WO2022102851A1

WO2022102851A1 - Virtual reality interactive type rehabilitation training apparatus

Info

Publication number: WO2022102851A1
Application number: PCT/KR2020/017749
Authority: WO
Inventors: 정호춘; 이현희; 이상세; 김계호
Original assignee: 주식회사 싸이버메딕
Priority date: 2020-11-12
Filing date: 2020-12-07
Publication date: 2022-05-19
Also published as: KR102428915B1; KR20220065162A

Abstract

The present invention is to provide a virtual reality interactive type rehabilitation training apparatus capable of raising interest and inducing active participation by performing activity training closely related to everyday life through various training modules provided to a user and associated with virtual reality, and further improving rehabilitation efficiency of a patient or elderly person by combining such activity training and cognitive training together. In this regard, disclosed are features comprising: a plurality of upper limb training modules including a module identification unit; a main body unit with which the upper limb training modules are combined; a display unit for displaying upper limb training content; and a control unit including an upper limb training content setting unit for displaying, on the display unit, upper limb training content corresponding to the module identification unit by identifying the module identification unit when combined with the upper limb training modules and the main body unit, and an upper limb training unit for performing upper limb training of the user while reconfiguring the upper limb training content displayed on the display unit according to information input from the upper limb training modules.

Description

Virtual reality tangible rehabilitation training device

The present invention relates to a virtual reality tangible rehabilitation training apparatus, and in detail, through various training modules that activate muscles and nerves of the upper extremities including arms and fingers that do not move naturally, and work with virtual reality provided to patients It relates to a virtual reality tangible rehabilitation training device that can induce active participation by arousing user interest and improve the rehabilitation efficiency of patients or the elderly by performing cognitive training together with upper extremity training.

In the medical world, damage to the nervous system causes impairment of motor and sensory functions, and causes muscle atrophy, stiffness, avascular necrosis, and the like. For these neurological diseases, treatments that remove only the cause are mainly used, and the reality is that there are not many treatments for paralysis of motor function or recovery of sensory function due to nerve damage.

In addition, the loss of sensory function or motor function due to damage to the nervous system is slightly different depending on the degree of nerve damage, but in the case of cut or damage of the central nerve due to various accidents, it is almost impossible to expect a complete recovery. And in the case of nerve damage caused by a neurological disease such as a stroke, it results in partial recovery or long-term dysfunction. This loss of motor and sensory functions limits even the most basic movements for conducting daily life, and causes muscle atrophy due to long-term inability to use muscles, muscle stiffness, and necrosis due to impaired blood circulation.

For this reason, recently, various virtual reality rehabilitation training devices have been developed in order to recover the motor function of paraplegics in the upper and lower extremities due to damage to the central nervous system.

However, the conventional virtual reality rehabilitation training apparatus is a method of inducing motion movement using an image sensor such as a camera, which enables accurate rehabilitation treatment according to the patient's condition, but does not stimulate interest in patients with reduced motor and sensory functions. While passive rehabilitation treatment was performed by

Republic of Korea Patent Publication No. 1487727 (2015.01.29. Announcement) states that 'dementia that can be used in connection with dementia prevention cognitive training program by configuring a system to apply cognitive training contents as computer-based training tools and training tools for smart phone-based apps. Preventive cognitive training device' is disclosed.

An object of the present invention is to solve the problems of the prior art, and the present invention induces interest by performing motion training closely related to daily life through various training modules linked to virtual reality provided to users, thereby inducing active participation, An object of the present invention is to provide a virtual reality tangible rehabilitation training device that can further improve the rehabilitation efficiency of patients or the elderly by performing cognitive training together with such motion training.

In order to achieve the above object of the present invention, virtual reality tangible rehabilitation training apparatus according to an embodiment of the present invention, a plurality of upper extremity training modules having a module identification unit; a body portion to which the upper extremity training module is coupled; a display unit for displaying upper extremity training contents; and an upper extremity training content setting unit for recognizing the module identification unit when the upper extremity training module and the body unit are combined and displaying the upper extremity training contents corresponding to the module identification unit on the display unit, according to information input from the upper extremity training module and a control unit having an upper extremity training unit for performing upper extremity training of the user while reconstructing the upper extremity training contents displayed on the display unit.

