WO2018169111A1 - Hand rehabilitation device and virtual reality rehabilitation training system including same - Google Patents

Hand rehabilitation device and virtual reality rehabilitation training system including same Download PDF

Info

Publication number
WO2018169111A1
WO2018169111A1 PCT/KR2017/002909 KR2017002909W WO2018169111A1 WO 2018169111 A1 WO2018169111 A1 WO 2018169111A1 KR 2017002909 W KR2017002909 W KR 2017002909W WO 2018169111 A1 WO2018169111 A1 WO 2018169111A1
Authority
WO
WIPO (PCT)
Prior art keywords
patient
rehabilitation device
hand rehabilitation
hand
rehabilitation
Prior art date
Application number
PCT/KR2017/002909
Other languages
French (fr)
Korean (ko)
Inventor
안범모
Original Assignee
한국생산기술연구원
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 한국생산기술연구원 filed Critical 한국생산기술연구원
Priority to PCT/KR2017/002909 priority Critical patent/WO2018169111A1/en
Publication of WO2018169111A1 publication Critical patent/WO2018169111A1/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

Definitions

  • the present invention relates to a hand rehabilitation device and a virtual reality rehabilitation training system including the same.
  • 'rehabilitation' is a very important rehabilitation that requires patients who suffer from stroke or paralysis of the bones of their fingers to continually repeat the movement of the joint as far as possible to avoid stiffening the joints of the fingers after surgery. It is a cure.
  • CPM Continuous Passive Motion
  • CPM equipment is an exercise equipment developed to reduce pain and minimize side effects caused by immobilization such as joint stiffness or adhesion by allowing patients who cannot exercise themselves to start exercising immediately after surgery. .
  • This rehabilitation equipment can be helpful for functional recovery by passively assisting the patient in rehabilitation if the patient cannot actively perform, but it is difficult when the motivation is not an important part of the rehabilitation treatment of the patient. many.
  • rehabilitation equipment is provided at hospitals or specialists at high cost, so it can only be used when visiting the hospital.
  • an unobstructed location for treatment must be provided and the equipment must be accompanied by a therapist and rehabilitation assistant.
  • One embodiment of the present invention relates to a hand rehabilitation apparatus and a virtual reality rehabilitation training system including the same that can actively perform a hand rehabilitation exercise by the patient himself.
  • a ring-shaped support ring that is worn on the hand of the patient to move the finger of the patient, respectively worn on at least some of the fingers of the patient; And a plurality of connection cables, one end of which is coupled to the support ring respectively worn on the at least some fingers so as to match the at least some fingers one to one. And a driving unit coupled to the other ends of the plurality of connection cables to control the plurality of connection cables, wherein the driving of the plurality of connection cables is formed to be driven differently from each other according to the lengths of the fingers.
  • a drive motor for driving the plurality of gears to be coupled to one rotation shaft provided to match one to one with the plurality of connection cables;
  • a control unit for controlling the driving motor;
  • a power supply member for applying power to the driving motor and the control unit.
  • the plurality of gears may have different gear ratios or different diameters so that the lengths of the plurality of connecting cables unwinding or winding are different depending on the length of the at least some fingers.
  • the driving unit may further include a housing in which the plurality of gears, the driving motor, and the control unit are built-in, and both side surfaces of the housing may include a fastening band for attaching and detaching the housing to the wrist of the patient. .
  • the support ring and the connecting cable may be embedded between the outer shell and the inner shell.
  • the support ring may be formed with at least one connection hole through which the connection cable is coupled.
  • the cover member may further include a cover member coupled to one end of the connection cable and worn at the end of the finger.
  • the cover member includes a magnetic member in the area or the entire surface located on the same surface as the palm of the patient, and is provided with a rehabilitation assist member mounted on the palm of the patient to form a magnetic force with the magnetic member, the patient When bending a finger, a bending force may be applied to a finger of the patient by a magnetic force between the magnetic member and the rehabilitation assisting member.
  • the support ring and the connection cable may be provided in a number corresponding to the finger of the patient.
  • the present invention is the above-described hand rehabilitation device respectively worn on the patient's healthy side and affected side;
  • a content providing unit for storing necessary rehabilitation training content according to the patient's affected state;
  • An integrated control unit for interlocking the healthy hand rehabilitation device and the affected hand rehabilitation device with the content providing unit and controlling driving of the healthy hand rehabilitation device and the affected hand rehabilitation device according to the content selected by the patient;
  • It provides a virtual reality rehabilitation training system including a hand rehabilitation device comprising a; and a display unit for displaying the rehabilitation training state to the patient to check with the eye.
  • the integrated control unit may transmit the exercise signal of the healthy hand rehabilitation device moving along the provided rehabilitation training content to the affected hand rehabilitation device to drive the affected hand rehabilitation device.
  • the apparatus may further include a mode selection unit for selecting a rehabilitation mode of the hand rehabilitation device, wherein the mode selection unit controls the movement of the dry hand rehabilitation device and the general mode in which the affected hand rehabilitation device is driven according to the provided rehabilitation training content. And may include a symmetrical training mode driven by the affected hand rehabilitation device.
  • the apparatus may further include a storage unit configured to store an exercise history of the healthy hand rehabilitation device and the affected hand rehabilitation device, and information of the healthy hand rehabilitation device and the affected hand rehabilitation device.
  • the present invention comprises the steps of (A) the above-described hand rehabilitation device is respectively worn on the patient side and the affected side; (B) selecting the required rehabilitation training content and the difficulty of the rehabilitation training content according to the patient's affected state; (C) controlling driving of the healthy hand rehabilitation device and the affected hand rehabilitation device according to the content selected by the patient; And (D) displaying the rehabilitation training state on a display unit for the patient to visually check the rehabilitation training state.
  • Hand rehabilitation device is a plurality of gears having different gear ratios or different diameters are coupled to one drive motor, a plurality of gears are driven by one drive motor to move the fingers at the same time. have.
  • a support ring, a connecting cable and a driving unit are installed in a general glove form, and since the volume of the device has a smaller volume than the rehabilitation device according to the prior art, the patient can perform his / her own hand rehabilitation exercise anytime and anywhere without limitation of space. .
  • the virtual reality rehabilitation training system by connecting the glove-type hand rehabilitation device to a commonly used output device to enable the hand rehabilitation exercise of the patient, it is possible to perform the hand rehabilitation exercise of the patient anytime, anywhere without space constraints .
  • the rehabilitation training system has a virtual reality-based rehabilitation training program, the patient is interested in rehabilitation therapy can actively exercise rehabilitation.
  • FIG. 1 is a view schematically showing a hand rehabilitation device according to an embodiment of the present invention.
  • FIG. 2 is a sectional view seen from the AA ′ side of FIG. 1.
  • Figure 3 is a view showing a support ring of the hand rehabilitation device according to an embodiment of the present invention.
  • FIG. 4 is a view showing a driving unit of the hand rehabilitation device according to an embodiment of the present invention.
  • FIG. 5 is a view showing a rear view of the hand rehabilitation device according to an embodiment of the present invention.
  • FIG. 6 is a view showing a state in which the hand rehabilitation device is retracted according to an embodiment of the present invention.
  • FIG. 7 is a view showing a virtual reality rehabilitation training system including a hand rehabilitation device according to an embodiment of the present invention.
  • FIG. 8 is a block diagram of a virtual reality rehabilitation training system including a hand rehabilitation device according to an embodiment of the present invention.
  • Hand rehabilitation device 100 is a device that is worn on the hand of the patient in need of rehabilitation to help rehabilitation of the hand.
  • the hand rehabilitation device 100 may include a glove body 110, a support ring 120, a connection cable 130, and a driving unit 140 as shown in FIG. 1.
  • the glove body 110 may be formed in the shape of a hand so as to be worn on the hand of the patient, the glove body 110 has a double structure consisting of the outer shell 111 and the endothelial 112 as shown in FIG. Have
  • a predetermined space may be formed between the outer shell 111 and the inner shell 112, and the support ring 120 and the connection cable 130 may be disposed in the predetermined space.
  • the support ring 120 may be formed in a ring shape as shown in FIG. 3, and may be worn on a node of a finger requiring rehabilitation among the fingers of the patient.
  • the finger has one or more nodes
  • the support ring 120 may be worn on at least one node in the finger, in the present invention, it is shown that two support rings are provided on the fingers other than the thumb, respectively.
  • the support ring 120 may have at least one connection hole 120a through which the connection cable 130 is coupled.
  • connection cable 130 may be disposed on at least one of the palm of the patient and the back of the hand to assist the operation of bending the patient's finger.
  • One end of the connection cable 130 is coupled to the support ring 120 and the other end is coupled to the driving unit 140.
  • connection cable 130 may have elasticity to move together according to the finger motion of bending and releasing.
  • the support ring 120 and the connection cable 130 may be worn on a finger that requires rehabilitation. More specifically, it may be worn on some of the fingers of the patient. For example, if any of the first and second fingers need rehabilitation, the support ring 120 and the connecting cable 130 are the first finger. And second fingers, respectively.
  • the support ring 120 may be worn on the nodes of the first finger and the nodes of the second finger, and one support ring may be worn when the first finger is the thumb.
  • the connection cable 130 may include first and second connection cables 131 and 132 and may be disposed on the first finger and the second finger, respectively.
  • the driving unit 140 may include first and second gears 145 and 146 having different sizes depending on the length of the finger and coupled to the first and second connecting cables 131 and 132, respectively. .
  • connection cable 130 may be provided with first to fifth connection cables to match one-to-one with five fingers. That is, the support ring and the connecting cable is found to be installed as many fingers as the rehabilitation needs.
  • the support ring 120 may be provided with at least one each of five fingers, each of the two fingers other than the thumb may be provided. That is, one support ring 120 is worn on the thumb, and the other fingers are worn on each node and are worn two by one.
  • the connection cable 130 may include first to fifth connection cables 131, 132, 133, 134, and 135 so as to be disposed on each of five fingers.
  • the connecting cable disposed on the thumb is referred to as a first connecting cable 131
  • the connecting cables arranged in turn from the thumb are referred to as second to fifth connecting cables 132, 133, 134, and 135. do.
  • the first to fifth connection cables 131, 132, 133, 134, and 135 connect the support rings 120 provided on the five fingers to one. That is, the first and second support rings 121 and 122 are worn on the first and second nodes of the index finger, respectively, and the second connection cable 132 disposed on the index finger is the first and second nodes.
  • the support rings 121 and 122 are connected together.
  • the second connection cable 132 is fixed through the first and second connection holes (see 120a of FIG. 3) formed in the first and second support rings 121 and 122, respectively.
  • connection cables 131, 132, 133, 134 and 135 disposed on the fingers are coupled to the driving unit 140 disposed on the wrist side.
  • the driver 140 may drive the first to fifth connection cables 131, 132, 133, 134, and 135 to bend and release the fingers.
  • the driving unit 140 may include a housing 141, a gear, a driving motor 142, a control unit 143 and a power supply member 144, as shown in FIG.
  • the housing 141 is for embedding the gear, the driving motor 142, the controller 143, and the power supply member 144, and is disposed on the wrist.
  • the housing 141 may be installed on the wrist of the patient, it should be noted that it may be installed on the wrist side of the glove body (110).
  • both sides of the housing 141 may be provided with a fastening band (141a) to be coupled to the drive unit 140 to the wrist of the patient.
  • the fastening bands 141a are provided in pairs, and are provided at both ends of the housing 141, respectively. And a portion of the pair of fastening bands (141a) overlap each other may be provided with a fastening member for detachable housing 141 from the wrist of the patient (see Figure 5).
  • the fastening member 141b may be formed of a material that is easily removable from the wrist of the patient, and more specifically, a Velcro member and a snap button may be used.
  • the present invention is not limited thereto, and the fastening member 141b may be any structure as long as the housing 141 can be fastened to the wrist of the patient.
  • the gears are unrolled and wound with the first to fifth connecting cables 131, 132, 133, 134, and 135 so as to bend and release five fingers.
  • the gear may be configured of the first to fifth gears 145, 146, 147, 148, 149 to correspond one-to-one to the first to fifth connection cables 131, 132, 133, 134, 135. have.
  • the first to fifth gears 145, 146, 147, 148, and 149 may have different gear ratios or different diameters.
  • the first to fifth gears 145, 146, 147, 148, and 149 may move the first to fifth connection cables 131, 132, 133, 134, and 135 so that the fingers having different lengths may move simultaneously. ) To drive.
  • the first to fifth connecting cables 131, 132, 133, 134, 135 are different lengths of loosening or winding.
  • the index finger and the middle finger have different lengths, and most people have the middle finger longer than the index finger.
  • the second connection cable 132 disposed on the index finger and the third connection cable 133 disposed on the middle finger must be wound or unwound at different rates.
  • the second gear 146 and the third gear 147 to which the second connection cable 132 and the third connection cable 133 are respectively coupled have different gear ratios or different diameters.
  • the third connecting cable 133 has to be wound faster than the second connecting cable 132
  • the third gear 147 has a smaller diameter or higher gear ratio than the second gear 146.
  • the gear having the third gear 147 is, and the gear having the largest diameter may be the first gear 145 coupled with the first connecting cable 131 of the thumb.
  • the gear having the highest gear ratio is the third gear 147 and has the lowest gear ratio.
  • the gear may be the first gear 145.
  • the first to fifth gears 145, 146, 147, 148, and 149 installed corresponding to the five fingers may be provided with the first to fifth connection cables 131, 132, 133, and 134 according to the lengths of the fingers. , 135) should have different speeds.
  • first to fifth gears 145, 146, 147, 148, 149 may be driven by one driving motor 142, and the first to fifth gears 145, 146, 147, 148, 149 is coupled to one rotation shaft 142a to receive the driving force of the driving motor 142 and is driven.
  • the controller 143 controls the driving motor 142 to drive the first to fifth gears 145, 146, 147, 148, and 149.
  • the driving motor 142 may be driven by receiving data transmitted from the integrated control unit 220 of the output device to be described later.
  • controller 143 may transfer the data driven by the first to fifth connection cables 131, 132, 133, 134, and 135 to the integrated controller 220.
  • the power supply member 144 may be generally used as a battery, and supplies power to the control unit 143 and the driving motor 142.
  • the cover member 150 and the rehabilitation assisting member 160 may be installed on the glove body 110 to apply a force to the hand of the patient.
  • the cover member 150 is worn at the end of the finger and is coupled through the support ring 130 and the connection cable 130 which are worn at the node of the finger.
  • the cover member 150 may be worn on the finger that requires rehabilitation, like the support ring 120 and the connection cable 130, in the present invention is an example in which five fingers rehabilitation is required. Description and illustration will be made.
  • the cover member 150 includes first to fifth cover members 151, 152, 153, 154, and 155, and first to fifth cover members 151, 152, 153, 154, and 155. Are worn at the ends of the fingers, respectively.
  • first to fifth magnetic members 151a, 152a, 153a, and 154a 155a may be installed on one surface of the first to fifth cover members 151, 152, 153, 154, and 155, respectively.
  • the first to fifth magnetic members 151a, 152a, 153a, and 154a 155a are installed in the same area as the palm of the patient.
  • one surface of the first to fifth cover members 151, 152, 153, 154, and 155 refers to a portion where a finger is bent toward the palm side to be in contact with the palm, and the first to fifth magnetic members 151a and 152a.
  • 153a, 154a, and 155a are provided on one surface of the first to fifth cover members 151, 152, 153, 154, and 155 contacting the palms, respectively.
  • first to fifth magnetic members 151a, 152a, 153a, and 154a 155a are illustrated and described as being provided on one surface of the first to fifth cover members 151, 152, 153, 154, and 155.
  • the first to fifth magnetic members 151a, 152a, 153a, and 154a 155a may be installed on the entire surfaces of the first to fifth cover members 151, 152, 153, 154, and 155, respectively.
  • the rehabilitation assisting member 160 may be installed with a predetermined size in the palm of the glove body 110.
  • the rehabilitation assisting member 160 is in contact with the first to fifth magnetic members 151a, 152a, 153a, and 154a 155a provided in the first to fifth cover members 151, 152, 153, 154, and 155, respectively. .
  • the rehabilitation auxiliary member 160 may be formed of the same magnetic material as the magnetic member, which is the first to fifth magnetic members (151a, 152a, 153a, 154a 155a) and the rehabilitation auxiliary member ( 160) to form a magnetic force between.
  • the rehabilitation assisting member 160 and the magnetic member may be a magnet, or any one of the rehabilitation assisting member and the magnetic member may be a magnetic material generated by electric current, and the other may be a magnet.
  • a bending force may be applied to the finger of the patient by a magnetic force formed between the magnetic member of the cover member 150 and the rehabilitation assisting member 160.
  • the patient can easily rehabilitate by pinching fingers.
  • a plurality of gears having different gear ratios or different diameters may be driven by one driving motor to simultaneously move fingers.
  • a support ring, a connecting cable and a driving unit are installed in a general glove form, and since the volume of the device has a smaller volume than the rehabilitation device according to the prior art, the patient can perform his / her own hand rehabilitation exercise anytime and anywhere without limitation of space. .
  • the hand rehabilitation apparatus 100 having the above-described configuration is connected to the virtual reality-based rehabilitation training system 200, so that the patient may rehabilitate with interest in rehabilitation therapy on his own (see FIG. 7).
  • the virtual reality rehabilitation training system 200 includes the hand rehabilitation apparatus 100, the content providing unit 210, the integrated control unit 220, and the display unit 230 having the characteristics as described above. It includes.
  • the content providing unit 210 and the integrated control unit 220 may be embedded in the output device, the output device may be a smart phone, tablet PC, PC and the like.
  • the hand rehabilitation apparatus 100 may be provided as a pair and may be worn on both hands of the patient, respectively.
  • the pair of hand rehabilitation apparatuses 100a and 100b may be connected to the output device in a wireless communication method or a wired communication method. have.
  • the wireless communication method may be near field communication (NFC), wireless USB, Wi-Fi, Bluetooth, Zigbee and radio frequency communication.
  • the content providing unit 210 stores a variety of rehabilitation training content required according to the affected hand condition that requires rehabilitation of the patient.
  • the content providing unit 210 may change the difficulty level according to various types of rehabilitation training content stored. That is, when the desired rehabilitation training content is selected from the various rehabilitation training content, the patient may set the difficulty of the selected rehabilitation training content according to the patient's affected hand condition.
  • the integrated control unit 220 is a pair of hand rehabilitation device (100a, 100b) and the output device is connected to each other to transfer and control the data transmitted and received between the two devices.
  • the integrated control unit 220 transmits the signal of the rehabilitation training content provided by the content providing unit 210 to the affected hand rehabilitation device 100a and the healthy hand rehabilitation device 100b to the affected hand rehabilitation device 100a. And control of the key-side hand rehabilitation device 100b.
  • the integrated control unit 220 includes a mode selector 221, and the mode selector 221 includes a general mode 222 and a symmetric training mode 223.
  • the normal mode 222 is a mode for rehabilitation by moving according to the rehabilitation training content selected by the patient
  • the symmetric training mode 223 is the affected hand after the healthy hand rehabilitation device 100b moves the rehabilitation training content selected by the patient
  • the rehabilitation apparatus 100a is a mode in which the movement of the healthy hand rehabilitation apparatus 100b is received and driven along with the movement of the healthy hand rehabilitation apparatus 100b.
  • the integrated control unit 220 receives the training information of the affected hand rehabilitation device 100a and stores it in the storage unit 240.
  • the storage unit 240 stores exercise information of the dry hand rehabilitation apparatus 100b and rehabilitation exercise information of the affected side rehabilitation apparatus 100a.
  • the display unit 230 may display the rehabilitation training content, the exercise state of the affected hand rehabilitation apparatus 100a and the exercise state of the healthy hand rehabilitation apparatus 100b so that the patient can visually check.
  • the rehabilitation training content displayed on the display 230 may be displayed in virtual reality.
  • Rehabilitation training content based on virtual reality may configure a virtual three-dimensional environment on the display 230 to perform hand rehabilitation training and movement.
  • the virtual reality rehabilitation training system 200 has two methods depending on the mode selection by the patient.
  • the patient selects the normal mode 222, first, the patient selects the desired rehabilitation training content from the content provider 210, and selects a difficulty level of the selected rehabilitation training content, that is, a difficulty level for the rehabilitation operation.
  • the integrated control unit 220 controls the content providing unit 210 to display the rehabilitation training content desired by the patient.
  • the integrated control unit 220 transmits a driving command to the control unit side of the affected hand rehabilitation device 100a, the affected hand rehabilitation device 100a rehabilitation of the rehabilitation training content Move along the motion.
  • the integrated control unit 220 delivers the content data selected by the patient to the content providing unit 210, and transmits the data transmitted from the content providing unit 210 to the control unit of the affected hand rehabilitation apparatus 100a to deliver the driving motor. Bend and release your finger to move.
  • the dry hand rehabilitation device 100b moves along the rehabilitation content selected by the patient, and stores the exercise information of the dry hand rehabilitation device 100b in the storage unit 240. Thereafter, the storage unit 240 may compare the exercise information of the dry hand rehabilitation apparatus 100b with the exercise information of the affected hand rehabilitation apparatus 100a to display the current state of the affected hand rehabilitation apparatus 100a on the display 230. Can be.
  • the patient selects the symmetric training mode 223, the patient selects the desired rehabilitation training content in the content providing unit 210, and selects the difficulty of the selected rehabilitation training content, that is, the difficulty for the rehabilitation operation.
  • the integrated control unit 220 controls the content providing unit 210 to display the rehabilitation training content desired by the patient.
  • the integrated control unit 220 transmits a driving command to the control unit side of the healthy hand rehabilitation device 100b, and the healthy hand rehabilitation device 100b is rehabilitation training content.
  • the rehabilitation movements follow the rehabilitation movements.
  • the storage unit 240 stores the data transmitted from the control unit of the healthy hand rehabilitation device 100b to the integrated control unit 220 in the exercise information of the healthy hand rehabilitation device 100b according to the rehabilitation operation.
  • the integrated control unit 220 transmits the exercise information of the healthy hand rehabilitation apparatus 100b stored in the storage unit 240 side to the control unit side of the affected hand rehabilitation apparatus 100a, and accordingly the affected hand rehabilitation apparatus 100a
  • the annular hand rehabilitation device 100a is driven in accordance with the movement of the healthy hand rehabilitation device 100b.
  • the current state of the affected hand rehabilitation apparatus 100a may be displayed on the display 230.
  • the virtual reality rehabilitation training system having the above-described configuration enables the hand rehabilitation exercise of the patient by connecting a glove-type hand rehabilitation device to a commonly used output device, so that the hand rehabilitation exercise of the patient can be performed at any time and anywhere without space limitation. It may be possible.
  • the rehabilitation training system has a virtual reality-based rehabilitation training program, the patient is interested in rehabilitation therapy can actively exercise rehabilitation.

