WO2021071278A1 - Rehabilitation robot for increasing upper limb muscle strength - Google Patents

Rehabilitation robot for increasing upper limb muscle strength Download PDF

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Publication number
WO2021071278A1
WO2021071278A1 PCT/KR2020/013728 KR2020013728W WO2021071278A1 WO 2021071278 A1 WO2021071278 A1 WO 2021071278A1 KR 2020013728 W KR2020013728 W KR 2020013728W WO 2021071278 A1 WO2021071278 A1 WO 2021071278A1
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WO
WIPO (PCT)
Prior art keywords
arm module
upper limb
rehabilitation robot
muscle strength
bar
Prior art date
Application number
PCT/KR2020/013728
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French (fr)
Korean (ko)
Inventor
김광기
이정수
조성민
김태현
이진영
윤기철
이금주
Original Assignee
가천대학교 산학협력단
대한민국(국립재활원장)
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Publication of WO2021071278A1 publication Critical patent/WO2021071278A1/en

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
    • A61H1/0281—Shoulder
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
    • A63B21/00181—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices comprising additional means assisting the user to overcome part of the resisting force, i.e. assisted-active exercising
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
    • A63B21/002—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices isometric or isokinetic, i.e. substantial force variation without substantial muscle motion or wherein the speed of the motion is independent of the force applied by the user
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B23/00—Exercising apparatus specially adapted for particular parts of the body
    • A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
    • A63B23/12—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/01—Constructive details
    • A61H2201/0192—Specific means for adjusting dimensions
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1253—Driving means driven by a human being, e.g. hand driven
    • A61H2201/1261—Driving means driven by a human being, e.g. hand driven combined with active exercising of the patient
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/1614—Shoulder, e.g. for neck stretching
    • A61H2201/1616—Holding means therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/1635—Hand or arm, e.g. handle
    • A61H2201/1638—Holding means therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1657—Movement of interface, i.e. force application means
    • A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot

Definitions

  • the present invention relates to a rehabilitation robot for upper limb muscle strength training, more specifically, an upper limb muscle strength rehabilitation robot for a spinal cord injury patient, and to a rehabilitation robot that enables various types of exercises for spinal cord injury patients.
  • the therapeutic rehabilitation robot is used for the purpose of neuroplasticity of a patient who is paralyzed due to damage to the nervous system, and is used for the purpose of recovering the muscle strength of a patient who has an activity disorder due to a loss of muscle strength.
  • the problem of such a rehabilitation robot for treatment has not been manufactured in consideration of the movement of the center of the shoulder suitable for individual body characteristics. Therefore, when the patient rehabilitation training, there is a problem that the shoulder movement becomes unnatural, and there is a limitation in that there is no various motor functions such as circular motion or translational motion.
  • Republic of Korea Patent Registration No. 10-1904990 is a rehabilitation robot with a handle, and if hemiplegic patients hold the handle of the rehabilitation robot for a long time, the force enters the hand, resulting in stiffness in the hand or a secondary accident. I can.
  • the present invention has been conceived to solve the above problem, and is to provide a rehabilitation robot that can be adjusted appropriately for the user's body and that can evenly develop shoulder muscles.
  • the rehabilitation robot for upper limb muscle strength training includes an extendable and compressible arm module 100; A main body 200 in which the arm module is mounted through the arm module central axis link 111 and extends vertically to serve as a support; And one side is connected to the arm module 100 through the first auxiliary link 112 and the other side is connected to the main body 200 through the second auxiliary link 113, and the arm module support part 300 capable of extension and compression. It may include.
  • the arm module 100 includes: a first compression bar 120 for translational movement in a first axis direction; An arm module cylinder 110 that assists in the translational movement of the first compression bar 120; A rotation bar mounting portion 130 connected to the front end of the first compression bar 120 and connected to the rotation bar 150 through a rotation link 140; And a servo motor driving the rotational motion of the rotation bar and the translational motion of the first compression bar.
  • the arm module support part 300 includes a second compression bar 310 that translates in a second axial direction, and an arm module support part cylinder 320 that assists in the translational movement of the second compression bar. It may include.
  • the rotation bar mounting portion, the first compression bar, and the arm module cylinder may be connected in order in the first axis direction, respectively.
  • the rehabilitation robot for upper limb muscle strength training is capable of adjusting the height located from the ground of the arm module 100 through rotation of the arm module central axis link 111, and As the height is adjusted, the second compression bar of the arm module support part may be translated.
  • a rotating bar connected to the rotating bar mounting unit may be detachable.
  • the rehabilitation robot for upper limb muscle strength training further includes a grip part 1300 having a shape bent in a rotation link of a rotation bar mounting part, and the grip part 1300 is detachable to the rotation bar mounting part. I can.
  • the rehabilitation robot for upper limb muscle strength training further includes a wheelchair wheel 1400 on a rotation link of the rotation bar mounting portion, and the wheelchair wheel 1400 may be detachable to the rotation bar mounting portion. have.
  • a detachable method may be performed by one of a button, a screw assembly, and a pin assembly.
  • the rehabilitation robot for upper limb muscle strength training enables a spinal cord injury patient to perform various rehabilitation exercises such as circular motion, vertical translational motion, and post-translational motion, and thus shoulder muscles and arms of a spinal cord injury patient. It can develop muscle and cardiopulmonary function evenly.
  • the rehabilitation robot for upper limb muscle strength training can adjust the height according to the user's body, the discomfort of the shoulder movement that the user feels during the rehabilitation exercise can be eliminated.
  • the present invention is convenient for use because a rotating bar, a grip unit, or a wheelchair wheel capable of performing various movements can be attached and detached to the robot.
  • the rehabilitation robot for upper limb muscle strength training is likely to be used not only for spinal cord injury patients, but also for non-disabled people.
  • FIG. 1 shows a first embodiment of a rehabilitation robot for upper limb muscle strength training according to the present invention.
  • FIG. 2 shows a second embodiment of a rehabilitation robot for upper limb muscle strength training according to the present invention.
  • Figure 3 shows the use of a rehabilitation robot for upper limb muscle strength training according to the present invention.
  • FIG. 4 shows a third embodiment of a rehabilitation robot for upper limb muscle strength training according to the present invention.
  • FIG. 5 shows a fourth embodiment of a rehabilitation robot for upper limb muscle strength training according to the present invention.
  • first, second, A, and B may be used to describe various elements, but the elements should not be limited by the terms. The above terms are used only for the purpose of distinguishing one component from another component. For example, without departing from the scope of the present invention, a first element may be referred to as a second element, and similarly, a second element may be referred to as a first element.
  • the term and/or includes a combination of a plurality of related items or any of a plurality of related items.
