KR102081911B1 - Rehabilitation robot - Google Patents

Abstract

The present invention support frame; And first and second jensen mechanisms provided on both sides of the support frame and movable by an interlocking operation of a plurality of linked links to help the rehabilitation subject walk. It includes, and provides a rehabilitation robot characterized in that the rehabilitation subject walks while supporting the foot to the first, second Jensen mechanism.

Description

Rehabilitation Robots {REHABILITATION ROBOT}

The present invention relates to a rehabilitation robot based on JANSEN MECHANISM.

Theo Yansen is a fusion artist. He is not an art major, but a scientist who studied physics at the Delft University of Technology. Theo Janssen's work, Strandbeest, uses a yellow plastic tube as a skeleton to connect with adhesive tape, 16 legs, a fan-like feather on its back, no engine or motor, but moves on its own when the wind blows. Mechanisms based on the Theo Jansen's mobile link structure are commonly referred to as "jansen mechanisms or jensen mechanisms" (hereinafter referred to as "jensen mechanisms").

On the other hand, there is a walking rehabilitation robot "LOKOMAT (Hocoma, Switzerland)". Locomet is a state-of-the-art robotic aid that deviates from the previous treatment method, where three therapists grabbed the legs and the waist of a patient with a walking disorder. Rocomet has a robotic leg with a precision sensor attached to each joint. The patient is supported by Rocomet's robotic legs to receive the appropriate force according to his / her ability and can continuously perform the walking training pattern that is closest to the normal person's gait for a long time.

However, walking rehabilitation robots such as Locomet are very expensive. This is because the system is large and complex and uses complex control logic. In addition, the treadmill-based exoskeleton-type robot, there is a gait and deviation on the actual ground, precisely required to wear the lower limbs of the link portion and can not be bound to the sagittal plane can not walk naturally. The main disadvantage of the exoskeleton type rehabilitation robot is that the link parts are aligned to the lower limbs to generate the torque of each joint.The greater torque compensation is because the inertia of the link parts can be felt heterogeneously by the user and the user's intention is not fully understood. This is done, but this can only be passive rehabilitation exercises.

In this regard, the present invention is to propose a new mobile rehabilitation robot based on the link structure using the Jensen mechanism.

Republic of Korea Patent Publication No. 10-2009-0121051 (2009.11.25.published)

In order to solve the above problems, an embodiment of the present invention is to provide a rehabilitation robot that can mechanically synchronize the trajectory speed of the rehabilitation walk of the rehabilitation subject based on the Jensen mechanism by the link mechanism.

The present invention, the support frame; And first and second jensen mechanisms provided on both sides of the support frame and movable by an interlocking operation of a plurality of linked links to help the rehabilitation subject walk. It includes, and provides a rehabilitation robot characterized in that the rehabilitation subject walks while supporting the foot to the first, second Jensen mechanism.

In addition, a handle may be provided on an upper portion of the first and second jensen mechanisms.

In addition, a foot support may be provided at a lower portion of the first and second jensen mechanisms to which the driving of the first and second jensen mechanisms is output.

The foot support may further include a connecting shaft connected to a lower portion of the first and second jensen mechanisms; And a foot fixing part connected to the connecting shaft and into which the foot of the rehabilitation subject is inserted; It may include.

In addition, the foot support may be connected to the first and second Jensen mechanisms by a connecting frame.

In addition, a long hole is provided below the first and second Jensen mechanisms, a coupling member is inserted into the long hole to be coupled to the connection frame, and the coupling member may move along the long hole.

In addition, the support frame may include a first support frame; And a second support frame positioned above the first support frame, the second support frame including a rotation shaft connected to both ends of the first and second Jensen mechanisms. It may include.

In addition, the rotating shaft is connected to the motor, the drive of the motor can be transmitted to the first, second Jensen mechanism via the rotating shaft.

In addition, the rotation shaft and the motor may be connected by a gear.

In addition, a saddle may be provided below the second support frame.

In addition, a spring cylinder may be provided between the first support frame and the second support frame.

The first and second jensen mechanisms may include a first link, a second link, a third link, a fourth link, a fifth link, a sixth link, a seventh link, and an eighth link.

In addition, the rotation axis may be connected to the first and second Jensen mechanisms by the third link.

