A rehabilitation exercise ergometer with tiltable pedal trajectory

Abstract

A rehabilitation exercise ergometer capable of tilting a pedal trajectory corresponding to the rotation plane of a crank arm is disclosed. The rehabilitation exercise ergometer according to an embodiment of the present invention includes a flywheel rotatably mounted on a bicycle exercise meter body, rotation plane adjustment units provided on both sides of the flywheel, crank arms rotatably connected to the rotation plane adjustment units, and pedal units provided at the ends of the crank arms. The rotation plane adjustment units are configured to adjust the rotation axis deflection angle of the rotation plane in which the crank arms rotate, thereby tilting the pedal trajectory of the pedal unit.

Description

[Technical Field]

[0001] The present invention relates to a rehabilitation exercise ergometer, which is a bicycle ergometer device for rehabilitation exercise that can assist rehabilitation exercise of rehabilitation patients, and more particularly to a rehabilitation exercise ergometer that is capable of tilting the pedal trajectory corresponding to the rotation plane of the crank arm. [Background technology]

[0002] In the initial treatment of surgical patients, early ambulation is an important factor in successful rehabilitation. Rehabilitation exercises play a very important role for patients who require long-term non-weight-bearing training, such as those with hip neck fractures, acetabular fractures, and tibial plateau fractures. As an element of lower limb rehabilitation, range-of-motion exercises are recommended to be performed immediately after surgery to prevent joint contracture. Strengthening exercises must also be performed, and rehabilitation training should begin with isotonic exercises in the early stages, with active and active assistive forms of training being increasingly performed.

[0003] With the development of precision measurement equipment, various preliminary studies have been conducted to determine how the position of the foot and the degree of rotation of each joint can change muscle activation patterns when performing existing rehabilitation exercise methods. Based on this, it is possible to perform training by targeting desired muscles according to changes in the movement trajectory and the relative positions of each lower limb joint, such as the ankle joint and knee joint, and theoretical developments are constantly being made to verify the effectiveness of such training.

[0004] Since the location and extent of injury vary depending on the individual's physical structure, training intensity and target muscles must be tailored to each individual for efficient functional recovery. For example, in the case of hip fracture patients, the number of whom is increasing along with the rise in the prevalence of osteoporosis, a clear decline in the function of the durmus muscles can lead to abnormal gait such as Trendelenburg gait, making training targeting the durmus muscles essential.

[0005] In addition to the effectiveness of rehabilitation, the focus should be on patient stability, and in the early stages of surgery, the direction and level of external force must be adjusted to suit the patient's condition to ensure the stability of the internal fixation device. For example, in patients undergoing hip replacement surgery, adjustments are needed to prevent external forces from being applied in the directions of adduction and internal rotation to the hip joint, and in the case of a tibial plateau lateral fracture, it is safer to adjust the direction of external force toward the medial side of the tibia rather than the lateral side.

[0006] In lower limb rehabilitation, various medical devices are used, from in-bed rehabilitation for early treatment of patients who are unable to move to exoskeleton suits that directly lift patients and perform walking rehabilitation. However, most existing devices limit the trajectory of rehabilitation exercises to the sagittal plane. As a result, muscles that primarily play a role in abduction and rotation, such as the durmus and adductor muscles, are often overlooked in early rehabilitation training, despite their crucial role in daily living activities such as walking. In particular, because exercises must often be performed in an injured state due to pain and movement limitations, it is difficult to perform exercises in the coronal plane.

[0007] Bicycle exercise machines are highly useful because they can adjust the exercise load without a precision drivetrain and can assist rehabilitation movements by utilizing the force of the healthy side, not the injured part. Recently, there has been a trend toward further enhancing the combined rehabilitation effects of cognitive and physical functions through the combination with augmented reality systems. Research has been conducted into bicycle exercise machines that change the relative position of the pedal and saddle to change the linear position of the crank arm and pedal. However, this technology does not allow for the change of the pedal rotation trajectory according to the rotation plane of the crank arm, which limits the effectiveness of rehabilitation exercises. The background art described above should not be considered as prior art, but should be understood as merely describing the background from which the present invention is derived. Summary of the Invention [Problem to be solved by the invention]

[0008] SUMMARY OF THE INVENTION An object of the present invention is to provide a rehabilitation exercise ergometer that allows tilting of the pedal trajectory corresponding to the rotation plane of the crank arm.

[0009] Another object of the present invention is to provide a rehabilitation exercise ergometer that can determine a customized pedal trajectory suitable for a rehabilitation patient to maximize the effect of the rehabilitation exercise. [Means for solving the problem]

[0010] A rehabilitation exercise ergometer according to an embodiment of the present invention includes a flywheel rotatably mounted on a bicycle exercise ergometer body, rotation plane adjustment units provided on both sides of the flywheel, crank arms rotatably connected to the rotation plane adjustment units, and pedal units provided at ends of the crank arms. The rotation plane adjustment units are configured to adjust the rotation axis deflection angle of the rotation plane about which the crank arms rotate, thereby tilting the pedal trajectory of the pedal units.

