WO2023113240A1 - Lower extremity rehabilitation exercise system and lower extremity exercise evaluation method using same - Google Patents

Lower extremity rehabilitation exercise system and lower extremity exercise evaluation method using same Download PDF

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Publication number
WO2023113240A1
WO2023113240A1 PCT/KR2022/017406 KR2022017406W WO2023113240A1 WO 2023113240 A1 WO2023113240 A1 WO 2023113240A1 KR 2022017406 W KR2022017406 W KR 2022017406W WO 2023113240 A1 WO2023113240 A1 WO 2023113240A1
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WO
WIPO (PCT)
Prior art keywords
foot
data
ankle
lower leg
knee
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PCT/KR2022/017406
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French (fr)
Korean (ko)
Inventor
강상훈
황성일
손정우
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울산과학기술원
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Publication of WO2023113240A1 publication Critical patent/WO2023113240A1/en

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    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
    • A63B22/0048—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with cantilevered support elements pivoting about an axis
    • 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
    • A63B21/40—Interfaces with the user related to strength training; Details thereof
    • A63B21/4027—Specific exercise interfaces
    • A63B21/4033—Handles, pedals, bars or platforms
    • A63B21/4034—Handles, pedals, bars or platforms for operation by feet
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
    • A63B24/0062—Monitoring athletic performances, e.g. for determining the work of a user on an exercise apparatus, the completed jogging or cycling distance
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/10—Positions
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/17—Counting, e.g. counting periodical movements, revolutions or cycles, or including further data processing to determine distances or speed
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/40—Acceleration
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/50—Force related parameters
    • A63B2220/51—Force
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/80—Special sensors, transducers or devices therefor
    • A63B2220/83—Special sensors, transducers or devices therefor characterised by the position of the sensor
    • A63B2220/833—Sensors arranged on the exercise apparatus or sports implement
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/80—Special sensors, transducers or devices therefor
    • A63B2220/83—Special sensors, transducers or devices therefor characterised by the position of the sensor
    • A63B2220/836—Sensors arranged on the body of the user

Definitions

  • the present invention relates to a rehabilitation exercise system, and more particularly to a lower extremity rehabilitation exercise system.
  • an upper and lower extremity robot rehabilitation training system is provided with a footrest sensor made of a load sensor and is configured to support the left and right feet respectively, but the left and right feet are supported.
  • the lower extremity exercise mechanism configured to generate a motor control signal to drive the footrest part on the other side when the stiffness of one foot is determined by detecting the movement of the load center from the load signal received from the footrest part configured to move alternately and the footrest sensor, has been initiated.
  • This conventional system utilizes signals measured through sensors to drive exercise equipment, and is not used for evaluation of rehabilitation exercises.
  • An object of the present invention is to provide a lower extremity rehabilitation exercise system providing a rehabilitation exercise evaluation function and a rehabilitation exercise evaluation method using the same.
  • Another object of the present invention is to provide a lower limb rehabilitation exercise system and method for calculating and evaluating a moment applied to a user's knee joint during rehabilitation exercise.
  • Another object of the present invention is to provide a lower limb rehabilitation exercise system and method for evaluating body balance during rehabilitation exercise.
  • the user's foot is seated and the lower extremity exercise mechanism having two footrests capable of moving up and down alternately; a force plate installed on the footrest to generate foothold force data by measuring forces and moments generated by contact with the foot; an encoder for generating foot position data by measuring the position of the footrest; an IMU attached to the lower leg of the user to measure the posture of the lower leg and generate lower leg posture data; and a motion evaluation unit calculating rehabilitation exercise evaluation information of the user using the foothold force data, the foot position data, and the lower leg posture data.
  • a lower extremity exercise mechanism part having two footrests on which the user's feet are seated and capable of being moved up and down alternately, and installed on the footrests to prevent contact with the feet.
  • a lower extremity rehabilitation exercise system including an IMU that generates lower leg posture data, and a motion evaluation unit that calculates rehabilitation exercise evaluation information of the user using the foothold force data, the foot position data, and the lower leg posture data.
  • a lower extremity motion evaluation method comprising: a foot acceleration calculation step in which the motion evaluation unit calculates foot acceleration using the foot position data; an ankle load calculation step in which the exercise evaluation unit calculates an ankle load, which is a force applied to an ankle of the user, using the foot acceleration and the footrest force data; An ankle moment calculation step in which the motion evaluation unit calculates an ankle moment applied to the user's ankle using the foot position data, foot acceleration data and foot speed data calculated from the foot position data, the foot force data, and the ankle load; a knee position calculation step in which the motion evaluation unit calculates a knee position using the lower leg posture data; a lower leg position calculation step in which the motion evaluation unit calculates a lower leg position using the lower leg posture data; a knee load calculation step in which the motion evaluation unit calculates a knee load, which is a force applied to the knee, using the acceleration of the lower leg and the ankle load calculated using the position of the lower leg; and the motion evaluation unit calculating a knee moment applied to the user's knee joint in real time using the knee position,
  • a lower extremity exercise mechanism having two footrests on which the user's feet are seated and capable of being moved up and down alternately, and installed on the footrests to make contact with the feet
  • a lower extremity rehabilitation exercise system including a power plate for generating foothold force data by measuring forces and moments generated by the footrest, and a motion evaluation unit for calculating rehabilitation exercise evaluation information of the user using the foothold force data.
  • the method includes: a center of pressure calculation step in which the motion evaluation unit calculates a center of pressure formed in the footrest from the force plate using the force data; and a center of pressure change information calculating step of calculating, by the motion evaluation unit, change information of the position of the center of pressure.
  • the power plate installed on the footrest to measure the three-axis force and moment, the IMU attached to the lower leg of the user, and the encoder to measure the position of the footrest, and the motion evaluation unit measured from the forceplate, IMU, and encoder The moment applied to the user's knee joint can be easily calculated in real time using the data, and the balance information of the body can be calculated and evaluated.
  • FIG. 1 is a perspective view showing a lower extremity rehabilitation exercise system according to an embodiment of the present invention.
  • FIG. 2 is a configuration diagram schematically showing the configuration of the lower extremity rehabilitation exercise system shown in FIG. 1;
  • FIG. 3 is a flowchart illustrating a lower extremity exercise evaluation method according to an embodiment of the present invention using the lower extremity rehabilitation exercise system shown in FIGS. 1 and 2 .
  • FIG. 4 is a flowchart illustrating a lower extremity exercise evaluation method according to another embodiment of the present invention using the lower extremity rehabilitation exercise system shown in FIGS. 1 and 2 .
  • the lower extremity rehabilitation exercise system 100 includes a lower extremity exercise mechanism unit 110 that provides a user U with an appropriate load for lower extremity rehabilitation exercise, and exercise Data collection means (141, 142, 151, 152, 161, 162) for collecting exercise data for evaluation, and exercise data collected by the data collection means (141, 142, 151, 152, 161, 162) and an output unit 190 that outputs the exercise evaluation information calculated by the exercise evaluation unit 180.
  • the lower extremity exercise mechanism 110 provides the user U with an appropriate load for lower extremity rehabilitation exercise.
  • the lower extremity exercise mechanism 110 includes a mechanism body 115 and two leg support structures 120 and 130 installed on the mechanism body 115 corresponding to the two legs L1 and L2 of the user U, respectively. to provide
  • the instrument body 115 is fixedly installed.
  • the two leg support structures 120 and 130 are rotatably installed on the instrument body 115 .
  • the two leg support structures 120 and 130 are rotatably installed on the instrument body 115 and arranged side by side.
  • One of the two leg support structures 120 and 130 is a first leg support structure 120 corresponding to and interacting with the first leg L1 of the two legs L1 and L2 of the user U,
  • the other is the second leg support structure 130 that interacts with the second leg L2 of the user U.
  • the second arm 121 extending from the mechanism body 115 and the first foot F1 of the first leg L1 are seated and coupled to the first arm 121.
  • a first footrest 124 is provided.
  • the first arm 121 is formed by extending from the instrument body 115 .
  • the first arm 121 is rotatably coupled to the instrument body 115 over a predetermined angular section, so that the end of the first arm 121 is generally movable along the vertical direction.
  • a first scaffold 124 is coupled to the end of the first arm 121 .
  • the first scaffold 124 is coupled to the first arm 121 so that the first arm 121 is movable along the vertical direction as the rotation.
  • the first foot F1 of the first leg L1 is placed on the first footrest 124 so that the first foot F1 is seated.
  • the first footrest 124 moves up and down together with the first foot F1 as the first foot F1 moves in the vertical direction.
  • the second leg support structure 130 is disposed substantially parallel to the first leg support structure 120, and includes a second arm 131 extending from the mechanism body 115 and a second leg of the second leg L2. (F2) is seated and has a second footrest 134 coupled to the second arm 131.
  • the second arm 131 extends from the instrument body 115 and is formed.
  • the second arm 131 is rotatably coupled to the instrument body 115 over a certain angular section, so that the end of the second arm 131 is generally movable along the vertical direction.
  • a second scaffold 134 is coupled to the end of the second arm 131 .
  • the second footrest 134 is coupled to the second arm 131 so as to rotate the second arm 131 so as to be movable in the vertical direction.
  • the second foot F2 of the second leg L2 is placed on the second footrest 134 so that the second foot F2 is seated.
  • the second footrest 134 moves up and down together with the second foot F2 as the second foot F2 moves in the vertical direction.
  • the first footrest 124 and the second footrest 134 are alternately moved up and down by the motion of the user U.
  • the first arm 121 and the second scaffold 134 are fixed to the first scaffold 124 and the second scaffold 134, so that the two scaffolds 124 and 134 move up and down, so that the angle with respect to the ground
  • the two scaffolds 124 and 134 may be relatively rotatably coupled to the two arms 121 and 131 so as to be parallel to the ground by maintaining the horizontality as they move up and down, which is also present fall within the scope of the invention.
  • a fixed arm 101 is further provided in the lower extremity exercise mechanism 110 .
  • the fixed arm 101 corresponds to a handle that the user U holds by hand during exercise, and is fixed and installed to the mechanism body 115 so as not to move. Although only one fixed arm 101 is shown in FIG. 1 , it is natural that two fixed arms 101 are provided to correspond to the two hands of the user U.
  • the data collection units 141, 142, 151, 152, 161, and 162 collect motion data for motion evaluation, and include a first force plate 141 installed on the first footrest 124 and a second footrest ( 124), a first encoder 151 for measuring the rotation of the first arm 121, and a second encoder 152 for measuring the rotation of the second arm 131 , the first IMU (Inertial Measurement Unit) 161 measuring the posture of the first lower leg E1 of the first leg L1 of the user U and the second leg L2 of the user U A second IMU 162 for measuring the posture of the second lower leg E2 is provided.
  • a first force plate 141 installed on the first footrest 124 and a second footrest ( 124)
  • a first encoder 151 for measuring the rotation of the first arm 121
  • a second encoder 152 for measuring the rotation of the second arm 131
  • the first IMU (Inertial Measurement Unit) 161 measuring the posture of the first lower leg E1 of the first leg L1
  • the first force plate 141 is a force sensor that measures the triaxial force and the triaxial moment, and is installed integrally with the first scaffold 124 so that the first scaffold (F1) of the user (U) 124), measure the first step force (F F/P1 ) and the first step moment (M F/P1 ).
  • the first foothold force (F F/P1 ) and the first foothold moment (M F/P1 ) measured by the first force plate 141 are transmitted to the motion evaluation unit 180 and used to calculate motion evaluation information.
  • the second force plate 142 is a force sensor that measures the triaxial force and the triaxial moment and is installed integrally with the second scaffold 134 so that the second scaffold (F2) of the user (U) 134), measure the second foot force (F F/P2 ) and the second foot moment (M F/P2 ).
  • the second foot force (F F/P2 ) and the second foot moment (M F/P2 ) measured by the second force plate 142 are transmitted to the motion evaluation unit 180 and used to calculate motion evaluation information.
  • the first encoder 151 measures rotation data of the first arm 121 . Rotation data of the first arm 121 measured by the first encoder 151 is transmitted to the motion evaluation unit 180 and used to calculate motion evaluation information.
  • the second encoder 152 measures rotation data of the second arm 131 .
  • Rotation data of the second arm 131 measured by the second encoder 152 is transmitted to the motion evaluation unit 180 and used to calculate motion evaluation information.
  • the first IMU 161 measures the posture of the first lower leg E1 of the first leg L1 of the user U.
  • the lower leg means a body part between the knee and the ankle in the leg.
  • the first IMU 161 may be attached to the user's calf or the like.
  • the posture data of the first lower leg E1 measured by the first IMU 161 is transmitted to the motion evaluation unit 180 and used to calculate motion evaluation information.
  • the second IMU 162 measures the posture of the second lower leg E2 of the second leg L2 of the user U.
  • the second IMU 162 may be attached to the user's calf or the like.
  • the posture data of the second lower leg E2 measured by the second IMU 162 is transmitted to the motion evaluation unit 180 and used to calculate motion evaluation information.
  • the motion evaluation unit 180 calculates motion evaluation information using motion data collected by the data collecting means 141 , 142 , 151 , 152 , 161 , and 162 .
  • the lower extremity motion evaluation method is performed by the motion evaluation unit 180 .
  • the motion evaluation information calculated by the motion evaluation unit 180 includes real-time knee joint moment estimation information calculated by the method shown in FIG. 3 and balance evaluation information calculated by the method shown in FIG. 4 .
  • the exercise evaluation unit 180 may include a memory device storing an exercise evaluation computer program and measurement and evaluation data, and a central processing unit executing the exercise evaluation computer program.
  • the output unit 190 outputs motion evaluation information including real-time knee joint moment estimation information and balance evaluation information calculated by the motion evaluation unit 180 .
  • FIG. 3 is a flow chart illustrating a rehabilitation exercise evaluation method according to an embodiment of the present invention using the lower extremity rehabilitation exercise system 100 shown in FIGS. 1 and 2 .
  • the rehabilitation exercise evaluation method according to an embodiment of the present invention estimates and calculates a knee joint moment in real time, a foot acceleration calculation step of calculating accelerations of the feet F1 and F2.
  • the lower leg position calculation step (S60) of calculating, the knee load calculation step (S70) of calculating the force applied to the knees (K1, K2), and the knee moment calculation step of calculating the moment applied to the knees (K1, K2). (S80) is included.
  • accelerations of the first foot F1 and the second foot F2 are calculated. Acceleration of each of the first foot (F1) and the second foot (F2) ( ) may be calculated by the motion evaluation unit 180 using Equation 1 below.
  • Equation 1 Is the position vector of the center of gravity (C ft ) of the feet (F1, F2) with respect to the reference coordinate system (x o -y o -z o ), the first and second encoders 151 and 152 and the first and second arms It can be calculated using the length l of (121, 131).
  • Foot acceleration calculated through the foot acceleration calculation step (S10) ( ) is used in the ankle load calculation step (S20).
  • the forces applied to each of the first ankle A1 and the second ankle A2 are calculated.
  • the force applied to each of the first ankle A1 and the second ankle A2 ( ) may be calculated by the motion evaluation unit 180 using Equation 2 below.
  • the force applied to the ankles A1 and A2 calculated in the ankle load calculation step (S20) ( ) is used in the ankle moment calculation step (S30) and the knee load calculation step (S70).
  • the moment applied to each of the first ankle A1 and the second ankle A2 is calculated.
  • Ankle moment applied to each of the first ankle A1 and the second ankle A2 ( ) may be calculated by the motion evaluation unit 180 using Equation 3 below.
  • Ankle moment calculated in the ankle moment calculation step (S30) ( ) is used in the knee moment calculation step (S80).
  • the rotation data is the angle of each of the first lower leg E1 and the second lower leg E2 ( ), angular velocity ( ) and angular acceleration ( ).
  • Rotation data of the lower legs E1 and E2 may be calculated by the motion evaluation unit 180 using posture data transmitted from the first and second IMUs 161 and 162 .
  • the rotation data of each of the first lower leg E1 and the second lower leg E2 calculated through the lower leg rotation data calculation step (S40) is calculated in the knee position calculation step (S50) and the lower leg position calculation step (S60). used
  • the positions of each of the first knee K1 and the second knee K2 are calculated.
  • the knee position is determined by the motion evaluation unit 180 using the lower leg rotation data calculated through the lower leg rotation data calculation step (S40) in the reference coordinate system (x o -y o -z o ), the position vector of the origin of the knee coordinate system (x k -y k -z k ) ( ) can be calculated by calculating The position vector of the origin of the knee coordinate system (x k -y k -z k ) calculated through the knee position calculation step (S50) ( ) is used in the knee moment calculation step (S80).
  • the respective positions of the first lower leg E1 and the second lower leg E2 are calculated.
  • the position of the lower leg is determined by the motion evaluation unit 180 using the lower leg rotation data calculated through the lower leg rotation data calculation step (S40) in the reference coordinate system (x o -y o
  • the position vector of the lower leg center of gravity (C sh ) relative to -z o ) ( ) can be calculated by calculating
  • the position vector of the lower leg center of gravity (C sh ) calculated through the lower leg position calculation step (S60) ( ) is used in the knee load calculation step (S70) and the knee moment calculation step (S80).
  • the force applied to the first knee K1 and the second knee K2 is calculated.
  • the force applied to each of the first knee (K1) and the second knee (K2) ( ) may be calculated by the motion evaluation unit 180 using Equation 4 below.
  • the force applied to the knees K1 and K2 calculated in the knee load calculation step (S70) ( ) is used in the ankle moment calculation step (S30).
  • Knee moment applied to each of the first knee (K1) and the second knee (K2) ( ) may be calculated by the motion evaluation unit 180 using Equation 5 below.
  • FIG. 4 shows a rehabilitation exercise evaluation method according to another embodiment of the present invention using the lower extremity rehabilitation exercise system 100 shown in FIGS. 1 and 2 as a flow chart.
  • the rehabilitation exercise evaluation method evaluates the user U's body balance, and includes a center of pressure calculation step (S15) and a pressure center variation information calculation step (S25).
  • a center of pressure (COP) formed in each of the first footrest 124 and the second footrest 134 during the user U's movement is calculated in real time.
  • the center of pressure at the first foot plate 124 and the second foot plate 134 is calculated by the motion evaluation unit 180 using the forces measured at the first force plate 141 and the second force plate 142.
  • the center of pressure (COP) change information calculated through the center of pressure calculation step (S15) is calculated.
  • the center of pressure variation information calculation step (S25) is performed by the motion evaluation unit 180 calculating the pressure center variation information using the real-time pressure center position information calculated in the pressure center calculation step (S15).
  • the center of pressure variation information calculated in the pressure center variation information calculation step (S25) is the variation information in the anterior/posterior direction, the variation information in the medial/lateral direction, and the standard deviation information of the center of pressure. includes
  • the lower extremity rehabilitation exercise system and the lower extremity exercise evaluation method using the same according to the present invention can be industrially used in a lower extremity rehabilitation robot that calculates and evaluates a moment applied to a user's knee joint and evaluates body balance.

