WO2018117593A1 - Gait training apparatus - Google Patents

Abstract

The present invention relates to a gait training apparatus comprising: a main body for a gait trainee to mount; a gait part rotatably coupled to the main body and supporting the feet of the gait trainee; an upper body supporting part coupled to the main body so as to be located at a position spaced apart from the walking part and including a saddle mechanism for supporting the pelvis of the walking trainee so that weight supported by the gait part is dispersed; and a photographing part for capturing training images of the gait trainee who undergoes gait training while being supported by the upper body supporting part, and for measuring the angles of the pelvis, the knees, and the ankles of the gait trainee.

Description

Gait training device

The present invention relates to a walking training apparatus for performing walking training.

In general, walking is the most basic and necessary movement in everyday life. Therefore, walking training in patients who are unable to walk normally due to impaired nerve function due to illness or accident or unbalanced muscle development is the first gateway to returning the patient to daily life.

The walking training device includes an exoskeleton type walking training device. The exoskeleton type walking training device may be worn on the upper and lower body of the walking trainer to distribute the concentration of the walking trainer's weight on the lower leg, thereby providing a predetermined driving force, thereby reducing the burden on the walking trainer. The exoskeleton type walking training device provides the driving force differently according to the joint angle of the walking trainer through an angle sensor measuring the angles of the hip, knee, and ankle joints so that the walking trainer can walk normally. However, the exoskeleton type walking training device has a problem that it takes a long time to wear or take off because the walking trainer must wear the exoskeleton equipment provided with the drive unit, the angle sensor.

The walking training device according to the prior art has been developed as a seated type so that a walking trainer can sit and perform walking training without wearing the exoskeletal equipment in order to compensate for the problem of the exoskeletal walking training device. The walking training apparatus according to the prior art is composed of a saddle and a footrest, and is a structure for distributing and supporting the weight of the walking trainer to the saddle and the footrest. The walking trainer performs the walking training by supporting the saddle and the footrest and rotating the footrest. However, since the walking training apparatus according to the prior art does not have an angle sensor, it is difficult to measure the angle of the pelvis, knee, ankle, etc. of the walking trainer. Accordingly, there is an urgent need to develop a walking training apparatus that can easily sit and abscite and measure the training state of the walking trainer in real time by measuring angles of the pelvis, knee, ankle, etc. of the walking trainer.

The present invention has been made to solve the problems described above, and to provide a gait training device that can be easily seated and selocated as well as to measure the angle of the pelvis, knee, ankle, etc. of the gait trainer.

In order to solve the problem as described above, the present invention may include the following configuration.

Walking training apparatus according to the present invention includes a body for the walking trainee; A walking part rotatably coupled to the main body and supporting a foot of a walking trainer; An upper body support part coupled to the main body to be positioned at a position spaced apart from the walking part, and including a saddle mechanism supporting the pelvis of the walking trainer so that the load supported by the walking part is distributed; And a gait training image of a gait trainer supported by the upper body supporter to perform gait training, and a photographing unit for measuring angles of the pelvis, knee, and ankle.

In the walking training apparatus according to the present invention, the photographing unit is an image photographing apparatus for photographing the walking training image of the walking trainer, and the distance measurement for measuring the distance to the pelvis, thigh, calf, foot of the walking trainer, respectively It may include an appliance.

In the walking training device according to the present invention, the distance measuring device may measure the distances to the pelvis, thighs, calves, and feet of the walking trainer according to a predetermined reference time interval.

Walking training apparatus according to the present invention is a calculation unit for calculating the angle of the pelvis, knee, ankle with the distance value for the pelvis, thigh, calf, foot measured by the distance measuring device, and the calculation calculated by the calculation unit It may include a control unit for comparing the angle value with a predetermined reference joint angle value.

Walking training apparatus according to the present invention may include a support for supporting the photographing unit. The support part may include an upper frame rotatably coupled to the main body, and an arm frame rotatably coupled to the upper frame. The photographing unit may be rotatably coupled to the female frame.

In the walking training apparatus according to the present invention, the photographing unit may be coupled to the main body such that N pieces (N is an integer greater than 1) are spaced apart from each other.

According to the present invention, the following effects can be obtained.

