KR20220035302A - Rehabilitation exercise device for complex joint exercise for recovery of walking ability - Google Patents

Abstract

The present invention relates to a rehabilitation exercise device for complex joint exercise for the recovery of walking ability, comprising: a base member configured to simultaneously provide knee joint exercise by linear motion and hip joint motion by rotational motion; a driving means formed with a structure in which a reciprocating shaft, a rotary motion shaft and a guide shaft are installed side by side in the longitudinal direction of the base member and the reciprocating shaft and the rotary motion shaft are respectively coupled to motors installed in a housing on one side of the base member; a moving block coupled to the reciprocating shaft and reciprocating in a state supported by the rotary motion shaft and the guide shaft according to the rotation direction of the reciprocating shaft; a thigh support which is coupled to one end of the base member by a joint with one end having three degrees of freedom with respect to the base member; a calf support in which one side of a body is axially coupled to the other side of the thigh support; a foot support coupled to an end of the calf support; and two parallel rods which pass through a body of the moving block to be dependent on the movement of the moving block such that an end of one element is engaged with the rotary motion shaft, an end of the other element is coupled to the guide shaft by means of a slidable pair, and an end of each element is coupled to a body of the calf support with a joint having two degrees of freedom. According to the present invention, a user is capable of simultaneously performing left and right rotational movement and linear reciprocating movement with a single exercise device.

Description

{Rehabilitation exercise device for complex joint exercise for recovery of walking ability}

The present invention relates to a rehabilitation exercise device for the recovery of elderly people, disabled people, and fracture patients whose walking power is weakened due to unit muscle weakness, and more specifically, it can provide simultaneous exercise of the knee joint through linear motion and the hip joint through rotational motion. This relates to a rehabilitation exercise device for complex joint exercise to restore walking ability.

People with reduced walking ability due to weakened unit muscles or surgery are unable to move for long periods of time, so the joints and unit muscles required for walking become weakened and stiff. In particular, since fracture patients are kept immobile for long periods of time in casts or fixators for bone union, sudden movements of the joints and the entire skeleton should not be made after removing the cast or fixator.

Therefore, elderly people who have decreased activity due to weakened walking muscles due to aging, and people whose walking ability has weakened due to unit muscle weakness, need exercises that can continuously increase unit muscle strength, and cannot move for a long period of time after attempting bone union due to a fracture. Patients who do not have the ability to walk should be able to walk without difficulty by gradually exercising their joints.

Walking ability can be improved when the hip, knee, and ankle joints move smoothly, and each of these joints is surrounded by a joint membrane made of soft soft bones and muscles and tendons, so rehabilitation exercise devices to improve walking ability are these. It is required to provide effective movement to the elements.

Conventionally used rehabilitation exercise equipment is designed to effectively improve walking ability by mechanically providing repetitive flexion and extension movements to the joints and gradually restoring muscle strength through passive movement of the joints. It is designed to exercise the joints by providing flexion and extension movements of bending and straightening using a motorized link mechanism.

As presented in US 4,825,852 and US 6,267,735 B1, the mechanism for such continuous passive motion (CPM) consists of a long frame (base), a link joint at one end of the frame, and a pivot structure. A combined thigh support, a calf support connected to a link joint and a pivot structure at the end of the thigh support, a foot support mounted on one end of the calf support, a screw shaft coupled in the longitudinal direction of the base and connected to a motor, and the screw shaft. It consists of a movable part that is coupled to move forward and backward, and a member that connects the movable part and the calf support in a U shape to stabilize it. When the movable part moves forward or backward by a motor, the knee joint is bent and straightened by the movement of the link joint. It is designed to provide joint movement while losing. As such, the general CPM device is an exercise device that focuses on the knee joint, and has the disadvantage of having to use a separate hip joint exercise device for hip joint exercise, which is essential for improving walking ability.

