Nothing Special   »   [go: up one dir, main page]

WO2015147584A1 - Shoulder joint tracking device for upper limb rehabilitation, which compensates for gravity - Google Patents

Shoulder joint tracking device for upper limb rehabilitation, which compensates for gravity Download PDF

Info

Publication number
WO2015147584A1
WO2015147584A1 PCT/KR2015/003018 KR2015003018W WO2015147584A1 WO 2015147584 A1 WO2015147584 A1 WO 2015147584A1 KR 2015003018 W KR2015003018 W KR 2015003018W WO 2015147584 A1 WO2015147584 A1 WO 2015147584A1
Authority
WO
WIPO (PCT)
Prior art keywords
gravity
upper limb
shoulder joint
rehabilitation
limb rehabilitation
Prior art date
Application number
PCT/KR2015/003018
Other languages
French (fr)
Korean (ko)
Inventor
박형순
송원경
박정호
이경섭
전경훈
한기완
고병우
Original Assignee
대한민국(국립재활원장)
한국과학기술원
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 대한민국(국립재활원장), 한국과학기술원 filed Critical 대한민국(국립재활원장)
Publication of WO2015147584A1 publication Critical patent/WO2015147584A1/en

Links

Images

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
    • A61H1/0281—Shoulder
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0218—Drawing-out devices
    • A61H1/0229—Drawing-out devices by reducing gravity forces normally applied to the body, e.g. by lifting or hanging the body or part of it
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
    • A61H1/0277—Elbow
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/01—Constructive details
    • A61H2201/0119—Support for the device
    • A61H2201/0126—Support for the device on a wall
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/01—Constructive details
    • A61H2201/0165—Damping, vibration related features
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/01—Constructive details
    • A61H2201/0192—Specific means for adjusting dimensions
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1253—Driving means driven by a human being, e.g. hand driven
    • A61H2201/1261—Driving means driven by a human being, e.g. hand driven combined with active exercising of the patient
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/1635—Hand or arm, e.g. handle
    • A61H2201/1638—Holding means therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1657—Movement of interface, i.e. force application means
    • A61H2201/1664—Movement of interface, i.e. force application means linear
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1657—Movement of interface, i.e. force application means
    • A61H2201/1676—Pivoting