[0011] The rotation plane adjusting unit may be configured to be able to switch the pedal trajectory between a number of rotation planes with different rotation axis deflection angles.

[0012] The multiple rotation planes may include a sagittal plane rotation plane in which the rotation axis deviation angle is aligned with the horizontal direction, an adduction plane rotation plane in which the rotation axis deviation angle is tilted in a first direction based on the sagittal plane, and an abduction plane rotation plane in which the rotation axis deviation angle is tilted in a second direction opposite to the first direction based on the sagittal plane.

[0013] The rotation plane adjusting unit may include a shaft coupling that connects one end of the crank arm and the flywheel so that the crank arm maintains rotation at a constant speed even when the rotation plane of the crank arm is switched, and a shaft fixing unit that fixes the crank arm in a state where the rotation plane of the crank arm is inclined with respect to the rotation plane of the flywheel.

[0014] The shaft fixing part may include a central member fixed to a main body supporting the flywheel, an adjustment member rotatably connected to an end of the crank arm around an angle adjustment shaft, and a fixing member connecting the central member and the adjustment member. The central member may have a plurality of first connecting holes formed at predetermined angles around the angle adjustment shaft and arranged in an arc shape.

[0015] The adjustment member may have a second coupling hole at a position corresponding to the first coupling hole, and the fixing member may include a ball lock pin inserted into at least one of the first coupling holes and the second coupling hole to fix the central member and the adjustment member.

[0016] The pedal unit may include a pedal shaft rotatably coupled to an end of the crank arm in a direction perpendicular to the crank arm, a pedal joint unit connected to the pedal shaft by a joint fixing unit and rotatably provided in horizontal and vertical axis directions, and a pedal foothold configured so that a relative angle with respect to the pedal shaft can be adjusted by the pedal joint unit.

[0017] The pedal joint portion may include a ball joint provided within a pedal joint body, the ball joint being provided within the pedal joint body and including a ball joint mount holder that contacts a slope provided within the pedal joint body, and a fixing bolt that is inserted into the pedal joint body to elevate the ball joint mount holder along the slope and fix the ball joint mount holder.

[0018] In an embodiment of the present invention, the shaft fixing unit may further include a driving unit that rotates the adjustment member relative to the central member to adjust a tilting angle of a rotational trajectory of the pedal unit.

[0019] A rehabilitation exercise ergometer according to an embodiment of the present invention may further include a data collection unit configured to collect rehabilitation patient information including image information, physical function information, and rehabilitation-related information related to the rehabilitation patient; a rotation plane selection unit 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 that controls the driver unit to adjust the rotation plane along the target rotation plane.

[0020] A rehabilitation exercise ergometer according to an embodiment of the present invention may further include a measurement sensor configured to collect motion information and biosignals associated with the rehabilitation exercise of the rehabilitation patient while the rehabilitation patient is performing exercise using the rehabilitation exercise ergometer, and an exercise performance evaluation unit configured to evaluate the exercise performance of the rehabilitation patient according to the rotation plane based on the motion information and biosignals of the rehabilitation patient.

[0021] The rehabilitation exercise ergometer according to an embodiment of the present invention may further include a rotation trajectory adjusting device for changing the rotation trajectory of the pedal unit by the crank arm into an elliptical shape.

[0022] The crank arm may include a first crank arm body and a second crank arm body rotatably coupled to the first crank arm body, and the rotation trajectory adjustment device may include a crank arm length adjustment device that adjusts the length of the crank arm body according to a rotation cycle.

[0023] The crank arm length adjusting device may include a first gear member connected to one end of the first crank arm body, a second gear member having a smaller diameter than the first gear member and connected to the second crank arm body at the other end of the first crank arm body, and a ring-shaped belt member connected to the first gear member and the second gear member.

[0024] The crank arm length adjusting device may be designed such that, when the first crank arm body is arranged in a vertical direction, the second crank arm body is arranged in a vertical direction to overlap the first crank arm body, and, when the first crank arm body is arranged in a horizontal direction, the second crank arm body is arranged to extend outwardly and in parallel with the first crank arm body. [Effects of the Invention]

[0025] According to an embodiment of the present invention, a rehabilitation exercise ergometer is provided that allows tilting of the pedal trajectory corresponding to the rotation plane of the crank arm.

[0026] According to an embodiment of the present invention, the rotation plane can be changed by adjusting the deflection angle of the rotation axis of the crank arm, and the foot posture can be changed by tilting the pedal, so that specific target muscles of a rehabilitation patient can be precisely targeted and trained, and the direction of the load applied to each joint can be adjusted to reduce pain during rehabilitation exercises and protect injured areas.

[0027] According to an embodiment of the present invention, an individual user can perform efficient training by focusing on the muscles and functions they wish to train, and can improve the stability of exercise by switching the direction of external force acting on the joint, reducing pain and protecting the surgical site.

[0028] Furthermore, according to an embodiment of the present invention, a customized pedal trajectory suitable for a rehabilitation patient can be determined, thereby maximizing the effect of rehabilitation exercise using an ergometer.