In addition, the third link is drilled in the long hole along the longitudinal direction, the coupling member is inserted into the long hole is coupled to the first and second Jensen mechanism, the coupling member can move along the long hole.

In addition, the first link is provided on both sides of the second support frame to support both ends of the rotation shaft to be rotatable, and may be connected to the first and second jensen mechanisms.

In addition, the sixth link may be connected to the fifth link by a first connection point.

In addition, the third link may be connected to the second link and the fourth link by a second connection point.

In addition, a caster may be provided on the bottom of the first support frame.

In addition, the support frame may be installed on the treadmill and the rehabilitation subject can walk on the belt of the treadmill while supporting the feet on the first and second jensen mechanisms.

In addition, the support frame may be connected to the outer frame provided on the outer belt belt of the treadmill so as not to contact the belt of the treadmill.

The present invention can configure the device at low cost.

In addition, the present invention can be rehabilitation exercise on the actual ground.

In addition, the existing rehabilitation device is precisely required to wear the lower part of the link portion, but the present invention is easy to wear.

In addition, the present invention is a link structure using the Jensen mechanism, it is possible to synchronize the trajectory speed during actual walking without considering the complicated control logic or robot Jacobian.

In addition, the present invention has a handle for driving the first and second Jensen mechanism can induce active participation of the user.

In addition, the rehabilitation robot of the present invention can develop an effective rehabilitation treatment for patients with paraplegia and lower limb paralysis requiring walking rehabilitation, thereby fostering rehabilitation specialists.

1 is a perspective view showing the overall configuration of a rehabilitation robot according to a first embodiment of the present invention.
FIG. 2 is an enlarged view of a portion A of FIG. 1 and illustrating a connection frame.
3 is an enlarged view of a portion B of FIG. 1, illustrating a third link.
4 is a diagram illustrating a walking process using a rehabilitation robot according to a first embodiment of the present invention.
5 is a perspective view of the first and second jensen mechanisms for explaining the operation of the first and second jensen mechanisms of the rehabilitation robot according to the first embodiment of the present invention.
6 is a side view schematically showing the first and second jensen mechanisms for explaining the operation of the first and second jensen mechanisms of the rehabilitation robot according to the first embodiment of the present invention.
7 is a view showing a state where the rehabilitation robot is installed on the treadmill as a second embodiment of the present invention.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. First of all, in adding reference numerals to the components of each drawing, it should be noted that the same reference numerals have the same reference numerals as much as possible even if displayed on different drawings. In addition, in describing the present invention, if it is determined that the detailed description of the related well-known configuration or function may obscure the gist of the present invention, the detailed description thereof will be omitted. In addition, preferred embodiments of the present invention will be described below, but the technical spirit of the present invention is not limited thereto, but may be variously modified and modified by those skilled in the art.

JANSEN MECHANISM is a link structure that is movable by organic operation of a link when a force is applied by connecting a plurality of links by a hinge axis to enable interlocking operation. This Jensen mechanism is already known. The present invention is to provide a new mobile rehabilitation robot based on the link structure using the Jensen mechanism.

1 is a perspective view showing the overall configuration of a rehabilitation robot according to a first embodiment of the present invention.

In the present invention, the first and second Jensen mechanisms 101 and 102 are provided at both left and right sides of the support frame 10 with the support frame 10 interposed therebetween.

The support frame 10 has a saddle 17 on which a rehabilitation subject can sit, and a rotation shaft 13 and a motor 14 connected to the rotation shaft 13 for transmitting power to the first and second Jensen mechanisms 101 and 102. ) Is provided. The lower portion of the support frame 10 may be provided with a caster 30 to facilitate movement.

The first and second Jensen mechanisms 101 and 102 have the same structure. The first and second Jensen mechanisms 101 and 102 are installed to face each other with the supporting frame 10 interposed therebetween. The first and second jensen mechanisms 101 and 102 are connected by hinge shafts 103 so that each link moves and operates organically when a force is applied to the first and second jensen mechanisms 101 and 102. Mechanism. The first and second Jensen mechanisms 101 and 102 may adopt various types of configurations already known, and a detailed description of the operation mechanism is omitted.