Definitions

  • the present invention relates to a shoulder joint tracking device in which gravity is compensated for upper limb rehabilitation, and more particularly, can be utilized by attaching an upper limb rehabilitation device that can not follow the existing shoulder joint,
  • the present invention relates to a shoulder tracking device in which gravity is compensated for upper limb rehabilitation to compensate for gravity of the weight and ensure natural movement of the shoulder joint.
  • the conventional arm assisting device may be configured to include five joints, as shown in Figure 1, two of the five joints are actuators Driven by the user, the remaining joint is driven by the user's force.
  • the above-described conventional arm assist device for upper limb rehabilitation is composed of several sensors and actuators, which is complicated in structure, high in manufacturing cost, and has a large weight or size of the device. There is also a large and cumbersome installation.
  • the present invention is simple in structure, light in weight and relatively small in size, and can be attached to the weight of the arm and the arm at the same time following the movement of the shoulder joint according to the arm movement.
  • An object of the present invention is to provide a shoulder joint tracking device in which gravity is compensated for upper limb rehabilitation, which compensates for the gravity of the assisting device.
  • the shoulder joint tracking device for compensating gravity for upper limb rehabilitation is formed on the vertical axis, the vertical end standing vertically, the lower end of the vertical axis, the mounting portion mounted on the wheelchair, the gravity is formed on the vertical axis
  • Gravity compensation unit for compensating for, and receiving the support of the gravity compensation unit is characterized in that it comprises a rehabilitation device mounting portion, one end is coupled to the vertical axis so as to be capable of linear movement, the other end is equipped with various upper limb rehabilitation device.
  • the gravity compensating unit of the shoulder joint tracking device for gravity compensation for upper limb rehabilitation is coupled to the vertical axis through the hole formed in the bottom, the spring is fitted to the lower case, the inner peripheral surface of the lower case And an upper case inserted into the sliding method between the outer circumferential surface of the spring, a stopper for limiting the movement of the rehabilitation device mounting portion upward by a predetermined height, and a damper connected to the spring.
  • the rehabilitation device mounting portion of the shoulder joint tracking device for gravity compensation for upper limb rehabilitation in accordance with the present invention is coupled to the vertical axis between the upper stopper and the upper case of the lower to perform a vertical linear movement, and at the same time to rotate the vertical axis Linear bushing, 'b ⁇ shaped connecting bar formed horizontally in the rear bush, a rotary shaft formed in a cylindrical shape with the lower part coupled to the' b ⁇ shaped connecting bar standing up in the vertical direction in parallel with the vertical axis, and one end of the upper part of the rotating shaft It is connected with, 'b ⁇ shaped connection bar around the axis of rotation is formed to be rotatable by a predetermined angle, characterized in that it comprises a' b 'shaped connection bar, the other end is equipped with various upper limb rehabilitation device.
  • the shoulder joint tracking device which is gravity-compensated for upper extremity rehabilitation according to the present invention can compensate for gravity acting on the upper limb by directly applying a force to the exercise assisting device mounted on the arm in the opposite direction of gravity, As a result, it does not require separate control to compensate for gravity, so patients with stroke, spinal cord injury, muscle disease, and patients with weakened shoulder muscles can reduce the pain caused by subluxation of the shoulder joints and assist arm movement to rehabilitate It is effective to increase the effect and increase the satisfaction of daily life.
  • the shoulder joint tracking device for gravity compensation for upper limb rehabilitation automatically reaches the equilibrium point of gravity compensation when the arm of the patient is attached, does not require separate control in the actual rehabilitation treatment site It is easy to use and maintain for non-technical people in the field of machinery and control.
  • the shoulder joint tracking device for gravity compensation for upper limb rehabilitation has a simple kinematic structure compared to the existing inventions, can significantly reduce the risk of injury to the patient's body exposed to the operating part of the instrument It has an effect.
  • FIG. 1 is a perspective view of an arm assist device for conventional upper limb rehabilitation
  • FIG. 2 is a diagram illustrating a shoulder joint tracking device in which gravity is compensated for upper limb rehabilitation according to the present invention.
  • FIG. 3 is a partially exploded perspective view of a gravity compensation unit according to the present invention.
  • Figure 4 is an enlarged view showing an enlarged rehabilitation device mounting portion of the shoulder joint tracking device that gravity is compensated for upper limb rehabilitation according to the present invention
  • FIG. 5 is a view showing an actual use example of the shoulder joint tracking device that the gravity is compensated for upper limb rehabilitation according to the present invention.
  • FIG. 2 is a diagram illustrating a shoulder joint tracking device in which gravity is compensated for upper limb rehabilitation according to the present invention.
  • the shoulder joint tracking device for gravity compensation for upper limb rehabilitation is a vertical axis 10, the mounting portion 20, gravity compensation unit 30, and rehabilitation device mounting portion 40 Include.
  • the vertical axis 10 is in a vertically standing state, and forms the basic axis of the shoulder joint tracking device that gravity is compensated for upper limb rehabilitation according to the present invention.
  • the mounting portion 20 is formed on the distal end of the vertical shaft 10, so that the shoulder follower of the gravity compensation for upper limb rehabilitation according to the present invention can be mounted on a wheelchair or desk.
  • the gravity compensator 30 formed on the vertical axis 10 includes a lower case 31, a spring 32, an upper case 33, and a stopper 34 as shown in FIG. 3.
  • Figure 3 is a partially exploded perspective view of the gravity compensation unit according to the present invention.
  • the lower case 31 is a hole formed in the bottom surface and is fixedly coupled in a state where the vertical shaft 10 penetrates.
  • the spring 32 is inserted into the vertical shaft 10 like a ring and accommodated in the lower case 31 having a large diameter to support the weight of the rehabilitation device mounting portion 40 which is upper and mounted by an elastic force.
  • the spring 32 is configured in parallel as a damper to reduce the overshoot of the shoulder movement (overshoot), or to the shoulder joint tracking device that gravity is compensated for the upper limb rehabilitation according to the present invention
  • the vibration generated by the upper limb rehabilitation assist device in the form of an exoskeleton robot or an end-effector based robot that is attached and used may be suppressed.
  • the upper case 33 has a diameter smaller than the diameter of the lower case 31, but is designed to be larger than the diameter of the spring 32, and is designed to be shorter than the spring 32, so that the spring 32 It is accommodated in the lower case 31 in the accommodated state.
  • the lower case 31 and the upper case 33 are configured in a sliding manner, and according to the height of the existing rehabilitation apparatus, the spring 32 The fixed point of) can be easily adjusted, and in the vertical direction, it can allow free vertical movement while compensating the gravity for any weight without any additional adjustment.
  • the stopper 34 is formed on an upper portion of the linear bush 41 formed at one end of the rehabilitation device mounting portion 40 to stop the rehabilitation device mounting portion 40 from moving upward at a predetermined height.
  • the spring 32 constant k is determined by the following equation according to the vertical stroke of the shoulder joint and the load to be compensated for.
  • the gravity compensation tolerance E is an allowable difference value between the maximum value and the minimum value of the compensation force within the vertical movement range of the shoulder joint. Due to the characteristics of the gravity compensation device using the spring 32, it is impossible to compensate a constant force in all ranges of motion, but by adjusting the spring constant of the tolerance, the severity of the symptoms of rehabilitation target and gravity for rehabilitation of the upper limb according to the present invention It may be determined in consideration of the environment in which the shoulder joint tracking device is installed.
  • the rehabilitation device mounting portion 40 As mentioned briefly above, the linear bush 41, 'b' shaped connecting bar 42, the rotating shaft 43, and 'b' shaped And a connection bar 44.
  • Figure 4 is an enlarged view showing an enlarged rehabilitation device mounting portion of the shoulder joint tracking device that gravity is compensated for upper limb rehabilitation according to the present invention.
  • the linear bush 41 is coupled to the vertical axis 10 between the upper stopper 34 and the upper case 33 at the upper side to perform a vertical linear movement according to the vertical movement of the shoulder joint, and at the same time the shoulder joint The vertical shaft 10 is rotated to move freely on this plane.
  • the 'b ⁇ shaped connecting bar 42 is formed in the horizontal direction in the linear bush 41, the rotating shaft 43 is cylindrical, the lower portion is coupled to the' b ⁇ shaped connecting bar 42 and It is formed standing up parallel to the vertical axis (10).
  • the 'a ⁇ shaped connecting bar 44 is connected to an upper portion of the rotating shaft 43 having one end erected in parallel with the vertical shaft 10, and the' b ⁇ shaped connecting bar (centered around the rotating shaft 43) 42) and rotatable by a predetermined angle.
  • connection bar 44 is equipped with various upper limb rehabilitation device for upper limb rehabilitation.
  • the shoulder joint tracking device for gravity compensation for upper limb rehabilitation is equipped with the upper limb rehabilitation device for upper limb rehabilitation on the 'b ⁇ shaped connecting bar 44 of the rehabilitation device mounting portion 40 described above, and load When applied, the equilibrium point at which the spring 32 is compressed is automatically determined according to the magnitude of the load and does not require any adjustment.
  • the shoulder joint tracking device that gravity is compensated for upper limb rehabilitation is rehabilitation of the upper limbs on the 'b' shaped connection bar 44 of the rehabilitation device mounting portion 40 described above
  • the two rotation axis that is, by including the linear bush 41 and the rotation axis 43, to allow the free parallel movement of the shoulder joint in the horizontal plane to allow the user's movement To follow.
  • Figure 5 is a view showing an actual use example of the shoulder joint tracking device that gravity is compensated for upper limb rehabilitation according to the present invention.
  • the shoulder joint tracking device for gravity compensation for upper limb rehabilitation is the linear bush 41 coupled to the vertical axis 10 between the upper stopper 34 and the upper case 33 of the lower portion. ) Enables up and down linear movement according to the vertical movement of the shoulder joint.

Landscapes

  • Health & Medical Sciences (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Rehabilitation Tools (AREA)

Abstract

A shoulder joint tracking device for upper limb rehabilitation, which compensates for gravity, according to the present invention comprises: a vertical shaft raised vertically; a mounting portion formed at the lower end of the vertical shaft and mounted on a wheelchair; a gravity compensating portion formed on the vertical shaft and compensating for gravity; and a rehabilitation device mounting portion having one end receiving support from the gravity compensating portion and coupled to the vertical shaft to be capable of linear movement and the other end capable of having various upper limb rehabilitation devices mounted thereon. The device has the effects of increasing the effects of rehabilitation exercises and improving the level of satisfaction in daily life by reducing pain due to subluxation of the shoulder joint and by assisting in moving the arm in patients whose shoulder muscles have atrophied, including stroke patients, spinal damage patients, and muscle disease patients.