In the virtual reality tangible rehabilitation apparatus according to an embodiment of the present invention, the upper extremity training module includes a module body part held by a user, and a module connection part protruding from the module body part and provided with the module identification part. The branch may include a rotating upper extremity training module.

In this case, the main body part is coupled to a module coupling part having a coupling groove part into which the module connection part including the module identification part is inserted, and the module coupling part is coupled to the module coupling part in a direction crossing the coupling groove part, and the module connection part is separated from the coupling groove part It may include a lock to block the.

In the virtual reality tangible rehabilitation apparatus according to an embodiment of the present invention, the body unit may further have a resistance generating unit for generating a resistance force opposite to the pressing force applied to the upper extremity training module by the user.

In this case, the control unit may further include an upper extremity training difficulty setting unit for setting the user's upper extremity training difficulty by adjusting the magnitude of the resistance force generated by the resistance generating unit.

In the virtual reality tangible rehabilitation apparatus according to an embodiment of the present invention, the upper extremity training module includes a flexible module body part held by a user and having an accommodating space in which a fluid is accommodated, and the accommodating space is connected. It is formed so as to protrude from the module body and may include a pressure-type upper extremity training module having a tubular module connection part provided with the module identification part.

In the virtual reality tangible rehabilitation apparatus according to an embodiment of the present invention, the control unit includes a cognitive training content setting unit that displays cognitive training contents on the display unit according to user information stored in advance, and information input from the user Accordingly, it may further include a cognitive training unit for performing cognitive training of the user while reconfiguring the cognitive training content displayed on the display unit.

According to the present invention, motion training closely related to daily life is performed through various training modules linked to virtual reality provided to the user to induce interest in the user to induce active participation, and to perform cognitive training as well as motion training in parallel. It can improve the rehabilitation efficiency of patients or the elderly.

According to the present invention, the upper extremity training module having a unique identification part can be easily and quickly attached to and detached from the body part through the module connection part and the module coupling part, and only by connecting the upper limb training module to the body part without separate operation Because upper extremity training corresponding to the training module can be immediately performed, it is possible to provide convenience to users with reduced motor and sensory functions, and to further improve rehabilitation efficiency.

1 is a conceptual diagram illustrating a virtual reality tangible rehabilitation training apparatus according to an embodiment of the present invention.

2 is an exemplary view showing a virtual reality tangible rehabilitation training apparatus according to an embodiment of the present invention.

3 is a view showing an upper extremity training module according to an embodiment of the present invention.

4 is a view showing various upper extremity training modules according to an embodiment of the present invention.

5 is a view showing a state in which the upper extremity training module is coupled to the main body according to another embodiment of the present invention.

6 is an example showing an image displayed through the display unit in the process of performing upper extremity training according to the present invention.

7 is an example of sequentially capturing images displayed through the display unit in the process of performing upper extremity training according to the present invention.

Hereinafter, preferred embodiments of the present invention in which the above-described problems to be solved can be specifically realized will be described with reference to the accompanying drawings. In describing the present embodiments, the same names and reference numerals may be used for the same components, and an additional description thereof may be omitted.

1 is a conceptual diagram illustrating a virtual reality tangible rehabilitation training apparatus according to an embodiment of the present invention, and FIG. 2 is an exemplary view showing a virtual reality tangible rehabilitation training apparatus according to an embodiment of the present invention.

1 and 2 , a virtual reality tangible rehabilitation training apparatus according to an embodiment of the present invention includes an upper extremity training module 110 , a body unit 120 , a display unit 130 , and a control unit 140 . .

The upper extremity training module 110 may be grasped by the user by hand, and the user may perform upper extremity training by manipulating the gripped upper extremity training module 110 .

The upper extremity training module 110 may have a module body part 111 and a module connection part 113 .

The module body part 111 is a part gripped by a user, and may be formed to have a shape corresponding to a tool used in daily life.

The module connection part 113 is a portion coupled to the body part 120 , and may be formed to protrude from the module body part 111 .

In addition, the module connection unit 113 may be provided with a module identification unit.

The module identification unit has unique identification information, and may have a unique module identification unit for each of the plurality of upper extremity training modules 110 .

