Rehabilitation exercise dynamometer with tiltable pedal track

Abstract

Disclosed is a rehabilitation exercise dynamometer capable of tilting a pedal trajectory corresponding to a rotation plane of a crank arm. A rehabilitation exercise dynamometer according to an embodiment of the present invention comprises: a flywheel rotatably provided to a bicycle dynamometer body; the rotating plane adjusting parts are arranged on the two sides of the flywheel respectively; a crank arm rotatably coupled to the rotation plane adjustment unit; and a pedal portion provided at an end portion of the crank arm. The rotation plane adjusting portion is configured to incline a pedal trajectory of the pedal portion by adjusting a rotation axis deflection angle of a rotation plane where the crank arm rotates.

Description

Technical Field

[0001] The present invention relates to a rehabilitation exercise ergometer as a bicycle ergometer device for rehabilitation exercise that can assist rehabilitation patients in rehabilitation exercise, and more specifically, to a rehabilitation exercise ergometer that can tilt a pedal track corresponding to a rotation plane of a crank arm. Background Art

[0002] For the initial treatment of surgical patients, early ambulation is an important factor for successful rehabilitation. For patients with hip neck fractures, acetabulum fractures, tibial plateau fractures, etc. who require long-term non-weightbearing training, rehabilitation exercises play a very important role. As an element of lower limb rehabilitation, in order to prevent joint contracture, it is recommended to perform range of motion exercises immediately after surgery, and muscle rehabilitation is required at the same time. In the early stage, it is necessary to start with isotonic exercises and gradually perform active and active-assistive forms of rehabilitation training.

[0003] With the development of precision measurement equipment, various preliminary studies have been conducted to change the muscle activation pattern by changing the position of the foot and the degree of rotation of each joint during existing rehabilitation exercises. Based on this, the theoretical development is continuously being promoted, that is, according to the changes in the movement trajectory or the relative position of the lower limb joints such as the ankle and knee joints, it is possible to train the desired muscles and verify their effects.

[0004] For patients with musculoskeletal system, their body structure, injury site and degree of injury are all different, so in order to effectively restore function, the intensity of training and target muscles need to be different for each person. For example, for patients with hip fractures, which are gradually increasing with the increase in the incidence of osteoporosis, the function of the gluteus medius muscle is significantly reduced, and abnormal gait such as Trendelenburg gait may occur, so training targeting the gluteus medius muscle is necessary.

[0005] In addition to the rehabilitation effect, the patient's safety also needs to be considered. In the early stage of the operation, the direction and degree of the external force need to be adjusted according to the patient's condition for the stability of the internal fixator. For example, patients undergoing hip replacement surgery need to be adjusted to avoid external forces in the direction of adduction and internal rotation being applied to the hip joint. For lateral tibial plateau fractures, it is safer to adjust the direction of the external force inwards rather than the lateral tibia.

[0006] In terms of lower limb rehabilitation, various medical devices are used flexibly, from rehabilitation medical devices for bed rehabilitation for early treatment of patients who cannot move to exoskeleton suits that enable patients to get out of bed directly for walking rehabilitation, but most of the existing devices belong to the movement on the sagittal plane, so the trajectory of rehabilitation exercise is limited. Therefore, even though muscles such as the gluteus medius and adductor muscles that play a major role in abduction and rotation play a very important role in daily life movements such as walking, they are often overlooked in initial rehabilitation training. In particular, there are many situations where it is necessary to perform under traumatic conditions, but it is difficult to perform exercises on the coronal plane due to pain and limited mobility.

[0007] As for the bicycle ergometer, although there is no precise drive system, it can also adjust the exercise load. The bicycle ergometer is a mechanism that can use the force of the healthy side rather than the injured part to assist the rehabilitation movement, so it has high usability. Recently, through the combination with the augmented reality (AR) system, the comprehensive rehabilitation effect of cognitive and physical functions is showing a trend of further increase. Although the technology of changing the linear position of the crank arm and the pedal by changing the relative position of the pedal and the bicycle seat has been continuously studied for the bicycle ergometer, it has not been able to change the pedal rotation trajectory along the rotation plane of the crank arm, so it is limited in the effect of rehabilitation exercise. It should be understood that the background technology described above is not mentioned as the prior art, but is only used to illustrate the background of the derivation of the present invention. Summary of the invention

[0008] Problem that the invention aims to solve

[0009] An object of the present invention is to provide a rehabilitation ergometer capable of inclining a pedal trajectory corresponding to a rotation plane of a crank arm.

[0010] In addition, an object of the present invention is to provide a rehabilitation exercise ergometer that maximizes the effect of rehabilitation exercise by determining a customized pedal trajectory suitable for a rehabilitation patient.

[0011] Means used to solve problems

[0012] The rehabilitation exercise ergometer of the embodiment of the present invention comprises: a flywheel rotatably arranged on a bicycle ergometer body; a rotation plane adjustment part respectively arranged on both sides of the flywheel; a crank arm rotatably coupled to the rotation plane adjustment part; and a pedal part arranged at the end of the crank arm. The rotation plane adjustment part is configured to tilt the pedal track of the pedal part by adjusting the rotation axis deflection angle of the rotation plane of the rotation of the crank arm.

