WO2012165880A2 - Appareil d'exercice de rééducation, procédé et dispositif de régulation de l'aide proactive d'un appareil d'exercice de rééducation, et appareil en forme de gant relié mobile destiné à entrer des données - Google Patents

Appareil d'exercice de rééducation, procédé et dispositif de régulation de l'aide proactive d'un appareil d'exercice de rééducation, et appareil en forme de gant relié mobile destiné à entrer des données Download PDF

Info

Publication number
WO2012165880A2
WO2012165880A2 PCT/KR2012/004310 KR2012004310W WO2012165880A2 WO 2012165880 A2 WO2012165880 A2 WO 2012165880A2 KR 2012004310 W KR2012004310 W KR 2012004310W WO 2012165880 A2 WO2012165880 A2 WO 2012165880A2
Authority
WO
WIPO (PCT)
Prior art keywords
finger
rehabilitation
minimum force
unit
hand
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/KR2012/004310
Other languages
English (en)
Korean (ko)
Other versions
WO2012165880A3 (fr
WO2012165880A9 (fr
Inventor
최용근
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Neofect Co Ltd
Original Assignee
Neofect Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from KR1020110051986A external-priority patent/KR101457201B1/ko
Priority claimed from KR1020110051987A external-priority patent/KR20120133351A/ko
Application filed by Neofect Co Ltd filed Critical Neofect Co Ltd
Publication of WO2012165880A2 publication Critical patent/WO2012165880A2/fr
Publication of WO2012165880A3 publication Critical patent/WO2012165880A3/fr
Publication of WO2012165880A9 publication Critical patent/WO2012165880A9/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Images

Classifications

    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
    • G06F3/014—Hand-worn input/output arrangements, e.g. data gloves
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
    • A61H1/0285—Hand
    • A61H1/0288—Fingers
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
    • A63B21/008—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using hydraulic or pneumatic force-resisters
    • A63B21/0085—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using hydraulic or pneumatic force-resisters using pneumatic force-resisters
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
    • A63B21/40—Interfaces with the user related to strength training; Details thereof
    • A63B21/4001—Arrangements for attaching the exercising apparatus to the user's body, e.g. belts, shoes or gloves specially adapted therefor
    • A63B21/4017—Arrangements for attaching the exercising apparatus to the user's body, e.g. belts, shoes or gloves specially adapted therefor to the upper limbs
    • A63B21/4019—Arrangements for attaching the exercising apparatus to the user's body, e.g. belts, shoes or gloves specially adapted therefor to the upper limbs to the hand
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
    • A63B21/40—Interfaces with the user related to strength training; Details thereof
    • A63B21/4027—Specific exercise interfaces
    • A63B21/4033—Handles, pedals, bars or platforms
    • A63B21/4035—Handles, pedals, bars or platforms for operation by hand
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B23/00—Exercising apparatus specially adapted for particular parts of the body
    • A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
    • A63B23/12—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles
    • A63B23/16—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles for hands or fingers
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
    • G06F3/015—Input arrangements based on nervous system activity detection, e.g. brain waves [EEG] detection, electromyograms [EMG] detection, electrodermal response detection
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/01—Constructive details
    • A61H2201/0103—Constructive details inflatable
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1238—Driving means with hydraulic or pneumatic drive
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5007—Control means thereof computer controlled
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5064—Position sensors
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
    • A63B24/0062—Monitoring athletic performances, e.g. for determining the work of a user on an exercise apparatus, the completed jogging or cycling distance
    • A63B2024/0065—Evaluating the fitness, e.g. fitness level or fitness index
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
    • A63B24/0087—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load
    • A63B2024/0096—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load using performance related parameters for controlling electronic or video games or avatars
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/80—Special sensors, transducers or devices therefor
    • A63B2220/803—Motion sensors
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/80—Special sensors, transducers or devices therefor
    • A63B2220/83—Special sensors, transducers or devices therefor characterised by the position of the sensor
    • A63B2220/833—Sensors arranged on the exercise apparatus or sports implement
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2225/00—Miscellaneous features of sport apparatus, devices or equipment
    • A63B2225/50—Wireless data transmission, e.g. by radio transmitters or telemetry

