KR102811253B1 - Gait rehabilitation device - Google Patents

Abstract

The present invention relates to a walking rehabilitation device. The walking rehabilitation device according to the present invention includes a main body (210) and a rotational shaft (220) that generates a load when rotated with respect to the main body (210), a load providing unit (200) in which the rotational shaft (220) is coupled to one side of the human body, a rotational member (300) that is rotatably coupled to the main body (210) and coupled to the other side of the human body, and a rotation control unit (400) that prevents or enables rotation of the rotational member (300) with respect to the load providing unit (200).

Description

Gait rehabilitation device

The present invention relates to a walking rehabilitation device.

Currently, devices for walking rehabilitation are being led by medical institutions for stroke rehabilitation. However, most of them rely on expensive devices, and devices for walking rehabilitation that can be used in daily life are not being put into practice.

In addition, although exercise support services targeting the general public exist, there is not enough research being conducted on personalized exercise support services that reflect the physical characteristics of lower body rehabilitation patients.

Meanwhile, devices for walking rehabilitation according to conventional technology have no means to control the load depending on the wearer's condition, so there is a problem that it is difficult for the wearer to respond when an abnormal situation such as a fall occurs.

KR 10-2002289 B1

The present invention is to solve the problems of the above-described prior art, and one aspect of the present invention is to provide a walking rehabilitation device in which, when an abnormal situation such as a fall occurs, a rotation control unit is operated to release the lock between the load providing unit and the rotation member, thereby removing the load applied to the wearer, thereby inducing free movement, and thereby enabling the wearer to cope with an abnormal situation such as a fall.

A walking rehabilitation device according to an embodiment of the present invention includes a main body and a rotational axis that generates a load when rotated with respect to the main body, a load providing unit coupled to one side of the human body by the rotational axis, a rotational member that is rotatably coupled to the main body and coupled to the other side of the human body, and a rotational control unit that prevents or enables rotation of the rotational member with respect to the load providing unit.

In addition, in a walking rehabilitation device according to an embodiment of the present invention, the device further includes an abnormal situation detection unit that detects an abnormal situation of a human body, and a control unit that receives information about whether or not an abnormal situation of the human body is occurring from the abnormal situation detection unit and controls the rotation control unit to enable rotation of the rotation member with respect to the load providing unit when an abnormal situation of the human body occurs.

Additionally, in the walking rehabilitation device according to the embodiment of the present invention, the load providing unit is a rotary damper.

In addition, in the walking rehabilitation device according to an embodiment of the present invention, one side of the human body to which the load providing unit is coupled and the other side of the human body to which the rotating member is coupled are connected by a joint of the human body.

In addition, in the walking rehabilitation device according to an embodiment of the present invention, the rotation control unit includes a coupling unit that is coupled to the rotation member and moves linearly, and the coupling unit is inserted into a recessed portion formed in the main body or separated from the recessed portion while moving linearly.

Additionally, in the walking rehabilitation device according to the embodiment of the present invention, the coupling part is a solenoid stroke.

In addition, in the walking rehabilitation device according to an embodiment of the present invention, the device further includes a displacement detection unit that detects displacement of the main body with respect to the rotating member, and a control unit that receives displacement of the main body with respect to the rotating member from the displacement detection unit and inserts the coupling unit into the recessed unit when the coupling unit and the recessed unit are aligned.

Additionally, in the walking rehabilitation device according to the embodiment of the present invention, the displacement detection unit is a Hall sensor or an image sensor.

In addition, in the walking rehabilitation device according to an embodiment of the present invention, a plurality of the recessed portions are formed at predetermined intervals along the outer surface of the main body.

In addition, in the walking rehabilitation device according to an embodiment of the present invention, the rotation control unit includes a coupling unit that is coupled to the rotation member and moves linearly, and a yoke and a reinforcing unit are continuously formed along the outer circumference of the main body, and the coupling unit is inserted into the yoke or separated from the yoke while moving linearly.

The features and advantages of the present invention will become more apparent from the following detailed description based on the accompanying drawings.