Republic of Korea Patent Registration No. 0386701 and Patent Publication No. 1999-0045112 are a base member, one end of which is rotatably coupled to the base member, and a plurality of parts are hinged so as to be bent and unfolded, so that the user's legs can be placed on it, and a base. It is rotatably coupled around the other end of the member, supports one end of the frame, and is composed of a transport means operated by a motor and a drive means for reciprocating one end of the frame, so that the patient's legs are placed on the frame and the base member is connected to the base member. A hip exercise in which the user's legs are spread by reciprocating one end of the frame with the drive means in a straight line and reciprocating one end of the frame by the drive means to flex and extend the knee joint, and with the drive means rotated from the base member. It is designed to provide the advantage of being able to perform knee exercises and hip (hip joint exercises) separately. However, the hip joint exercise using the above-described device is performed independently after the knee exercise is completed. In light of the principle of osseomuscular exercise, in which walking is possible only when the hip joint, knee joint, and ankle joint are interrelated and move organically, the hip joint exercise and knee joint movement are performed independently. Exercise therapy that involves performing each exercise separately is bound to be inefficient. In addition, the hip joint is a multiaxial structure consisting of the ball-shaped head of the femur and the acetabulum of the socket-shaped pelvic bone surrounding the ball. The femoral head ligament and iliac band surround the hip joint. In order to provide effective rehabilitation exercises for the hip ligaments, multi-axial exercises that twist and rotate the hip joint are most appropriate. However, this device only provides limited directional exercises that spread the legs to the side, thereby improving the overall flexibility of the hip joint and strengthening the muscles. There were limitations in effectively improving the strength of ligament tissue.

The present invention was developed to solve the above-mentioned problems with the rehabilitation exercise equipment presented previously, and strengthens the exercise force and unit muscle strength of the knee joint and hip joint by performing left and right rotational movement and linear reciprocating movement simultaneously or selectively with a single exercise equipment. It was designed with the purpose of enabling it to be carried out effectively.

The present invention includes a base member having a long length, a reciprocating shaft, a rotating shaft, and a guide shaft installed side by side in the longitudinal direction of the base member, and the reciprocating shaft and the rotating shaft are installed in a housing on one side of the base member. A moving block that is coupled to a driving means including a structure coupled to a motor and a reciprocating shaft and reciprocates while supported on the rotation shaft and guide shaft according to the rotation direction of the reciprocating shaft, and the base member at one end of the base member. With respect to the movement of the thigh support, one end of which is coupled with a joint having three degrees of freedom, the calf support, of which one side of the torso is axially coupled to the other end of the thigh support, the foot support, and the moving block coupled to the end of the calf support. The end of one element passing through the body of the moving block so as to be dependent is engaged with the rotation axis, the end of the other element is coupled to the guide axis in a sliding manner, and the end of each element has two degrees of freedom to the body of the calf support. We present a rehabilitation exercise device for complex joint exercise that includes two parallel rods joined by a joint.

In the above structure, the forward and reverse rotation of the reciprocating motor is transmitted to the reciprocating shaft to reciprocate the moving block coupled thereto back and forth, and the movement of the moving block is transmitted to the calf support through the rod, thereby providing a foot support, a calf support, and a thigh support. The upper structure includes a four-part link structure created by the forward and backward reciprocating motion of the rod, generating a bending and stretching movement centered on the axis (knee joint) connecting the calf support and the thigh support. In addition, the forward and reverse rotation of the rotary motion motor is transmitted to the rotary motion shaft to rotate the rod attached to it left and right, thereby rotating the upper structure consisting of the thigh support, calf support, and foot support to the left and right, thereby performing hip joint movement.

Therefore, the present invention controls the motor for reciprocating motion and the motor for rotary motion by a certain control program, so that repetitive flexion and extension motion of the knee joint and rotational motion of the hip joint can be performed respectively, knee joint motion, hip joint motion, and the accompanying motion. By providing the advantage of being able to perform ankle joint exercises simultaneously, rehabilitation exercises to restore walking ability can be performed more efficiently.

The present invention can exercise the knee joint and the hip joint at the same time, and is configured to enable three-dimensional motion in which linear motion and rotational motion are combined, thereby improving exercise effectiveness.