The present invention is implemented so that the walking trainer can be easily seated and absent, thereby reducing the time taken to perform the walking training can increase the walking training time of the walking trainer.

The present invention is implemented to measure the angle of the pelvis, knee, ankle, etc. of the walking trainer, not only can measure the training status of the walking trainer in real time, but also collect the joint angle data of the walking trainer to analyze the degree of rehabilitation can do.

1 is a schematic perspective view of a walking training apparatus according to the present invention

2 is a schematic block diagram illustrating a photographing unit, a calculating unit, and a control unit in the walking training apparatus according to the present invention;

Figure 3 is a schematic side view for explaining the upper frame in the walking training apparatus according to the present invention

4 and 5 is a schematic side view for explaining the arm frame in the walking training apparatus according to the present invention

Figure 6 is a schematic perspective view for explaining a walking training apparatus according to another embodiment of the present invention

In the present specification, in adding reference numerals to the components of each drawing, it should be noted that the same components have the same number as much as possible even though they are displayed on different drawings.

On the other hand, the meaning of the terms described herein will be understood as follows.

Singular expressions should be understood to include plural expressions unless the context clearly indicates otherwise, and the terms “first”, “second”, etc. are used to distinguish one component from another. The scope of the rights shall not be limited by these terms.

It is to be understood that the term "comprises" or "having" does not preclude the existence or addition of one or more other features or numbers, steps, operations, components, parts or combinations thereof.

The term "at least one" should be understood to include all combinations which can be presented from one or more related items. For example, the meaning of "at least one of the first item, the second item, and the third item" means not only the first item, the second item, or the third item, but also two of the first item, the second item, and the third item. A combination of all items that can be presented from more than one.

Hereinafter, a walking training apparatus according to the present invention will be described in detail with reference to the accompanying drawings.

1 is a schematic perspective view of a walking training apparatus according to the present invention, FIG. 2 is a schematic block diagram illustrating a photographing unit, a calculating unit, and a controller in the walking training apparatus according to the present invention, and FIG. 3 is a walking according to the present invention. 4 and 5 are schematic side views for explaining the upper frame in the training apparatus, Fig. 6 is a schematic side view for explaining the arm frame in the walking training apparatus according to the present invention, Figure 6 is a walking training apparatus according to another embodiment of the present invention It is a schematic perspective view for explaining.

1 to 6, the walking training device 1 according to the present invention is for measuring the angle of the pelvis, knee, ankle, etc. of the walking trainer performing the walking training. In particular, the gait training apparatus 1 according to the present invention is a gait trainer by continuously measuring the spaced apart distance to the pelvis, thigh, calf, foot continuously changing between gait training in real time, pelvis, knee, The angle of ankle etc. can be measured.

To this end, the walking training apparatus 1 according to the present invention includes a main body 2, a walking part 3, an upper body support part 4, and a photographing part 5.

A walking trainer can mean not only a patient with hemiplegia, but also a person who cannot support all of his or her weight, such as a patient who is not free to walk due to brain or nerve damage. The walking training apparatus 1 according to the present invention is implemented to allow a walking trainer to sit and perform walking training, thereby reducing the burden that the walking trainer receives during walking training by partially paying the weight of the walking trainer.

Hereinafter, the main body 2, the walking part 3, the upper body support part 4, and the photographing part 5 will be described in detail with reference to the accompanying drawings.

1 to 6, the main body 2 is for a walking trainer to board. The main body 2 may be installed at the bottom. The main body 2 may support the walking trainer who is supported on the floor. The main body 2 may be formed in a rectangular plate shape as a whole, and may have a thickness such that the walking trainer is located at a position spaced a predetermined distance from the floor. Accordingly, the walking trainer may perform walking training at a position spaced from the floor. The walker part 3, the upper body support part 4, and the photographing part 5 may be coupled to the main body 2. In addition, the main body 2 may be coupled to the handle for allowing the walking trainer to climb on the walking portion (3) by hand. Although not shown, the main body 2 may be detachably coupled to the inclined plate is formed to be inclined so that the wheelchair can rise. The inclined plate may be coupled to the other side opposite to one side of the main body 2 to which the upper support 4 is coupled. When N (N is an integer greater than 1) are combined, the photographing unit 5 may be coupled to the main body 2 so as to be located at positions spaced apart from each other.