Prior to this, the terms or words used in this specification and claims should not be interpreted in their usual or dictionary meanings, but should be interpreted in their meanings and concepts that are consistent with the technical idea of the present invention, based on the principle that the inventor can appropriately define the concept of the term in order to explain his or her own invention in the best way.

According to the present invention, when an abnormal situation occurs, the rotation control unit operates to release the lock between the load providing unit and the rotation member, thereby removing the load applied to the wearer, thereby inducing free movement, and thus there is an advantage in that the wearer can cope with the abnormal situation.

Figure 1 is a side view of a wearer wearing a walking rehabilitation device according to an embodiment of the present invention, and
Figures 2a and 2b are cross-sectional views of a walking rehabilitation device according to an embodiment of the present invention.
Figure 3 is an exploded perspective view of a walking rehabilitation device according to an embodiment of the present invention.
Figure 4 is an exploded perspective view of a walking rehabilitation device according to another embodiment of the present invention.
Figure 5 is a cross-sectional view of a rehabilitation device according to another embodiment of the present invention.
Figure 6 is an exploded perspective view of a walking rehabilitation device according to another embodiment of the present invention, and
FIG. 7 is a cross-sectional view of a rehabilitation device according to another embodiment of the present invention.

The objects, specific advantages and novel features of the present invention will become more apparent from the following detailed description taken in conjunction with the accompanying drawings and preferred embodiments. In this specification, when adding reference numerals to components in each drawing, it should be noted that the same components are given the same numerals as much as possible even if they are shown in different drawings. In addition, terms such as "first", "second", etc. are used to distinguish one component from another, and the components are not limited by the terms. Hereinafter, in describing the present invention, a detailed description of related known technologies that may unnecessarily obscure the gist of the present invention will be omitted.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the attached drawings.

Figure 1 is a side view of a wearer wearing a walking rehabilitation device according to an embodiment of the present invention.

Basically, the walking rehabilitation device according to the present embodiment includes a rotatable rotating part (110) that is mounted on a human body and is positioned in an area corresponding to a joint of the human body, and the rotating part (110) may include a mounting part (100) that provides a load to a joint of the human body (e.g., a lower limb), an acceleration sensor that is fixed to the human body and measures acceleration in three directions of the human body, an angular velocity sensor that is fixed to the human body and measures angular velocity in three directions of the human body, and an angle sensor that detects a rotation angle of the rotating part (110) and measures a joint angle of the human body.

Here, the mounting part (100) is mounted on a human body (e.g., lower body), and may include a rotating part (110), a supporting part (120), a fastening part (130), etc. At this time, the rotating part (110) is placed in an area corresponding to a joint of the human body (e.g., a knee joint, a hip joint, an ankle joint, etc.). In addition, the supporting part (120) is formed to extend to a predetermined length and is coupled to the rotating part (110). In addition, the fastening part (130) is coupled to a predetermined part of the supporting part (120) and is fastened to the human body (e.g., a lower body). For example, the fastening part (130) may be fastened to a thigh, a calf, a waist, an ankle, etc.

As described above, the rotatable rotating member (110) is positioned in an area corresponding to a joint of the human body, and the fastening member (130) coupled to the support member (120) is fastened to the human body (e.g., lower limb), so that when the joint angle of the human body changes, the rotating member (100) can be rotated in response to the change in the joint angle of the human body. Here, since a constant load is generated when the rotating member (110) rotates, a load can be provided to the joint of the human body to perform rehabilitation. At this time, since the load generated from the rotating member (110) is adjustable, the load provided to the joint can be adjusted as needed.

Meanwhile, the rotating part (110) may include a load providing part (200), a rotating member (300), and a rotating control part (400) (see FIG. 2a), and specific details related thereto will be described later.

In addition, the acceleration sensor is fixed to the human body and can measure the three-axis acceleration of the human body, and the angular velocity sensor is fixed to the human body and can measure the three-axis angular velocity of the human body. The walking pattern can be analyzed through the three-axis acceleration and the three-axis angular velocity of the human body measured by the acceleration sensor and the acceleration sensor. At this time, the acceleration sensor and the angular velocity sensor are provided in the mounting part (100) and can be fixed to the human body together with the mounting part (100).

