An upper limb rehabilitation robot that can perform individual or complex joint movements of the wrist, elbow, and shoulder through a single mechanical device

Abstract

The present invention relates to an upper limb rehabilitation robot capable of performing individual or complex joint movements of the wrist, elbow, and shoulder through a single mechanical device, and is characterized by comprising: a main body (A0); a handle (B0) connected from one side of the main body (A0) and configured to be grasped by a user's hand; an arm exercise unit (C0) that enables shoulder movements by rotating the arm left and right around the shoulder from one side of the main body (A0) while the handle (B0) is grasped, and elbow movements by extending and retracting the elbow around the shoulder; and a wrist exercise unit (D0) that enables wrist movements by rotating the wrist while the handle (B0) is grasped by hand.

Description

Technology Field

[0001] The present invention relates to an upper limb rehabilitation robot capable of performing rehabilitation exercises for the arm, and more specifically, to an upper limb rehabilitation robot capable of performing individual or complex joint movements of the wrist, elbow, and shoulder through a single mechanical device. Background Technology

[0003] When patients are unable to properly move their upper or lower limbs due to disabilities or sequelae such as stroke, brain injury, or spinal cord injury caused by various accidents or diseases, the quality of life is reduced due to the decline in joint function and functional mobility, which leads to a decrease in the performance of daily activities and the range of social activities. Therefore, to rehabilitate such patients, rehabilitation treatment using various types of rehabilitation robots is being performed to restore the range of motion of paralyzed joints and muscle usage ability to a level close to that of a normal person.

[0004] However, most conventionally proposed upper limb rehabilitation robots consist of separate rehabilitation robots for the shoulder, elbow, and wrist. This not only causes the inconvenience of patients having to move between machines to perform rehabilitation exercises, but also presents a problem in that it is particularly unable to perform complex joint movements of the arm from the shoulder to the wrist.

[0005] For reference, the following prior art documents consist of four recent prior art documents found by searching for "upper limb rehabilitation" on the KIPRIS patent information network. By referring to the following prior art documents, one can understand the technical field, background technology, and the state of development regarding the present invention. Prior art literature

[0007] Patent Publication No. 1020250081689(2025-06-05). Patent Publication No. 1020250121765(2025-08-12). Patent Publication No. 1020250116494(2025-08-01). Patent Publication No. 1020250116493(2025-08-01). The problem to be solved

[0008] The present invention was developed to solve the conventional problems mentioned in the background art, and in particular, the purpose of the present invention is to solve the problem of enabling the rehabilitation of the shoulder, elbow, and wrist to be performed through a single machine. means of solving the problem

[0010] The present invention proposes a means for solving a problem, comprising a handle connected from one side of a main body and configured to be grasped by a user's hand, an arm exercise unit configured to allow shoulder movement by rotating the arm left and right around the shoulder from one side of the main body while the handle is grasped, and an elbow exercise unit configured to allow elbow movement by extending and retracting the elbow forward and backward around the shoulder, and a wrist exercise unit configured to allow wrist movement by rotating the wrist while the handle is grasped by hand. Effects of the invention

[0012] According to the means of the present invention, a user can perform rehabilitation exercises by rotating the arm left and right using the shoulder while holding a handle, perform rehabilitation exercises by extending or closing the arm using the elbow, and perform rehabilitation exercises by rotating the wrist, and can also perform rehabilitation exercises using a combination of these. By performing these rehabilitation exercises in a combination using a single machine, there is no inconvenience of having to move between multiple machines to perform rehabilitation exercises as in the past, and there is an effect of being able to perform rehabilitation exercises suitable for daily life through complex joint movements of the arm from the shoulder to the wrist. Brief explanation of the drawing