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Abstract

According to the present invention, provided is a lower extremity rehabilitation exercise system comprising: a lower extremity exercise mechanism unit having two footrests on which the feet of a user rest and which can alternately move up and down; force plates which are installed on the footrests and generate footrest force data by measuring forces and moments generated by contact with the feet; an encoder for generating foot position data by measuring the position of the footrests; IMUs which are attached to the lower legs of the user and measure the posture of the lower legs to generate lower leg posture data; and an exercise evaluation unit for calculating rehabilitation exercise evaluation information of the user by using the footrest force data, the foot position data, and the lower leg posture data.

Description

하지 재활 운동 시스템 및 이를 이용한 하지 운동 평가 방법Lower extremity rehabilitation exercise system and lower extremity exercise evaluation method using the same

본 발명은 재활 운동 시스템에 관한 것으로서, 더욱 상세하게는 하지 재활 운동 시스템에 관한 것이다.The present invention relates to a rehabilitation exercise system, and more particularly to a lower extremity rehabilitation exercise system.

하지 재활 운동 시스템에 관한 발명인 본 발명과 관련된 선행특허문헌인 등록특허 제10-1385165호에는 상하지 로봇재활훈련 시스템으로서, 하중센서로 이루어진 발판센서를 구비하고 좌우발을 각각 거치하도록 이루어지되 좌우발을 교번하여 움직이도록 이루어진 발판부와, 발판 센서로부터 수신된 하중신호로부터 부하중심이동을 검출하여 일측 발의 경직이 판단되면, 반대측의 발판부가 구동되도록 모터제어신호를 생성하도록 구성되는 하지운동기구의 구성이 개시되어 있다.In Patent Registration No. 10-1385165, which is a prior patent document related to the present invention, which is an invention related to a lower extremity rehabilitation exercise system, an upper and lower extremity robot rehabilitation training system is provided with a footrest sensor made of a load sensor and is configured to support the left and right feet respectively, but the left and right feet are supported. The lower extremity exercise mechanism configured to generate a motor control signal to drive the footrest part on the other side when the stiffness of one foot is determined by detecting the movement of the load center from the load signal received from the footrest part configured to move alternately and the footrest sensor, has been initiated.

이러한 종래의 시스템은 센서를 통해 측정된 신호를 운동기구의 구동에 활용하는 것으로서, 재활 운동의 평가에는 사용되지 않는다.This conventional system utilizes signals measured through sensors to drive exercise equipment, and is not used for evaluation of rehabilitation exercises.

본 발명의 목적은 재활 운동 평가 기능을 제공하는 하지 재활 운동 시스템 및 이를 이용한 재활 운동 평가 방법을 제공하는 것이다.An object of the present invention is to provide a lower extremity rehabilitation exercise system providing a rehabilitation exercise evaluation function and a rehabilitation exercise evaluation method using the same.

본 발명의 다른 목적은 재활 운동 중 사용자의 무릎관절에 가해지는 모멘트를 산출하여 평가하는 하지 재활 운동 시스템 및 방법을 제공하는 것이다.Another object of the present invention is to provide a lower limb rehabilitation exercise system and method for calculating and evaluating a moment applied to a user's knee joint during rehabilitation exercise.

본 발명의 또 다른 목적은 재활 운동 중 신체의 균형을 평가하는 하지 재활 운동 시스템 및 방법을 제공하는 것이다.Another object of the present invention is to provide a lower limb rehabilitation exercise system and method for evaluating body balance during rehabilitation exercise.

상기한 본 발명의 목적을 달성하기 위하여, 본 발명의 일 측면에 따르면, 사용자의 발이 안착되고 교대로 상하 이동 가능한 두 발판들 구비하는 하지 운동 기구부; 상기 발판에 설치되어서 상기 발과의 접촉에 의해 발생하는 힘과 모멘트를 측정하여 발판 힘 데이터를 생성하는 힘판; 상기 발판의 위치를 측정하여 발 위치 데이터를 생성하는 엔코더; 상기 사용자의 아랫다리에 부착되어서 상기 아랫다리의 자세를 측정하여 아랫다리 자세 데이터를 생성하는 IMU; 및 상기 발판 힘 데이터, 상기 발 위치 데이터, 상기 아랫다리 자세 데이터를 이용하여 상기 사용자의 재활 운동 평가 정보를 산출하는 운동 평가부를 포함하는, 하지 재활 운동 시스템이 제공된다.In order to achieve the object of the present invention described above, according to an aspect of the present invention, the user's foot is seated and the lower extremity exercise mechanism having two footrests capable of moving up and down alternately; a force plate installed on the footrest to generate foothold force data by measuring forces and moments generated by contact with the foot; an encoder for generating foot position data by measuring the position of the footrest; an IMU attached to the lower leg of the user to measure the posture of the lower leg and generate lower leg posture data; and a motion evaluation unit calculating rehabilitation exercise evaluation information of the user using the foothold force data, the foot position data, and the lower leg posture data.

