KR101221046B1 - Intellectual exoskeleton robot system for assisting daily life and rehabilitation training - Google Patents

Abstract

Exoskeletal rehabilitation robot system of the present invention, worn on the upper and lower limbs of the rehabilitation patient, the exoskeleton robot frame driven by power to perform the upper and lower rehabilitation exercise of the rehabilitation patient; A rehabilitation exercise medical terminal for transmitting rehabilitation exercise prescription data including rehabilitation exercise information necessary for the rehabilitation patient so that the rehabilitation exercise is performed by the exoskeleton robot frame to the exoskeleton robot frame; A rehabilitation exercise measuring unit configured to measure the rehabilitation exercise amount of the rehabilitation patient and the biosignal of the rehabilitation patient generated during the rehabilitation exercise while being performed in the exoskeleton robot frame based on the rehabilitation exercise prescription data; The rehabilitation exercise amount of the rehabilitation patient measured by the rehabilitation exercise measuring unit and the bio signal and the rehabilitation exercise prescription data is compared, and according to the result of the comparison to increase or decrease the power of the exoskeleton robot frame to increase the rehabilitation exercise of the rehabilitation patient Rehabilitation feedback control unit for adjusting; And a rehabilitation exercise diagnosis server for receiving the rehabilitation exercise amount and the bio-signal of the rehabilitation patient measured by the rehabilitation exercise measuring unit and the rehabilitation exercise prescription data of the rehabilitation exercise medical terminal, respectively, and analyzing the rehabilitation information of the rehabilitation patient. The exoskeleton robot frame comprises a pair of upper and lower extremity fixing parts, a upper arm support for guiding the upper arm of the rehabilitation patient, a lower arm support and a handle support for guiding the lower arm of the rehabilitation patient, and the upper limb The fixing part and the upper arm support are connected to the first joint drive for rotating the upper arm support at a predetermined angle with respect to the upper limb fixing part, and the upper arm support and the lower arm support are connected to the lower arm support with respect to the upper arm support. Is connected to the second joint drive to rotate at a predetermined angle, and the lower arm support The handle support is connected to the third joint drive for rotating the handle support at a predetermined angle with respect to the lower arm support upper limb motion module for performing the upper limb rehabilitation of the rehabilitation patient; A pair of left and right lower limbs, thigh support for guiding the thighs of the rehabilitation patient, a calf support and a footrest for guiding the calf of the rehabilitation patient, the lower limbs fixing portion and the thigh support relative to the lower limbs fixing portion The thigh support is connected to a fourth joint drive for rotating the thigh support at a predetermined angle, and the thigh support and the calf support are connected to a fifth joint drive to rotate the thigh support at a certain angle with respect to the thigh support. A lower limb motion module connected to the calf zone and the footrest by a sixth articulation drive that rotates the footrest at a predetermined angle with respect to the calfridge to perform lower leg rehabilitation of the rehabilitation patient; An intermediate module mounted on the left and right shoulders of the rehabilitation patient and configured as a pair of shoulder supports for guiding the chest and the back of the rehabilitation patient and a waist support surrounding the waist of the rehabilitation patient; And a control module mounted to the intermediate module to control an operation of the exoskeleton robot frame, wherein the upper limb motion module, the lower motion module and the control module are detachably mounted to the intermediate module, and the first module The sixth articulation drive unit may generate power by power supplied from a power supply unit, and perform upper and lower limb rehabilitation of the rehabilitation patient.

Description

INTELLECTUAL EXOSKELETON ROBOT SYSTEM FOR ASSISTING DAILY LIFE AND REHABILITATION TRAINING}

The present invention relates to an exoskeleton robot-based daily life assistance and rehabilitation system, and more particularly, to the exoskeleton robot frame modeling the exoskeleton of the body for restoring and strengthening the upper and lower muscle strength of the elderly or patients who need rehabilitation Daily life assistance and rehabilitation based on intelligent exoskeleton robots that can assist rehabilitation and daily activities by automatically controlling the movement patterns of the exoskeleton robot system by utilizing the momentum and bio signals of rehabilitation patients who wear and perform rehabilitation exercises It is about a training system.

In recent years, the aging of the population is increasing as the life span of human beings is increased due to the improvement of diet and the development of medical technology. Due to the increase in the elderly population, the incidence of senile diseases such as stroke is increasing. Therefore, the elderly or those who are uncomfortable due to the disease are undergoing a process of restoring muscle strength through rehabilitation treatment.

This rehabilitation treatment includes a series of treatments performed for the functional recovery of the damaged area when the body is damaged by an accident or the like in addition to the disease caused by the old age.

Therefore, in the event of an accident, stroke, traumatic brain injury or cerebral palsy, damage to physical functions, aging weakness of muscle strength, or various adult diseases, the physical function is impaired. In order to do this, a long-term and systematic physical rehabilitation treatment should be provided by a doctor or a physical therapist. In addition, the rehabilitation training of the rehabilitation patient during the rehabilitation process can be stored in a separate database and used to perform the rehabilitation training more systematically.

However, information for rehabilitation training should be repeatedly generated by a doctor or a physiotherapist, and in order to safely and repeatedly perform rehabilitation training, physical efforts, time, and skill of a doctor or a physical therapist are required.

To overcome these limitations, gait aids have been developed to mechanically assist lower extremity (lower body) rehabilitation training, such as gait training, and can assist the movement of upper limbs (such as the shoulder) and restore muscle strength. Upper limb rehabilitation devices are also being developed.

However, the conventional assistive devices for rehabilitation treatment are divided into a user's body, for example, upper limb support for upper limb rehabilitation and lower limb support for lower limb rehabilitation. In other words, because rehabilitation treatment for the upper limbs and rehabilitation for the lower extremities are provided separately, the rehabilitation treatment for the upper and lower extremities cannot be performed at the same time, and the rehabilitation patient must visit the rehabilitation treatment center in order to use the rehabilitation assisting device. However, rehabilitation patients who are unable to walk have the inconvenience of being protected by their parents.