[0013] The rotation plane adjustment unit may be configured to enable the pedal trajectory to be switched between a plurality of rotation planes having different deflection angles of the rotation axis.

[0014] The multiple rotation planes may include: a sagittal rotation plane in which the rotation axis deviation angle is parallel to the horizontal direction; an adduction rotation plane in which the rotation axis deviation angle is inclined toward a first direction with the sagittal plane as a reference; and an abduction rotation plane in which the rotation axis deviation angle is inclined toward a second direction opposite to the first direction with the sagittal plane as a reference.

[0015] The rotation plane adjustment part may include: an axial joint, which connects one end of the crank arm to the flywheel so as to maintain the same speed of rotation even if the rotation plane of the crank arm changes; and an axial fixing part, which fixes the rotation plane of the crank arm in a state where an inclination angle is applied to the rotation plane of the flywheel.

[0016] The shaft fixing part may include: a central member fixed to a main body supporting the flywheel; an adjusting member coupled to an end of the crank arm and rotatable around an angle adjustment shaft; and a fixing member coupling the central member and the adjusting member. The central member may include a plurality of first coupling holes, which are perforated at predetermined angles around the angle adjustment shaft and arranged in an arc shape.

[0017] A second coupling hole may be provided at a position of the adjusting member corresponding to the first coupling hole. The fixing member may include a ball lock pin inserted into at least one of the plurality of first coupling holes and the second coupling hole to fix the central member and the adjusting member.

[0018] The pedal part may include: a pedal shaft, which is coupled to the end of the crank arm and can rotate in a direction perpendicular to the crank arm; a pedal joint part, which is connected to the pedal shaft through a joint fixing part and is configured to be able to rotate in the horizontal and vertical axis directions; and a pedal footrest, which is configured to adjust the relative angle relative to the pedal shaft through the pedal joint part.

[0019] The pedal joint may include a spherical joint disposed in a pedal joint body. The spherical joint may include: a spherical joint mounting bracket disposed in the pedal joint body and in contact with a normal plane disposed inside the pedal joint body; and a fixing bolt inserted into the pedal joint body so that the spherical joint mounting bracket rises along the normal plane to fix the spherical joint mounting bracket.

[0020] In an embodiment of the present invention, the shaft fixing portion may further include a driving portion, which causes the adjusting member to rotate relative to the central member to adjust an inclination angle of a rotation trajectory of the pedal portion.

[0021] The rehabilitation exercise ergometer of an embodiment of the present invention may further include: a data acquisition unit, which collects rehabilitation patient information, wherein the rehabilitation patient information includes image information, body function information and rehabilitation-related information related to the rehabilitation patient; a rotation plane selection unit, which is configured to determine a target rotation plane for the rehabilitation exercise of the rehabilitation patient based on the rehabilitation patient information; and a control unit, which controls the drive unit according to the target rotation plane to adjust the rotation plane.

[0022] The rehabilitation exercise ergometer of an embodiment of the present invention may further include: a measuring sensor, configured to collect motion information and biological signals related to the rehabilitation exercise of the rehabilitation patient during the process of the rehabilitation patient exercising through the rehabilitation exercise ergometer; and a motion execution evaluation unit, configured to evaluate the movement of the rehabilitation patient on the rotation plane based on the motion information and biological signals of the rehabilitation patient.

[0023] The rehabilitation exercise ergometer of the embodiment of the present invention may further include a rotation trajectory adjusting device, which deforms the rotation trajectory of the pedal part into an elliptical shape through the crank arm.

[0024] The crank arm may include a first crank arm body and a second crank arm body coupled to the first crank arm body and capable of rotating. The rotation trajectory adjusting device may include a crank arm length adjusting device, the crank arm length adjusting device adjusting the length of the crank arm body according to the rotation cycle.

[0025] The crank arm length adjustment device may include: a first gear member coupled to one side end portion of the first crank arm body; a second gear member formed with a diameter smaller than that of the first gear member and coupled to the second crank arm body at the other side end portion of the first crank arm body; and an annular strip member coupled to the first gear member and the second gear member.

[0026] The crank arm length adjustment device can be designed such that when the first crank arm body is arranged in the up-down direction, the second crank arm body overlaps with the first crank arm body and is arranged in the up-down direction; when the first crank arm body is arranged in the horizontal direction, the second crank arm body is arranged in a manner of being expanded parallel to the outside of the first crank arm body.

[0027] Effects of the Invention

[0028] According to an embodiment of the present invention, there is provided a rehabilitation ergometer capable of inclining a pedal trajectory corresponding to a rotation plane of a crank arm.

[0029] According to an embodiment of the present invention, the deflection angle of the rotation axis of the crank arm can be adjusted to change the rotation plane, and the foot posture can be changed by tilting the pedal, thereby enabling precise targeted training of specific target muscles of rehabilitation patients, and by adjusting the direction of the load applied to each joint, the pain caused by rehabilitation exercises can be reduced, thereby protecting the injured part.

[0030] According to the embodiments of the present invention, it is possible to focus on the muscles and functions that the user wants to train and perform effective training. By switching the direction of the external force applied to the joints, the safety of exercise can be improved, such as reducing pain and protecting the surgical site.

[0031] In addition, according to the embodiments of the present invention, a customized pedal trajectory suitable for a rehabilitation patient can be determined, thereby maximizing the rehabilitation exercise effect achieved by the ergometer.

