WO2021071278A1 - Robot de rééducation permettant d'augmenter la force musculaire des membres supérieurs - Google Patents

Robot de rééducation permettant d'augmenter la force musculaire des membres supérieurs 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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English (en)
Korean (ko)
Inventor
김광기
이정수
조성민
김태현
이진영
윤기철
이금주
Original Assignee
가천대학교 산학협력단
대한민국(국립재활원장)
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
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Application filed by 가천대학교 산학협력단, 대한민국(국립재활원장) filed Critical 가천대학교 산학협력단
Publication of WO2021071278A1 publication Critical patent/WO2021071278A1/fr

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Classifications

    • 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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  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Pain & Pain Management (AREA)
  • Epidemiology (AREA)
  • Biophysics (AREA)
  • Rehabilitation Therapy (AREA)
  • Animal Behavior & Ethology (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Chemical & Material Sciences (AREA)
  • Chemical Kinetics & Catalysis (AREA)
  • Rehabilitation Tools (AREA)

Abstract

La présente invention concerne un robot de rééducation destiné à l'entraînement de la force musculaire des membres supérieurs, le robot de rééducation comprenant : un module de bras qui peut être déployé et comprimé ; un corps sur lequel le module de bras est monté par une liaison d'axe central de module de bras, et qui s'étend verticalement pour servir de support ; et une partie support de module de bras qui a un côté relié au module de bras par l'intermédiaire d'une première liaison auxiliaire et l'autre côté relié au corps par l'intermédiaire d'une seconde liaison auxiliaire, et peut être déployée et comprimée.
PCT/KR2020/013728 2019-10-08 2020-10-08 Robot de rééducation permettant d'augmenter la force musculaire des membres supérieurs WO2021071278A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR10-2019-0124707 2019-10-08
KR1020190124707A KR102220000B1 (ko) 2019-10-08 2019-10-08 상지 근력 강화 재활 로봇

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WO2021071278A1 true WO2021071278A1 (fr) 2021-04-15

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Cited By (1)

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CN117159289A (zh) * 2023-08-16 2023-12-05 徐州医科大学附属医院 一种上肢康复安全护理座椅

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CN114129971B (zh) * 2021-12-03 2022-08-19 焦作市第二人民医院 一种多功能护理肢体康复系统、方法及终端

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Publication number Priority date Publication date Assignee Title
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CN117159289B (zh) * 2023-08-16 2024-02-20 徐州医科大学附属医院 一种上肢康复安全护理座椅

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