And, the angle sensor can detect the rotation angle of the rotating part (110) and measure the joint angle of the human body. The walking pattern can also be analyzed through the joint angle of the human body measured by the angle sensor. At this time, the angle sensor is provided in the rotating part (110).

The walking rehabilitation device according to this embodiment not only performs rehabilitation by providing a load to the joints of the human body through the rotating part (110), but also analyzes the walking pattern through an acceleration sensor, an angular velocity sensor, and an angle sensor.

Meanwhile, the acceleration sensor, the angular velocity sensor, and the angle sensor may be abnormal situation detection units that detect abnormal situations such as a fall of a human body, and specific details related to this will be described later.

Below, a configuration that removes the load applied to the wearer from the rotating part (110) when an abnormal situation occurs and induces free movement is described in detail.

FIGS. 2A and 2B are cross-sectional views of a walking rehabilitation device according to an embodiment of the present invention, and FIG. 3 is an exploded perspective view of a walking rehabilitation device according to an embodiment of the present invention.

As illustrated in FIGS. 2A to 3, the walking rehabilitation device according to the present embodiment includes a main body (210) and a rotational axis (220) that generates a load when rotated with respect to the main body (210), a load providing unit (200) in which the rotational axis (220) is coupled to one side of the human body, a rotational member (300) that is rotatably coupled to the main body (210) and coupled to the other side of the human body, and a rotational control unit (400) that prevents or enables rotation of the rotational member (300) with respect to the load providing unit (200).

Basically, the load providing unit (200), the rotating member (300), and the rotating control unit (400) can be provided in the above-described rotating unit (110).

The above load providing unit (200) substantially performs the role of providing a load to a joint of a human body. Here, the load providing unit (200) may include a main body (210) and a rotational shaft (220) that generates a load when rotating with respect to the main body (210). At this time, the main body (210) may be formed in a cylindrical shape, and a connecting groove (213) that is recessed in an annular shape may be formed along an outer surface thereof so that a rotating member (300) may be rotatably coupled thereto. In addition, the rotational shaft (220) may be coupled to one side of the human body. For example, a support member (120) may be coupled to the rotational shaft (220), and this support member (120) may be coupled to one side of the human body (for example, the calf of the wearer) via a fastening member (130). Meanwhile, the load providing unit (200) is not particularly limited, but may be, for example, a rotary damper.

The above-mentioned rotational member (300) is prevented from rotating with respect to the load providing unit (200) or is capable of rotating with respect to the load providing unit (200) under the control of the rotation control unit (400). Here, the rotational member (300) can be rotatably coupled to the main body (210) of the load providing unit (200). For example, the rotational member (300) may have an accommodation space (310) provided therein, and the main body (210) of the load providing unit (200) may be accommodated in the accommodation space (310). In addition, the rotational member (300) may have a coupling protrusion (320) formed in an annular shape along the inner surface of the accommodation space (310). By inserting the coupling projection (320) into the coupling groove (213) formed in an annular shape along the outer surface of the main body (210) of the load providing unit (200), the rotating member (300) can be rotatably coupled to the main body (210) of the load providing unit (200). Meanwhile, the rotating member (300) can be coupled to the other side of the human body. For example, a support member (120) can be coupled to the rotating member (300), and this support member (120) can be coupled to the other side of the human body (e.g., the thigh of the wearer) through the fastening member (130). As described above, the load providing unit (200, rotational shaft (220)) is coupled to one side of the human body, and the rotating member (300) is coupled to the other side of the human body, and the one side of the human body and the other side of the human body can be connected by a joint of the human body. For example, when the load providing unit (200, rotation axis (220)) is coupled to the wearer's calf and the rotational member (300) is coupled to the wearer's thigh, the wearer's calf and thigh can be connected by a knee joint. Accordingly, when the rotational member (300) is prevented from rotating with respect to the load providing unit (200), the load providing unit (200) can provide a load to the joint of the human body.