The walking part 3 is for supporting a foot of a walking trainer. The walking unit 3 may support the foot of the walking trainer by riding the walking trainer. The walking unit 3 is installed in a pair of left and right so as to support the left and right feet of the walking trainer, respectively. The walking unit 3 is installed at a low position so that a weak walking trainer, such as a hemiplegic walking trainer or an elderly person, can easily ride. The walking part 3 may be formed in a rectangular plate shape as a whole, but is not limited thereto, and may be formed in another shape such as an ellipse if the walking trainer supports the foot and stably performs the walking training. The walking part 3 may be rotatably coupled to the main body 2. The walking unit 3 may rotate to reinforce and relax the muscles required for walking by repeatedly walking and relaxing the muscles required for the walking trainer. In addition, the walking unit 3 may be rotated so that the walking trainer can also train parts related to the brain and nerves such as reflexes to maintain body balance required for walking. The walking part 3 may rotate to be positioned at a position opposite to right and left. The walking part 3 may be rotated such that the left and right are simultaneously positioned in the forward direction toward the upper body support part 4 or the backward direction toward the inclined plate. The walking part 3 may rotate to have a walking trajectory in the form of a droplet lying on its side. For example, the walking part 3 may be implemented to have three degrees of freedom, so that the walking part 3 may rotate as a walking trajectory in the form of a droplet. In this case, the walking trajectory may vary according to various modes such as an uphill mode for climbing stairs, a downhill mode for descending stairs, a flat mode for walking flat land, an uphill, a downhill, a mixed mode for mixing flat land. Since the walking part 3 is implemented to have three or more rotation shafts, the walking part 3 may rotate to have various walking trajectories of three or more degrees of freedom. Accordingly, the walking trainer can strengthen muscles for various situations, such as moving the feet individually or simultaneously. The walking part 3 may be rotated by a walking driving part (not shown) including a motor, a cylinder, and a belt.

The upper body support part 4 is for distributing the load supported by the walking part 3. The upper body support part 4 may be coupled to the main body 2 so as to be positioned at a position spaced apart from the walking part 3. For example, the upper support 4 may be coupled to the main body 2 so as to be located forward from the main body 2 with respect to the X-axis direction (shown in FIG. 1). Accordingly, the upper body support 4 may not interfere with the rotation of the walking part 3. The upper body support 4 may be formed in a long rod shape in the Z-axis direction (shown in FIG. 1). The upper body support portion 4 is a chest support mechanism for supporting the chest of the walking trainer, a belt mechanism coupled to the chest support mechanism for fixing the upper body of the walking trainer, and a handle mechanism that can be held by the walking trainer It may include. In addition, the upper body support portion 4 may further include a saddle mechanism 41 for supporting the pelvis of the walking trainer. Accordingly, the upper body support part 4 may distribute the load supported by the walking part 3 by partially supporting the weight of the walking trainer.

The saddle mechanism 41 is for supporting the pelvis so that the walking trainer who sits on the walking part 3 can sit. The saddle mechanism 41 may be formed to protrude from the upper support portion 4 toward the inclined plate relative to the X-axis direction. Accordingly, the walking trainer can sit on the saddle mechanism 41 and roll both feet. In this case, the walking part 3 may be located below the saddle mechanism 41. The saddle mechanism 41 may be formed in the form of a saddle of the bicycle, but may be formed in other forms as long as it can support the pelvis of the walking trainer. The saddle mechanism 41 may not support the walking trainer when the walking trainer performs the walking training because the walking ability of the walking trainer is improved. Accordingly, since the walking training apparatus 1 according to the present invention can perform walking training by sitting on the saddle mechanism 41 and stop the walking training by taking place from the saddle mechanism 41, By easily sitting on the saddle mechanism 41 or being absent, the walking training can be easily performed or stopped.