Definitions

  • the present invention relates to a rehabilitation exercise device for a neurological disorder patient, an active auxiliary control method and device in a rehabilitation exercise device, and a mobile linked armored data input device.
  • finger assist force required for rehabilitation of the hand function of a stroke patient does not need sufficient force to perform normal hand function like the general person, and it is more effective to assist the minimum force for performing specific task training. Finger assist forces need not be constant and need to be constantly changed to appropriate values depending on other factors such as rehabilitation status and motivation.
  • the data input device may be used by attaching a device such as a keyboard, a mouse, or a joystick when implementing the external type of the wireless terminal device, but it is inconvenient to carry.
  • a device such as a keyboard, a mouse, or a joystick
  • the built-in keyboard, key buttons, direction keys, etc. are inconvenient for the user to operate due to the small size.
  • the size of the terminal device is small, the size of the keypad and keys is also small, so data input is not easy. It is inconvenient to use a small input device compared to the user's hand, and a person with a thick finger may make a mistake of wrongly pressing a key.
  • the first object of the present invention has a form of a glove to wear on the hand and the exercise auxiliary tube is installed on the glove body to assist the movement of the finger to detect the doctor to move the finger by neurological disorders such as stroke through EMG measurement It is to provide a rehabilitation exercise device to help the continuous rehabilitation exercise of the finger.
  • the third object of the present invention is to install a sensing unit for detecting the movement of the finger and hand on the glove body worn on the hand and the mobile interlocking to transmit the operation signal from the control unit to the adjacent mobile through the wireless communication module from the control unit
  • An armored data input device is provided.
  • a glove body manufactured in the form of a glove to be worn on a hand, an exercise auxiliary tube formed in the longitudinal direction of a finger on each finger portion of the glove body, and air is injected into the exercise auxiliary tube.
  • a sensor installed on the glove body and detecting hand motion information according to at least one of a finger movement, a change in posture of a hand, a change in position of a hand, and an EMG of a user, and a user sensed by the detector.
  • a rehabilitation exercise device for a neurological disorder patient including a control unit for collecting hand motion information and transmitting a driving signal to a compressor.
  • an active auxiliary control apparatus for a finger rehabilitation exercise device comprising: prior information (storing information) for storing information on the average value of the minimum force required for a man's finger spreading operation;
  • a minimum force calculator configured to calculate a minimum force required when a user performing a rehabilitation exercise using the finger rehabilitation exercise device extends a finger by using the information obtained by the preceding information unit;
  • the auxiliary force determined in consideration of the minimum force calculated by the minimum force calculation unit is provided, the calculated minimum from the difference between the actual extension angle of the user's finger and the target angle according to the finger posture of a specific rehabilitation operation.
  • an active assist control device for a finger rehabilitation exercise device including an error calculation unit for calculating a difference between a force and an actual force.
  • a glove body manufactured in the form of a glove to be worn on a hand, and installed on the glove body, hand motion information according to at least one of finger movement, hand posture change, and hand position change
  • a mobile interlocking armored data input comprising a sensing unit for sensing and a control unit for receiving a user's hand motion information detected by the sensing unit and transmitting an operation signal to operate a program operated in a mobile located remotely through a wireless communication module.
  • the EMG may be measured to assist the finger movement according to the intention of the patient. Therefore, there is an effect that can help the rehabilitation of patients with neuropathy through continuous finger movement.
  • the second aspect of the present invention there is an effect that can calculate the amount of force to assist in the extension of the fingers (extension, extension) of the patient, especially those with a brain injury, such as a brain injury due to stroke.
  • the third aspect of the present invention it is possible to provide a portable data input device that provides a variety of operation signals or data to the mobile interlocking operation only by finger and hand motion.
  • neurological disorder patients such as stroke, in which finger and hand movements are constantly required, have an additional effect of providing motivation of hand movements when using the present invention.
  • FIG. 1 is a view for explaining the overall rehabilitation exercise device for a neurological disorder patient according to the first aspect of the present invention.
  • Figure 2 is a cross-sectional view A-A of the rehabilitation exercise device for a neurological disorder patient according to the first aspect of the present invention.
  • FIG 3 is a cross-sectional view of another embodiment of a rehabilitation exercise device for a neurological disorder patient according to the first aspect of the present invention.
  • FIG. 4 is an operation explanatory diagram of a rehabilitation exercise device for a neurological disorder patient according to the first aspect of the present invention.
  • FIG. 5 is a block diagram illustrating an active auxiliary control method and apparatus for a finger rehabilitation exercise device according to a second aspect of the present invention.
  • Figure 6 is a view for explaining the overall mobile linked armor-type data input device according to a third aspect of the present invention.
  • FIG. 7 is a cross-sectional view A-A of a mobile interlocking armored data input device according to a third aspect of the present invention.
  • FIG. 8 is an operation explanatory diagram of a mobile interlocking armored data input device according to a third aspect of the present invention.
  • FIG. 9 is a diagram showing an application example of the finger rehabilitation exercise assistance method.
  • one component when one component is referred to as “connected” or “connected” with another component, the one component may be directly connected or directly connected to the other component, but in particular It is to be understood that, unless there is an opposite substrate, it may be connected or connected via another component in the middle.
  • ⁇ unit refers to a unit for processing at least one function or operation, which means hardware or software or hardware and It can be implemented in a combination of software.
  • a rehabilitation exercise device for a neuropathic patient is disclosed.
  • the rehabilitation exercise device according to the first aspect of the present invention by installing a tube for assisting hand movement in the form of a glove worn on the hand of a neurological disorder patient, such as stroke, the hand movement of the patient with a neurological disorder difficult to move by themselves Sense and help with ongoing rehabilitation exercises.
  • FIGS. 1 to 4 of the accompanying drawings a rehabilitation exercise device according to a first aspect of the present invention will be described with reference to FIGS. 1 to 4 of the accompanying drawings.
  • the rehabilitation patient will be described in the case of using the rehabilitation exercise (training) through the finger movement, the rehabilitation exercise apparatus according to the present invention, in addition to the purpose of rehabilitation, to increase the muscle strength of the finger or to practice the fine hand movement
  • the required person may use it for a specific purpose.
  • the finger rehabilitation exercise device of the present invention is useful to those who have a specific purpose of increasing the strength of the finger (for example, a person who needs to greatly increase the grip of the hand such as a wrestler, a gymnast, etc.). Make it clear first that it can be used.
