KR20160129451A - Apparatus of exercise medical therapy for active type - Google Patents

Abstract

The present invention can perform rehabilitation treatment by operating the rehabilitation exercise or exercise by measuring the user's understanding of motion and motion intention when the user attempts to start a rehabilitation exercise or exercise. The rehabilitation treatment is fixed to the upper part of the base part, A pair of support shafts vertically connecting the upper and lower support portions, and a pair of support shafts vertically connecting the upper and lower support portions, A moving part having a vertical cross-section " C " type which is screwed on the screw shaft of the screw shaft by sliding the screw shaft while sliding on the pair of support shafts while screwing the screw shaft on the outer circumferential surface while connecting / A first motor provided at a lower end of a screw shaft extending downward while passing through a support portion formed at a lower portion thereof, A first horizontal rotary shaft provided at one side of the base unit and rotated by the power of the one side of the second motor and the second motor and a first rotary shaft provided at one side of the first rotary shaft, A second rotating shaft connected to the other end of the clutch, a winding portion restrained by the second rotating shaft while being wound around the rope, and a second rotating shaft projecting to the outside through the inside of the winding portion And a position sensing unit for sensing a position of the movable member of the height adjusting member, and a driving unit for moving the movable member of the height adjusting member by being wound on the winding unit of the driving member, A rope having a knob formed at an end portion applied through a roller formed in the first motor, and a control unit It provides a therapeutic exercising device.

Description

[0001] The present invention relates to an exercise-

The present invention relates to an active exercise therapy apparatus, and more particularly, to an active exercise therapy apparatus that induces a user to use appropriate strength to rehabilitate joints or to induce movement of joints during exercise.

Rehabilitation treatment is a series of treatment procedures that are performed to restore the function of a damaged area when the body is damaged by a disease or an accident.

Therefore, for patients suffering from an accident or impairment of body function due to stroke, traumatic brain injury, or cerebral palsy, or weakening of strength due to aging, or physical disability caused by various adult diseases, some or all of the damaged body function is recovered Long-term, systematic physical rehabilitation treatment should be provided by specialists such as doctors and rehabilitation therapists.

However, a program provided by a doctor or a rehabilitation therapist requires the user to visit the rehabilitation center directly for physical rehabilitation treatment, that is, the patient to be rehabilitated, and the inconvenience that the rehabilitated patient, who is difficult to walk, .

In addition, since the physician or rehabilitation therapist must record and analyze the exercise prescription management for the patient to be rehabilitated, it is troublesome to obtain feedback on the appropriate exercise amount, and therefore, There is a limit to receiving rehabilitation treatment.

Therefore, in recent years, there has been proposed a method of collecting rehabilitation exercise data according to exercise prescription by using a rehabilitation exercise device through a ubiquitous network, so that a patient to be rehabilitated can perform rehabilitation treatment without help of another person.

However, even in such a case, it is troublesome for the patient to be rehabilitated to directly select and operate the rehabilitation exercise device in order to perform the rehabilitation exercise.

In addition, since rehabilitation therapy through only rehabilitation exercise requires a long time in the treatment period, effective rehabilitation treatment is limited to patients to be rehabilitated.

Korean Patent No. 10-0965916 (title of the invention: exercise machine for weight training and control method thereof)

The present invention has been made to solve the above problems, and it is an object of the present invention to provide a rehabilitation apparatus and a rehabilitation apparatus capable of performing a rehabilitation treatment without a separate device operation by measuring a user's motion and motion intention And to provide an active exercise therapy apparatus.

In addition, through the active exercise therapy apparatus, a motion measurement unit capable of grasping the movement of the user and the activity of the user's strength in the rehabilitation exercise treatment is attached to provide the posture correction or the strength correction so as to perform the precise and accurate exercise treatment. It has a different purpose.