Description

상지 재활을 위한 중력이 보상되는 어깨관절 추종 장치Gravity-compensated shoulder follower for upper limb rehabilitation
본 발명은 상지 재활을 위한 중력이 보상되는 어깨관절 추종 장치에 관한 것으로서, 더욱 상세하게는 기존의 어깨관절 추종을 할 수 없는 상지 재활 장치를 부착하여 활용할 수 있고, 상지 및 부착되는 보조장치 자체의 무게의 중력을 보상하여 어깨관절의 자연스러운 움직임을 보장하는 상지 재활을 위한 중력이 보상되는 어깨관절 추종 장치에 관한 것이다.The present invention relates to a shoulder joint tracking device in which gravity is compensated for upper limb rehabilitation, and more particularly, can be utilized by attaching an upper limb rehabilitation device that can not follow the existing shoulder joint, The present invention relates to a shoulder tracking device in which gravity is compensated for upper limb rehabilitation to compensate for gravity of the weight and ensure natural movement of the shoulder joint.
종래 상지 재활은 줄을 도르레에 걸어 상지 재활 장치와 팔의 각 부분의 무게를 받치는 기존의 counter-balance 방법을 통해 이루어져 왔지만, 종래의 상기 counter-balance 방식은 줄을 걸기 위해 재활 장치와 별도로 높은 틀을 필요로 하는 번거로운 문제점이 있다.Conventional upper limb rehabilitation has been achieved through the conventional counter-balance method of supporting the upper limb rehabilitation device and the weight of each part of the arm by hanging the rope on the pulley, but the conventional counter-balance method is a high frame separate from the rehabilitation device to hang the rope. There is a cumbersome problem that needs to be done.
도 1에 도시된 종래 상지 재활을 위한 팔 보조 장치에 대하여 살펴보면, 종래 팔 보조 장치는 도 1에 도시된 바와 같이 5개의 조인트를 포함하여 구성될 수 있는데, 상기 5개의 조인트 중 2개의 조인트는 액추에이터에 의해서 구동되고, 나머지 조인트는 사용자의 힘에 의해서 구동된다.Referring to the arm assisting device for conventional upper limb rehabilitation shown in Figure 1, the conventional arm assisting device may be configured to include five joints, as shown in Figure 1, two of the five joints are actuators Driven by the user, the remaining joint is driven by the user's force.
상술한 종래 상지 재활을 위한 팔 보조 장치는 여러 개의 센서와 액추에이터로 구성되어 구조가 복잡하고, 제작비용이 높은 문제점이 있으며, 장치의 무게나 크기도 커서 장애인을 포함한 사용자가 사용하기에 활동의 제약도 크고 설치가 번거로운 문제점이 있다. The above-described conventional arm assist device for upper limb rehabilitation is composed of several sensors and actuators, which is complicated in structure, high in manufacturing cost, and has a large weight or size of the device. There is also a large and cumbersome installation.
(선행기술문헌)(Prior art document)
(특허문헌)(Patent literature)
대한민국 공개특허공보 제10-2011-0080656호(2011.07.13)Republic of Korea Patent Publication No. 10-2011-0080656 (2011.07.13)
따라서, 본 발명은 상술한 문제점을 해결하기 위하여, 구조가 단순하고 장치의 무게가 가볍고 크기도 비교적 작은,팔 움직임에 따라 어깨관절이 움직이는 것을 추종하는 것과 동시에 팔의 무게와 팔에 부착될 수 있는 보조 장치의 중력을 보상하는 상지 재활을 위한 중력이 보상되는 어깨관절 추종 장치의 제공을 목적으로 한다.Therefore, in order to solve the above problems, the present invention is simple in structure, light in weight and relatively small in size, and can be attached to the weight of the arm and the arm at the same time following the movement of the shoulder joint according to the arm movement. An object of the present invention is to provide a shoulder joint tracking device in which gravity is compensated for upper limb rehabilitation, which compensates for the gravity of the assisting device.
상술한 목적을 달성하기 위한, 본 발명에 따른 상지 재활을 위한 중력이 보상되는 어깨관절 추종 장치는 수직하게 기립된 수직축, 수직축의 하부 말단에 형성되어, 휠체어에 장착되는 장착부, 수직축에 형성되어 중력을 보상하는 중력 보상부, 및 중력 보상부의 지지를 받아 일단이 수직축에 상하 직선운동 가능하게 결합되고, 타단에 각종 상지 재활 장치가 장착되는 재활장치 장착부를 포함하는 것을 특징으로 한다.In order to achieve the above object, the shoulder joint tracking device for compensating gravity for upper limb rehabilitation according to the present invention is formed on the vertical axis, the vertical end standing vertically, the lower end of the vertical axis, the mounting portion mounted on the wheelchair, the gravity is formed on the vertical axis Gravity compensation unit for compensating for, and receiving the support of the gravity compensation unit is characterized in that it comprises a rehabilitation device mounting portion, one end is coupled to the vertical axis so as to be capable of linear movement, the other end is equipped with various upper limb rehabilitation device.
바람직하게, 본 발명에 따른 상지 재활을 위한 중력이 보상되는 어깨관절 추종 장치의 중력 보상부는 저면에 형성된 구멍으로 수직축이 관통 결합된 하부 케이스, 수직축에 끼워져 하부 케이스에 수용되는 스프링, 하부 케이스의 내주면과 상기 스프링의 외주면 사이로 슬라이딩 방식으로 삽입결합되는 상부 케이스, 재활장치 장착부가 일정 높이 이상 상부로 이동하는 것을 제한하는 스토퍼, 및 스프링과 연결된 댐퍼(damper)를 포함하는 것을 특징으로 한다. Preferably, the gravity compensating unit of the shoulder joint tracking device for gravity compensation for upper limb rehabilitation according to the present invention, the lower case is coupled to the vertical axis through the hole formed in the bottom, the spring is fitted to the lower case, the inner peripheral surface of the lower case And an upper case inserted into the sliding method between the outer circumferential surface of the spring, a stopper for limiting the movement of the rehabilitation device mounting portion upward by a predetermined height, and a damper connected to the spring.