  • the rehabilitation exercise apparatus 100 for a neurological disorder patient includes a glove body 10, an exercise auxiliary tube 60, a compressor 70, a sensing unit 20, 30, and 80. It is configured to include a control unit 40.
  • the armor body 10 has the form of a conventional glove worn on the hand as shown in FIG.
  • Armored body 10 is not limited in its material, but considering that the hand of the handicapped neuropathy patient is the main user is preferably made of a soft material with less resistance to finger and hand movement.
  • the armored body 10 is provided with various sensors for detecting the movement of the hand, and other components such as the controller 40 and the compressor 70 to fix them.
  • the shape of the armor body 10 is preferably a form in which five fingers are separated and inserted comfortably as in the conventional gloves.
  • Each finger part of the armor body 10 is provided with an exercise auxiliary tube 60 in the longitudinal direction of the finger.
  • the exercise auxiliary tube 60 is preferably made of a flexible synthetic resin material such as vinyl so as not to leak air to the place where the air is injected.
  • the exercise assistance tube 60 serves to assist the finger movement of the neuropathy patient who does not fully extend his or her finger.
  • the exercise assisting tube 60 is forced to expand in a rod shape by air pressure, thereby assisting the user's fingers to be stretched. As the injected air escapes, the fingers are retracted, so the extended and retracted movements of the fingers can be repeated.
  • the exercise assistance tube 60 may be installed at any of the bottom, the back, and the side of the finger. Since the finger is bent toward the bottom, it is most preferable to be installed at the back of the finger to assist the movement of the finger without restricting the movement of the finger.
  • Exercise auxiliary tube 60 is installed in the longitudinal direction of the finger, the cross section of the tube may be a variety of shapes, such as circular, oval. In the case where air is injected into the exercise auxiliary tube 60, the resistance to bending stress must be large in order to assist the straightening of the finger well, and thus the shape of the eye (I) beam having a large stress on bending stress is most preferable.
  • FIG. 2 is an elliptical cross section
  • FIG. 3 is a cross section of an eye beam. As shown in FIG.
  • the upper portion 61, the middle portion 62, and the lower portion 63 may be distinguished from each other in order to maintain the cross-sectional shape as an I-shape even when the cross section is in the form of an eye beam.
  • the through holes 64 are formed to have the same pressure.
  • a compressor 70 is provided to inject air into the exercise assistance tube 60.
  • the compressor is a device that compresses air and injects air into the exercise auxiliary tube 60, and includes a cylinder type and a rotary type.
  • the type of compression is not limited. However, since the pressure of the air injected into the exercise auxiliary tube 60 is not required to spread the fingers, it is preferable that the compressor is a small and light compact compressor driven by a small motor.
  • a check valve (75) which is operated to prevent the back flow of the supplied air.
  • the valve 75 When air moves from the compressor 70 to the exercise assisting tube 60, the valve 75 is opened. On the contrary, when the air is about to move, the valve 75 is closed to keep the air from escaping.
  • the valve 75 When the valve 75 is opened in response to a signal from the controller 40, air is discharged to the outside.
  • a solenoid type check valve for opening and closing the valve in accordance with an electrical signal is used.
  • Sensors 20, 30, and 80 are provided to detect the movement of the hand and finger of the neurological disorder patient doing rehabilitation.
  • the detectors 20, 30, and 80 may specifically measure the bending of the finger 20, which measures the degree of bending of the finger, the hand motion detector 30, which measures the position and movement of the hand, and the EMG of the user. It may include an EMG measuring unit 80 to measure.
  • the finger bend detection unit 20 is provided to measure the degree of bending of the finger.
  • the method of measuring the degree of bending of the finger will vary, but it is most preferable to adopt a flex sensor to measure the degree of bending most easily.
  • the flex sensor is a sensor that detects the degree of bending according to the measured resistance value because the resistance value varies depending on the degree of bending.
  • the flex sensor is installed separately for each finger. That is, five sensors are attached. The attached sensor detects the movement of each finger independently.
  • the flex sensor is mounted between the exercise assist tube 60 and the armored body 10 as shown in FIGS. 2 to 4, and the flex sensor and the exercise assist tube 60 are attached to the shell 15. It is fixed not to be separated from the armor body (10).
  • the hand motion detection unit 30 may be installed at the back of the hand or palm of the glove body 10. However, to ensure the free movement of the hand is most preferably attached to the back of the hand.
  • Various types of sensors for detecting hand movements may be adopted, but in the present invention, it is preferable to include at least one of an acceleration sensor, a gyro sensor, and an inertial measurement unit (IMU). Any one or a combination of an acceleration sensor, a gyro sensor, and an inertial measurement unit which is a mixture of the acceleration sensor and the gyro sensor may be adopted as the hand motion detection unit 30.
  • IMU inertial measurement unit
  • the EMG sensor may be used to determine the user's willingness to exercise.
  • the EMG sensor refers to a sensor that amplifies and detects the muscle active current generated during contraction of skeletal muscle. In patients with neurological disorders such as stroke, they cannot move their hands freely, but when they try to move their fingers, they can measure minute changes in muscle active current. When the patient's exercise intention is detected by the EMG sensor, air is injected into the exercise assistance tube 60 to assist the fingers to be extended.
  • the signal detected by the detector is transmitted to the controller 40. That is, the controller 40 controls the driving state of the compressor 70 based on the signals detected from the EMG measuring unit 80, the finger bend detecting unit 20, and the hand movement detecting unit 30.
  • the control unit 40 transmits a signal sensed by each sensing unit to the mobile terminal 200 which is remotely linked through the communication module 50.
  • the transmitted signal may be recorded as data in the mobile terminal 200 or used as a signal for manipulating a program running on the mobile terminal 200.
  • the rehabilitation apparatus 100 may exchange data with the mobile terminal 200, and the mobile terminal 200 may exchange data with the management server 300.
  • the rehabilitation exercise record may be stored in the management server through the mobile terminal 200.
  • the operating principle of the rehabilitation exercise device according to the first aspect of the present invention is examined.
  • a rehabilitation patient wearing a rehabilitation exercise device for a neurological disorder patient according to the present invention tries to straighten a finger
  • the exercise will of the patient is detected by the EMG sensor by measuring the muscle active current, and the detected signal is controlled by the controller 40. Is passed on.
  • the controller 40 drives the compressor 70 to inject air into the exercise assistance tube 60.
  • the exercise assisting tube 60 assists the fingers to be stretched out.
  • the pressure inside the exercise auxiliary tube 60 measured by the pressure measuring unit 90 is detected to be above a certain level or when the finger is extended by a certain time by the flex sensor, the compressor 40 receives a detection signal.
  • the control unit 40 senses the EMG sensor, opens the check valve, and discharges the air in the exercise auxiliary tube 60 to lift the finger.
  • the rehabilitation exercise is held repeatedly by holding a finger.
  • the rehabilitation exercise may be performed by the program for each patient stored in the management server 300.