[0029] Furthermore, according to an embodiment of the present invention, by changing the rotation trajectory into an elliptical shape, the range of motion of the joints of the subject can be expanded / diversified compared to the circular rotation method, thereby improving the effect of rehabilitation. [Brief explanation of the drawings]

[0030] [Figure 1] FIG. 1 is a perspective view of a rehabilitation exercise 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] FIG. 2 is an enlarged plan view of part 'A' in FIG. [Figure 4] FIG. 2 is an enlarged perspective view of part 'B' in FIG. [Figure 5] FIG. 2 is a plan view for explaining the operation of a pedal unit constituting the rehabilitation exercise ergometer according to the embodiment of the present invention. [Figure 6] 1 is a side view for explaining the operation of a pedal unit constituting the rehabilitation exercise ergometer according to an embodiment of the present invention. FIG. [Figure 7] 1 is a cutaway perspective view of a major portion of a rehabilitation exercise ergometer according to an embodiment of the present invention. FIG. [Figure 8] FIG. 2 is a front view illustrating the operation of the rehabilitation exercise ergometer according to the embodiment of the present invention. [Figure 9] FIG. 2 is a front view illustrating the operation of the rehabilitation exercise ergometer according to the embodiment of the present invention. [Figure 10] FIG. 2 is a front view illustrating the operation of the rehabilitation exercise ergometer according to the embodiment of the present invention. [Figure 11] FIG. 2 is a perspective view illustrating the operation of a rehabilitation exercise ergometer according to an embodiment of the present invention. [Figure 12] FIG. 2 is a perspective view illustrating the operation of a rehabilitation exercise ergometer according to an embodiment of the present invention. [Figure 13] FIG. 2 is a perspective view illustrating the operation of a rehabilitation exercise ergometer according to an embodiment of the present invention. [Figure 14] 1 is a block diagram of a rehabilitation exercise ergometer according to an embodiment of the present invention. FIG. [Figure 15] 1 is a conceptual diagram for explaining the function of a rehabilitation exercise ergometer according to an embodiment of the present invention. FIG. [Figure 16] FIG. 10 is a perspective view of a rehabilitation exercise ergometer according to another embodiment of the present invention. [Figure 17] FIG. 17 is a perspective view for explaining the operation of the rehabilitation exercise ergometer according to the embodiment of FIG. 16. DETAILED DESCRIPTION OF THE INVENTION

[0031] The advantages and features of the present invention, and methods for achieving them, will become clear from the following detailed description of the embodiments accompanied by the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, and may be embodied in various different forms. The present embodiments are provided solely to complete the disclosure of the present invention and to fully convey the scope of the invention to those skilled in the art to which the present invention pertains. The present invention is defined only by the scope of the claims. The same reference numerals refer to the same elements throughout the specification.

[0032] A rehabilitation exercise ergometer according to an embodiment of the present invention includes a flywheel rotatably mounted on a bicycle exercise ergometer body, rotation plane adjusters provided on both sides of the flywheel, crank arms rotatably coupled to the rotation plane adjusters, and pedal units provided at the ends of the crank arms, and the rotation plane adjusters are configured to adjust the deflection angle of the rotation axis of the rotation plane about which the crank arms rotate, thereby tilting the pedal trajectory of the pedal unit. Accordingly, by tilting the pedal trajectory, specific target muscles of a rehabilitation patient can be precisely targeted and trained, and the direction of load applied to each joint can be adjusted, thereby reducing pain during rehabilitation exercise and protecting injured areas.

[0033] Figure 1 is a perspective view of a rehabilitation exercise ergometer according to an embodiment of the present invention. Figure 2 is a plan view of a rehabilitation exercise ergometer according to an embodiment of the present invention. Figure 3 is an enlarged plan view of section 'A' in Figure 1. Referring to Figures 1 to 3, a rehabilitation exercise ergometer 100 according to an embodiment of the present invention is a rehabilitation bicycle capable of multi-locus exercise and includes a flywheel 110, a rotation plane adjustment unit 120, a crank arm 130, and a pedal unit 140.

[0034] The flywheel 110 may include a flywheel body (reference numeral 112 in FIG. 7) rotatably installed in the internal space of the bicycle exercise machine body 110a by a support means such as a bearing 111. The bicycle exercise machine body 110a may be firmly fixed to a support stand (not shown) or a portable support stand for rehabilitation on a bed in a space such as a hospital, rehabilitation institution, gym, or home so that a rehabilitation patient can perform rehabilitation exercises. A saddle on which a rehabilitation patient can sit may be provided on the upper side of the bicycle exercise machine body 110a.

[0035] The rotation plane adjusting unit 120 may be provided on each side of the flywheel 110. The rotation plane adjusting unit 120 may be configured to adjust the rotation axis deviation angle of the rotation plane on which the crank arm 130 rotates, thereby tilting the pedal trajectory of the pedal unit 140. The crank arm 130 is rotatably coupled to the rotation plane adjusting unit 120 via a bearing (reference numeral 125 in FIG. 7) or the like provided on the side plate 123b of the rotation plane adjusting unit 120.