In addition, when performing a rehabilitation exercise using a rehabilitation device, a doctor or a physical therapist operates the rehabilitation assistance device based on the prescribed information. Therefore, when rehabilitation is performed only on the prescription of a doctor or physiotherapist, the rehabilitation exercise is performed in a state where it is impossible to accurately determine the patient's current physical condition or changes in the state of the training process. There is a limit to finding.

In addition, the conventional rehabilitation training device performs only physical rehabilitation exercise for the rehabilitation patient, and does not perform rehabilitation treatment in conjunction with functional electrical stimulation (FES), thereby maximizing not only muscle but also brain feedback. No rehabilitation effect has been achieved.

Therefore, the present invention has been made to solve the above problems, the present invention is to accurately determine the state of the rehabilitation patients and changes in the state occurring during the training process, etc. to determine the current state of the rehabilitation patients rehabilitation exercise The purpose is to provide an intelligent exoskeleton robot-based daily life assistance and rehabilitation system that can automatically control the intensity of the disease.

In addition, the present invention not only physical rehabilitation exercise for the rehabilitation patient, but also by exoskeleton robot that can maximize the rehabilitation effect according to the brain as well as brain feedback by performing rehabilitation in conjunction with the functional electrical stimulation signal according to the type of rehabilitation exercise It aims to provide a system for supporting daily living and rehabilitation.

In addition, the present invention can be used as an autonomous mobile rehabilitation apparatus, and an object of the present invention is to provide an exoskeleton robot-based daily life assistance and rehabilitation training system that can simultaneously perform rehabilitation treatment of the upper and lower limbs of the rehabilitation patient.

In order to achieve the above object, an intelligent exoskeleton robot system according to an embodiment of the present invention, the exoskeleton robot frame is worn on the upper and lower limbs of the rehabilitation patients, driven by the power to perform the upper and lower rehabilitation exercise of the rehabilitation patients; A rehabilitation exercise medical terminal for transmitting rehabilitation exercise prescription data including rehabilitation exercise information necessary for the rehabilitation patient so that the rehabilitation exercise is performed by the exoskeleton robot frame to the exoskeleton robot frame; A rehabilitation exercise measuring unit configured to measure the rehabilitation exercise amount of the rehabilitation patient and the biosignal of the rehabilitation patient generated during the rehabilitation exercise while being performed in the exoskeleton robot frame based on the rehabilitation exercise prescription data; The rehabilitation exercise amount of the rehabilitation patient measured by the rehabilitation exercise measuring unit and the bio signal and the rehabilitation exercise prescription data is compared, and according to the result of the comparison to increase or decrease the power of the exoskeleton robot frame to increase the rehabilitation exercise of the rehabilitation patient Rehabilitation feedback control unit for adjusting; And a rehabilitation exercise diagnosis server for receiving the rehabilitation exercise amount and the bio-signal of the rehabilitation patient measured by the rehabilitation exercise measuring unit and the rehabilitation exercise prescription data of the rehabilitation exercise medical terminal, respectively, and analyzing the rehabilitation information of the rehabilitation patient. Consists of, the exoskeleton robot frame, the left and right pairs of upper limb fixing portion, the upper arm support for guiding the upper arm of the rehabilitation patient, the lower arm support and the handle support for guiding the lower arm of the rehabilitation patient, The upper limb fixing portion and the upper arm support are connected to the first joint drive to rotate the upper arm support at a predetermined angle with respect to the upper limb fixing portion, and the upper arm support and the lower arm support are the lower arm support with respect to the upper arm support. Is connected to the second joint drive for rotating the movement at a constant angle, the lower arm support The handle support is upper limb motion module that is connected to the third joint driving unit for rotating at a constant angle to the handle support to the zone below the selling do the upper limb rehabilitation of the rehabilitation of the patient; A pair of left and right lower limbs, thigh support for guiding the thighs of the rehabilitation patient, a calf support and a footrest for guiding the calf of the rehabilitation patient, the lower limbs fixing portion and the thigh support relative to the lower limbs fixing portion The thigh support is connected to a fourth joint drive for rotating the thigh support at a predetermined angle, and the thigh support and the calf support are connected to a fifth joint drive to rotate the thigh support at a certain angle with respect to the thigh support. A lower limb motion module connected to the calf zone and the footrest by a sixth articulation drive that rotates the footrest at a predetermined angle with respect to the calfridge to perform lower leg rehabilitation of the rehabilitation patient; An intermediate module mounted on the left and right shoulders of the rehabilitation patient and configured as a pair of shoulder supports for guiding the chest and the back of the rehabilitation patient and a waist support surrounding the waist of the rehabilitation patient; And a control module mounted to the intermediate module to control an operation of the exoskeleton robot frame, wherein the upper limb motion module, the lower motion module and the control module are detachably mounted to the intermediate module, and the first module The sixth articulation drive unit may generate power by power supplied from a power supply unit, and perform upper and lower limb rehabilitation of the rehabilitation patient.

In an intelligent exoskeleton robot system according to another embodiment of the present invention, the rehabilitation exercise measuring unit measures the biomotor ability to predict exercise information by measuring the electromyography, impedance and electroencephalogram of the rehabilitation patient. module; An exercise capacity measuring module for measuring physical exercise of the rehabilitation patient, including an accelerometer, a gyro or a force sensor; And a biosignal measuring module for calculating the exercise load and the fatigue degree for the rehabilitation patient by measuring the electrocardiogram (ECG), the oxygen saturation (SpO 2), the breathing (Resp), and the body temperature (Temp) of the rehabilitation patient. It is characterized by.