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

The present invention relates to a hand rehabilitation device and a virtual reality rehabilitation training system including the same. The hand rehabilitation device according to one embodiment of the present invention is worn on a patient's hand such that a patient's fingers can be moved, and comprises: a ring-shaped support ring worn on each of at least some of the patient's fingers; a plurality of connection cables, each of which have one end coupled to the support ring worn on each of the at least some of the fingers so as to match the at least some of the fingers one to one; and a driving part coupled to the other ends of the plurality of connection cables so as to control the plurality of connection cables, wherein the plurality of connection cables are formed to be driven differently from each other according to the lengths of the at least some of the fingers.

Description

손 재활 장치 및 이를 포함한 가상현실 재활 훈련 시스템Hand rehabilitation device and virtual reality rehabilitation training system including the same
본 발명은 손 재활 장치 및 이를 포함한 가상현실 재활 훈련 시스템에 관한 것이다.The present invention relates to a hand rehabilitation device and a virtual reality rehabilitation training system including the same.
산업재해나 교통사고, 또는 합병증으로 인한 신체 손상은 생활에 있어서 여러 기능의 장애를 일으킨다. 특히, 일상생활에 있어서 가장 많이 사용되는 손 기능이 저하되면 아주 큰 불편함이 따르게 된다. 손 기능의 저하를 막기 위해 환자는 재활 치료를 받게 된다.Physical damage from industrial accidents, traffic accidents, or complications can lead to many functional impairments in life. In particular, when the hand function is most commonly used in everyday life is degraded, very inconvenience is followed. To prevent deterioration of the hand function, the patient is treated for rehabilitation.
보다 구체적으로, '재활치료'란 뇌졸중으로 손에 마비가 오는 환자, 또는 손가락의 뼈가 부러진 환자들이 수술 후 손가락 관절이 굳어지지 않게 관절을 가능한 한 최대로 굴신 운동을 꾸준히 반복해야 하는 아주 중요한 재활치료이다.More specifically, 'rehabilitation' is a very important rehabilitation that requires patients who suffer from stroke or paralysis of the bones of their fingers to continually repeat the movement of the joint as far as possible to avoid stiffening the joints of the fingers after surgery. It is a cure.
이는 손상 받은 부위의 기능을 향상시키고 건강한 부위의 기능을 강화시킴으로써 신체적 기능을 최대한 회복시키는 것을 목적으로 한다.This aims to recover the physical function as much as possible by improving the function of the damaged area and strengthening the function of the healthy area.
현재 재활치료는 다양한 장비들을 사용하고 있다. 그 중 관절운동 치료기인 CPM(Continuous Passive Motion-수동관절운동)이 있다. Rehabilitation currently uses a variety of equipment. Among them, CPM (Continuous Passive Motion) is a joint motion therapy device.
CPM 장비는 스스로 운동이 불가능한 환자에게 수술 직후부터 수동적으로 운동을 시작하게 해줌으로써, 통증을 완화하고, 관절의 경직이나 유착 등 움직이지 않음으로 인해 생길 수 있는 부작용을 최소화하기 위해 개발된 운동기구이다. 이 재활치료 장비는 환자가 능동적으로 수행하지 못할 경우에 장비가 수동적으로 환자의 재활치료를 도와줌으로써 기능회복에는 도움이 될 수 있으나 환자의 재활치료 중에서 중요한 부분인 동기부여가 안 될 경우에는 어려운 점이 많다.CPM equipment is an exercise equipment developed to reduce pain and minimize side effects caused by immobilization such as joint stiffness or adhesion by allowing patients who cannot exercise themselves to start exercising immediately after surgery. . This rehabilitation equipment can be helpful for functional recovery by passively assisting the patient in rehabilitation if the patient cannot actively perform, but it is difficult when the motivation is not an important part of the rehabilitation treatment of the patient. many.
또한, 재활 장비들은 고가로 병원이나 전문가 위주로 제공되어 있으므로 병원에 내원 하여야만 이용할 수 있다. 또한 치료를 위한 장애물 없는 장소가 마련되어야 하고 치료사 및 재활치료 도우미가 동행해야만 해당 장비를 이용할 수 있다.In addition, rehabilitation equipment is provided at hospitals or specialists at high cost, so it can only be used when visiting the hospital. In addition, an unobstructed location for treatment must be provided and the equipment must be accompanied by a therapist and rehabilitation assistant.
이러한 공간제약, 고가의 장비와 같은 불편한 점으로 인해 환자 개인이 재활치료 시스템을 갖추기는 힘들다. 운동 치료 및 작업 치료는 반복하여 꾸준히 시행하는 것이 가장 중요하며, 재활치료 과정에서 습득한 내용을 일상생활에서 지속적으로 수행하는 것이 재활치료의 목표이자 치료의 성과를 향상시키는 방법이다. 그러므로 손상 받은 손의 기능을 향상시키고 회복시키기 위해 능동적인 활동으로 치료를 제공할 수 있는 재활 시스템에 대한 기술개발이 요구된다.Such inconveniences such as space constraints and expensive equipment make it difficult for individual patients to have a rehabilitation system. Exercise therapy and occupational therapy are the most important things to do repeatedly and consistently, and it is the goal of rehabilitation therapy to improve the outcomes of rehabilitation therapy. Therefore, there is a need for the development of a rehabilitation system that can provide treatment with active activities to improve and restore the function of the damaged hand.
본 발명의 일 실시예는 환자 스스로 손 재활 운동을 능동적으로 할 수 있는 손 재활 장치 및 이를 포함한 가상현실 재활 훈련 시스템에 관한 것이다.One embodiment of the present invention relates to a hand rehabilitation apparatus and a virtual reality rehabilitation training system including the same that can actively perform a hand rehabilitation exercise by the patient himself.
상술한 과제를 해결하기 위하여 본 발명의 일 측면에 따르면, 환자의 손에 착용되어 상기 환자의 손가락을 움직일 수 있는 것으로서, 상기 환자의 손가락 중 적어도 일부 손가락들에 각각 착용되는 링 형상의 지지링; 및 상기 적어도 일부 손가락들과 일대일 매칭되도록 일단이 상기 적어도 일부 손가락들에 각각 착용된 상기 지지링에 결합되는 복수 개의 연결케이블; 및 상기 복수 개의 연결 케이블의 타단과 결합되어, 상기 복수 개의 연결 케이블을 제어하는 구동부;를 포함하며, 상기 복수 개의 연결케이블의 구동은 상기 일부 손가락들의 길이에 따라 서로 상이하게 구동되도록 형성되는 손 재활 장치를 제공한다.According to an aspect of the present invention to solve the above problems, a ring-shaped support ring that is worn on the hand of the patient to move the finger of the patient, respectively worn on at least some of the fingers of the patient; And a plurality of connection cables, one end of which is coupled to the support ring respectively worn on the at least some fingers so as to match the at least some fingers one to one. And a driving unit coupled to the other ends of the plurality of connection cables to control the plurality of connection cables, wherein the driving of the plurality of connection cables is formed to be driven differently from each other according to the lengths of the fingers. Provide the device.
또한, 상기 복수 개의 연결케이블과 일대일 매칭되도록 구비되는 복수 개의 기어를 하나의 회전축과 결합시켜 구동시키는 구동모터; 상기 구동모터를 제어하는 제어부; 및 상기 구동모터 및 상기 제어부로 전원을 인가하는 전원공급부재;를 포함할 수 있다.In addition, a drive motor for driving the plurality of gears to be coupled to one rotation shaft provided to match one to one with the plurality of connection cables; A control unit for controlling the driving motor; And a power supply member for applying power to the driving motor and the control unit.
또한, 상기 복수 개의 기어는 상기 적어도 일부 손가락의 길이에 따라 상기 복수 개의 연결케이블이 풀리거나 감기는 길이가 상이하도록 서로 상이한 기어 비를 갖거나 서로 다른 지름을 가질 수 있다.In addition, the plurality of gears may have different gear ratios or different diameters so that the lengths of the plurality of connecting cables unwinding or winding are different depending on the length of the at least some fingers.
또한, 상기 구동부는 상기 복수 개의 기어, 상기 구동모터 및 상기 제어부가 내장되는 하우징을 더 포함하며, 상기 하우징의 양 측면에는 상기 하우징을 상기 환자의 손목에 착탈 가능하도록 하는 체결밴드가 구비될 수 있다.The driving unit may further include a housing in which the plurality of gears, the driving motor, and the control unit are built-in, and both side surfaces of the housing may include a fastening band for attaching and detaching the housing to the wrist of the patient. .
또한, 외피와 내피의 이중 구조로 이루어지는 장갑몸체를 더 포함하며, 상기 외피와 내피 사이에는 상기 지지링 및 상기 연결케이블이 내장될 수 있다.In addition, further comprising a glove body consisting of a double structure of the outer shell and the inner shell, the support ring and the connecting cable may be embedded between the outer shell and the inner shell.
또한, 상기 지지링에는 상기 연결케이블이 관통하여 결합되는 적어도 하나의 연결공이 형성될 수 있다.In addition, the support ring may be formed with at least one connection hole through which the connection cable is coupled.
또한, 상기 연결 케이블의 일단에 결합되어 상기 손가락의 말단에 착용되는 덮개부재를 더 포함할 수 있다.The cover member may further include a cover member coupled to one end of the connection cable and worn at the end of the finger.
또한, 상기 덮개부재는 상기 환자의 손바닥과 동일 면에 위치한 영역 또는 전체에 자성부재를 포함하고, 상기 환자의 손바닥에 장착되어 상기 자성부재와 자력을 형성하는 재활보조부재가 구비되며, 상기 환자가 손가락 굽힘 시, 상기 자성부재와 상기 재활보조부재 사이의 자력에 의하여 상기 환자의 손가락에 굽힘 힘을 가해줄 수 있다.In addition, the cover member includes a magnetic member in the area or the entire surface located on the same surface as the palm of the patient, and is provided with a rehabilitation assist member mounted on the palm of the patient to form a magnetic force with the magnetic member, the patient When bending a finger, a bending force may be applied to a finger of the patient by a magnetic force between the magnetic member and the rehabilitation assisting member.
또한, 상기 지지링 및 상기 연결 케이블은 상기 환자의 손가락과 대응되는 개수로 제공될 수 있다.In addition, the support ring and the connection cable may be provided in a number corresponding to the finger of the patient.
한편, 본 발명은 환자의 건측 및 환측에 각각 착용되는 전술한 손 재활 장치; 상기 환자의 환측 상태에 따라 필요한 재활 훈련 콘텐츠가 저장되는 콘텐츠제공부; 상기 건측 손 재활 장치 및 상기 환측 손 재활 장치를 상기 콘텐츠 제공부와 연동시키며, 상기 환자가 선택한 콘텐츠를 따라 상기 건측 손 재활 장치 및 상기 환측 손 재활 장치의 구동을 제어하는 통합 제어부; 및 상기 재활 훈련 상태를 환자가 눈으로 확인하도록 표시하는 디스플레이부;를 포함하는 손 재활 장치를 포함한 가상현실 재활 훈련 시스템을 제공한다.On the other hand, the present invention is the above-described hand rehabilitation device respectively worn on the patient's healthy side and affected side; A content providing unit for storing necessary rehabilitation training content according to the patient's affected state; An integrated control unit for interlocking the healthy hand rehabilitation device and the affected hand rehabilitation device with the content providing unit and controlling driving of the healthy hand rehabilitation device and the affected hand rehabilitation device according to the content selected by the patient; It provides a virtual reality rehabilitation training system including a hand rehabilitation device comprising a; and a display unit for displaying the rehabilitation training state to the patient to check with the eye.
