WO2023022319A1

WO2023022319A1 - Upper extremity exercise device

Info

Publication number: WO2023022319A1
Application number: PCT/KR2022/004444
Authority: WO
Inventors: 최동민; 이건규
Original assignee: 에이치로보틱스 주식회사
Priority date: 2021-08-17
Filing date: 2022-03-29
Publication date: 2023-02-23
Also published as: KR102622968B1; KR20230026556A

Abstract

The present invention relates to an upper extremity exercise device comprising: a robot base seated on the floor; a robot body installed on the upper portion of the robot base; an elevation driving unit for elevating and moving the robot body; a link assembly protruding from the robot body to the front so as to move with at least two degrees of freedom; a hand seat portion which is coupled to the distal end of the link assembly and on which a hand of a user is seated; a force sensor for measuring a force applied to the hand seat portion in the direction of gravity when the hand of the user is seated; and a robot control unit which adjusts the height of the hand seat portion by controlling, on the basis of the force measured by the force sensor and a previously registered reference range, the elevation driving unit such that the robot body is elevated and moved. Accordingly, the height of the hand seat portion where the user can feel comfortable may be automatically adjusted.

Description

upper extremity exercise device

The present invention relates to an upper limb exercise device, and more particularly, to an upper limb exercise device enabling a user to exercise in a comfortable posture.

In general, each joint part of the human body has a structure in which parts adjacent to the joint part can rotate based on the joint part.

In the case of a patient with a disability in the shoulder or elbow joint of the upper limb, an upper limb exercise device that moves along a predetermined trajectory while holding the exercise device by hand is used.

1 is a view showing an example of a conventional upper extremity exercise device. As shown in FIG. 1 , a user performs rehabilitation exercises while sitting or standing on a chair, holding a rod formed in a hand resting part of an upper extremity exercise device, and moving an arm forward, backward, left and right in a constant trajectory.

At this time, a certain assisting force is applied to the user to assist the rehabilitation exercise. In the case of the assisting force, it is set to a (+) value or (-) value to assist the rehabilitation in various ways, such as assisting the movement or acting as a load on the movement. will do

However, when the user grips the hand resting part in a chair or standing state, the comfortable height of the hand resting part may vary according to the height condition of the user. Accordingly, a method of manually adjusting the height of the hand resting unit or automatically adjusting the height through button manipulation is being used.

However, in the case of a user performing upper extremity rehabilitation exercise using a normal upper extremity exercise device, it may be difficult for the user to directly adjust the height or operate the button because rehabilitation is required, that is, the body is in a relatively uncomfortable state. there is.

In addition, in the case of a user inexperienced in manipulating the rehabilitation exercise device, it is practically difficult to adjust the height alone, and in this case, there is a disadvantage in that a person assisting rehabilitation must always be with the user.

[Prior art literature]

[Patent Literature]

(Patent Document 1) Korean Patent Registration No. 10-1471805

(Patent Document 2) Korean Patent Registration No. 10-1163903

The present invention has been devised in view of the above points, and an object of the present invention is to provide an upper extremity exercise device that can automatically adjust the height of a hand rest that a user can feel comfortable with.

In addition, another object is to provide an upper limb exercise device capable of actively coping with abnormal symptoms when performing rehabilitation exercises using the upper limb exercise device.

An object of the present invention, according to the present invention, a robot base seated on the floor, a robot body installed on the upper part of the robot base, a lift driver for lifting and moving the robot body, and protruding forward from the robot body A link assembly that moves in at least two degrees of freedom, a hand seating portion coupled to an end of the link assembly and seating the user's hand, and measuring a force applied to the hand seating portion in the direction of gravity when the user's hand is seated A robot control unit configured to adjust the height of the hand resting unit by controlling the lifting driving unit so that the robot body moves up and down based on a force sensor and a measured force measured by the force sensor and a pre-registered reference range. It is achieved by the upper extremity exercise device characterized by.