The intelligent exoskeleton robot system according to another embodiment of the present invention is characterized in that the rehabilitation information analyzed by the rehabilitation exercise diagnosis server is fed back as rehabilitation prescription data updated to the medical device.

Intelligent exoskeleton robot system according to another embodiment of the present invention, the functional electrical stimulation signal generation unit for generating a functional electrical stimulation (FES) signal in accordance with the rehabilitation movement type of the rehabilitation patient; It is done.

The intelligent exoskeleton robot system according to another embodiment of the present invention is characterized in that the rehabilitation prescription data includes the type of rehabilitation exercise, the intensity of the rehabilitation exercise and the duration of the rehabilitation exercise.

In an intelligent exoskeleton robot system according to another embodiment of the present invention, the rehabilitation medical terminal transmits the rehabilitation prescription data to the exoskeleton robot frame by wire or wirelessly.

delete

Intelligent exoskeleton robot system according to another embodiment of the present invention, the upper arm support and the lower arm support is characterized in that the upper arm length adjusting unit and the lower arm length adjusting unit are formed to correspond to the arm length of the rehabilitation patient, respectively.

In an intelligent exoskeleton robot system according to another embodiment of the present invention, the thigh support and the calf support are characterized in that the thigh length adjustment part and the calf length adjustment part are respectively formed to correspond to the leg length of the rehabilitation patient.

Intelligent exoskeleton robot system according to another embodiment of the present invention, characterized in that the upper body length adjustment portion is formed on the front and rear of the shoulder support to correspond to the upper body length of the rehabilitation patient.

The intelligent exoskeleton robot system according to another embodiment of the present invention is characterized in that the first to sixth joint drives are driven by any one of an AC motor, a DC motor, or an ultrasonic motor.

Intelligent exoskeleton robot system according to another embodiment of the present invention, is connected to the intermediate module to support the exoskeleton robot frame, a mobile auxiliary trailer for assisting the movement of the rehabilitation patient wearing the exoskeleton robot frame; And, the mobile auxiliary trailer is characterized in that for the rehabilitation patient to assist the operation of the exoskeleton robot frame performing any one of the flat sitting / standing or walking movement.

An intelligent exoskeleton robot system according to another embodiment of the present invention includes a bottom surface which moves at a predetermined speed to perform a walking or inclined walking movement as a rehabilitation exercise at a fixed position with respect to the rehabilitation patient wearing the exoskeleton robot frame. It further comprises a treadmill, wherein the treadmill is synchronized with the exoskeleton robot frame is characterized in that the movement speed of the bottom surface is controlled by the rehabilitation feedback control unit.

An intelligent exoskeleton robot system according to another embodiment of the present invention includes a rehabilitation exercise content storage unit for storing at least one rehabilitation exercise content associated with the rehabilitation exercise; And a display module configured to display the stored rehabilitation content, wherein the rehabilitation feedback control unit controls the display module to display the rehabilitation content corresponding to the rehabilitation exercise of the rehabilitation patient.

delete

delete

delete

delete

delete

delete

According to the intelligent exoskeleton robot system of the present invention, it is possible to accurately control the state of the rehabilitation patients or changes in the state generated during the training process to determine the current state of the rehabilitation patients to automatically control the intensity of the rehabilitation exercise.

The intelligent exoskeleton robot system according to the present invention maximizes the rehabilitation effect of not only muscle but also brain feedback by performing rehabilitation in conjunction with a functional electrical stimulation signal according to the form of the rehabilitation exercise as well as physical rehabilitation exercise for the rehabilitation patient. Can be.

The intelligent exoskeleton robot system according to the present invention can be used as an autonomous mobile rehabilitation apparatus, and can simultaneously perform rehabilitation exercises and activities of daily living for the upper and lower extremities of the rehabilitation patients.

The intelligent exoskeleton robot system according to the present invention is capable of actively rehabilitation exercise treatment by grasping the intention of the rehabilitation patient, and can be customized rehabilitation treatment based on the prescription protocol according to the condition and disease of the rehabilitation patient, The immersive rehabilitation exercise can be performed to maximize the rehabilitation effect.

1 is a block diagram of an intelligent exoskeleton robot system according to an embodiment of the present invention.
Figure 2a is a side view of the exoskeleton robot frame according to an embodiment of the present invention, Figure 2b is a perspective view of the exoskeleton robot frame.
3 is a view showing a state in which the rehabilitation patient wearing the exoskeleton robot frame according to an embodiment of the present invention.
4A and 4B are diagrams illustrating motivational rehabilitation content for rehabilitation exercises.
5 is an exemplary view showing an intelligent exoskeleton robot frame connected to a mobile auxiliary trailer for assisting rehabilitation exercise according to an embodiment of the present invention.
Figure 6 is an exemplary view showing a treadmill in conjunction with the intelligent exoskeleton robot system of the present invention.
7 is a view showing a control method of the intelligent exoskeleton robot system according to an embodiment of the present invention.

Hereinafter, a detailed description of a preferred embodiment of the present invention will be described with reference to the accompanying drawings. In the following description of the present invention, detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear.

In the present specification, when one component 'transmits' data or a signal to another component, any one component may directly transmit data or a signal to another component, and at least one other component. This means that data or a signal can be transmitted to other components through the APC.

1 is a block diagram showing an intelligent exoskeleton robot system of the present invention. First, as shown in Figure 1, the intelligent exoskeleton robot system according to the present invention is an exoskeleton robot frame 1, rehabilitation measurement unit 2, rehabilitation feedback control unit 3, FES (functional electrical stimulation) signal generator (4), the power supply unit 5, rehabilitation exercise medical terminal 6, rehabilitation exercise diagnostic server (7), rehabilitation exercise content storage unit 8, display unit 9 and the medical information system 10 Can be.