[0014] FIG. 1 is a perspective view of the present invention. FIG. 2 is a front view of FIG. 1. FIG. 3 is a plan view of FIG. 1 FIG. 4 is an exploded perspective view of FIG. 1. FIG. 5 is a perspective view of FIG. 4 from a different direction. Fig. 6 is a perspective view of the main part of Fig. 1. FIG. 7 is an exploded perspective view of FIG. 6 FIG. 8 is a detailed view of the handle in FIG. 1. FIG. 9 is a detailed view of the armrest plate of FIG. 1. FIG. 10 is an exploded perspective view of FIG. 9 FIG. 11 is a bottom perspective view of FIG. 10 FIG. 12 is a detailed view of the main body of FIG. 1. FIG. 13 is an exploded perspective view of FIG. 12 FIG. 14 is a perspective view of FIG. 12 with a support, main monitor, management monitor, computer, and control panel mounted thereon. FIG. 15 is an exploded perspective view of FIG. 14 FIG. 16 is a perspective view of FIG. 14 with a cover attached. FIG. 17 is an exploded perspective view of FIG. 16. FIG. 18 is a bottom perspective view of FIG. 1. FIG. 19 is an exploded perspective view of FIG. 18 FIG. 20 is a detailed view of the chair part of FIG. 1. FIG. 21 is a side view of FIG. 20. FIG. 22 is an exploded perspective view of the armrest of FIG. 20. Specific details for implementing the invention

[0015] The present invention will be described in detail below with reference to the attached drawings.However, the attached drawings may be exaggerated, omitted, or depicted schematically for the convenience of explaining the essential parts; terms and names used in the description may be implicitly determined by the shape, function, or role of the components rather than their dictionary meanings; descriptions regarding direction are determined based on the direction first presented in the first drawing, and descriptions regarding position are determined based on the center of each component or the center of a circle. Furthermore, detailed descriptions of previously registered prior art and ordinary technology may be omitted or replaced with simple symbols or names to avoid obscuring the essentials. Additionally, detailed descriptions of the specific structure, shape, form, arrangement, size, correlation lines, etc., of a component identifiable through the drawings, as well as the operation of a component and its resulting effects that can be inferred from the drawings, may be omitted as they may obscure the essentials. Bolts, welds, holes, etc., applied for joining components may also be omitted from the drawings as they may obscure the essentials. Unless the shape of a component is specifically designated, the planar shape is circular or rectangular, and in such cases, the plan view may be omitted.

[0017] below, Fig. 1 inside Fig. 3 The present invention will be described with reference as follows.

[0018] First, describing the overall appearance of the present invention, as illustrated, the present invention comprises: a main body (A0); an arm exercise unit (C0) installed from the upper front of the main body (A0) to enable arm exercises; a wrist exercise unit (D0) installed from the end of the arm exercise unit (C0) to enable wrist exercises; a handle (B0) installed from the end of the wrist exercise unit (D0) to allow a user to grasp it with their hand; an armrest plate (E0) installed from one side of the handle (B0) to support the arm; a main monitor (I0) installed from the upper front of the main body (A0) to allow a user to view it; a camera (J0) installed from the top of the main monitor (I0) to capture the user's movements; a management monitor (K0) installed from the side of the main body (A0) to allow a manager to control each device of the main body (A0); a chair (O0) installed from the front of the main body (A0) to allow a user to sit on it; and a chair connecting rod (O2) installed from the front of the main body (A0) to connect the chair (O0). It includes a chair (O0) installed on one side of the upper surface of the chair connecting member (O2) so that a user can sit on it.

[0019] Additionally, although not shown, it includes a computer (L0) installed inside the main body (A0) to control each device of the main body (A0); and a control panel (L1).

[0021] below, Fig. 4 inside Fig. 5 The present invention will be described with reference as follows.