  • FIG. 1 shows a first embodiment of a rehabilitation robot for upper limb muscle strength training according to the present invention.
  • the rehabilitation robot for upper limb muscle strength training includes a parallel plate 400 on which a wheelchair can be lifted, a fixing frame 410 for fixing the wheelchair so that the wheelchair is not pushed back, and a parallel plate (
  • the arm module 100 of the rehabilitation robot is mounted on the main body 200 through the arm module central axis link 111, and can perform translational movement in a first axis direction referred to as a horizontal direction. .
  • the arm module 100 includes a first compression bar 120 that translates in a first axis direction, an arm module cylinder 110 that assists in the translational movement of the first compression bar 120, and the first compression bar ( It may include a rotation bar mounting portion 130 connected to the front end of 120) and the rotation bar 150 is connected through the rotation link 140.
  • the rotation bar mounting portion 130, the first compression bar 120, and the arm module cylinder 110 may be connected in series in order to form the arm module 100.
  • the rehabilitation robot according to an embodiment of the present invention may be characterized in that the rotation bar 150 rotates in a circular motion in the direction of the arrow shown in FIG. 1.
  • the user may perform upper limb muscle strength exercise while holding the handle 160 attached to one end and the other end of the rotating bar 150 and turning it clockwise or counterclockwise. More specifically, when a patient in a wheelchair climbs the parallel plate 400, the wheelchair is not pushed back by the fixing frame 410. In addition, the user can develop shoulder and arm muscles while holding the handle 160 and rotating the rotating bar 150 clockwise or counterclockwise.
  • the handle has a feature that is detachable.
  • the arm module support part 300 is a second compression bar 310 that translates in a second axis direction, which is an up-down direction, and a second compression bar that assists in the translational movement of the
  • the arm module support part cylinder 320 may be included, and a specific operation of the arm module support part 300 will be described with reference to FIG. 3.
  • the rehabilitation robot for upper limb muscle strength training may further include a monitor 500 that displays the user's training status on the screen.
  • FIG. 2 shows a second embodiment of a rehabilitation robot for upper limb muscle strength training according to the present invention.
  • the arm module 100 may be characterized in that it can be extended and compressed while translating in a horizontal direction shown by an arrow. More specifically, the first compression bar 120 may be extended or contracted in the horizontal direction by the arm module cylinder 110.
  • the translational movement of the first compression bar 120 of the arm module 100 and the rotational movement of the rotation bar 150 as shown in FIG. 1 may be driven by a servo motor.
  • the rehabilitation robot according to the present invention may implement an active-assisted mode and a resistive mode by driving the servomotor and the gear.
  • the active auxiliary mode is a mode in which the rotational movement of the rotating bar 150 or the horizontal translational movement of the first compression bar 120 is automatically performed, and is a mode capable of exhibiting an effect such as stretching when the user holds a handle or the like. .
  • the user directly drives the rotational movement of the rotation bar 150 or the translational movement of the first compression bar 120, which is a mode in which the user can adjust the amount of exercise according to the amount of resistance. Therefore, in the resistance mode, the user can strengthen the upper limb muscle strength.
  • the user's chest muscle mass and lung capacity can be developed by holding the handle 160 and pulling forward or pushing backward with both hands.
  • FIG 3 shows a third embodiment of a rehabilitation robot for upper limb muscle strength training according to the present invention.
  • the height adjustment of the arm module 100 may be performed through rotation of the arm module central axis link 111, and more specifically, the arm module central axis link 111 is driven through a linear actuator. By rotating, the height of the arm module 100 can be adjusted.
  • the second compression bar 310 of the arm module support 300 may be translated in a vertical second axis direction. More specifically, when the height of the arm module 100 is increased, the second compression bar 310 may be extended, and when the height of the arm module 100 is decreased, the second compression bar 310 may be contracted. Meanwhile, after adjusting the height, the height of the arm module 100 may be fixed using a pivot and a joint.
  • FIG. 4 shows a fourth embodiment of a rehabilitation robot for upper limb muscle strength training according to the present invention
  • FIG. 5 shows a usage diagram of the rehabilitation robot for upper limb muscle strength training according to the present invention.
  • the rehabilitation robot for upper limb muscle strength training includes a grip unit 1300 or a wheelchair wheel 1400 on the rotating link 140 of the rotating bar mounting unit 130. It can be coupled, and the grip unit 1300 and the wheelchair wheel 1400 are detachable to the rotating bar mounting unit 130.
  • the patient can develop the muscles of the shoulder and arm while holding the grip part 1300 having a bent shape with his hand and raising it upward or downward as shown in the arrow direction.
  • the second compression bar 310 of the arm module support part 300 may be extended or compressed.
  • a patient may perform an exercise of holding and turning the wheelchair wheel 1400.
  • the patient can improve the muscle mass of the upper triceps arm, such as the biceps muscle of the upper arm, the triceps muscle, and the shoulder cell muscle.
  • the present invention can arrange a stop switch to prevent sudden movement in a position where the rehabilitation therapist can easily press.
  • the stop switch may be disposed in a position around the handle that the patient can directly press.
  • the rehabilitation robot may evaluate a rehabilitation exercise when a user holds a handle and performs a pre-war movement, an up-and-down translation exercise, and a post-rear translation exercise. For example, force, speed, frequency, and momentum may be evaluated. Force may be evaluated through a load cell, and speed may be evaluated through an acceleration sensor.
  • the rehabilitation robot for upper limb muscle strength training enables a spinal cord injury patient to perform various rehabilitation exercises such as circular motion, vertical translational motion, and post-translational motion, and thus shoulder muscles and arms of a spinal cord injury patient. Since it can develop muscle and cardiopulmonary function evenly, it is highly likely to be used not only for patients with spinal cord injury, but also for non-disabled people.

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  • Physical Education & Sports Medicine (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
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Abstract

The present invention relates to a rehabilitation robot for upper limb muscle strength training, the rehabilitation robot comprising: an arm module that can be extended and compressed; a body to which the arm module is mounted through an arm module central axis link, and which extends vertically to serve as a support; and an arm module support part that has one side connected to the arm module through a first auxiliary link and the other side connected to the body through a second auxiliary link, and can be extended and compressed

Description

상지 근력 강화 재활 로봇Upper limb muscle strength rehabilitation robot
본 발명은 상지 근력 강화 훈련을 위한 재활 로봇에 관한 것으로, 보다 구체적으로는 척수손상 환자를 위한 상지 근력 강화 재활 로봇이며, 척수손상 환자로 하여금 여러 가지 종류의 운동을 가능케 하는 재활 로봇에 관한 것이다. The present invention relates to a rehabilitation robot for upper limb muscle strength training, more specifically, an upper limb muscle strength rehabilitation robot for a spinal cord injury patient, and to a rehabilitation robot that enables various types of exercises for spinal cord injury patients.