Here, the reference range includes an upper limit value and a lower limit value; The robot control unit may control the lifting driver to lower the robot body when the measured force exceeds the upper limit value, and control the lifting driver to raise the robot body when the measured force is less than the lower limit value.

In addition, the robot control unit may control the lifting driving unit until the measured force falls within the reference range.

And, it further includes a rehabilitation driving unit for providing an exercise load through the link assembly; The robot control unit may operate in an initial setting mode for adjusting the height of the hand resting unit and a rehabilitation mode for providing an upper extremity exercise by controlling the rehabilitation drive unit after completion of the initial setting mode.

Also, the robot control unit may operate in a pre-registered corresponding mode when the measured force measured by the force sensor is smaller than a pre-registered reference force during the operation in the rehabilitation mode.

Also, the reference force may be registered based on the measured force measured by the force sensor when the initial setting mode is completed.

In addition, the reference force may be set to N% (N is a natural number less than 100) of the measured force measured by the force sensor upon completion of the initial setting mode and registered.

The corresponding mode may include at least one of a temporary stop of the rehabilitation driver, a warning alarm, and a complete stop after a predetermined time elapses after the temporary stop of the rehabilitation driver.

According to the present invention, there is provided an upper extremity exercise device that can automatically adjust the height of a hand rest that a user can feel comfortable with.

In addition, according to the present invention, an upper limb exercise device capable of actively coping with abnormal symptoms when performing rehabilitation exercises using the upper limb exercise device is provided.

1 is a view showing an example of a conventional upper extremity exercise device,

2 is a perspective view of an upper limb exercise device according to an embodiment of the present invention;

3 is a side view of an upper limb exercise device according to an embodiment of the present invention;

4 is a control block diagram of an upper limb exercise device according to an embodiment of the present invention;

5 and 6 are control flow charts of an upper limb exercise device according to an embodiment of the present invention.

The present invention includes a robot base seated on the floor, a robot body installed on the upper part of the robot base, a lifting driver for lifting and moving the robot body, and a link assembly protruding forward from the robot body and moving in at least two degrees of freedom. , a hand seating portion coupled to the end of the link assembly and on which the user's hand is seated, a force sensor for measuring a force applied to the hand seating portion in the direction of gravity when the user's hand is seated, and the force sensor Based on the measured force measured by and the pre-registered reference range, the upper limb exercise device comprising a robot control unit for adjusting the height of the hand resting part by controlling the lifting driver so that the robot body moves up and down. will be.

Advantages and features of the present invention, and methods of achieving them, will become clear with reference to the detailed description of the following embodiments taken in conjunction with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but may be implemented in various different forms, only these embodiments are intended to complete the disclosure of the present invention, and are common in the art to which the present invention belongs. It is provided to fully inform the person skilled in the art of the scope of the invention, and the invention is only defined by the scope of the claims.

Terminology used herein is for describing the embodiments and is not intended to limit the present invention. In this specification, singular forms also include plural forms unless specifically stated otherwise in a phrase. As used herein, "comprises" and/or "comprising" does not exclude the presence or addition of one or more other elements other than the recited elements. Like reference numerals throughout the specification refer to like elements, and “and/or” includes each and every combination of one or more of the recited elements. Although "first", "second", etc. are used to describe various components, these components are not limited by these terms, of course. These terms are only used to distinguish one component from another. Accordingly, it goes without saying that the first element mentioned below may also be the second element within the technical spirit of the present invention.

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

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

2 is a perspective view of an upper limb exercise device 100 according to an embodiment of the present invention, FIG. 3 is a side view of the upper limb exercise device 100 according to an embodiment of the present invention, and FIG. It is a control block diagram of the upper limb exercise device 100.

2 to 4, the upper extremity exercise device 100 according to an embodiment of the present invention includes a robot base 110, a robot body 120, a lift drive unit 162, a link assembly 130, a hand It may include a seating part 140, a force sensor 163, and a robot control unit 164.

The robot base 110 supports the entire upper limb exercise device 100 according to the embodiment of the present invention in a state of being seated on the floor. In FIGS. 2 and 3 , the robot base 110 has a substantially rectangular parallelepiped shape as an example, but the technical idea of the present invention is not limited thereto.