[0032] In addition, according to the embodiment of the present invention, by deforming the rotation trajectory into an ellipse, the range of motion of the joints of the subject can be expanded / diversified compared to the circular rotation method, thereby improving the rehabilitation effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 FIG. 1 is a perspective view showing a rehabilitation ergometer according to an embodiment of the present invention.

[0034] Figure 2 FIG. 1 is a top view of a rehabilitation exercise ergometer according to an embodiment of the present invention.

[0035] Figure 3 For the general Figure 1 The "A" portion is an enlarged top view.

[0036] Figure 4 For the general Figure 1 The "B" portion is an enlarged perspective view.

[0037] Figure 5 It is a plan view for explaining the operation of the pedal unit constituting the rehabilitation exercise ergometer according to the embodiment of the present invention.

[0038] Figure 6 It is a side view for explaining the operation of the pedal unit constituting the rehabilitation exercise ergometer according to the embodiment of the present invention.

[0039] Figure 7 This is a perspective view showing the main parts of the rehabilitation exercise ergometer according to the embodiment of the present invention in section.

[0040] Figures 8 to 10 It is a front view for explaining the operation of the rehabilitation exercise ergometer according to the embodiment of the present invention.

[0041] Figures 11 to 13 It is a perspective view for explaining the operation of the rehabilitation exercise ergometer according to the embodiment of the present invention.

[0042] Fig.14 It is a structural diagram of a rehabilitation exercise ergometer according to an embodiment of the present invention.

[0043] Fig.15 It is a conceptual diagram for explaining the function of the rehabilitation exercise ergometer according to the embodiment of the present invention.

[0044] Fig.16 It is a perspective view showing a rehabilitation exercise ergometer according to another embodiment of the present invention.

[0045] Fig.17 For illustration Fig.16 A perspective view of an embodiment of a rehabilitation exercise ergometer in action. DETAILED DESCRIPTION

[0046] The advantages and features of the present invention and the methods for achieving these advantages and features can be clarified with reference to the accompanying drawings and the embodiments described in detail together. However, the present invention is not limited to the embodiments disclosed below, but can be implemented in a variety of different ways. These embodiments are only provided to more fully disclose the present invention and to more fully convey the scope of the invention to those skilled in the art. The present invention is defined only by the claims. Throughout the specification, the same figure numerals refer to the same structural elements.

[0047] The rehabilitation exercise ergometer of an embodiment of the present invention includes: a flywheel rotatably arranged on a bicycle ergometer body; a rotation plane adjustment part respectively arranged on both sides of the flywheel; a crank arm rotatably coupled to the rotation plane adjustment part; and a pedal part arranged at the end of the crank arm. The rotation plane adjustment part is configured to tilt the pedal track of the pedal part by adjusting the rotation axis angle of the rotation plane of the crank arm. Thus, precise targeted training can be performed on specific target muscles of the rehabilitation patient by tilting the pedal track, and the pain caused by the rehabilitation exercise can be reduced by adjusting the direction of the load applied to each joint, thereby protecting the injured part.

[0048] Figure 1 FIG. 1 is a perspective view showing a rehabilitation ergometer according to an embodiment of the present invention. Figure 2 FIG. 1 is a top view of a rehabilitation exercise ergometer according to an embodiment of the present invention. Figure 3 For the general Figure 1 The top view of the "A" part is enlarged. Figures 1 to 3The rehabilitation exercise ergometer 100 of the embodiment of the present invention is a rehabilitation bicycle capable of realizing multi-track exercise, and may include a flywheel 110 , a rotation plane adjustment portion 120 , a crank arm 130 and a pedal portion 140 .

[0049] The flywheel 110 may be configured to include a flywheel body ( Figure 7 The flywheel body is rotatably arranged in the inner space of the bicycle ergometer body 110a by means of a bearing 111 or other supporting means. The bicycle ergometer body 110a is firmly fixed to the ground by a support frame (not shown) or the like in a hospital, rehabilitation institution, gymnasium, home or other space, or is firmly fixed to a mobile support frame for bed rehabilitation, so that rehabilitation patients can perform rehabilitation exercises. A bicycle seat for rehabilitation patients to sit on can be provided on the upper side of the bicycle ergometer body 110a.

[0050] The rotation plane adjustment unit 120 may be provided on both sides of the flywheel 110. The rotation plane adjustment unit 120 may be configured to tilt the pedal track of the pedal unit 140 by adjusting the rotation axis deflection angle of the rotation plane of the crank arm 130. The crank arm 130 is provided with a bearing ( Figure 7 125) etc. are combined in a rotatable manner.

[0051] The crank arm 130 may be coupled in a manner capable of transmitting rotational power to the flywheel 110. The crank arm 130 may be configured to include: a crank arm body 131 rotatably coupled to the side plate 123b of the adjustment member 122b and extending toward the pedal portion 140; a first coupling portion 132 provided at one end of the crank arm body 131 to rotatably couple the crank arm body 131 to the side plate 123b of the adjustment member 122b; and a second coupling portion 133 provided at the other end of the crank arm body 131 to couple the crank arm body 131 to the pedal portion 140.