In addition, the present invention consists of a four-part link structure in which the ball screw shaft, rod, and upper structure are connected by two and three degrees of freedom joints, so that linear and rotational movements are smooth and the exercise effect of the hip joint region can be effectively performed. There will be.

Figure 1 is a configuration diagram of a rehabilitation exercise device according to the present invention.
Figure 2 is a detailed structural diagram of the driving means
Figures 3a and 3b are operation state diagrams of flexion and extension exercises.
Figures 4a and 4b are operation state diagrams of rotational movement.

Hereinafter, the present invention will be described in detail through examples illustrated in the attached drawings.

Figure 1 is for illustrating the structure of the present invention. The present invention includes a base member 10 for supporting all components, a reciprocating motion element 20 and a rotational motion element 30 installed inside the base member. It includes a driving means, a moving block 40 for transmitting the movement of the driving means, a rod 50 for transmitting the movement of the moving block to the superstructure, and rotation and extension in response to the movement of the moving block and the rod. It consists of a superstructure 60 that provides CPM through flexion/extension and rotation to the user's legs that are placed on the leg when the movement is made.

The base member 10 constitutes the entire body of the device, and a housing 12 for installing internal components such as a motor is formed on one side of the long body 11, and a housing 12 for supporting the superstructure is formed on the other side. It has a structure in which a shaft support 13 is formed.

As shown in Figure 2, the driving means is for providing power to provide flexion/extension/rotation movement to the above-described upper structure 60, and consists of a reciprocating motion element 20 and a rotational motion element 30. .

The reciprocating motion element 20 is an element for flexing and extending the upper structure 60 by reciprocating the moving block 40 forward and backward in the longitudinal direction of the base, and in this embodiment, it includes a motor 21 for reciprocating motion, It consists of a ball screw shaft 22 installed in the longitudinal direction of the base and coupled to a motor at one end, and the moving block 40 is coupled to the ball screw shaft 22 exposed to the inside of the base. The moving block is coupled to reciprocate forward and backward according to the forward and backward movement of the motor. The above-mentioned ball screw shaft is engaged with a retainer (41) coupled to the contact part in the moving block, and the ball screw provides non-slip linear reciprocating motion to the superstructure, so that the thigh support and calf support that constitute the superstructure can move at a constant speed. It has the effect of allowing the sexual expulsion movement to take place.

The rotational movement element 30 is an element for rotating the upper structure 60 left and right and includes a spline shaft 31 and a motor 33 for rotational movement coupled to the spline shaft 31 with a worm gear 32. ), the spline shaft 31 is installed in the base member in parallel with the ball screw shaft 22, and the motor and worm gear are installed in the housing. The above-mentioned worm gear reduces the high rotation of the motor at a large reduction ratio, can produce high output, and prevents reverse rotation, so it automatically stops when the power is cut off due to an unexpected situation such as a power cut to the motor, preventing injuries during training. It has a preventable effect.

The moving block 40 is an element that transmits power from the driving means to the superstructure 60 and transmits the load from the superstructure to the base member, and as described above, a retainer 41 is coupled thereto. It is coupled to be engaged with the ball screw shaft (22), and is throughly coupled to the guide shaft (43) installed in parallel with the ball screw shaft (22) and spline shaft (31) so as to form a sliding pair, and is guided according to the rotation of the ball screw shaft. It is configured to move forward and backward along the axis. The spline shaft 31 is simply passed through the movable block without contacting it, so that rotation of the spline shaft does not affect the movable block.

Support rollers (44) are attached to the contact portions of the left and right base members of the moving block to enable rolling movement while grounded to the base member. In this way, the kinetic force of straight reciprocating motion and left and right rotating motion is transmitted to the superstructure and during movement. By supporting the weight of the user's legs, it prevents overload of the motor, which is the driving means, and each axis, allowing smooth operation.

The rod 50 is an element that directly transmits the movement by the driving means to the upper structure. It functions as a driving force transmission element for the flexion/extension movement by the four-bar link structure formed by the base and the upper structure, and rotates the rotational movement by the spline shaft to the upper structure. It functions as a driving force transmission element to provide.