척수손상 환자들은 개개인마다 척수 손상 부위 및 근력 손실 정도가 다르고 장애 전 상태에서 가지고 있는 근력도 다르므로, 같은 기준의 재활 운동으로 한계가 있다. 재활 로봇을 이용한 치료를 진행할 때 정도에 따라 단계적으로 훈련할 수 있는 방식이 필요하다.Individuals with spinal cord injury have different areas of spinal cord injury and strength loss, and have different strengths in pre-disorder conditions, so there is a limit to rehabilitation exercises based on the same criteria. When performing treatment using a rehabilitation robot, there is a need for a method that can be trained step by step according to the degree.
이에 치료용 재활 로봇은 신경계 손상으로 인한 마비 환자의 신경 소성을 목적으로 하고, 근력 소실로 인해 활동 장애가 발생한 환자의 근력을 회복하는 목적으로 사용되고 있다. 그러나 이러한 치료용 재활 로봇의 문제점은 개개인의 신체 특성에 맞는 어깨 중심 이동을 고려하여 제작되지 않았다. 따라서 환자가 재활훈련할 때, 어깨 움직임이 부자연스럽게 되는 문제점이 있었으며, 원 운동 또는 병진운동 등 다양한 운동 기능이 없는 한계가 있다. Accordingly, the therapeutic rehabilitation robot is used for the purpose of neuroplasticity of a patient who is paralyzed due to damage to the nervous system, and is used for the purpose of recovering the muscle strength of a patient who has an activity disorder due to a loss of muscle strength. However, the problem of such a rehabilitation robot for treatment has not been manufactured in consideration of the movement of the center of the shoulder suitable for individual body characteristics. Therefore, when the patient rehabilitation training, there is a problem that the shoulder movement becomes unnatural, and there is a limitation in that there is no various motor functions such as circular motion or translational motion.
대한민국 특허 등록 제10-1904990호는 손잡이가 있는 재활 로봇인데, 편마비 환자가 상기 재활 로봇의 손잡이를 오래 잡고 있으면 손에 힘이 들어가기 때문에 손에 경직이 일어나거나 손에 힘이 풀려 2차 사고를 일으킬 수 있다. Republic of Korea Patent Registration No. 10-1904990 is a rehabilitation robot with a handle, and if hemiplegic patients hold the handle of the rehabilitation robot for a long time, the force enters the hand, resulting in stiffness in the hand or a secondary accident. I can.
본 발명은 상기 문제점을 해결하기 위해 안출된 것으로서, 사용자의 신체에 적합하게 조절가능하고, 어깨 근육을 골고루 발달시킬 수 있는 재활 로봇을 제공하고자 한다. The present invention has been conceived to solve the above problem, and is to provide a rehabilitation robot that can be adjusted appropriately for the user's body and that can evenly develop shoulder muscles.
본 발명의 기술적 과제들은 이상에서 언급한 기술적 과제들로 제한되지 않으며, 언급되지 않은 또 다른 기술적 과제들은 아래의 기재로부터 통상의 기술자에게 명확하게 이해될 수 있을 것이다.The technical problems of the present invention are not limited to the technical problems mentioned above, and other technical problems that are not mentioned will be clearly understood by those skilled in the art from the following description.
본 발명의 일 실시예에 따른 상지 근력 강화 훈련을 위한 재활 로봇은 연장 및 압축 가능한 암모듈(100); 상기 암모듈이 암모듈 중심축링크(111)를 통해 장착되고 수직 연장하여 지지대 역할을 수행하는 본체(200); 및 일측이 제1 보조링크(112)를 통해 상기 암모듈(100)에 연결되고 타측이 제2 보조링크(113)를 통해 상기 본체(200)에 연결되며 연장 및 압축 가능한 암모듈 지지부(300)를 포함할 수 있다.The rehabilitation robot for upper limb muscle strength training according to an embodiment of the present invention includes an extendable and compressible arm module 100; A main body 200 in which the arm module is mounted through the arm module central axis link 111 and extends vertically to serve as a support; And one side is connected to the arm module 100 through the first auxiliary link 112 and the other side is connected to the main body 200 through the second auxiliary link 113, and the arm module support part 300 capable of extension and compression. It may include.
본 발명의 일 실시예에 따른 암모듈(100)은, 제1축 방향으로 병진운동하는 제1 압축바(120); 상기 제1 압축바(120)의 병진운동을 보조하는 암모듈 실린더(110); 상기 제1 압축바(120)의 전단에 연결되고 회전바(150)가 회전링크(140)를 통해 연결되는 회전바 장착부(130); 및 상기 회전바의 회전운동 및 상기 제1 압축바의 병진운동을 구동하는 서보모터를 포함할 수 있다.The arm module 100 according to an embodiment of the present invention includes: a first compression bar 120 for translational movement in a first axis direction; An arm module cylinder 110 that assists in the translational movement of the first compression bar 120; A rotation bar mounting portion 130 connected to the front end of the first compression bar 120 and connected to the rotation bar 150 through a rotation link 140; And a servo motor driving the rotational motion of the rotation bar and the translational motion of the first compression bar.
본 발명의 일 실시예에 따른 암모듈 지지부(300)는, 제2축방향으로 병진운동하는 제2 압축바(310) 및 상기 제2 압축바의 병진운동을 보조하는 암모듈 지지부 실린더(320)를 포함할 수 있다.The arm module support part 300 according to an embodiment of the present invention includes a second compression bar 310 that translates in a second axial direction, and an arm module support part cylinder 320 that assists in the translational movement of the second compression bar. It may include.
본 발명의 일 실시예에 따른 상지 근력 강화 훈련을 위한 재활 로봇은 상기 회전바 장착부, 상기 제1 압축바 및 상기 암모듈 실린더가 각각 상기 제1 축 방향으로 순서대로 연결될 수 있다.In the rehabilitation robot for upper limb muscle strength training according to an embodiment of the present invention, the rotation bar mounting portion, the first compression bar, and the arm module cylinder may be connected in order in the first axis direction, respectively.
본 발명의 일 실시예에 따른 상지 근력 강화 훈련을 위한 재활 로봇은 상기 암모듈 중심축링크(111)의 회전을 통해 상기 암모듈(100)의 지면으로부터 위치한 높이가 조절 가능하며, 상기 암모듈의 높이를 조절함에 따라 상기 암모듈 지지부의 제2 압축바가 병진운동할 수 있다.The rehabilitation robot for upper limb muscle strength training according to an embodiment of the present invention is capable of adjusting the height located from the ground of the arm module 100 through rotation of the arm module central axis link 111, and As the height is adjusted, the second compression bar of the arm module support part may be translated.