The exoskeleton robot frame 1 includes an upper limb motion module 100, a lower limb motion module 200, and an intermediate module 300. The exoskeleton robot frame 1 is designed as an upper and lower integrated multi-degree exoskeleton mechanism to generate power for following motion of the upper and lower joints. Is driven by an electric motor to perform the rehabilitation of the rehabilitation patient.

The rehabilitation exercise measuring unit 2 is composed of the biomechanical capacity measuring module 400, the exercise capacity measuring module 500, and the biosignal measuring module 600, and measures the rehabilitation exercise amount and the biosignal generated during the rehabilitation exercise of the rehabilitation patient. It can be measured.

The biomobility measuring module 400 is to measure electromyography, impedance, and electroencephalogram of the rehabilitation patient, and when the rehabilitation patient tries to start the rehabilitation exercise, the motion and exercise intention of the rehabilitation patient You can measure the hold. In case of EMG, the force is predicted through fast Fourier transform (FFT) and spectrogram through Envelop, and in case of impedance, the impedance change between two different points of the body is used to convert the rotation angle of the joint to the relaxation angle of the muscle. . In addition, EEG uses the P300 signal that appears 300ms before the movement of the muscle. Therefore, it is possible to predict the motion of the muscle by measuring the force of the muscle by impedance and measuring the movement (angle) of the muscle by the brain wave (P300 signal).

The exercise capacity measuring module 500 measures the physical exercise amount of the rehabilitation patient using an accelerometer, a gyro and a force sensor. The exercise capacity measurement module 500 may be directly attached to the rehabilitation patient or mounted on the exoskeleton robot frame 1.

In the biosignal measurement module 600, during rehabilitation of a rehabilitation patient, electrocardiogram (ECG, for example, heart load state, arrhythmia, heart rate, etc.), oxygen saturation (SpO2), resp., Body temperature (Temp) and Non-invasive blood pressure (NIBP) is measured to measure the exercise load and fatigue of current rehabilitation patients.

The rehabilitation feedback control unit 3 compares the rehabilitation exercise amount and the biosignal of the rehabilitation patient measured by the rehabilitation exercise measuring unit 2 with the rehabilitation exercise prescription data, and according to the result of the comparison, the rehabilitation feedback control unit 3 The weight of the upper limb motion module 100 and the lower motion module 200 of the exoskeleton robot frame 1 driven is increased or reduced to adjust the amount of rehabilitation of the rehabilitation patient.

The FES signal generator 4 attaches to the upper and lower extremity FES stimulation sites for functional electrical stimulation and generates FES signals wirelessly or wired. Therefore, by applying electrical stimulation similar to the central nerve at the point of motion that dominates the paralyzed muscles, it is possible to perform artificial movement training. In particular, muscle strength-related fibers are stimulated before FES stimulation than fibers related to muscle endurance. Accordingly, the difficulty of maintaining endurance can be solved by selectively stimulating only muscle-related fibers by extracting electrodes and patterns for selective stimulation through a stimulation algorithm including error correction.

The power supply unit 5 supplies power to drive an electric motor configured in the exoskeleton robot frame 1.

The rehabilitation exercise medical terminal 6 wires the rehabilitation prescription data including the rehabilitation exercise information necessary for the rehabilitation patient to perform a customized rehabilitation exercise for the rehabilitation patient by the exoskeleton robot frame 1 to the exoskeleton robot frame 1 or Transmit wirelessly. This rehabilitation prescription data includes the type of rehabilitation exercise for the rehabilitation patient, the intensity of the rehabilitation exercise and the duration of the rehabilitation exercise. In addition, the rehabilitation prescription data includes data on cerebrovascular indices and cerebral blood flow, as well as measurement data such as open / non-invasive blood pressure related to cardiovascular, pleth waveforms related to peripheral blood vessels, brain waves, and family history and lifestyle. It may further include information obtained by plurally analyzing a parameter related to data.

The rehabilitation exercise diagnosis server 7 receives the rehabilitation exercise amount of the rehabilitation patient measured by the rehabilitation exercise measurement unit 2 and the bio-signals and the rehabilitation exercise prescription data of the rehabilitation exercise medical terminal 6 in real time to receive rehabilitation information of the rehabilitation patient. The rehabilitation exercise diagnosis server 7 feeds the analyzed rehabilitation information back to the rehabilitation exercise medical terminal 6 as updated rehabilitation prescription data. Therefore, it is possible to maximize the effect of the patient-specific rehabilitation exercise based on the updated rehabilitation prescription data.

The rehabilitation contents storage unit 8 stores a plurality of rehabilitation contents according to the form of the rehabilitation exercises to interlock with the rehabilitation exercises, and the contents stored in the rehabilitation contents storage unit 8 correspond to the rehabilitation exercises of the rehabilitation patients. The rehabilitation exercise content is displayed through the display unit 9 worn on the rehabilitation patient such as a monitor or a headset type. Therefore, the rehabilitation patient can perform the immersive rehabilitation exercise by the virtual reality can maximize the rehabilitation effect.

In addition, although the external medical information system 10 such as a medical institution or a public health center shares the rehabilitation information of the rehabilitation patient from the rehabilitation exercise diagnosis server 7 via a network such as the Internet, it is not illustrated, but it is a personal terminal, for example, a home personal. By interworking with a portable terminal such as a computer or a smartphone, a function of U-Healthcare (Ubiquitous Healthcare) can be performed.

Figure 2a is a side view of the exoskeleton robot frame according to an embodiment of the present invention, Figure 2b is a perspective view of the exoskeleton robot frame, Figure 3 is a view showing a state in which the rehabilitation patient wearing the exoskeleton robot frame according to the embodiment of the present invention. .

1 to 3, the exoskeleton robot frame 1 includes an upper motion module 100, a lower motion module 200, an intermediate module 300, and a control module 310.