[0036] The crank arm 130 may be coupled to the flywheel 110 so as to transmit rotational power. The crank arm 130 may include a crank arm body 131 rotatably coupled to the side plate 123b of the adjustment member 122b and extending toward the pedal unit 140, a first coupling part 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 part 133 provided at the other end of the crank arm body 131 to couple the crank arm body 131 to the pedal unit 140.

[0037] The pedal unit 140 is connected to the end of the crank arm 130 and comes into direct contact with the user's foot. Accordingly, when the user, who is a rehabilitation patient, steps on the pedal unit 140 with their foot, the crank arm 130 rotates, and the rotational power of the crank arm 130 is transmitted to the flywheel 110, causing the flywheel 110 to rotate. This allows the rehabilitation patient to perform rehabilitation exercises in the form of riding a bicycle.

[0038] The rotation plane adjusting unit 120 may be configured to switch the pedal trajectory of the pedal unit 140 between multiple rotation planes with different rotation axis deflection angles. Here, the multiple rotation planes may include a sagittal plane rotation plane in which the rotation axis deflection angle is aligned with the horizontal direction, an adduction rotation plane in which the rotation axis deflection angle is tilted in a first direction with respect to the sagittal plane, and an abduction rotation plane in which the rotation axis deflection angle is tilted in a second direction opposite to the first direction with respect to the sagittal plane.

[0039] The sagittal plane of rotation is a plane of rotation corresponding to the pedal trajectory of a commonly known conventional ergometer. The adduction plane of rotation may refer to a plane of rotation inclined so that the top of the pedal trajectory is toward the flywheel and the bottom of the pedal trajectory is away from the flywheel. In contrast, the abduction plane of rotation is a plane of rotation inclined in the opposite direction to the adduction plane of rotation, and may refer to a plane of rotation inclined so that the top of the pedal trajectory is away from the flywheel and the bottom of the pedal trajectory is toward the flywheel.

[0040] The detailed structure of the rotation plane adjusting unit will be described later, but first, the configuration of the pedal unit 140 will be described. Figure 4 is an enlarged perspective view of part 'B' in Figure 1. Figure 5 is a plan view illustrating the operation of the pedal unit constituting the rehabilitation exercise ergometer according to an embodiment of the present invention. Figure 6 is a side view illustrating the operation of the pedal unit constituting the rehabilitation exercise ergometer according to an embodiment of the present invention.

[0041] The pedal unit 140 is provided at the end of the crank arm 130 and can be configured to freely adjust the relative rotation (left and right rotation on a plane corresponding to the pedal foot) and / or tilt (left and right rotation when viewed from the front) of the rehabilitation exercise patient's foot. To this end, the pedal unit 140 can include a pedal shaft 141, a joint fixing unit 142, a pedal joint unit 143, and a pedal foot 144.

[0042] The pedal shaft 141 is rotatably connected to the end of the crank arm 130 in a direction perpendicular to the crank arm 130, and may be configured to be freely rotatable via a support means such as a bearing. The joint fixing part 142 may be configured to fix the pedal joint part 143 to a connecting part 146 provided on the pedal shaft 141.

[0043] The joint fixing part 142 may be configured with a crit structure, for example, to fix the pedal joint part 143 to the pedal shaft 141. Alternatively, the joint fixing part 142 may be configured with various means such as a bolt / nut connection structure or a clamp structure, and may be used without any particular limitation as long as it can function to fix the pedal joint part 143 to the pedal shaft 141. The joint fixing part 142 may be configured so that the user can easily attach and detach it before and after exercise, or so that it can be detached from the equipment in an emergency.

[0044] The pedal joint 143 is connected to the pedal shaft 141 by a joint fixing part 142. The pedal joint 143 may be provided to be freely rotatable in a horizontal axis direction (rotation in the left and right direction when viewed from the front as shown in FIG. 6) and / or a vertical axis direction (rotation on a plane viewed from above as shown in FIG. 5).

[0045] The pedal joint 143 is provided to allow various adjustments of the relative position and direction (inward / outward rotation, inward / outward rotation, etc.) of the user's foot with respect to the pedal shaft 141. The pedal foothold 144 is configured so that the relative angle with respect to the pedal shaft 141 can be adjusted by the pedal joint 143 and is configured so as to be in direct contact with the foot of the rehabilitation patient.

[0046] In an embodiment of the present invention, the pedal joint 143 may be configured in the form of a ball joint 143c, for example, so that it can rotate about a horizontal axis and a vertical axis. The ball joint 143c is a component that adjusts the relative angle (vertical axis and vertical axis) with respect to the pedal shaft 141 and remains fixedly connected to transmit rotational force, and may include a ball joint mount holder 143b that is mounted within the body 145 of the pedal joint 143 by fixing bolts 143a and 148. The ball joint mount holder 143b may come into contact with a slope provided inside the body 145 of the pedal joint 143.

[0047] The fixing bolts 143a and 148 may be connected through bolt holes provided in the body of the pedal joint 143. After the user positions the pedal foot 144 at a desired foot position, the user tightens the fixing bolts 143a and 148 to adjust the position of the ball joint 143c, and then raises the ball joint mount holder 143b along the inner slope of the body 145 of the pedal joint 143, thereby providing a fastening force to the pedal foot 144 via the ball joint mount holder 143b.