상기한 본 발명의 목적을 달성하기 위하여, 본 발명의 다른 측면에 따르면, 사용자의 발이 안착되고 교대로 상하 이동 가능한 두 발판들 구비하는 하지 운동 기구부와, 상기 발판에 설치되어서 상기 발과의 접촉에 의해 발생하는 힘과 모멘트를 측정하여 발판 힘 데이터를 생성하는 힘판과, 상기 발판의 위치를 측정하여 발 위치 데이터를 생성하는 엔코더와, 상기 사용자의 아랫다리에 부착되어서 상기 아랫다리의 자세를 측정하여 아랫다리 자세 데이터를 생성하는 IMU와, 및 상기 발판 힘 데이터, 상기 발 위치 데이터, 상기 아랫다리 자세 데이터를 이용하여 상기 사용자의 재활 운동 평가 정보를 산출하는 운동 평가부를 포함하는 하지 재활 운동 시스템을 이용한 하지 운동 평가 방법으로서, 상기 운동 평가부가 상기 발 위치 데이터를 이용하여 발 가속도를 산출하는 발 가속도 산출 단계; 상기 운동 평가부가 상기 발 가속도 및 상기 발판 힘 데이터를 이용하여 상기 사용자의 발목에 걸리는 힘인 발목 하중을 산출하는 발목 하중 산출 단계; 상기 운동 평가부가 상기 발 위치 데이터, 상기 발 위치 데이터로부터 산출되는 발 가속도 데이터와 발 속도 데이터, 상기 발판 힘 데이터 및 상기 발목 하중 이용하여 상기 사용자의 발목에 걸리는 발목 모멘트를 산출하는 발목 모멘트 산출 단계; 상기 운동 평가부가 상기 아랫다리 자세 데이터를 이용하여 무릎 위치를 산출하는 무릎 위치 산출 단계; 상기 운동 평가부가 상기 아랫다리 자세 데이터를 이용하여 아랫다리 위치를 산출하는 아랫다리 위치 산출 단계; 상기 운동 평가부가 상기 아랫다리 위치를 이용하여 계산된 상기 아랫다리의 가속도 및 상기 발목 하중을 이용하여 무릎에 걸리는 힘인 무릎 하중을 산출하는 무릎 하중 산출 단계; 및 상기 운동 평가부가 상기 무릎의 위치, 상기 아랫다리의 위치, 상기 무릎 하중, 상기 발 위치 데이터, 상기 발목 하중, 상기 발목 모멘트를 이용하여 상기 사용자의 무릎관절에 걸리는 무릎 모멘트를 실시간으로 산출하는 무릎 모멘트 산출 단계를 포함하는, 하지 운동 평가 방법이 제공된다.In order to achieve the above object of the present invention, according to another aspect of the present invention, a lower extremity exercise mechanism part having two footrests on which the user's feet are seated and capable of being moved up and down alternately, and installed on the footrests to prevent contact with the feet. A power plate for generating foothold force data by measuring the force and moment generated by the footrest, an encoder for generating foot position data by measuring the position of the footrest, and attached to the user's lower leg to measure the posture of the lower leg Using a lower extremity rehabilitation exercise system including an IMU that generates lower leg posture data, and a motion evaluation unit that calculates rehabilitation exercise evaluation information of the user using the foothold force data, the foot position data, and the lower leg posture data. A lower extremity motion evaluation method comprising: a foot acceleration calculation step in which the motion evaluation unit calculates foot acceleration using the foot position data; an ankle load calculation step in which the exercise evaluation unit calculates an ankle load, which is a force applied to an ankle of the user, using the foot acceleration and the footrest force data; An ankle moment calculation step in which the motion evaluation unit calculates an ankle moment applied to the user's ankle using the foot position data, foot acceleration data and foot speed data calculated from the foot position data, the foot force data, and the ankle load; a knee position calculation step in which the motion evaluation unit calculates a knee position using the lower leg posture data; a lower leg position calculation step in which the motion evaluation unit calculates a lower leg position using the lower leg posture data; a knee load calculation step in which the motion evaluation unit calculates a knee load, which is a force applied to the knee, using the acceleration of the lower leg and the ankle load calculated using the position of the lower leg; and the motion evaluation unit calculating a knee moment applied to the user's knee joint in real time using the knee position, the lower leg position, the knee load, the foot position data, the ankle load, and the ankle moment. A lower extremity exercise evaluation method including a moment calculation step is provided.

상기한 본 발명의 목적을 달성하기 위하여, 본 발명의 또 다른 측면에 따르면, 사용자의 발이 안착되고 교대로 상하 이동 가능한 두 발판들 구비하는 하지 운동 기구부와, 상기 발판에 설치되어서 상기 발과의 접촉에 의해 발생하는 힘과 모멘트를 측정하여 발판 힘 데이터를 생성하는 힘판과, 상기 발판 힘 데이터를 이용하여 상기 사용자의 재활 운동 평가 정보를 산출하는 운동 평가부를 포함하는 하지 재활 운동 시스템을 이용한 하지 운동 평가 방법으로서, 상기 운동 평가부가 상기 힘 데이터를 이용하여 상기 힘판에서 상기 발판에 형성되는 압력 중심을 산출하는 압력 중심 산출 단계; 및 상기 운동 평가부가 상기 압력 중심 위치의 변동 정보를 산출하는 압력 중심 변동 정보 산출 단계를 포함하는, 하지 운동 평가 방법이 제공된다.In order to achieve the above object of the present invention, according to another aspect of the present invention, a lower extremity exercise mechanism having two footrests on which the user's feet are seated and capable of being moved up and down alternately, and installed on the footrests to make contact with the feet Lower extremity motion evaluation using a lower extremity rehabilitation exercise system including a power plate for generating foothold force data by measuring forces and moments generated by the footrest, and a motion evaluation unit for calculating rehabilitation exercise evaluation information of the user using the foothold force data. The method includes: a center of pressure calculation step in which the motion evaluation unit calculates a center of pressure formed in the footrest from the force plate using the force data; and a center of pressure change information calculating step of calculating, by the motion evaluation unit, change information of the position of the center of pressure.

본 발명에 의하면 앞서서 기재한 본 발명의 목적을 모두 달성할 수 있다. 구체적으로, 발판에 설치되어서 3축 힘과 모멘트를 측정하는 힘판과, 사용자의 아랫다리에 부착되는 IMU와, 발판의 위치를 측정하는 엔코더를 구비하고, 운동 평가부가 힘판, IMU, 엔코더로부터 측정된 데이터를 이용하여 사용자의 무릎관절에 가해지는 모멘트를 실시간으로 용이하게 산출할 수 있고, 신체의 균형 정보를 산출하여 평가할 수 있다.According to the present invention, all of the objects of the present invention described above can be achieved. Specifically, the power plate installed on the footrest to measure the three-axis force and moment, the IMU attached to the lower leg of the user, and the encoder to measure the position of the footrest, and the motion evaluation unit measured from the forceplate, IMU, and encoder The moment applied to the user's knee joint can be easily calculated in real time using the data, and the balance information of the body can be calculated and evaluated.

도 1은 본 발명의 일 실시예에 따른 하지 재활 운동 시스템을 도시한 사시도이다.1 is a perspective view showing a lower extremity rehabilitation exercise system according to an embodiment of the present invention.

도 2는 도 1에 도시된 하지 재활 운동 시스템의 구성을 개략적으로 도시한 구성도이다.2 is a configuration diagram schematically showing the configuration of the lower extremity rehabilitation exercise system shown in FIG. 1;

도 3은 도 1 및 도 2에 도시된 하지 재활 운동 시스템을 이용한 본 발명의 일 실시예에 따른 하지 운동 평가 방법을 설명하는 순서도이다.FIG. 3 is a flowchart illustrating a lower extremity exercise evaluation method according to an embodiment of the present invention using the lower extremity rehabilitation exercise system shown in FIGS. 1 and 2 .

도 4는 도 1 및 도 2에 도시된 하지 재활 운동 시스템을 이용한 본 발명의 다른 실시예에 따른 하지 운동 평가 방법을 설명하는 순서도이다.FIG. 4 is a flowchart illustrating a lower extremity exercise evaluation method according to another embodiment of the present invention using the lower extremity rehabilitation exercise system shown in FIGS. 1 and 2 .

이하, 도면을 참조하여 본 발명의 실시예의 구성 및 작용을 상세하게 설명한다.Hereinafter, the configuration and operation of an embodiment of the present invention will be described in detail with reference to the drawings.

도 1 및 도 2는 본 발명의 일 실시예에 따른 하지 재활 운동 시스템에 대한 도면이다. 도 1 및 도 2를 참조하면, 본 발명의 일 실시예에 따른 하지 재활 운동 시스템(100)은, 사용자(U)에게 하지 재활 운동을 위한 적절한 하중을 제공하는 하지 운동 기구부(110)와, 운동 평가를 위한 운동 데이터를 수집하는 데이터 수집 수단들(141, 142, 151, 152, 161, 162)과, 데이터 수집 수단들(141, 142, 151, 152, 161, 162)에 의해 수집된 운동 데이터를 이용하여 운동 평가 정보를 산출하는 운동 평가부(180)와, 운동 평가부(180)에 의해 산출된 운동 평가 정보를 출력하는 출력부(190)를 포함한다.1 and 2 are views of a lower extremity rehabilitation exercise system according to an embodiment of the present invention. Referring to FIGS. 1 and 2 , the lower extremity rehabilitation exercise system 100 according to an embodiment of the present invention includes a lower extremity exercise mechanism unit 110 that provides a user U with an appropriate load for lower extremity rehabilitation exercise, and exercise Data collection means (141, 142, 151, 152, 161, 162) for collecting exercise data for evaluation, and exercise data collected by the data collection means (141, 142, 151, 152, 161, 162) and an output unit 190 that outputs the exercise evaluation information calculated by the exercise evaluation unit 180.

하지 운동 기구부(110)는 사용자(U)에게 하지 재활 운동을 위한 적절한 하중을 제공한다. 하지 운동 기구부(110)는 기구 몸체(115)와, 사용자(U)의 두 다리들(L1, L2)에 각각 대응하여 기구 몸체(115)에 설치되는 두 개의 다리 지지 구조물들(120, 130)을 구비한다.The lower extremity exercise mechanism 110 provides the user U with an appropriate load for lower extremity rehabilitation exercise. The lower extremity exercise mechanism 110 includes a mechanism body 115 and two leg support structures 120 and 130 installed on the mechanism body 115 corresponding to the two legs L1 and L2 of the user U, respectively. to provide

기구 몸체(115)는 고정되어서 설치된다. 기구 몸체(115)에 두 다리 지지 구조물(120, 130)들이 회전 가능하게 설치된다.The instrument body 115 is fixedly installed. The two leg support structures 120 and 130 are rotatably installed on the instrument body 115 .

두 개의 다리 지지 구조물(120, 130)들은 기구 몸체(115)에 회전 가능하게 설치되고 나란하게 배치된다. 두 개의 다리 지지 구조물들(120, 130) 중 하나는 사용자(U)의 두 다리들(L1, L2) 중 제1 다리(L1)에 대응하여 상호 작용하는 제1 다리 지지 구조물(120)이고, 다른 하나는 사용자(U)의 제2 다리(L2)에 대응하여 상호 작용하는 제2 다리 지지 구조물(130)이다.The two leg support structures 120 and 130 are rotatably installed on the instrument body 115 and arranged side by side. One of the two leg support structures 120 and 130 is a first leg support structure 120 corresponding to and interacting with the first leg L1 of the two legs L1 and L2 of the user U, The other is the second leg support structure 130 that interacts with the second leg L2 of the user U.