In one embodiment, the first and second jensen mechanisms 101 and 102 may include a first link 111, a second link 112, a third link 113, a fourth link 114, and a fifth link 115. ), The sixth link 116, the seventh link 117, and the eighth link 118.

The handle 40 may be provided on the first and second Jensen mechanisms 101 and 102. When the rehabilitation subject grasps the handle 40 by hand and rotates, the force is transmitted to the first and second jensen mechanisms 101 and 102. The organic interlocking operation of these links moves the first and second Jensen mechanisms 101, 102. In one embodiment, the links of the first and second Jensen mechanisms 101 and 102 may adopt various known configurations such as triangular link form, straight link form, and the like.

The lower part of the first and second Jensen mechanisms 101 and 102 is provided with a foot support 20 capable of supporting the foot of the rehabilitation subject. When the rehabilitation subject grips and rotates the handle 40 by hand in the state where the foot is inserted into the foot support 20, the force is transmitted to the first and second jensen mechanisms 101 and 102. This causes the first and second Jensen mechanisms 101 and 102 to move with human-like walking behavior. Rehabilitation subjects can walk training with the help of the walking operation of the first and second Jensen mechanisms 101 and 102.

The support frame 10 includes a first support frame 11 positioned below and a second support frame 12 positioned above the first support frame 11.

The first support frame 11 is a base frame that supports the entire rehabilitation robot, it is preferably designed to have a stable structure.

The spring cylinder 18 may be mounted between the first support frame 11 and the second support frame 12. The cushioning action of the spring cylinder 18 can protect the rehabilitation subject.

The second support frame 12 is a motor 14 connected with the rotary shaft 13 and the rotary shaft 13 for transmitting the drive of the motor 14 to the saddle 17, the first and second Jensen mechanisms 101 and 102. ).

The saddle 17 provides a seat for the rehabilitation subject. In one embodiment, the saddle 17 may be a spring saddle. Saddle 17 is preferably designed in a structure that can be adjusted in height according to the height of the hip of the rehabilitation subject by applying a variety of known configurations. Saddle 17 may be provided with a hip strap (Hip strap) for fixing the hips.

The motor 14 includes a first gear 15. The rotating shaft 13 is installed to be rotatable to the second support frame 12. Left and right ends of the rotation shaft 13 are connected to the first and second Jensen mechanisms 101 and 102. The rotary shaft 13 includes a second gear 16.

Power of the motor 14 is transmitted to the second gear 16 which is engaged via the first gear 15. The rotation shaft 13 rotates by the rotation of the second gear 16. The rotational force of the rotary shaft 13 is transmitted to the first and second Jensen mechanisms 101 and 102 to help the rehabilitation subject walk.

The foot support 20 is connected to the lower part of the first and second Jensen mechanisms 101 and 102 by the connecting frame 23. The foot support part 20 includes a connection shaft 21 and a foot fixing part 22 provided at the connection shaft 21.

The connecting shaft 21 is located at the bottom of the connecting frame 23. A foot fixing part 22 is provided at one end of the connecting shaft 21 facing the first support frame 11. Foot fixing portion 22 can be stably fixed by inserting the foot of the rehabilitation subject. In one embodiment, the foot fixing portion 22 may be provided with an ankle strap (Ankle strap) for fixing the ankle of the rehabilitation subject.

FIG. 2 is an enlarged view of a portion A of FIG. 1 and illustrating a connection frame.

The connecting shaft 21 is connected to the lower end of the connecting frame 23. The connecting frame 23 is connected to the first and second Jensen mechanisms 101 and 102 by a coupling member 50a such as a bolt. A long hole 118a is provided in the eighth link 118 below the first and second Jensen mechanisms 101 and 102. Coupling member (50a) is coupled to the connecting frame 23 in a state inserted into the long hole (118a). Coupling member 50a may be provided in plurality. The coupling member 50a may fix the connection frame 23 at a desired position while moving along the long hole 118a.

Specifically, in the state in which the coupling member 50a is loosened, the connection frame 23 is lowered or raised upward to adjust the position of the foot support 20 to the body of the rehabilitation subject. After adjusting the position of the foot support 20, tighten the coupling member 50a to fix the connecting frame 23. The coupling member 50a and the long hole 118a are components for adjusting the position of the foot support 20.

3 is an enlarged view of a portion B of FIG. 1, illustrating a third link.