[0022] Next, the present invention is described by disassembling the entire invention. As illustrated, the main body (A0) of the present invention may include: an "H"-shaped bottom plate (A1); wheels (A2) installed at the four corners of the bottom surface of the bottom plate (A1) to enable the main body (A0) to move and be fixed; and fixed legs (A21); a fixed frame (A3) installed below the bottom plate (A1); mounting plates (A4) connected and installed from both sides of the fixed frame (A3); a lifting frame (A5) installed from the bottom plate (A1) to the inner upper side of the fixed frame (A3); a support (I1) installed from the upper rear side of the lifting frame (A5) to the upper side; a chair connecting bracket (O1) installed on the front bottom surface of the bottom plate (A1); a lower cover (M0) installed to surround the lower part of the fixed frame (A3) from the bottom plate (A1); and an upper cover (N0) installed to surround the upper part of the lifting frame (A5).

[0023] The above arm exercise unit (C0) is connected and installed from the front of the lifting frame (A5), the main monitor (I0) is connected and installed from the upper front of the support (I1), the management monitor (K0) is connected and installed from the side of the mounting plate (A4), the computer (L0) and the control panel (L1) are connected and installed from the rear of the fixed frame (A3), and the chair connecting member (O2) is connected and installed from the chair connecting bracket (O1).

[0025] below, Fig. 6 The present invention will be described with reference as follows.

[0026] Next, the essential parts of the present invention are described as follows: as illustrated, the present invention is characterized by comprising: a handle (B0) connected from one side of the main body (A0) and configured to be grasped by a user with a hand; an arm exercise part (C0) that allows for shoulder exercises by rotating the arm left and right around the shoulder from one side of the main body (A0) while holding the handle (B0), and also allows for elbow exercises by extending and retracting the elbow forward and backward around the shoulder; and a wrist exercise part (D0) that allows for wrist exercises by rotating the wrist while holding the handle (B0) with a hand.

[0027] In this way, as described in the effect of the invention, the user can perform rehabilitation exercises by rotating the arm left and right using the shoulder while holding the handle (B0), and by extending or closing the arm using the elbow, and by rotating the wrist. In addition to performing these exercises individually, the user can also perform rehabilitation exercises by combining them. By performing these rehabilitation exercises in combination using a single machine, there is no inconvenience of having to move between multiple machines to perform rehabilitation exercises as in the past, and there is an effect of being able to perform rehabilitation exercises suitable for daily life through complex joint movements of the arm from the shoulder to the wrist.

[0029] below, Fig. 6 inside Fig. 7 The present invention will be described with reference as follows.

[0030] Next, the present invention will be described in detail. As illustrated, the arm movement unit (C0) may include: an upper and lower fixing plate (C1) installed on one side of the main body (A0); an operating arm (C2) installed so that a single link is overlapped vertically from the upper and lower fixing plate (C1); and an arm movement motor (C3) installed so that one end of each single link rotates from each fixing plate (C1).

[0031] When the upper and lower arm movement motor (C3) rotates simultaneously from the fixed plate (C1) to the left and right, the operating arm (C2) rotates to the left and right, thereby performing a shoulder movement that can rotate the arm to the left and right around the shoulder.

[0032] In addition, when the upper and lower arm movement motor (C3) rotates left and right simultaneously in opposite directions from the fixed plate (C1), the operating arm (C2) is extended and retracted, allowing the elbow to be extended or retracted forward and backward around the shoulder.

[0033] Meanwhile, the wrist exercise unit (D0) and handle (B0) may include: an operating arm connecting bracket (D1) connected to the end of the operating arm (C2); a wrist exercise motor (D2) installed on one side of the operating arm connecting bracket (D1) to rotate; a handle bracket (B1) connected to the front of the wrist exercise motor (D2); and a handle (B0) connected to one side of the handle bracket (B1) and configured to be held by a user with their hand.

[0034] The above wrist exercise unit (D0) can perform wrist exercise by allowing the wrist to rotate according to the rotation of the wrist exercise motor (D2) while holding the handle (B0) with the hand.

[0035] By doing this, the configuration of the arm movement unit (C0) and wrist movement unit (D0) is simplified, and the operation is smooth.

