KR20180008135A - Gait training system utilizing tva sense - Google Patents

Abstract

The present invention relates to a gait training system which utilizes multiple senses that can be trained by a patient in various environments through enhanced sensing information of sense of vision, hearing, and touching, which are crucial for balancing and walking during a gait training of a patient with impaired central nervous system.

Description

{GAIT TRAINING SYSTEM UTILIZING TVA SENSE}

The present invention relates to a gait training system. Specifically, the present invention relates to a gait training system. More specifically, the present invention relates to a gait training system comprising three senses such as tactile, visual, auditory, The present invention relates to a gait training system that utilizes multiple senses that can be trained by a patient in various environments through information.

Walking training for rehabilitation purposes is performed for a variety of patients including stroke, cerebral palsy, cerebellar injured patients, spinal cord injured patients, Parkinson's disease, and patients with central nervous system injuries and musculoskeletal disorders have.

In order to perform important body balance, gait and functional movements in such gait training, there is a need for active movement and training that induces the subjects to perform themselves in various environments that can be encountered in daily life, rather than passive movement or training. Only the movement of neurons related to motor regulation can bypass the new connection, neural plasticity and neural tissue reconstruction can be. (Neurogenic: a neuroscientific term that suggests the possibility of rehabilitation as new nerve sprouts grow to the side of injured neurons, although the central nerves of injured brain are not regenerated and recovered, unlike peripheral neurons)

In general, the mechanisms and mechanisms of the promotion of neuroplasticity are as follows. (1) the selection of information by focusing attention on sensory information above the threshold received through the peripheral nervous system, (2) the primary processing of information through systematization, (3) the processing of information by transmitting it to functional areas in each part of the brain, (5) withdrawing the program from the long-term memory, (5) establishing the exercise strategy based on the sensory information input through the brain's cooperative area, the learned exercise pattern of the past, and the relationship with the space-time variables, (feedback)

The following is an example of this process. ① Drinking water in front ② → ③ Recognizing it as a concentration and a cool drink → ④ Recalling the long-term memory of the exercise strategy that used to drink water from the cup in the past ⑤ Recognizing that the external variable is a can- Variable) → Modify the strategy that was set in the brain by substituting variables of the program and environment that were recalled → Establish a movement strategy to catch the cup by widening the hand more → ⑥ Exercise → → Strategic correction → Functional movement

In other words, in the situation of active movement by oneself, various sensory information and sense integration over the threshold, past learned motion strategy, external information due to sense integration, existing exercise strategy, .

However, a common brain injury patient may be unaware of this by accepting extrinsic information when he or she perceives and integrates the senses and damages the brain area, so it does not know whether or not it touches the cup. This can not be accomplished by a functional behavioral strategy and implementation by separating and analyzing the visual cup, the visual and auditory information of the cup when touched.

In addition, there may be cases where it is impossible to perform with frontal lobe impairment in the absence of behavioral strategies, without knowing how to move, and with sensory integration and behavioral strategies due to primary motor impairment.

In the end, it is necessary to strengthen the existing senses in the rehabilitation training of the brain (central nervous system) injured patients, but the currently developed and introduced training tools are insufficient to utilize enhanced sense information, It is a fact that it is not appropriate to carry out training.

Japanese Unexamined Patent Application Publication No. 2009-119066 (Jun. 4, 2009) Japanese Patent Application Laid-Open No. 2005-34568 (2005.02.10.)

SUMMARY OF THE INVENTION The present invention has been made in order to solve the above problems, and it is an object of the present invention to provide a method and apparatus for enhancing training efficiency through enhanced sense information of visual, auditory, and tactile senses, And to provide a gait training system that utilizes multiple senses that can be trained by oneself.

According to another aspect of the present invention, there is provided a gait training system comprising: a wearable part that can be worn on a body or an assistive device of a subject; and a gait generation indicator that corresponds to the movement of the left and right feet for walking, A footprint unit having a first light source and a second light source formed on a bottom surface through light, and a position control unit controlling the output positions of the first light source and the second light source, respectively; A feedback unit including a sensing unit for sensing that the subject's feet make contact with the gait inducing marker, and a stimulation unit for applying a physical stimulus to the subject according to the sensing result of the sensing unit; A controller for sequentially controlling the first light source and the second light source by reflecting the detection result of the sensing unit so that the subject is walked; .

A first mode in which a rhythm auditory signal of a set period is generated and a control signal of the first and second light sources is generated and applied to the control unit according to the generated rhythm auditory signal or a first mode in which the auditory guidance signal A mode selection unit for selecting a second mode for generating a rhythm auditory signal or an auditory guidance signal according to the selection of the mode selection unit; .