또한, 상기 통합 제어부는 제공된 재활 훈련 콘텐츠를 따라 움직이는 상기 건측 손 재활 장치의 운동 신호를 상기 환측 손 재활 장치 측으로 전달하여 상기 환측 손 재활 장치를 구동시킬 수 있다.In addition, the integrated control unit may transmit the exercise signal of the healthy hand rehabilitation device moving along the provided rehabilitation training content to the affected hand rehabilitation device to drive the affected hand rehabilitation device.
또한, 상기 손 재활 장치의 재활훈련 모드를 선택하는 모드선택부를 더 포함하며, 상기 모드선택부는 제공된 재활 훈련 콘텐츠를 따라 상기 환측 손 재활 장치가 구동되는 일반모드와, 상기 건측 손 재활 장치의 움직임을 따라 상기 환측 손 재활 장치가 구동하는 대칭 훈련 모드를 포함할 수 있다.The apparatus may further include a mode selection unit for selecting a rehabilitation mode of the hand rehabilitation device, wherein the mode selection unit controls the movement of the dry hand rehabilitation device and the general mode in which the affected hand rehabilitation device is driven according to the provided rehabilitation training content. And may include a symmetrical training mode driven by the affected hand rehabilitation device.
또한, 상기 건측 손 재활 장치와 상기 환측 손 재활 장치의 운동 이력, 상기 건측 손 재활 장치와 상기 환측 손 재활 장치의 정보가 저장되는 저장부를 더 포함할 수 있다.The apparatus may further include a storage unit configured to store an exercise history of the healthy hand rehabilitation device and the affected hand rehabilitation device, and information of the healthy hand rehabilitation device and the affected hand rehabilitation device.
한편, 본 발명은 (A) 전술한 손 재활 장치가 환자의 건측 및 환측에 각각 착용되는 단계; (B) 상기 환자의 환측 상태에 따라 필요한 재활 훈련 콘텐츠 및 상기 재활 훈련 콘텐츠의 난이도를 선택하는 단계; (C) 상기 환자가 선택한 콘텐츠를 따라 상기 건측 손 재활 장치 및 상기 환측 손 재활 장치의 구동을 제어하는 단계; 및 (D) 상기 재활 훈련 상태를 환자가 눈으로 확인하도록 디스플레이부 상에 표시하는 단계;를 포함하는 손 재활 장치를 포함한 가상현실 재활 훈련 방법을 제공한다.On the other hand, the present invention comprises the steps of (A) the above-described hand rehabilitation device is respectively worn on the patient side and the affected side; (B) selecting the required rehabilitation training content and the difficulty of the rehabilitation training content according to the patient's affected state; (C) controlling driving of the healthy hand rehabilitation device and the affected hand rehabilitation device according to the content selected by the patient; And (D) displaying the rehabilitation training state on a display unit for the patient to visually check the rehabilitation training state.
본 발명의 일 실시예에 따른 손 재활 장치는 서로 다른 기어 비 또는 다른 지름을 갖는 복수 개의 기어가 하나의 구동모터에 결합되며, 복수 개의 기어가 하나의 구동모터에 의해 구동됨으로써 손가락들을 동시에 움직일 수 있다.Hand rehabilitation device according to an embodiment of the present invention is a plurality of gears having different gear ratios or different diameters are coupled to one drive motor, a plurality of gears are driven by one drive motor to move the fingers at the same time. have.
또한, 일반적인 장갑 형태에 지지링, 연결케이블 및 구동부가 설치되며, 장치의 부피가 종래 기술에 따른 재활 장치보다 작은 부피를 갖기 때문에, 공간의 제약 없이 언제 어디서든 환자 스스로 손 재활 운동이 가능할 수 있다.In addition, a support ring, a connecting cable and a driving unit are installed in a general glove form, and since the volume of the device has a smaller volume than the rehabilitation device according to the prior art, the patient can perform his / her own hand rehabilitation exercise anytime and anywhere without limitation of space. .
아울러, 가상현실 재활 훈련 시스템은 장갑 형태의 손 재활 장치를 일반적으로 사용되는 출력장치에 연결시켜 환자의 손 재활 운동을 가능하도록 함으로써, 공간의 제약 없이 언제 어디서든 환자의 손 재활 운동이 가능할 수 있다.In addition, the virtual reality rehabilitation training system by connecting the glove-type hand rehabilitation device to a commonly used output device to enable the hand rehabilitation exercise of the patient, it is possible to perform the hand rehabilitation exercise of the patient anytime, anywhere without space constraints .
또한, 재활 훈련 시스템은 가상현실을 기반으로 하는 재활 훈련 프로그램이 내장됨으로써, 환자는 재활치료에 흥미를 가지고 능동적으로 재활운동을 할 수 있다.In addition, the rehabilitation training system has a virtual reality-based rehabilitation training program, the patient is interested in rehabilitation therapy can actively exercise rehabilitation.
또한, 환자의 환측 손 상태에 따라 재활 동작의 난이도 설정이 가능하며, 환자의 재활 치료에 대한 동기 부여를 할 수 있고 심리적으로 안정적인 재활 치료가 가능하다.In addition, it is possible to set the difficulty of the rehabilitation operation according to the patient's affected hand state, to motivate the patient to rehabilitation treatment, and psychologically stable rehabilitation treatment.
도 1은 본 발명의 일 실시예에 따른 손 재활 장치를 개략적으로 도시한 도면이다.1 is a view schematically showing a hand rehabilitation device according to an embodiment of the present invention.
도 2는 도 1의 A-A'측에서 본 단면도이다. FIG. 2 is a sectional view seen from the AA ′ side of FIG. 1.
도 3은 본 발명의 일 실시예에 따른 손 재활 장치의 지지링을 도시한 도면이다.Figure 3 is a view showing a support ring of the hand rehabilitation device according to an embodiment of the present invention.
도 4는 본 발명의 일 실시예에 따른 손 재활 장치의 구동부를 도시한 도면이다.4 is a view showing a driving unit of the hand rehabilitation device according to an embodiment of the present invention.
도 5는 본 발명의 일 실시예에 따른 손 재활 장치의 배면도를 도시한 도면이다.5 is a view showing a rear view of the hand rehabilitation device according to an embodiment of the present invention.
도 6은 본 발명의 일 실시예에 따른 손 재활 장치가 오므려지는 상태를 도시한 도면이다.6 is a view showing a state in which the hand rehabilitation device is retracted according to an embodiment of the present invention.
도 7은 본 발명의 일 실시예에 따른 손 재활 장치를 포함한 가상현실 재활 훈련 시스템을 나타내는 도면이다.7 is a view showing a virtual reality rehabilitation training system including a hand rehabilitation device according to an embodiment of the present invention.
도 8은 본 발명의 일 실시예에 따른 손 재활 장치를 포함한 가상현실 재활 훈련 시스템의 블록도이다.8 is a block diagram of a virtual reality rehabilitation training system including a hand rehabilitation device according to an embodiment of the present invention.
이하, 첨부한 도면을 참고로 하여 본 발명의 실시예에 대하여 본 발명이 속하는 기술분야에서 통상의 지식을 가진 자가 용이하게 실시할 수 있도록 상세히 설명한다. 본 발명은 여러 가지 상이한 형태로 구현될 수 있으며 여기에서 설명하는 실시예에 한정되지 않는다. 도면에서 본 발명을 명확하게 설명하기 위해서 설명과 관계없는 부분은 생략하였으며, 명세서 전체를 통하여 동일 또는 유사한 구성요소에 대해서는 동일한 참조부호를 붙였다.Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art may easily implement the present invention. As those skilled in the art would realize, the described embodiments may be modified in various different ways, all without departing from the spirit or scope of the present invention. In the drawings, parts irrelevant to the description are omitted in order to clearly describe the present invention, and like reference numerals designate like elements throughout the specification.
본 발명의 일 실시예에 따른 손 재활 장치(100)는 재활을 필요로 하는 환자의 손에 착용되어 손의 재활을 돕는 장치이다. Hand rehabilitation device 100 according to an embodiment of the present invention is a device that is worn on the hand of the patient in need of rehabilitation to help rehabilitation of the hand.
이를 위하여 손 재활 장치(100)는 도 1에서와 같이, 장갑 몸체(110), 지지링(120), 연결케이블(130) 및 구동부(140)를 포함할 수 있다. To this end, the hand rehabilitation device 100 may include a glove body 110, a support ring 120, a connection cable 130, and a driving unit 140 as shown in FIG. 1.
상기 장갑 몸체(110)는 환자의 손에 착용될 수 있도록 손 형상으로 형성될 수 있으며, 상기 장갑 몸체(110)는 도 2에서와 같이 외피(111) 및 내피(112)로 이루어지는 2중 구조를 갖는다.The glove body 110 may be formed in the shape of a hand so as to be worn on the hand of the patient, the glove body 110 has a double structure consisting of the outer shell 111 and the endothelial 112 as shown in FIG. Have
이때, 상기 외피(111) 및 내피(112) 사이에는 일정 공간이 형성될 수 있으며, 이 일정 공간 내부에 상기 지지링(120) 및 연결케이블(130)이 배치될 수 있다.In this case, a predetermined space may be formed between the outer shell 111 and the inner shell 112, and the support ring 120 and the connection cable 130 may be disposed in the predetermined space.
상기 지지링(120)은 도 3에서와 같이 링 형상으로 형성될 수 있으며, 환자의 손가락 중 재활을 필요로 하는 손가락의 마디에 착용될 수 있다.The support ring 120 may be formed in a ring shape as shown in FIG. 3, and may be worn on a node of a finger requiring rehabilitation among the fingers of the patient.
또한, 손가락에는 하나 이상의 마디가 있으며, 상기 지지링(120)은 손가락에서 적어도 하나의 마디에 착용될 수 있으며, 본 발명에서는 엄지를 제외한 손가락들에 두 개의 지지링이 각각 구비되는 것으로 도시한다.In addition, the finger has one or more nodes, the support ring 120 may be worn on at least one node in the finger, in the present invention, it is shown that two support rings are provided on the fingers other than the thumb, respectively.
이러한 지지링(120)은 연결케이블(130)이 관통되어 결합되는 적어도 하나의 연결공(120a)이 형성될 수 있다.The support ring 120 may have at least one connection hole 120a through which the connection cable 130 is coupled.
상기 연결케이블(130)은 환자의 손가락을 구부렸다 폈다 하는 동작을 도와주도록 환자의 손바닥 및 손등 중 적어도 하나에 배치될 수 있다. 그리고, 상기 연결케이블(130)의 일단은 상기 지지링(120)에 결합되며, 타단은 상기 구동부(140)에 결합된다.The connection cable 130 may be disposed on at least one of the palm of the patient and the back of the hand to assist the operation of bending the patient's finger. One end of the connection cable 130 is coupled to the support ring 120 and the other end is coupled to the driving unit 140.
이때, 상기 연결케이블(130)은 구부렸다 폈다 하는 손가락 운동에 따라 같이 움직일 수 있도록 신축성을 가질 수 있다.In this case, the connection cable 130 may have elasticity to move together according to the finger motion of bending and releasing.
이러한 상기 지지링(120)과 상기 연결케이블(130)은 재활이 필요한 손가락에 착용될 수 있다. 보다 상세하게 환자의 손가락들 중 일부 손가락들에 착용될 수 있으며, 일 예로 임의의 제1손가락 및 제2손가락에 재활 운동이 필요한 경우, 지지링(120) 및 연결케이블(130)은 제1손가락 및 제2손가락에 각각 착용될 수 있다.The support ring 120 and the connection cable 130 may be worn on a finger that requires rehabilitation. More specifically, it may be worn on some of the fingers of the patient. For example, if any of the first and second fingers need rehabilitation, the support ring 120 and the connecting cable 130 are the first finger. And second fingers, respectively.
이때, 상기 지지링(120)은 제1손가락의 마디들 및 제2손가락의 마디들에 착용될 수 있으며, 제1손가락이 엄지인 경우에는 하나의 지지링이 착용될 수 있다. 그리고 상기 연결케이블(130)은 제1 및 제2연결케이블(131, 132)로 구성되어 상기 제1손가락 및 제2손가락에 각각 배치될 수 있다.In this case, the support ring 120 may be worn on the nodes of the first finger and the nodes of the second finger, and one support ring may be worn when the first finger is the thumb. The connection cable 130 may include first and second connection cables 131 and 132 and may be disposed on the first finger and the second finger, respectively.