  • it is possible to motivate the rehabilitation patient through a rehabilitation exercise program for example, a program using augmented reality driven on the mobile terminal 200.
  • an active assisted control method and apparatus in a finger rehabilitation exercise device associated with finger rehabilitation exercise / training.
  • An active assist control method and apparatus in a finger rehabilitation exercise device is a methodology for controlling the force of a driver for providing an assist force to a finger of a stroke rehabilitation patient, and a method for effectively inducing stroke rehabilitation. Knowledge in the field of rehabilitation theory and brain science was reflected in the control methodology.
  • an active assist control method and apparatus in a finger rehabilitation exercise device according to a second aspect of the present invention will be described with reference to FIG. 5.
  • Figure 5 is a block diagram illustrating a method and apparatus for active assist control of the finger rehabilitation exercise device. Hereinafter, with reference to FIG. 5, the function of each structure part is demonstrated.
  • the active auxiliary control device illustrated in FIG. 5 may be mounted on a finger rehabilitation exercise device to assist a user in rehabilitation by using a finger rehabilitation exercise device.
  • the finger angle measuring unit 520 and / or EMG measuring unit 530 shown in FIG. 5 is not included in the active auxiliary control device itself of the present invention, even if the rehabilitation exercise apparatus 100 of FIG. It may be replaced by the configuration of the same / similar function included. That is, in FIG. 5, the finger angle measuring unit 520 and the EMG measuring unit 530 are not necessarily included in the active auxiliary control device of the present invention, and FIG. 5 illustrates the finger rehabilitation exercise device used by the user. As shown in FIG. 1, the block diagram assumes that a component capable of measuring finger angle and / or electromyography is not included. Accordingly, specific implementation examples of the finger angle measuring unit 520 and the EMG measuring unit 530 may be the same as or similar to those of the same / similar configuration described with reference to FIG. 1. Let's do it.
  • the active auxiliary control device (or specific functions or methods executed by the device) according to the present invention, according to the embodiment, is not directly mounted on the finger rehabilitation exercise device, the communication terminal of the user communicating with the finger rehabilitation exercise device It may be implemented in a mount (see the mobile terminal 200 of FIG. 1) or on an external server (see management server 300 of FIG. 1) to communicate with the communication terminal.
  • the preceding information unit 510 stores information on the average value of the minimum force required to perform a user's fingers spread.
  • the average value of the minimum force to be stored may be information about the average value of the minimum force required for the fingers stretched by the general public, not the stroke patient. Many people may have their hands open in advance to measure the force at that time and store the average value.
  • the average value of the minimum force stored in the preceding information unit 510 may be the average value of the minimum force required of the general public until the finger is fully extended in a state of fully closed, or by the angle at which the finger is bent (or the opposite angle).
  • Each of the average values of the minimum force required to straighten a finger to a certain angle (which may also be an angle with the finger fully open, but may also be a finger angle corresponding to a finger posture according to a specific rehabilitation operation) may be stored.
  • the finger angle measuring unit 520 may attach a sensor (eg, Flexpoint sensor) that measures the angle of the finger joint node to one or all nodes of each finger, measure the finger angle, and transmit the value to the minimum force calculator.
  • a sensor eg, Flexpoint sensor
  • the EMG measurement unit 530 by measuring the EMG of the muscles associated with the fingers spread (extension, extension) with the EMG sensor may transmit the value to the minimum force calculation unit.
  • Figure 5 is shown to include both the configuration for measuring the finger angle and the configuration for EMG, but in the case of the minimum force calculation is calculated using only one of these values (that is, the finger angle or EMG value) As may be possible, only some of them may be provided.
  • the finger angle measurement or the EMG measurement are all used to estimate the minimum force required for the rehabilitation patient to perform a finger spreading operation, and various basic data measurement configurations may be used in addition to the minimum force prediction. It may be. However, hereinafter, the description will be made based on the case of finger angle measurement or EMG measurement.
  • the minimum force calculator 540 uses a finger rehabilitation exercise device based on the information stored by the preceding information unit 510 and the measured values measured by the finger angle measuring unit 520 or / and the EMG measuring unit 530. To calculate the minimum force required by the user of the rehabilitation exercise. At this time, the minimum force may be calculated by the following method.
  • the minimum force calculator 540 may store the minimum force required to obtain a finger posture of a specific rehabilitation operation from the current finger angle of the user measured by the finger angle measurer 520 in the preceding information unit 510. Can be calculated based on the information. For example, it is assumed that a user intends to take a gesture of extending a finger according to a specific rehabilitation operation while wearing a glove-type rehabilitation exercise device shown in FIG. 1. In this case, the finger angle measuring unit 520 may measure the current finger angle (ie, the state before taking the specific rehabilitation operation) of the user.
  • the measured current finger angle is transmitted to the minimum force measuring unit 540, and the minimum force measuring unit 540 transmits the minimum force required to change from the current finger angle to the finger posture according to a specific rehabilitation operation to the preceding information unit 510. It can be calculated by referring to the stored data. For example, if the finger angle needs to be extended by 50 degrees or more in order to change from the current finger angle to the finger posture according to a specific rehabilitation operation, the data stored in the preceding information unit 510 is obtained by applying the minimum force required to extend the 50 degrees. The calculation method can be used as a reference.
  • the minimum force calculation unit 540 may obtain the minimum force required to take the finger posture of the specific rehabilitation operation from the current EMG value of the user measured by the EMG measurement unit 530, and the prior information unit Reference may be made to information stored at 510.
  • the minimum force calculation may take into account the two methods described above (finger angle and electromyogram).
  • the auxiliary force to be provided to the user is determined in consideration of the calculated minimum force.
  • the auxiliary force may be a force of the same intensity as the calculated minimum force, but may be a force of intensity added to the calculated minimum force as described below.
  • the determined auxiliary force may be assisted in the rehabilitation exercise of the user by the following method. Referring to the case of the rehabilitation exercise apparatus of FIGS. 1 to 4, the control unit 40 drives the compressor 70 to impart the expansion force as much as the assisting force to the exercise assisting tube 60, such as a stroke patient. Likewise, if a finger is unable to move a finger at will because of a neurological disorder, this is an example.
  • the error calculation unit 550 when the auxiliary force is provided, from the difference between the actual angle of the user's finger stretched and the target angle according to the finger posture of the specific rehabilitation operation, the force between the minimum force and the actual force previously calculated Calculate the difference.
