KR20220062166A - Gait training apparatus using mobility - Google Patents

Gait training apparatus using mobility Download PDF

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KR20220062166A
KR20220062166A KR1020200147601A KR20200147601A KR20220062166A KR 20220062166 A KR20220062166 A KR 20220062166A KR 1020200147601 A KR1020200147601 A KR 1020200147601A KR 20200147601 A KR20200147601 A KR 20200147601A KR 20220062166 A KR20220062166 A KR 20220062166A
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mobility
pillar frames
gait training
shaped frame
support
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KR1020200147601A
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Korean (ko)
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KR102565193B1 (en
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김영국
한재우
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알바이오텍 주식회사
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    • 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
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane
    • A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
    • A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
    • A61G7/104—Devices carried or supported by
    • A61G7/1046—Mobile bases, e.g. having wheels
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
    • A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
    • A61G7/1049—Attachment, suspending or supporting means for patients
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
    • A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
    • A61G7/1063—Safety means
    • 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
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H3/008—Appliances for aiding patients or disabled persons to walk about using suspension devices for supporting the body in an upright walking or standing position, e.g. harnesses
    • 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
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H3/04—Wheeled walking aids for patients or disabled persons
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G2203/00—General characteristics of devices
    • A61G2203/10—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G2203/00—General characteristics of devices
    • A61G2203/30—General characteristics of devices characterised by sensor means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G2203/00—General characteristics of devices
    • A61G2203/70—General characteristics of devices with special adaptations, e.g. for safety or comfort
    • 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
    • A61H2201/1207—Driving means with electric or magnetic drive
    • 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
    • A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
    • A61H2201/1463—Special speed variation means, i.e. speed reducer
    • 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
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors

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

Abstract

The present invention relates to a gait training apparatus using mobility to enable a patient to perform safe and professional rehabilitation training. According to the present invention, the gait training apparatus comprises: a body fixing frame including an angled U-shaped frame to which two straps connected to a harness are fastened, and two pillar frames which are coupled to and support both ends of the U-shaped frame; a fall detection device module disposed inside the U-shaped frame to assist a weight load in an emergency; and a horizontal bar coupled to the two pillar frames horizontally at a predetermined height. The two pillar frames include: handrails which are height-adjustable and detachable to be gripped by a patient; an emergency stop switch which allows the user to stop the apparatus autonomously upon an emergency; supporting parts which support the two pillar frames, respectively, and include a drive and control module; a collision sensor which is disposed on a front bumper and rear one side of the supporting parts to detect a collision; and a drive wheel formed by being disposed on the lower part of the supporting parts.

Description

모빌리티 보행 훈련 장치{Gait training apparatus using mobility} Mobility gait training apparatus {Gait training apparatus using mobility}

본 발명은 모빌리티 보행 훈련 장치에 관한 것으로, 더욱 상세하게는 보행 훈련자의 움직임을 감지하여 자동으로 이동하는 모빌리티 보행 훈련 장치에 관한 것이다.The present invention relates to a mobility gait training device, and more particularly, to a mobility gait training device that automatically moves by detecting the movement of a gait trainee.

최근 고령화 사회에 접어들면서 뇌졸중 환자와 교통사고로 인한 척수 손상 환자가 증가하고 있으며, 보행 장애를 비롯한 다양한 질병으로 인해 전문적인 재활 치료를 필요로 하는 환자가 증가하고 있다.Recently, as we enter an aging society, the number of stroke patients and spinal cord injuries caused by traffic accidents is increasing, and the number of patients requiring specialized rehabilitation treatment due to various diseases including gait disorders is increasing.

그러나 병원에서는 전문 인력의 부족과 보행을 위한 전문적인 재활 장비 부족으로 재활 치료가 매우 어려운 실정이다. 이러한 보행 장애 환자들의 전문적인 치료와 비용의 부담을 해결할 수 있는 방법으로 센서 기반 모빌리티 보행훈련 장치가 시도되고 있다.However, in hospitals, rehabilitation treatment is very difficult due to the lack of professional manpower and the lack of specialized rehabilitation equipment for walking. A sensor-based mobility gait training device is being tried as a method to solve the burden of professional treatment and cost of these gait-impaired patients.

모빌리티 보행훈련 장치란 근육의 재건, 관절 운동의 회복 등에 사용하는 전동식 기구로서 고령자 및 보행 장애 환자가 가정 및 병원에서 이동 시 사용자를 따라다니며 재활훈련을 보조해주는 장치이다.Mobility gait training device is an electric device used for muscle reconstruction and joint movement recovery, and it is a device that assists the elderly and gait-disabled patients when they move from home or hospital to follow the user and assist in rehabilitation training.