더욱 바람직하게, 본 발명에 따른 상지 재활을 위한 중력이 보상되는 어깨관절 추종 장치의 재활장치 장착부는 상부의 스토퍼와 하부의 상부 케이스 사이의 수직축에 결합되어 상하 직선운동을 하고, 동시에 수직축을 회동하는 리니어 부쉬, 리이어 부쉬에서 수평방향으로 형성되어 있는 `ㄴ`자형 연결바, 원통형으로 하부가 `ㄴ`자형 연결바에 결합되어 수직축과 평형하게 수직방향으로 기립되어 형성된 회전축, 및 일단이 회전축의 상부와 연결되어, 회전축을 중심으로 `ㄴ`자형 연결바와 소정의 각도만큼 회전가능하게 형성되고, 타단에 각종 상지 재활 장치가 장착되는 `ㄱ`자형 연결바,를 포함하는 것을 특징으로 한다. More preferably, the rehabilitation device mounting portion of the shoulder joint tracking device for gravity compensation for upper limb rehabilitation in accordance with the present invention is coupled to the vertical axis between the upper stopper and the upper case of the lower to perform a vertical linear movement, and at the same time to rotate the vertical axis Linear bushing, 'b` shaped connecting bar formed horizontally in the rear bush, a rotary shaft formed in a cylindrical shape with the lower part coupled to the' b` shaped connecting bar standing up in the vertical direction in parallel with the vertical axis, and one end of the upper part of the rotating shaft It is connected with, 'b` shaped connection bar around the axis of rotation is formed to be rotatable by a predetermined angle, characterized in that it comprises a' b 'shaped connection bar, the other end is equipped with various upper limb rehabilitation device.
본 발명에 따른 상지 재활을 위한 중력이 보상되는 어깨관절 추종 장치는 팔에 장착된 운동 보조 장치에 직접 중력의 반대 방향으로 힘을 가해주어 상지에 작용하는 중력을 보상할 수 있고, 팔의 움직임에 따라 중력 보상을 위해 별도의 제어를 필요로 하지 않아, 뇌졸중, 척추손상, 근육병 환자를 비롯하여 어깨 근육이 약화된 환자들의 어깨 관절 아탈구(Subluxation)로 인한 통증을 줄이고 팔의 움직임을 보조하여 재활 운동의 효과를 높이고 및 일상생활의 만족도를 높이는 효과가 있다.The shoulder joint tracking device which is gravity-compensated for upper extremity rehabilitation according to the present invention can compensate for gravity acting on the upper limb by directly applying a force to the exercise assisting device mounted on the arm in the opposite direction of gravity, As a result, it does not require separate control to compensate for gravity, so patients with stroke, spinal cord injury, muscle disease, and patients with weakened shoulder muscles can reduce the pain caused by subluxation of the shoulder joints and assist arm movement to rehabilitate It is effective to increase the effect and increase the satisfaction of daily life.
또한, 본 발명에 따른 상지 재활을 위한 중력이 보상되는 어깨관절 추종 장치는 환자의 팔을 부착하였을 때 자동으로 중력 보상의 평형점에 도달하기 때문에 별도의 제어를 필요로 하지 않아 실제 재활 치료 현장에서 기계 및 제어 분야의 비전문가에게도 사용 및 유지가 쉬운 효과가 있다. In addition, the shoulder joint tracking device for gravity compensation for upper limb rehabilitation according to the present invention automatically reaches the equilibrium point of gravity compensation when the arm of the patient is attached, does not require separate control in the actual rehabilitation treatment site It is easy to use and maintain for non-technical people in the field of machinery and control.
또한, 본 발명에 따른 상지 재활을 위한 중력이 보상되는 어깨관절 추종 장치는 기존의 발명들에 비해 기구학적 구조가 간단하여, 환자의 신체가 기구의 작동부에 노출되어 다칠 위험을 현저히 감소시킬 수 있는 효과가 있다.In addition, the shoulder joint tracking device for gravity compensation for upper limb rehabilitation according to the present invention has a simple kinematic structure compared to the existing inventions, can significantly reduce the risk of injury to the patient's body exposed to the operating part of the instrument It has an effect.
도 1은 종래 상지 재활을 위한 팔 보조 장치의 사시도,1 is a perspective view of an arm assist device for conventional upper limb rehabilitation,
도 2는 본 발명에 따른 상지 재활을 위한 중력이 보상되는 어깨관절 추종 장치를 도시한 도면2 is a diagram illustrating a shoulder joint tracking device in which gravity is compensated for upper limb rehabilitation according to the present invention.
도 3은 본 발명에 따른 중력 보상부의 일부 분해 사시도,3 is a partially exploded perspective view of a gravity compensation unit according to the present invention;
도 4는 본 발명에 따른 상지 재활을 위한 중력이 보상되는 어깨관절 추종 장치의 재활장치 장착부를 확대 도시한 확대도, 및 Figure 4 is an enlarged view showing an enlarged rehabilitation device mounting portion of the shoulder joint tracking device that gravity is compensated for upper limb rehabilitation according to the present invention, and
도 5는 본 발명에 따른 상지 재활을 위한 중력이 보상되는 어깨관절 추종 장치의 실제 사용예를 도시한 도면이다.5 is a view showing an actual use example of the shoulder joint tracking device that the gravity is compensated for upper limb rehabilitation according to the present invention.
이하, 첨부 도면을 참조하여 본 발명의 실시예를 보다 상세하게 설명하고자 한다. 이에 앞서, 본 명세서 및 청구범위에 사용된 용어나 단어는 통상적이거나 사전적인 의미로 한정하여 해석되어서는 아니 되며, 발명자는 그 자신의 발명을 가장 최선의 방법으로 설명하기 위해 용어의 개념을 적절하게 정의할 수 있다는 원칙에 입각하여, 본 발명의 기술적 사상에 부합하는 의미와 개념으로 해석되어야만 한다.Hereinafter, with reference to the accompanying drawings will be described in detail an embodiment of the present invention. Prior to this, terms or words used in the present specification and claims should not be construed as being limited to the ordinary or dictionary meanings, and the inventors should properly explain the concept of terms in order to best explain their own inventions. Based on the principle that it can be defined, it should be interpreted as meaning and concept corresponding to the technical idea of the present invention.
따라서, 본 명세서에 기재된 실시예와 도면에 도시된 구성은 본 발명의 가장 바람직한 일 실시예에 불과할 뿐이고 본 발명의 기술적 사상을 모두 대변하는 것은 아니므로, 본 출원시점에 있어서 이들을 대체할 수 있는 다양한 균등물과 변형예들이 있을 수 있음을 이해하여야 한다.Therefore, the embodiments described in the specification and the drawings shown in the drawings are only the most preferred embodiment of the present invention and do not represent all of the technical idea of the present invention, various modifications that can be replaced at the time of the present application It should be understood that there may be equivalents and variations.
도 2는 본 발명에 따른 상지 재활을 위한 중력이 보상되는 어깨관절 추종 장치를 도시한 도면이다.2 is a diagram illustrating a shoulder joint tracking device in which gravity is compensated for upper limb rehabilitation according to the present invention.
도 2에 도시된 바와 같이, 본 발명에 따른 상지 재활을 위한 중력이 보상되는 어깨관절 추종 장치는 수직축(10), 장착부(20), 중력 보상부(30), 및 재활장치 장착부(40)를 포함한다.As shown in Figure 2, the shoulder joint tracking device for gravity compensation for upper limb rehabilitation according to the present invention is a vertical axis 10, the mounting portion 20, gravity compensation unit 30, and rehabilitation device mounting portion 40 Include.