[0048] 7 is a cutaway perspective view of a major portion of a rehabilitation exercise ergometer according to an embodiment of the present invention. The specific structure of the rotation plane adjustment unit 120 will be described in detail below with reference to FIGS. 1 to 3 and 7. In one embodiment of the present invention, the rotation plane adjustment unit 120 may include a shaft coupling 121 and a shaft fixing unit 122.

[0049] The shaft coupling 121 connects one end of the crank arm 130 to the flywheel 110 so that the same rotation speed can be 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 coupling 121 of the rotation plane adjusting unit 120 can function to connect the power shafts of the flywheel 110 and the crank arm 130 so that they rotate in the same direction while maintaining the rotation axis change.

[0050] The shaft coupling 121 of the rotation plane adjustment unit 120 may be a constant velocity joint such as a Rzeppa universal joint or a bell-type joint, or a universal joint. The shaft coupling 121 may be implemented as a known shaft coupling device that can connect two rotation shafts in an angle-adjustable manner and transmit power, and therefore a detailed description thereof will be omitted.

[0051] The shaft fixing part 122 fixes the power shaft of the flywheel 110 and the power shaft of the crank arm 130 so that they can rotate while maintaining a constant deflection angle, and fixes the crank arm 130 in an adjusted state of the deflection angle of the rotation shaft. The shaft fixing part 122 is configured to add an inclination angle to the rotation plane of the crank arm 130 based on the rotation plane of the flywheel 110 and fix it in a state where the inclination angle is maintained.

[0052] In one embodiment of the present invention, the shaft fixing part 122 may include a central member 122a fixed to a body supporting the flywheel 110, an adjustment member 122b rotatably connected to the end of the crank arm 130 around an angle adjustment shaft 122c, and a fixing member connecting the central member 122a and the adjustment member 122b.

[0053] The central member 122a has a plurality of first coupling holes 124a arranged in an arc shape, with holes drilled at predetermined angles around the angle adjustment shaft 122c. The central member 122a may be provided in pairs on both sides of the shaft coupling 121 to form a stable connection with the adjustment member 122b.

[0054] The adjustment member 122b may include a pair of fixing plates 123a each connected to the pair of central members 122a by a fixing member, and a side plate 123b connecting the pair of fixing plates 123a. The fixing plate 123a of the adjustment member 122b may have a second connecting hole 124b at a position corresponding to the first connecting hole 124a of the central member 122a.

[0055] The fixing member can be inserted into at least one of the first coupling holes 124a formed in the central member 122a and the second coupling holes 124b formed in the adjusting member 122b to fix the central member 122a and the adjusting member 122b. The fixing member can be a ball lock pin that is coupled to one of the holes formed at regular intervals, and can be configured to fix the rotational axis deflection angle of the crank arm 130 at a desired angle.

[0056] As described above, the rehabilitation exercise ergometer 100 according to an embodiment of the present invention can adjust the rotational movement trajectory for the rehabilitation exercise of a rehabilitation patient by providing various tilt angles between the rotational plane of the flywheel 110 and the rotational plane of the crank arm 130 and pedal unit 140 using the rotational plane adjustment unit 120.

[0057] Figures 8 to 10 are front views illustrating the operation of a rehabilitation exercise ergometer according to an embodiment of the present invention. Figures 11 to 13 are perspective views illustrating the operation of a rehabilitation exercise ergometer according to an embodiment of the present invention. Figures 8 to 13 show the movement of a crank arm rotating on variously displaced rotation planes during rehabilitation exercise.

[0058] 8 to 13, the rotation plane adjusting unit 120 can adjust the rotation axis deviation angle of the rotation plane relative to the rotation plane of the flywheel 110. This allows for the formation of an inward and outward rotation trajectory relative to the rotation plane of the crank arm 130, and when the crank arm 130 rotates, power can be transmitted to the flywheel 110 through the shaft coupling 121 and the shaft fixing unit 122 of the rotation plane adjusting unit 120 while maintaining the rotation trajectory of the platform on the rotation plane.

[0059] With the rotation plane adjusted, when the user steps on the pedal 140 to perform a rotational movement, the crank arm 130 rotates, and the rotational angular velocity of the crank arm 130 is transmitted to the constant velocity joint (shaft coupling), and power is transmitted to the flywheel 110 directly coupled to the constant velocity joint. Through this, a series of processes is performed in which power is transmitted to the opposing crank arm 130 in the opposite phase.

[0060] Meanwhile, in the above-described embodiment, the rotational trajectory of the pedal unit 140 is tilted by aligning the positions of the first coupling hole 124a provided in the central member 122a and the second coupling hole 124b provided in the adjustment member 122b and fastening a fixing member such as a ball lock pin to the first coupling hole 124a and the second coupling hole 124b, but this is not limited to this. It is also possible to rotate the adjustment member 122b relative to the central member 122a using various types of driving units such as a driving cylinder, a driving motor, a driving belt, a screw shaft connection, etc., to tilt the rotational trajectory of the pedal unit 140 at various angles.