The photographing unit 5 is for acquiring a walking training image of a walking trainer who performs walking training, and for measuring angles of the pelvis, knee, and ankle of the walking trainer. The photographing unit 5 is installed to photograph a walking trainer who rides on the walking part 3. For example, the photographing unit 5 may photograph the walking trainer by installing the photographing area to face the walking trainer. For example, referring to FIG. 1, the photographing unit 5 may photograph the walking trainer in a direction from the upper side to the lower side with respect to the Z axis. For example, referring to FIG. 6, the photographing unit 5 may photograph the walking trainer in a direction from the lower side to the upper side based on the Z axis. The photographing unit 5 may be coupled to the main body 8 by a supporting unit 8 to be described later. Accordingly, the photographing unit 5 may acquire a walking training image of a walking trainer who performs walking training by walking on the walking unit 3. The photographing unit 5 may be provided with N (N is an integer greater than 1) in the main body 2 to photograph the walking trainer from various angles. For example, two or more imaging units 5 may be installed. In this case, the photographing unit 5 may be installed spaced apart from each other on the main body 2 and installed toward the walking trainer. For example, referring to FIG. 1, when three imaging units 5 are installed, the three imaging units 5 may be spaced apart from each other by the same distance from the walking trainer. In this case, the three photographing units 5 may be installed on the main body 2 to be spaced apart from each other at intervals of 120 degrees with respect to the walking trainer. Referring to FIG. 6, when four photographing units 5 are installed, the four photographing units 5 are spaced apart from each other by the same distance around the walking trainer and spaced apart from each other at 90 degree intervals. It may be installed in the main body (2). In this case, all of the photographing units 5 may be installed toward the walking trainer for acquiring a walking training image of the walking trainer and angle measurement. The photographing unit 5 may be an RGB camera. The photographing unit 5 may include an image photographing device 51 and a distance measuring device 52.

The image photographing mechanism 51 is for photographing a walking training image of a walking trainer. The image capturing apparatus 51 may be fixedly installed by the support unit 8, thereby photographing an image of a walking trainee walking training in a fixed photographing area. The image capturing apparatus 51 is rotatably installed in the support part 8 to change the photographing area according to the height, physique, and weight of the walking trainer. In this case, the image capturing mechanism 51 may be rotated by an operator or rotated by a driving device such as a motor. Accordingly, the image photographing mechanism 51 may photograph the walking training image of the walking trainer. When the image photographing mechanism 51 rotates, the distance measuring mechanism 52 may also rotate. Although not shown, the image capturing apparatus 51 may be connected to a display device (not shown) displaying the captured image by at least one of wired communication and wireless communication. Accordingly, the image capturing apparatus 51 may transmit the captured walking training image to the display apparatus. The walking trainer may modify a walking posture and the like in real time while watching his walking training image displayed through the display device. In addition, the walking trainer may view various images transmitted from the plurality of image photographing devices 51. For example, the walking trainer may view at least one of a front image, a side image, a rear image, and a diagonal image of his / her walking training through the display device. Accordingly, the gait training apparatus 1 according to the present invention allows the gait trainer to see the gait training posture in real time from various angles, thereby modifying the gait posture to the right gait posture, thereby shortening the gait training recovery period. You can. The image photographing device 51 may be connected to a storage device capable of storing an image by at least one of wired communication and wireless communication, thereby providing a walking training image to the storage device. Accordingly, the storage device may store a walking training image of the walking trainer.

The distance measuring mechanism 52 is for measuring the spaced apart distance to the pelvis, thigh, calf, foot of the walking trainer, respectively. The distance measuring device 52 may be coupled to the support part 8 together with the image photographing device 51. In this case, the distance measuring device 52 may be located at a position spaced apart from the image photographing device 51. When the walking trainer boards the walking unit 3 and performs walking training, the pelvis, thigh, calf, and foot of the walking trainer may continuously change positions. The distance measuring device 52 may measure the spaced apart distances to the pelvis, thighs, calves, and feet of the walking trainer according to a predetermined reference time interval. The reference time interval refers to the unit time that the walking trainer walk training. The reference time interval may be preset by an operator. For example, the reference time interval may be 1 second. The distance measuring device 52 may measure the spaced apart distance of the pelvis, thighs, calves, and feet of the walking trainer, whose position changes every second. Between 1 second, 5 frames, 10 frames, and 30 frames may be included. As the performance of the distance measuring device 52 is better, the number of frames per second may be increased. The distance measuring mechanism 52 may provide the computing unit 6 to be described later with the separation distance of each pelvis, thigh, calf, and foot of the walking trainer, measured every second. The distance measuring mechanism 52 may be connected to the operation unit 6 by at least one of wired communication and wireless communication, thereby providing the measured separation distance value to the operation unit 6.