[0052] The pedal part 140 is connected to the end of the crank arm 130 and directly contacts the user's foot. Therefore, when the user, who is a rehabilitation patient, steps on the pedal part 140 with his foot, the crank arm 130 rotates, and the rotational power of the crank arm 130 is transmitted to the flywheel 110, so that the flywheel 110 rotates. In this way, the rehabilitation patient can perform rehabilitation exercises in the manner of riding a bicycle.

[0053] The rotation plane adjustment unit 120 may be configured to enable the pedal track of the pedal unit 140 to switch between multiple rotation planes with different rotation axis deflections. The multiple rotation planes may include: a sagittal rotation plane with a rotation axis deflection parallel to the horizontal direction; an adduction rotation plane with a rotation axis deflection inclined in a first direction with the sagittal plane as a reference; and an abduction rotation plane with a rotation axis deflection inclined in a second direction opposite to the first direction with the sagittal plane as a reference.

[0054] The sagittal rotation plane is a rotation plane corresponding to the pedal track of a known existing ergometer. The adduction rotation plane may refer to a rotation plane that is tilted in such a way that the top of the pedal track is toward the flywheel side and the bottom of the pedal track is away from the flywheel. Different from this, the abduction rotation plane, as a rotation plane tilted in the opposite direction to the adduction rotation plane, may refer to a rotation plane that is tilted in such a way that the top of the pedal track is away from the flywheel and the bottom of the pedal track is toward the flywheel side.

[0055] The detailed structure of the rotating plane adjustment portion will be described below, and here the structure of the pedal portion 140 will be described first. Figure 4 For the general Figure 1 The "B" portion is an enlarged perspective view. Figure 5 It is a plan view for explaining the operation of the pedal unit constituting the rehabilitation exercise ergometer according to the embodiment of the present invention. Figure 6 It is a side view for explaining the operation of the pedal unit constituting the rehabilitation exercise ergometer according to the embodiment of the present invention.

[0056] The pedal part 140 is disposed at the end of the crank arm 130 and can be configured to freely adjust the relative rotation (corresponding to the left-right rotation on the plane of the pedal footrest) and / or the tilt angle (left-right rotation when viewed from the front) of the foot of the rehabilitation patient. To this end, the pedal part 140 can be configured to include a pedal shaft 141, a joint fixing part 142, a pedal joint part 143 and a pedal footrest 144.

[0057] The pedal shaft 141 is coupled to the end of the crank arm 130 and can rotate in a direction perpendicular to the crank arm 130 , and can be configured to be able to rotate freely by means of a bearing or other supporting means. The joint fixing portion 142 can be configured to fix the pedal joint portion 143 to a coupling portion 146 provided on the pedal shaft 141 .

[0058] As an example, the joint fixing part 142 may be configured as a clip structure to fix the pedal joint part 143 to the pedal shaft 141. In addition, the joint fixing part 142 may also be configured in various ways, such as a bolt / nut connection structure, a clamp structure, etc., and various means may be used without particular limitation as long as the function of fixing the pedal joint part 143 to the pedal shaft 141 can be achieved. The joint fixing part 142 may be configured to be easily disassembled or installed before or after the user exercises, or to be detached from the equipment in an emergency.

[0059] The pedal joint 143 is connected to the pedal shaft 141 through the joint fixing portion 142. The pedal joint 143 can be configured to be able to Figure 6 As shown, the left-right direction when viewed from the front) and / or the vertical axis direction (as shown Figure 5 As shown, it rotates freely on a plane viewed from above).

[0060] The pedal joint 143 is configured to be able to perform various adjustments to the relative position and direction (internal rotation / external rotation, adduction / abduction, etc.) of the user's foot relative to the pedal shaft 141. The pedal footrest 144 is configured to be able to adjust the relative angle relative to the pedal shaft 141 through the pedal joint 143, and is configured to be able to directly contact the foot of the rehabilitation patient.

[0061] In an embodiment of the present invention, the pedal joint 143 may be configured as a ball joint 143c, for example, so as to be able to rotate about the horizontal axis and the vertical axis. The ball joint 143c, as a component for transmitting rotational force connected after adjusting and fixing the relative angle (the horizontal axis and the vertical axis) relative to the pedal shaft 141, may include a ball joint mounting bracket 143b, which is mounted in the main body 145 of the pedal joint 143 by fixing bolts 143a and 148. The ball joint mounting bracket 143b may contact a normal plane provided inside the main body 145 of the pedal joint 143.

[0062] The fixing bolts 143a and 148 can be connected through the bolt connection holes provided in the main body of the pedal joint part 143. After the user places the pedal footrest 144 at the desired foot position, in order to adjust the position of the ball joint 143c, the user tightens the fixing bolts 143a and 148, so that the ball joint mounting bracket 143b rises along the inner normal plane of the main body 145 of the pedal joint part 143, thereby providing a coupling force to the pedal footrest 144 through the ball joint mounting bracket 143b.

[0063] Figure 7This is a perspective view showing the main parts of the rehabilitation exercise ergometer according to an embodiment of the present invention. Figures 1 to 3 as well as Figure 7 , the specific structure of the rotation plane adjusting part 120 is described in detail. In one embodiment of the present invention, the rotation plane adjusting part 120 may include an axis joint 121 and an axis fixing part 122.