The present invention relates to a frame unit fixed to an upper portion of a base unit and having a predetermined height upward,

A pair of support shafts vertically connecting the upper and lower support portions, and a pair of upper and lower support portions provided between the upper and lower support portions, Quot; C " -shaped movable section screw-engaged with the screw thread of the screw shaft while the screw shaft is slidably moved while the screw shaft is engaged with the pair of support shafts while the screw shaft is screwed on the outer circumferential surface of the screw shaft, And a first motor installed at a lower end of a screw shaft extending downward,

A clutch disposed on one side of the base and having a first horizontal rotation axis rotated by the power of the first motor and the second motor and a clutch connected to one end of the first rotation shaft to control the power of the first rotation shaft, And a position sensing portion provided at an end of a second rotation shaft projecting outwardly through the inside of the winding portion while being wound around a rope while being restrained while being locked with the second rotation shaft A member,

And is wound on a winding portion of the driving member and is applied through rollers respectively provided on the rear surface of the frame portion, the bottom surface of the frame portion, and the moving portion of the height adjusting member, And

And a control unit for controlling the driving of the first motor and the driving member.

The present invention also provides an active exercise therapy device including a load cell connected to each of short-circuited ends of a rope short-circuited to measure a tensile force of the rope.

As described above, according to the present invention, a user grasps the motion and movement of a user during a rehabilitation exercise or a movement to determine whether or not a suitable muscle is moving, and also can grasp whether the muscular movement is properly activated, So that an optimal rehabilitation motion for the user can be obtained.

1 is a structural view of an active exercise therapy apparatus according to the present invention.
2 is a front view (a) and a side view (b) of an active exercise therapy apparatus according to the present invention.
FIG. 3 is a front view (a) and a side view (b) of the elevation adjusting member of the active exercise therapy apparatus according to the present invention.
FIG. 4 is a connection structure of a driving member-rope in an active type exercise treatment apparatus according to the present invention. FIG.
FIG. 5 is an installation structural view of a driving member in the active type exercise treatment device according to the present invention. FIG.
6 is a block diagram of a correlation between a driving member, a control unit, and a motion measuring unit in the active exercise therapy apparatus according to the present invention.
FIG. 7 is a block diagram showing a relationship between a motion measuring part and a control part in the active exercise treatment device according to the present invention; FIG.

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described in detail with reference to the drawings.

Note that the same or corresponding portions in the drawings are denoted by the same reference numerals and the description thereof will not be repeated.

As shown in FIGS. 1 to 5, the present invention includes a frame part 200 fixed to the upper part of the base part 100 and having a predetermined height upward,

A pair of supporting shafts 310 having a plate-like supporting portion 210 fixed horizontally and spaced apart from the upper and lower portions of the inside of the frame portion 200 and vertically connecting the upper and lower supporting portions 210, A screw shaft 320 having threads on an outer circumferential surface thereof and a pair of support shafts 310 sliding between the support shafts 310 while sliding the support shaft 210 between the support shafts 310, Quot; U " -shaped moving part 330 screwed to the screw thread of the screw shaft 320 and a screw shaft 320 extending downward through the supporting part 210 formed at the lower part A height adjusting member 300 configured by a first motor 340 installed at a lower end portion,

A horizontal first rotating shaft 420 provided at one side of the base unit 200 and rotated by the power of the one second motor 410 and the second motor 410 and a second rotating shaft 420 disposed at one end of the first rotating shaft 420 A second rotary shaft 440 coupled to the other side of the clutch 430 and a second rotary shaft 440 connected to the second rotary shaft 440 while being constrained to the second rotary shaft 440, And a position sensing unit 460 installed at an end of a second rotation shaft 440 protruding through the inside of the take-up unit 450. The driving unit 400 includes a driving unit 400, Wow,

A roller 220 wound around the winding unit 450 of the driving member 400 and provided on the rear surface of the frame unit 200, the bottom surface of the frame unit 200, and the moving unit 330 of the height adjusting member 300, A rope 500 which is applied through a roller 220 formed on a moving part 330 of the height adjusting member 300 and formed with a handle 510 at an end portion thereof,

And a controller (700) for controlling the driving of the first motor (310) and the driving member (400).

The component coupling relationship and the technical content of the active exercise therapy apparatus according to the present invention will be described in detail with reference to the drawings.

1 and 2, a frame unit 200 installed at an upper portion of the base unit 100 at one side of the base unit 100 and having a predetermined height upward and a base unit 200 at a rear side of the frame unit 200, And a driving member 400 is provided on the other side of the housing 100.