The walking training apparatus 1 according to the present invention may include a calculator 6 and a controller 7.

The calculation unit 6 is for calculating the angle of the pelvis, knee, ankle of the walking trainer. The calculating part 6 receives the distance values of the pelvis, the thigh, the calf, and the foot of the walking trainer from the distance measuring device 52 in real time, and the pelvis of the walking trainer through an algorithm previously input by the operator. The angles of the knee, ankle, and ankle can be calculated. The calculation unit 6 may be connected to the control unit 7 by at least one of wired communication and wireless communication. Accordingly, the calculating unit 6 may provide the control unit 7 with the calculated angle values for each of the pelvis, knee, and ankle of the walking trainer.

The controller 7 is for comparing the calculated angle value calculated by the calculator 6 with a predetermined reference joint angle value. The reference joint angle value refers to a value of measuring the angles of the pelvis, knee, and ankle of a normal person who is similar in height, physique, and weight to a walking trainer, and may be previously measured by an operator and stored in the controller 7. . In this case, the reference joint angle value stored in the controller 7 may include various joint angle values according to various factors such as height, physique, and weight of a normal person. The controller 7 may be connected to the display device by at least one of wired communication and wireless communication. Accordingly, the control unit 7 may receive the calculated angle value from the calculation unit 6 and compare it with a preset reference joint angle value to provide an error value to the display device. The display device may display a walking trainer to view the error value in real time. As the error value is smaller, it may be determined that the walking trainer is closer to the walking of a normal person. In this case, the walking training apparatus 1 according to the present invention may further increase the strength of walking training, such as increasing the rotation speed of the walking portion 3. As the error value increases, the walking trainer may be determined to be farther away from walking of a normal person. In this case, the walking training apparatus 1 according to the present invention may further lower the strength of walking training, such as reducing the rotational speed of the walking portion 3. Therefore, since the walking training apparatus 1 according to the present invention can know the walking training results of the walking trainer in real time during the walking training, it can not only increase the satisfaction for the walking training but also prevent the walking training by force. Safety accidents such as falls can be prevented.

Although not shown, the operation unit 6 and the control unit 7 may be installed to be connected to the storage device, thereby providing walking training data for the walking trainer to the storage device. Accordingly, the storage device may store a walking training image and a walking training data for the walking trainer. Walking training images and walking training data stored in the storage device may be used to analyze the degree of rehabilitation for the walking trainer.

The walking training device 1 according to the invention may comprise a support 8.

The support part 8 is for supporting the photographing part 3. One side of the support part 8 may be coupled to the main body 2, and the other side thereof may be coupled to the photographing part 3. Accordingly, the support part 8 may be supported by the main body 2 to support the photographing part 3. The support part 8 may include an upper frame 81 and an female frame 82.

The upper frame 81 may be rotatably coupled to the body 2. The upper frame 81 may be coupled to the main body 2 to be positioned in a direction parallel to the Z axis. The upper frame 81 may rotate about a rotation axis parallel to the Z axis. Accordingly, the direction in which the photographing unit 3 photographs may be changed. The upper frame 81 may include a first support member 811 and a second support member 812.

One side of the first support member 811 may be rotatably coupled to the main body 2. The second support member 812 may be coupled to the other side of the first support member 811. In this case, the second support member 812 may be coupled to be inserted into the first support member 811. The first support member 811 may be formed in the shape of a hollow square, but is not limited thereto. If the second support member 812 is insertably coupled, the first support member 811 may be formed in another shape such as a cylinder. have. The first support member 811 may be formed of a metal material, but may also be formed of a plastic material for weight reduction.