For example, the module identification unit may be an electrode pattern patterned to enable unique identification. That is, a unique electrode pattern having a unique identification pattern may be provided in the module connection unit 113 , and a reference electrode pattern may be provided in the module coupling unit 121 . Therefore, when the module connection part 113 is coupled to the module coupling part 121, the unique electrode pattern and the reference electrode pattern may be in electrical contact, and the contact signal between the native electrode pattern and the reference electrode pattern is transmitted from the control unit 140 to be described later. It may be transmitted to the upper extremity training content setting unit 141 .

As another example, the module identification unit may transmit a unique signal. That is, the module connecting unit 113 may be provided with a transmitter for transmitting a unique signal, and the module combining unit 121 may include a receiving unit. Therefore, when the module connection unit 113 is coupled to the module coupling unit 121, a unique signal transmitted from the transmitting unit is received by the receiving unit, and the received unique signal is the upper extremity training content setting unit 141 of the control unit 140 to be described later. ) can be transferred.

The plurality of upper extremity training modules 110 may have module body parts 111 of different shapes and structures so that the user can perform various upper extremity training. Upper extremity training is performed in a state in which the training module 110 is coupled to the body unit 120, and various upper extremity training can be performed while replacing the plurality of upper extremity training modules 110 for the body unit 120 as necessary. there is.

The main body 120 may include a control unit 140 therein, and may have a module coupling unit 121 .

The module connection part 113 of the upper extremity training module 110 may be detachably coupled to the module coupling part 121 .

Simultaneously with the coupling of the module coupling unit 121 and the module connection unit 113 , the upper extremity training module 110 is mechanically connected to the body unit 120 to be stably supported. And at the same time as the coupling of the module coupling unit 121 and the module connection unit 113 , the upper extremity training module 110 may be electrically connected to the control unit 140 , and an electrical signal according to the coupling state and operation state is transmitted to the control unit 140 . can be transmitted to

In addition, the body unit 120 may further include a resistance generating unit 123 capable of generating a resistance force opposite to the user's pressing force applied to the upper extremity training module 110 .

The display unit 130 may display upper extremity training contents, and in addition, various information required for the user's upper extremity training, such as preset user information, may be displayed. The upper extremity training contents may include 2D or 3D images simulating daily life.

A tablet or a monitor may be used as the display unit 130 , and a touch input may be possible.

The control unit 140 may be provided inside the body unit 120 , and when the module connection unit 113 and the module coupling unit 121 are coupled, the corresponding upper extremity training module 110 may be recognized.

For this, the control unit 140 may have an upper extremity training content setting unit 141 .

The upper extremity training content setting unit 141 recognizes the module identification unit when the module connection unit 113 and the module coupling unit 121 are combined, and displays the upper extremity training contents corresponding to the upper extremity training module 110 on the display unit 130. can

In addition, the control unit 140 may further include an upper extremity training unit 142 .

The upper extremity training unit 142 may perform upper extremity training of the user while reconfiguring the contents of the upper extremity training displayed on the display unit 130 according to information input from the upper extremity training module 110 based on a preset training program.

In addition, the control unit 140 may further have an upper extremity training content storage unit.

Upper extremity training contents may be stored in the upper extremity training contents storage unit. The upper extremity training contents may include upper extremity training contents in a quantity corresponding to the quantity of the upper extremity training module 110 . That is, upper extremity training contents corresponding to each module identification unit provided in each upper extremity training module 110 may be provided.

In addition, the control unit 140 may further include an upper extremity training difficulty setting unit 143 .

The upper extremity training difficulty setting unit 143 may adjust and set the user's upper extremity training difficulty by adjusting the magnitude of the resistance generated by the resistance generating unit 123 .

According to this embodiment, when the user connects a specific upper extremity training module 110 to the body unit 120, the upper extremity training content setting unit 141 recognizes the module identification unit, and the upper extremity training contents stored in the upper extremity training contents storage unit. Upper extremity training contents corresponding to the middle module identification unit may be automatically displayed on the display unit 130 . Then, the user may perform upper extremity training according to a preset training program based on the upper extremity training contents displayed on the display unit 130 .

Then, the upper extremity training unit 142 may display information input from the upper extremity training module 110 through the display unit 130 in real time, and evaluate whether it matches the contents of the upper extremity training, that is, accuracy and reaction speed, and accordingly Upper extremity training can be performed while reconstructing the contents of upper extremity training.