그러나, 이러한 센서 기반 모빌리티 보행훈련 장치는 외국 제품에 의존하고 있고, 그마저도 수억 원대의 고가의 장비이기 때문에 사용에 제한이 있다.However, this sensor-based mobility gait training device is dependent on foreign products, and even that is expensive equipment worth hundreds of millions of won, so there is a limit to its use.

이에 가정이나 병원에서 전문적으로 보행 훈련할 수 있고, 보급형으로 사용할 수 있는 모빌리티 보행 훈련 장치에 대한 요구가 점차 커지고 있다.Accordingly, there is a growing demand for a mobility gait training device that can be professionally trained in walking at home or in a hospital, and can be used as an affordable type.

상기와 같은 문제점을 해결하기 위한 본 발명의 목적은 근접센서로 보행 훈련자의 움직임을 감지하여 자동으로 이동하며 훈련할 수 있는 모빌리티 보행 훈련 장치를 제공하는 데 있다. An object of the present invention for solving the above problems is to provide a mobility gait training apparatus capable of automatically moving and training by detecting the movement of a walking trainer with a proximity sensor.

상기와 같은 목적을 달성하기 위한 본 발명에 따른 모빌리티 보행 훈련 장치는 하네스와 연결하는 2개의 스트랩이 체결된 ㄷ자형 프레임과, 상기 ㄷ자형 프레임 양 끝단에 결합하여 지지하는 2개의 기둥 프레임으로 구성된 신체 고정 프레임; 상기 ㄷ자형 프레임 내부에 긴급한 상황에서 체중 부하를 보조하는 낙상감지장치 모듈; 상기 2개의 기둥 프레임에 소정 높이에 수평으로 결합된 수평바; 상기 2개의 기둥 프레임에는 환자가 파지할 수 있도록 높이 조절과 탈부착이 가능한 핸드레일; 상기 2개의 기둥 프레임에는 응급 시 사용자 스스로 정지시키는 비상정지 스위치; 상기 2개의 기둥 프레임을 각각 지지하며, 구동 및 제어 모듈을 포함하는 받침부; 및 상기 받침부의 전면 범퍼와 후방 일측에 충돌을 감지하는 충돌감지센서; 상기 받침부 하부에 형성된 구동바퀴;를 포함하는 것을 특징으로 한다. Mobility gait training device according to the present invention for achieving the above object is a body consisting of a U-shaped frame to which two straps connected to a harness are fastened, and two pillar frames coupled to both ends of the U-shaped frame to support it. fixed frame; a fall detection device module that assists in weight-bearing in an emergency situation inside the U-shaped frame; a horizontal bar horizontally coupled to the two pillar frames at a predetermined height; The two pillar frames have a handrail that can be height-adjusted and detachable so that a patient can grip it; The two pillar frames have an emergency stop switch for stopping the user themselves in case of an emergency; a support part supporting the two pillar frames, respectively, and including a driving and control module; and a collision detection sensor for detecting a collision on one side of the front bumper and the rear side of the support unit. It characterized in that it includes; a drive wheel formed on the lower portion of the support.

상기 낙상감지장치 모듈은 모터를 제어하여 보행 중 동작 하중을 1~4cm로 유동하여 지지하며, 하네스 스트랩이 60cm 이상 풀리면 낙상으로 감지하여 브레이크 스텝 모터를 통해 멈추도록 제어하는 것을 특징으로 한다. The fall detection device module controls the motor to support the operating load by flowing 1 to 4 cm while walking, and when the harness strap is loosened by 60 cm or more, it detects a fall and controls it to stop using a brake step motor.

상기 스트랩과 연결된 하네스 등 뒤 중앙에 IMU센서 모듈을 부착하여 사용자의 보행 방향을 추적하여 이동장치를 회전 및 전후진시키는 것을 특징으로 한다.It is characterized in that by attaching an IMU sensor module to the center of the back of the harness connected to the strap to track the user's walking direction to rotate and forward and backward the moving device.

사용자가 왼쪽이나 오른쪽으로 회전 시 IMU센서 모듈의 Yaw 데이터 값을 이용하여 해당 각도만큼 모터를 구동하여 이동장치를 회전시키며, 사용자가 앞이나 뒤로 이동 시 IMU센서 모듈의 가속도계 값을 이용하여 이동 거리를 계산한 후 해당 거리만큼 모터를 구동하여 이동장치를 이동시키는 것을 특징으로 한다.When the user rotates to the left or right, the motor is driven by the corresponding angle using the yaw data value of the IMU sensor module to rotate the moving device. After the calculation, it is characterized in that the moving device is moved by driving the motor by the corresponding distance.