제1 다리 지지 구조물(120)은 기구 몸체(115)로부터 연장되는 제2 아암(121)과, 제1 다리(L1)의 제1 발(F1)이 안착되고 제1 아암(121)에 결합되는 제1 발판(124)을 구비한다.In the first leg support structure 120, the second arm 121 extending from the mechanism body 115 and the first foot F1 of the first leg L1 are seated and coupled to the first arm 121. A first footrest 124 is provided.

제1 아암(121)은 기구 몸체(115)로부터 연장되어서 형성된다. 제1 아암(121)은 기구 몸체(115)에 일정 각도 구간에 걸쳐서 회전 가능하게 결합되어서, 제1 아암(121)의 끝단이 대체로 상하방향을 따라서 이동 가능하다. 제1 아암(121)의 끝단에는 제1 발판(124)이 결합된다.The first arm 121 is formed by extending from the instrument body 115 . The first arm 121 is rotatably coupled to the instrument body 115 over a predetermined angular section, so that the end of the first arm 121 is generally movable along the vertical direction. A first scaffold 124 is coupled to the end of the first arm 121 .

제1 발판(124)은 제1 아암(121)에 결합되어서 제1 아암(121)이 회전함에 따라 상하방향을 따라서 이동 가능하다. 제1 발판(124) 위에는 제1 다리(L1)의 제1 발(F1)이 놓여서 제1 발(F1)이 안착된다. 제1 발판(124)은 제1 발(F1)이 상하방향을 따라 이동함에 따라, 제1 발(F1)과 함께 상하 이동한다.The first scaffold 124 is coupled to the first arm 121 so that the first arm 121 is movable along the vertical direction as the rotation. The first foot F1 of the first leg L1 is placed on the first footrest 124 so that the first foot F1 is seated. The first footrest 124 moves up and down together with the first foot F1 as the first foot F1 moves in the vertical direction.

제2 다리 지지 구조물(130)은 제1 다리 지지 구조물(120)과 대체로 나란하게 배치되며, 기구 몸체(115)로부터 연장되는 제2 아암(131)과, 제2 다리(L2)의 제2 발(F2)이 안착되고 제2 아암(131)에 결합되는 제2 발판(134)을 구비한다.The second leg support structure 130 is disposed substantially parallel to the first leg support structure 120, and includes a second arm 131 extending from the mechanism body 115 and a second leg of the second leg L2. (F2) is seated and has a second footrest 134 coupled to the second arm 131.

제2 아암(131)은 기구 몸체(115)로부터 연장되어서 형성된다. 제2 아암(131)은 기구 몸체(115)에 일정 각도 구간에 걸쳐서 회전 가능하게 결합되어서, 제2 아암(131)의 끝단이 대체로 상하방향을 따라서 이동 가능하다. 제2 아암(131)의 끝단에는 제2 발판(134)이 결합된다.The second arm 131 extends from the instrument body 115 and is formed. The second arm 131 is rotatably coupled to the instrument body 115 over a certain angular section, so that the end of the second arm 131 is generally movable along the vertical direction. A second scaffold 134 is coupled to the end of the second arm 131 .

제2 발판(134)은 제2 아암(131)에 결합되어서 제2 아암(131)이 회전함에 따라 상하방향을 따라서 이동 가능하다. 제2 발판(134) 위에는 제2 다리(L2)의 제2 발(F2)이 놓여서 제2 발(F2)이 안착된다. 제2 발판(134)은 제2 발(F2)이 상하방향을 따라 이동함에 따라, 제2 발(F2)과 함께 상하 이동한다.The second footrest 134 is coupled to the second arm 131 so as to rotate the second arm 131 so as to be movable in the vertical direction. The second foot F2 of the second leg L2 is placed on the second footrest 134 so that the second foot F2 is seated. The second footrest 134 moves up and down together with the second foot F2 as the second foot F2 moves in the vertical direction.

사용자(U)의 운동에 의해 제1 발판(124)과 제2 발판(134)은 교대로 상하 이동하게 된다. 본 실시예에서는 제1 발판(124)과 제2 발판(134)에 제1 아암(121)과 제2 발판(134)에 고정되어서 두 발판(124, 134)이 상하 이동함에 따라 지면에 대한 각도가 변하는 것으로 설명하지만, 이와는 달리 두 발판(124, 134)은 상하 이동함에 따라 수평을 유지하여 지면과 평행하도록 두 아암(121, 131)에 각각 상대적으로 회전 가능하게 결합될 수 있으며, 이 또한 본 발명의 범위에 속하는 것이다.The first footrest 124 and the second footrest 134 are alternately moved up and down by the motion of the user U. In this embodiment, the first arm 121 and the second scaffold 134 are fixed to the first scaffold 124 and the second scaffold 134, so that the two scaffolds 124 and 134 move up and down, so that the angle with respect to the ground It is described as changing, but unlike this, the two scaffolds 124 and 134 may be relatively rotatably coupled to the two arms 121 and 131 so as to be parallel to the ground by maintaining the horizontality as they move up and down, which is also present fall within the scope of the invention.

하지 운동 기구부(110)에는 고정암(101)이 더 구비된다. 고정암(101)은 사용자(U)가 운동 시에 손으로 잡는 손잡이에 해당하는 구성으로서, 기구 몸체(115)에 움직이지 않도록 고정되어서 설치된다. 도 1에서 고정암(101)은 하나만 도시되어 있으나, 사용자(U)의 두 손에 대응하여 두 개가 구비되는 것은 당연한 것이다.A fixed arm 101 is further provided in the lower extremity exercise mechanism 110 . The fixed arm 101 corresponds to a handle that the user U holds by hand during exercise, and is fixed and installed to the mechanism body 115 so as not to move. Although only one fixed arm 101 is shown in FIG. 1 , it is natural that two fixed arms 101 are provided to correspond to the two hands of the user U.

데이터 수집 수단들(141, 142, 151, 152, 161, 162)은 운동 평가를 위한 운동 데이터를 수집하는 것으로서, 제1 발판(124)에 설치되는 제1 힘판(141)과, 제2 발판(124)에 설치되는 제2 힘판(142)과, 제1 아암(121)의 회전을 측정하는 제1 엔코더(151)와, 제2 아암(131)의 회전을 측정하는 제2 엔코더(152)와, 사용자(U)의 제1 다리(L1)의 제1 아랫다리(E1)의 자세를 측정하는 제1 IMU(Inertial Measurement Unit)(161)와, 사용자(U)의 제2 다리(L2)의 제2 아랫다리(E2)의 자세를 측정하는 제2 IMU(162)를 구비한다.The data collection units 141, 142, 151, 152, 161, and 162 collect motion data for motion evaluation, and include a first force plate 141 installed on the first footrest 124 and a second footrest ( 124), a first encoder 151 for measuring the rotation of the first arm 121, and a second encoder 152 for measuring the rotation of the second arm 131 , the first IMU (Inertial Measurement Unit) 161 measuring the posture of the first lower leg E1 of the first leg L1 of the user U and the second leg L2 of the user U A second IMU 162 for measuring the posture of the second lower leg E2 is provided.

제1 힘판(141)은 3축 힘과 3축 모멘트를 측정하는 힘센서로서 제1 발판(124)에 일체가 되도록 설치되어서, 사용자(U)의 제1 발(F1)에 의해 제1 발판(124)에 발생하는 제1 발판 힘(FF/P1)과 제1 발판 모멘트(MF/P1)를 측정한다. 제1 힘판(141)에 의해 측정된 제1 발판 힘(FF/P1)과 제1 발판 모멘트(MF/P1)는 운동 평가부(180)로 전송되어서 운동 평가 정보 산출에 사용된다.The first force plate 141 is a force sensor that measures the triaxial force and the triaxial moment, and is installed integrally with the first scaffold 124 so that the first scaffold (F1) of the user (U) 124), measure the first step force (F F/P1 ) and the first step moment (M F/P1 ). The first foothold force (F F/P1 ) and the first foothold moment (M F/P1 ) measured by the first force plate 141 are transmitted to the motion evaluation unit 180 and used to calculate motion evaluation information.

제2 힘판(142)은 3축 힘과 3축 모멘트를 측정하는 힘센서로서 제2 발판(134)에 일체가 되도록 설치되어서, 사용자(U)의 제2 발(F2)에 의해 제2 발판(134)에 발생하는 제2 발판 힘(FF/P2)과 제2 발판 모멘트(MF/P2)를 측정한다. 제2 힘판(142)에 의해 측정된 제2 발판 힘(FF/P2)과 제2 발판 모멘트(MF/P2)는 운동 평가부(180)로 전송되어서 운동 평가 정보 산출에 사용된다.The second force plate 142 is a force sensor that measures the triaxial force and the triaxial moment and is installed integrally with the second scaffold 134 so that the second scaffold (F2) of the user (U) 134), measure the second foot force (F F/P2 ) and the second foot moment (M F/P2 ). The second foot force (F F/P2 ) and the second foot moment (M F/P2 ) measured by the second force plate 142 are transmitted to the motion evaluation unit 180 and used to calculate motion evaluation information.

제1 엔코더(151)는 제1 아암(121)의 회전 데이터를 측정한다. 제1 엔코더(151)에 의해 측정된 제1 아암(121)의 회전 데이터는 운동 평가부(180)로 전송되어서 운동 평가 정보 산출에 사용된다.The first encoder 151 measures rotation data of the first arm 121 . Rotation data of the first arm 121 measured by the first encoder 151 is transmitted to the motion evaluation unit 180 and used to calculate motion evaluation information.

제2 엔코더(152)는 제2 아암(131)의 회전 데이터를 측정한다. 제2 엔코더(152)에 의해 측정된 제2 아암(131)의 회전 데이터는 운동 평가부(180)로 전송되어서 운동 평가 정보 산출에 사용된다.The second encoder 152 measures rotation data of the second arm 131 . Rotation data of the second arm 131 measured by the second encoder 152 is transmitted to the motion evaluation unit 180 and used to calculate motion evaluation information.

제1 IMU(161)는 사용자(U)의 제1 다리(L1)의 제1 아랫다리(E1)의 자세를 측정한다. 본 실시예에서 아랫다리는 다리에서 무릎과 발목 사이의 신체 부위를 의미한다. 제1 IMU(161)는 사용자의 종아리 등에 부착될 수 있다. 제1 IMU(161)에 의해 측정된 제1 아랫다리(E1)의 자세 데이터는 운동 평가부(180)로 전송되어서 운동 평가 정보 산출에 사용된다.The first IMU 161 measures the posture of the first lower leg E1 of the first leg L1 of the user U. In this embodiment, the lower leg means a body part between the knee and the ankle in the leg. The first IMU 161 may be attached to the user's calf or the like. The posture data of the first lower leg E1 measured by the first IMU 161 is transmitted to the motion evaluation unit 180 and used to calculate motion evaluation information.

제2 IMU(162)는 사용자(U)의 제2 다리(L2)의 제2 아랫다리(E2)의 자세를 측정한다. 제2 IMU(162)는 사용자의 종아리 등에 부착될 수 있다. 제2 IMU(162)에 의해 측정된 제2 아랫다리(E2)의 자세 데이터는 운동 평가부(180)로 전송되어서 운동 평가 정보 산출에 사용된다.The second IMU 162 measures the posture of the second lower leg E2 of the second leg L2 of the user U. The second IMU 162 may be attached to the user's calf or the like. The posture data of the second lower leg E2 measured by the second IMU 162 is transmitted to the motion evaluation unit 180 and used to calculate motion evaluation information.