For this purpose, the rod 50 is composed of two parallel members 51 and 52 each having a connection portion at both ends, and one of the members 51 has its end passing through the above-mentioned moving block to form a spline shaft 31. ), and the other element 52 is coupled so that its end passes through the moving block and slides on the guide shaft 43. In the embodiment, a groove 45 was formed at the rod coupling position of the moving block so that the above-described rod could pass through the moving block as is and be coupled to the spline shaft and guide shaft. The rod coupled in this way moves with the movable block in dependence on the forward and backward reciprocating motion of the movable block, but the rotational movement from the spline axis is not interfered with by the movable block and is transmitted only to the superstructure through the rod.

The upper structure 60 is an element that supports the legs of the user of the device and provides flexion/extension movement of the knee joint and rotational movement of the hip joint by movement from the driving means, and includes a thigh support 61, a calf support 62, and a foot support ( 63).

The thigh support 61 is an element for supporting the patient's thigh and is made up of members 61a and 61b arranged side by side to maintain a constant distance, and one end of each element is 3 times greater than the axial support 13 of the base. They are joined by a degree of freedom joint (64). The three-degree-of-freedom joint according to the embodiment has a structure in which one end of the universal joint (64a) is coupled to the shaft (64b) installed perpendicular to the shaft support (13) in the form of a socket, and the other end of the universal joint is coupled to the thigh support. The universal joint coupled to the shaft (64b) fixed to the shaft supports 360° free rotation on the horizontal, and due to the characteristics of the universal joint itself, free rotation is made in three-dimensional space, allowing straight flexion and extension movement of the superstructure. It is possible to flexibly accommodate complex kinematic motion models created by simultaneous left and right rotational movements.

The calf support 62 is an element for supporting the calf and includes members 62a and 62b respectively coupled to the respective members 61a and 61b of the thigh support 61 with a shaft 65, and the respective angles described above. It consists of a semicircular band 62c connecting members 62a and 62b.

The semicircular band 62c serves to support the calf and maintain a constant distance between each member of the thigh support and calf support.

The foot support 63 is coupled to the end of the calf support and serves to support the foot, and is made up of a base 63a, wings 63b fixed to both sides of the base, and a calf support coupling member 63c. An angle adjustment plate (62d) is formed at the end of the support to adjust the contact pressure by a tightening screw (67), so that the ankle joint can be moved with appropriate pressure according to the displacement of the calf by the action of the shaft (66) and the tightening screw. It is designed to allow movement or to fix the ankle.

Each end of the above-mentioned rod and the body part of the calf support are coupled by a two-degree-of-freedom joint (68). The two-degree-of-freedom joint according to the embodiment uses an "H"-shaped connecting member (68a) and a calf support (62) using axes (68b) (68c) arranged at each end orthogonal to the respective movement directions. It is a structure that connects the rod 50, and allows the left-right rotational motion of the rod to be transmitted to the superstructure as is, while smoothly transmitting the back-and-forth linear motion of the moving block to the superstructure.

In the above, each member constituting the thigh support and calf support has a foldable tubular structure and is configured to have a variable length using a fixing screw 69, so that it can be adjusted to suit the length of the thigh and calf according to the user's height difference. , a band 80 is formed in the middle of each support to support the calf or thigh, and a stand 90 can be installed so that the user can train in a comfortable condition.

In addition, the structure is configured with a control unit so that the exercise method can be controlled by a program, allowing training in various ways, and is implemented by attaching a sensor to control the exercise range of the device. In this embodiment, the first angle sensor 100 is mounted on the axis 65 connecting the thigh support and the calf support to control the range of motion of the device to measure the angle of motion of the knee joint and provide information to limit the range. By combining the second angle sensor (110) with the spline axis (31), it was possible to measure the rotation angle of the hip joint and obtain information limiting the range.