본 발명의 일 실시예에 따른 상지 근력 강화 훈련을 위한 재활 로봇은 회전바 장착부에 연결된 회전바가 탈부착 가능할 수 있다.In the rehabilitation robot for upper limb muscle strength training according to an embodiment of the present invention, a rotating bar connected to the rotating bar mounting unit may be detachable.
본 발명의 일 실시예에 따른 상지 근력 강화 훈련을 위한 재활 로봇은 회전바 장착부의 회전링크에 꺽인 형상을 갖는 그립부(1300)를 더 포함하고, 상기 그립부(1300)는 상기 회전바 장착부에 탈부착 가능할 수 있다.The rehabilitation robot for upper limb muscle strength training according to an embodiment of the present invention further includes a grip part 1300 having a shape bent in a rotation link of a rotation bar mounting part, and the grip part 1300 is detachable to the rotation bar mounting part. I can.
본 발명의 일 실시예에 따른 상지 근력 강화 훈련을 위한 재활 로봇은 상기 회전바 장착부의 회전링크에 휠체어 바퀴(1400)를 더 포함하고, 상기 휠체어 바퀴(1400)는 상기 회전바 장착부에 탈부착 가능할 수 있다.The rehabilitation robot for upper limb muscle strength training according to an embodiment of the present invention further includes a wheelchair wheel 1400 on a rotation link of the rotation bar mounting portion, and the wheelchair wheel 1400 may be detachable to the rotation bar mounting portion. have.
본 발명의 일 실시예에 따른 상지 근력 강화 훈련을 위한 재활 로봇은 탈부착 방식이 버튼, 나사 조립, 핀 조립 중 어느 하나로 수행될 수 있다.In the rehabilitation robot for upper limb muscle strength training according to an embodiment of the present invention, a detachable method may be performed by one of a button, a screw assembly, and a pin assembly.
본 발명의 일 실시예에 따른 상지 근력 강화 훈련을 위한 재활 로봇은 척수손상 환자로 하여금 원운동, 상하 병진운동, 전후 병진운동 등 다양한 재활운동을 할 수 있게 하여, 척수손상 환자의 어깨 근육, 팔근육 및 심폐기능을 골고루 발달시킬 수 있다. The rehabilitation robot for upper limb muscle strength training according to an embodiment of the present invention enables a spinal cord injury patient to perform various rehabilitation exercises such as circular motion, vertical translational motion, and post-translational motion, and thus shoulder muscles and arms of a spinal cord injury patient. It can develop muscle and cardiopulmonary function evenly.
또한 본 발명의 일 실시예에 따른 상지 근력 강화 훈련을 위한 재활 로봇은 사용자의 신체에 맞게 높이를 조절할 수 있으므로, 사용자가 재활운동시 느끼는 어깨 움직임의 불편함을 해소시킬 수 있다. In addition, since the rehabilitation robot for upper limb muscle strength training according to an embodiment of the present invention can adjust the height according to the user's body, the discomfort of the shoulder movement that the user feels during the rehabilitation exercise can be eliminated.
나아가 본 발명은 다양한 운동을 수행할 수 있는 회전바, 그립부 또는 휠체어 바퀴를 로봇에 탈부착시킬 수 있으므로, 사용에도 편리하다. Furthermore, the present invention is convenient for use because a rotating bar, a grip unit, or a wheelchair wheel capable of performing various movements can be attached and detached to the robot.
본 발명의 일 실시예에 따른 상지 근력 강화 훈련을 위한 재활 로봇은 척수손상 환자뿐만 아니라, 비장애인에게도 활용될 가능성이 높다. The rehabilitation robot for upper limb muscle strength training according to an embodiment of the present invention is likely to be used not only for spinal cord injury patients, but also for non-disabled people.
본 발명의 효과들은 이상에서 언급한 효과들로 제한되지 않으며, 언급되지 않은 또 다른 효과들은 아래의 기재로부터 통상의 기술자에게 명확하게 이해될 수 있을 것이다.The effects of the present invention are not limited to the above-mentioned effects, and other effects not mentioned will be clearly understood by those skilled in the art from the following description.
도 1은 본 발명에 따른 상지 근력 강화 훈련을 위한 재활 로봇의 제1 실시예를 나타낸다. 1 shows a first embodiment of a rehabilitation robot for upper limb muscle strength training according to the present invention.
도 2는 본 발명에 따른 상지 근력 강화 훈련을 위한 재활 로봇의 제2 실시예를 나타낸다.2 shows a second embodiment of a rehabilitation robot for upper limb muscle strength training according to the present invention.
도 3은 본 발명에 따른 상지 근력 강화 훈련을 위한 재활 로봇의 사용도를 나타낸다.Figure 3 shows the use of a rehabilitation robot for upper limb muscle strength training according to the present invention.
도 4는 본 발명에 따른 상지 근력 강화 훈련을 위한 재활 로봇의 제3 실시예를 나타낸다.4 shows a third embodiment of a rehabilitation robot for upper limb muscle strength training according to the present invention.
도 5는 본 발명에 따른 상지 근력 강화 훈련을 위한 재활 로봇의 제4 실시예를 나타낸다.5 shows a fourth embodiment of a rehabilitation robot for upper limb muscle strength training according to the present invention.
본 발명은 다양한 변경을 가할 수 있고 여러 가지 실시예를 가질 수 있는 바, 특정 실시예들을 도면을 참조하여 상세하게 설명하도록 한다. 그러나 이는 본 발명을 특정한 실시 형태에 대해 한정하려는 것이 아니며, 본 발명의 사상 및 기술 범위에 포함되는 모든 변경, 균등물 내지 대체물을 포함하는 것으로 이해되어야 한다. 각 도면을 설명하면서 유사한 참조부호를 유사한 구성요소에 대해 사용하였다.In the present invention, various modifications may be made and various embodiments may be provided, and specific embodiments will be described in detail with reference to the drawings. However, this is not intended to limit the present invention to a specific embodiment, it should be understood to include all changes, equivalents, or substitutes included in the spirit and scope of the present invention. In describing each drawing, similar reference numerals have been used for similar elements.
제1, 제2, A, B 등의 용어는 다양한 구성요소들을 설명하는데 사용될 수 있지만, 상기 구성요소들은 상기 용어들에 의해 한정되어서는 안된다. 상기 용어들은 하나의 구성요소를 다른 구성요소로부터 구별하는 목적으로만 사용된다. 예를 들어, 본 발명의 권리범위를 벗어나지 않으면서 제1 구성요소는 제2 구성요소로 명명될 수 있고, 유사하게 제2 구성요소도 제1 구성요소로 명명될 수 있다. 및/또는 이라는 용어는 복수의 관련된 기재 항목들의 조합 또는 복수의 관련된 기재 항목들 중의 어느 항목을 포함한다.Terms such as first, second, A, and B may be used to describe various elements, but the elements should not be limited by the terms. The above terms are used only for the purpose of distinguishing one component from another component. For example, without departing from the scope of the present invention, a first element may be referred to as a second element, and similarly, a second element may be referred to as a first element. The term and/or includes a combination of a plurality of related items or any of a plurality of related items.