운동 평가부(180)는 데이터 수집 수단들(141, 142, 151, 152, 161, 162)에 의해 수집된 운동 데이터를 이용하여 운동 평가 정보를 산출한다. 운동 평가부(180)에 의해 하지 운동 평가 방법이 수행된다. 운동 평가부(180)에 의해 산출되는 운동 평가 정보는 도 3에 도시된 바와 같은 방법으로 산출되는 실시간 무릎관절 모멘트 추정 정보 및 도 4에 도시된 바와 같은 방법으로 산출되는 균형 평가 정보를 포함한다. 도시되지는 않았으나, 운동 평가부(180)는 운동 평가 컴퓨터 프로그램과 측정 및 평가 데이터가 저장되는 메모리장치와, 운동 평가 컴퓨터 프로그램을 실행하는 중앙처리장치로 구성될 수 있다.The motion evaluation unit 180 calculates motion evaluation information using motion data collected by the data collecting means 141 , 142 , 151 , 152 , 161 , and 162 . The lower extremity motion evaluation method is performed by the motion evaluation unit 180 . The motion evaluation information calculated by the motion evaluation unit 180 includes real-time knee joint moment estimation information calculated by the method shown in FIG. 3 and balance evaluation information calculated by the method shown in FIG. 4 . Although not shown, the exercise evaluation unit 180 may include a memory device storing an exercise evaluation computer program and measurement and evaluation data, and a central processing unit executing the exercise evaluation computer program.

출력부(190)는 운동 평가부(180)에 의해 산출된 실시간 무릎관절 모멘트 추정 정보 및 균형 평가 정보를 포함하는 운동 평가 정보를 출력한다.The output unit 190 outputs motion evaluation information including real-time knee joint moment estimation information and balance evaluation information calculated by the motion evaluation unit 180 .

도 3에는 도 1 및 도 2에 도시된 하지 재활 운동 시스템(100)을 이용한 본 발명의 일 실시예에 따른 재활 운동 평가 방법이 순서도로서 도시되어 있다. 도 3과 함께 도 2를 참조하면, 본 발명의 일 실시예에 따른 재활 운동 평가 방법은 실시간으로 무릎관절 모멘트를 추정하여 산출하는 것으로서, 발(F1, F2)의 가속도를 산출하는 발 가속도 산출 단계(S10)와, 발목(A1, A2)에 걸리는 힘을 산출하는 발목 하중 산출 단계(S20)와, 발목(A1, A2)에 걸리는 모멘트를 산출하는 발목 모멘트 산출 단계(S30)와, 아랫다리(E1, E2)의 회전 데이터들을 산출하는 아랫다리 회전 데이터 산출 단계(S40)와, 무릎(K1, K2)의 위치를 산출하는 무릎 위치 산출 단계(S50)와, 아랫다리(E1, E2)의 위치를 산출하는 아랫다리 위치 산출 단계(S60)와, 무릎(K1, K2)에 걸리는 힘을 산출하는 무릎 하중 산출 단계(S70)와, 무릎(K1, K2)에 걸리는 모멘트를 산출하는 무릎 모멘트 산출 단계(S80)를 포함한다.FIG. 3 is a flow chart illustrating a rehabilitation exercise evaluation method according to an embodiment of the present invention using the lower extremity rehabilitation exercise system 100 shown in FIGS. 1 and 2 . Referring to FIG. 2 together with FIG. 3, the rehabilitation exercise evaluation method according to an embodiment of the present invention estimates and calculates a knee joint moment in real time, a foot acceleration calculation step of calculating accelerations of the feet F1 and F2. (S10), an ankle load calculation step (S20) of calculating the force applied to the ankles (A1, A2), an ankle moment calculation step (S30) of calculating the moment applied to the ankles (A1, A2), and the lower leg ( The lower leg rotation data calculation step (S40) of calculating the rotation data of E1 and E2, the knee position calculation step (S50) of calculating the positions of the knees (K1 and K2), and the positions of the lower legs (E1 and E2). The lower leg position calculation step (S60) of calculating, the knee load calculation step (S70) of calculating the force applied to the knees (K1, K2), and the knee moment calculation step of calculating the moment applied to the knees (K1, K2). (S80) is included.

발 가속도 산출 단계(S10)에서는 제1 발(F1)과 제2 발(F2) 각각의 가속도가 산출된다. 제1 발(F1)과 제2 발(F2) 각각의 가속도(

Figure PCTKR2022017406-appb-img-000001
)는 운동 평가부(180)에 의해 아래 수학식 1을 이용하여 산출될 수 있다.In the foot acceleration calculation step (S10), accelerations of the first foot F1 and the second foot F2 are calculated. Acceleration of each of the first foot (F1) and the second foot (F2) (
Figure PCTKR2022017406-appb-img-000001
) may be calculated by the motion evaluation unit 180 using Equation 1 below.

Figure PCTKR2022017406-appb-img-000002
Figure PCTKR2022017406-appb-img-000002

수학식 1에서

Figure PCTKR2022017406-appb-img-000003
는 기준좌표계(xo-yo-zo)에 대한 발(F1, F2) 무게중심(Cft)의 위치벡터로서, 제1, 제2 엔코더(151, 152) 및 제1, 제2 아암(121, 131)의 길이(l)을 이용하여 계산될 수 있다.in Equation 1
Figure PCTKR2022017406-appb-img-000003
Is the position vector of the center of gravity (C ft ) of the feet (F1, F2) with respect to the reference coordinate system (x o -y o -z o ), the first and second encoders 151 and 152 and the first and second arms It can be calculated using the length l of (121, 131).

발 가속도 산출 단계(S10)를 통해 산출된 발 가속도(

Figure PCTKR2022017406-appb-img-000004
)는 발목 하중 산출 단계(S20)에서 사용된다.Foot acceleration calculated through the foot acceleration calculation step (S10) (
Figure PCTKR2022017406-appb-img-000004
) is used in the ankle load calculation step (S20).

발목 하중 산출 단계(S20)에서는 제1 발목(A1)과 제2 발목(A2) 각각에 걸리는 힘이 산출된다. 제1 발목(A1)과 제2 발목(A2) 각각에 걸리는 힘(

Figure PCTKR2022017406-appb-img-000005
)은 운동 평가부(180)에 의해 아래 수학식 2를 이용하여 산출될 수 있다.In the ankle load calculation step (S20), the forces applied to each of the first ankle A1 and the second ankle A2 are calculated. The force applied to each of the first ankle A1 and the second ankle A2 (
Figure PCTKR2022017406-appb-img-000005
) may be calculated by the motion evaluation unit 180 using Equation 2 below.

Figure PCTKR2022017406-appb-img-000006
Figure PCTKR2022017406-appb-img-000006

수학식 2에서,In Equation 2,

Figure PCTKR2022017406-appb-img-000007
는 발의 질량,
Figure PCTKR2022017406-appb-img-000007
is the mass of the foot,

Figure PCTKR2022017406-appb-img-000008
는 발 가속도 산출 단계(S10)를 통해 산출된 발 가속도,
Figure PCTKR2022017406-appb-img-000008
Is the foot acceleration calculated through the foot acceleration calculation step (S10),

Figure PCTKR2022017406-appb-img-000009
는 힘판(141, 142)을 통해 측정된 힘,
Figure PCTKR2022017406-appb-img-000009
is the force measured through the force plates 141 and 142,

Figure PCTKR2022017406-appb-img-000010
는 중력가속도이다.
Figure PCTKR2022017406-appb-img-000010
is the gravitational acceleration.

발목 하중 산출 단계(S20)에서 산출된 발목(A1, A2)에 걸리는 힘(

Figure PCTKR2022017406-appb-img-000011
)은 발목 모멘트 산출 단계(S30) 및 무릎 하중 산출 단계(S70)에서 사용된다.The force applied to the ankles A1 and A2 calculated in the ankle load calculation step (S20) (
Figure PCTKR2022017406-appb-img-000011
) is used in the ankle moment calculation step (S30) and the knee load calculation step (S70).

발목 모멘트 산출 단계(S30)에서는 제1 발목(A1)과 제2 발목(A2) 각각에 걸리는 모멘트가 산출된다. 제1 발목(A1)과 제2 발목(A2) 각각에 걸리는 발목 모멘트(

Figure PCTKR2022017406-appb-img-000012
)는 운동 평가부(180)에 의해 아래 수학식 3을 이용하여 산출될 수 있다.In the ankle moment calculation step (S30), the moment applied to each of the first ankle A1 and the second ankle A2 is calculated. Ankle moment applied to each of the first ankle A1 and the second ankle A2 (
Figure PCTKR2022017406-appb-img-000012
) may be calculated by the motion evaluation unit 180 using Equation 3 below.

Figure PCTKR2022017406-appb-img-000013
Figure PCTKR2022017406-appb-img-000013

수학식 3에서,In Equation 3,

Figure PCTKR2022017406-appb-img-000014
는 발(F1, F2)의 관성모멘트,
Figure PCTKR2022017406-appb-img-000014
is the moment of inertia of the feet (F1, F2),

Figure PCTKR2022017406-appb-img-000015
는 기준좌표계(xo-yo-zo)에 대한 힘판(141, 142) 중심(CF/P)의 위치벡터,
Figure PCTKR2022017406-appb-img-000015
Is the position vector of the center (C F / P ) of the force plates 141 and 142 with respect to the reference coordinate system (x o -y o -z o ),

Figure PCTKR2022017406-appb-img-000016
는 기준좌표계(xo-yo-zo)에 대한 발(F1, F2) 무게중심(Cft) 위치벡터
Figure PCTKR2022017406-appb-img-000016
is the position vector of the center of gravity (C ft ) of the feet (F1, F2) with respect to the reference coordinate system (x o -y o -z o )

Figure PCTKR2022017406-appb-img-000017
는 힘판(141, 142)을 통해 측정된 3축 힘,
Figure PCTKR2022017406-appb-img-000017
Is the triaxial force measured through the force plates 141 and 142,

Figure PCTKR2022017406-appb-img-000018
는 기준좌표계(xo-yo-zo)에 대한 발목 좌표계(xa-ya-za) 원점의 위치벡터,
Figure PCTKR2022017406-appb-img-000018
is the position vector of the origin of the ankle coordinate system (x a -y a -z a ) relative to the reference coordinate system (x o -y o -z o ),

Figure PCTKR2022017406-appb-img-000019
는 발목 하중 산출 단계(S20)에서 산출된 발목(A1, A2)에 걸리는 힘,
Figure PCTKR2022017406-appb-img-000019
Is the force applied to the ankles A1 and A2 calculated in the ankle load calculation step S20,

Figure PCTKR2022017406-appb-img-000020
는 힘판(141, 142)을 통해 측정된 3축 모멘트,
Figure PCTKR2022017406-appb-img-000020
Is the triaxial moment measured through the force plates 141 and 142,

Figure PCTKR2022017406-appb-img-000021
는 각각 발(F1, F2)의 각도, 각속도 및 각가속도로서 엔코더(151, 152)의 각도와 수치 미분 그리고 forward kinematics를 활용하여 구할 수 있다.
Figure PCTKR2022017406-appb-img-000021
is the angle, angular velocity, and angular acceleration of the feet F1 and F2, respectively, and can be obtained using the angle and numerical derivative of the encoders 151 and 152 and forward kinematics.

발목 모멘트 산출 단계(S30)에서 산출된 발목 모멘트(

Figure PCTKR2022017406-appb-img-000022
)는 무릎 모멘트 산출 단계(S80)에서 사용된다.Ankle moment calculated in the ankle moment calculation step (S30) (
Figure PCTKR2022017406-appb-img-000022
) is used in the knee moment calculation step (S80).