The above rotation control unit (400) controls whether the rotation member (300) rotates with respect to the load providing unit (200). That is, the rotation control unit (400) can prevent or enable rotation of the rotation member (300) with respect to the load providing unit (200). For example, the rotation control unit (400) normally prevents rotation of the rotation member (300) with respect to the load providing unit (200), thereby allowing the load of the load providing unit (200) to be provided to the joints of the human body (see FIG. 2a). However, when an abnormal situation, such as a fall of the human body, occurs, the rotation control unit (400) enables the rotation of the rotation member (300) with respect to the load providing unit (200), so that the load of the load providing unit (200) is not provided to the joints of the human body, thereby inducing free movement of the wearer, and thus the wearer can cope with the abnormal situation (see FIG. 2b).

Specifically, the rotation control unit (400) may include a coupling unit (410) coupled to the rotation member (300) and linearly moved. For example, the coupling unit (410) may have one side coupled to the interior of the rotation member (300) and the other side linearly moved so as to slide toward the main body (210) of the load providing unit (200). At this time, the coupling unit (410) is not particularly limited, but may be a solenoid stroke. Accordingly, the coupling unit (410, for example, the solenoid stroke) may linearly move so as to slide according to an electrical signal. In addition, a recessed portion (215) may be formed on the outer surface of the main body (210) of the load providing unit (200). Accordingly, as the connecting portion (410) moves linearly, it can be inserted into the recessed portion (215) of the main body (210), or separated from the recessed portion (215) of the main body (210). If the connecting portion (410) is inserted into the recessed portion (215) of the main body (210) (see FIG. 2a), the rotation of the rotating member (300) with respect to the load providing portion (200) is prevented, so that the load of the load providing portion (200) can be provided to the joints of the human body. On the other hand, if the connecting portion (410) is separated from the recessed portion (215) of the main body (210) (see FIG. 2b), the rotation of the rotating member (300) with respect to the load providing portion (200) is possible, so that the load of the load providing portion (200) is not provided to the joints of the human body. Accordingly, in normal times, the connecting portion (410) is inserted into the recessed portion (215) of the main body (210), so that the load of the load providing portion (200) is provided to the joints of the human body. However, in the event of an abnormal situation, such as a fall of the human body, the connecting portion (410) is separated from the recessed portion (215) of the main body (210), so that the load of the load providing portion (200) is not provided to the joints of the human body. As a result, in the event of an abnormal situation, such as a fall of the human body, the load of the load providing portion (200) is not provided to the joints of the human body, thereby inducing free movement of the wearer, so that the wearer can cope with the abnormal situation.

Additionally, the walking rehabilitation device according to the present embodiment may include an abnormal situation detection unit and a control unit. Here, the abnormal situation detection unit detects an abnormal situation of the human body. For example, the abnormal situation of the human body may be a fall of the human body. Meanwhile, the abnormal situation detection unit may be an acceleration sensor, an angular velocity sensor, or an angle sensor. For example, the abnormal situation detection unit may detect an abnormal situation of the human body based on the following criteria: when the absolute value of the acceleration of the human body detected by the acceleration sensor is equal to or greater than a predetermined value; when the absolute value of the angular velocity of the human body detected by the angular velocity sensor is equal to or greater than a predetermined value; when the absolute value of the angle of the joint detected by the angle sensor is equal to or greater than a predetermined value; or when the absolute value of the angle change speed of the joint detected by the angle sensor is equal to or greater than a predetermined value.

Meanwhile, the control unit can receive information about whether the human body is in an abnormal state from the abnormal state detection unit, and control the rotation control unit (400) to enable rotation of the rotation member (300) with respect to the load providing unit (200) when an abnormal state occurs in the human body. That is, when the abnormal state detection unit detects an abnormal state of the human body and transmits this to the control unit, the control unit controls the rotation control unit (400) to enable rotation of the rotation member (300) with respect to the load providing unit (200), thereby inducing free movement of the wearer, and the wearer can deal with the abnormal state.

In addition, the walking rehabilitation device according to the present embodiment may include a displacement detection unit (500). Here, the displacement detection unit (500) detects the relative displacement of the main body (210) of the load providing unit (200) with respect to the rotating member (300). At this time, the control unit receives the relative displacement of the main body (210) with respect to the rotating member (300) from the displacement detection unit (500), and when the coupling unit (410) and the recessed unit (215) are aligned, the coupling unit (410) can be reinserted into the recessed unit (215).