[0064] The shaft joint 121 connects one end of the crank arm 130 to the flywheel 110 so that the same speed of rotation is maintained even if the direction of the rotation plane of the crank arm 130 changes relative to the rotation plane of the flywheel 110. The shaft joint 121 of the rotation plane adjustment unit 120 can connect the flywheel 110 and the power shaft of the crank arm 130 while maintaining the state of the rotation axis change, so that they rotate in the same manner.

[0065] The shaft joint 121 of the rotating plane adjustment part 120 can be a ball cage type constant velocity universal joint (rzeppa universal joint), a bell type joint (bell type joint) or a constant velocity joint or a universal joint (universal joint), etc. The shaft joint 121 can be implemented by a known shaft joint device that can adjust the angle of two rotating shafts to transmit power, and a detailed description thereof is omitted.

[0066] The shaft fixing portion 122 plays the following role: fixing the power shaft of the flywheel 110 and the power shaft of the crank arm 130 so that they can rotate while maintaining a certain deflection angle, and fixing the deflection angle of the rotation axis of the crank arm 130 to an adjusted state. The shaft fixing portion 122 is configured to apply an inclination angle to the rotation plane of the crank arm 130 with the rotation plane of the flywheel 110 as a reference, and fix it while maintaining the inclination angle.

[0067] In one embodiment of the present invention, the shaft fixing portion 122 may include: a central component 122a, fixed to the main body supporting the flywheel 110; an adjusting component 122b, combined with the end of the crank arm 130 and capable of rotating around the angle adjustment shaft 122c; and a fixing component, combining the central component 122a and the adjusting component 122b.

[0068] The central member 122a has a plurality of first coupling holes 124a, which are perforated at predetermined angles with the angle adjustment shaft 122c as the center and arranged in an arc shape. A pair of central members 122a can be set on both sides with the shaft joint 121 as the reference to achieve stable coupling of the central member 122a and the adjustment member 122b.

[0069] The adjusting member 122b may be configured to include: a pair of fixing plates 123a, respectively connected to the pair of central members 122a through the fixing member; and a side panel 123b, connecting the pair of fixing plates 123a. The fixing plate 123a of the adjusting member 122b may be provided with a second connecting hole 124b at a position corresponding to the first connecting hole 124a of the central member 122a.

[0070] The fixing member may be inserted into at least one of the plurality of first coupling holes 124a provided in the central member 122a and the second coupling hole 124b provided in the adjusting member 122b to fix the central member 122a and the adjusting member 122b. The fixing member may be composed of a ball lock-pin, which is coupled to any one of the plurality of holes perforated at regular intervals, and the fixing member may be configured to be able to fix the rotation axis deflection angle of the crank arm 130 at a desired angle.

[0071] As described above, the rehabilitation exercise ergometer 100 of an embodiment of the present invention can provide a variety of inclination angles between the rotation plane of the flywheel 110 and the rotation planes of the crank arm 130 and the pedal part 140 through the rotation plane adjustment part 120, thereby being able to adjust the rotational motion trajectory of the rehabilitation exercise for rehabilitation patients.

[0072] Figures 8 to 10 It is a front view for explaining the operation of the rehabilitation exercise ergometer according to the embodiment of the present invention. Figures 11 to 13 It is a perspective view for explaining the operation of the rehabilitation exercise ergometer according to the embodiment of the present invention. Figures 8 to 13 The motion of a crank arm rotating in various displacements of the rotational plane while performing rehabilitation exercises is shown.

[0073] Reference Figures 8 to 13 To explain, the rotation plane adjustment unit 120 can adjust the rotation axis deflection angle of the rotation plane relative to the rotation plane of the flywheel 110. Thus, it is possible to form an inward and outward trajectory for the rotation plane of the crank arm 130, and through the shaft joint 121 and the shaft fixing unit 122 of the rotation plane adjustment unit 120, when the crank arm 130 rotates, it is possible to transmit power to the flywheel 110 while maintaining the rotation trajectory of the footrest on the rotation plane.

[0074] When the user steps on the pedal 140 to rotate the crank arm 130 after adjusting the rotation plane, the crank arm 130 rotates, and the rotation angular velocity of the crank arm 130 is transmitted to the constant velocity joint (shaft joint), thereby transmitting power to the flywheel 110 directly fastened to the constant velocity joint. Thus, a series of processes are performed to transmit power to the crank arm 130 on the opposite side with the opposite phase.

[0075] On the other hand, in the embodiments described above, the following method is used as an example: when the positions of the first combining hole 124a provided on the central component 122a and the second combining hole 124b provided on the adjusting component 122b are aligned, a fixing component such as a ball lock pin is fastened to the first combining hole 124a and the second combining hole 124b to tilt the rotation trajectory of the pedal portion 140, but this is not limited to this. The adjusting component 122b can also be rotated relative to the central component 122a by driving a variety of driving parts such as a driving cylinder, a driving motor, a driving belt, and a screw shaft combination, thereby tilting the rotation trajectory of the pedal portion 140 at various angles.

[0076] On the other hand, as described above, when the pedal shaft is observed from the longitudinal axis (x-axis or y-axis), the pedal portion 140 further obtains the rotational freedom on the transverse axis (y-axis or x-axis) and the vertical axis (z-axis) through the adjustment of the pedal joint portion, thereby enabling rotational movement (roll) and left-right swing (yaw), thereby enabling the user to perform rehabilitation exercises in various foot postures such as internal rotation, external rotation, adduction and abduction. As described above, due to the posture changes caused by the pedal adjustment, the muscle pattern activated during exercise may be different, thereby adjusting the direction of the load applied to the joint.