The upper limb motion module 100 is a pair of upper and lower limb fixing parts 101, upper arm supports 103a and 103b for guiding the upper arm of the rehabilitation patient 700, and lower arm support for guiding the lower arm of the rehabilitation patient 700. And 106a and 106b and the handle support 109.

The upper limb fixing part 101 and the upper arm support 103a are connected to the shoulder joint driving unit 102 which rotates the upper arm supporting members 103a and 103b at a predetermined angle with respect to the upper limb fixing part 101. Therefore, the rehabilitation exercise for strengthening the shoulder muscles and joints of the rehabilitation patient through the operation of raising and lowering the arm of the rehabilitation patient.

The upper arm support 103b and the lower arm support 106a are connected to the elbow joint drive part 105 which rotates the lower arm support 106a, 106b at a predetermined angle with respect to the upper arm support 103a, 103b. 106b and the handle support 109 are connected to the wrist joint drive 108 which rotates the handle support 109 at a predetermined angle with respect to the lower arm supports 106a and 106b. Therefore, the rehabilitation exercise for strengthening the muscles and joints of the elbows and wrists of the rehabilitation patients can be performed by raising and lowering the lower arms and hands of the rehabilitation patients.

 The shoulder joint drive unit 102, the elbow joint drive unit 105, and the wrist joint drive unit 108 are configured by any one of an AC motor, a DC motor, or an ultrasonic motor, and are supplied with power to be controlled by the rehabilitation exercise feedback control unit 3. Generates power for weighting or reducing the operating load. Therefore, the rehabilitation patient may perform an efficient upper limb rehabilitation exercise through the upper limb motion module 100.

 The upper arm length adjusting part 104 is formed between the upper arm support 103a and the upper arm support 103b, and the lower arm length adjusting part 107 is formed between the lower arm support 106a and the lower arm support 106b, respectively. The length of the support may be adjusted to correspond to the arm length of the patient 700.

 The driving range of the upper limb motion module 100 is to design the range of upper limb motion as shown in Table 1 by analyzing the rotation of the elbow bend / 폄, wrist bent / 폄, and shoulder up / down, etc. As shown in Table 2, the driving range of the upper limb motion module 100 may be designed by analyzing standard upper limb muscle strength measurement data.

The lower limb motion module 200 includes a pair of left and right lower limbs 201, thigh supports 203a and 203b for guiding the thigh of the rehabilitation patient, calf supports 206a and 206b for guiding the calf of the rehabilitation patient, and the rehabilitation patient. It consists of a footrest 209 to support the sole of the. The lower leg fixing part 201 and the thigh support 203a are connected to the hip joint driving part 202 such that the thigh supporting members 203a and 203b rotate with respect to the lower leg fixing part 201 at a predetermined angle. The thigh support 203b and the calf support 206a are connected to the knee joint drive unit 205 such that the calf supports 206a and 206b rotate at a predetermined angle with respect to the thigh support 203a and 203b, and the calf support 206b. The footrest 209 is connected to the ankle drive 208 such that the footrest 209 rotates at an angle with respect to the calf zones 206a and 206b.

The hip joint driver 202, the knee joint driver 205, and the ankle joint driver 208 are composed of any one of an AC motor, a DC motor, and an ultrasonic motor, and are supplied with power to control the operation load under the control of the rehabilitation feedback controller 3. Generates power for weighting or reduction. Therefore, the rehabilitation patient wearing the lower limb motion module 200 may perform a rehabilitation exercise to strengthen the hips, knees and ankles and each muscle through operations such as walking and sitting / standing.

The thigh length adjustment part 204 is formed between the thigh support 203a and the thigh support 203b, and the calf length adjustment part 207 is formed between the calf support 206a and the calf support 206b, respectively. The length of the support can be adjusted to correspond to the length of the legs.

The driving range of the lower limb motion module 200 is to analyze the bending / knee of the knee, the bending / knee of the ankle, and the rotational motion of the ankle to design the range of the lower limb motion as shown in Table 3, and as shown in Table 4, Similarly, for example, the driving range of the lower limb motion module 200 may be determined by analyzing the motion motion according to the time of both lower limbs and dynamic analysis of the movement of each joint joint according to the lower limb motion during general walking. Can be designed.

Intermediate module 300 is mounted on the left and right shoulders of the rehabilitation patient shoulder guides (302a, 302b) for guiding the chest and back of the rehabilitation center and the waist support 301 in the form of a belt to act as a skeleton center the pelvis of the rehabilitation patient It is configured to be fixed to the waist circumference. In addition, the front and rear of the shoulder support (302a, 302b) is formed with upper body length adjusting portion (303a, 303b) to correspond to the upper body length of the rehabilitation patients, respectively, upper limb fixing portion 101 is detachable to the shoulder support (302a) It is mounted so that it is possible, and the lower part fixing part 201 is also detachably attached to the waist support 301. Therefore, for a rehabilitation patient requiring only upper limb rehabilitation exercise, perform a rehabilitation exercise in a state in which the upper limb motion module 100 and the intermediate module 300 are combined, and for a rehabilitation patient requiring lower limb rehabilitation exercise, the lower limb motion module 200. Combined with only the middle module 300 can perform a rehabilitation exercise.

In addition, the rear side of the shoulder support (302a, 302b) is equipped with a control module 310, the control module 310, rehabilitation feedback control unit 3, power supply unit 5, rehabilitation content storage unit 8 And a user interface, such as a communication interface and various switches that can perform a wireless or wired communication with the rehabilitation exercise medical terminal (6) or the external rehabilitation exercise diagnosis server (7).