[0061] Meanwhile, as described above, when the pedal shaft is viewed as the vertical axis (x-axis or y-axis), the pedal unit 140 has additional degrees of freedom of rotation about the horizontal axis (y-axis or x-axis) and the vertical axis (z-axis) through adjustment of the pedal joint, allowing for rotational movement (roll) and left-right tilt (yaw), which allows the user to perform rehabilitation exercises while assuming various foot postures such as internal rotation, external rotation, adduction, and abduction. In this way, by changing posture through pedal adjustment, the muscle patterns activated during exercise can be changed and the direction of load applied to the joint can be adjusted.

[0062] According to an embodiment of the present invention, during rehabilitation exercises using a bicycle oscilloscope, the pedal trajectory can be tilted in any direction, breaking away from the existing structure limited to a single plane, i.e., the sagittal plane, thereby enabling exercise trajectories in multiple planes and various foot posture adjustments (inward / outward abduction, inward / outward rotation, etc.).

[0063] The rehabilitation exercise ergometer according to the embodiment of the present invention as described above allows an individual user to perform efficient training by focusing on the muscles and functions that the user wishes to train, and also improves the stability of exercise by changing the direction of external force applied to the joint, thereby reducing pain and protecting the surgical site.

[0064] In particular, the rehabilitation exercise is not limited to the sagittal plane, which is the trajectory of the rehabilitation exercise, but the rotational and coronal plane movements can be variegated, which can diversify the muscle strength and function that can be trained in rehabilitation, and can prevent various problems such as arthritis depending on the relative positions of the ankle and knee.

[0065] As described above, according to the present invention, the effectiveness and stability of individually customized rehabilitation for patients can be maximized in clinical practice by diversifying exercise trajectories and increasing the degree of freedom of movement for rehabilitation patients. The rehabilitation exercise ergometer according to an embodiment of the present invention utilizes the form of a bicycle exercise ergometer, and in the case of a non-powered form, it can work in a form that allows the patient's affected side to be trained using the patient's own healthy side strength, making it possible to popularize it at a low cost without the need for an expensive power ergometer. Furthermore, since it can be applied not only to rehabilitation training equipment but also to personal training bicycles, it can be developed into a form that allows exercise and training while stimulating target muscles.

[0066] Although the present invention is based on a series of processes in which a specialist who instructs and supervises rehabilitation exercises directly analyzes patient information and selects rehabilitation goals and trajectories, an automated process may be introduced in which a pedal trajectory selection algorithm is configured based on patient data and information on target exercise parts to select and recommend an appropriate exercise trajectory. Furthermore, rehabilitation exercises can be adjusted by re-reflecting various measured information through a feedback process. For this purpose, measurement sensors may include various sensors such as force and inertia sensors.

[0067] Figure 14 is a configuration diagram of a rehabilitation exercise ergometer according to an embodiment of the present invention. Figure 15 is a conceptual diagram illustrating the function of a rehabilitation exercise ergometer according to an embodiment of the present invention. Referring to Figures 14 and 15, the rehabilitation exercise ergometer according to an embodiment of the present invention may further include a data collection unit 151, a rotation plane selection unit 152, a control unit 153, a measurement sensor 154, and an exercise performance evaluation unit 155.

[0068] The data collection unit 151 can collect rehabilitation patient information including image information (X-ray, MRI, CT images, etc.) related to the rehabilitation patient, physical function information, and rehabilitation-related information in the infrastructure setting step (S) performed prior to the exercise execution step (T) (S1). Physical function information (muscle function information), rehabilitation-related information (rehabilitation and exercise stage information), and rehabilitation patient information (e.g., age, gender, pain level, possible sequelae, etc.) can be collected through doctor interviews, diagnosis results, questionnaires for rehabilitation patients, etc., and stored in a database.

[0069] The rotation plane selection unit 152 can determine a target rotation plane for the rehabilitation exercise of the rehabilitation patient (S2, S3) based on the rehabilitation patient information collected by the data collection unit 151. The rotation plane selection unit 152 analyzes the main target muscles for exercise, areas that need protection, target joint range of motion, etc. based on the rehabilitation status extracted from the image information, interview information, questionnaire information, etc. (S2), and can calculate the tilting angle of the pedal trajectory, the ankle fixation angle, the load level, etc. that are suitable for the rehabilitation patient based on the analysis results (S3).

[0070] In one embodiment, the rotation plane selection unit 152 can extract features (feature map) of the rehabilitation area through convolution processing using a kernel image from input data, which is a medical image, based on a trained convolution artificial neural network, and output an appropriate tilt angle for the pedal trajectory. The convolution artificial neural network can be trained based on training data including medical images for each rehabilitation patient, rehabilitation patient information, and tilt angles recommended for each rehabilitation patient by a doctor. When each item of rehabilitation patient information along with the features extracted by the convolution artificial neural network is input to the input node of a fully connected layer, an appropriate tilt angle value can be output through multiple hidden layers via an output node.