그리고, 상기 구동부(140)는 손가락 길이에 따라 서로 다른 크기를 가지고 상기 제1 및 제2연결케이블(131, 132)과 각각 결합되는 제 1 및 제2기어(145, 146)를 포함할 수 있다.In addition, the driving unit 140 may include first and second gears 145 and 146 having different sizes depending on the length of the finger and coupled to the first and second connecting cables 131 and 132, respectively. .
또는, 한 손에 있는 다섯 개의 손가락이 재활을 필요로 하는 경우에는, 상기 연결케이블(130)은 다섯 개의 손가락에 일대일 매칭되도록 제1 내지 제5연결케이블이 설치될 수 있다. 즉 상기 지지링과 연결케이블은 재활이 필요로 하는 손가락 개수만큼 설치될 수 있음을 밝혀둔다.Alternatively, when five fingers in one hand require rehabilitation, the connection cable 130 may be provided with first to fifth connection cables to match one-to-one with five fingers. That is, the support ring and the connecting cable is found to be installed as many fingers as the rehabilitation needs.
그리고, 본 발명의 용이한 설명을 위하여, 본 발명의 상세한 설명 및 도면에서는 다섯 개의 손가락이 재활을 필요로 하는 경우를 일 예로 설명 및 도시하도록 한다.And, for easy description of the present invention, in the description and drawings of the present invention will be described and illustrated as an example of the case where five fingers need rehabilitation.
구체적으로, 도 1에 도시된 바와 같이, 상기 지지링(120)은 다섯 개의 손가락에 적어도 하나씩 각각 구비될 수 있으며, 엄지를 제외한 나머지 손가락에는 두 개씩 각각 구비될 수 있다. 즉, 상기 지지링(120)은 엄지에는 하나 착용되며, 나머지 손가락들에는 마디마다 착용되어 두 개씩 착용된다.Specifically, as shown in Figure 1, the support ring 120 may be provided with at least one each of five fingers, each of the two fingers other than the thumb may be provided. That is, one support ring 120 is worn on the thumb, and the other fingers are worn on each node and are worn two by one.
그리고 상기 연결케이블(130)은 다섯 개의 손가락 각각에 배치될 수 있도록 제1 내지 제5연결케이블(131, 132, 133, 134, 135)로 구성될 수 있다. 이때, 엄지 손가락에 배치되는 연결케이블이 제1연결케이블(131)로 지칭하고, 엄지 손가락으로부터 차례대로 배치되는 연결케이블들은 제2 내지 제 5 연결케이블(132, 133, 134, 135)로 지칭하도록 한다.The connection cable 130 may include first to fifth connection cables 131, 132, 133, 134, and 135 so as to be disposed on each of five fingers. In this case, the connecting cable disposed on the thumb is referred to as a first connecting cable 131, and the connecting cables arranged in turn from the thumb are referred to as second to fifth connecting cables 132, 133, 134, and 135. do.
상기 제1 내지 제5연결케이블(131, 132, 133, 134, 135)은 다섯 손가락들 각각에 구비되는 지지링(120)들을 하나로 연결시킨다. 즉, 검지 손가락의 제1마디 및 제2마디에는 제1 및 제2지지링(121, 122)이 각각 착용되며, 상기 검지 손가락에 배치되는 제2연결케이블(132)은 상기 제1 및 제2지지링(121, 122)을 하나로 연결한다.The first to fifth connection cables 131, 132, 133, 134, and 135 connect the support rings 120 provided on the five fingers to one. That is, the first and second support rings 121 and 122 are worn on the first and second nodes of the index finger, respectively, and the second connection cable 132 disposed on the index finger is the first and second nodes. The support rings 121 and 122 are connected together.
여기서, 상기 제2연결케이블(132)은 제1 및 제2지지링(121, 122)에 각각 형성되는 제1 및 제2연결공(도 3의 120a 참조)을 관통하여 고정된다.Here, the second connection cable 132 is fixed through the first and second connection holes (see 120a of FIG. 3) formed in the first and second support rings 121 and 122, respectively.
이렇게 손가락들 각각에 배치되는 제1 내지 제5 연결케이블(131, 132, 133, 134, 135)은 손목 측에 배치되는 구동부(140)에 결합된다.The first to fifth connection cables 131, 132, 133, 134 and 135 disposed on the fingers are coupled to the driving unit 140 disposed on the wrist side.
상기 구동부(140)는 상기 제 1 내지 제5연결케이블(131, 132, 133, 134, 135)을 구동하여 상기 손가락들을 굽었다 폈다 할 수 있도록 한다.The driver 140 may drive the first to fifth connection cables 131, 132, 133, 134, and 135 to bend and release the fingers.
이를 위하여, 상기 구동부(140)는 도 4에 도시된 바와 같이, 하우징(141), 기어, 구동모터(142), 제어부(143) 및 전원공급부재(144)를 포함할 수 있다.To this end, the driving unit 140 may include a housing 141, a gear, a driving motor 142, a control unit 143 and a power supply member 144, as shown in FIG.
상기 하우징(141)은 상기 기어, 구동모터(142), 제어부(143) 및 전원공급부재(144)를 내장하기 위한 것으로, 손목에 배치된다. 여기서, 상기 하우징(141)은 환자의 손목에 설치될 수도 있지만, 장갑몸체(110)의 손목 측에 설치될 수도 있음을 밝혀둔다.The housing 141 is for embedding the gear, the driving motor 142, the controller 143, and the power supply member 144, and is disposed on the wrist. Here, the housing 141 may be installed on the wrist of the patient, it should be noted that it may be installed on the wrist side of the glove body (110).
이때, 상기 하우징(141)의 양 측면으로는 상기 구동부(140)를 환자의 손목에 결합되도록 체결밴드(141a)를 구비할 수 있다. At this time, both sides of the housing 141 may be provided with a fastening band (141a) to be coupled to the drive unit 140 to the wrist of the patient.
상기 체결밴드(141a)는 한 쌍으로 구비되며, 각각 하우징(141)의 양 단에 구비된다. 그리고 한 쌍의 체결밴드(141a)가 서로 중첩되는 부분에는 하우징(141)을 환자의 손목에서 착탈 가능하도록 하는 체결부재가 구비될 수 있다(도 5 참조).The fastening bands 141a are provided in pairs, and are provided at both ends of the housing 141, respectively. And a portion of the pair of fastening bands (141a) overlap each other may be provided with a fastening member for detachable housing 141 from the wrist of the patient (see Figure 5).
이때 상기 체결부재(141b)는 환자의 손목에서 착탈이 용이한 재질로 형성될 수 있으며, 보다 상세하게는 벨크로부재 및 스냅단추가 사용될 수 있다. 그러나 본 발명이 이로 제한되지 않으며, 체결부재(141b)는 하우징(141)이 환자의 손목에 체결될 수 있는 구조라면 어떠한 구조든지 사용될 수 있다.In this case, the fastening member 141b may be formed of a material that is easily removable from the wrist of the patient, and more specifically, a Velcro member and a snap button may be used. However, the present invention is not limited thereto, and the fastening member 141b may be any structure as long as the housing 141 can be fastened to the wrist of the patient.
상기 기어는 다섯 개의 손가락을 구부렸다 폈다 하도록 제1내지 제5연결케이블(131, 132, 133, 134, 135)을 풀었다 감았다 한다. 구체적으로, 상기 기어는 제1 내지 제5연결케이블(131, 132, 133, 134, 135)에 일대일로 대응되도록 제1 내지 제5기어(145, 146, 147, 148, 149)로 구성될 수 있다.The gears are unrolled and wound with the first to fifth connecting cables 131, 132, 133, 134, and 135 so as to bend and release five fingers. Specifically, the gear may be configured of the first to fifth gears 145, 146, 147, 148, 149 to correspond one-to-one to the first to fifth connection cables 131, 132, 133, 134, 135. have.
이때, 제1 내지 제5기어(145, 146, 147, 148, 149)는 서로 다른 기어 비를 갖거나 서로 다른 지름을 가질 수 있다. 이는, 서로 다른 길이를 가지고 있는 손가락들이 동시에 움직일 수 있도록 제1 내지 제5기어(145, 146, 147, 148, 149)가 상기 제1 내지 제5연결케이블(131, 132, 133, 134, 135)을 구동시키기 위함이다. In this case, the first to fifth gears 145, 146, 147, 148, and 149 may have different gear ratios or different diameters. The first to fifth gears 145, 146, 147, 148, and 149 may move the first to fifth connection cables 131, 132, 133, 134, and 135 so that the fingers having different lengths may move simultaneously. ) To drive.
보다 상세하게, 상기 제1 내지 제5기어(145, 146, 147, 148, 149)가 서로 다른 기어 비를 갖거나 서로 다른 지름을 갖는 경우, 상기 제1 내지 제5연결케이블(131, 132, 133, 134, 135)이 풀리거나 감기는 길이가 달라진다. In more detail, when the first to fifth gears 145, 146, 147, 148 and 149 have different gear ratios or different diameters, the first to fifth connecting cables 131, 132, 133, 134, 135 are different lengths of loosening or winding.
일 예로, 검지 손가락과 중지 손가락은 서로 다른 길이를 가지며, 대부분의 사람들은 중지 손가락이 검지 손가락보다 길다. 이때, 검지 손가락과 중지 손가락을 동시에 구부리거나 펴기 위해서는 검지 손가락에 배치되는 제2연결케이블(132)과 중지 손가락에 배치되는 제3연결케이블(133)이 서로 다른 비율로 감기거나 풀려야 한다. For example, the index finger and the middle finger have different lengths, and most people have the middle finger longer than the index finger. At this time, in order to bend or straighten the index finger and the middle finger at the same time, the second connection cable 132 disposed on the index finger and the third connection cable 133 disposed on the middle finger must be wound or unwound at different rates.
그러므로, 상기 제2연결케이블(132)과 상기 제3연결케이블(133)이 각각 결합되는 제2기어(146)와 제3기어(147)는 서로 다른 기어 비 또는 서로 다른 지름을 갖는다. Therefore, the second gear 146 and the third gear 147 to which the second connection cable 132 and the third connection cable 133 are respectively coupled have different gear ratios or different diameters.
특히, 제3연결케이블(133)이 제2연결케이블(132) 보다 더 빠르게 감겨져야 하므로, 제3기어(147)는 제2기어(146) 보다 더 작은 지름을 갖거나, 더 높은 기어 비를 갖는다.In particular, since the third connecting cable 133 has to be wound faster than the second connecting cable 132, the third gear 147 has a smaller diameter or higher gear ratio than the second gear 146. Have
이를 바탕으로, 제1 내지 제5기어(145, 146, 147, 148, 149)가 서로 다른 지름을 갖는 경우, 제1 내지 제5기어(145, 146, 147, 148, 149) 중 가장 작은 지름을 갖는 기어는 제3기어(147)이며, 가장 큰 지름을 갖는 기어는 엄지의 제1연결케이블(131)과 결합되는 제1기어(145)일 수 있다.Based on this, when the first to fifth gears 145, 146, 147, 148 and 149 have different diameters, the smallest diameter among the first to fifth gears 145, 146, 147, 148 and 149 is different. The gear having the third gear 147 is, and the gear having the largest diameter may be the first gear 145 coupled with the first connecting cable 131 of the thumb.
그리고, 제1 내지 제5기어(145, 146, 147, 148, 149)가 서로 다른 기어 비를 갖는 경우, 가장 높은 기어 비를 갖는 기어는 제3기어(147)이며, 가장 낮은 기어 비를 갖는 기어는 제1기어(145)일 수 있다.In addition, when the first to fifth gears 145, 146, 147, 148, and 149 have different gear ratios, the gear having the highest gear ratio is the third gear 147 and has the lowest gear ratio. The gear may be the first gear 145.
이와 같이, 다섯 손가락에 각각에 대응되게 설치되는 제1 내지 제5기어(145, 146, 147, 148, 149)는 손가락들의 길이에 따라 제1 내지 제5연결케이블(131, 132, 133, 134, 135)의 감기는 속도가 상이해야 한다.As such, the first to fifth gears 145, 146, 147, 148, and 149 installed corresponding to the five fingers may be provided with the first to fifth connection cables 131, 132, 133, and 134 according to the lengths of the fingers. , 135) should have different speeds.