[0077] According to an embodiment of the present invention, when a bicycle ergometer is used for rehabilitation exercises, it is possible to deviate from the existing structure that is limited to a single plane, namely the sagittal plane, and allow the pedal trajectory to be tilted in any direction, thereby achieving motion trajectories on multiple planes and a variety of foot posture adjustments (adduction / abduction, internal rotation / external rotation, etc.).

[0078] According to the rehabilitation exercise ergometer of the embodiment of the present invention as described above, it is possible to focus on the muscles and functions that the user wants to train personally, perform effective training, and by switching the direction of the external force applied to the joints, improve the safety of exercise, such as reducing pain and protecting the surgical site.

[0079] In particular, the rehabilitation exercise is not limited to the sagittal plane, and various adjustments can be made to the rotation and coronal plane movements, thereby diversifying the muscles and functions that can be used for rehabilitation training, and preventing the occurrence of various problems such as arthritis according to the relative positions of the ankles and knees.

[0080] As described above, according to the present invention, the individual customized rehabilitation effect and safety of clinical patients can be maximized through the diversification of motion trajectories and the increase in the freedom of movement of rehabilitation patients. The rehabilitation exercise ergometer of the embodiment of the present invention uses the form of a bicycle ergometer, so it can function in the form of training the affected side by using the force of the healthy side of the subject person himself in a non-powered form, so it does not require an expensive drive system and can be popularized at a low price. In addition, it is not limited to the application as a rehabilitation training device, and can also be applied to personal training bicycles, so a mode that can exercise and train while stimulating the target muscles can be developed.

[0081] The present invention is based on a series of processes, namely, professionals who guide and supervise rehabilitation exercises directly analyze patient information to select rehabilitation goals and selected trajectories, but can also introduce the following automated process: based on the patient's data and target motion part information to form a pedal trajectory selection algorithm, so as to select and recommend a suitable motion trajectory. In addition, the rehabilitation exercise can also be adjusted based on various measured information and reflected through a feedback process. To this end, the measurement sensor can include various sensors such as force sensors and inertial sensors.

[0082] Fig.14 It is a structural diagram of a rehabilitation exercise ergometer according to an embodiment of the present invention. Fig.15 1 is a conceptual diagram for explaining the functions of the rehabilitation exercise ergometer according to an embodiment of the present invention. Fig.14 as well as Fig.15 The rehabilitation exercise ergometer of the embodiment of the present invention may further include a data acquisition unit 151 , a rotation plane selection unit 152 , a control unit 153 , a measurement sensor 154 and an exercise execution evaluation unit 155 .

[0083] The data acquisition unit 151 can collect rehabilitation patient information in the basic setting step (S) executed in the previous step of the exercise execution step (T), and the rehabilitation patient information includes image information (X-RAY, MRI, CT images, etc.), body function information and rehabilitation related information (S1) related to the rehabilitation patient. Rehabilitation patient information represented by body function information (muscle function information) and rehabilitation related information (rehabilitation and exercise step information) (for example, age, gender, pain level, possible sequelae, etc.) can be collected and stored in the database through doctor's interview or diagnosis results, questionnaire survey of rehabilitation patients, etc.

[0084] The rotation plane selection unit 152 can determine the target rotation plane (S2, S3) for the rehabilitation exercise of the rehabilitation patient based on the rehabilitation patient information collected by the data collection unit 151. The rotation plane selection unit 152 can analyze the main target movement muscles, the parts to be protected, the target joint range of motion, etc. based on the rehabilitation status and medical information extracted from the image information, the questionnaire information, etc. (S2), and calculate the inclination angle, ankle fixation angle, load level, etc. of the pedal trajectory suitable for the rehabilitation patient through the analysis results (S3).

[0085] As an embodiment, the rotation plane selection unit 152 can extract the features (feature map) of the rehabilitation part from the input data, i.e., the medical image, using the convolution processing of the kernel image based on the learned convolution artificial neural network, thereby outputting the appropriate inclination angle of the pedal trajectory. The convolution artificial neural network can be learned based on the learning data, and the learning data includes the medical image of each rehabilitation patient, the rehabilitation patient information, and the inclination angle recommended by the doctor to each rehabilitation patient. When the various items of rehabilitation patient information and the features extracted by the convolution artificial neural network are input to the input node of the fully connected layer (FullyConnected Layer), the appropriate inclination angle value is output via the output node through multiple hidden layers.

[0086] The control unit 153 can control the rotation plane adjustment unit 120 according to the target rotation plane determined by the rotation plane selection unit 152, thereby adjusting the rotation plane of the crank arm 130 and the rotation axis deflection angle. For example, the control unit 153 can control a driving device (driving unit) such as a driving cylinder according to the target rotation plane to drive the rotation plane adjustment unit 120, so that the inclination angle of the pedal track can be adjusted to the angle recommended for rehabilitation patients. Alternatively, the control unit 153 can be provided as a means of outputting the appropriate inclination angle of the pedal track to the user, so that the user directly operates the rotation plane adjustment unit 120 to adjust the angle of the pedal track.