아랫다리 회전 데이터 산출 단계(S40)에서는 제1 아랫다리(E1)와 제2 아랫다리(E2) 각각의 회전 데이터들이 산출된다. 본 실시예에서 회전 데이터들은 제1 아랫다리(E1)와 제2 아랫다리(E2) 각각의 각도(

Figure PCTKR2022017406-appb-img-000023
), 각속도(
Figure PCTKR2022017406-appb-img-000024
) 및 각가속도(
Figure PCTKR2022017406-appb-img-000025
)를 포함한다. 아랫다리(E1, E2)의 회전 데이터들은 제1, 제2 IMU(161, 162)로부터 전송되는 자세 데이터를 이용하여 운동 평가부(180)에 의해 산출될 수 있다. 아랫다리 회전 데이터 산출 단계(S40)를 통해 산출된 제1 아랫다리(E1)와 제2 아랫다리(E2) 각각의 회전 데이터들은 무릎 위치 산출 단계(S50) 및 아랫다리 위치 산출 단계(S60)에서 사용된다.In the lower leg rotation data calculation step (S40), rotation data of each of the first lower leg E1 and the second lower leg E2 is calculated. In this embodiment, the rotation data is the angle of each of the first lower leg E1 and the second lower leg E2 (
Figure PCTKR2022017406-appb-img-000023
), angular velocity (
Figure PCTKR2022017406-appb-img-000024
) and angular acceleration (
Figure PCTKR2022017406-appb-img-000025
). Rotation data of the lower legs E1 and E2 may be calculated by the motion evaluation unit 180 using posture data transmitted from the first and second IMUs 161 and 162 . The rotation data of each of the first lower leg E1 and the second lower leg E2 calculated through the lower leg rotation data calculation step (S40) is calculated in the knee position calculation step (S50) and the lower leg position calculation step (S60). used

무릎 위치 산출 단계(S50)에서는 제1 무릎(K1)과 제2 무릎(K2) 각각의 위치가 산출된다. 무릎 위치 산출 단계(S50)에서 무릎 위치는 아랫다리 회전 데이터 산출 단계(S40)를 통해 산출된 아랫다리 회전 데이터들을 이용하여 운동 평가부(180)에 의해 기준 좌표계(xo-yo-zo)에 대한 무릎 좌표계(xk-yk-zk) 원점의 위치벡터(

Figure PCTKR2022017406-appb-img-000026
)가 계산됨으로써 산출될 수 있다. 무릎 위치 산출 단계(S50)를 통해 산출된 무릎 좌표계(xk-yk-zk) 원점의 위치벡터(
Figure PCTKR2022017406-appb-img-000027
)는 무릎 모멘트 산출 단계(S80)에서 사용된다.In the knee position calculation step (S50), the positions of each of the first knee K1 and the second knee K2 are calculated. In the knee position calculation step (S50), the knee position is determined by the motion evaluation unit 180 using the lower leg rotation data calculated through the lower leg rotation data calculation step (S40) in the reference coordinate system (x o -y o -z o ), the position vector of the origin of the knee coordinate system (x k -y k -z k ) (
Figure PCTKR2022017406-appb-img-000026
) can be calculated by calculating The position vector of the origin of the knee coordinate system (x k -y k -z k ) calculated through the knee position calculation step (S50) (
Figure PCTKR2022017406-appb-img-000027
) is used in the knee moment calculation step (S80).

아랫다리 위치 산출 단계(S60)에서는 제1 아랫다리(E1)와 제2 아랫다리(E2) 각각의 위치가 산출된다. 아랫다리 위치 산출 단계(S60)에서 아랫다리의 위치는 아랫다리 회전 데이터 산출 단계(S40)를 통해 산출된 아랫다리 회전 데이터들을 이용하여 운동 평가부(180)에 의해 기준 좌표계(xo-yo-zo)에 대한 아랫다리 무게중심(Csh)의 위치벡터(

Figure PCTKR2022017406-appb-img-000028
)가 계산됨으로써 산출될 수 있다. 아랫다리 위치 산출 단계(S60)를 통해 산출된 아랫다리 무게중심(Csh)의 위치벡터(
Figure PCTKR2022017406-appb-img-000029
)는 무릎 하중 산출 단계(S70) 및 무릎 모멘트 산출 단계(S80)에서 사용된다.In the lower leg position calculation step (S60), the respective positions of the first lower leg E1 and the second lower leg E2 are calculated. In the lower leg position calculation step (S60), the position of the lower leg is determined by the motion evaluation unit 180 using the lower leg rotation data calculated through the lower leg rotation data calculation step (S40) in the reference coordinate system (x o -y o The position vector of the lower leg center of gravity (C sh ) relative to -z o ) (
Figure PCTKR2022017406-appb-img-000028
) can be calculated by calculating The position vector of the lower leg center of gravity (C sh ) calculated through the lower leg position calculation step (S60) (
Figure PCTKR2022017406-appb-img-000029
) is used in the knee load calculation step (S70) and the knee moment calculation step (S80).

무릎 하중 산출 단계(S70)에서는 제1 무릎(K1)과 제2 무릎(K2)에 걸리는 힘이 산출된다. 제1 무릎(K1)과 제2 무릎(K2) 각각에 걸리는 힘(

Figure PCTKR2022017406-appb-img-000030
)은 운동 평가부(180)에 의해 아래 수학식 4를 이용하여 산출될 수 있다.In the knee load calculation step (S70), the force applied to the first knee K1 and the second knee K2 is calculated. The force applied to each of the first knee (K1) and the second knee (K2) (
Figure PCTKR2022017406-appb-img-000030
) may be calculated by the motion evaluation unit 180 using Equation 4 below.

Figure PCTKR2022017406-appb-img-000031
Figure PCTKR2022017406-appb-img-000031

수학식 4에서,In Equation 4,

Figure PCTKR2022017406-appb-img-000032
는 아랫다리의 질량,
Figure PCTKR2022017406-appb-img-000032
is the mass of the lower leg,

Figure PCTKR2022017406-appb-img-000033
는 아랫다리 위치 산출 단계(S60)를 통해 산출된 아랫다리 가속도,
Figure PCTKR2022017406-appb-img-000033
Is the lower leg acceleration calculated through the lower leg position calculation step (S60),

Figure PCTKR2022017406-appb-img-000034
는 발목 하중 단계(S20)에서 산출된 발목에 걸리는 힘,
Figure PCTKR2022017406-appb-img-000034
Is the force applied to the ankle calculated in the ankle load step (S20),

Figure PCTKR2022017406-appb-img-000035
는 중력가속도이다.
Figure PCTKR2022017406-appb-img-000035
is the gravitational acceleration.

무릎 하중 산출 단계(S70)에서 산출된 무릎(K1, K2)에 걸리는 힘(

Figure PCTKR2022017406-appb-img-000036
)는 발목 모멘트 산출 단계(S30)에서 사용된다.The force applied to the knees K1 and K2 calculated in the knee load calculation step (S70) (
Figure PCTKR2022017406-appb-img-000036
) is used in the ankle moment calculation step (S30).

무릎 모멘트 산출 단계(S80)에서는 제1 무릎(K1)과 제2 무릎(K2) 각각에 가해지는 모멘트가 산출된다. 제1 무릎(K1)과 제2 무릎(K2) 각각에 걸리는 무릎 모멘트(

Figure PCTKR2022017406-appb-img-000037
)는 운동 평가부(180)에 의해 아래 수학식 5을 이용하여 산출될 수 있다.In the knee moment calculation step (S80), the moment applied to each of the first knee K1 and the second knee K2 is calculated. Knee moment applied to each of the first knee (K1) and the second knee (K2) (
Figure PCTKR2022017406-appb-img-000037
) may be calculated by the motion evaluation unit 180 using Equation 5 below.

Figure PCTKR2022017406-appb-img-000038
Figure PCTKR2022017406-appb-img-000038

수학식 5에서,In Equation 5,

Figure PCTKR2022017406-appb-img-000039
는 아랫다리(E1, E2)의 관성모멘트,
Figure PCTKR2022017406-appb-img-000039
is the moment of inertia of the lower legs (E1, E2),

Figure PCTKR2022017406-appb-img-000040
는 기준좌표계(xo-yo-zo)에 대한 무릎좌표계(xk-yk-zk) 원점의 위치벡터,
Figure PCTKR2022017406-appb-img-000040
is the position vector of the origin of the knee coordinate system (x k -y k -z k ) relative to the reference coordinate system (x o -y o -z o ),

Figure PCTKR2022017406-appb-img-000041
는 기준좌표계(xo-yo-zo)에 대한 아랫다리(E1, E2) 무게중심(Csh) 위치벡터
Figure PCTKR2022017406-appb-img-000041
is the position vector of the center of gravity (C sh ) of the lower legs (E1, E2) with respect to the reference coordinate system (x o -y o -z o )

Figure PCTKR2022017406-appb-img-000042
는 무릎 하중 산출 단계(S70)에서 산출된 무릎에 가해지는 힘
Figure PCTKR2022017406-appb-img-000042
Is the force applied to the knee calculated in the knee load calculation step (S70)

Figure PCTKR2022017406-appb-img-000043
는 기준좌표계(xo-yo-zo)에 대한 발목 좌표계(xa-ya-za) 원점의 위치벡터,
Figure PCTKR2022017406-appb-img-000043
is the position vector of the origin of the ankle coordinate system (x a -y a -z a ) relative to the reference coordinate system (x o -y o -z o ),

Figure PCTKR2022017406-appb-img-000044
는 발목 하중 산출 단계(S20)에서 산출된 발목(A1, A2)에 걸리는 힘,
Figure PCTKR2022017406-appb-img-000044
Is the force applied to the ankles A1 and A2 calculated in the ankle load calculation step S20,

Figure PCTKR2022017406-appb-img-000045
는 발목 모멘트 산출 단계(S30)에서 산출된 발목에 걸리는 모멘트
Figure PCTKR2022017406-appb-img-000045
is the moment applied to the ankle calculated in the ankle moment calculation step (S30)

Figure PCTKR2022017406-appb-img-000046
는 각각 아랫다리(E1, E2)의 각도, 각속도 및 각가속도로서 아랫다리 회전 데이터 산출 단계(S40)를 통해 얻을 수 있다.
Figure PCTKR2022017406-appb-img-000046
Is the angle, angular velocity, and angular acceleration of the lower legs E1 and E2, respectively, and can be obtained through the lower leg rotation data calculation step (S40).

도 4에는 도 1 및 도 2에 도시된 하지 재활 운동 시스템(100)을 이용한 본 발명의 다른 실시예에 따른 재활 운동 평가 방법이 순서도로서 도시되어 있다. 도 4를 참조하면, 본 발명의 다른 실시예에 따른 재활 운동 평가 방법은 사용자(U)의 신체 균형을 평가하는 것으로서, 압력 중심 산출 단계(S15)와, 압력 중심 변동 정보 산출 단계(S25)를 포함한다.FIG. 4 shows a rehabilitation exercise evaluation method according to another embodiment of the present invention using the lower extremity rehabilitation exercise system 100 shown in FIGS. 1 and 2 as a flow chart. Referring to FIG. 4 , the rehabilitation exercise evaluation method according to another embodiment of the present invention evaluates the user U's body balance, and includes a center of pressure calculation step (S15) and a pressure center variation information calculation step (S25). include

압력 중심 산출 단계(S15)에서는 사용자(U)의 운동 중 제1 발판(124)과 제2 발판(134) 각각에 형성되는 압력 중심(COP: Center Of Pressure)이 실시간으로 산출된다. 제1 발판(124)과 제2 발판(134)에서의 압력 중심은 운동 평가부(180)가 제1 힘판(141)과 제2 힘판(142)에서 측정되는 힘을 이용하여 계산함으로써 산출된다.In the pressure center calculation step (S15), a center of pressure (COP) formed in each of the first footrest 124 and the second footrest 134 during the user U's movement is calculated in real time. The center of pressure at the first foot plate 124 and the second foot plate 134 is calculated by the motion evaluation unit 180 using the forces measured at the first force plate 141 and the second force plate 142.