As shown in FIG. 3, when the rehabilitation patient 700 wears the exoskeleton robot frame 1, the upper limb motion module of the exoskeleton robot frame 1 may be fixed to the upper and lower limbs of the rehabilitation patient 700. The upper arm fixing portion (130a, 130b) and the lower arm fixing portion (160a, 160b) is detachably mounted to the 100, the lower motion module 200, thigh fixing portion (230a, 230b) and calf fixing portion (260a and 260b) are each detachably mounted.

Although not shown in each of the fixing unit (130a, 130b, 230a, 230b, 260a and 260b), it is okay to mount a sensor to measure the bio-signal of the rehabilitation patient 700. The sensor capable of measuring the biosignal may measure various biosignal information, such as an angle information sensor, a biosignal sensor, a current sensor, and a phase force sensor, and transmit the measured value to the rehabilitation feedback feedback controller 3.

In addition, each joint driving unit of the robot frame 1 may be provided with a variable stopper to adjust the movable range according to the symptoms of the rehabilitation patient, or by attaching an accelerometer, a gyro, a force sensor, and the like. Physical momentum can be measured.

Joint structure of the exoskeleton robot frame according to an embodiment of the present invention, although not shown, for the joint configuration for simulating human motion, is composed of an active type driven by a motor and a passive type using a spring or a bearing, active type and passive By combining the joints of the type it is possible to implement a natural human joint motion.

4A and 4B are diagrams illustrating motivational rehabilitation content for rehabilitation exercises.

4A and 4B, the rehabilitation content shown in FIG. 4 is output through the display device 710 in the form of glasses worn by the rehabilitation patient 700 in FIG. 3.

First, in FIG. 4A, reference numeral 721 denotes a character of a rehabilitation patient, reference numeral 722 denotes a virtual trainer, reference numeral 723 denotes a profile distance bar, reference numeral 724 denotes a movement speed of the rehabilitation patient, and reference numerals 725 and 726. Reference numeral 727 denotes a guide window when the profile upper limit and lower limit are indicated.

When the rehabilitation patient 700 performs an exercise such as walking in accordance with the movement of the virtual trainer 722 shown on the content screen 720, the character 721 moves to the walking speed of the rehabilitation patient 700. Move on. In addition, while the rehabilitation patient 700 performs the rehabilitation exercise, various information, for example, a moving speed and a moving distance, are displayed on the content screen 720.

In addition, at 4b, reference numeral 731 denotes a rehabilitation patient character, reference numeral 732 denotes a movement progress direction, reference numerals 733a to 733f denote items, and reference numeral 734 denotes an intensity indication indicating weighting or reduction of an operating load.

When the rehabilitation patient 700 moves along the movement progress direction 732, the character 731 on the screen 730 moves in the same way, and the arm is raised / lowered or sat down to acquire the item displayed on the screen 730 during the movement. By repeating the movement of the clerk, etc., the effect of the rehabilitation exercise can be obtained.

In addition, as an incentive rehabilitation exercise content, for example, by moving things that support exercise functions in daily life, picking up cups, pouring TV, turning on windows, cleaning windows, etc. Various programs such as blocking the soccer ball, popping a moving balloon, and swimming motion can be provided in conjunction with rehabilitation prescription data.

Therefore, the immersive rehabilitation exercise by virtual reality can be performed using the motivational rehabilitation exercise contents, thereby maximizing the rehabilitation effect.

Figure 5 is an exemplary view showing an intelligent exoskeleton robot frame connected to a mobile auxiliary trailer for assisting rehabilitation exercise according to an embodiment of the present invention, Figure 6 is an exemplary view showing a treadmill in conjunction with the intelligent exoskeleton robot system of the present invention.

First, as shown in Figure 5, the mobile auxiliary trailer 800 is connected to the intermediate module 300 of the rehabilitation robot frame 1 is fixed to the robot frame support 810 capable of height adjustment to support the robot frame (1) And a pair of driving wheels 820 driven by power to assist movement during rehabilitation of the rehabilitation patient 700 and a plurality of driven wheels 830 to assist in changing the direction and movement of the auxiliary trailer 800 for movement. .

In addition, the mobile auxiliary trailer 800 is provided with a control module 310 to control the exoskeleton robot frame 1 worn by the rehabilitation patient 700 through the robot frame support 810, each of the exoskeleton robot frame (1) The joint drive (102, 105, 108, 202, 205, 208) is controlled to perform an increase or decrease in the operating load. In particular, the exoskeleton robot frame 1 is supported by the mobile auxiliary trailer 800 for a rehabilitation patient 700 such as an elderly person or a disabled person who has a weak muscle strength, which is bulky or heavy, so that the rehabilitation exercise can be performed more easily. .

The rehabilitation patient 700 wearing the exoskeleton robot frame 1 using the mobile auxiliary trailer 800 may perform rehabilitation exercises such as sitting / standing, walking and reversing walking on a flat surface.

6 is an exemplary diagram in which the exoskeleton robot frame 1 connected to the mobile auxiliary trailer 800 performs a rehabilitation exercise for the rehabilitation patient 700 in synchronization with the treadmill 900. As shown in FIG. 6, the mobile auxiliary trailer 800 is connected to the control module 310 of the rehabilitation robot frame 1 in a fixed state to support the exoskeleton robot frame 1.

The rehabilitation patient 700 wearing the exoskeleton robot frame 1 supported by the mobile auxiliary trailer 800 performs a rehabilitation exercise such as flat walking and inclined walking using a treadmill 900 such as a treadmill as an exercise machine. do.

The treadmill 900 moves the bottom surface 910 at a certain speed when the designated speed is input through the input means 920 having a plurality of input keys, and the rehabilitation patient 700 has the exoskeleton robot frame 1 fixed thereto. It is supported by the mobile auxiliary trailer 800 performs a continuous walking training through the bottom surface 910 is moved in place. In particular, the control module 310 of the exoskeleton robot frame 1 communicates with the treadmill 900 by wire or wirelessly to synchronize the operation of the treadmill 900. In this case, the moving speed of the bottom surface 910 is variable according to the rehabilitation exercise amount of the rehabilitation patient 700 fed back by the control module 310. In addition, the control module 310 synchronized with the treadmill 900 controls the height (tilt) of the bottom surface 910 so that the rehabilitation patient 700 performs the operation of the treadmill 900 to perform the rehabilitation movement through the inclined walking. Can be controlled.