In addition, a pair of supporting members, each having a pair of first wheels formed at the lower end thereof, a handle formed at the upper end thereof and a second wheel formed at the rear end thereof, are protruded from both sides of the body. And a speed sensor unit for measuring a traveling direction and a rotating speed of the main body; The control unit may further include an alignment unit for controlling the position adjustment unit by analyzing the detection result of the speed sensor unit.

In addition, the feedback unit may include a motion sensor unit configured to detect motion of three axes by combining an acceleration sensor and a gyro sensor, and a load sensor unit configured to sense a load applied from a foot of the subject, And an alignment unit for analyzing the detection results of the operation sensor unit and the load sensor unit and controlling the position adjustment unit.

The controller may include a storage unit configured to store the detection result of the sensing unit as training information according to time, and an analysis unit configured to generate analysis information in which the training information stored in the storage unit is compared in chronological order, And an interface unit for outputting the analysis information.

Through the present invention, it is possible to provide a variety of subjects in which gait training is required, especially those suffering from central nervous system injuries, which have difficulty in balancing and walking, and persons requiring gait training due to musculoskeletal diseases and surgery, By expanding to life, community rehabilitation training can be expanded through community training, and effort and cost can be reduced through enhanced multi - sensory training that affects correct walking.

In addition, it can be expected to recover quickly and to return to daily life because the nerve material organization that promotes 'neuron reversibility' is created, which bypasses the damaged brain area and produces neurotransmission pathways of different pathways.

1 is a conceptual diagram of the present invention,
2 is a use state diagram according to a preferred embodiment of the present invention,
3 is a use state diagram according to a modified embodiment of the present invention,
4 is a block diagram illustrating a configuration and a connection relationship according to a preferred embodiment of the present invention.
5 is a block diagram illustrating a configuration and a connection relationship according to another embodiment of the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the configuration of a gait training system utilizing the multiple senses of the present invention will be described in detail with reference to the accompanying drawings.

FIG. 1 is a conceptual diagram of the present invention. The present invention is a system for performing gait training through reinforced multi-sensory information using visual, auditory, and tactile sensation to patients suffering from the brain (central nervous system).

For example, in a hemiplegic patient who fails to get a normal gait but does not have a uniform weight on both legs, the therapist typically instructs the patient how far to stretch his legs, If you do not follow well, you can open your legs directly, or you can train your therapist in a position where you need to step forward.

In this method, the patient is manually rehabilitated by releasing his / her legs. In the present invention, the user visually confirms the place where the user's foot is to be positioned through the visual information, Since it is guided, voluntary and active controlled walking (movement) training by real time visual feedback can be done.

In addition, since walking is rhythmic movement according to the gait cycle, if the gait cycle is constantly induced through the stimulation using the auditory information with rhythm when walking, the automatic gait movement can be drawn. This is the method used in the existing rehabilitation training that the therapist uses for the oral stimulation for the Parkinsonian patient. In this case, the oral stimulation of the therapist is limited only in the treatment room where the therapist is located, but in the present invention, .

In addition, the present invention starts from the close of the heel when the foot is struck due to brain damage. In the present invention, since feedback such as vibration is provided as tactile information when accurate movement occurs, static walking is provided to promote correct walking.

In order to utilize the multi-sensory information including the visual, auditory, and tactile sense, the present invention includes a footprint 110 for visual information, a feedback unit 120 for tactile information, And a controller 130 for controlling the controller 130.

 FIG. 2 is a view illustrating a state of use according to a preferred embodiment of the present invention, and FIG. 4 is a block diagram illustrating a configuration and a connection relationship according to a preferred embodiment of the present invention.

The footprint 110 is a kind of walking navigation for visual information, and outputs a foot print as a walking inducing mark S at a position where the patient should extend his / One light source 113, a second light source 114, and a position adjustment unit 115. [

The wearer 111 is configured to wear the footprint 110 on the body of the person to be trained or the assistant 140. In a preferred embodiment of the present invention, the wearer 111 is configured as a waistband, . In addition, although various body parts may be worn, the training is progressed by walking the walking instruction mark of the subject so that the walking indication mark S can be smoothly formed on the floor, while minimizing movement or shaking of the output mark It is preferable to provide the footprint 110 at the waist of the subject.

As the wearer 111 is in the form of a waistband, the auxiliary handle 112 is provided behind the wearer 111 in preparation for falling over the wearer's body, so that the therapist grips the auxiliary handle 112 during the gait training It is desirable that the safety of the patient's posture can be ensured.