어떤 구성요소가 다른 구성요소에 "연결되어" 있다거나 "접속되어" 있다고 언급될 때에는 그 다른 구성요소에 직접적으로 연결되어 있거나 또는 접속되어 있을 수도 있지만, 중간에 다른 구성요소가 존재할 수도 있다고 이해되어야 할 것이다. 반면에, 어떤 구성요소가 다른 구성요소에 "직접 연결되어" 있다거나 "직접 접속되어" 있다고 언급된 때에는, 중간에 다른 구성요소가 존재하지 않는 것으로 이해되어야 할 것이다. When a component is referred to as being "connected" or "connected" to another component, it should be understood that it is directly connected to or may be connected to the other component, but other components may exist in the middle. something to do. On the other hand, when a component is referred to as being "directly connected" or "directly connected" to another component, it should be understood that there is no other component in the middle.
본 출원에서 사용한 용어는 단지 특정한 실시예를 설명하기 위해 사용된 것으로, 본 발명을 한정하려는 의도가 아니다. 단수의 표현은 문맥상 명백하게 다르게 뜻하지 않는 한, 복수의 표현을 포함한다. 본 출원에서, "포함하다" 또는 "가지다" 등의 용어는 명세서상에 기재된 특징, 숫자, 단계, 동작, 구성요소, 부품 또는 이들을 조합한 것이 존재함을 지정하려는 것이지, 하나 또는 그 이상의 다른 특징들이나 숫자, 단계, 동작, 구성요소, 부품 또는 이들을 조합한 것들의 존재 또는 부가 가능성을 미리 배제하지 않는 것으로 이해되어야 한다.The terms used in the present application are only used to describe specific embodiments, and are not intended to limit the present invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. In the present application, terms such as "comprise" or "have" are intended to designate the presence of features, numbers, steps, actions, components, parts, or combinations thereof described in the specification, but one or more other features. It is to be understood that the presence or addition of elements or numbers, steps, actions, components, parts, or combinations thereof does not preclude in advance.
또한, "제1" 및 "제2"라는 용어는 본 명세서에서 구별 목적으로만 사용되며, 어떠한 방식으로도 서열 또는 우선 순위를 나타내거나 예상하는 것을 의미하지 않는 것으로 이해되어야 한다.In addition, it is to be understood that the terms "first" and "second" are used herein for distinct purposes only, and are not meant to represent or anticipate sequences or priorities in any way.
다르게 정의되지 않는 한, 기술적이거나 과학적인 용어를 포함해서 여기서 사용되는 모든 용어들은 본 발명이 속하는 기술 분야에서 통상의 지식을 가진 자에 의해 일반적으로 이해되는 것과 동일한 의미를 가지고 있다. 일반적으로 사용되는 사전에 정의되어 있는 것과 같은 용어들은 관련 기술의 문맥 상 가지는 의미와 일치하는 의미를 가지는 것으로 해석되어야 하며, 본 출원에서 명백하게 정의하지 않는 한, 이상적이거나 과도하게 형식적인 의미로 해석되지 않는다.Unless otherwise defined, 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 the present invention belongs. Terms as defined in a commonly used dictionary should be interpreted as having a meaning consistent with the meaning in the context of the related technology, and should not be interpreted as an ideal or excessively formal meaning unless explicitly defined in the present application. Does not.
명세서 및 청구범위 전체에서, 어떤 부분이 어떤 구성 요소를 포함한다고 할 때, 이는 특별히 반대되는 기재가 없는 한 다른 구성 요소를 제외하는 것이 아니라 다른 구성 요소를 더 포함할 수 있다는 것을 의미한다. Throughout the specification and claims, when a certain part includes a certain component, it means that other components may be further included, rather than excluding other components, unless specifically stated to the contrary.
이하, 본 발명에 따른 바람직한 실시예를 첨부된 도면을 참조하여 상세하게 설명한다. Hereinafter, preferred embodiments according to the present invention will be described in detail with reference to the accompanying drawings.
도 1은 본 발명에 따른 상지 근력 강화 훈련을 위한 재활 로봇의 제1 실시예를 나타낸다. 1 shows a first embodiment of a rehabilitation robot for upper limb muscle strength training according to the present invention.
도 1을 참조하면, 본 발명의 일 실시예에 따른 상지 근력 강화 훈련을 위한 재활 로봇은 휠체어가 올라탈 수 있는 평행판(400), 휠체어가 뒤로 밀리지 않도록 고정해주는 고정틀(410), 평행판(400)의 일측에 수직방향으로 기립된 본체(200), 연장 및 압축 가능한 암모듈(100), 암모듈(100)과 본체(200) 사이를 연결하여 암모듈(100)을 지지하는 암모듈 지지부(300)를 포함할 수 있다.1, the rehabilitation robot for upper limb muscle strength training according to an embodiment of the present invention includes a parallel plate 400 on which a wheelchair can be lifted, a fixing frame 410 for fixing the wheelchair so that the wheelchair is not pushed back, and a parallel plate ( The body 200 standing vertically on one side of the 400, an arm module 100 capable of extending and compressing, and an arm module support part supporting the arm module 100 by connecting between the arm module 100 and the body 200 It may include (300).
본 발명의 일 실시예에 따른 재활 로봇의 암모듈(100)은 암모듈 중심축링크(111)를 통해 본체(200)에 장착되며, 수평방향으로 지칭되는 제1축 방향으로 병진운동 할 수 있다.The arm module 100 of the rehabilitation robot according to an embodiment of the present invention is mounted on the main body 200 through the arm module central axis link 111, and can perform translational movement in a first axis direction referred to as a horizontal direction. .
상기 암모듈(100)은 제1축 방향으로 병진운동하는 제1 압축바(120), 상기 제1 압축바(120)의 병진운동을 보조하는 암모듈 실린더(110), 상기 제1 압축바(120)의 전단에 연결되고 회전바(150)가 회전링크(140)를 통해 연결되는 회전바 장착부(130)를 포함할 수 있다. The arm module 100 includes a first compression bar 120 that translates in a first axis direction, an arm module cylinder 110 that assists in the translational movement of the first compression bar 120, and the first compression bar ( It may include a rotation bar mounting portion 130 connected to the front end of 120) and the rotation bar 150 is connected through the rotation link 140.