Therefore, the intelligent exoskeleton robot system of the present invention is characterized in that it can perform various rehabilitation exercises such as flat sitting / standing, walking, reversing walking and inclined walking for the rehabilitation patient in conjunction with the mobile auxiliary trailer and the treadmill.

7 is a view showing a control method of the intelligent exoskeleton robot system according to an embodiment of the present invention.

1 to 4, the exoskeleton performing upper and lower rehabilitation exercise worn by the rehabilitation patient 700 wearing the rehabilitation exercise prescription data including the rehabilitation exercise information necessary for the rehabilitation patient 700 in the rehabilitation exercise medical terminal 6 The robot frame 1 is transmitted to the robot frame 1 (S101). Rehabilitation prescription data includes the type of rehabilitation exercise, the intensity of the rehabilitation exercise and the duration of the rehabilitation exercise.

The exoskeleton robot frame 1 receives power from the power supply unit 5 so as to perform a rehabilitation exercise for the rehabilitation patient 700 based on the transmitted rehabilitation exercise prescription data (S102). In addition, the rehabilitation feedback control unit 3 may output the motivational rehabilitation exercise content in conjunction with the rehabilitation exercise to the display device (8) (S103). In addition, by controlling the functional electrical stimulation (FES) signal generator according to the rehabilitation exercise form of the rehabilitation patient 700 generates a functional electrical stimulation signal (S104).

 Subsequently, while the rehabilitation exercise is performed by the exoskeleton robot frame 1, the rehabilitation exercise measuring unit 2 measures the rehabilitation exercise amount for the rehabilitation patient 700 (S105) and at the same time, the biosignal of the rehabilitation patient 700. It is measured (S106).

The rehabilitation exercise amount and the biosignal measured by the rehabilitation exercise measuring unit 2 are transmitted to the rehabilitation exercise feedback control unit 3 (S107), and the rehabilitation exercise feedback control unit 3 transmits the rehabilitation exercise amount of the rehabilitation patient and the bio signal. Rehabilitation exercise prescription data is compared (S108). According to the comparison result, the rehabilitation feedback control unit 3 increases or decreases the operating loads of the upper and lower motion modules 100 and 200 of the exoskeleton robot frame 1 driven by the power, thereby rehabilitation patients. Adjust the rehabilitation exercise amount, exercise intensity exercise duration and the like (S109).

Thereafter, the rehabilitation exercise prescription data of the rehabilitation exercise medical terminal 6 is transmitted to the rehabilitation exercise diagnosis server 7 (S110), and the rehabilitation exercise amount and the living body of the rehabilitation patient 700 measured by the rehabilitation exercise measuring unit 2. The signal is also transmitted to the rehabilitation exercise diagnosis server (7). The rehabilitation exercise diagnosis server 7 analyzes the rehabilitation exercise amount and the bio-signal and the rehabilitation exercise prescription data of the transmitted rehabilitation patient 700 (S112), and then updates the rehabilitation information analyzed in the rehabilitation exercise medical terminal 6. By feedback (S113) to the exercise prescription data, it is possible to tailor the rehabilitation exercise for the rehabilitation patient 700.

Therefore, according to the present invention as described above, in order to prevent muscle degeneration of the upper and lower extremities of the elderly and the disabled, muscle strength recovery, strength strengthening, the classification and exercise / rehabilitation prescription protocols for each subject group are first prepared and the exercise / rehabilitation evaluation method is established. Then, by designing and implementing the exoskeleton motion control mechanism based on upper and lower extremity movement mechanism, mathematical human model and computerized biometric model, the user's sense and intention grasp function, biofeedback based rehabilitation training program and optimized interest-induced type of user's condition Apply personalized rehabilitation training content.

In addition, preferred embodiments of the present invention are disclosed for the purpose of illustration, those skilled in the art will be able to various modifications, changes, and additions within the spirit and scope of the present invention, such modifications, changes and additions are the scope of the claims Should be seen as belonging to.

1: exoskeleton robot frame 2: rehabilitation measurement unit
3: rehabilitation feedback control unit 4: FES signal generator
5: power supply unit 6: rehabilitation exercise medical terminal
7: rehabilitation exercise server 100: upper limb motion module
200: not motion module 300: intermediate module
400: biomechanical capacity measurement module 500: exercise capacity measurement module
600: biological signal measuring module 800: mobile auxiliary trailer
900: treadmill

Claims (20)