Figures 3a and 3b are for explaining the operation of the rehabilitation exercise equipment for complex joint exercise according to the above configuration. For program control, a key pad or remote control is used to adjust the maximum flexion angle, maximum rotation angle, and exercise according to the user's training situation. When the bending and extension movement is selected and operated with the speed and time set, the reciprocating motor rotates until it reaches the set angle within the maximum bending and extension angle range (0 to 135°). When the maximum angle is reached, the first angle sensor turns on. Sensing this, the control unit repeats the reverse rotation operation process to provide continuous bending and extension movement for a set period of time unless stopped within the set angle range.

Figures 4a and 4b show the state of rotational movement. When the rotational movement is operated, the motor for rotational movement rotates until it reaches the set angle within the range of the maximum rotation angle (usually -45 to 45°), and when the set angle is reached, The second angle sensor detects this, and the control unit repeats the process of reverse rotation, providing continuous hip joint rotation for a set period of time unless stopped within the set angle range.

The above-mentioned linear flexion and extension movements and rotational movements can be performed not only separately but also simultaneously, and such complex joint movements can be performed by performing only knee flexion and extension movements using existing linear movements or by performing knee flexion and extension movements and hip joint movements. The training effect can be maximized compared to rehabilitation exercise equipment that is used separately.

10. Base member 20. Reciprocating motion element
21. Motor 22. Ball screw shaft
30. Rotational movement element 31. Spline axis
32.Worm gear
33. Motor 40. Moving block
41.Retainer
42. Main body 43. Guide axis
44.Support roller
45. Groove 50. Rod 60. Superstructure
61. Thigh support 62. Calf support
63.Foot support
64.3 degrees of freedom joint
65.axis 66.axis
67.Tightening screw 68.2 degree of freedom joint
69. Fixing screw 80. Band 90. Holder
100. 1st angle sensor 110. 2nd angle sensor

Claims (5)

In the rehabilitation exercise device for complex joint exercise for recovery of walking ability, a base member having a long length and a reciprocating motion axis and a rotation axis installed in parallel in the longitudinal direction of the base member are provided, and the reciprocating motion axis and the rotation motion axis are provided. The axis is coupled to a driving means coupled to each motor installed in the housing on one side of the base member and a reciprocating shaft, and a moving block that reciprocates along the rotating shaft according to the rotation direction of the reciprocating shaft, and the base member at one end of the base member. With respect to the movement of the thigh support, one end of which is coupled with a joint having three degrees of freedom, the calf support, of which one side of the torso is axially coupled to the other end of the thigh support, and the foot support, which is coupled to the end of the calf support, and the moving block. The end of one element is connected to the rotation axis by passing through the body of the moving block so as to be dependent, the end of the other element is slidingly coupled to the guide axis, and the end of each element has two degrees of freedom to the body of the calf support. A complex joint exercise for recovery of walking ability, characterized in that it includes two parallel rods joined by a joint to provide linear motion and rotational motion alone or simultaneously to the upper structure including the thigh support, calf support, and foot support. Rehabilitation exercise equipment. The complex joint for recovery of walking ability according to claim 1, wherein the reciprocating axis consists of a ball screw shaft coupled to a motor and is engaged with a retainer inside the moving block to reciprocate the moving block forward and backward. Exercise rehabilitation equipment. The rehabilitation exercise device for complex joint exercise for recovery of walking ability according to claim 1, wherein the rotation axis is a spline axis and is connected to the motor by a worm gear. The rehabilitation exercise device for complex joint exercise for recovery of walking ability according to claim 1, wherein support rollers are attached to the contact portions of the left and right base members of the moving block and are configured to roll while grounded to the base member. According to any one of claims 1, 2, 3, or 4, the joint having three degrees of freedom has one end of the universal joint coupled in the form of a socket to a shaft installed perpendicular to the bearing of the base, and the universal joint The other end of the joint is structured to be coupled to the thigh support, and the joint with two degrees of freedom is connected to the calf support and the rod by axes arranged perpendicular to the direction of movement at each end of the connecting member having an "H" shape. A rehabilitation exercise device for complex joint exercise for recovery of walking ability, characterized in that it consists of a structure.

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