The first light source 113 and the second light source 114 have substantially the same light source and are fixed to the left and right sides of the subject through the wearer 111, A walking guidance mark S corresponding to the movement of the left and right feet for walking is formed on the floor surface. At this time, a laser light source is used for easy identification during the day, and the first light source 113 and the second light source 113 are provided so that the gait induction mark in the form of a sole or footstep (foot) And output through the light source 114, respectively.

The position adjusting unit 115 is configured to control the output positions of the first light source 113 and the second light source 114 and can be manually or automatically adjusted. The first light source 113 and the second light source 114 are separately provided in the first light source 113 and the second light source 114, respectively.

When the wearer 111 is installed on the waist of the subject, the first light source 113 and the second light source 114 basically output light toward the front lower side corresponding to the stride of the user . In this case, the position adjusting unit 115 is constituted by a hinge or the like capable of adjusting the angle in the forward direction, and a difference occurs in the output position according to the physical conditions such as stride or extension of the subject. The output position can be adjusted by appropriately adjusting the angles of the first light source 113 and the second light source 114.

At this time, the light output from the first light source 113 and the second light source 114 is projected to the front side of the body of the subject by a certain distance so as to form a gait induction marker smoothly without being blocked by the leg portion of the subject. It is preferable that one light source 113 and the second light source 114 are formed.

The feedback unit 120 is configured for tactile information. In the present invention, the feedback unit 120 is configured to have a shoe shape to be worn by the subject, and is configured to provide a tactile feedback when the foot is normally touched by a walking- A sensing part 121 and a magnetic pole part 122 are provided.

The sensing unit 121 senses that the subject's foot touches the gait inducing landmark. The feedback unit 120 is formed on the bottom side contacting the ground due to the shape of the shoe, A light sensor or a small camera capable of detecting a light beam.

In other words, as the first light source 113 and the second light source 114 are made of laser light sources, the walking inducing mark S formed on the ground shines much brighter than the surroundings, and the feedback unit The sensing unit 121 including a light sensor or a small camera senses the walking guidance mark S and detects a change in the walking guidance mark S according to the user's footing, It is determined whether or not the foot is well positioned.

The magnetic pole part 122 is composed of vibration means provided in the insole of the shoe-shaped feedback part 120, that is, a miniaturized haptic sensor, and gives vibration feedback as a physical stimulus to the subject's foot. The sensing unit detects vibration and generates vibration. Several studies in the field of rehabilitation training have shown that such plantar vibra- tion stimuli are effective in balancing abilities, which allows the subject to easily perceive the correct walking through tactile stimulation.

The auditory guidance unit 130 is configured to generate a rhythm auditory signal or an auditory guidance signal that the subject can hear and recognize. The auditory guidance unit 130 includes a mode selector 131, an output unit 132 . In the preferred embodiment of the present invention, headphones are used for training concentration while minimizing the influence of ambient noise.

The mode selection unit 131 is configured to select an output pattern of a rhythm auditory signal or an auditory guidance signal according to a training pattern. In the present invention, two modes are basically provided.

The first mode is a mode for outputting a rhythmic auditory signal suitable for a normal walking rhythm. The first mode is for a patient who can walk on his /

At this time, the rhythmic hearing signal is an auditory signal corresponding to the normal walking rhythm, and it is a signal of regularity such as "chuck, chuck, chuck" This means giving a "left foot, left foot" signal or a "one, two, one, two" motion signal to the therapist when the patient is walking, and selects the stored rhythm auditory signal and outputs it at set intervals. Neurological music therapy is also called rhythmic auditory stimulation (RAS).

In the first mode, basically, a rhythm auditory signal having a period set to match the state of the subject is generated, and control signals of the first light source 113 and the second light source 114 are generated according to the generated rhythm auditory signal And then the control unit 150 is applied.

The second mode is a mode for outputting the auditory guidance signal in accordance with the pedestrian's walking on the ground in accordance with the current walking of the subject, and is intended for a gait training patient who is not easy to walk on his own or is far below the normal level.

At this time, the auditory guidance signal basically refers to a sound output when the subject is walking on the ground and a guidance signal for calibrating whether or not the user has normally stepped on the foot.

In the second mode, the auditory guidance signal is generated according to the detection result of the sensing unit 121. When the walking guidance mark is normally pressed, a footstep like the rhythm auditory signal is generated as the auditory guidance signal, In the case of stepping out of the marking, the auditory guidance signal is generated which can recognize the voice to the extent that it deviates to the left, right, front, back, and the like corresponding to the departed direction.

