연세대학교 원주산학협력단;YONSEI UNIVERSITY WONJU INDUSTRY-ACADEMIC COOPERATION FOUNDATION
发明人:
YOU, SUNG HYUN,유승현,LEE, NAM GI,이남기,LEE, DONG RYUL,이동률
申请号：
KR1020120056721
公开号：
KR1020130133459A
申请日:
2012.05.29
申请国别(地区):
KR
年份:
2013
代理人:
摘要：
The present invention relates to a robot-assisted training system for upper and lower extremity rehabilitation which uses an elliptical cyclone exercising machine for rehabilitation in which a separate upper extremity exercising machine is installed. More specifically, the present invention relates to a robot-assisted training system for upper and lower extremity rehabilitation which enables patients to train by own will by forming a lower extremity exercising machine to operate a plantar unit, which is opposite from the plantar unit in which stiffness is detected, when the lower extremity exercising machine detects stiffness of a patient during lower extremity exercise by installing sensors in plantar contacting units, and forming the upper extremity exercising machine to operate in the opposite direction from a side in which stiffness is detected when the upper extremity exercising machine detects stiffness of a patient during upper extremity exercise by installing sensors in hand contacting units. The robot-assisted training system for upper and lower extremity rehabilitation which uses an elliptical cyclone exercising machine comprises: plantar units which equip with a plurality of plantar sensors which is composed of load sensors and are formed for left and right feet to be placed and to be alternately moved； and an execution processing unit which detects movement of load center from signals received from the plantar sensors and produces low extremity motor control signals which operate the plantar unit in the side which did not become stiffen if one foot is determined as being stiffen.본 발명은 별도의 상지운동기구가 장착된 재활훈련용 일립티컬(Elliptical) 싸이클론 운동기구를 이용한 상하지 로봇 재활훈련 시스템에 관한 것으로, 보다 상세히는, 하지운동기구는 발바닥 접촉부에 센서를 장착하여, 하지운동중 환자의 경직을 감지하면, 경직이 감지된 측의 발판부의 반대측 발판부가 구동되도록 이루어지며, 상지운동기구도 손 접촉부에 센서를 장착하여, 상지운동중 환자의 경직을 감지하면, 경직이 감지된 측의 반대방향으로 구동하도록 이루어져, 자신의 의지에 의해 훈련이 가능하도록 하는 상하지 로봇 보행 훈련시스템에 관한 것이다.본 발명은, 일립티컬 운동기구를 이용하는 상하지 로봇 재활훈련 시스템에 있어서, 하중센서로 이루어진 발판센서를 다수 구비하며, 좌우발을 각각