또한, 상기 제1 내지 제5 기어(145, 146, 147, 148, 149)는 하나의 구동모터(142) 의해 구동될 수 있으며, 상기 제1 내지 제5기어(145, 146, 147, 148, 149)는 구동모터(142)의 구동력을 전달받는 하나의 회전축(142a)에 결합되어 구동된다.In addition, the first to fifth gears 145, 146, 147, 148, 149 may be driven by one driving motor 142, and the first to fifth gears 145, 146, 147, 148, 149 is coupled to one rotation shaft 142a to receive the driving force of the driving motor 142 and is driven.
상기 제어부(143)는 제1 내지 제5기어(145, 146, 147, 148, 149)가 구동되도록 구동모터(142)를 제어한다. 후술되는 출력장치의 통합 제어부(220)가 전달하는 데이터를 입력 받아 상기 구동모터(142)를 구동시킬 수 있다.The controller 143 controls the driving motor 142 to drive the first to fifth gears 145, 146, 147, 148, and 149. The driving motor 142 may be driven by receiving data transmitted from the integrated control unit 220 of the output device to be described later.
그리고, 상기 제어부(143)는 상기 제1 내지 제5연결케이블(131, 132, 133, 134, 135)이 구동된 데이터를 후술되는 통합 제어부(220) 측으로 전달 할 수도 있다.In addition, the controller 143 may transfer the data driven by the first to fifth connection cables 131, 132, 133, 134, and 135 to the integrated controller 220.
또한, 상기 전원공급부재(144)는 일반적으로 배터리로 사용될 수 있으며, 상기 제어부(143) 및 구동모터(142) 측으로 전원을 공급한다.In addition, the power supply member 144 may be generally used as a battery, and supplies power to the control unit 143 and the driving motor 142.
한편, 환자의 손 재활 시, 환자의 손 힘이 부족하여 손가락들이 모두 오므려지지 않는 경우가 있다. 이때 환자의 손에 힘을 가해주기 위하여 덮개부재(150)와 재활보조부재(160)가 장갑몸체(110)에 설치될 수 있다.On the other hand, during the rehabilitation of the hand of the patient, there is a case in which the fingers are not pinched because of insufficient hand strength of the patient. In this case, the cover member 150 and the rehabilitation assisting member 160 may be installed on the glove body 110 to apply a force to the hand of the patient.
도 5에 도시된 바와 같이, 상기 덮개부재(150)는 손가락의 말단에 착용되며, 손가락의 마디에 착용되는 지지링(120)과 연결케이블(130)을 통하여 결합된다. 이때, 상기 덮개부재(150)는 상기 지지링(120)과 연결케이블(130)과 마찬가지로 재활이 필요로 하는 손가락에 착용될 수 있으며, 본 발명에서는 다섯 손가락의 재활이 필요로 하는 경우를 일 예로 설명 및 도시하도록 한다.As shown in FIG. 5, the cover member 150 is worn at the end of the finger and is coupled through the support ring 130 and the connection cable 130 which are worn at the node of the finger. At this time, the cover member 150 may be worn on the finger that requires rehabilitation, like the support ring 120 and the connection cable 130, in the present invention is an example in which five fingers rehabilitation is required. Description and illustration will be made.
구체적으로, 상기 덮개부재(150)는 제1 내지 제5덮개부재(151, 152, 153, 154, 155)로 구성되며, 제1 내지 제5덮개부재(151, 152, 153, 154, 155)는 각각 손가락들의 말단에 착용된다.In detail, the cover member 150 includes first to fifth cover members 151, 152, 153, 154, and 155, and first to fifth cover members 151, 152, 153, 154, and 155. Are worn at the ends of the fingers, respectively.
또한, 상기 제1 내지 제5덮개부재(151, 152, 153, 154, 155)의 일면에는 제1 내지 제5자성부재(151a, 152a, 153a, 154a 155a)가 각각 설치될 수 있으며, 상기 제1 내지 제5자성부재(151a, 152a, 153a, 154a 155a)는 환자의 손바닥과 동일 면에 위치한 영역에 설치된다.In addition, first to fifth magnetic members 151a, 152a, 153a, and 154a 155a may be installed on one surface of the first to fifth cover members 151, 152, 153, 154, and 155, respectively. The first to fifth magnetic members 151a, 152a, 153a, and 154a 155a are installed in the same area as the palm of the patient.
즉, 상기 제1 내지 제5덮개부재(151, 152, 153, 154, 155)의 일면은 손가락이 손바닥 측을 향하여 구부러져 손바닥과 접하는 부분을 말하며, 상기 제1 내지 제5자성부재(151a, 152a, 153a, 154a 155a)는 손바닥과 접하는 제1 내지 제5덮개부재(151, 152, 153, 154, 155)의 일면에 각각 구비된다.That is, one surface of the first to fifth cover members 151, 152, 153, 154, and 155 refers to a portion where a finger is bent toward the palm side to be in contact with the palm, and the first to fifth magnetic members 151a and 152a. , 153a, 154a, and 155a are provided on one surface of the first to fifth cover members 151, 152, 153, 154, and 155 contacting the palms, respectively.
이때, 상기 제1 내지 제5자성부재(151a, 152a, 153a, 154a 155a)는 제1 내지 제5덮개부재(151, 152, 153, 154, 155)의 일면에 구비되는 것으로 도시 및 설명하고 있으나, 본 발명이 이로 제한되지 않는다. 상기 제1 내지 제5자성부재(151a, 152a, 153a, 154a 155a)는 제 1 내지 제5덮개부재(151, 152, 153, 154, 155)의 전체 면에 각각 설치될 수도 있다.In this case, the first to fifth magnetic members 151a, 152a, 153a, and 154a 155a are illustrated and described as being provided on one surface of the first to fifth cover members 151, 152, 153, 154, and 155. However, the present invention is not limited thereto. The first to fifth magnetic members 151a, 152a, 153a, and 154a 155a may be installed on the entire surfaces of the first to fifth cover members 151, 152, 153, 154, and 155, respectively.
상기 재활보조부재(160)는 장갑몸체(110)의 손바닥에 일정 크기를 가지고 설치될 수 있다. 상기 재활보조부재(160)는 상기 제1 내지 제5덮개부재(151, 152, 153, 154, 155)에 각각 구비되는 제1 내지 제5자성부재(151a, 152a, 153a, 154a 155a)와 접한다.The rehabilitation assisting member 160 may be installed with a predetermined size in the palm of the glove body 110. The rehabilitation assisting member 160 is in contact with the first to fifth magnetic members 151a, 152a, 153a, and 154a 155a provided in the first to fifth cover members 151, 152, 153, 154, and 155, respectively. .
여기서, 상기 재활보조부재(160)는 상기 자성부재와 동일한 자성을 갖는 재질로 형성될 수 있으며, 이는 상기 제1 내지 제5자성부재(151a, 152a, 153a, 154a 155a)와 상기 재활보조부재(160) 사이에 자력을 형성하기 위함이다.Here, the rehabilitation auxiliary member 160 may be formed of the same magnetic material as the magnetic member, which is the first to fifth magnetic members (151a, 152a, 153a, 154a 155a) and the rehabilitation auxiliary member ( 160) to form a magnetic force between.
이때, 상기 재활보조부재(160) 및 상기 자성부재는 자석일 수 있으며, 또는 재활보조부재 및 자성부재 중 어느 하나는 전류에 의해 자성이 발생하는 재료이고 나머지 하나는 자석일 수 있다.In this case, the rehabilitation assisting member 160 and the magnetic member may be a magnet, or any one of the rehabilitation assisting member and the magnetic member may be a magnetic material generated by electric current, and the other may be a magnet.
이에 따라서, 도 6에서와 같이, 환자의 손가락이 오므려질 때, 상기 덮개부재(150)의 자성부재와 상기 재활보조부재(160) 사이에 형성되는 자력으로 환자의 손가락에 굽힘 힘을 가해줄 수 있으며, 환자는 용이하게 손가락을 오므려 재활을 할 수 있다.Accordingly, as shown in FIG. 6, when the patient's finger is pinched, a bending force may be applied to the finger of the patient by a magnetic force formed between the magnetic member of the cover member 150 and the rehabilitation assisting member 160. The patient can easily rehabilitate by pinching fingers.
따라서, 손 재활 장치(100)는 서로 다른 기어 비 또는 다른 지름을 갖는 복수 개의 기어가 하나의 구동모터에 의해 구동되어 손가락들을 동시에 움직일 수 있다.Therefore, in the hand rehabilitation apparatus 100, a plurality of gears having different gear ratios or different diameters may be driven by one driving motor to simultaneously move fingers.
또한, 일반적인 장갑 형태에 지지링, 연결케이블 및 구동부가 설치되며, 장치의 부피가 종래 기술에 따른 재활 장치보다 작은 부피를 갖기 때문에, 공간의 제약 없이 언제 어디서든 환자 스스로 손 재활 운동이 가능할 수 있다.In addition, a support ring, a connecting cable and a driving unit are installed in a general glove form, and since the volume of the device has a smaller volume than the rehabilitation device according to the prior art, the patient can perform his / her own hand rehabilitation exercise anytime and anywhere without limitation of space. .
상술한 바와 같은 구성을 갖는 손 재활 장치(100)는 가상 현실 기반의 재활 훈련 시스템(200)과 연결됨으로써, 환자는 스스로 재활치료에 대해 흥미를 가지고 재활운동을 할 수 있다(도 7 참조).The hand rehabilitation apparatus 100 having the above-described configuration is connected to the virtual reality-based rehabilitation training system 200, so that the patient may rehabilitate with interest in rehabilitation therapy on his own (see FIG. 7).
구체적으로, 도 8에서와 같이, 가상현실 재활 훈련 시스템(200)은 상술한 바와 같은 특징을 갖는 손 재활 장치(100), 콘텐츠제공부(210), 통합 제어부(220) 및 디스플레이부(230)를 포함한다.Specifically, as shown in FIG. 8, the virtual reality rehabilitation training system 200 includes the hand rehabilitation apparatus 100, the content providing unit 210, the integrated control unit 220, and the display unit 230 having the characteristics as described above. It includes.
여기서 상기 콘텐츠제공부(210) 및 통합제어부(220)는 출력장치에 내장될 수 있으며, 상기 출력장치는 스마트 폰, 태블릿 PC, PC 등 일 수 있다.Here, the content providing unit 210 and the integrated control unit 220 may be embedded in the output device, the output device may be a smart phone, tablet PC, PC and the like.
그리고 상기 손 재활 장치(100)는 한 쌍으로 마련되어 환자의 양 손에 각각 착용될 수 있으며, 한 쌍의 손 재활 장치(100a, 100b)는 상기 출력장치와 무선 통신 방식 또는 유선 통신 방식으로 연결될 수 있다.In addition, the hand rehabilitation apparatus 100 may be provided as a pair and may be worn on both hands of the patient, respectively. The pair of hand rehabilitation apparatuses 100a and 100b may be connected to the output device in a wireless communication method or a wired communication method. have.
여기서, 무선 통신 방식으로는 근거리무선통신(NFC), 무선 USB, 와이파이, 블루투스, 지그비 및 무선 주파수 통신일 수 있다.Here, the wireless communication method may be near field communication (NFC), wireless USB, Wi-Fi, Bluetooth, Zigbee and radio frequency communication.
상기 콘텐츠제공부(210)는 환자의 재활이 필요한 환측 손 상태에 따라 필요한 다양한 재활 훈련 콘텐츠를 저장한다.The content providing unit 210 stores a variety of rehabilitation training content required according to the affected hand condition that requires rehabilitation of the patient.
이때, 상기 콘텐츠제공부(210)는 저장되는 다양한 종류의 재활 훈련 콘텐츠에 따라서 난이도를 변경할 수 있다. 즉, 다양한 재활 훈련 콘텐츠 중 원하는 재활 훈련 콘텐츠가 선택되면, 환자는 선택된 재활 훈련 콘텐츠의 난이도를 환자의 환측 손 상태에 따라 설정할 수 있다. In this case, the content providing unit 210 may change the difficulty level according to various types of rehabilitation training content stored. That is, when the desired rehabilitation training content is selected from the various rehabilitation training content, the patient may set the difficulty of the selected rehabilitation training content according to the patient's affected hand condition.
상기 통합 제어부(220)는 한 쌍의 손 재활 장치(100a, 100b)와 출력장치가 서로 연결되어 두 장치 사이에서 송수신되는 데이터를 전달하고 제어한다.The integrated control unit 220 is a pair of hand rehabilitation device (100a, 100b) and the output device is connected to each other to transfer and control the data transmitted and received between the two devices.