As such, the user can immediately perform upper extremity training corresponding to the corresponding upper extremity training module 110 only by connecting the upper extremity training module 110 to the body unit 120 without a separate operation, so that the motor and sensory functions are deteriorated. It is possible to provide the user's convenience and improve the rehabilitation efficiency.

Hereinafter, an upper extremity training module according to an embodiment of the present invention will be described in detail.

3 and 4 , the upper extremity training module may include a rotating upper extremity training module 110 .

The rotary upper extremity training module 110 may have a module body part 111 and a module connection part 113 .

The module body 111 may be formed to have a shape corresponding to a tool required to be rotated in daily life. As shown, the module body 111 may be formed to have a circular shape, a rod shape, a lever shape, or a spherical shape, which is a tool used in daily life such as a steering wheel, a door handle, a container stopper, a gas lens valve, etc. can be matched with

For example, when the user rotates the module body 111 in the shape of a steering wheel, door handle, container stopper, and gas lens valve, as shown in FIG. Upper extremity training content that the handle moves in a corresponding direction may be displayed.

Of course, two or more types of upper extremity training contents may be displayed on the display unit 130 in a state in which one rotary upper extremity training module 110 is connected. That is, two or more types of upper extremity training may be performed using one rotary upper extremity training module 110 .

The module connection part 113 may be formed to protrude from the module body part 111 , and may form a rotation axis of the upper extremity training module 110 . And a locking groove may be formed on the outer surface.

In this case, the module identification unit may be provided on the outer peripheral surface of the module connection unit 113 .

On the other hand, the body part 120 to which the rotary upper extremity training module 110 is coupled may have a module coupling part 121 and a locking part 122 .

The module coupling part 121 may be rotatably coupled to the body part 120 , and may have a coupling groove part 121a into which the module connection part 113 including the module identification part is inserted. Therefore, the module coupling part 121 may be rotated in conjunction with the module connection part 113 in a state in which the module connection part 113 is coupled.

The locking part 122 may be coupled to the module coupling part 121 in a direction crossing the coupling groove part 121a, and at an end extending toward the coupling groove part 121a, a lock inserted into the lock groove part of the module connection part 113 A hanger may be provided. Therefore, as the lock hook is coupled to the lock groove, the module connection part 113 coupled to the module coupling part 121 may be blocked from being separated in the opposite direction.

As the locking part 122, a plunger structure may be used, and the module connection part 113 may be inserted into the module coupling part 121 in a state in which the plunger is spaced apart from the coupling groove part 121a, and the plunger may be inserted into the coupling groove part 121a. By moving to and coupling to the lock groove of the module connection part 113, it is possible to block the module connection part 113 from being separated.

On the other hand, the main body 120 may have a resistance generating unit 123 that generates a resistance force opposite to the user's manipulation force applied to the rotary upper extremity training module 110 .

The resistance generating unit 123 may generate a resistance force in the module coupling unit 121 interlocking with the rotary upper extremity training module 110 , and a permanent magnet or an electromagnet may be used as the resistance generating unit 123 . That is, it is possible to adjust the resistance force acting on the module coupling part 121 by adjusting the distance between the module coupling part 121 and the permanent magnet or by adjusting the electromagnetic force applied to the electromagnet.

As a result, the control unit 140 may adjust and set the difficulty level of upper extremity training of the user by adjusting the magnitude of the resistance force generated by the resistance generating unit 123 through the upper extremity training difficulty setting unit 143 .

As such, the upper extremity training difficulty setting operation through the upper extremity training difficulty setting unit 143 is performed by the user on the initial screen of the display unit 130 that automatically displays the upper extremity training contents when the body unit 120 and the upper extremity training module 110 are combined. It can be set directly.

Referring to FIG. 5 , the upper extremity training module may include a rotary upper extremity training module 110 and a pressure-type upper extremity training module 210 .

The structure in which the rotary upper extremity training module 110 is coupled to the main body 120 and the operation method thereof are the same as in the embodiment described above.

The pressure-type upper extremity training module 210 may have a flexible module body part 211 and a tubular module connection part 213 .

The flexible module body 211 may have an accommodating space in which the fluid is accommodated, and may be compressed and deformed by the user's gripping force. And the flexible module body 211 may have various sizes.

For example, the flexible module body 211 may be gripped like a baseball, depending on the size, or may be gripped using only fingers.