The left and right ends of the rotation shaft 13 may be connected to the first and second Jensen mechanisms 101 and 102 by the third link 113.

The third link 113 is drilled in the long hole 113a along the longitudinal direction. A coupling member 50b such as a bolt is inserted into the long hole 113a and coupled to the first and second jensen mechanisms 101 and 102. Coupling member 50b may be provided in plurality.

The coupling member 50b may fix the third link 113 at a desired position while moving along the long hole 113a of the third link 113.

Specifically, in the state in which the coupling member 50b is loosened, the third link 113 is lowered or raised upward to adjust the position of the handle 40 to the body of the rehabilitation subject. After adjusting the position of the handle 40, the coupling member 50b is tightened to fix the third link 113. The coupling member 50b and the long hole 113a are components for adjusting the position of the handle 40.

4 is a diagram illustrating a walking process using a rehabilitation robot according to a first embodiment of the present invention.

The height of the saddle 17, the height of the foot fixing portion 22 and the height of the handle 40 is matched to the body of the rehabilitation subject. The rehabilitation subject is inserted and fixed in the foot fixing portion 22 provided in the first and second Jensen mechanisms 101 and 102 while sitting on the saddle 17.

In this state, the handle 40 is held by hand. When the rehabilitation subject applies a force to rotate the handle 40, the force is transmitted to the first and second jensen mechanisms 101 and 102 while the first and second jensen mechanisms 101 and 102 move. Rehabilitation subjects can walk training with the help of the moving first and second Jensen mechanisms 101, 102.

As described above, according to the first embodiment of the present invention, the trajectory speeds of the first and second jensen mechanisms and the trajectory speeds of the link ends during the actual walking can be mechanically implemented without the need for a robot Jacobian or a complicated control logic. Specifically, in the first embodiment of the present invention, when a constant angular velocity is input to the motor 14, the rehabilitation subject can walk through the first and second Jensen mechanisms 101 and 102 to the foot support 20. have.

When the saddle 17 is adopted as a spring saddle method in the first embodiment of the present invention, the fall of the rehabilitation subject can be prevented while allowing the vertical movement of the hip joint of the rehabilitation subject without interfering with the walking of the rehabilitation subject. Stability can be secured.

In addition, there is a handle 40 capable of driving the first and second Jensen mechanisms 101 and 102, which reduces the driving of the motor 14 to a certain ratio, and utilizes the upper limb force of the rehabilitation subject. Induce participation.

Even if the upper limb force of the rehabilitation subject himself is weak, the power of the motor 14 can be supported. The force of the motor 14 is transmitted to the second gear 16 via the first gear 15. The rotation shaft 13 rotates by the rotation of the second gear 16, and the rotational force of the rotation shaft 13 is transmitted to the first and second Jensen mechanisms 101 and 102. Therefore, even if the strength of the upper limbs of the rehabilitation subjects themselves can walk without difficulty. The motor 14 may be controlled by a controller (not shown).

As described above, the first embodiment of the present invention is a lower leg training device that helps the rehabilitation subject walking on his own will in an environment such as walking in everyday life, and enables the rehabilitation subject to walk independently through repetitive walking training. do.

The first embodiment of the present invention can be used for walking training of rehabilitation subjects such as stroke, spinal cord injury, cerebral palsy, multiple sclerosis, osteoarthritis, gait disorder, and the like.

5 is a perspective view of the first and second Jensen mechanisms for explaining the operation of the first and second Jensen mechanism of the rehabilitation robot according to the first embodiment of the present invention, Figure 6 is a rehabilitation according to the first embodiment of the present invention A side view schematically showing the first and second jensen mechanisms for explaining the operation of the first and second jensen mechanisms of the robot.

The support frame 10 includes a first support frame 11 and a second support frame 12 connected to the first support frame 11 and positioned on the first support frame 11. Both sides of the second support frame 12 are provided with a first link 111 having a frame structure connected to the first and second Jensen mechanisms 101 and 102. The first link 111 may serve to support both ends of the rotation shaft 13 to be rotatable.

The first link 111 is rotatably connected to the first and second jensen mechanisms 101 and 102 by the first connection point 111a. The third link 113 is rotatably connected by the first and second Jensen mechanisms 101 and 102 and the second connection point 111b while being connected to the rotation shaft 13. The first and second connection points 111a and 111b may be hinge axes.