회전바 장착부(130), 제1 압축바(120) 및 암모듈 실린더(110)는 순서대로 일련으로 연결되어 암모듈(100)을 형성할 수 있다. The rotation bar mounting portion 130, the first compression bar 120, and the arm module cylinder 110 may be connected in series in order to form the arm module 100.
본 발명의 일 실시예에 따른 재활 로봇은 회전바(150)가 도 1에 도시된 화살표 방향으로 회전하며 원운동하는 것을 특징으로 할 수 있다. The rehabilitation robot according to an embodiment of the present invention may be characterized in that the rotation bar 150 rotates in a circular motion in the direction of the arrow shown in FIG. 1.
사용자는 회전바(150)의 일단 및 타단에 부착된 손잡이(160)를 잡고 시계방향 또는 반시계방향으로 돌리면서 상지 근력운동을 할 수 있다. 보다 상세하게는, 휠체어에 탑승한 환자가 평행판(400)에 올라가면, 휠체어는 고정틀(410)에 의해 뒤로 밀리지 않게 된다. 그리고 사용자는 손잡이(160)을 잡고 회전바(150)를 시계방향 또는 반시계방향으로 돌리면서 어깨 근육과 팔 근육을 발달 시킬 수 있다. 한편, 상기 손잡이는 탈부착이 가능한 특징이 있다. The user may perform upper limb muscle strength exercise while holding the handle 160 attached to one end and the other end of the rotating bar 150 and turning it clockwise or counterclockwise. More specifically, when a patient in a wheelchair climbs the parallel plate 400, the wheelchair is not pushed back by the fixing frame 410. In addition, the user can develop shoulder and arm muscles while holding the handle 160 and rotating the rotating bar 150 clockwise or counterclockwise. On the other hand, the handle has a feature that is detachable.
본 발명에 따른 상지 근력 강화 훈련을 위한 재활 로봇은 암모듈 지지부(300)는 상하 방향인 제2축방향으로 병진운동하는 제2 압축바(310) 및 상기 제2 압축바의 병진운동을 보조하는 암모듈 지지부 실린더(320)를 포함할 수 있는데, 암모듈 지지부(300)의 구체적인 동작은 도 3을 참조하여 설명한다.In the rehabilitation robot for upper extremity muscle strength training according to the present invention, the arm module support part 300 is a second compression bar 310 that translates in a second axis direction, which is an up-down direction, and a second compression bar that assists in the translational movement of the The arm module support part cylinder 320 may be included, and a specific operation of the arm module support part 300 will be described with reference to FIG. 3.
한편, 본 발명의 일 실시예에 따른 상지 근력 강화 훈련을 위한 재활 로봇은 사용자의 훈련상태를 화면상에 표시하는 모니터(500)를 더 포함할 수 있다.Meanwhile, the rehabilitation robot for upper limb muscle strength training according to an embodiment of the present invention may further include a monitor 500 that displays the user's training status on the screen.
도 2는 본 발명에 따른 상지 근력 강화 훈련을 위한 재활 로봇의 제2 실시예를 나타낸다.2 shows a second embodiment of a rehabilitation robot for upper limb muscle strength training according to the present invention.
도 2를 참조하면, 본 발명의 일 실시예에 따른 암모듈(100)은 화살표로 도시된 수평방향으로 병진운동하며 연장 및 압축 가능한 것을 특징으로 할 수 있다. 보다 구체적으로는 암모듈 실린더(110)에 의해 제1 압축바(120)가 수평방향으로 연장되거나 수축될 수 있다. Referring to Figure 2, the arm module 100 according to an embodiment of the present invention may be characterized in that it can be extended and compressed while translating in a horizontal direction shown by an arrow. More specifically, the first compression bar 120 may be extended or contracted in the horizontal direction by the arm module cylinder 110.
그리고 암모듈(100)의 제1 압축바(120)의 병진운동과 도 1에서 도시된 바와 같이 회전바(150)의 회전 운동은 서보모터에 의해 구동될 수 있다. In addition, the translational movement of the first compression bar 120 of the arm module 100 and the rotational movement of the rotation bar 150 as shown in FIG. 1 may be driven by a servo motor.
본 발명에 따른 재활 로봇은 상기 서보모터와 기어의 구동에 의해 능동적 보조 모드(Active-assisted mode)와 저항모드(Resistive mode)를 구현할 수 있다. The rehabilitation robot according to the present invention may implement an active-assisted mode and a resistive mode by driving the servomotor and the gear.
능동적 보조 모드는 회전바(150)의 회전 운동이나 제1 압축바(120)의 수평방향 병진운동이 자동적으로 수행되는 모드로, 사용자가 손잡이 등을 잡았을 때 스트레칭과 같은 효과를 나타낼 수 있는 모드이다. The active auxiliary mode is a mode in which the rotational movement of the rotating bar 150 or the horizontal translational movement of the first compression bar 120 is automatically performed, and is a mode capable of exhibiting an effect such as stretching when the user holds a handle or the like. .
그리고 저항모드는 사용자가 직접 상기 회전바(150)의 회전운동이나 제1 압축바(120)의 병진운동을 구동시키도록 하는데, 저항의 크기별로 사용자가 운동량을 조절할 수 있는 모드이다. 따라서 저항모드에서 사용자는 상지 근력을 강화시킬 수 있다. In the resistance mode, the user directly drives the rotational movement of the rotation bar 150 or the translational movement of the first compression bar 120, which is a mode in which the user can adjust the amount of exercise according to the amount of resistance. Therefore, in the resistance mode, the user can strengthen the upper limb muscle strength.
보다 상세하게는, 사용자가 손잡이(160)을 잡고 양손으로 앞으로 당기거나 뒤로 미는 운동을 함으로써, 사용자의 가슴 근육량과 폐활량을 발달시킬 수 있다. In more detail, the user's chest muscle mass and lung capacity can be developed by holding the handle 160 and pulling forward or pushing backward with both hands.
도 3은 본 발명에 따른 상지 근력 강화 훈련을 위한 재활 로봇의 제3 실시예를 나타낸다.3 shows a third embodiment of a rehabilitation robot for upper limb muscle strength training according to the present invention.
도 3을 참조하면, 본 발명의 일 실시예에 따른 암모듈(100)의 지면으로부터 위치한 높이를 조절할 수 있다. Referring to Figure 3, it is possible to adjust the height of the arm module 100 according to an embodiment of the present invention from the ground.
상기 암모듈(100)의 높이 조절은 암모듈 중심축링크(111)의 회전을 통해 수행될 수 있으며, 보다 구체적으로는 리니어 액츄에이터(Linear Actuator) 구동을 통해 상기 암모듈 중심축링크(111)을 회전시킴으로써, 암모듈(100)의 높이를 조절할 수 있다.The height adjustment of the arm module 100 may be performed through rotation of the arm module central axis link 111, and more specifically, the arm module central axis link 111 is driven through a linear actuator. By rotating, the height of the arm module 100 can be adjusted.