As described above, when the connecting portion (410) is separated from the recessed portion (215) of the main body (210), the rotating member (300) can rotate with respect to the load providing portion (200). In this way, when the rotating member (300) is rotated with respect to the load providing portion (200), the connecting portion (410) and the recessed portion (215) of the main body (210) are not aligned, so it may be difficult to re-insert the connecting portion (410) into the recessed portion (215) of the main body (210). However, by detecting the relative displacement of the main body (210) of the load providing unit (200) with respect to the rotating member (300) through the displacement detection unit (500), and receiving the relative displacement of the main body (210) with respect to the rotating member (300) from the control unit, the connecting unit (410) can be moved at the point where the connecting unit (410) and the recessed unit (215) are aligned, thereby accurately inserting the connecting unit (410) into the recessed unit (215).

Meanwhile, the displacement detection unit (500) is not particularly limited, but may be, for example, a Hall sensor or an image sensor. Specifically, when the displacement detection unit (500) is a Hall sensor, a magnet may be provided on the main body (210) of the load providing unit (200) so that the Hall sensor can detect the displacement of the load providing unit (200) (the position of the sunken part (215)). Accordingly, when the Hall sensor detects the magnet provided on the main body (210) of the load providing unit (200), the control unit can determine the point in time when the coupling unit (410) and the sunken part (215) are aligned. Meanwhile, when the displacement detection unit (500) is an image sensor, a marker may be displayed on the main body (210) of the load providing unit (200) so that the image sensor can detect the displacement of the load providing unit (200) (the position of the sunken part (215)). Accordingly, by detecting the marker displayed on the main body (210) of the load providing unit (200) by the image sensor, the control unit can determine the point in time when the coupling unit (410) and the recessed unit (215) are aligned.

However, as described above, it is not necessary to form a single recessed portion (215) on the outer surface of the main body (210) of the load providing unit (200). Alternatively, as illustrated in FIGS. 4 and 5, a plurality of recessed portions (215) may be formed continuously at predetermined intervals along the outer surface of the main body (210) of the load providing unit (200). At this time, when the displacement detecting unit (500) is a Hall sensor, a number of magnets corresponding to the plurality of recessed portions (215) may be continuously provided on the main body (210) of the load providing unit (200) at predetermined intervals. Accordingly, by having the Hall sensor detect the plurality of magnets provided on the main body (210) of the load providing unit (200), the control unit can determine the point in time when the coupling unit (410) and one of the plurality of recessed portions (215) are aligned. Meanwhile, when the displacement detection unit (500) is an image sensor, a number of markers corresponding to a plurality of recessed portions (215) can be continuously displayed at predetermined intervals on the main body (210) of the load providing unit (200). Accordingly, by the image sensor detecting a plurality of markers displayed on the main body (210) of the load providing unit (200), the control unit can determine the point in time when the coupling unit (410) and one of the plurality of recessed portions (215) are aligned.

Meanwhile, the concave portion (215) does not necessarily have to be formed on the outer surface of the main body (210) of the load providing unit (200), and as illustrated in FIGS. 6 and 7, the concave portion (217) and the iron portion (219) may be continuously formed along the outer surface of the main body (210) of the load providing unit (200). At this time, the concave portion (217) and the iron portion (219) may be continuously extended in a curved shape. For example, the iron portion (219) may be extended in a curved shape so that its width becomes narrower as it goes outward, and the concave portion (217) may be extended in a curved shape so that its width becomes narrower as it goes inward. When viewed from the cross section (see FIG. 7), the concave portion (217) and the iron portion (219) may be extended in a sinusoidal shape. At this time, the connecting portion (410) can be inserted into or separated from the yoke (217) while moving linearly.