The robot body 120 is installed on top of the robot base 110 . Here, as an example, the robot body 120 according to the embodiment of the present invention is installed on the robot base 110 to be vertically movable, and through this, the height of the hand resting part 140 can be adjusted.

The lifting driver 162 lifts and moves the robot body 120 . The elevation driving unit 162 may be installed on the robot body 120 or the robot base 110, and preferably may be installed on the robot base 110. In an embodiment of the present invention, the lifting driving unit 162 may be configured in various forms for moving the robot body 120 up and down. It can be configured to be converted to. As another example, the robot body 120 may be moved up and down through hydraulic pressure. Therefore, the technical concept of the present invention is not limited to the configuration of the lifting driver 162 for lifting and moving the robot body 120.

Meanwhile, the link assembly 130 protrudes from the robot body 120 toward the front. Here, it is exemplified that the link assembly 130 is provided to be driven by a mechanism that moves with at least two degrees of freedom. For example, the link assembly 130 may be configured to move in two degrees of freedom in a horizontal direction. To this end, the link assembly 130 may be composed of a link structure composed of two or more links.

Here, the table 150 may be placed at a height between the robot body 120 and the robot base 110, and the link assembly 130 may be positioned above the table 150.

The hand seating portion 140 is coupled to an end of the link assembly 130 . After the user places his/her hand on the hand seating part 140, a rehabilitation exercise is performed. Here, a gripping rod is formed in the hand resting part 140 so that the user can hold the gripping rod and perform movement with two degrees of freedom, or the user can perform the movement while the hand is fixed by the fixing band.

The force sensor 163 measures the force applied in the direction of gravity when the user's hand is seated on the hand seat 140 . In the present invention, as an example, a sensor for detecting a load when the user's hand is seated is installed at the lower end of the hand seat 140 .

The robot controller 164 according to an embodiment of the present invention moves the robot body 120 up and down based on the measured force M measured by the force sensor 163 and the pre-registered reference ranges RH and RL. The lift drive unit 162 is controlled to move. Through this, the controller adjusts the height of the hand resting part 140 .

More specifically, the reference ranges RH and RL according to an embodiment of the present invention may include an upper limit value RH and a lower limit value RL. In addition, the robot controller 164 controls the lift drive unit 162 so that the robot body 120 descends when the measured force M measured by the force sensor 163 exceeds the upper limit value RH. The height of the seating portion 140 is lowered.

On the other hand, when the measured force M measured by the force sensor 163 is less than the lower limit value RL, the robot controller 164 controls the lift drive unit 162 so that the robot body 120 rises, thereby increasing the hand resting unit. The height of (140) is lowered.

According to the configuration as described above, when the user places his/her hand on the hand resting part 140, the height of the hand resting part 140 is high and it is sensed that the posture of applying a little greater force in the lower direction is automatically applied to the hand resting part 140. The height of the seating portion 140 can be lowered.

Similarly, when the user places his/her hand on the hand resting part 140, the height of the hand resting part 140 is low and the force applied in the downward direction is small, and automatically the hand resting part 140 height can be increased.

Therefore, even if a user who needs rehabilitation takes only a posture to prepare for a rehabilitation exercise by seating his/her hand on the hand resting part 140 for upper extremity rehabilitation exercise, the height of the hand resting part 140 is automatically set to a suitable height for the user. becomes adjustable.

Meanwhile, the upper extremity exercise device 100 according to an embodiment of the present invention may further include a rehabilitation driver 161 .

The rehabilitation driving unit 161 according to an embodiment of the present invention assists the user's rehabilitation exercise by providing an exercise load through the link assembly 130 . Here, the exercise load provided by the rehabilitation driving unit 161 may be provided in various ways according to rehabilitation conditions, such as providing additional assisting force in the exercise direction or providing auxiliary force in the opposite direction to the exercise direction.