구체적으로, 상기 통합 제어부(220)는 콘텐츠제공부(210)에서 제공하는 재활 훈련 콘텐츠의 신호를 환측 손 재활 장치(100a) 및 건측 손 재활 장치(100b) 측으로 전달하여 환측 손 재활 장치(100a) 및 건측 손 재활 장치(100b)의 구동을 제어한다.Specifically, the integrated control unit 220 transmits the signal of the rehabilitation training content provided by the content providing unit 210 to the affected hand rehabilitation device 100a and the healthy hand rehabilitation device 100b to the affected hand rehabilitation device 100a. And control of the key-side hand rehabilitation device 100b.
그리고, 상기 통합 제어부(220)는 모드 선택부(221)를 포함하며, 상기 모드 선택부(221)는 일반 모드(222)와 대칭 훈련 모드(223)를 포함한다.The integrated control unit 220 includes a mode selector 221, and the mode selector 221 includes a general mode 222 and a symmetric training mode 223.
여기서, 일반 모드(222)는 환자가 선택한 재활 훈련 콘텐츠를 따라 움직여 재활하는 모드이며, 대칭 훈련 모드(223)는 환자가 선택한 재활 훈련 콘텐츠를 건측 손 재활 장치(100b)가 움직인 후, 환측 손 재활 장치(100a)는 건측 손 재활 장치(100b)의 움직임을 전달 받아 건측 손 재활 장치(100b)의 움직임을 따라 구동하는 모드이다.Here, the normal mode 222 is a mode for rehabilitation by moving according to the rehabilitation training content selected by the patient, the symmetric training mode 223 is the affected hand after the healthy hand rehabilitation device 100b moves the rehabilitation training content selected by the patient The rehabilitation apparatus 100a is a mode in which the movement of the healthy hand rehabilitation apparatus 100b is received and driven along with the movement of the healthy hand rehabilitation apparatus 100b.
또한, 통합 제어부(220)는 환측 손 재활 장치(100a)의 훈련 정보들을 수신 받아 저장부(240)에 저장시킨다. 여기서, 상기 저장부(240)는 건측 손 재활 장치(100b)의 운동 정보 및 환측 손 재활 장치(100a)의 재활 운동 정보를 저장한다.In addition, the integrated control unit 220 receives the training information of the affected hand rehabilitation device 100a and stores it in the storage unit 240. Here, the storage unit 240 stores exercise information of the dry hand rehabilitation apparatus 100b and rehabilitation exercise information of the affected side rehabilitation apparatus 100a.
상기 디스플레이부(230)는 재활 훈련 콘텐츠, 환측 손 재활 장치(100a)의 운동 상태 및 건측 손 재활 장치(100b)의 운동 상태를 환자가 눈으로 확인 할 수 있도록 표시할 수 있다.The display unit 230 may display the rehabilitation training content, the exercise state of the affected hand rehabilitation apparatus 100a and the exercise state of the healthy hand rehabilitation apparatus 100b so that the patient can visually check.
이때, 디스플레이부(230)에 표시되는 재활 훈련 콘텐츠는 가상 현실로 표시될 수 있다. 가상 현실 기반으로 하는 재활 훈련 콘텐츠는 디스플레이(230) 상에 가상의 3차원 환경을 구성하여 손의 재활 훈련 및 동작을 수행할 수 있다. In this case, the rehabilitation training content displayed on the display 230 may be displayed in virtual reality. Rehabilitation training content based on virtual reality may configure a virtual three-dimensional environment on the display 230 to perform hand rehabilitation training and movement.
상술한 구성을 갖는 가상현실 재활 훈련 시스템(200)의 구동 방법을 간략하게 살펴보면, 가상현실 재활 훈련 시스템(200)은 환자가 선택하는 모드 선택에 따라 두 가지 방법이 있다.Looking at the driving method of the virtual reality rehabilitation training system 200 having the above-described configuration, the virtual reality rehabilitation training system 200 has two methods depending on the mode selection by the patient.
환자가 일반 모드(222)를 선택하는 경우, 먼저, 환자는 콘텐츠제공부(210)에서 희망하는 재활 훈련 콘텐츠를 선택하고, 선택된 재활 훈련 콘텐츠의 난이도 즉, 재활 동작에 대한 난이도를 선택한다.When the patient selects the normal mode 222, first, the patient selects the desired rehabilitation training content from the content provider 210, and selects a difficulty level of the selected rehabilitation training content, that is, a difficulty level for the rehabilitation operation.
이때, 상기 통합 제어부(220)는 환자가 원하는 재활 훈련 콘텐츠를 표시하도록 상기 콘텐츠제공부(210)를 제어한다.At this time, the integrated control unit 220 controls the content providing unit 210 to display the rehabilitation training content desired by the patient.
상기 디스플레이부(230) 상에 재활 훈련 콘텐츠가 표시되면, 통합 제어부(220)는 환측 손 재활 장치(100a)의 제어부 측으로 구동 명령을 전달하며, 환측 손 재활 장치(100a)는 재활 훈련 콘텐츠의 재활 동작을 따라 움직인다.When the rehabilitation training content is displayed on the display unit 230, the integrated control unit 220 transmits a driving command to the control unit side of the affected hand rehabilitation device 100a, the affected hand rehabilitation device 100a rehabilitation of the rehabilitation training content Move along the motion.
즉, 통합 제어부(220)는 환자가 선택한 콘텐츠 데이터를 콘텐츠제공부(210)로 전달하고, 콘텐츠제공부(210)에서 송신하는 데이터를 환측 손 재활 장치(100a)의 제어부로 전달하여 구동모터를 구동시켜 손가락을 구부렸다 폈다 움직인다.That is, the integrated control unit 220 delivers the content data selected by the patient to the content providing unit 210, and transmits the data transmitted from the content providing unit 210 to the control unit of the affected hand rehabilitation apparatus 100a to deliver the driving motor. Bend and release your finger to move.
그리고 필요에 따라, 건측 손 재활 장치(100b)는 환자가 선택한 재활 콘텐츠를 따라 움직이고, 건측 손 재활 장치(100b)의 운동 정보를 저장부(240)에 저장시킨다. 이후, 저장부(240)는 건측 손 재활 장치(100b)의 운동 정보와 환측 손 재활 장치(100a)의 운동 정보를 비교하여 현재 환측 손 재활 장치(100a)의 상태를 디스플레이(230) 상에서 표시할 수 있다.And, if necessary, the dry hand rehabilitation device 100b moves along the rehabilitation content selected by the patient, and stores the exercise information of the dry hand rehabilitation device 100b in the storage unit 240. Thereafter, the storage unit 240 may compare the exercise information of the dry hand rehabilitation apparatus 100b with the exercise information of the affected hand rehabilitation apparatus 100a to display the current state of the affected hand rehabilitation apparatus 100a on the display 230. Can be.
한편, 환자가 대칭 훈련 모드(223)를 선택하는 경우, 환자는 콘텐츠제공부(210)에서 희망하는 재활 훈련 콘텐츠를 선택하고, 선택된 재활 훈련 콘텐츠의 난이도 즉, 재활 동작에 대한 난이도를 선택한다.On the other hand, when the patient selects the symmetric training mode 223, the patient selects the desired rehabilitation training content in the content providing unit 210, and selects the difficulty of the selected rehabilitation training content, that is, the difficulty for the rehabilitation operation.
이때, 상기 통합 제어부(220)는 환자가 원하는 재활 훈련 콘텐츠를 표시하도록 상기 콘텐츠제공부(210)를 제어한다.At this time, the integrated control unit 220 controls the content providing unit 210 to display the rehabilitation training content desired by the patient.
그리고, 상기 디스플레이부(230) 상에 재활 훈련 콘텐츠가 표시되면, 통합 제어부(220)는 건측 손 재활 장치(100b)의 제어부 측으로 구동 명령을 전달하며, 건측 손 재활 장치(100b)는 재활 훈련 콘텐츠의 재활 동작을 따라 움직인다.When the rehabilitation training content is displayed on the display unit 230, the integrated control unit 220 transmits a driving command to the control unit side of the healthy hand rehabilitation device 100b, and the healthy hand rehabilitation device 100b is rehabilitation training content. Follow the rehabilitation movements.
이때 저장부(240)는 재활 동작을 따라하는 건측 손 재활 장치(100b)의 운동 정보를 건측 손 재활 장치(100b)의 제어부에서 통합 제어부(220) 측으로 전달되는 데이터를 저장한다.At this time, the storage unit 240 stores the data transmitted from the control unit of the healthy hand rehabilitation device 100b to the integrated control unit 220 in the exercise information of the healthy hand rehabilitation device 100b according to the rehabilitation operation.
이후, 상기 통합 제어부(220)는 저장부(240) 측에 저장되는 건측 손 재활 장치(100b)의 운동 정보를 환측 손 재활 장치(100a)의 제어부 측으로 전달하며, 이에 따라 환측 손 재활 장치(100a)의 제어부는 구동모터를 구동시킴으로써, 환측 손 재활 장치(100a)는 건측 손 재활 장치(100b)의 움직임을 따라 구동된다.Thereafter, the integrated control unit 220 transmits the exercise information of the healthy hand rehabilitation apparatus 100b stored in the storage unit 240 side to the control unit side of the affected hand rehabilitation apparatus 100a, and accordingly the affected hand rehabilitation apparatus 100a By controlling the drive motor of the control unit), the annular hand rehabilitation device 100a is driven in accordance with the movement of the healthy hand rehabilitation device 100b.
그리고 건측 손 재활 장치(100b)의 운동 정보와 환측 손 재활 장치(100a)의 운동 정보를 비교하여 현재 환측 손 재활 장치(100a)의 상태를 디스플레이(230) 상에서 표시할 수 있다.In addition, by comparing the exercise information of the dry hand rehabilitation apparatus 100b with the exercise information of the affected hand rehabilitation apparatus 100a, the current state of the affected hand rehabilitation apparatus 100a may be displayed on the display 230.
상술한 구성을 갖는 가상현실 재활 훈련 시스템은 장갑 형태의 손 재활 장치를 일반적으로 사용되는 출력장치에 연결시켜 환자의 손 재활 운동을 가능하도록 함으로써, 공간의 제약 없이 언제 어디서든 환자의 손 재활 운동이 가능할 수 있다.The virtual reality rehabilitation training system having the above-described configuration enables the hand rehabilitation exercise of the patient by connecting a glove-type hand rehabilitation device to a commonly used output device, so that the hand rehabilitation exercise of the patient can be performed at any time and anywhere without space limitation. It may be possible.
또한, 재활 훈련 시스템은 가상현실을 기반으로 하는 재활 훈련 프로그램이 내장됨으로써, 환자는 재활치료에 흥미를 가지고 능동적으로 재활운동을 할 수 있다.In addition, the rehabilitation training system has a virtual reality-based rehabilitation training program, the patient is interested in rehabilitation therapy can actively exercise rehabilitation.
또한, 환자의 환측 손 상태에 따라 재활 동작의 난이도 설정이 가능하며, 환자의 재활 치료에 대한 동기 부여를 할 수 있고 심리적으로 안정적인 재활 치료가 가능하다.In addition, it is possible to set the difficulty of the rehabilitation operation according to the patient's affected hand state, to motivate the patient to rehabilitation treatment, and psychologically stable rehabilitation treatment.
이상에서 본 발명의 일 실시예에 대하여 설명하였으나, 본 발명의 사상은 본 명세서에 제시되는 실시 예에 제한되지 아니하며, 본 발명의 사상을 이해하는 당업자는 동일한 사상의 범위 내에서, 구성요소의 부가, 변경, 삭제, 추가 등에 의해서 다른 실시 예를 용이하게 제안할 수 있을 것이나, 이 또한 본 발명의 사상범위 내에 든다고 할 것이다.Although one embodiment of the present invention has been described above, the spirit of the present invention is not limited to the embodiments set forth herein, and those skilled in the art who understand the spirit of the present invention, within the scope of the same idea, the addition of components Other embodiments may be easily proposed by changing, deleting, adding, and the like, but this will also fall within the spirit of the present invention.