The tubular module connection part 213 is a part connecting the flexible module body part 211 and the body part 120, and may be formed to extend from the flexible module body part 211 to be connected to the receiving space, and one end of the body part ( It may be coupled by inserting it into the pressure-type module coupling part 221 of 120).

At this time, the module identification part may be provided on the outer peripheral surface of the tubular module connection part 213 inserted into the pressure-type module coupling part 221 of the body part 120 .

On the other hand, the body part 120 to which the pressure-type upper extremity training module 210 is coupled may have a pressure-type module coupling part 221 and a fluid supply part 223 .

The pressure-type module coupling part 221 may have a coupling groove into which the tubular module connection part 213 including the module identification part is inserted, and a compression ring may be provided on the inner circumferential surface of the coupling recess. The tubular module connection part 213 inserted into the coupling groove may be blocked from being separated in the opposite direction by being pressed by the compression ring.

The fluid supply unit 223 may be connected to the coupling groove of the pressure-type module coupling unit 221 , and may supply a fluid at a pressure set toward the tubular module connection unit 213 coupled to the coupling recess. In this way, the fluid supplied to the tubular module connection part 213 may be filled in the accommodation space of the flexible module body part 211 .

As such, by adjusting the supply pressure of the fluid supply unit 223 , the internal pressure of the flexible module body 211 can be adjusted, thereby adjusting and setting the difficulty of upper extremity training of the user who compresses and deforms the flexible module body 211 . can

And, the body portion 120 to which the pressure-type upper extremity training module 210 is coupled may further include a pressure sensor.

The pressure sensor is for detecting a pressure change of the flexible module body 211 , and may be provided in the pressure-type module coupling part 221 or the fluid supply part 233 to which the tubular module connection part 213 is connected. Through such a pressure sensor, it is possible to sense and measure the user's pressing force applied to the flexible module body 211 .

The user's pressing force measured through the pressure sensor may be transmitted to the control unit 140, and the control unit 140 may display the user's pressing force applied to the upper extremity training module 210 through the display unit 130, and , it is possible to evaluate whether the content matches the upper extremity training content displayed on the display unit 130, that is, accuracy and reaction speed.

As described above, the rotary upper extremity training module 110 and the pressure-type upper extremity training module 210 can be selectively used according to the set value of the upper extremity training unit 142 that performs upper extremity training based on a preset training program, and Alternatively, they may be used in parallel at the same time.

Of course, when the rotary upper extremity training module 110 and the pressure-type upper extremity training module 210 are used at the same time, a plurality of upper extremity training contents may be displayed through the display unit 130. In this case, the plurality of upper extremity training contents are displayed on the display unit ( 130) may be displayed on the divided screen, and may be displayed as an integrated image.

For example, as shown in Fig. 6 (f), one hand holding the rotary upper extremity training module 110 rotates the food in the virtual reality, and the other hand holding the pressure-type upper extremity training module 210 in virtual reality An operation of squeezing the inside source may be implemented, and at this time, one integrated virtual reality image may be displayed on the display unit 130 . Of course, a virtual reality image in which the food image and the source image are dually divided may be displayed on the display unit 130 .

Meanwhile, referring back to FIG. 1 , the control unit 140 according to the present embodiment may further include a cognitive training content setting unit 147 and a cognitive training unit 146 .

The cognitive training content setting unit 147 may display the cognitive training content on the display unit 130 according to user information stored in advance.

The cognitive training unit 146 may perform cognitive training of the user while reconfiguring the cognitive training content displayed on the display unit 130 according to information input from the user based on a preset training program. For example, the cognitive training of the user may be performed step by step while increasing or decreasing the difficulty of the cognitive training content based on the accuracy and reaction speed of information input from the user.

During such cognitive training, the user may use the operation panel of the display unit 130 or the body unit 120 having a touch function, or may use the upper extremity training module 110 .

As such, the virtual reality tangible rehabilitation training apparatus according to the present invention may selectively perform upper extremity training and cognitive training, and may perform upper extremity training and cognitive training in parallel using various training contents.

7 is an example of sequentially capturing images displayed through the display unit in the process of performing upper extremity training similar to daily life according to the present invention. there is.

Prior to performing the mission, the user may select a cookie making setting mode from the daily life mission item through the contents setting unit of the control unit 140 .