There is no limit to the number of links constituting the first and second Jensen mechanisms 101 and 102. In one embodiment, the first and second jensen mechanisms 101, 102 may include a first link 111, a second link 112, a third link 113, a fourth link 114, and a fifth link ( 115, the sixth link 116, the seventh link 117, and the eighth link 118 may be formed in a total of eight link connection structures.

The two links of the sixth link 116 and the eighth link 118 may be links having a triangular structure. The six links of the first link 111, the second link 112, the third link 113, the fourth link 114, the fifth link 115, and the seventh link 117 have a straight link structure. Can be. The sixth link 116 and the eighth link 118, which are triangular-shaped links, may be connected so that the three vertex portions are rotatable by the other straight link and the hinge axis.

When the rehabilitation subject grabs the handle 40 by hand and applies a force, the sixth link 116 having a triangular structure connected to the handle 40 rotates around the first connection point 111a and is linked to the sixth link. The second link 112, the fifth link 115, and the seventh link 117 connected to 116 operate. The fourth link 114 and the eighth link 118 also operate in conjunction with the operation of the second link 112, the fifth link 115, and the seventh link 117. By the organic interlocking operation of these links, the first and second Jensen mechanisms 101 and 102 can move while operating similar to human walking.

The eighth link 118 under the first and second Jensen mechanisms 101 and 102 is a link to the foot support 20, and the rehabilitation subject is trained to walk while assisted by the walking operation of the eighth link 118. can do.

The first and second jensen mechanisms 101 and 102 are applied to the rehabilitation subject by alternately applying force to the first and second jensen mechanisms 101 and 102 by holding the handle 40 provided on both sides with the left and right hands. The person is moved by a natural motion such as walking (see FIG. 6). With the help of the moving first and second Jensen mechanisms 101 and 102, the rehabilitation subject walks.

On the other hand, the driving of the motor 14 is transmitted to the second gear 16 via the first gear 15 to rotate the rotary shaft 13. As the rotary shaft 13 rotates, the third link 113 connected to the rotary shaft 13 operates. Since the third link 113 is connected to the second link 112 and the fourth link 114 by the second connection point 111b, the operation of the third link 113 is different from that of the second link 112. Is communicated to the fourth link 114. As the second link 112 and the fourth link 114 move, a force is transmitted to the other links connected thereto to perform a walking operation of the first and second jensen mechanisms 101 and 102.

In this way, the rehabilitation target may walk training with the help of driving the motor 14 transmitted to the first and second Jensen mechanisms 101 and 102.

7 is a view showing a state where the rehabilitation robot is installed on the treadmill as a second embodiment of the present invention.

The first embodiment of the present invention allows the rehabilitation subject to walk on the actual ground, and the second embodiment of the present invention allows the rehabilitation subject to walk on the belt of the treadmill.

The second embodiment of the present invention removes the caster 30 in the first embodiment and mounts the support frame 10 to the treadmill 60.

The first support frame 11 is installed on the treadmill 60 so as not to disturb the operation of the belt 61 of the treadmill 60. For this purpose, it is preferable to install the first support frame 11 on the outer frame 62 of the belt 61 outside the operating area of the belt 61.

In one embodiment, the first support frame 11 may be configured in a form such as "T". When the first support frame 11 has a structure such as "T", the front left and right ends of the first support frame 11 are fixed to be placed on the front outer frame 62 of the treadmill 60.

The rear end portion of the first support frame 11 is fixedly installed to be placed on the rear outer frame 62 of the treadmill 60.

The second embodiment of the present invention does not secure a wider space for walking compared to the first embodiment because the rehabilitation subject can walk in a limited space such as the belt 61 of the treadmill 60 in the infinite track. You don't have to. In addition, the same training effect as when walking on the actual ground can be obtained.

As described above, the present invention can provide a new mobile rehabilitation robot based on a link structure using a Jensen mechanism composed of a plurality of links. In addition, the present invention is a lightweight and uncomplicated system that allows for rehabilitation on actual ground or treadmills. In addition, the present invention has a drive handle that can induce active participation of the user rather than driving from a 100% motor.