2 and 3, the height adjusting member 300 includes a supporting shaft 310, a screw shaft 320, a moving part 330, and a first motor 340, A pair of supporting shafts 310 having a plate-like supporting portion 210 fixed horizontally and spaced apart from the upper and lower portions of the inside of the frame portion 200 and vertically connecting the upper and lower supporting portions 210, A screw shaft 320 having threads on an outer circumferential surface thereof and a pair of support shafts 310 sliding between the support shafts 310 while sliding the support shaft 210 between the support shafts 310, Quot; U " -shaped moving part 330 screwed to the screw thread of the screw shaft 320 and a screw shaft 320 extending downward through the supporting part 210 formed at the lower part And a first motor 340 installed at the lower end.

The screw shaft 320 is rotated by driving the first motor 340 connected to the lower end of the screw shaft 320 so that the screw shaft 320 is coupled to the screw shaft 320 between the upper support part 210 and the lower support part 210 The moving part 330 moves upward or downward while the moving distance of the moving part 330 is limited to the width between the upper supporting part 210 and the lower supporting part 210. [

The moving part 330 which is fastened to the screw shaft 320 having the screw thread on the outer circumferential surface is screwed on the thread of the screw shaft 320 so that the moving part 330 is screwed The supporting shaft 310 provided on both sides of the screw shaft 320 is moved up and down by the moving part 330 so that the moving shaft 330 can be moved up or down without any constraint So that the supporting shaft 310 is brought into contact with the moving part 330.

The screw shaft 320 connecting between the upper and lower support parts 210 is connected to the support part 210 so as to freely rotate without being constrained by the rotation of the screw shaft 320.

2 and 4 and 5, the driving member 400 includes a second motor 410, a first rotating shaft 420, a clutch 430, a second rotating shaft 440, The winding unit 450 and the position sensing unit 460 are integrally formed and are disposed at one side of the base unit 100 so that the power of the one second motor 410 and the second motor 410 A clutch 430 which is connected to one end of the first rotary shaft 420 and which is connected to one end of the first rotary shaft 420 to control the power of the first rotary shaft 420, And a second rotating shaft 440 which is protruded to the outside through the inside of the winding part 450. The second rotating shaft 440 is connected to the second rotating shaft 440, And a position sensing unit 460 installed at an end of the sensor unit 440.

The first rotary shaft 420 connected to the second motor 420 is rotated by the driving of the second motor 410 and the clutch 430 connected to the end of the first rotary shaft 420 is rotated by the first rotary shaft 420, A first rotation shaft 420 which is transmitted by driving of the second motor 410 and a second rotation shaft 420 which is connected to the second rotation shaft 440 and which is connected to the other side of the clutch 430, To the second rotation shaft 440 through a signal of the control unit 700, which will be described later.

The rotation of the second rotation shaft 440 causes the rotation of the second rotation shaft 440 to rotate together with the second rotation shaft 440. At this time, Thereby performing a winding or unwinding operation.

The position sensing unit 460 is installed at the end of the second rotation shaft 440 protruding outside the take-up unit 450 through the inside of the take-up unit 450 so that the take- The length of the rope 500 wound around the rope 500 is measured and transmitted to the controller 700.

2 and 4, the rope 500 is wound on the winding unit 450 of the driving member 400 and is wound around the rear surface of the frame unit 200, the bottom surface of the frame unit 200, Is applied through the roller 220 provided on the moving part 330 of the adjusting member 300 while being applied through the roller 220 provided on the front surface of the moving part 330 of the adjusting member 300, A handle 510 is formed at an end of the movable member 330 and is wound on the roller 220 provided on the front surface of the moving unit 330 of the height adjusting member 300 through the rollers 220 of the frame unit 200, A rope 500 is provided.

6, the control unit 700 controls the driving of the first motor 340 and the driving member 400 and outputs a driving signal to the first motor 340 through the control unit 700 The first motor 340 is driven to move the moving part 330 of the height adjusting member 300 upward or downward to adjust the position of the handle 510 provided at the end of the rope 500, So that the handle 510 is placed at an appropriate position according to the user's elongation or the body part to be exercised.

The handle 510 is configured to grasp the hand, but is not limited thereto. For example, the handle 510 can be modified to accommodate a moving part of the body such as a foot or a waist.