상기와 같이, 본 발명에 따르면 가정 또는 병원에서 뇌졸중 및 보행 장애 훈련을 수행하는데 있어 근접센서가 융합된 모빌리티 보행훈련 장치를 통해 안전하고 전문적인 재활 훈련을 수행할 수 있다.As described above, according to the present invention, it is possible to safely and professionally perform rehabilitation training through a mobility gait training device in which a proximity sensor is fused in performing stroke and gait disorder training at home or in a hospital.

도 1은 본 발명에 따른 모빌리티 보행 훈련 장치를 나타낸 정면도이다.
도 2는 본 발명에 따른 모빌리티 보행 훈련 장치를 나타낸 측면도이다.
도 3은 본 발명에 따른 보행 추적을 검출하는 모빌리티 보행훈련 장치를 후면도이다. 1 is a front view showing a mobility gait training apparatus according to the present invention.
Figure 2 is a side view showing the mobility gait training apparatus according to the present invention.
3 is a rear view of a mobility gait training device for detecting gait tracking according to the present invention.

아래에서는 첨부한 도면을 참고로 하여 본 발명의 실시예에 대하여 본 발명이 속하는 기술 분야에서 통상의 지식을 가진 자가 용이하게 실시할 수 있도록 상세히 설명한다. 그러나 본 발명은 여러 가지 상이한 형태로 구현될 수 있으며 여기에서 설명하는 실시예에 한정되지 않는다. Hereinafter, with reference to the accompanying drawings, the embodiments of the present invention will be described in detail so that those of ordinary skill in the art to which the present invention pertains can easily implement them. However, the present invention may be embodied in several different forms and is not limited to the embodiments described herein.

그러면 본 발명에 따른 환자의 모빌리티 보행 훈련 장치의 바람직한 실시예에 대하여 자세히 설명하기로 한다.Then, a preferred embodiment of the patient's mobility gait training apparatus according to the present invention will be described in detail.

도 1은 본 발명에 따른 모빌리티 보행 훈련 장치를 나타낸 정면도이고, 도 2는 본 발명에 따른 모빌리티 보행 훈련 장치를 나타낸 측면도이며, 도 3은 본 발명에 따른 보행 추적을 검출하는 모빌리티 보행 훈련 장치를 나타낸 후면도이다.1 is a front view showing a mobility gait training apparatus according to the present invention, FIG. 2 is a side view showing a mobility gait training apparatus according to the present invention, and FIG. 3 is a mobility gait training apparatus for detecting gait tracking according to the present invention This is the rear view.

도 1 내지 도 3을 참조하면, 본 발명에 따른 모빌리티 보행훈련장치(1000)는 신체 고정 프레임(100)과, 상기 신체 고정 프레임(100)을 지지하는 받침부(200)를 포함하여 구성된다.1 to 3 , the mobility gait training apparatus 1000 according to the present invention is configured to include a body fixed frame 100 and a support unit 200 for supporting the body fixed frame 100 .

상기 신체 고정 프레임(100)은 하네스(300)와 연결하는 2개의 스트랩(111)이 체결된 ㄷ자형 프레임(110)과, 상기 ㄷ자형 프레임(110) 양 끝단에 결합하여 지지하는 2개의 기둥 프레임(120)으로 구성된다. The body fixing frame 100 includes a U-shaped frame 110 to which two straps 111 connected to a harness 300 are fastened, and two pillar frames supported by being coupled to both ends of the U-shaped frame 110 . (120).

상기 ㄷ자형 프레임(110) 내부에는 안전 브레이크 스텝 모터, 엔코딩, 타이밍 밸트, 하네스 스트랩 등으로 구성된 낙상감지장치 모듈(112)을 포함한다. The U-shaped frame 110 includes a fall detection device module 112 composed of a safety brake step motor, an encoding, a timing belt, a harness strap, and the like.

상기 낙상감지장치 모듈(112)은 긴급한 상황에서 체중 부하를 보조하며, 보행 중 센서를 통해 동적 하중의 모터를 제어하여 체중 부하를 보조한다. The fall detection device module 112 assists with weight bearing in an emergency situation, and controls the dynamic load motor through a sensor while walking to assist with weight bearing.

예컨대, 상기 낙상감지장치 모듈(112)은 센서에서 오는 값만큼 모터를 제어하여 보행 중 동작 하중을 1~4cm로 유동하여 지지하며, 스트랩(111)이 60cm 이상 풀리면 낙상으로 감지하여 브레이크 스텝 모터를 제어하여 멈출 수 있다. For example, the fall detection device module 112 controls the motor as much as the value from the sensor to flow and support the operating load during walking by 1 to 4 cm. You can control it to stop.