상기 수직축(10)은 수직하게 기립된 상태로, 본 발명에 따른 상지 재활을 위한 중력이 보상되는 어깨관절 추종 장치의 기본 축을 형성한다.The vertical axis 10 is in a vertically standing state, and forms the basic axis of the shoulder joint tracking device that gravity is compensated for upper limb rehabilitation according to the present invention.
상기 장착부(20)는 상기 수직축(10)의 말단부위에 형성되어, 휠체어 또는 책상 등에 본 발명에 따른 상지 재활을 위한 중력이 보상되는 어깨관절 추종 장치의가 장착될 수 있도록 한다.The mounting portion 20 is formed on the distal end of the vertical shaft 10, so that the shoulder follower of the gravity compensation for upper limb rehabilitation according to the present invention can be mounted on a wheelchair or desk.
상기 수직축(10)에 형성되는 상기 중력 보상부(30)는 도 3에 도시된 바와 같이 하부 케이스(31), 스프링(32), 상부 케이스(33), 및 스토퍼(34)를 포함한다.The gravity compensator 30 formed on the vertical axis 10 includes a lower case 31, a spring 32, an upper case 33, and a stopper 34 as shown in FIG. 3.
참고로 도 3은 본 발명에 따른 중력 보상부의 일부 분해 사시도 이다.For reference, Figure 3 is a partially exploded perspective view of the gravity compensation unit according to the present invention.
상기 하부 케이스(31)는 저면에 형성된 구멍으로 상기 수직축(10)이 관통된 상태로 고정되게 결합되어 있다.The lower case 31 is a hole formed in the bottom surface and is fixedly coupled in a state where the vertical shaft 10 penetrates.
상기 스프링(32)는 상기 수직축(10)에 링처럼 끼워져 직경이 큰 상기 하부 케이스(31)에 수용되어 탄성력에 의해 상지 및 장착되는 상기 재활장치 장착부(40)의 무게를 지탱한다.The spring 32 is inserted into the vertical shaft 10 like a ring and accommodated in the lower case 31 having a large diameter to support the weight of the rehabilitation device mounting portion 40 which is upper and mounted by an elastic force.
이때, 필요에 따라 상기 스프링(32)은 댐퍼(damper)와 같이 병렬로 구성되어 어깨 움직임의 오버슈트(overshoot)를 줄이거나, 본 발명에 따른 상지 재활을 위한 중력이 보상되는 어깨관절 추종 장치에 부착되어 사용하는 외골격 로봇이나 말단자 부착형(end-effector based) 로봇 형태의 상지 재활 보조 장치가 발생시키는 진동을 억제할 수도 있다. At this time, if necessary, the spring 32 is configured in parallel as a damper to reduce the overshoot of the shoulder movement (overshoot), or to the shoulder joint tracking device that gravity is compensated for the upper limb rehabilitation according to the present invention The vibration generated by the upper limb rehabilitation assist device in the form of an exoskeleton robot or an end-effector based robot that is attached and used may be suppressed.
상기 상부 케이스(33)는 직경이 상기 하부 케이스(31)의 직경보다는 작지만, 상기 스프링(32)의 직경보다는 크게 설계되고, 길이가 상기 스프링(32) 보다 짧게 설계되어, 상기 스프링(32)을 수용한 상태로 상기 하부 케이스(31)에 수용된다. The upper case 33 has a diameter smaller than the diameter of the lower case 31, but is designed to be larger than the diameter of the spring 32, and is designed to be shorter than the spring 32, so that the spring 32 It is accommodated in the lower case 31 in the accommodated state.
즉, 본 발명에 따른 상지 재활을 위한 중력이 보상되는 어깨관절 추종 장치는 상기 하부 케이스(31)와 상기 상부 케이스(33)가 슬라이딩 방식으로 구성되어, 기존 재활장치의 높낮이에 따라 상기 스프링(32)의 고정점을 쉽게 조절할 수 있고, 수직방향으로는 임의의 무게에 대한 중력을 별도의 조절없이 보상하면서도 자유로운 상하운동을 허용할 수 있다.That is, in the shoulder joint tracking device, in which gravity is compensated for upper limb rehabilitation according to the present invention, the lower case 31 and the upper case 33 are configured in a sliding manner, and according to the height of the existing rehabilitation apparatus, the spring 32 The fixed point of) can be easily adjusted, and in the vertical direction, it can allow free vertical movement while compensating the gravity for any weight without any additional adjustment.
상기 스토퍼(34)는 상기 재활장치 장착부(40)의 일단에 형성된 리니어 부쉬(41)의 상부에 형성되어, 상기 재활장치 장착부(40)가 상부로 이동하는 것을 일정 높이에서 정지시키는 기능을 한다. The stopper 34 is formed on an upper portion of the linear bush 41 formed at one end of the rehabilitation device mounting portion 40 to stop the rehabilitation device mounting portion 40 from moving upward at a predetermined height.
상기 리니어 부쉬(41)은 상기 수직축(10)에서 점접촉을 하기 때문에 허용 하중은 작지만 최소의 마찰 저항으로 상하 직선운동한다. Since the linear bush 41 makes point contact on the vertical axis 10, the allowable load is small but linearly moves with minimum frictional resistance.
상술한 구성을 갖는 상기 중력 보상부(30)는 어깨 관절의 수직 이동범위(stroke)와 보상하고자 하는 하중에 따라 상기 스프링(32) 상수(k)가 아래의 수학식에 의해 결정된다.In the gravity compensator 30 having the above-described configuration, the spring 32 constant k is determined by the following equation according to the vertical stroke of the shoulder joint and the load to be compensated for.
(수학식 1)(Equation 1)
Figure PCTKR2015003018-appb-I000001
Figure PCTKR2015003018-appb-I000001
상기 수학식에서, In the above equation,
k : 총스프링 상수, k: total spring constant,
E : 중력보상허용오차(=Wmax-Wmin)E: Gravity compensation tolerance (= W max -W min )
Wmax : 총 보상 하중(=상지무게+기존 재활장치 무게)W max : total compensated load
Wmin : 최저 보상 하중W min : minimum compensated load
s : 어깨관절의 수직이동 범위s: Range of vertical movement of the shoulder joint
상기 중력보상허용오차(E)는 어깨관절의 수직 이동범위 내에서 보상력의 최대값과 최소값의 허용되는 차이값이다. 상기 스프링(32)을 이용한 중력보상장치의 특성상 모든 운동범위에서 일정한 힘을 보상하는 것은 불가능하지만, 허용오차를 스프링상수를 조절함으로써 재활 대상 증상의 중증도와 본 발명에 따른 상지 재활을 위한 중력이 보상되는 어깨관절 추종 장치가 설치되는 환경을 고려하여 정할 수 있다.The gravity compensation tolerance E is an allowable difference value between the maximum value and the minimum value of the compensation force within the vertical movement range of the shoulder joint. Due to the characteristics of the gravity compensation device using the spring 32, it is impossible to compensate a constant force in all ranges of motion, but by adjusting the spring constant of the tolerance, the severity of the symptoms of rehabilitation target and gravity for rehabilitation of the upper limb according to the present invention It may be determined in consideration of the environment in which the shoulder joint tracking device is installed.