[0071] The control unit 153 can adjust the rotation plane and rotation axis deflection angle of the crank arm 130 by controlling the rotation plane adjustment unit 120 along the target rotation plane determined by the rotation plane selection unit 152. The control unit 153 can adjust the tilting angle of the pedal trajectory to an angle recommended for the rehabilitation patient by controlling a drive device (drive unit), such as a drive cylinder, along the target rotation plane to drive the rotation plane adjustment unit 120. Alternatively, the control unit 153 may be provided as a means for outputting an appropriate tilting angle of the pedal trajectory to the user so that the user can directly adjust the rotation plane adjustment unit 120 to adjust the angle of the pedal trajectory.

[0072] Measurement sensors 154 are configured to collect exercise information and biological signals related to the rehabilitation patient's rehabilitation while the rehabilitation patient is performing exercise using rehabilitation exercise ergometer 100. Measurement sensors 154 may include, for example, a motion measurement sensor (e.g., a force sensor, an inertia 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 respiratory sensor, a pulse sensor, a blood pressure sensor, etc.) for collecting various biological signals such as the rehabilitation patient's temperature, respiration, pulse, blood pressure, etc.

[0073] The exercise performance evaluation unit 155 can evaluate the exercise performance of the rehabilitation patient according to a certain rotation plane during the rehabilitation exercise of the rehabilitation patient based on the biological signals of the rehabilitation patient collected by the measurement sensors (T1). The exercise performance evaluation unit 155 can compare the biological signals collected by the measurement sensors 154 with a reference biological signal level set to suit the rehabilitation patient, and determine whether the rehabilitation patient is achieving an appropriate level of rehabilitation exercise effect.

[0074] If the exercise performance evaluation unit 155 determines that the tilting angle of the pedal trajectory will provide the rehabilitation patient with an appropriate rehabilitation exercise effect, a positive feedback is generated and the artificial neural network is trained, and conversely, if it determines that the tilting angle of the pedal trajectory will not provide the rehabilitation patient with an appropriate rehabilitation exercise effect, a negative feedback is generated and the artificial neural network is trained. In this way, the artificial neural network can be continuously trained to improve the accuracy of predicting the appropriate tilting angle of the pedal trajectory.

[0075] For example, the exercise performance evaluation unit 155 can evaluate the appropriateness of the rehabilitation exercise based on the pedaling pressure / speed, pedal trajectory, patient's reaction / pain, etc. during the rehabilitation exercise of the rehabilitation patient, and update the algorithm or parameters in the base setting stage (S) based on the evaluation results.

[0076] Figure 16 is a perspective view of a rehabilitation exercise ergometer according to another embodiment of the present invention. Figure 17 is a perspective view illustrating the operation of the rehabilitation exercise ergometer according to the embodiment of Figure 16. The rehabilitation exercise ergometer 100 according to the embodiment of Figures 16 and 17 differs from the previously described embodiments in that it further includes a rotation trajectory adjustment device that changes the rotation trajectory into an elliptical shape. The configurations of the flywheel and rotation plane adjustment unit installed on the support base 10 have been described above, so repeated description will be omitted. The rotation trajectory adjustment device can change the rotation trajectory of the pedal unit 140 from a circular shape to an elliptical shape.

[0077] The rotation trajectory adjusting device can adjust the length of the crank arm 130 according to the rotation cycle, or can change the rotation trajectory of the pedal unit 140 into an elliptical shape through various methods such as a link-gear mechanism or a sliding mechanism, thereby expanding and diversifying the range of motion of the joints of the subject compared to a circular rotation method, thereby improving the effect of rehabilitation.

[0078] In one embodiment, the rotation trajectory adjustment device may include a crank arm length adjustment device 134 that adjusts the length of the crank arm body 131 according to the rotation period. The crank arm body 131 may include a first crank arm body 131a, one end of which is coupled to the rotation plane adjustment unit 120 so as to adjust the deflection angle, 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 provided at the one end. The pedal unit 140 may be rotatably coupled to the other end of the second crank arm body 131b via a second coupling unit 133.

[0079] The crank arm length adjuster 134 may include a first gear member 134a connected to one end of the first crank arm body 131a, a second gear member 134b having a smaller diameter than the first gear member 134a and connected to the second crank arm body 131b at the other end of the first crank arm body 131a, and a ring-shaped belt member 134c connected to the first gear member 134a and the second gear member 134b. The belt member 134c may have gear grooves that engage with the teeth of the first gear member 134a and the second gear member 134b.

[0080] The crank arm length adjuster 134 allows the crank arm 130 to rotate along an elliptical rotation path whose vertical width is twice the length of the first crank arm body 131a and whose 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 adjuster 134 may be designed so that when the first crank arm body 131a is arranged vertically, the second crank arm body 131b is arranged vertically to overlap the first crank arm body 131a, and when the first crank arm body 131a is arranged horizontally, the second crank arm body 131b is arranged to extend outward and in parallel with the first crank arm body 131a.

[0081] Although the above embodiments have been described using only limited examples and drawings, those skilled in the art will appreciate that various modifications and variations may be made to the above description. For example, the described techniques may be performed in a different order than described, and / or the components of the described systems, structures, devices, circuits, etc. may be combined or combined in a different manner than described, or may be replaced or substituted with other components or equivalents, while still achieving suitable results. Accordingly, other implementations, other embodiments, and equivalents of the claims are within the scope of the following claims.