The output unit 132 is a means for outputting sound, and outputs a rhythm auditory signal or auditory guidance signal according to the selection of the mode selection unit. A rhythm auditory signal if the first mode is selected and an auditory guidance signal if the second mode is selected.

The control unit 150 controls the footprint unit 110, the feedback unit 120, and the auditory guidance unit 130 so that the subject can perform a walk, 121, and controls the lighting of the first light source 113 and the second light source 114 so as to cross each other. That is, since the first light source 113 is formed on the left side of the subject and the second light source 114 is formed on the left side of the subject, only the first light source 113 operates in the right foot order, Only the second light source 114 is operated so that the subject can walk continuously without error.

The control unit 150 may be a separate terminal and may be connected to the footprint unit 110, the feedback unit 120, and the auditory information unit 130 in a wired or wireless manner to exchange control signals .

The control unit 150 transmits power supplied from the outside to the footprint unit 110, the feedback unit 120, and the auditory guidance unit 130 and sends and receives a control signal, A power such as a battery is provided to each of the footprint 110, the feedback unit 120 and the auditory guidance unit 130 as well as the control unit 150 to perform short-range wireless communication such as Bluetooth or Zigbee So that data and signals are transmitted. Since the power supply and the communication are related to each other through known means, a detailed description thereof will be omitted in order to prevent the gist of the present invention from being blurred.

3 is a use state diagram according to a modified embodiment of the present invention,

In the preferred embodiment described above, the footprint 110 is worn on the waist of the subject in the form of a waistband. However, since a walker such as a walker or a crutch (crutch) can be used according to the walking ability of the subject, And the footprint unit 110 is installed on the display unit 140. In the present invention, the walking aids 140 are exemplified.

The auxiliary device 140 includes a pair of support members 144 having a pair of first wheels 143 formed at the lower end thereof, a handle 142 formed at the upper end thereof, and a second wheel 145 formed at the rear end thereof, And a body 141 protruding from both sides.

The structure of the body 141 is the same as that of a conventional assistant. In the present invention, a speed sensor 146 for measuring the traveling direction and the rotating speed of the first wheel 143 or the second wheel 145 And it is possible to measure the moving speed of the moving subject using the auxiliary device 140. [ The speed measured through the speed sensor unit 146 may be used for training analysis, including automatic control of the position adjuster 115 in another embodiment of the invention described below.

FIG. 5 is a block diagram illustrating a configuration and a connection relationship according to another embodiment of the present invention. In another embodiment of the present invention, a patient who is a subject visually presses a footprint, i.e., a walking guide mark S, , So that the rhythm auditory signal or the auditory guidance signal is output and the user feels the vibration through the foot-shaped feedback unit 120 worn on the foot.

This is the basic procedure for multi-sensory gait training, and it is practically the same as stepping (supporting), wiggling (wiggling), leg support, left and right gait length and width, left and right gait rate, walking speed, , Symmetry weight distribution and degree of weight, energy consumption, etc. can be applied.

In another embodiment of the present invention, the position adjustment of the walking guidance mark S through the position adjusting unit 115 is automated in accordance with the physical conditions and parameters of the subject, An analysis is performed.

 In the following description, the same reference numerals are given to the same elements as those of the above-described preferred embodiments in order to prevent the gist of the present invention from being blurred.

According to another embodiment of the present invention, the position adjusting units 115 are basically provided with a pair, respectively, and adjust the output positions of the first light source 113 and the second light source 114 in a transmission manner. Specifically, the angle of the first light source 113 and the position of the second light source 114 may be adjusted by utilizing a reco pinion gear together with a servomotor capable of fine control, so that a walking guidance mark can be formed at a desired position .

The feedback unit 120 further includes an operation sensor unit 123 and a load sensor unit 124.

The motion sensor unit 123 detects the inclination of the feedback unit 120 in the forward and backward directions, the tilt in the left and right direction and the progressive movement of the feedback unit 120 using a change in voltage corresponding to the angular velocity change It is also possible to measure walking speed and stride as well as bottom slope and fall.

The load sensor unit 124 is a small-sized pressure sensor that is disposed on the soles of the foot-shaped feedback unit 120 and measures the load applied from the user's foot. So that a precise attitude can be detected.

In another embodiment of the present invention, the control unit 150 further includes an alignment unit 151, a storage unit 152, an analysis unit 153, and an interface unit 154.