  • This error calculation is intended to determine the assist force more suitable for subsequent rehabilitation by the user. That is, when a supplemental force is provided considering the first calculated minimum force, in some cases, the user may not see the exercise effect as a result of providing too much assist force, and in some cases, the opposite may also occur. .
  • the error result calculated by the error calculator 550 is used as basic information for the active auxiliary control of the next rehabilitation operation in order to increase the effect of the user's rehabilitation exercise.
  • the minimum force calculation unit 540 based on the difference between the minimum force and the actual force calculated by the error calculation unit 550, the user performs a rehabilitation exercise of a specific rehabilitation operation Update the minimum force to assist.
  • the minimum force calculator 540 may be implemented with a mathematical model as follows for minimum force update reflecting the user's rehabilitation results and learning (rehabilitation) ability in the minimum force calculation and rehabilitation exercise process.
  • the mathematical model may include various methods such as simple linear regression, optimal estimation using Kalman filter, and Bayesian estimation using Bayes probability theory.
  • the minimum force y can be obtained when x, i.e., the output value of the finger angle measuring unit 520 and the output value of the EMG measuring unit 530 are measured.
  • the initial value A_ (0) of A assumes that the initial value y0 of y is the average value of the minimum force (hereinafter, the minimum force) required for an ordinary person's finger spreading operation, that is, the output value of the preceding information unit 510 (or empirical). You can also set the initial value with), and initially find two samples of x and get the initial value of A_ (0).
  • A_ (n + 1) (a1_ (n) + D1 * 2 (target finger angle-x2), a2_ (n) + D2 * 2 (target finger angle-x2)), where D1 and D2 are arbitrary values Is an empirical constant that correlates to the learning rate of the model. For example, if the rehabilitation learning rate of the user who is doing the rehabilitation exercise exceeds the average learning rate of the rehabilitation patients, the exercise control value (in this example, the strength of the assist force) is adjusted (newly updated) to increase the exercise effect. It is necessary to do this, where D1 and D2 correspond to constants for controlling these values.
  • the difference between the minimum force and the actual force calculated by the error calculator 550 may be calculated by multiplying the difference between the target angle and the actual angle by a specific constant value, and in the above example, B * (target finger angle ⁇ Actual finger angle).
  • the invention may further comprise a random noise signal generator 560 that provides randomness to the calculated minimum force, as shown in FIG. 5, according to one embodiment.
  • the auxiliary force provided to the user may include a random noise signal generated by the random noise signal generator 560 in the minimum force calculated by the minimum force calculator 540.
  • the random noise signal generator 560 may set a value such that the average is 0 in the random number generator and the standard deviation std is not too large empirically. That is, it can be represented by n (0, std).
  • the random noise signal generation unit 560 When the random noise signal generation unit 560 is applied, the user may further increase the exercise effect when repeatedly performing the same rehabilitation operation.
  • a data input device interworking with a mobile device is disclosed.
  • a glove-type data input device for detecting a hand motion and inputting data in connection with a mobile device is disclosed.
  • FIGS. 6 to 8 of the accompanying drawings a mobile linked glove type data input device according to a third aspect of the present invention will be described with reference to FIGS. 6 to 8 of the accompanying drawings.
  • FIG. 6 is a view for explaining the overall mobile linked armor-type data input device (100a).
  • the glove body 10a is made in the form of a glove to be worn on the hand, and installed on the glove body (10a), the movement of the finger, hand posture change, hand Sensor unit 20a, 30a for detecting the hand motion information according to at least one of the position change of the receiving position of the user's hand motion detected by the detection unit (20a, 30a) is located remotely through a wireless communication module And a control unit 40a for transmitting an operation signal or a data signal for operating a program operated in the mobile terminal 200a.
  • the armor body 10a has the form of a conventional glove worn on the hand as shown in FIG.
  • the glove body 10a is not limited in material, but in order to freely move the hand, it is preferable that the glove body 10a is made of a soft material having little resistance to the movement of the finger and the hand.
  • the armor body 10a is provided with various components such as various sensors for detecting the movement of the hand and the control unit 40a, and serves to fix them.
  • the shape of the armored body 10a is preferably a form in which five fingers are separately inserted and inserted like a normal glove.
  • the detection unit 20a, 30a includes a finger bend detection unit 20a for measuring the degree of bending of the finger and a hand motion detection unit 30a for measuring the position and movement of the hand. It may be characterized by.
  • the finger bend detecting unit 20a is provided to measure the degree of bending of the finger.
  • the method of measuring the degree of bending of the finger will vary, but it is most preferable to adopt a flex sensor to measure the degree of bending most easily.
  • the flex sensor is installed separately for each finger. That is, five sensors are attached. The attached sensor detects the movement of each finger independently.
  • the flex sensor is mounted on the back portion of the armor finger as shown in FIGS. 7 and 8.
  • a hand motion detection unit 30a is provided.
  • the hand motion detecting unit 30a may be installed at the back of the hand or palm of the glove body 10a. However, to ensure the free movement of the hand is most preferably attached to the back of the hand.
  • Various types of sensors for detecting hand movements may be adopted, but the present invention preferably includes at least one of an acceleration sensor, a gyro sensor, and an inertial measurement unit (IMU). Any one or a combination of an acceleration sensor, a gyro sensor, and an inertial measurement unit in the form of a mixture of the acceleration sensor and the gyro sensor may be adopted as the hand motion detection unit 30a.
  • IMU inertial measurement unit
  • the signal detected by each detector is transmitted to the controller 40a, and the controller 40a transmits a data signal to the mobile terminal 200a through the communication module 50a.
  • the signals of each of the sensing units 20a and 30a may be recognized as independent signals, or may be recognized as signals by a combination of two or more sensing signals.
  • the flex sensor detects a finger bend, it distinguishes the signal when the thumb, the index finger, the middle finger, the ring finger and the body are bent one by one, and the signal that is detected when the two fingers are bent at the same time (or short time interval). It can be recognized as a signal. This can generate a variety of signals, replacing the input device such as a keyboard.
  • the data signal transmitted to the mobile terminal 200a from the mobile linked armored data input device 100a according to the present invention may be used as an operation signal such as a game driven by the mobile terminal 200a.
  • the up, down, left, right input keys on the keyboard can be replaced with data signals generated by bending the finger.
  • the mobile linked glove type data input device 100a according to the third aspect of the present invention may be applied to a rehabilitation exercise of a neurological disorder patient, such as a stroke, in a similar use as the rehabilitation exercise apparatus of FIGS. 1 to 4 described above.
  • the armored data input device 100a according to the third aspect of the present invention uses a rehabilitation tool such as manipulating a virtual object and a rehabilitation tool virtual object on the augmented reality screen displayed on the mobile terminal 200a. Can also be used for exercise.