상기 재활장치 장착부(40)는 도 4에 도시된 바와 같이, 상기에서 잠깐 언급한 바와 같이, 리니어 부쉬(41), `ㄴ`자형 연결바(42), 회전축(43), 및 `ㄱ`자형 연결바(44)를 포함한다.As shown in Figure 4, the rehabilitation device mounting portion 40, as mentioned briefly above, the linear bush 41, 'b' shaped connecting bar 42, the rotating shaft 43, and 'b' shaped And a connection bar 44.
참고로, 도 4는 본 발명에 따른 상지 재활을 위한 중력이 보상되는 어깨관절 추종 장치의 재활장치 장착부를 확대 도시한 확대도이다.For reference, Figure 4 is an enlarged view showing an enlarged rehabilitation device mounting portion of the shoulder joint tracking device that gravity is compensated for upper limb rehabilitation according to the present invention.
상기 리니어 부쉬(41)는 상부의 상기 스토퍼(34)와 하부의 상기 상부 케이스(33) 사이의 상기 수직축(10)에 결합되어 어깨관절의 수직이동에 따른 상하 직선운동을 하고, 동시에 상기 어깨관절이 평면상에서 자유롭게 움직일 수 있도록 상기 수직축(10)을 회전한다.The linear bush 41 is coupled to the vertical axis 10 between the upper stopper 34 and the upper case 33 at the upper side to perform a vertical linear movement according to the vertical movement of the shoulder joint, and at the same time the shoulder joint The vertical shaft 10 is rotated to move freely on this plane.
상기 `ㄴ`자형 연결바(42)는 상기 리니어 부쉬(41)에서 수평방향으로 형성되어 있으며, 상기 회전축(43)은 원통형으로, 하부가 상기 `ㄴ`자형 연결바(42)에 결합되어 상기 수직축(10)과 평행하게 기립되어 형성된다.The 'b` shaped connecting bar 42 is formed in the horizontal direction in the linear bush 41, the rotating shaft 43 is cylindrical, the lower portion is coupled to the' b` shaped connecting bar 42 and It is formed standing up parallel to the vertical axis (10).
상기 `ㄱ`자형 연결바(44)는 일단이 상기 수직축(10)과 평행하게 기립되어 형성된 회전축(43)의 상부와 연결되어, 상기 회전축(43)을 중심으로 상기 `ㄴ`자형 연결바(42)와 소정의 각도만큼 회전가능하게 형성된다. The 'a` shaped connecting bar 44 is connected to an upper portion of the rotating shaft 43 having one end erected in parallel with the vertical shaft 10, and the' b` shaped connecting bar (centered around the rotating shaft 43) 42) and rotatable by a predetermined angle.
한편, 상기 `ㄱ`자형 연결바(44)의 타단에 상지 재활을 위한 각종 상지 재활장치가 장착된다.On the other hand, at the other end of the 'b' shaped connection bar 44 is equipped with various upper limb rehabilitation device for upper limb rehabilitation.
본 발명에 따른 상지 재활을 위한 중력이 보상되는 어깨관절 추종 장치는 상술한 상기 재활장치 장착부(40)의 `ㄱ`자형 연결바(44)에 상지 재활을 위한 상지 재활장치를 장착하고, 하중을 가하면 하중의 크기에 따라 상기 스프링(32)이 압축되는 평형점이 자동으로 결정되어 별도의 조절을 필요로 하지 않는다. The shoulder joint tracking device for gravity compensation for upper limb rehabilitation according to the present invention is equipped with the upper limb rehabilitation device for upper limb rehabilitation on the 'b` shaped connecting bar 44 of the rehabilitation device mounting portion 40 described above, and load When applied, the equilibrium point at which the spring 32 is compressed is automatically determined according to the magnitude of the load and does not require any adjustment.
도 5를 참조하여 보다 구체적으로 설명하면, 본 발명에 따른 상지 재활을 위한 중력이 보상되는 어깨관절 추종 장치는 상술한 상기 재활장치 장착부(40)의 `ㄱ`자형 연결바(44)에 상지 재활을 위한 상지 재활장치를 장착시, 두 개의 회전축 즉, 상기 리니어 부쉬(41)와 상기 회전축(43)을 포함함으로 인해, 수평 평면에서 어깨관절의 자유로운 평행이동을 허용할 수 있도록하여 사용자의 움직임을 추종한다.More specifically with reference to Figure 5, the shoulder joint tracking device that gravity is compensated for upper limb rehabilitation according to the present invention is rehabilitation of the upper limbs on the 'b' shaped connection bar 44 of the rehabilitation device mounting portion 40 described above When mounting the upper limb rehabilitation device for, the two rotation axis, that is, by including the linear bush 41 and the rotation axis 43, to allow the free parallel movement of the shoulder joint in the horizontal plane to allow the user's movement To follow.
참고로, 도 5는 본 발명에 따른 상지 재활을 위한 중력이 보상되는 어깨관절 추종 장치의 실제 사용예를 도시한 도면이다.For reference, Figure 5 is a view showing an actual use example of the shoulder joint tracking device that gravity is compensated for upper limb rehabilitation according to the present invention.
또한, 본 발명에 따른 상지 재활을 위한 중력이 보상되는 어깨관절 추종 장치는 상부의 상기 스토퍼(34)와 하부의 상기 상부 케이스(33) 사이의 상기 수직축(10)에 결합된 상기 리니어 부쉬(41)에 의해 어깨관절의 수직이동에 따른 상하 직선운동을 가능하게 한다.In addition, the shoulder joint tracking device for gravity compensation for upper limb rehabilitation according to the invention is the linear bush 41 coupled to the vertical axis 10 between the upper stopper 34 and the upper case 33 of the lower portion. ) Enables up and down linear movement according to the vertical movement of the shoulder joint.
이상과 같이, 본 발명은 비록 한정된 실 시예와 도면에 의해 설명되었으나, 본 발명은 이것에 의해 한정되지 않으며 본 발명이 속하는 기술분야에서 통상의 지식을 가진 자에 의해 본 발명의 기술 사상과 하기에 기재될 청구범위의 균등 범위 내에서 다양한 수정 및 변형이 가능함은 물론이다. As described above, although the present invention has been described by way of limited embodiments and drawings, the present invention is not limited thereto and is intended by those skilled in the art to which the present invention pertains. Of course, various modifications and variations are possible within the scope of equivalents of the claims to be described.
(부호의 설명)(Explanation of the sign)
10 : 수직축10: vertical axis
20 : 장착부20: mounting part
30 : 중력 보상부30: gravity compensation unit
31 : 하부 케이스31: lower case
32 : 스프링32: spring
33 : 상부 케이스33: upper case
34 : 스토퍼34: stopper
40 : 재활장치 장착부40: rehabilitation unit mounting
41 : 리니어 부쉬41: linear bush
42 : `ㄴ`자형 연결바42: 'n` shaped connecting bar
43 : 회전축43: axis of rotation
44 : `ㄱ`자형 연결바44: `ㄱ` shaped connecting bar