The alignment unit 151 analyzes the detection result of the motion sensor unit 123 and the load sensor unit 124 and controls the position adjusting unit 115 to detect a walking guidance marker S) can be formed. In other words, the speed and time according to the walking can be grasped through the action sensor unit 123, and the symmetrical weight load distribution and the degree of symmetry load can be grasped through the action sensor unit 123, By controlling the servomotor provided in the position adjusting unit 115, the optimal walking guidance mark can be formed even if the therapist does not manually adjust the position.

3, the alignment unit 151 may analyze the detection result of the speed sensor unit 146 to form a walking guide mark reflecting the walking speed, The position control unit 115 is controlled.

The analyzing unit 153 analyzes the training information stored in the storage unit 152 in a chronological order and stores the training information stored in the storage unit 152 in chronological order And generates analysis information in comparison with the above.

In other words, analysis information which can visually confirm the training effect through comparative analysis of cumulative pre- and post-information about the weighted load distribution and the main designated items according to the change, including the training time, the accuracy and speed of walking, .

In the present invention, the interface unit 154 outputs the analysis information to enable a subject, a caregiver, a therapist, or the like to identify the input / output means.

Such analysis information may be applied to the subsequent training so as to be reflected in the control command for controlling the first light source 113 and the second light source 114 in the control unit 150 and in the period setting of the rhythm auditory signal.

In other words, in order to promote the walking of the subject, the rhythmical hearing signal period is gradually applied to the rhythm of the normal gait by reflecting the training state, and the gait can be improved naturally but sooner by forming the gait guide mark.

It is to be understood that the invention is not limited to the disclosed embodiment, but is capable of many modifications and variations within the scope of the appended claims. It is self-evident.

110: foot print part 111: wearing part
112: auxiliary handle 113: first light source
114: second light source 115:
120: feedback unit 121: sensing unit
122: magnetic pole part 123: motion sensor part
124: load sensor unit 130: auditory guidance unit
131: mode selection unit 132: output unit
140: orthosis 141: body
142: handle 143: first wheel
144: Support body 145: Second wheel
146: speed sensor unit 150:
151: Arranging section 152:
153: Analysis section 154: Interface section
S: Walking marker

Claims (5)

In the gait training system,
And a walking inducing mark S corresponding to the movements of the left and right feet for walking are respectively formed on the left and right sides of the wearer's body or the auxiliary device 140, A first light source 113 and a second light source 114 which form a first light source 113 and a position control unit 115 which controls output positions of the first light source 113 and the second light source 114, (110);
And a stimulation unit 122 for applying a physical stimulus to the subject according to the detection result of the sensing unit 121. The stimulation unit 122 senses that the subject's foot contacts the gait inducing mark S, (120);
A controller 150 for sequentially controlling the first light source 113 and the second light source 114 to reflect the detection result of the sensing unit 121 so that the subject can walk; And a gait training system using the multiple senses.
The method according to claim 1,
A first mode or a second mode for generating a control signal of the first light source 113 and the second light source 114 according to a generated rhythm auditory signal and applying the control signal to the control unit 150, A mode selection unit 131 for selecting a second mode for generating an auditory guidance signal according to the detection result of the first unit 121 and a second selection unit for outputting a rhythm auditory signal or auditory guidance signal according to the selection of the mode selection unit 131 An auditory guidance unit (130) having an output unit (132) for outputting an audible sound; The gait training system according to claim 1, further comprising:
The method according to claim 1,
A pair of supporting members 144 having a pair of first wheels 143 formed at the lower end thereof and a handle 142 formed at an upper portion thereof and a second wheel 145 formed at the rear end thereof, And a speed sensor unit 146 for measuring a traveling direction and a rotating speed of the first wheel 143 or the second wheel 145. [ Further comprising:
The controller 150 may further include an alignment unit 151 for analyzing the detection result of the speed sensor unit 146 and controlling the position controller 115. [ .
The method according to claim 1,
The feedback unit 120 includes a motion sensor unit 123 configured to detect motion of three axes by combining an acceleration sensor and a gyro sensor, a load sensor unit 124 for sensing a load applied from a foot of the subject, ),
The control unit 150 may further include an alignment unit 151 for controlling the position adjustment unit 115 by analyzing the detection results of the operation sensor unit 123 and the load sensor unit 124. [ A gait - based gait training system.
The method according to claim 1,
The control unit 150 includes a storage unit 152 configured to store the sensing result of the sensing unit 121 as training information in accordance with a time, a storage unit 152 configured to store training information stored in the storage unit 152, An analysis unit (153) for generating analysis information in time order, and an interface unit (154) for outputting the analysis information.

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