Landscapes

  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Theoretical Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Biophysics (AREA)
  • Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • General Physics & Mathematics (AREA)
  • Rehabilitation Therapy (AREA)
  • Public Health (AREA)
  • Animal Behavior & Ethology (AREA)
  • Pain & Pain Management (AREA)
  • Veterinary Medicine (AREA)
  • Epidemiology (AREA)
  • Biomedical Technology (AREA)
  • Dermatology (AREA)
  • Neurology (AREA)
  • Neurosurgery (AREA)
  • Rehabilitation Tools (AREA)

Abstract

L'invention concerne un appareil d'exercice de rééducation destiné à des patients présentant des troubles neurologiques qui comprend: un corps de gant, en forme de gant, de manière à pouvoir être porté par une main; un tube d'aide aux exercices formé dans une direction longitudinale des doigts sur chaque portion de doigt du corps de gant; un compensateur destiné à injecter de l'air dans ce tube; une partie de détection, qui est installée sur le corps de gant, en vue de détecter les informations de mouvement de la main en fonction d'au moins un mouvement de doigt, un changement dans la forme de la main, et un changement dans la position de la main; et une partie de contrôle destinée à collecter les informations de mouvement de la main d'un utilisateur détectées par la partie de détection, et destinée à transférer un signal d'entraînement vers le compresseur.
PCT/KR2012/004310 2011-05-31 2012-05-31 Appareil d'exercice de rééducation, procédé et dispositif de régulation de l'aide proactive d'un appareil d'exercice de rééducation, et appareil en forme de gant relié mobile destiné à entrer des données Ceased WO2012165880A2 (fr)

Applications Claiming Priority (6)

Application Number Priority Date Filing Date Title
KR10-2011-0051986 2011-05-31
KR1020110051986A KR101457201B1 (ko) 2011-05-31 2011-05-31 신경장애 환자를 위한 재활 운동 장치
KR20110051983 2011-05-31
KR10-2011-0051983 2011-05-31
KR10-2011-0051987 2011-05-31
KR1020110051987A KR20120133351A (ko) 2011-05-31 2011-05-31 모바일 연동 장갑형 데이터 입력장치

Publications (3)