Claims (5)

  1. 수직하게 기립된 수직축(10);A vertical axis 10 standing upright;
    상기 수직축(10)의 하부 말단에 형성되어, 휠체어에 장착되는 장착부(20);A mounting portion 20 formed at a lower end of the vertical shaft 10 and mounted to a wheelchair;
    상기 수직축(10)에 형성되어 중력을 보상하는 중력 보상부(30) 및A gravity compensator 30 formed on the vertical axis 10 to compensate gravity;
    상기 중력 보상부(30)의 지지를 받아 일단이 상기 수직축(10)에 상하 직선운동 가능하게 결합되고, 타단에 각종 상지 재활 장치가 장착되는 재활장치 장착부(40);를 포함하는 것을 특징으로 하는 상지 재활을 위한 중력이 보상되는 어깨관절 추종 장치.A rehabilitation device mounting portion 40 having one end coupled to the vertical axis 10 so as to be capable of linear linear movement under the support of the gravity compensating portion 30, and various upper limb rehabilitation devices mounted on the other end thereof; Shoulder tracking device with gravity compensation for upper limb rehabilitation.
  2. 제 1항에 있어서, The method of claim 1,
    상기 중력 보상부(30)는 The gravity compensator 30
    저면에 형성된 구멍으로 상기 수직축(10)이 관통 결합된 하부 케이스(31);A lower case 31 through which the vertical shaft 10 is coupled through a hole formed in a bottom surface thereof;
    상기 수직축(10)에 끼워져 상기 하부 케이스(31)에 수용되는 스프링(32);A spring 32 fitted to the vertical shaft 10 and accommodated in the lower case 31;
    상기 하부 케이스(31)의 내주면과 상기 스프링(32)의 외주면 사이로 슬라이딩 방식으로 삽입결합되는 상부 케이스(33); 및An upper case (33) inserted and coupled in a sliding manner between an inner circumferential surface of the lower case (31) and an outer circumferential surface of the spring (32); And
    상기 재활장치 장착부(40)가 일정 높이 이상 상부로 이동하는 것을 제한하는 스토퍼(34);를 포함하는 것을 특징으로 하는 상지 재활을 위한 중력이 보상되는 어깨관절 추종 장치.A shoulder joint following device, comprising: a stopper (34) for restricting the rehabilitation device mounting portion (40) from moving upwards by a predetermined height or more.
  3. 제 2항에 있어서, The method of claim 2,
    상기 스프링(32)과 연결된 댐퍼(damper);를 더 포함하는 것을 특징으로 하는 상지 재활을 위한 중력이 보상되는 어깨관절 추종 장치.And a damper (damper) connected to the spring (32). The shoulder joint following device, which is compensated for gravity for upper limb rehabilitation, further comprising.
  4. 제 2항에 있어서,The method of claim 2,
    상기 재활장치 장착부(40)The rehabilitation device mounting portion 40
    상부의 상기 스토퍼(34)와 하부의 상기 상부 케이스(33) 사이의 상기 수직축(10)에 결합되어 어깨관절의 수직이동에 따라 상하 직선운동을 하고, 동시에 상기 어깨관절이 평면상에서 자유롭게 움직일 수 있도록 상기 수직축(10)을 소정 각도만큼 회동하는 리니어 부쉬(41);It is coupled to the vertical axis 10 between the upper stopper 34 and the upper case 33 of the upper and vertical linear movement according to the vertical movement of the shoulder joint, so that the shoulder joint can move freely on the plane A linear bush 41 rotating the vertical axis 10 by a predetermined angle;
    상기 리니어 부쉬(41)에서 수평방향으로 형성되어 있는 `ㄴ`자형 연결바(42);A 'b' shaped connecting bar 42 formed in the horizontal direction in the linear bush 41;
    원통형으로 하부가 상기 `ㄴ`자형 연결바(42)에 결합되어 상기 수직축(10)과 평형하게 수직방향으로 기립되어 형성된 회전축(43); 및A rotating shaft 43 formed in a cylindrical shape with a lower portion coupled to the 'b'-shaped connecting bar 42 and standing upright in a vertical direction in parallel with the vertical axis 10; And
    일단이 상기 회전축(43)의 상부와 연결되어, 상기 회전축(43)을 중심으로 상기 `ㄴ`자형 연결바(42)와 소정의 각도만큼 회전가능하게 형성되고, 타단에 상기 각종 상지 재활 장치가 장착되는 상기 `ㄱ`자형 연결바(44);를 포함하는 것을 특징으로 하는 상지 재활을 위한 중력이 보상되는 어깨관절 추종 장치.One end is connected to the upper portion of the rotating shaft 43, and is formed to be rotatable with the 'b'-shaped connecting bar 42 around the rotating shaft 43 by a predetermined angle, the other end of the various upper limb rehabilitation device The shoulder joint following device that is compensated for gravity for upper limb rehabilitation, characterized in that it comprises a;
  5. 제 2항에 있어서, The method of claim 2,
    상기 스프링(32) 상수는 The spring 32 constant is
    Figure PCTKR2015003018-appb-I000002
    로 계산되되, 상기 수학식에서, k는 총스프링 상수, E는 중력보상허용오차(=Wmax-Wmin), Wmax는 총 보상 하중(=상지무게+기존 재활장치 무게), Wmin는 최저 보상 하중, s는 어깨관절의 수직이동 범위, 인 것을 특징으로 하는 상지 재활을 위한 중력이 보상되는 어깨관절 추종 장치.
    Figure PCTKR2015003018-appb-I000002
    Where k is the total spring constant, E is the gravity compensation tolerance (= W max -W min ), W max is the total compensation load (= upper limb weight + existing rehabilitation device weight), and W min is the lowest. Compensation load, s is the vertical movement range of the shoulder joint, characterized in that the shoulder following the device for gravity compensation for upper limb rehabilitation.
PCT/KR2015/003018 2014-03-27 2015-03-27 Shoulder joint tracking device for upper limb rehabilitation, which compensates for gravity WO2015147584A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR1020140035903A KR101682948B1 (en) 2014-03-27 2014-03-27 Shoulder joint tracking apparatus for upper-limb rehabilitation with gravity compensating mechanism
KR10-2014-0035903 2014-03-27