Here, the robot control unit 164, as described above, is selected from among the initial setting mode in which the height of the hand resting unit 140 is adjusted, and the rehabilitation mode in which upper limb motion is provided by controlling the rehabilitation drive unit 161 after completion of the initial setting mode. either one will work.

Hereinafter, a process of operating the robot controller 164 in the initial setting mode in the upper extremity exercise device 100 according to an embodiment of the present invention will be described in detail with reference to FIG. 5 .

First, the reference ranges RH and RL are registered in the upper limb exercise device 100 (S10). Here, the reference ranges RH and RL may be determined based on the current physical condition of the user, for example, height or weight.

In the state where the reference ranges RH and RL are registered, when the initial setting mode is executed (S11), the force sensor 163 measures the measured force M (S12). Execution of the initial setting mode may be executed when the current user uses the upper limb exercise device 100 for the first time, and may be omitted for later use.

Here, the upper extremity exercise device 100 according to the embodiment of the present invention, as shown in FIGS. 2 to 4 , may be configured to further include a user input unit 167, and the user inputs the user input unit 167. You can select the execution of the initial setting mode through The user input unit 167 may be provided in various forms such as a touch method or a keyboard.

When the measured force M is measured by the force sensor 163 (S12), it is determined whether or not the measured force M falls within the reference ranges RH and RL (S13 and S14). Here, when the measured force M is included within the reference ranges RH and RL, the current height of the hand resting unit 140 is registered as the height used by the current user, and a completion message of the initial setting mode is output (S19). .

Here, the upper extremity exercise device 100 according to the embodiment of the present invention, as shown in FIGS. can be displayed on the screen.

Again, when it is determined that the force measured by the force sensor 163 in step S13 exceeds the upper limit value RH of the reference ranges RH and RL, the robot controller 164 moves the robot body 120 up and down so as to descend. The driving unit 162 is controlled (S14).

Then, the robot control unit 164 determines that the measured force M measured by the force sensor 163 by the hand resting unit 140 whose height is lowered according to the descent of the robot body 120 is within the reference range RH, RL) is included in (S15). That is, the robot control unit 164 lowers the robot body 120 until the measured force M measured by the force sensor 163 is included within the reference range RH, RL, and when this is satisfied, as described above. As such, the operation of the lifting driver 162 is stopped and a completion message is output (S19).

On the other hand, if it is determined that the force measured by the force sensor 163 in step S16 is less than the lower limit value RL of the reference ranges RH and RL, the robot control unit 164 moves the robot body 120 up and down by moving the lifting unit ( 162) is controlled (S17).

Then, the robot control unit 164 measures the force M measured by the force sensor 163 by the hand resting unit 140, which increases in height as the robot body 120 rises, in the reference ranges RH and RL. ) It is determined whether it is included in (S18). That is, the robot control unit 164 elevates the robot body 120 until the measured force M measured by the force sensor 163 is included within the reference range RH, RL, and when this is satisfied, as described above. As such, the operation of the lifting driver 162 is stopped and a completion message is output (S19).

Through the above process, the initial setting mode is completed, and the height of the hand resting part 140 for the current user can be determined.

Hereinafter, a process of performing rehabilitation exercises in the upper extremity exercise device 100 according to an embodiment of the present invention will be described with reference to FIG. 6 .

First, whether or not to execute the initial setting mode is determined according to whether the user is the first user before performing rehabilitation exercises using the upper extremity exercise device 100 (S20). For example, when a user selects pre-registered own information through the display unit 165 and the user input unit 167, the initial setting mode may not be executed. When input as the first user, as shown in FIG. 5, the initial setting mode will be executed.

After the initial setting mode is executed or when the selection of a pre-registered user is completed, the rehabilitation mode is executed. S21). Here, user information may be received and registered through the communication unit 166 shown in FIG. 4 or directly input through the display unit 165 and the user input unit 167 .

As described above, the measured force (M) is measured by the force sensor 163 in the course of rehabilitation exercise, and the robot control unit 164 measures the measured force (M) measured by the force sensor 163 during operation in the rehabilitation mode. When it is smaller than the pre-registered reference force (M _F ) (S23), it operates in a pre-registered corresponding mode (S24).