상기 2개의 기둥 프레임(120)을 견고하게 지지하기 위하여 소정 높이에 수평으로 수평바(130)가 결합되어 있다. A horizontal bar 130 is horizontally coupled to a predetermined height in order to firmly support the two pillar frames 120 .

또한, 상기 2개의 기둥 프레임(120)에는 환자가 파지할 수 있도록 높이 조절과 탈부착이 가능한 핸드레일(140)을 구비할 수 있다. In addition, the two pillar frames 120 may be provided with a handrail 140 capable of height adjustment and detachment so that the patient can hold it.

그리고, 상기 2개의 기둥 프레임(120)에는 비상정지 스위치(121)를 구비하여 응급 시 사용자 스스로 비상 정지를 시킬 수 있다. 이때, 비상정지 스위치(121)를 누르면 즉시 전원이 차단되어 정지된다.In addition, the two pillar frames 120 are provided with an emergency stop switch 121 so that the user can make an emergency stop by himself/herself in case of an emergency. At this time, when the emergency stop switch 121 is pressed, the power is immediately cut off and stopped.

상기 받침부(200)는 2개의 기둥 프레임(120)을 각각 지지하며, 받침부(200) 내측에는 구동 및 제어 모듈을 포함할 수 있다. The support unit 200 supports each of the two pillar frames 120 , and may include a driving and control module inside the support unit 200 .

여기서, 상기 2개의 받침부(200)의 전면 범퍼(210)와 후방 일측에 초음파센서 등의 전방 충돌감지센서(131)를 구비하며, 하부에는 구동바퀴(220)와 보조바퀴(230)가 구비되어 있다. Here, a front collision detection sensor 131 such as an ultrasonic sensor is provided on the front bumper 210 and one rear side of the two support units 200 , and a driving wheel 220 and an auxiliary wheel 230 are provided at the lower part. has been

한편, 상기 하네스(300)의 등 뒤 중앙에 IMU센서 모듈(300)을 부착하여 사용자의 보행 방향을 추적하여 보행훈련장치(1000)를 회전 및 전후진시킨다. 여기서, IMU센서 모듈(300)은 탈부착이 가능하다. On the other hand, by attaching the IMU sensor module 300 to the center of the back of the harness 300 to track the user's walking direction, the gait training apparatus 1000 rotates and moves forward and backward. Here, the IMU sensor module 300 is detachable.

예컨대, 사용자가 왼쪽이나 오른쪽으로 회전 시, IMU센서 모듈(310)의 Yaw 데이터(회전 각도) 값을 이용하여, 해당 각도만큼 모터를 구동하여 보행훈련장치(1000)를 회전시키며, 사용자가 앞이나 뒤로 이동 시, IMU센서 모듈(310)의 가속도계(accelerometer) 값을 이용하여, 이동 거리를 계산한 후 해당 거리만큼 모터를 구동하여 이동장치(1000)를 이동시킨다.For example, when the user rotates to the left or right, using the Yaw data (rotation angle) value of the IMU sensor module 310, the motor is driven by the corresponding angle to rotate the gait training apparatus 1000, and the user moves forward or When moving backward, the moving device 1000 is moved by calculating the moving distance by using the accelerometer value of the IMU sensor module 310 and then driving the motor by the corresponding distance.

이상에서 본 발명의 실시예에 대하여 상세하게 설명하였지만 본 발명의 권리범위는 이에 한정되는 것은 아니고 다음의 청구범위에서 정의하고 있는 본 발명의 기본 개념을 이용한 당업자의 여러 변형 및 개량 형태 또한 본 발명의 권리범위에 속하는 것이다.Although the embodiments of the present invention have been described in detail above, the scope of the present invention is not limited thereto. is within the scope of the right.

100: 신체 고정 프레임 110: ㄷ자형 프레임
111: 스트랩 120: 기둥 프레임
130: 수평바 131: 충돌 감지센서
140: 핸드레일 200: 받침부
210: 범퍼 220: 보조바퀴
230: 구동바퀴 300: 하네스
310: IMU센서 모듈100: body fixing frame 110: U-shaped frame
111: strap 120: pillar frame
130: horizontal bar 131: collision detection sensor
140: handrail 200: support
210: bumper 220: auxiliary wheel
230: drive wheel 300: harness
310: IMU sensor module

Claims (4)