The control unit 700 controls the rotation speed of the clutch 430 to be transmitted to the second rotation shaft 440 while driving the second motor 410 of the driving member 400. At this time, And senses the position sensing unit 460 measuring the length of the wire 500 wound or unwound.

The controller 700 further includes a display unit 900 for displaying the first motor 340, the driving member 400, the operation of the load cell 600, and the user's motion measurement data So that the user or the user can visually confirm it.

The following describes the process by which the user operates the active exercise therapy apparatus of the present invention.

First, the control unit 700 inputs a customized program to move the body part of the user, that is, operates the first motor 340 to adjust the position of the moving part 330 of the height adjusting member 300 And controls the forward rotation speed and the reverse rotation speed and time of the first rotation shaft 420 by driving the second motor 410 of the driving member 400 and controls the second rotation shaft 440 by the control of the clutch 430, Thereby controlling the number of revolutions of the motor.

When the user grasps the handle 510 of the rope 500 and applies a force to the rope 500, the rope 500 is disengaged from the take-up portion 450 at an equal speed and the clutch 430 is rotated so that the length of the rope 500 is released to a predetermined length. The clutch 430 controls the rotation of the second rotary shaft 440 so that the force applied by the user is maintained. At this time, the user performs a leveling motion without movement of the joints, and the rope The control unit 700 controls the second motor 410 and the clutch 430 so that the first and second motors 500 and 500 are wound at an equal speed on the take-up unit 450 to control the rotation speed of the second rotation shaft 440, The winding speed of the rope 500 and the winding speed of the rope 500 are uniformly controlled by the control of the motor 410 and the clutch 430 to perform the repetitive constant-speed motion of the user do.

Then, the user can measure the loosening length of the rope 500 by applying the force, measure the activity of the muscle, and utilize it as exercise therapy data according to the strength of the user's strength.

As shown in FIG. 2B and FIG. 4, when the rope 500 provided on the rear surface of the frame unit 200 is short-circuited, the short-circuited ends of the rope 500 are connected to each other to measure the tensile force of the rope 500 The present invention provides an active exercise therapy apparatus (10) including a load cell (600).

The load cell 600 connected to the ends of the short-circuited two-side ropes 500 measures a force when the user pulls the rope 500 while the rope 500 is short-circuited, and transmits the measured force to the controller 700.

In addition, the apparatus further includes a motion measuring unit 800 for detecting muscle strength, speed, and position information of the body part when the user exercises the body part through the active type exercise therapy apparatus 10, The motion measuring unit 800 may include a sensor module 810 that is attached to or worn on a human body to sense a characteristic signal at the time of exercise demonstration, and a controller 810 that receives and analyzes the characteristic signals sensed through the sensor module 810, And a communication unit 840 for transmitting the analysis module 820 to an external device or a control unit 700. [ The motion measuring unit 800 includes a sensor module 810, an analysis module 820, and a communication unit 840, which are provided on the body contact surface of the pad in the form of a pad, .

For example, when the user holds the handle 510 formed at the end of the rope 500 of the active exercise therapy apparatus 10 to perform the rehabilitation exercise of the arm, the exercise of the active exercise therapy apparatus 10 described above is performed, A movement measuring part 800 of the pad type is attached to a rehabilitation part of a user's arm when the user performs an arm exercise treatment to detect the activity of a muscle as a rehabilitation part and the movement of the arm, And further includes a motion measuring unit 800 for determining whether or not the exercise therapy according to the present invention is performed correctly. The active exercise therapy apparatus 10 is provided for enhancing the rehabilitation rate according to precise and accurate exercise therapy of the user.

As shown in FIG. 7, a rechargeable battery unit 850 for supplying power to the sensor module 810 and the analysis module 820 is provided. In order to charge the battery unit 850, Output terminal unit 830 so as to collect data of the input / output terminal 820.

The sensor module 810 includes a gyro, an acceleration sensor, and a geomagnetic sensor, and may use the data provided from the sensors to more accurately check the user's motion. For example, data provided from a gyro sensor or a geomagnetic sensor can be used to confirm the direction in which the user's joint moves.

