

The wire is connected, including a wearable back of the hand worn on the back of the hand, hand rehabilitation exercise device.
The method of claim 6,

It is disposed on the back of the hand wearing part, further comprising a motion detection sensor for detecting the movement of the back of the hand,

The control unit receives and aggregates the motion data of the back of the hand detected by the motion detection sensor of the back of the hand.
The method of claim 7,

A wrist wearing unit worn on the wrist; And

It is disposed on the wrist wearing portion, further comprising a wrist motion detection sensor for detecting the movement of the wrist,

The control unit receives and collects wrist motion data detected by the wrist motion detection sensor.
The method of claim 7,

The hand motion detection sensor and the wrist motion detection sensor include any one of an IMU sensor, a flex sensor, an acceleration sensor, and a gyroscope sensor.
According to claim 2,

The grip measurement sensor is provided on any one of the grip part, the back of the hand, and the wrist, hand rehabilitation exercise device.