One side of the second support member 812 may be coupled to be inserted into the first support member 811. The female frame 82 may be rotatably coupled to the other side of the second support member 812. The second supporting member 812 may be inserted into the first supporting member 811 to increase or shorten an overlapping length overlapping with the first supporting member 811. The overlapping length of the second support member 812 overlapping with the first support member 811 may be changed by an operator, but the overlapping length may be changed through a driving device such as a motor. When the overlap length is increased, the length of the upper frame 81 may be reduced. Accordingly, the height of the photographing unit 5 photographing the walking trainer may be lowered. In this case, the photographing unit 5 may photograph the walking trainer in a direction from the lower side to the upper side as shown in FIG. 6. When the overlap length is reduced, the length of the upper frame 81 may be increased. Accordingly, the height of the photographing unit 5 for photographing the walking trainer can be increased. In this case, the photographing unit 5 may photograph the walking trainer in a direction from the upper side to the lower side as shown in FIG. 1. The second support member 812 may be formed of a metal material, but may also be formed of a plastic material for weight reduction.

The female frame 82 may be rotatably coupled to the second support member 812. The female frame 82 may be coupled to the second support member 812 to protrude in the X-axis direction. One side of the arm frame 82 may be coupled to the second support member 812, and the other side of the arm frame 82 may be rotatably coupled thereto. The female frame 82 may rotate about a rotation axis parallel to the Y axis. Accordingly, the direction in which the photographing unit 3 photographs may be changed. For example, when the arm frame 82 rotates clockwise, the photographing unit 3 may change the photographing area in a direction from the upper side to the lower side. For example, when the arm frame 82 rotates counterclockwise, the photographing unit 3 may change the photographing area from the lower side to the upper side. The photographing unit 3 may be rotatably coupled to the female frame 82. Referring to FIG. 5, the photographing unit 3 may rotate clockwise or counterclockwise. When the photographing unit 3 rotates clockwise with respect to the arm frame 82, the photographing unit 3 may photograph the right region based on the support unit 8. When the photographing unit 3 rotates counterclockwise with respect to the female frame 82, the photographing unit 3 may photograph the left region based on the support unit 8. Accordingly, the walking training apparatus 1 according to the present invention has various heights and physiques by adjusting at least one direction of the upper frame 81, the arm frame 82, and the photographing unit 5. Walking training images for walking trainers and angles of the pelvis, knee and ankle can be measured. Therefore, the walking training apparatus 1 according to the present invention does not need to newly install the upper frame 81 and the arm frame 82 according to the height and the physique of the walking trainer whenever the walking trainer changes. It is possible to reduce the installation cost for walking training because it is not only necessary to advance the walking training time, but also have the upper frame 81 and the arm frame 82 having various lengths.

The present invention described above is not limited to the above-described embodiment and the accompanying drawings, and it is common in the art that various substitutions, modifications, and changes can be made without departing from the technical spirit of the present invention. It will be evident to those who have knowledge of.

Claims (6)

A body for the walking trainer to board; A walking part rotatably coupled to the main body and supporting a foot of a walking trainer; An upper body support part coupled to the main body to be positioned at a position spaced apart from the walking part, and including a saddle mechanism supporting the pelvis of the walking trainer so that the load supported by the walking part is distributed; And A walking training apparatus including a photographing unit configured to acquire a walking training image of a walking trainer who is supported by the upper body supporting unit and performs walking training, and measures angles of the pelvis, knee, and ankle. The method of claim 1, wherein the photographing unit An imaging apparatus for photographing a walking training image of a walking trainer; And Gait training device including a distance measuring device for measuring the distance to the pelvis, thighs, calves, feet of the walking trainer, respectively. The method of claim 2, The distance measuring device is a gait training device, characterized in that for measuring the spaced distance to the pelvis, thighs, calves, feet of the walking trainer according to a predetermined reference time interval. The method of claim 3, A calculation unit for calculating angles of the pelvis, knees, and ankles with respective distance values for the pelvis, thigh, calf, and foot measured by the distance measuring device; And And a control unit for comparing the calculated angle value calculated by the calculation unit with a predetermined reference joint angle value. The method of claim 1, It includes a support for supporting the photographing unit, The support portion, An upper frame rotatably coupled to the main body; And A female frame rotatably coupled to the upper frame, The photographing unit is gait training apparatus, characterized in that rotatably coupled to the arm frame. The method of claim 1, The photographing unit is a gait training device, characterized in that coupled to the main body N (N is an integer greater than 1) spaced from each other.

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