압력 중심 변동 정보 산출 단계(S25)에서는 압력 중심 산출 단계(S15)를 통해 산출된 압력 중심(COP) 변동 정보가 산출된다. 압력 중심 변동 정보 산출 단계(S25)는 운동 평가부(180)가 압력 중심 산출 단계(S15)에서 산출되는 실시간 압력 중심 위치 정보를 이용하여 압력 중심 변동 정보를 산출함으로써 수행된다. 압력 중심 변동 정보 산출 단계(S25)에서 산출되는 압력 중심 변동 정보는 전방/후방(Anterior/Posterior) 방향의 변동 정보와, 내측/외측(Medial/Lateral) 방향의 변동 정보 및 압력 중심의 표준편차 정보를 포함한다.In the center of pressure variation information calculation step (S25), the center of pressure (COP) change information calculated through the center of pressure calculation step (S15) is calculated. The center of pressure variation information calculation step (S25) is performed by the motion evaluation unit 180 calculating the pressure center variation information using the real-time pressure center position information calculated in the pressure center calculation step (S15). The center of pressure variation information calculated in the pressure center variation information calculation step (S25) is the variation information in the anterior/posterior direction, the variation information in the medial/lateral direction, and the standard deviation information of the center of pressure. includes

이상 실시예를 통해 본 발명을 설명하였으나, 본 발명은 이에 제한되는 것은 아니다. 상기 실시예는 본 발명의 취지 및 범위를 벗어나지 않고 수정되거나 변경될 수 있으며, 본 기술분야의 통상의 기술자는 이러한 수정과 변경도 본 발명에 속하는 것임을 알 수 있을 것이다.Although the present invention has been described through the above examples, the present invention is not limited thereto. The above embodiments may be modified or changed without departing from the spirit and scope of the present invention, and those skilled in the art will recognize that such modifications and changes also belong to the present invention.

본 발명에 의한 하지 재활 운동 시스템 및 이를 이용한 하지 운동 평가 방법은, 산업상 사용자의 무릎관절에 가해지는 모멘트를 산출하여 평가하고 신체의 균형을 평가하는 하지 재활 로봇에 이용될 수 있다.The lower extremity rehabilitation exercise system and the lower extremity exercise evaluation method using the same according to the present invention can be industrially used in a lower extremity rehabilitation robot that calculates and evaluates a moment applied to a user's knee joint and evaluates body balance.

Claims (21)