That is, when the hand seated on the hand seat 140 falls away from the hand seat 140 or the user experiences a special event, for example, an emergency situation, and the force applied to the hand seat 140 decreases, It recognizes this as an impossible state and operates in a corresponding mode.

Here, the corresponding mode temporarily stops the rehabilitation drive unit 161, outputs a warning alarm, or measures the force detected by the force sensor 163 until a predetermined time elapses after the rehabilitation drive unit 161 is temporarily stopped. If (M) does not exceed the reference force (M _F ), it may be configured in various forms, such as a process of completely stopping. Or a combination of the above examples can be configured.

In the embodiment of the present invention, it is assumed that the reference force M _F is registered based on the measurement point force measured by the force sensor 163 upon completion of the initial setting mode. That is, by determining the reference force (M _F ) based on the measured force (M) measured by recognizing the user in a comfortable posture in the initial setting mode, it is possible to set a criterion suitable for the user.

In the embodiment of the present invention, it is an example to set the reference force (M _F ) to N% (N is a natural number less than 100) of the measured force (M) measured by the force sensor 163 upon completion of the initial setting mode. , for example, set to 10%.

Although the embodiments of the present invention have been described with reference to the accompanying drawings, those skilled in the art to which the present invention pertains can be implemented in other specific forms without changing the technical spirit or essential features of the present invention. you will be able to understand Therefore, it should be understood that the embodiments described above are illustrative in all respects and not restrictive.

[Description of code]

100: upper extremity exercise device 110: robot base

120: robot body 130: link assembly

140: hand rest 150: table

161: rehabilitation driving unit 162: lifting driving unit

163: force sensor 164: robot controller

165: display unit 166: communication unit

167: user input unit

The present invention is applicable to fields such as upper extremity rehabilitation exercises.

Claims

A robot base that is seated on the floor;

A robot body installed on the upper part of the robot base;

a lift drive unit for lifting and moving the robot body;

A link assembly protruding forward from the robot body and moving in at least two degrees of freedom;

a hand seating portion coupled to an end of the link assembly and seating a user's hand;

a force sensor that measures a force applied to the hand seating portion in a direction of gravity when the user's hand is seated;

and a robot control unit controlling the height of the hand resting part by controlling the lifting driver so that the robot body moves up and down based on the measured force measured by the force sensor and a pre-registered reference range. exercise device.
According to claim 1,

The reference range includes an upper limit value and a lower limit value;

The robot control unit

When the measured force exceeds the upper limit value, controlling the lift drive unit to lower the robot body;

The upper limb exercise device, characterized in that for controlling the lift drive unit to raise the robot body when the measured force is less than the lower limit value.
According to claim 2,

The upper limb exercise device according to claim 1 , wherein the robot control unit controls the lifting driving unit until the measured force falls within the reference range.
According to claim 3,

Further comprising a rehabilitation driving unit providing an exercise load through the link assembly;

The upper limb exercise device according to claim 1 , wherein the robot control unit operates in an initial setting mode for adjusting the height of the hand seating part and a rehabilitation mode for providing an upper limb exercise by controlling the rehabilitation driver after completion of the initial setting mode.
According to claim 4,

The upper limb exercise device according to claim 1 , wherein the robot control unit operates in a pre-registered corresponding mode when the measured force measured by the force sensor is smaller than a pre-registered reference force during the operation in the rehabilitation mode.
According to claim 5,

The upper limb exercise device, characterized in that the reference force is registered based on the measured force measured by the force sensor upon completion of the initial setting mode.
According to claim 7,

The upper limb exercise device, characterized in that the reference force is set and registered as N% (N is a natural number less than 100) of the measured force measured by the force sensor upon completion of the initial setting mode.
According to claim 5,

The corresponding mode is

and at least one of a temporary stop of the rehabilitation drive unit, a warning alarm, and a complete stop after a predetermined time elapses after the temporary stop of the rehabilitation drive unit.