Publication Number Publication Date
WO2012165880A2 true WO2012165880A2 (fr) 2012-12-06
WO2012165880A3 WO2012165880A3 (fr) 2013-04-25
WO2012165880A9 WO2012165880A9 (fr) 2013-09-26

Family

ID=47260091

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/KR2012/004310 Ceased WO2012165880A2 (fr) 2011-05-31 2012-05-31 Appareil d'exercice de rééducation, procédé et dispositif de régulation de l'aide proactive d'un appareil d'exercice de rééducation, et appareil en forme de gant relié mobile destiné à entrer des données

Country Status (1)

Country Link
WO (1) WO2012165880A2 (fr)

Cited By (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105943041A (zh) * 2016-06-06 2016-09-21 西北工业大学 一种基于压力和肌电信号的穿戴式手指检测设备
CN106618963A (zh) * 2017-01-13 2017-05-10 南京航空航天大学 一种并指术后可穿戴康复机器人手套装置及康复训练方法
CN107440887A (zh) * 2017-09-21 2017-12-08 臧大维 全仿生类脑智能手部电子机械外骨骼及其综合控制系统
JPWO2017199834A1 (ja) * 2016-05-19 2019-03-22 圭治郎 山本 関節運動アシストシステム
CN109953871A (zh) * 2019-04-11 2019-07-02 安徽东凯信息科技有限公司 一种利用气压分布状态进行训练的手指复健用指套
CN109999429A (zh) * 2019-04-17 2019-07-12 上海司羿智能科技有限公司 手部康复训练系统及训练方法
CN110840705A (zh) * 2019-12-06 2020-02-28 上海势登坡智能科技有限公司 一种手部关节康复中随动驱动装置
CN111714334A (zh) * 2020-07-13 2020-09-29 厦门威恩科技有限公司 一种上肢康复训练机器人及控制方法
CN111743504A (zh) * 2020-08-05 2020-10-09 嘉兴学院 一种基于手势识别的软体装置结构
CN111870476A (zh) * 2020-06-28 2020-11-03 吉林化工学院 手指软体康复训练装置
US10888487B1 (en) 2017-04-06 2021-01-12 United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Grasp assist system
CN112545536A (zh) * 2020-12-02 2021-03-26 复旦大学附属华山医院 基于脑可塑的动作辅助装置及其控制方法、电路
CN113491622A (zh) * 2021-08-09 2021-10-12 东南大学 基于仿蜂窝结构的双向驱动器的康复手套制作及控制方法
US20220054913A1 (en) * 2018-12-13 2022-02-24 M&M Co., Ltd. Device for measuring power in response to varying striking condition
CN114099239A (zh) * 2021-11-26 2022-03-01 上海格润科技有限公司 手功能康复训练方法、装置、康复训练仪及介质
WO2022057818A1 (fr) * 2020-09-16 2022-03-24 上海司羿智能科技有限公司 Procédé et dispositif d'entraînement assisté par énergie pour main de patient
CN114847978A (zh) * 2022-05-26 2022-08-05 南京理工大学 一种基于肌肉功能网络的康复评估方法
CN115486815A (zh) * 2022-06-27 2022-12-20 青岛大学 一种帕金森病手颤的三维姿态实时分析系统及方法
CN121129606A (zh) * 2025-10-17 2025-12-16 深圳市宇能无线技术有限公司 一种手功能康复训练方法及装置
US12508492B2 (en) 2023-08-25 2025-12-30 Christopher Wang Cheerleading training system

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108743215B (zh) * 2018-04-11 2020-05-26 刘春龙 一种基于柔性康复手套的康复训练系统
CN110141459A (zh) * 2019-06-04 2019-08-20 胡雪莹 一种脑卒中患者分指训练装置

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4830360A (en) * 1987-07-24 1989-05-16 Carr Jr Earnest F Orthopedic exercise glove
US5383827A (en) * 1993-03-15 1995-01-24 Orthotic Rehabilitation Products, Inc. Inflatable hand orthosis
JP5472680B2 (ja) * 2009-04-09 2014-04-16 国立大学法人 筑波大学 装着式動作補助装置
JP4716456B2 (ja) * 2009-10-05 2011-07-06 圭治郎 山本 関節運動支援装置