사용자의 발이 안착되고 교대로 상하 이동 가능한 두 발판들 구비하는 하지 운동 기구부;a lower extremity exercise mechanism unit having two footrests on which the user's feet are seated and capable of moving up and down alternately; 상기 발판에 설치되어서 상기 발과의 접촉에 의해 발생하는 힘과 모멘트를 측정하여 발판 힘 데이터를 생성하는 힘판;a force plate installed on the footrest to generate foothold force data by measuring forces and moments generated by contact with the foot; 상기 발판의 위치를 측정하여 발 위치 데이터를 생성하는 엔코더;an encoder for generating foot position data by measuring the position of the footrest; 상기 사용자의 아랫다리에 부착되어서 상기 아랫다리의 자세를 측정하여 아랫다리 자세 데이터를 생성하는 IMU; 및an IMU attached to the lower leg of the user to measure the posture of the lower leg and generate lower leg posture data; and 상기 발판 힘 데이터, 상기 발 위치 데이터, 상기 아랫다리 자세 데이터를 이용하여 상기 사용자의 무릎관절에 걸리는 무릎 모멘트를 실시간으로 산출하는 운동 평가부를 포함하는,And a motion evaluation unit that calculates a knee moment applied to the user's knee joint in real time using the foot force data, the foot position data, and the lower leg posture data. 하지 재활 운동 시스템.Lower extremity rehabilitation exercise system. 청구항 1에 있어서,The method of claim 1, 상기 운동 평가부는 상기 발 위치 데이터를 이용하여 발 가속도를 산출하는,The motion evaluation unit calculates foot acceleration using the foot position data, 하지 재활 운동 시스템.Lower extremity rehabilitation exercise system. 청구항 2에 있어서,The method of claim 2, 상기 운동 평가부는 상기 발 가속도 및 상기 발판 힘 데이터를 이용하여 상기 사용자의 발목에 걸리는 힘인 발목 하중을 산출하는,The motion evaluation unit calculates an ankle load, which is a force applied to the ankle of the user, using the foot acceleration and the footrest force data. 하지 재활 운동 시스템.Lower extremity rehabilitation exercise system. 청구항 3에 있어서,The method of claim 3, 상기 운동 평가부는 상기 발 위치 데이터, 상기 발판 힘 데이터 및 상기 발목 하중 이용하여 상기 사용자의 발목에 걸리는 모멘트를 산출하는,The motion evaluation unit calculates a moment applied to the user's ankle using the foot position data, the foothold force data, and the ankle load. 하지 재활 운동 시스템.Lower extremity rehabilitation exercise system. 청구항 4에 있어서,The method of claim 4, 상기 운동 평가부는 상기 아랫다리 자세 데이터를 이용하여 무릎의 위치를 산출하는,The motion evaluation unit calculates the position of the knee using the lower leg posture data, 하지 재활 운동 시스템.Lower extremity rehabilitation exercise system. 청구항 5에 있어서,The method of claim 5, 상기 운동 평가부는 상기 아랫다리 자세 데이터를 이용하여 아랫다리의 위치를 산출하는,The exercise evaluation unit calculates the position of the lower leg using the lower leg posture data, 하지 재활 운동 시스템.Lower extremity rehabilitation exercise system. 청구항 6에 있어서,The method of claim 6, 상기 운동 평가부는 상기 아랫다리의 위치를 이용하여 계산된 상기 아랫다리의 가속도 및 상기 발목 하중을 이용하여 무릎에 걸리는 힘인 무릎 하중을 산출하는,The motion evaluation unit calculates a knee load, which is a force applied to the knee, using the acceleration of the lower leg calculated using the position of the lower leg and the ankle load, 하지 재활 운동 시스템.Lower extremity rehabilitation exercise system. 청구항 7에 있어서,The method of claim 7, 상기 무릎 모멘트는 상기 무릎의 위치, 상기 아랫다리의 위치, 상기 무릎 하중, 상기 발 위치 데이터, 상기 발목 하중, 상기 발목 모멘트를 이용하여 산출되는,The knee moment is calculated using the position of the knee, the position of the lower leg, the knee load, the foot position data, the ankle load, and the ankle moment. 하지 재활 운동 시스템.Lower extremity rehabilitation exercise system. 청구항 1에 있어서,The method of claim 1, 상기 힘판은 3축 힘과 3축 모멘트를 측정하는,The force plate measures the triaxial force and the triaxial moment, 하지 재활 운동 시스템.Lower extremity rehabilitation exercise system. 사용자의 발이 안착되고 교대로 상하 이동 가능한 두 발판들 구비하는 하지 운동 기구부;a lower extremity exercise mechanism unit having two footrests on which the user's feet are seated and capable of moving up and down alternately; 상기 발판에 설치되어서 상기 발과의 접촉에 의해 발생하는 힘과 모멘트를 측정하여 발판 힘 데이터를 생성하는 힘판; 및a force plate installed on the footrest to generate foothold force data by measuring forces and moments generated by contact with the foot; and 상기 발판 힘 데이터를 이용하여 상기 사용자의 신체 균형 평가 정보를 산출하는 운동 평가부를 포함하는,Including a motion evaluation unit for calculating body balance evaluation information of the user using the foothold force data, 하지 재활 운동 시스템.Lower extremity rehabilitation exercise system. 청구항 10에 있어서,The method of claim 10, 상기 운동 평가부는 상기 발판 힘 데이터를 이용하여 상기 발판에 형성되는 압력 중심 위치의 표준편차를 산출하는,The motion evaluation unit calculates the standard deviation of the center of pressure formed on the footrest using the foothold force data, 하지 재활 운동 시스템.Lower extremity rehabilitation exercise system. 사용자의 발이 안착되고 교대로 상하 이동 가능한 두 발판들 구비하는 하지 운동 기구부;a lower extremity exercise mechanism unit having two footrests on which the user's feet are seated and capable of moving up and down alternately; 상기 발판에 설치되어서 상기 발과의 접촉에 의해 발생하는 힘과 모멘트를 측정하여 발판 힘 데이터를 생성하는 힘판;a force plate installed on the footrest to generate foothold force data by measuring forces and moments generated by contact with the foot; 상기 발판의 위치를 측정하여 발 위치 데이터를 생성하는 엔코더;an encoder for generating foot position data by measuring the position of the footrest; 상기 사용자의 아랫다리에 부착되어서 상기 아랫다리의 자세를 측정하여 아랫다리 자세 데이터를 생성하는 IMU; 및an IMU attached to the lower leg of the user to measure the posture of the lower leg and generate lower leg posture data; and 상기 발판 힘 데이터, 상기 발 위치 데이터, 상기 아랫다리 자세 데이터를 이용하여 상기 사용자의 재활 운동 평가 정보를 산출하는 운동 평가부를 포함하는,And a motion evaluation unit for calculating rehabilitation exercise evaluation information of the user using the foothold force data, the foot position data, and the lower leg posture data. 하지 재활 운동 시스템.Lower extremity rehabilitation exercise system. 청구항 12에 있어서,The method of claim 12, 상기 발판은 지면과 수평을 유지하며 상하 이동하는,The scaffold moves up and down while maintaining a level with the ground, 하지 재활 운동 시스템.Lower extremity rehabilitation exercise system. 사용자의 발이 안착되고 교대로 상하 이동 가능한 두 발판들 구비하는 하지 운동 기구부와, 상기 발판에 설치되어서 상기 발과의 접촉에 의해 발생하는 힘과 모멘트를 측정하여 발판 힘 데이터를 생성하는 힘판과, 상기 발판의 위치를 측정하여 발 위치 데이터를 생성하는 엔코더와, 상기 사용자의 아랫다리에 부착되어서 상기 아랫다리의 자세를 측정하여 아랫다리 자세 데이터를 생성하는 IMU와, 상기 발판 힘 데이터, 상기 발 위치 데이터, 상기 아랫다리 자세 데이터를 이용하여 상기 사용자의 재활 운동 평가 정보를 산출하는 운동 평가부를 포함하는 하지 재활 운동 시스템을 이용한 하지 운동 평가 방법으로서,A lower extremity exercise mechanism unit having two footrests on which the user's feet are seated and capable of moving up and down alternately, a power plate installed on the footrests and generating foothold force data by measuring forces and moments generated by contact with the feet; An encoder for generating foot position data by measuring the position of the footrest, an IMU attached to the user's lower leg to measure the posture of the lower leg and generating lower leg posture data, the footrest force data, the foot position data A lower extremity motion evaluation method using a lower extremity rehabilitation exercise system including a motion evaluation unit that calculates rehabilitation exercise evaluation information of the user using the lower leg posture data, 상기 운동 평가부가 상기 발 위치 데이터를 이용하여 발 가속도를 산출하는 발 가속도 산출 단계;a foot acceleration calculation step in which the motion evaluation unit calculates foot acceleration using the foot position data; 상기 운동 평가부가 상기 발 가속도 및 상기 발판 힘 데이터를 이용하여 상기 사용자의 발목에 걸리는 힘인 발목 하중을 산출하는 발목 하중 산출 단계;an ankle load calculation step in which the exercise evaluation unit calculates an ankle load, which is a force applied to an ankle of the user, using the foot acceleration and the footrest force data; 상기 운동 평가부가 상기 발 위치 데이터, 상기 발 위치 데이터로부터 산출되는 발 가속도 데이터와 발 속도 데이터, 상기 발판 힘 데이터 및 상기 발목 하중 이용하여 상기 사용자의 발목에 걸리는 발목 모멘트를 산출하는 발목 모멘트 산출 단계;An ankle moment calculation step in which the motion evaluation unit calculates an ankle moment applied to the user's ankle using the foot position data, foot acceleration data and foot speed data calculated from the foot position data, the foot force data, and the ankle load; 상기 운동 평가부가 상기 아랫다리 자세 데이터를 이용하여 무릎 위치를 산출하는 무릎 위치 산출 단계;a knee position calculation step in which the motion evaluation unit calculates a knee position using the lower leg posture data; 상기 운동 평가부가 상기 아랫다리 자세 데이터를 이용하여 아랫다리 위치를 산출하는 아랫다리 위치 산출 단계;a lower leg position calculation step in which the motion evaluation unit calculates a lower leg position using the lower leg posture data; 상기 운동 평가부가 상기 아랫다리 위치를 이용하여 계산된 상기 아랫다리의 가속도 및 상기 발목 하중을 이용하여 무릎에 걸리는 힘인 무릎 하중을 산출하는 무릎 하중 산출 단계; 및a knee load calculation step in which the motion evaluation unit calculates a knee load, which is a force applied to the knee, using the acceleration of the lower leg and the ankle load calculated using the position of the lower leg; and 상기 운동 평가부가 상기 무릎의 위치, 상기 아랫다리의 위치, 상기 무릎 하중, 상기 발 위치 데이터, 상기 발목 하중, 상기 발목 모멘트를 이용하여 상기 사용자의 무릎관절에 걸리는 무릎 모멘트를 실시간으로 산출하는 무릎 모멘트 산출 단계를 포함하는,The motion evaluation unit calculates the knee moment applied to the user's knee joint in real time using the position of the knee, the position of the lower leg, the knee load, the foot position data, the ankle load, and the ankle moment. Including the calculation step, 하지 운동 평가 방법.Lower extremity exercise evaluation method. 청구항 14에 있어서,The method of claim 14, 상기 발 가속도 산출 단계에서 상기 발 가속도(
Figure PCTKR2022017406-appb-img-000047
)는 아래 수학식 1을 이용하여 산출되며,In the step of calculating the foot acceleration, the foot acceleration (
Figure PCTKR2022017406-appb-img-000047
) is calculated using Equation 1 below, [수학식 1][Equation 1]
Figure PCTKR2022017406-appb-img-000048
Figure PCTKR2022017406-appb-img-000048
 상기 수학식 1에서
Figure PCTKR2022017406-appb-img-000049
는 발 무게중심의 위치벡터인,In Equation 1 above
Figure PCTKR2022017406-appb-img-000049
is the position vector of the center of gravity of the foot, 하지 운동 평가 방법.Lower extremity exercise evaluation method. 청구항 14에 있어서,The method of claim 14, 상기 발목 하중 산출 단계에서 상기 발목 하중(
Figure PCTKR2022017406-appb-img-000050
)은 아래 수학식 2를 이용하여 산출되며,In the ankle load calculation step, the ankle load (
Figure PCTKR2022017406-appb-img-000050
) is calculated using Equation 2 below, [수학식 2][Equation 2]
Figure PCTKR2022017406-appb-img-000051
Figure PCTKR2022017406-appb-img-000051
 상기 수학식 2에서,In Equation 2 above,
Figure PCTKR2022017406-appb-img-000052
는 발의 질량,
Figure PCTKR2022017406-appb-img-000052
is the mass of the foot,
Figure PCTKR2022017406-appb-img-000053
는 상기 발 가속도 산출 단계를 통해 산출된 발 가속도,
Figure PCTKR2022017406-appb-img-000053
Is the foot acceleration calculated through the foot acceleration calculation step,
Figure PCTKR2022017406-appb-img-000054
는 상기 힘판을 통해 측정된 힘,
Figure PCTKR2022017406-appb-img-000054
is the force measured through the force plate,
Figure PCTKR2022017406-appb-img-000055
는 중력가속도인,
Figure PCTKR2022017406-appb-img-000055
is the gravitational acceleration, 하지 운동 평가 방법.Lower extremity exercise evaluation method. 청구항 14에서,In claim 14, 상기 발목 모멘트 산출 단계에서 상기 발목 모멘트(
Figure PCTKR2022017406-appb-img-000056
)는 아래 수학식 3을 이용하여 산출되며,In the ankle moment calculation step, the ankle moment (
Figure PCTKR2022017406-appb-img-000056
) is calculated using Equation 3 below, [수학식 3][Equation 3]
Figure PCTKR2022017406-appb-img-000057
Figure PCTKR2022017406-appb-img-000057
 상기 수학식 3에서,In Equation 3 above,
Figure PCTKR2022017406-appb-img-000058
는 발의 관성모멘트,
Figure PCTKR2022017406-appb-img-000058
is the moment of inertia of the foot,
Figure PCTKR2022017406-appb-img-000059
는 상기 힘판 중심의 위치벡터,
Figure PCTKR2022017406-appb-img-000059
Is the position vector of the center of the force plate,
Figure PCTKR2022017406-appb-img-000060
는 발 무게중심의 위치벡터
Figure PCTKR2022017406-appb-img-000060
is the position vector of the center of gravity of the foot
Figure PCTKR2022017406-appb-img-000061
는 상기 힘판을 통해 측정된 힘,
Figure PCTKR2022017406-appb-img-000061
is the force measured through the force plate,
Figure PCTKR2022017406-appb-img-000062
는 발목 좌표계 원점의 위치벡터,
Figure PCTKR2022017406-appb-img-000062
is the position vector of the origin of the ankle coordinate system,
Figure PCTKR2022017406-appb-img-000063
는 상기 발목 하중 산출 단계에서 산출된 발목 하중,
Figure PCTKR2022017406-appb-img-000063
Is the ankle load calculated in the ankle load calculation step,
Figure PCTKR2022017406-appb-img-000064
는 상기 힘판을 통해 측정된 모멘트,
Figure PCTKR2022017406-appb-img-000064
is the moment measured through the force plate,
Figure PCTKR2022017406-appb-img-000065
는 각각 발의 각도, 각속도 및 각가속도인,
Figure PCTKR2022017406-appb-img-000065
are the angle, angular velocity and angular acceleration of the foot, respectively, 하지 운동 평가 방법.Lower extremity exercise evaluation method. 청구항 14에 있어서,The method of claim 14, 상기 무릎 하중 산출 단계에서 상기 무릎 하중(
Figure PCTKR2022017406-appb-img-000066
)은 아래 수학식 4를 이용하여 산출되며,In the knee load calculation step, the knee load (
Figure PCTKR2022017406-appb-img-000066
) is calculated using Equation 4 below, [수학식 4][Equation 4]
Figure PCTKR2022017406-appb-img-000067
Figure PCTKR2022017406-appb-img-000067
 상기 수학식 4에서,In Equation 4 above,
Figure PCTKR2022017406-appb-img-000068
는 아랫다리의 질량,
Figure PCTKR2022017406-appb-img-000068
is the mass of the lower leg,
Figure PCTKR2022017406-appb-img-000069
는 상기 아랫다리 위치 산출 단계를 통해 산출된 아랫다리 가속도,
Figure PCTKR2022017406-appb-img-000069
Is the lower leg acceleration calculated through the lower leg position calculation step,
Figure PCTKR2022017406-appb-img-000070
는 상기 발목 하중 단계에서 산출된 발목 하중,
Figure PCTKR2022017406-appb-img-000070
Is the ankle load calculated in the ankle load step,
Figure PCTKR2022017406-appb-img-000071
는 중력가속도인,
Figure PCTKR2022017406-appb-img-000071
is the gravitational acceleration, 하지 운동 평가 방법.Lower extremity exercise evaluation method. 청구항 14에 있어서,The method of claim 14, 상기 무릎 모멘트 산출 단계에서 상기 무릎 모멘트(
Figure PCTKR2022017406-appb-img-000072
)는 아래 수학식 5을 이용하여 산출되며,In the knee moment calculation step, the knee moment (
Figure PCTKR2022017406-appb-img-000072
) is calculated using Equation 5 below, [수학식 5][Equation 5]
Figure PCTKR2022017406-appb-img-000073
Figure PCTKR2022017406-appb-img-000073
 수학식 5에서,In Equation 5,
Figure PCTKR2022017406-appb-img-000074
는 아랫다리의 관성모멘트,
Figure PCTKR2022017406-appb-img-000074
is the moment of inertia of the lower leg,
Figure PCTKR2022017406-appb-img-000075
는 무릎좌표계(xk-yk-zk) 원점의 위치벡터,
Figure PCTKR2022017406-appb-img-000075
is the position vector of the origin of the knee coordinate system (x k -y k -z k ),
Figure PCTKR2022017406-appb-img-000076
는 아랫다리 무게중심의 위치벡터,
Figure PCTKR2022017406-appb-img-000076
is the position vector of the center of gravity of the lower leg,
Figure PCTKR2022017406-appb-img-000077
는 상기 무릎 하중 산출 단계에서 산출된 무릎 하중,
Figure PCTKR2022017406-appb-img-000077
Is the knee load calculated in the knee load calculation step,
Figure PCTKR2022017406-appb-img-000078
는 발목 좌표계 원점의 위치벡터,
Figure PCTKR2022017406-appb-img-000078
is the position vector of the origin of the ankle coordinate system,
Figure PCTKR2022017406-appb-img-000079
는 상기 발목 하중 산출 단계에서 산출된 발목 하중,
Figure PCTKR2022017406-appb-img-000079
Is the ankle load calculated in the ankle load calculation step,
Figure PCTKR2022017406-appb-img-000080
는 상기 발목 모멘트 산출 단계에서 산출된 발목 모멘트
Figure PCTKR2022017406-appb-img-000080
is the ankle moment calculated in the ankle moment calculation step
Figure PCTKR2022017406-appb-img-000081
는 각각 아랫다리의 각도, 각속도 및 각가속도인,
Figure PCTKR2022017406-appb-img-000081
are the angle, angular velocity and angular acceleration of the lower leg, respectively, 하지 운동 평가 방법.Lower extremity exercise evaluation method. 사용자의 발이 안착되고 교대로 상하 이동 가능한 두 발판들 구비하는 하지 운동 기구부와, 상기 발판에 설치되어서 상기 발과의 접촉에 의해 발생하는 힘과 모멘트를 측정하여 발판 힘 데이터를 생성하는 힘판과, 상기 발판 힘 데이터를 이용하여 상기 사용자의 재활 운동 평가 정보를 산출하는 운동 평가부를 포함하는 하지 재활 운동 시스템을 이용한 하지 운동 평가 방법으로서,A lower extremity exercise mechanism unit having two footrests on which the user's feet are seated and capable of moving up and down alternately, a power plate installed on the footrests and generating foothold force data by measuring forces and moments generated by contact with the feet; A lower extremity motion evaluation method using a lower extremity rehabilitation exercise system including a motion evaluation unit that calculates the user's rehabilitation exercise evaluation information using foothold force data, the method comprising: 상기 운동 평가부가 상기 힘 데이터를 이용하여 상기 힘판에서 상기 발판에 형성되는 압력 중심을 산출하는 압력 중심 산출 단계; 및a center of pressure calculation step in which the motion evaluation unit calculates a center of pressure formed in the footrest from the force plate using the force data; and 상기 운동 평가부가 상기 압력 중심 위치의 변동 정보를 산출하는 압력 중심 변동 정보 산출 단계를 포함하는,Comprising a pressure center change information calculation step of calculating the change information of the pressure center position by the motion evaluation unit, 하지 운동 평가 방법.Lower extremity exercise evaluation method. 청구항 20에 있어서,The method of claim 20 상기 변동 정보는 상기 압력 중심 위치의 표준편차 정보를 포함하는,The variation information includes standard deviation information of the pressure center position, 하지 운동 평가 방법.Lower extremity exercise evaluation method.
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