Further, the sensor module 810 further includes an electromyogram (EMG) sensor to detect the degree of activation of the muscle, which is a movement part of the user, to determine whether the user actually exercises using the corresponding muscle, And a motion error of the robot is detected.

7, the analysis module 820 analyzes the data received by the sensor module 810, calculates data results according to the user's body movement, and transmits the data to the external device Or control unit 700. At this time, the control unit 700 controls the rotation angle of the joint, the distance between the body and the arm or the leg, and the movement speed of the joint through the data transmitted through the analysis module 820, And the operation module 710 of the control unit 700 for calculating the activity is performed.

The measurement data generated through the calculation module 710 is transmitted to the mobile robot 710 to transmit standard data of the motion selected from the motion map module 720 in which the standard data according to the type of the user's body exercise using the active exercise therapy apparatus 10 is stored And a control module 730 for comparing and analyzing the measured data with the measurement data.

The control module 730 analyzes the motion characteristics of the user through the measurement data transmitted from the calculation module 710. For example, the motion characteristics of the user who can be analyzed by the control module 730 may be determined based on the normal state of the body posture, the joint change caused by the motion, or the muscle that moves the joint, according to the standard data stored in the motion map module 720 Activity, and the like. The result feedback module 740 by the control module 730 notifies the control module 730 of the result of the motion characteristic analysis. For example, through the control module 730, the analysis result feedback module 740 may receive the analysis result through an image such as a graph, a number, a character, or the like displayed on the screen of the display unit 900, And can report the result of the motion characteristic analysis through the vibration of the motion measuring unit 800.

The exercise attitude of the specific rehabilitation exercise during rehabilitation can be calibrated through the active exercise therapy apparatus 10 provided for the rehabilitation or exercise part of the body, for example, by using the exercise measurement unit 800 according to an embodiment of the present invention .

First, a plurality of motion measurement units 800 are attached to or worn on each part of the human body such as an arm, a leg, and a waist. Then, a rehabilitation motion is started through the active motion therapy apparatus 10, Acceleration, and muscle activity through the module 810 in real time, and transmits the measured data to the analysis module 820 for analysis. As described above, the rotation angle, acceleration, and muscle activity measurement are performed by the sensor module 810, and the analysis module 820 performs the acquisition and analysis of the measurement data.

In this case, the measurement data is transmitted to the calculation module 710 to analyze the data, and the measurement data is analyzed by a numerical value or graph according to time, (900).

As an example of the acceleration measurement result, it can be expressed as an acceleration in three directions of X, Y, Z if it is easily understood in a graph. When the acceleration measurement results of the three directions are combined, it is possible to detect a positional change of a specific part of the human body in which the acceleration signal is sensed with respect to time, and the sensor module 810 The acceleration measurement result can be obtained.

On the other hand, although it is not shown, if the EMG measurement result is graphically displayed, it appears as an irregular wave that fluctuates intermittently. When a force is applied to a specific part of the human body and the muscle is contracted, a part which swings abruptly is formed.

The method of applying the sensor module 810 of the motion measuring unit 800 according to the present invention is a method of measuring the reference acceleration measured by the motion data of the normal person, And analyzing the problem of the current motion of the user in comparison with it. That is, the user's motion measurement data of the calculation module 710 is transmitted to the control module 730 in the motion map module 720 in which the motion standard data according to the type of the body movement of the normal person is stored, and the motion result of the user is determined.

In other words, by comparing the result of acceleration measurement of the user with the result of measuring the reference acceleration, it is possible to grasp how the rehabilitation exercise of the user differs from the exercise of the normal person and try the exercise posture so that the exercise matches with that of the normal person. In addition, the EMG measurement result obtained through the exercise map module 720, which is a result of the EMG measurement of the user and the reference EMG measurement result of the normal person, may be compared with each other to try to calibrate the user to apply the force to the selected muscle have. Therefore, the user can easily grasp such a problem in his / her exercise and intentionally try to correct it.

The result feedback module 740 through the control module 730 feeds back analysis results to inform the user.

If the reference acceleration measurement result and the reference electromyogram measurement result are stored in the analysis module 820 of the motion measurement unit, the analysis module 820 may perform the step performed by the control module 730, The result of the analysis can also be known to the user via the result feedback module 740. [ As described above, the feedback of the result may be due to image, sound, or vibration.