[0087] The measurement sensor 154 is configured to collect exercise information and biological signals related to the rehabilitation of the rehabilitation patient during the rehabilitation patient's exercise through the rehabilitation exercise ergometer 100. The measurement sensor 154 may include, for example: a motion measurement sensor (e.g., a force sensor, an inertial sensor, etc.) for measuring the force and / or inertia generated by the rehabilitation exercise; and one or more sensors (e.g., a temperature sensor, a respiration sensor, a pulse sensor, a blood pressure sensor, etc.) for collecting various biological signals of the rehabilitation patient, such as temperature, respiration, pulse, and blood pressure.

[0088] The exercise execution evaluation unit 155 can evaluate the exercise of the rehabilitation patient on the rotation plane during the rehabilitation exercise based on the biological signal of the rehabilitation patient collected by the measurement sensor (T1). The exercise execution evaluation unit 155 can compare the biological signal collected by the measurement sensor 154 with the reference biological signal level set to be suitable for the rehabilitation patient, so as to determine whether the rehabilitation patient obtains the appropriate degree of rehabilitation exercise effect.

[0089] When the exercise execution evaluation unit 155 determines that the inclination angle of the pedal track can bring appropriate rehabilitation exercise effects to the rehabilitation patient, positive feedback is generated for the artificial neural network to learn; conversely, when the exercise execution evaluation unit 155 determines that the inclination angle of the pedal track does not provide appropriate rehabilitation exercise effects to the rehabilitation patient, negative feedback is generated for the artificial neural network to learn. The artificial neural network continues to learn as described above, thereby improving the prediction accuracy of the appropriate inclination angle of the pedal track.

[0090] For example, the exercise execution evaluation unit 155 can evaluate the appropriateness of the rehabilitation exercise based on the pressure / speed of the pedaling of the rehabilitation patient during the rehabilitation exercise, the trajectory of the pedal, the patient's reaction / pain, etc., and reflect the evaluation results to update the algorithm or parameters in the basic setting step (S).

[0091] Fig.16 It is a perspective view showing a rehabilitation exercise ergometer according to another embodiment of the present invention. Fig.17 For illustration Fig.16 A perspective view of an embodiment of a rehabilitation exercise ergometer in action. Fig.16 as well as Fig.17 The difference between the rehabilitation exercise ergometer 100 of the embodiment and the aforementioned embodiment is that it also has a rotation trajectory adjustment device that deforms the rotation trajectory into an elliptical shape. The structures such as the flywheel or the rotation plane adjustment part provided on the support frame 10 are the same as those described above, so repeated description is omitted. The rotation trajectory adjustment device can change the rotation trajectory of the pedal part 140 from a circle to an ellipse.

[0092] The length of the crank arm 130 can be adjusted according to the rotation cycle by the rotation trajectory adjustment device, or the rotation trajectory of the pedal part 140 can be deformed into an elliptical shape by various methods such as a link mechanism or a sliding mechanism. In this way, the range of joint motion of the subject can be expanded / diverse compared to the circular rotation method, thereby improving the rehabilitation effect.

[0093] In one embodiment, the rotation trajectory adjustment device may include a crank arm length adjustment device 134, which adjusts the length of the crank arm body 131 according to the rotation cycle. The crank arm body 131 may include: a first crank arm body 131a, one end of which is coupled to the rotation plane adjustment portion 120 in a manner that allows the deflection angle to be adjusted; and a second crank arm body 131b, which is rotatably coupled to the other end of the first crank arm body 131a via a rotation shaft 131c disposed at one end. The pedal portion 140 may be rotatably coupled to the other end of the second crank arm body 131b via a second coupling portion 133.

[0094] The crank arm length adjustment device 134 may be configured to include: a first gear member 134a coupled to one end of the first crank arm body 131a; a second gear member 134b formed with a diameter smaller than that of the first gear member 134a and coupled to the second crank arm body 131b at the other end of the first crank arm body 131a; and an annular strip member 134c coupled to the first gear member 134a and the second gear member 134b. The strip member 134c may be provided with a gear groove coupled to the saw teeth of the first gear member 134a and the second gear member 134b.

[0095] The crank arm 130 can rotate according to the following elliptical rotation trajectory through the crank arm length adjustment device 134: the vertical width is twice the length of the first crank arm body 131a, and the horizontal width is twice the overall length of the first crank arm body 131a and the second crank arm body 131b. To this end, the crank arm length adjustment device 134 can be designed to: when the first crank arm body 131a is arranged in the vertical direction, the second crank arm body 131b overlaps with the first crank arm body 131a and is arranged in the vertical direction; when the first crank arm body 131a is arranged in the horizontal direction, the second crank arm body 131b is arranged in a manner of being extended parallel to the outside of the first crank arm body 131a.

[0096] As described above, although the embodiments are described through limited embodiments and drawings, anyone skilled in the art can obtain various modifications and variations based on the above descriptions. For example, the described techniques can be performed in a different order than the described methods, and / or the described systems, structures, devices, circuits and other constituent elements can be combined or combined in a different form than the described methods, or even if they are replaced or substituted by other structural elements or equivalents, appropriate results can be achieved. Therefore, other implementations, other embodiments and methods equivalent to the claims are within the scope of the appended claims.