Claims (14)

  1. 환자의 손에 착용되어 상기 환자의 손가락을 움직일 수 있는 손 재활 장치로서, A hand rehabilitation device worn on a patient's hand and capable of moving the patient's finger,
    상기 환자의 손가락 중 적어도 일부 손가락들에 각각 착용되는 링 형상의 지지링;A ring-shaped support ring worn on at least some of the fingers of the patient;
    상기 적어도 일부 손가락들과 일대일 매칭되도록 일단이 상기 적어도 일부 손가락들에 각각 착용된 상기 지지링에 결합되는 복수 개의 연결케이블; 및A plurality of connection cables having one end coupled to the support ring respectively worn on the at least some fingers so as to match the at least some fingers one-to-one; And
    상기 복수 개의 연결 케이블의 타단과 결합되어, 상기 복수 개의 연결 케이블을 제어하는 구동부;를 포함하며,And a driving unit coupled to the other ends of the plurality of connection cables to control the plurality of connection cables.
    상기 복수 개의 연결케이블의 구동은 상기 적어도 일부 손가락들의 길이에 따라 서로 상이하게 구동되도록 형성되는 손 재활 장치. Hand rehabilitation device is formed to be driven differently from each other depending on the length of the at least some fingers of the plurality of connection cables.
  2. 제 1 항에 있어서,The method of claim 1,
    상기 구동부는The driving unit
    상기 복수 개의 연결케이블과 일대일 매칭되도록 구비되는 복수 개의 기어를 하나의 회전축에 결합시켜 구동시키는 구동 모터; A driving motor for driving a plurality of gears provided to be matched one-to-one with the plurality of connection cables by coupling to one rotation shaft;
    상기 구동모터를 제어하는 제어부; 및A control unit for controlling the driving motor; And
    상기 구동모터 및 상기 제어부로 전원을 인가하는 전원공급부재;를 포함하는 손 재활 장치.And a power supply member for supplying power to the drive motor and the control unit.
  3. 제 2 항에 있어서,The method of claim 2,
    상기 복수 개의 기어는 상기 적어도 일부 손가락의 길이에 따라 상기 복수 개의 연결케이블이 풀리거나 감기는 길이가 상이하도록 서로 상이한 기어 비를 갖거나 서로 다른 지름을 갖는 손 재활 장치.And the plurality of gears have different gear ratios or have different diameters such that the lengths of the plurality of connecting cables that are loosened or wound are different according to the length of the at least some fingers.
  4. 제 3 항에 있어서, The method of claim 3, wherein
    상기 구동부는 상기 복수 개의 기어, 상기 구동 모터 및 상기 제어부가 내장되는 하우징을 더 포함하며,The driving unit further includes a housing in which the plurality of gears, the driving motor, and the control unit are embedded.
    상기 하우징의 양 측면에는 상기 하우징을 상기 환자의 손목에 착탈 가능하도록 하는 체결밴드가 구비되는 손 재활 장치.Hand rehabilitation device is provided on both sides of the housing is provided with a fastening band detachable to the wrist of the patient.
  5. 제 1 항에 있어서,The method of claim 1,
    외피와 내피의 이중 구조로 이루어지는 장갑몸체를 더 포함하며,It further comprises a glove body consisting of a double structure of the outer shell and the endothelial,
    상기 외피와 내피 사이에는 상기 지지링 및 상기 연결케이블이 내장되는 손 재활 장치.Hand rehabilitation device that the support ring and the connecting cable is embedded between the outer shell and the inner shell.
  6. 제 1 항에 있어서,The method of claim 1,
    상기 지지링에는 상기 연결케이블이 관통하여 결합되는 적어도 하나의 연결공이 형성되는 손 재활 장치.The support ring is a hand rehabilitation device is formed with at least one connection hole through which the connection cable is coupled.
  7. 제 1 항에 있어서,The method of claim 1,
    상기 연결 케이블의 일단에 결합되어 상기 손가락의 말단에 착용되는 덮개부재를 더 포함하는 손 재활 장치.And a cover member coupled to one end of the connection cable and worn at the end of the finger.
  8. 제 7 항에 있어서,The method of claim 7, wherein
    상기 덮개부재는 상기 환자의 손바닥과 동일 면에 위치한 영역 또는 전체에 자성부재를 포함하고,The cover member includes a magnetic member in an area or the whole located on the same plane as the palm of the patient,
    상기 환자의 손바닥에 장착되어 상기 자성부재와 자력을 형성하는 재활보조부재가 구비되며,Is provided on the palm of the patient is provided with a rehabilitation assist member for forming a magnetic force with the magnetic member,
    상기 환자가 손가락 굽힘 시, 상기 자성부재와 상기 재활보조부재 사이의 자력에 의하여 상기 환자의 손가락에 굽힘 힘을 가해주는 손 재활 장치.And a hand rehabilitation device for applying a bending force to the finger of the patient by the magnetic force between the magnetic member and the rehabilitation assisting member when the patient bends the finger.
  9. 제 1 항에 있어서,The method of claim 1,
    상기 지지링 및 상기 연결 케이블은 상기 환자의 손가락과 대응되는 개수로 제공되는 손 재활 장치.And the support ring and the connection cable are provided in a number corresponding to the finger of the patient.
  10. 환자의 건측 및 환측에 각각 착용되는 제 1 항 내지 제 9 항 중 어느 한 항의 손 재활 장치;A hand rehabilitation device according to any one of claims 1 to 9, respectively, worn on the patient's healthy side and the affected side;
    상기 환자의 환측 상태에 따라 필요한 재활 훈련 콘텐츠가 저장되는 콘텐츠제공부; A content providing unit for storing necessary rehabilitation training content according to the patient's affected state;
    상기 건측 손 재활 장치 및 상기 환측 손 재활 장치를 상기 콘텐츠 제공부와 연동시키며, 상기 환자가 선택한 콘텐츠를 따라 상기 건측 손 재활 장치 및 상기 환측 손 재활 장치의 구동을 제어하는 통합 제어부; 및An integrated control unit for interlocking the healthy hand rehabilitation device and the affected hand rehabilitation device with the content providing unit and controlling driving of the healthy hand rehabilitation device and the affected hand rehabilitation device according to the content selected by the patient; And
    상기 재활 훈련 상태를 환자가 눈으로 확인하도록 표시하는 디스플레이부;를 포함하는 손 재활 장치를 포함한 가상현실 재활 훈련 시스템.Virtual rehabilitation training system including a hand rehabilitation device including a; display unit for displaying the rehabilitation training status to the patient to check with the eye.
  11. 제 10 항에 있어서,The method of claim 10,
    상기 통합 제어부는 제공된 재활 훈련 콘텐츠를 따라 움직이는 상기 건측 손 재활 장치의 운동 신호를 상기 환측 손 재활 장치 측으로 전달하여 상기 환측 손 재활 장치를 구동시키는 손 재활 장치를 포함한 가상현실 재활 훈련 시스템.And the integrated control unit includes a hand rehabilitation device for driving the affected hand rehabilitation device by transmitting an exercise signal of the healthy hand rehabilitation device moving along the provided rehabilitation training content to the affected hand rehabilitation device.
  12. 제 10 항에 있어서,The method of claim 10,
    상기 손 재활 장치의 재활훈련 모드를 선택하는 모드선택부를 더 포함하며,Further comprising a mode selection unit for selecting a rehabilitation training mode of the hand rehabilitation device,
    상기 모드선택부는 제공된 재활 훈련 콘텐츠를 따라 상기 환측 손 재활 장치가 구동되는 일반모드와, 상기 건측 손 재활 장치의 움직임을 따라 상기 환측 손 재활 장치가 구동하는 대칭 훈련 모드를 포함하는 손 재활 장치를 포함한 가상현실 재활 훈련 시스템.The mode selector includes a general mode in which the affected hand rehabilitation device is driven in accordance with the provided rehabilitation training content, and a hand rehabilitation device including a symmetrical training mode in which the affected hand rehabilitation device is driven in accordance with the movement of the healthy hand rehabilitation device. Virtual Reality Rehabilitation Training System.
  13. 제 10 항에 있어서,The method of claim 10,
    상기 건측 손 재활 장치와 상기 환측 손 재활 장치의 운동 이력, 상기 건측 손 재활 장치와 상기 환측 손 재활 장치의 정보가 저장되는 저장부를 더 포함하는 손 재활 장치를 포함한 가상현실 재활 훈련 시스템.The virtual reality rehabilitation training system including a hand rehabilitation device further comprises a storage unit for storing the exercise history of the healthy hand rehabilitation device and the affected hand rehabilitation device, the information of the healthy hand rehabilitation device and the affected hand rehabilitation device.
  14. (A) 제 1 항 내지 제 9 항 중 어느 한 항의 손 재활 장치가 환자의 건측 및 환측에 각각 착용되는 단계;(A) the hand rehabilitation device of any one of claims 1 to 9 is respectively worn on the patient side and the affected side of the patient;
    (B) 상기 환자의 환측 상태에 따라 필요한 재활 훈련 콘텐츠 및 상기 재활 훈련 콘텐츠의 난이도를 선택하는 단계; (B) selecting the required rehabilitation training content and the difficulty of the rehabilitation training content according to the patient's affected state;
    (C) 상기 환자가 선택한 콘텐츠를 따라 상기 건측 손 재활 장치 및 상기 환측 손 재활 장치의 구동을 제어하는 단계; 및(C) controlling driving of the healthy hand rehabilitation device and the affected hand rehabilitation device according to the content selected by the patient; And
    상기 재활 훈련 상태를 환자가 눈으로 확인하도록 디스플레이부 상에 표시하는 단계;를 포함하는 손 재활 장치를 포함한 가상현실 재활 훈련 방법.And displaying the rehabilitation training state on a display unit for the patient to visually check.
PCT/KR2017/002909 2017-03-17 2017-03-17 Hand rehabilitation device and virtual reality rehabilitation training system including same WO2018169111A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/KR2017/002909 WO2018169111A1 (en) 2017-03-17 2017-03-17 Hand rehabilitation device and virtual reality rehabilitation training system including same