While the invention has been shown and described with reference to certain preferred embodiments thereof, it is to be understood that the invention is not limited to the disclosed embodiments. Those skilled in the art will appreciate that various modifications, additions and substitutions are possible, without departing from the scope of the appended claims, The genius will be so self-evident. Accordingly, the true scope of the present invention should be determined by the technical idea of the appended claims.

Active motion therapy device 10, base part 100, frame part 200, height adjustment member 300, support shaft 310, screw shaft 320, moving part 330, first motor 340, 2 motor 410, first rotation axis 420, clutch 430, second rotation axis 440, winding unit 450, position sensing unit 460, rope 500, load cell 600, control unit 700, A map module 720, a control module 730, a feedback module 740, a communication unit 750, a motion measuring unit 800, a sensor module 810, an analysis module 820, an input / output terminal unit 830, a communication unit 840,

Claims (3)

A frame part 200 fixed to the upper part of the base part 100 and having a predetermined height upward,
A pair of supporting shafts 310 having a plate-like supporting portion 210 fixed horizontally and spaced apart from the upper and lower portions of the inside of the frame portion 200 and vertically connecting the upper and lower supporting portions 210, A screw shaft 320 having threads on an outer circumferential surface thereof and a pair of support shafts 310 sliding between the support shafts 310 while sliding the support shaft 210 between the support shafts 310, Quot; U " -shaped moving part 330 screwed to the screw thread of the screw shaft 320 and a screw shaft 320 extending downward through the supporting part 210 formed at the lower part And a first motor 340 installed at a lower end of the main body 300,
A horizontal first rotating shaft 420 provided at one side of the base unit 200 and rotated by the power of the one second motor 410 and the second motor 410 and a second rotating shaft 420 disposed at one end of the first rotating shaft 420 A second rotary shaft 440 coupled to the other side of the clutch 430 and a second rotary shaft 440 connected to the second rotary shaft 440 while being constrained to the second rotary shaft 440, And a position sensing unit 460 installed at an end of a second rotation shaft 440 protruding through the inside of the take-up unit 450. The driving unit 400 includes a driving unit 400, ;Wow,
A roller 220 wound around the winding unit 450 of the driving member 400 and provided on the rear surface of the frame unit 200, the bottom surface of the frame unit 200, and the moving unit 330 of the height adjusting member 300, A rope 500 which is applied through a roller 220 formed on a moving part 330 of the height adjusting member 300 and has a handle 510 at an end thereof; And
And a controller (700) for controlling the driving of the first motor (310) and the driving member (400). The load cell according to claim 1, further comprising a load cell (600) connecting the short-circuited ends of the rope (500) to the rear of the frame unit (200) to measure the tensile force of the rope An active exercise therapy device characterized by. The sensor module (810) according to claim 1, wherein at least one of a gyro, an acceleration, a geomagnetism, or an electromyogram sensor that is attached to or worn on a human body and senses a characteristic signal during exercise demonstration through the active exercise therapy apparatus (10) An analysis module 820 for receiving and analyzing the characteristic signal sensed through the sensor module 810 and informing the result thereof in a recognizable manner, and a communication unit 820 for transmitting the analysis module 820 to the control unit 700. [ A rechargeable battery unit 850 for supplying power to the sensor module 810 and the analysis module 820 and an external power supply and analysis module for charging the battery unit 850. [ And a motion measurement unit 800 configured to include an input / output terminal unit 830 so as to be able to collect data,
The analysis module 820 analyzes the received data by the sensor module 810 and transmits the data according to the user's body movement to the controller 700 through the communication unit 840. The controller 700 A calculation module 710 for calculating the rotation angle of the joint, the distance between the body and the arm or the leg, the joint movement speed and the muscle activity through the data transmitted through the analysis module 820, And a control module 730 for transmitting the standard data of the selected movement from the motion map module 720 storing the standard data according to the type of the body movement and comparing and analyzing the selected standard data with the measurement data,
Wherein the display unit 900 of the external device transmits an image or voice selected among a graph, a number, and a character through the communication unit 750 of the control unit 700.

Images