도 3을 참조하면, 상기 암모듈(100)의 높이를 조절함에 따라 상기 암모듈 지지부(300)의 제2 압축바(310)가 수직 방향인 제2축방향으로 병진운동 할 수 있다. 보다 구체적으로, 암모듈(100)의 높이를 높게 하면 제2 압축바(310)는 연장될 수 있고, 암모듈(100)의 높이를 낮게 하면 제2 압축바(310)는 수축될 수 있다. 한편, 높이를 조절한 후 피봇 및 조인트를 이용하여 암모듈(100)의 높이를 고정할 수 있다. Referring to FIG. 3, as the height of the arm module 100 is adjusted, the second compression bar 310 of the arm module support 300 may be translated in a vertical second axis direction. More specifically, when the height of the arm module 100 is increased, the second compression bar 310 may be extended, and when the height of the arm module 100 is decreased, the second compression bar 310 may be contracted. Meanwhile, after adjusting the height, the height of the arm module 100 may be fixed using a pivot and a joint.
도 4는 본 발명에 따른 상지 근력 강화 훈련을 위한 재활 로봇의 제4 실시예를 나타내고, 도 5는 본 발명에 따른 상지 근력 강화 훈련을 위한 재활 로봇의 사용도를 나타낸다.4 shows a fourth embodiment of a rehabilitation robot for upper limb muscle strength training according to the present invention, and FIG. 5 shows a usage diagram of the rehabilitation robot for upper limb muscle strength training according to the present invention.
도 4 및 도 5를 참조하면, 본 발명의 일 실시예에 따른 상지 근력 강화 훈련을 위한 재활 로봇은 회전바 장착부(130)의 회전링크(140)에 그립부(1300) 또는 휠체어 바퀴(1400)를 결합할 수 있으며, 상기 그립부(1300) 및 휠체어 바퀴(1400)는 회전바 장착부(130)에 탈부착가능하다. 4 and 5, the rehabilitation robot for upper limb muscle strength training according to an embodiment of the present invention includes a grip unit 1300 or a wheelchair wheel 1400 on the rotating link 140 of the rotating bar mounting unit 130. It can be coupled, and the grip unit 1300 and the wheelchair wheel 1400 are detachable to the rotating bar mounting unit 130.
도 4를 참조하면, 환자가 꺽인 형상을 갖는 그립부(1300)를 손으로 잡고 화살표방향과 같이 윗방향으로 올리거나 아래방향으로 내리면서 어깨와 팔의 근육을 발달시킬 수 있다. 이 때, 암모듈 지지부(300)의 제2 압축바(310)는 연장되거나 압축될 수 있다. Referring to FIG. 4, the patient can develop the muscles of the shoulder and arm while holding the grip part 1300 having a bent shape with his hand and raising it upward or downward as shown in the arrow direction. In this case, the second compression bar 310 of the arm module support part 300 may be extended or compressed.
도 5를 참조하면, 환자가 휠체어 바퀴(1400)를 잡고 돌리는 운동을 할 수 있다. 따라서, 환자는 위팔 두갈래근, 세갈래근 및 어깨 세포근 등 세모근위팔의 근육량을 향상시킬 수 있다.Referring to FIG. 5, a patient may perform an exercise of holding and turning the wheelchair wheel 1400. Thus, the patient can improve the muscle mass of the upper triceps arm, such as the biceps muscle of the upper arm, the triceps muscle, and the shoulder cell muscle.
한편, 하지 마비 환자가 로봇을 직접 제어하기 어려우므로, 본 발명은 재활 치료사가 쉽게 누를 수 있는 위치에 갑작스런 움직임을 방지하는 정지 스위치를 배치시킬 수 있다. 또한, 환자가 직접 누를 수 있는 손잡이 주변 위치에도 상기 정지 스위치가 배치될 수 있다. On the other hand, since it is difficult for the paraplegic patient to directly control the robot, the present invention can arrange a stop switch to prevent sudden movement in a position where the rehabilitation therapist can easily press. In addition, the stop switch may be disposed in a position around the handle that the patient can directly press.
나아가, 본 발명의 일 실시예에 따른 재활 로봇은 상술한 바와 같이 사용자가 손잡이를 잡고 횐전 운동, 상하 병진 운동, 전후 병진 운동 등을 할 때 재활 운동을 평가할 수도 있다. 예컨대, 힘, 속도, 빈도 및 운동량을 평가할 수 있는데, 힘은 로드셀(load cell), 속도는 가속도 센소를 통해 평가될 수 있다. Further, as described above, the rehabilitation robot according to an embodiment of the present invention may evaluate a rehabilitation exercise when a user holds a handle and performs a pre-war movement, an up-and-down translation exercise, and a post-rear translation exercise. For example, force, speed, frequency, and momentum may be evaluated. Force may be evaluated through a load cell, and speed may be evaluated through an acceleration sensor.
이상의 설명은 본 발명의 기술 사상을 예시적으로 설명한 것에 불과한 것으로, 본 발명이 속하는 기술 분야에서 통상의 지식을 가진 사람이라면 본 발명의 본질적인 특성에서 벗어나지 않는 범위에서 다양한 수정 및 변형이 가능할 것이다. 따라서, 본 발명에 개시된 실시예들은 본 발명의 기술 사상을 한정하기 위한 것이 아니라 설명하기 위한 것이고, 이러한 실시예에 의하여 본 발명의 기술 사상의 범위가 한정되는 것은 아니다. 본 발명의 보호 범위는 아래의 청구범위에 의하여 해석되어야 하며, 그와 동등한 범위 내에 있는 모든 기술 사상은 본 발명의 권리범위에 포함되는 것으로 해석되어야 할 것이다.The above description is merely illustrative of the technical idea of the present invention, and those of ordinary skill in the art to which the present invention pertains will be able to make various modifications and variations without departing from the essential characteristics of the present invention. Accordingly, the embodiments disclosed in the present invention are not intended to limit the technical idea of the present invention, but to explain the technical idea, and the scope of the technical idea of the present invention is not limited by these embodiments. The scope of protection of the present invention should be construed by the following claims, and all technical ideas within the scope equivalent thereto should be construed as being included in the scope of the present invention.