The above description is merely illustrative of the technical idea of the present invention, and those skilled in the art to which the present invention pertains may make various modifications, changes, and substitutions without departing from the essential characteristics of the present invention. will be. Accordingly, the embodiments disclosed in the present invention and the accompanying drawings are not intended to limit the technical spirit of the present invention but to describe the present invention, and the scope of the technical idea of the present invention is not limited by the embodiments and the accompanying drawings. . The scope of protection of the present invention should be interpreted by the following claims, and all technical ideas within the scope equivalent thereto should be construed as being included in the scope of the present invention.

10: support frame
11: first support frame
12: second support frame
13: axis of rotation
14: motor
15: first gear
16: second gear
17: saddle
18: spring cylinder
20 foot support
21: connecting shaft
22: foot fixing part
23: connecting frame
30: caster
40: handle
50a, 50b: coupling member
60: treadmill
61: belt
62: outer frame
101: first Jensen mechanism
102: second Jensen mechanism
103: hinge axis
111: the first link
111a: first connection point
111b: second connection point
112: second link
113: third link
113a: Longevity
114: fourth link
115: fifth link
116: sixth link
117: the seventh link
118: eighth link
118a: long

Claims (20)

Support frame; And
First and second jensen mechanisms provided on both sides of the support frame and movable by an interlocking operation of a plurality of linked links to assist walking of the rehabilitation subject;
Including,
Rehabilitation subjects walk with their feet supported by the first and second Jensen mechanisms,
The support frame,
First support frame; And
A second support frame positioned above the first support frame, the second support frame including a rotation shaft connected to both ends of the first and second jensen mechanisms;
Including,
The first and second jensen mechanisms,
A first link, a second link, a third link, a fourth link, a fifth link, a sixth link, a seventh link, and an eighth link,
The first link is provided on both sides of the second support frame to support both ends of the rotation axis to be rotatable, characterized in that connected to the first and second Jensen mechanism. The method of claim 1,
Rehabilitation robot, characterized in that the handle is provided on top of the first and second Jensen mechanism. The method of claim 1,
Rehabilitation robot, characterized in that the foot support for supporting the foot of the rehabilitation subject is provided in the lower portion of the first, second Jensen mechanism outputs the drive of the first and second Jensen mechanism. The method of claim 3, wherein
The foot support,
A connecting shaft connected to a lower portion of the first and second jensen mechanisms; And
A foot fixing part connected to the connecting shaft and into which a foot of a rehabilitation subject is inserted;
Rehabilitation robot comprising a. The method of claim 3, wherein
And the foot support is connected to the first and second jensen mechanisms by a connecting frame. The method of claim 5, wherein
A long hole is provided below the first and second Jensen mechanisms, and a coupling member is inserted into the long hole to be coupled to the connection frame, and the coupling member is movable along the long hole. delete The method of claim 1,
And the rotary shaft is connected to a motor, and the driving of the motor is transmitted to the first and second jensen mechanisms via the rotary shaft. The method of claim 8,
Rehabilitation robot, characterized in that the rotating shaft and the motor is connected by a gear. The method of claim 1,
Rehabilitation robot, characterized in that the saddle is provided under the second support frame. The method of claim 1,
Rehabilitation robot, characterized in that the spring cylinder is provided between the first support frame and the second support frame. delete The method of claim 1
And the rotation axis is connected to the first and second jensen mechanisms by the third link. The method of claim 13,
The third link has a long hole is drilled in the longitudinal direction, the coupling member is inserted into the long hole is coupled to the first and second Jensen mechanism, the coupling member is characterized in that the movable member is movable along the long hole. delete The method of claim 1,
And the sixth link is connected to the fifth link by a first connection point. The method of claim 1,
And the third link is connected to the second link and the fourth link by a second connection point. The method of claim 1,
Rehabilitation robot, characterized in that the caster is provided on the bottom of the first support frame. The method of claim 1,
The support frame is installed on the treadmill rehabilitation robot, characterized in that the rehabilitation target can walk on the belt of the treadmill while supporting the foot on the first and second Jensen mechanism. The method of claim 19,
The support frame is a rehabilitation robot characterized in that it is connected to the outer frame provided on the outer belt belt of the treadmill so as not to contact the belt of the treadmill.

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