In the intelligent exoskeleton robot system,
An exoskeleton robot frame worn on upper and lower limbs of a rehabilitation patient and driven by power to perform upper and lower rehabilitation of the rehabilitation patient;
A rehabilitation exercise medical terminal for transmitting rehabilitation exercise prescription data including rehabilitation exercise information necessary for the rehabilitation patient so that the rehabilitation exercise is performed by the exoskeleton robot frame to the exoskeleton robot frame;
A rehabilitation exercise measuring unit configured to measure the rehabilitation exercise amount of the rehabilitation patient and the biosignal of the rehabilitation patient generated during the rehabilitation exercise while being performed in the exoskeleton robot frame based on the rehabilitation exercise prescription data;
The rehabilitation exercise amount of the rehabilitation patient measured by the rehabilitation exercise measuring unit and the bio-signal and the rehabilitation exercise prescription data is compared and according to the result of the comparison to increase or decrease the power load of the exoskeleton robot frame rehabilitation exercise amount of the rehabilitation patient Rehabilitation feedback control unit to adjust the; And
A rehabilitation exercise diagnosis server for receiving the rehabilitation exercise amount and the bio-signal of the rehabilitation patient measured by the rehabilitation exercise measuring unit and the rehabilitation exercise prescription data of the rehabilitation exercise medical terminal, respectively, and analyzing the rehabilitation information of the rehabilitation patient; Configured by
The exoskeleton robot frame,
The left and right pair of upper limb fixing portion, the upper arm support for guiding the upper arm of the rehabilitation patient, the lower arm support and the handle support for guiding the lower arm of the rehabilitation patient, the upper limb fixing portion and the upper arm support is the upper limbs A second articulation drive connected to a first articulation drive to rotate the upper arm support at a predetermined angle with respect to the government, and the upper arm support and the lower arm support to rotate the lower arm support at a predetermined angle with respect to the upper arm support. Is connected to the lower arm support and the handle support is connected to the third joint drive for rotating the handle support at a predetermined angle with respect to the lower arm support upper limb motion module for performing the upper limb rehabilitation of the rehabilitation patient;
A pair of left and right lower limbs, thigh support for guiding the thighs of the rehabilitation patient, a calf support and a footrest for guiding the calf of the rehabilitation patient, the lower limbs fixing portion and the thigh support relative to the lower limbs fixing portion The thigh support is connected to a fourth joint drive for rotating the thigh support at a predetermined angle, and the thigh support and the calf support are connected to a fifth joint drive to rotate the thigh support at a certain angle with respect to the thigh support. A lower limb motion module connected to the calf zone and the footrest by a sixth articulation drive that rotates the footrest at a predetermined angle with respect to the calfridge to perform lower leg rehabilitation of the rehabilitation patient;
An intermediate module mounted on the left and right shoulders of the rehabilitation patient and configured as a pair of shoulder supports for guiding the chest and the back of the rehabilitation patient and a waist support surrounding the waist of the rehabilitation patient; And
And a control module mounted to the intermediate module to control an operation of the exoskeleton robot frame.
The upper limb motion module, the lower limb motion module, and the control module are detachably mounted to the intermediate module, and the first to sixth articulation drives generate power by power supplied from a power supply to the upper and lower limbs of the rehabilitation patient. Intelligent exoskeleton robot system, characterized in that to perform a rehabilitation exercise.
According to claim 1, The rehabilitation exercise measuring unit,
A biomobility measuring module for predicting exercise information by measuring electromyography, impedance, and electroencephalogram of the rehabilitation patient;
An exercise capacity measuring module for measuring physical exercise of the rehabilitation patient, including an acceleration sensor, a gyro or a force sensor; And
And a biosignal measurement module for measuring the ECG, oxygen saturation (SpO 2), respiration and body temperature (Temp) of the rehabilitation patient to calculate exercise load and fatigue for the rehabilitation patient. An intelligent exoskeleton robotic system.
The method of claim 1,
The rehabilitation information analyzed by the rehabilitation exercise diagnostic server is fed back to the rehabilitation exercise medical terminal as updated rehabilitation prescription data, intelligent exoskeleton robot system.
The method of claim 1,
Intelligent exoskeleton robot system further comprising; a functional electrical stimulation signal generator for generating a functional electrical stimulation (FES) signal in accordance with the rehabilitation exercise pattern of the rehabilitation patient.
The method of claim 1,
The rehabilitation exercise prescription data includes the type of rehabilitation exercise, the intensity of the rehabilitation exercise and the duration of the rehabilitation exercise intelligent exoskeleton robot system.
The method of claim 1,
The rehabilitation exercise medical terminal intelligent exoskeleton robot system, characterized in that for transmitting the rehabilitation prescription data to the rehabilitation feedback control unit by wire or wireless.
delete The method of claim 1,
Intelligent upper exoskeleton robot system, characterized in that the upper arm support and the lower arm support, the upper arm length adjusting portion and the lower arm length adjusting portion are formed to correspond to the arm length of the rehabilitation patient, respectively.
The method of claim 1,
Intelligent thigh length robot system, characterized in that the thigh length and calf length adjustment portion is formed to correspond to the leg length of the rehabilitation patient in the thigh support zone and the calf zone, respectively.
The method of claim 1,
Intelligent exoskeleton robot system, characterized in that the upper body length adjustment portion is formed on the front and rear of the shoulder support to correspond to the upper body length of the rehabilitation patient.
The method of claim 1,
Intelligent exoskeleton robot system, characterized in that the first to sixth joint drive unit is driven by any one of an AC motor, a DC motor or an ultrasonic motor.
The method of claim 1,
And a mobile auxiliary trailer connected to the intermediate module to support the exoskeleton robot frame and to assist the movement of the rehabilitation patient wearing the exoskeleton robot frame.
The mobile auxiliary trailer is an intelligent exoskeleton robot system, characterized in that for assisting the operation of the exoskeleton robot frame to perform any one of the flat sitting / standing or walking movement for the rehabilitation patient.
13. The method of claim 12,
And a treadmill including a bottom surface moving at a predetermined speed to perform a walking or inclined walking movement as a rehabilitation exercise in a fixed position with respect to the rehabilitation patient wearing the exoskeleton robot frame.
The treadmill is synchronized with the exoskeleton robot frame is intelligent exoskeleton robot system, characterized in that the movement speed of the bottom surface is controlled by the rehabilitation feedback feedback control unit.
According to claim 1, wherein the intelligent exoskeleton robot system,
A rehabilitation exercise content storage unit for storing at least one rehabilitation exercise content associated with the rehabilitation exercise; And
And a display module configured to display the stored rehabilitation content.
And the rehabilitation feedback feedback control unit controls the display module to display the rehabilitation content corresponding to the rehabilitation exercise of the rehabilitation patient.
delete delete delete delete delete delete

Images