Claims

1. a flywheel rotatably mounted on the bicycle work meter body; a rotation plane adjusting unit provided on each side of the flywheel; a crank arm rotatably coupled to the rotation plane adjusting unit; a pedal portion provided at an end of the crank arm, The rotation plane adjusting unit is configured to adjust the rotation axis deflection angle of the rotation plane on which the crank arm rotates, thereby tilting the pedal trajectory of the pedal unit.

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 number of rotation planes with different rotation axis deflection angles.

3. 3. The rehabilitation exercise ergometer of claim 2, wherein the multiple rotation planes include a sagittal plane rotation plane in which the rotation axis declination angle is aligned with the horizontal direction, an adduction rotation plane in which the rotation axis declination angle is inclined in a first direction with respect to the sagittal plane, and an abduction rotation plane in which the rotation axis declination angle is inclined in a second direction opposite to the first direction with respect to the sagittal plane.

4. The rotation plane adjustment unit is a coupling connecting one end of the crank arm and the flywheel so that the crank arm can rotate at the same speed even when the rotation plane of the crank arm is changed; 2. The rehabilitation exercise ergometer according to claim 1, further comprising: a shaft fixing portion for fixing the crank arm in a state in which a plane of rotation of the crank arm is inclined with respect to the plane of rotation of the flywheel.

5. The shaft fixing portion is a central member fixed to a body supporting the flywheel; an adjustment member rotatably coupled to an end of the crank arm around an angle adjustment axis; a fixing member connecting the central member and the adjustment member, The central member has a plurality of first coupling holes formed at predetermined intervals around the angle adjusting shaft, and the first coupling holes are arranged in an arc shape. The adjustment member has a second coupling hole at a position corresponding to the first coupling hole, 5. The rehabilitation exercise ergometer of claim 4, wherein the fixing member includes a ball lock pin inserted into at least one of the first connecting holes and the second connecting hole to fix the central member and the adjustment member.

6. The pedal section includes: a pedal shaft rotatably coupled to an end of the crank arm in a direction perpendicular to the crank arm; a pedal joint portion connected to the pedal shaft by a joint fixing portion and rotatable in the horizontal and vertical axis directions; 2. The rehabilitation exercise ergometer according to claim 1, further comprising: a pedal foothold configured so that a relative angle with respect to the pedal shaft can be adjusted by the pedal joint portion.

7. The pedal joint portion includes a ball joint provided in a pedal joint body, 7. The rehabilitation exercise ergometer according to claim 6, wherein the ball joint transmits rotational force by adjusting a relative angle with respect to the pedal shaft within the pedal joint body.

8. The shaft fixing portion is a central member fixed to a body supporting the flywheel; an adjustment member rotatably coupled to an end of the crank arm around an angle adjustment axis, 5. The rehabilitation exercise ergometer according to claim 4, further comprising a drive unit that rotates the adjustment member relative to the central member to adjust a tilting angle of the rotational trajectory of the pedal unit.

9. a data collection unit configured to collect rehabilitation patient information including image information, physical function information, and rehabilitation-related information associated with the rehabilitation patient; a rotation plane selector configured to determine a target rotation plane for rehabilitation exercise of the rehabilitation patient based on the rehabilitation patient information; 9. The rehabilitation exercise ergometer of claim 8, further comprising: a control unit that controls the drive unit to adjust the rotation plane along the target rotation plane.

10. a measurement sensor configured to collect exercise information and the biological signals associated with the rehabilitation exercise of the rehabilitation patient while the rehabilitation patient is performing the exercise using the rehabilitation exercise ergometer; 10. The rehabilitation exercise ergometer of claim 9, further comprising an exercise performance evaluation unit configured to evaluate the exercise performance of the rehabilitation patient according to the rotation plane based on the motion information and bio-signals of the rehabilitation patient.

11. 2. The rehabilitation exercise ergometer according to claim 1, further comprising a rotation path adjusting device for changing the rotation path of the pedal unit rotated by the crank arm into an elliptical shape.

12. The crank arm includes a first crank arm body and a second crank arm body rotatably coupled to the first crank arm body, 12. The rehabilitation exercise ergometer according to claim 11, wherein the rotation trajectory adjustment device includes a crank arm length adjustment device that adjusts the length of the crank arm body in accordance with the rotation cycle.

13. 13. The rehabilitation exercise ergometer of claim 12, wherein the crank arm length adjustment device comprises: a first gear member connected to one end of the first crank arm body; a second gear member having a smaller diameter than the first gear member and connected to the second crank arm body at the other end of the first crank arm body; and a ring-shaped belt member connected to the first gear member and the second gear member.

14. 14. The rehabilitation exercise ergometer of claim 13, wherein the crank arm length adjustment device is designed such that, when the first crank arm body is positioned vertically, the second crank arm body is positioned vertically to overlap the first crank arm body, and when the first crank arm body is positioned horizontally, the second crank arm body is positioned to extend outwardly and in parallel with the first crank arm body.

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