본 발명의 일 실시예에 따른 상지 근력 강화 훈련을 위한 재활 로봇은 척수손상 환자로 하여금 원운동, 상하 병진운동, 전후 병진운동 등 다양한 재활운동을 할 수 있게 하여, 척수손상 환자의 어깨 근육, 팔근육 및 심폐기능을 골고루 발달시킬 수 있어, 척수손상 환자뿐만 아니라, 비장애인에게도 활용될 가능성이 높다. The rehabilitation robot for upper limb muscle strength training according to an embodiment of the present invention enables a spinal cord injury patient to perform various rehabilitation exercises such as circular motion, vertical translational motion, and post-translational motion, and thus shoulder muscles and arms of a spinal cord injury patient. Since it can develop muscle and cardiopulmonary function evenly, it is highly likely to be used not only for patients with spinal cord injury, but also for non-disabled people.

Claims (6)

  1. 연장 및 압축 가능한 암모듈(100);An arm module 100 capable of extending and compressing;
    상기 암모듈(100)이 암모듈 중심축링크(111)를 통해 장착되고 수직 연장하여 지지대 역할을 수행하는 본체(200); 및A main body 200 in which the arm module 100 is mounted through the arm module central axis link 111 and extends vertically to serve as a support; And
    일측이 제1 보조링크(112)를 통해 상기 암모듈(100)에 연결되고 타측이 제2 보조링크(113)를 통해 상기 본체(200)에 연결되며 연장 및 압축 가능한 암모듈 지지부(300)를 포함하고,One side is connected to the arm module 100 through the first auxiliary link 112 and the other side is connected to the main body 200 through the second auxiliary link 113, and extendable and compressible arm module support 300 is provided. Including,
    상기 암모듈(100)은,The arm module 100,
    제1축 방향으로 병진운동하는 제1 압축바(120);A first compression bar 120 for translational movement in the first axial direction;
    상기 제1 압축바(120)의 병진운동을 보조하는 암모듈 실린더(110);An arm module cylinder 110 that assists in the translational movement of the first compression bar 120;
    상기 제1 압축바(120)의 전단에 연결되고 회전바(150)가 회전링크(140)를 통해 연결되는 회전바 장착부(130); 및A rotation bar mounting portion 130 connected to the front end of the first compression bar 120 and connected to the rotation bar 150 through a rotation link 140; And
    상기 회전바의 회전운동 및 상기 제1 압축바의 병진운동을 구동하는 서보모터를 포함하고, And a servo motor driving the rotational motion of the rotation bar and the translational motion of the first compression bar,
    상기 암모듈 지지부(300)는,The arm module support part 300,
    제2축방향으로 병진운동하는 제2 압축바(310) 및 상기 제2 압축바의 병진운동을 보조하는 암모듈 지지부 실린더(320)를 포함하고, It includes a second compression bar 310 for translational movement in the second axial direction and an arm module support cylinder 320 for supporting the translational movement of the second compression bar,
    상기 회전바 장착부, 상기 제1 압축바 및 상기 암모듈 실린더는 각각 상기 제1 축 방향으로 순서대로 연결되고, 상기 암모듈 중심축링크(111)의 회전을 통해 상기 암모듈(100)의 지면으로부터 위치한 높이가 조절 가능하며, 상기 암모듈의 높이를 조절함에 따라 상기 암모듈 지지부의 제2 압축바가 병진운동하는 것을 특징으로 하는 상지 근력 강화 훈련을 위한 재활 로봇.The rotation bar mounting portion, the first compression bar, and the arm module cylinder are each connected in order in the first axis direction, and from the ground of the arm module 100 through rotation of the arm module central axis link 111 A rehabilitation robot for upper extremity muscle strength training, characterized in that the height is adjustable, and the second compression bar of the arm module support part moves in translation as the height of the arm module is adjusted.
  2. 제1항에 있어서,The method of claim 1,
    상기 회전바 장착부에 연결된 회전바는 탈부착 가능한 것을 특징으로 하는 상지 근력 강화 훈련을 위한 재활 로봇.A rehabilitation robot for upper limb muscle strength training, characterized in that the rotating bar connected to the rotating bar mounting unit is detachable.
  3. 제1항에 있어서,The method of claim 1,
    상기 회전바 장착부의 회전링크에 꺽인 형상을 갖는 그립부(1300)를 더 포함하고, Further comprising a grip portion (1300) having a bent shape to the rotation link of the rotation bar mounting portion,
    상기 그립부(1300)는 상기 회전바 장착부에 탈부착 가능한 것을 특징으로 하는 상지 근력 강화 훈련을 위한 재활 로봇.The grip unit 1300 is a rehabilitation robot for upper limb muscle strength training, characterized in that detachable to the rotation bar mounting unit.
  4. 제1항에 있어서,The method of claim 1,
    상기 회전바 장착부의 회전링크에 휠체어 바퀴(1400)를 더 포함하고,Further comprising a wheelchair wheel (1400) on the rotating link of the rotating bar mounting portion,
    상기 휠체어 바퀴(1400)는 상기 회전바 장착부에 탈부착 가능한 것을 특징으로 하는 상지 근력 강화 훈련을 위한 재활 로봇.The wheelchair wheel (1400) is a rehabilitation robot for upper limb muscle strength training, characterized in that detachable to the rotating bar mounting portion.
  5. 제 1항에 있어서,The method of claim 1,
    암 모듈(100)이 상승하는 방향으로 움직일 때 제 1축바(120)가 상하 방향으로 병진운동할 수 있도록 서보모터가 동작되어 사용자 상지운동과 협응 동작을 할 수 있는 능동적 보조 모드(Active-assisted mode)를 갖는 것을 특징으로 하는 상지 근력 강화 훈련을 위한 재활 로봇.When the arm module 100 moves in the ascending direction, the servo motor is operated so that the first axis bar 120 can translate in the vertical direction, so that the active-assisted mode is capable of cooperative operation with the user's upper limb movement. ) Rehabilitation robot for upper limb muscle strength training, characterized in that having.
  6. 제 1항에 있어서, The method of claim 1,
    상기 상지 근력 강화 훈련을 위한 재활 로봇은 암 모듈(100)이 상승하는 방향으로 움직일 때, 근력이 힘을 받아 운동할 수 있도록 제 1축바(120)가 반대 방향으로 작용을 할 수 있도록 서보모터가 동작되어 사용자 상지운동에 저항을 부여할 수 있는 저항모드(Resistive mode)를 갖는 것을 특징으로 하는 상지 근력 강화 훈련을 위한 재활 로봇.In the rehabilitation robot for upper limb muscle strength training, when the arm module 100 moves in the upward direction, the first axis bar 120 operates in the opposite direction so that the first axis bar 120 can exercise by receiving the force. Rehabilitation robot for upper limb muscle strength training, characterized in that it has a resistance mode (Resistive mode) that can be operated to impart resistance to the user's upper limb exercise.
PCT/KR2020/013728 2019-10-08 2020-10-08 Rehabilitation robot for increasing upper limb muscle strength WO2021071278A1 (en)

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