Claims

1. A rehabilitation exercise ergometer, in, include: The flywheel is rotatably mounted on the bicycle ergometer body. The rotating plane adjustment parts are respectively arranged on both sides of the flywheel. a crank arm rotatably coupled to the rotating plane adjustment portion, and A pedal portion, disposed at the end of the crank arm; The rotation plane adjustment portion is configured to incline a pedal trajectory of the pedal portion by adjusting a rotation axis deflection angle of a rotation plane in which the crank arm rotates.

2. The rehabilitation exercise ergometer according to claim 1, wherein: The rotation plane adjustment unit is configured to enable the pedal trajectory to be switched between a plurality of rotation planes having different deflection angles of the rotation axis.

3. The rehabilitation exercise ergometer according to claim 2, wherein: The plurality of rotation planes include: The rotation axis deflects the sagittal rotation plane parallel to the horizontal direction; An adduction rotation plane in which the rotation axis is tilted toward a first direction with the sagittal plane as a reference; and With the sagittal plane as a reference, the rotation axis deflects an abduction rotation plane inclined in a second direction opposite to the first direction.

4. The rehabilitation exercise ergometer according to claim 1, wherein: The rotating plane adjustment unit comprises: a shaft joint connecting one end of the crank arm to the flywheel so as to maintain the same speed of rotation even if the rotation plane of the crank arm changes; and The shaft fixing portion is fixed in a state where a rotation plane of the crank arm is inclined with respect to a rotation plane of the flywheel.

5. The rehabilitation exercise ergometer according to claim 4, wherein: The shaft fixing portion comprises: A central member fixed to the body supporting the flywheel, an adjusting member coupled to the end of the crank arm and rotatable around an angle adjustment axis, and A fixing member, for combining the central member and the adjusting member; The central component has a plurality of first coupling holes, which are perforated at predetermined angles around the angle adjustment shaft and arranged in an arc shape. A second coupling hole is provided at a position of the adjusting member corresponding to the first coupling hole. The fixing member includes a ball lock pin inserted into at least one of the plurality of first combining holes and the second combining hole to fix the central member and the adjusting member.

6. The rehabilitation exercise ergometer according to claim 1, wherein: The pedal portion comprises: a pedal shaft coupled to an end of the crank arm and capable of rotating in a direction perpendicular to the crank arm; a pedal joint portion connected to the pedal shaft via a joint fixing portion and arranged to be rotatable in the horizontal and vertical axis directions; and The pedal footrest is configured to adjust a relative angle with respect to the pedal shaft by the pedal joint.

7. The rehabilitation exercise ergometer according to claim 6, wherein: The pedal joint portion includes a spherical joint arranged in a pedal joint body, The ball joint adjusts a relative angle with respect to the pedal shaft within the pedal joint body to transmit a rotational force.

8. The rehabilitation exercise ergometer according to claim 4, wherein: The shaft fixing portion comprises: a central member fixed to a body supporting the flywheel; and an adjusting member, which is coupled to the end of the crank arm and is rotatable around the angle adjustment axis, The shaft fixing portion further includes a driving portion that rotates the adjusting member relative to the central member to adjust an inclination angle of a rotation trajectory of the pedal portion.

9. The rehabilitation exercise ergometer according to claim 8, wherein: Also includes: A data collection unit collects rehabilitation patient information, wherein the rehabilitation patient information includes image information, body function information, and rehabilitation-related information related to the rehabilitation patient; a rotation plane selecting unit configured to determine a target rotation plane for rehabilitation exercise of the rehabilitation patient based on the rehabilitation patient information; and The control unit controls the driving unit according to the target rotation plane to adjust the rotation plane.

10. The rehabilitation exercise ergometer according to claim 9, wherein: Also includes: a measuring sensor configured to collect movement information and biological signals related to the rehabilitation movement of the rehabilitation patient during the process in which the rehabilitation patient exercises through the rehabilitation movement ergometer; and The exercise execution evaluation unit is configured to evaluate the exercise of the rehabilitation patient on the rotation plane based on the exercise information and the biological signal of the rehabilitation patient.

11. The rehabilitation exercise ergometer according to claim 1, wherein: It also includes a rotation trajectory adjusting device, which deforms the rotation trajectory of the pedal part into an elliptical shape through the crank arm.

12. The rehabilitation exercise ergometer according to claim 11, wherein: The crank arm comprises: a first crank arm body; a second crank arm body, which is combined with the first crank arm body and can rotate. The rotation trajectory adjusting device includes a crank arm length adjusting device, and the crank arm length adjusting device adjusts the length of the crank arm body according to the rotation cycle.

13. The rehabilitation exercise ergometer according to claim 12, wherein: The crank arm length adjusting device comprises: A first gear member coupled to one end portion of the first crank arm body; a second gear member formed with a diameter smaller than that of the first gear member and coupled to the second crank arm body at the other end of the first crank arm body; and An annular belt member is coupled to the first gear member and the second gear member.

14. The rehabilitation exercise ergometer according to claim 13, wherein: The crank arm length adjustment device is designed so that when the first crank arm body is arranged in the up-down direction, the second crank arm body overlaps with the first crank arm body and is arranged in the up-down direction; when the first crank arm body is arranged in the horizontal direction, the second crank arm body is arranged in a manner of being expanded parallel to the outside of the first crank arm body.

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