하네스와 연결하는 2개의 스트랩이 체결된 ㄷ자형 프레임과, 상기 ㄷ자형 프레임 양 끝단에 결합하여 지지하는 2개의 기둥 프레임으로 구성된 신체 고정 프레임;
상기 ㄷ자형 프레임 내부에 긴급한 상황에서 체중 부하를 보조하는 낙상감지장치 모듈;
상기 2개의 기둥 프레임에 소정 높이에 수평으로 결합된 수평바;
상기 2개의 기둥 프레임에는 환자가 파지할 수 있도록 높이 조절과 탈부착이 가능한 핸드레일;
상기 2개의 기둥 프레임에는 응급 시 사용자 스스로 정지시키는 비상정지 스위치;
상기 2개의 기둥 프레임을 각각 지지하며, 구동 및 제어 모듈을 포함하는 받침부; 및
상기 받침부의 전면 범퍼와 후방 일측에 충돌을 감지하는 충돌감지센서;
상기 받침부 하부에 형성된 구동바퀴;를 포함하는 것을 특징으로 하는 모빌리티 보행 훈련 장치. a body fixing frame composed of a U-shaped frame to which two straps connected to a harness are fastened, and two pillar frames coupled to both ends of the U-shaped frame to support it;
a fall detection device module that assists in weight-bearing in an emergency situation inside the U-shaped frame;
a horizontal bar horizontally coupled to the two pillar frames at a predetermined height;
The two pillar frames have a handrail that can be height-adjusted and detachable so that a patient can grip it;
The two pillar frames have an emergency stop switch for stopping the user themselves in case of an emergency;
a support unit supporting the two pillar frames, respectively, and including a driving and control module; and
a collision detection sensor for detecting a collision on one side of the front bumper and the rear side of the support unit;
Mobility gait training apparatus comprising a; drive wheel formed on the lower part of the support. 제1항에 있어서,
상기 낙상감지장치 모듈은 모터를 제어하여 보행 중 동작 하중을 1~4cm로 유동하여 지지하며, 하네스 스트랩이 60cm 이상 풀리면 낙상으로 감지하여 브레이크 스텝 모터를 통해 멈추도록 제어하는 것을 특징으로 하는 모빌리티 보행 훈련 장치. According to claim 1,
Mobility walking training, characterized in that the fall detection device module controls the motor to flow and support the operating load by 1 to 4 cm while walking, and when the harness strap is loosened by 60 cm or more, it detects a fall and controls it to stop through a brake step motor. Device. 제1항에 있어서,
상기 스트랩과 연결된 하네스 등 뒤 중앙에 IMU센서 모듈을 부착하여 사용자의 보행 방향을 추적하여 이동장치를 회전 및 전후진시키는 것을 특징으로 하는 모빌리티 보행 훈련 장치. According to claim 1,
Mobility gait training device, characterized in that by attaching an IMU sensor module to the center of the back of the harness connected to the strap to rotate and forward and backward the moving device by tracking the user's walking direction. 제3항에 있어서,
사용자가 왼쪽이나 오른쪽으로 회전 시 IMU센서 모듈의 Yaw 데이터 값을 이용하여 해당 각도만큼 모터를 구동하여 이동장치를 회전시키며,
사용자가 앞이나 뒤로 이동 시 IMU센서 모듈의 가속도계 값을 이용하여 이동 거리를 계산한 후 해당 거리만큼 모터를 구동하여 이동장치를 이동시키는 것을 특징으로 하는 모빌리티 보행 훈련 장치. 4. The method of claim 3,
When the user rotates left or right, using the Yaw data value of the IMU sensor module, the motor is driven as much as the corresponding angle to rotate the moving device.
Mobility gait training device, characterized in that when the user moves forward or backward, the movement distance is calculated using the accelerometer value of the IMU sensor module, and then the movement device is moved by driving a motor by the corresponding distance.
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Publication number Priority date Publication date Assignee Title
KR101450590B1 (en) * 2013-07-18 2014-10-15 충남대학교산학협력단 Walker and Walking training apparatus using the same
KR101980571B1 (en) * 2018-08-03 2019-05-21 (주) 티로보틱스 Orthopedic exercise equipment for rehabilitation of patient
KR20190065859A (en) 2017-12-04 2019-06-12 한국전자통신연구원 Apparatus and method for monitoring a human pose and action
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Publication number Priority date Publication date Assignee Title
KR101450590B1 (en) * 2013-07-18 2014-10-15 충남대학교산학협력단 Walker and Walking training apparatus using the same
KR20190065859A (en) 2017-12-04 2019-06-12 한국전자통신연구원 Apparatus and method for monitoring a human pose and action
KR20190066762A (en) * 2017-12-06 2019-06-14 한양대학교 에리카산학협력단 Walking assistance apparatus and operation method of the same
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