Publications (1)

Publication Number Publication Date
WO2015147584A1 true WO2015147584A1 (en) 2015-10-01

Family

ID=54195998

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/KR2015/003018 WO2015147584A1 (en) 2014-03-27 2015-03-27 Shoulder joint tracking device for upper limb rehabilitation, which compensates for gravity

Country Status (2)

Country Link
KR (1) KR101682948B1 (en)
WO (1) WO2015147584A1 (en)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110434837A (en) * 2019-09-10 2019-11-12 深圳市迈步机器人科技有限公司 A kind of upper limb assistance device
EP3439752A4 (en) * 2016-04-04 2019-11-27 David Health Solutions Ltd. Rehabilitation device and its use for exercising the shoulder region
US10801754B2 (en) 2016-01-04 2020-10-13 Uniqan Oy Product for heating
IT201900007848A1 (en) 2019-06-03 2020-12-03 Milano Politecnico Load compensation device, in particular gravitational loads, applicable to exoskeletons
CN112826704A (en) * 2021-02-23 2021-05-25 湖北英特搏智能机器有限公司 Unpowered upper limb double-arm rehabilitation training device

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11484460B2 (en) 2016-11-16 2022-11-01 Korea Advanced Institute Of Science And Technology Damping-adjustable shoulder joint tracking apparatus for various upper extremity rehabilitation modes
KR102048569B1 (en) * 2017-09-21 2019-11-25 한국과학기술원 Damper actuating shoulder tracker for various upper extremity rehabilitation training modes
KR102269758B1 (en) 2019-06-20 2021-06-28 사회복지법인 삼성생명공익재단 Apparatus for treatment and rehabilitation of shoulder subiuxation and treatment and rehabilitation method and system using thereof
KR102334392B1 (en) * 2020-03-27 2021-12-02 국방과학연구소 Wearable gravity compensation apparatus capable of multiple degrees of freedom of movement
WO2021261701A1 (en) * 2020-06-26 2021-12-30 삼성전자주식회사 Holder for exercise assistance device

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000279463A (en) * 1999-03-31 2000-10-10 Sanyo Electric Co Ltd Training device for superior limb function recovery
KR20120082221A (en) * 2011-01-13 2012-07-23 서강대학교산학협력단 System for supporting upper limb muscle strength
KR20130032496A (en) * 2011-09-23 2013-04-02 한국과학기술연구원 Apparatus for supporting a muscular strength of arm
JP3189560U (en) * 2013-12-27 2014-03-20 朝男 金子 Upper limb movement aid

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20090149783A1 (en) * 2004-11-30 2009-06-11 Eidgenossische Technische Hochschule Zurich System And Method For A Cooperative Arm Therapy And Corresponding Rotation Module
KR101572852B1 (en) 2010-01-06 2015-12-01 삼성전자 주식회사 Compact exoskeleton arm support device for gravity compensation
KR101163903B1 (en) * 2010-08-13 2012-07-09 한국과학기술원 Robot shoulder appratus for stroke patients rehabilitation
KR200459496Y1 (en) * 2010-10-12 2012-03-27 창명제어기술 (주) Shoulder Joint Therapeutic Machinery

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000279463A (en) * 1999-03-31 2000-10-10 Sanyo Electric Co Ltd Training device for superior limb function recovery
KR20120082221A (en) * 2011-01-13 2012-07-23 서강대학교산학협력단 System for supporting upper limb muscle strength
KR20130032496A (en) * 2011-09-23 2013-04-02 한국과학기술연구원 Apparatus for supporting a muscular strength of arm
JP3189560U (en) * 2013-12-27 2014-03-20 朝男 金子 Upper limb movement aid

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10801754B2 (en) 2016-01-04 2020-10-13 Uniqan Oy Product for heating
EP3439752A4 (en) * 2016-04-04 2019-11-27 David Health Solutions Ltd. Rehabilitation device and its use for exercising the shoulder region
US10881901B2 (en) 2016-04-04 2021-01-05 David Health Solutions Ltd. Rehabilitation device and its use for exercising the shoulder region
IT201900007848A1 (en) 2019-06-03 2020-12-03 Milano Politecnico Load compensation device, in particular gravitational loads, applicable to exoskeletons
WO2020245038A1 (en) 2019-06-03 2020-12-10 Politecnico Di Milano Load compensation device, in particular of gravitational loads, applicable to exoskeletons
CN110434837A (en) * 2019-09-10 2019-11-12 深圳市迈步机器人科技有限公司 A kind of upper limb assistance device
CN110434837B (en) * 2019-09-10 2024-04-02 深圳市迈步机器人科技有限公司 Upper limb booster
CN112826704A (en) * 2021-02-23 2021-05-25 湖北英特搏智能机器有限公司 Unpowered upper limb double-arm rehabilitation training device

Also Published As

Publication number Publication date
KR20150113254A (en) 2015-10-08
KR101682948B1 (en) 2016-12-07

Similar Documents

Publication Publication Date Title
WO2015147584A1 (en) Shoulder joint tracking device for upper limb rehabilitation, which compensates for gravity
US7544155B2 (en) Gravity balanced orthosis apparatus
US11458382B2 (en) Immersive upper limb rehabilitation training system
US10987271B2 (en) Upper limb exoskeleton rehabilitation device with man-machine motion matching and side-to- side interchanging
CN107175652B (en) Gravity balance mechanism for upper limb rehabilitation exoskeleton
KR101330532B1 (en) Hip and leg rehabilitation training device
WO2018093039A2 (en) Damping-adjustable shoulder joint tracking device for various upper limb rehabilitation modes
US20060260621A1 (en) Passive gravity-balanced assistive device for sit-to-stand tasks
CN109011404B (en) Shoulder joint rehabilitation training medical equipment
KR20180123793A (en) Meal assistance device
KR101508552B1 (en) Weight-supporting apparatus of a wearable robot for lower-limb rehabilitation
CN108927792A (en) Wearable power-assisted manipulator device
US20240108530A1 (en) Exoskeleton for upper arm
CN111759680A (en) Robot for training human ankle joint
KR20160036279A (en) Multi-DOF shoulder rehabilitation robot adapting to anatomical structure of shoulder joint
WO2017111193A1 (en) Joint rehabilitation treatment device
WO2019004616A1 (en) Upper limb rehabilitation robot
WO2016006761A1 (en) Walking assistance robot load compensation system and walking training apparatus having same
CN108905051A (en) Portable medical rehabilitation finger training device
WO2017047840A1 (en) Finger exercise device
Schroeder et al. Development of a series wrapping cam mechanism for energy transfer in wearable arm support applications
WO2020101279A1 (en) Crutch
CN109044728B (en) Medical shoulder joint rehabilitation training robot with bionic arm
WO2022270940A1 (en) Face-washing assistance device
US20220152812A1 (en) Exoskeleton for Supporting a User's Arm

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 15768955

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 15768955

Country of ref document: EP

Kind code of ref document: A1