When the connecting portion (410) is inserted into the formed yoke (217) of the main body (210), the rotation of the rotating member (300) with respect to the load-providing portion (200) can be basically prevented. However, when an abnormally strong moment occurs at the wearer's joint and a moment greater than a predetermined value is transmitted from the wearer's joint to the load-providing portion (200) and the rotating member (300), the rotating member (300) can rotate with respect to the load-providing portion (200) as the connecting portion (410) passes over the curved yoke (217) and the steel member (219). As a result, when an abnormally strong moment occurs at the wearer's joint, the rotating member (300) rotates with respect to the load-providing portion (200), thereby preventing the wearer's joints, etc. from being damaged.

Meanwhile, depending on the degree to which the connecting portion (410) is inserted into the yoke (217) formed in the main body (210), the joint moment of the wearer in which the rotating member (300) rotates with respect to the load providing portion (200) may change.

Although the present invention has been described in detail through specific examples, this is intended to specifically explain the present invention, and the present invention is not limited thereto, and it is clear that modifications and improvements can be made by those skilled in the art within the technical spirit of the present invention.

All simple modifications or changes of the present invention fall within the scope of the present invention, and the specific protection scope of the present invention will be made clear by the appended claims.

100: Mounting part 110: Rotating part
120: Support part 130: Fastening part
200: Subordinate Provider 210: Main Body
213: Joint groove 215: Depression
217: The lower part 219: The iron part
220: Rotating shaft 300: Rotating member
310: Receiving space 320: Joining projection
400: Rotation control unit 410: Joint unit
500: Displacement detection unit

Claims (10)

A load providing unit including a main body and a rotational axis that generates a load when rotating with respect to the main body, and wherein the rotational axis is coupled to one side of the human body;
A rotating member rotatably connected to the main body and connected to the other side of the human body; and
A rotation control unit that prevents or enables rotation of the rotation member with respect to the load providing unit;
Including,
An abnormal situation detection unit that detects abnormal situations in the human body; and
A control unit that receives information about whether the human body is in an abnormal state from the above-mentioned abnormal state detection unit and controls the rotation control unit to enable rotation of the rotation member with respect to the load providing unit when an abnormal state of the human body occurs;
Including more,
An abnormal situation of the human body is a fall of the human body,
The above abnormal situation detection unit is an acceleration sensor, an angular velocity sensor, or an angle sensor.
A walking rehabilitation device wherein the abnormal situation detection unit detects an abnormal situation of the human body based on a case where the absolute value of the acceleration of the human body detected by the acceleration sensor is greater than or equal to a predetermined value, the absolute value of the angular velocity of the human body detected by the angular velocity sensor is greater than or equal to a predetermined value, the absolute value of the angle of the joint detected by the angle sensor is greater than or equal to a predetermined value, or the absolute value of the angle change speed of the joint detected by the angle sensor is greater than or equal to a predetermined value.
delete In claim 1,
A walking rehabilitation device in which the load providing unit is a rotary damper.
In claim 1,
A walking rehabilitation device in which one side of the human body to which the above load providing unit is coupled and the other side of the human body to which the above rotational member is coupled are connected to joints of the human body.
In claim 1,
The above rotation control unit is a coupling unit that is coupled to the rotation member and moves linearly;
Including,
A walking rehabilitation device in which the above-mentioned connecting member is inserted into a recessed portion formed in the above-mentioned main body while moving linearly, or is separated from the recessed portion.
In claim 5,
A walking rehabilitation device having the above-mentioned joint as a solenoid stroke.
In claim 5,
A displacement detection unit that detects displacement of the main body relative to the rotating member; and
A control unit that receives the displacement of the main body with respect to the rotating member from the displacement detection unit and inserts the coupling unit into the recessed unit when the coupling unit and the recessed unit are aligned;
A walking rehabilitation device further comprising:
In claim 7,
The above displacement detection unit is a walking rehabilitation device that is a hall sensor or an image sensor.
In claim 5,
A walking rehabilitation device in which the above-mentioned recessed portions are formed in multiple numbers at regular intervals along the outer surface of the main body.
In claim 1,
The above rotation control unit is a coupling unit that is coupled to the rotation member and moves linearly;
Including,
A walking rehabilitation device in which a lower part and a lower part are continuously formed along the outer surface of the main body, and the connecting part is inserted into the lower part or separated from the lower part while moving linearly.

Images