Cited By (28)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPWO2017199834A1 (ja) * 2016-05-19 2019-03-22 圭治郎 山本 関節運動アシストシステム
CN105943041A (zh) * 2016-06-06 2016-09-21 西北工业大学 一种基于压力和肌电信号的穿戴式手指检测设备
CN106618963A (zh) * 2017-01-13 2017-05-10 南京航空航天大学 一种并指术后可穿戴康复机器人手套装置及康复训练方法
US11690775B1 (en) 2017-04-06 2023-07-04 United States Of America As Represented By The Administrator Of The National Aeronautics And Space Method for controlling a grasp assist system
US12208597B1 (en) 2017-04-06 2025-01-28 United States Of America As Represented By The Administrator Of Nasa Grasp assist system with triple brummel soft anchor
US10888487B1 (en) 2017-04-06 2021-01-12 United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Grasp assist system
US11019862B1 (en) 2017-04-06 2021-06-01 United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Grasp assist system with triple Brummel soft anchor
CN107440887B (zh) * 2017-09-21 2023-09-22 臧大维 全仿生类脑智能手部电子机械外骨骼及其综合控制系统
CN107440887A (zh) * 2017-09-21 2017-12-08 臧大维 全仿生类脑智能手部电子机械外骨骼及其综合控制系统
US20220054913A1 (en) * 2018-12-13 2022-02-24 M&M Co., Ltd. Device for measuring power in response to varying striking condition
CN109953871A (zh) * 2019-04-11 2019-07-02 安徽东凯信息科技有限公司 一种利用气压分布状态进行训练的手指复健用指套
CN109999429A (zh) * 2019-04-17 2019-07-12 上海司羿智能科技有限公司 手部康复训练系统及训练方法
CN110840705A (zh) * 2019-12-06 2020-02-28 上海势登坡智能科技有限公司 一种手部关节康复中随动驱动装置
CN111870476B (zh) * 2020-06-28 2022-12-23 吉林化工学院 手指软体康复训练装置
CN111870476A (zh) * 2020-06-28 2020-11-03 吉林化工学院 手指软体康复训练装置
CN111714334A (zh) * 2020-07-13 2020-09-29 厦门威恩科技有限公司 一种上肢康复训练机器人及控制方法
CN111714334B (zh) * 2020-07-13 2022-08-05 厦门威恩科技有限公司 一种上肢康复训练机器人及控制方法
CN111743504A (zh) * 2020-08-05 2020-10-09 嘉兴学院 一种基于手势识别的软体装置结构
WO2022057818A1 (fr) * 2020-09-16 2022-03-24 上海司羿智能科技有限公司 Procédé et dispositif d'entraînement assisté par énergie pour main de patient
CN112545536A (zh) * 2020-12-02 2021-03-26 复旦大学附属华山医院 基于脑可塑的动作辅助装置及其控制方法、电路
CN112545536B (zh) * 2020-12-02 2023-07-04 复旦大学附属华山医院 基于脑可塑的动作辅助装置及其控制方法、电路
CN113491622B (zh) * 2021-08-09 2022-04-29 东南大学 基于仿蜂窝结构的双向驱动器的康复手套制作及控制方法
CN113491622A (zh) * 2021-08-09 2021-10-12 东南大学 基于仿蜂窝结构的双向驱动器的康复手套制作及控制方法
CN114099239A (zh) * 2021-11-26 2022-03-01 上海格润科技有限公司 手功能康复训练方法、装置、康复训练仪及介质
CN114847978A (zh) * 2022-05-26 2022-08-05 南京理工大学 一种基于肌肉功能网络的康复评估方法
CN115486815A (zh) * 2022-06-27 2022-12-20 青岛大学 一种帕金森病手颤的三维姿态实时分析系统及方法
US12508492B2 (en) 2023-08-25 2025-12-30 Christopher Wang Cheerleading training system
CN121129606A (zh) * 2025-10-17 2025-12-16 深圳市宇能无线技术有限公司 一种手功能康复训练方法及装置

Also Published As

Publication number Publication date
WO2012165880A3 (fr) 2013-04-25
WO2012165880A9 (fr) 2013-09-26

Similar Documents

Publication Publication Date Title
WO2012165880A2 (fr) Appareil d'exercice de rééducation, procédé et dispositif de régulation de l'aide proactive d'un appareil d'exercice de rééducation, et appareil en forme de gant relié mobile destiné à entrer des données
KR101457201B1 (ko) 신경장애 환자를 위한 재활 운동 장치
US9238137B2 (en) Neuromuscular stimulation
TWI487505B (zh) 肌動訊號輸入裝置、人機操作系統及其辨識方法
US5911693A (en) Differential myometer
CN110072678A (zh) 用于运动辅助的人类意图检测系统
EP2262573A2 (fr) Appareil et procédé d'entraînement basés sur un contenu de mouvement
Guo et al. A soft robotic exo-sheath using fabric EMG sensing for hand rehabilitation and assistance
CN109481226A (zh) 一种双手跟踪式多自由度软体手指康复机器人及使用方法
CN109589496A (zh) 一种人体运动全过程穿戴式仿生康复系统
WO2012165882A2 (fr) Appareil d'exercice de rééducation, appareil de communication portatif, et système d'application et procédé d'application correspondant
WO2014104463A1 (fr) Dispositif de santé et de réadaptation basé sur une interaction naturelle
Culmer et al. An instrumented walking aid to assess and retrain gait
WO2020111344A1 (fr) Système et procédé de mise en œuvre de mouvement physique dans un espace virtuel en utilisant un signal électromyographique
Ahamed et al. Rehabilitation systems for physically disabled patients: A brief review of sensor-based computerised signal-monitoring systems
KR102331549B1 (ko) 손가락 움직임 보조용 장갑
KR101847918B1 (ko) 모션 인식 밴드를 이용한 재활운동 방법 및 시스템
KR100661112B1 (ko) 재활치료가 필요한 대상의 평형기능 측정, 진단 및 훈련시스템
CN116726477B (zh) 即时反馈手精细抓握训练手柄
WO2018044059A1 (fr) Système de surveillance de la forme physique
WO2024063457A1 (fr) Procédés et systèmes de détermination d'un nombre de pas d'un utilisateur
Hidayat et al. LOVETT scaling with flex sensor and MYO armband for monitoring finger muscles therapy of post-stroke people
KR102567413B1 (ko) 다감각 피드백 기반의 스마트 재활운동 보조장치
WO2019035586A1 (fr) Procédé et appareil de fourniture de guide de posture
WO2023096015A1 (fr) Procédé d'évaluation de fonction d'exercice basé sur le raisonnement flou

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 12792028

Country of ref document: EP

Kind code of ref document: A2

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 12792028

Country of ref document: EP

Kind code of ref document: A2