Then, as shown in Fig. 7 (a), the display unit 130 can display various items displayed in the mart, and the user needs to purchase by touching the display unit 130 or manipulating the operation panel of the body unit 120 . You purchase materials virtually by selecting an item list. This case may correspond to the cognitive training stage.

Then, as in FIG. 7 ( b ), the user manipulates the rotary upper extremity training module 110 with respect to the vehicle image displayed on the display unit 130 to get on the vehicle and manipulate the steering wheel for a virtual experience of moving home while performing upper extremity training.

Thereafter, as shown in FIG. 7 (c), the user operates the rotary upper extremity training module 110 for the door image displayed on the display unit 130 to open the door and perform upper extremity training while having a virtual experience of entering the house. can do.

Then, as in FIG. 7 (d), the user has a virtual experience of preparing ingredients by touching the display unit 130 or operating the operation panel of the body unit 120 according to the recipe displayed on the display unit 130. You can do cognitive training while doing it.

Then, as in FIG. 7 (e), the user performs upper extremity training while having a virtual experience of making cookie dough by manipulating the pressure-type upper extremity training module 210 with respect to the dough image displayed on the display unit 130. can

Thereafter, as in FIG. 7 (f), the user operates the rotary upper extremity training module 110 according to the oven image displayed on the display unit 130 to open the oven and perform cognitive training while having a virtual experience of making cookies. can do.

As such, the present invention uses various types of tangible upper extremity training module 110 corresponding to real tools while driving, cooking, and cleaning, etc., based on virtual reality closely related to daily life, and the image displayed from the display unit 130 through this. Since various contents given in the virtual space are performed in response to the same, the user's interest can be aroused and the rehabilitation efficiency can be improved.

Although the preferred embodiment of the present invention has been described with reference to the drawings as described above, those skilled in the art may vary the present invention in various ways without departing from the spirit and scope of the present invention as set forth in the claims below. may be modified or changed.

The present invention induces active participation by arousing interest in users by performing motion training closely related to daily life through various training modules interlocked with virtual reality, and provides systematic and systematic training for patients or the elderly by providing not only motion training but also cognitive training. Because it can perform effective rehabilitation training, it can be widely used in various rehabilitation fields.

Claims

a plurality of upper extremity training modules having a module identification unit;

a body portion to which the upper extremity training module is coupled;

a display unit for displaying upper extremity training contents; and

When the upper extremity training module and the main body are combined, the upper extremity training content setting unit recognizing the module identification unit and displaying the upper extremity training contents corresponding to the module identification unit on the display unit, and the upper extremity training module according to the information input from the Virtual reality tangible rehabilitation training apparatus comprising a; a control unit having an upper extremity training unit for performing upper extremity training of the user while reconfiguring the upper extremity training contents displayed on the display unit.
The method of claim 1,

The upper extremity training module,

A module body to be gripped by a user, and a rotational upper extremity training module having a module connection part protruding from the module body part and provided with the module identification part,

The body part,

A module coupling part having a coupling groove part into which the module connection part including the module identification part is inserted, and a locking part coupled to the module coupling part in a direction crossing the coupling groove part and blocking separation of the module connection part from the coupling groove part Virtual reality tangible rehabilitation training device, characterized in that.
According to claim 1,

The body part,

Further comprising a resistance generating unit that generates a resistance force opposite to the pressing force applied to the upper extremity training module by the user,

The control unit is

Virtual reality tangible rehabilitation training apparatus, characterized in that it further comprises an upper extremity training difficulty setting unit for setting the user's upper extremity training difficulty by adjusting the magnitude of the resistance generated by the resistance generating unit.
According to claim 1,

The upper extremity training module,

A pressure-type upper limb having a flexible module body part held by a user and having an accommodating space in which a fluid is accommodated, and a tubular module connection part protruding from the module body part to be connected to the accommodating space and provided with the module identification part Virtual reality tangible rehabilitation training apparatus comprising a training module.
The method of claim 1,

The control unit is

A cognitive training content setting unit for displaying cognitive training contents on the display unit according to user information stored in advance, and cognitive training for performing user cognitive training while reconfiguring the cognitive training contents displayed on the display unit according to information input from the user Virtual reality tangible rehabilitation training apparatus, characterized in that it further comprises a training unit.