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/KR2017/002909 WO2018169111A1 (en) 2017-03-17 2017-03-17 Hand rehabilitation device and virtual reality rehabilitation training system including same

Publications (1)

Publication Number Publication Date
WO2018169111A1 true WO2018169111A1 (en) 2018-09-20

Family

ID=63522190

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/KR2017/002909 WO2018169111A1 (en) 2017-03-17 2017-03-17 Hand rehabilitation device and virtual reality rehabilitation training system including same

Country Status (1)

Country Link
WO (1) WO2018169111A1 (en)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10265627B2 (en) 2017-06-22 2019-04-23 Centurion VR, LLC Virtual reality simulation of a live-action sequence
CN110812121A (en) * 2019-12-02 2020-02-21 王梦 Department of neurology is hand exercise device for nursing
CN111035390A (en) * 2018-10-12 2020-04-21 上海市静安区中心医院(复旦大学附属华山医院静安分院) Quantitative assessment method for hand function rehabilitation based on human wrist back stretching action
CN112494276A (en) * 2020-11-19 2021-03-16 上海理工大学 Hand rehabilitation robot system
WO2021217886A1 (en) * 2020-04-27 2021-11-04 东南大学 Flexible hand function rehabilitation device based on rope driving

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003236016A (en) * 2002-02-13 2003-08-26 Reiko Yoshida Training tool for paralyzed hand
JP2009112578A (en) * 2007-11-07 2009-05-28 Activelink Co Ltd Operation assist device
KR20090120713A (en) * 2008-05-20 2009-11-25 김영기 Finger exerciser
KR20110127252A (en) * 2009-04-09 2011-11-24 고쿠리쯔 다이가쿠 호징 츠쿠바 다이가쿠 Wearable motion assist device
KR101515951B1 (en) * 2013-12-02 2015-05-04 주식회사 피앤에스미캐닉스 Apparatus for exercising of finger

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003236016A (en) * 2002-02-13 2003-08-26 Reiko Yoshida Training tool for paralyzed hand
JP2009112578A (en) * 2007-11-07 2009-05-28 Activelink Co Ltd Operation assist device
KR20090120713A (en) * 2008-05-20 2009-11-25 김영기 Finger exerciser
KR20110127252A (en) * 2009-04-09 2011-11-24 고쿠리쯔 다이가쿠 호징 츠쿠바 다이가쿠 Wearable motion assist device
KR101515951B1 (en) * 2013-12-02 2015-05-04 주식회사 피앤에스미캐닉스 Apparatus for exercising of finger

Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11052320B2 (en) 2017-06-22 2021-07-06 Centurion Vr, Inc. Virtual reality simulation of a live-action sequence
US10279269B2 (en) 2017-06-22 2019-05-07 Centurion VR, LLC Accessory for virtual reality simulation
US10456690B2 (en) 2017-06-22 2019-10-29 Centurion Vr, Inc. Virtual reality simulation of a live-action sequence
US10792572B2 (en) 2017-06-22 2020-10-06 Centurion Vr, Inc. Virtual reality simulation of a live-action sequence
US10792573B2 (en) 2017-06-22 2020-10-06 Centurion Vr, Inc. Accessory for virtual reality simulation
US10792571B2 (en) 2017-06-22 2020-10-06 Centurion Vr, Inc. Virtual reality simulation of a live-action sequence
US10265627B2 (en) 2017-06-22 2019-04-23 Centurion VR, LLC Virtual reality simulation of a live-action sequence
US11872473B2 (en) 2017-06-22 2024-01-16 Centurion Vr, Inc. Virtual reality simulation of a live-action sequence
CN111035390A (en) * 2018-10-12 2020-04-21 上海市静安区中心医院(复旦大学附属华山医院静安分院) Quantitative assessment method for hand function rehabilitation based on human wrist back stretching action
CN110812121A (en) * 2019-12-02 2020-02-21 王梦 Department of neurology is hand exercise device for nursing
CN110812121B (en) * 2019-12-02 2021-12-28 张继红 Department of neurology is hand exercise device for nursing
WO2021217886A1 (en) * 2020-04-27 2021-11-04 东南大学 Flexible hand function rehabilitation device based on rope driving
CN112494276A (en) * 2020-11-19 2021-03-16 上海理工大学 Hand rehabilitation robot system

Similar Documents

Publication Publication Date Title
WO2018169111A1 (en) Hand rehabilitation device and virtual reality rehabilitation training system including same
KR101915238B1 (en) Rehabilitation device for hand and virtual reality rehabilitation training system comprising the same
KR101914136B1 (en) Rehabilitation device for hand
US20220338761A1 (en) Remote Training and Practicing Apparatus and System for Upper-Limb Rehabilitation
WO2023022320A1 (en) Wrist exercise device and rehabilitation exercise device for upper and lower extremities using same
Popov et al. Portable exoskeleton glove with soft structure for hand assistance in activities of daily living
WO2014021603A1 (en) Motion control device based on winding string
WO2019059723A1 (en) Device for assisting finger movement
Ball et al. MEDARM: a rehabilitation robot with 5DOF at the shoulder complex
WO2012124912A2 (en) Portable knee rehabilitation exercise apparatus
WO2017047874A1 (en) Finger exercise device
WO2015041618A2 (en) Upper limb therapeutic exercise robot
WO2017209500A1 (en) Exercise guide system and exercise management method according thereto
EP3909558A1 (en) Hand rehabilitation exercise device
CN109173182B (en) Portable finger wrist rehabilitation robot
KR102130886B1 (en) Gait rehabilitation apparatus
KR20210025844A (en) Hand rehabilitation training apparatus
WO2019004616A1 (en) Upper limb rehabilitation robot
WO2021075715A1 (en) Shoulder rehabilitation treatment device
WO2020071569A1 (en) Fitness care system using smart band
US20190175045A1 (en) Neuromuscular Training Apparatus and Technique
WO2024128585A1 (en) Exercise assistance apparatus
WO2024085499A1 (en) Control method for reducing power consumption of wearable device, and wearable device performing same
KR20190129726A (en) Device For Joint Assistant Force Generator
WO2022004983A1 (en) Supporter having bistable spring, and exercise assistance apparatus including same

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: 17901170

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: 17901170

Country of ref document: EP

Kind code of ref document: A1