[0037] below, Fig. 8 The present invention will be described with reference as follows.

[0038] Next, to describe a configuration that can be added to the present invention, as illustrated, the handle (B0) may include a grip strength sensing handle (B01) capable of detecting the user's grip strength.

[0039] The above grip strength sensing handle (B01) may be composed of: a one-side handle body (B2) fixed to one side of a handle bracket (B1); a other-side handle body (B3) separated and coupled with the one-side handle body (B2) with a predetermined gap; and a load cell (B4) coupled between the one-side handle body (B2) and the other-side handle body (B3).

[0040] The pressure handle (B0) above can be configured so that the grip force of a user gripping one side handle body (B2) and the other side handle body (B3) can be detected from a load cell (B4).

[0041] By doing this, the severity can be determined from the user's grip strength detection, and training to increase grip strength can be performed through training such as moving objects from the image of the main monitor (I0) described below.

[0043] below, Figure 9 inside Fig. 11 The present invention will be described with reference as follows.

[0044] It may include an armrest plate (E0) installed to support the elbow on the handle (B0) as described above.

[0045] The above armrest plate (E0) is composed of an armrest plate bracket (E1) connected to one side of a handle bracket (B1); and an armrest plate body (E2) coupled to one side of the armrest plate bracket (E1), and can be configured to grip the handle (B0) while supporting the arm from the armrest plate body (E2).

[0046] By doing this, the user can perform upper limb rehabilitation training while supporting their arm, making the rehabilitation process more convenient.

[0048] Additionally, as described above, the armrest plate (E0) may include a detachable device (F0) that is detachably coupled to the handle (B0).

[0049] The above detachable device (F0) comprises: a detachable plate (F1) installed between a handle bracket (B1) and a handle (B0); a detachable groove (F2) formed as a circular indentation in the middle of the detachable plate (F1); an insertion groove (F3) in front of an armrest bracket (E1) formed to be inserted into the detachable plate (F1); a pair of detachable brackets (F4) connected from the inside of the armrest bracket (E1) to the inner and rear sides of the insertion groove (F3); a hinge part (F5) connecting the detachable brackets (F4) to both inner sides of the insertion groove (F3) from the inside of the armrest bracket (E1); and a latch (F6) in front of the detachable bracket (F4) formed to rotate inward toward the insertion groove (F3) around the hinge part (F5) and be fitted into the detachable groove (F2). It may include a spring (F7) that connects the rear of the detachable bracket (F4) between the rear sides of the armrest bracket (E1) with the hinge portion (F5) as the center; and a detachable lever (F8) that causes the rear sides of the detachable bracket (F4) to protrude outward from the sides of the armrest bracket (E1) inside.

[0050] The above detachable device (F0) can be configured such that when the front insertion groove (F3) of the armrest bracket (E1) is pushed toward the detachable plate (F1), the latch (F6) of the detachable bracket (F4) of the armrest bracket (E1) is elastically coupled to the detachable groove (F2) to fix the armrest (E0), and when both sides of the detachable lever (F8) are pressed, the latch (F6) rotates outward from the hinge part (F5) so that the armrest (E0) can be detached.

[0051] By doing this, there is the convenience of being able to select the armrest (E0) as needed, such as removing it when the user is standing and installing it when the user is sitting, and the configuration of the attachment / detachment means is simplified and operation is smooth, resulting in the effect of being convenient to use.

[0053] Additionally, as described above, the armrest plate (E0) may include an armrest position adjustment device (G0) that allows the position of the armrest plate body (E2) to be adjusted from the armrest plate bracket (E1).

[0054] The above armrest position adjustment device (G0) may include: an uneven groove (G1) formed laterally along the length of the armrest bracket (E1) from the rear side of the armrest bracket (E1); an upper pressure block (G2) coupled to the bottom surface of the armrest main body (E2), with its body positioned on the upper surface of the uneven groove (G1) and having an uneven projection (G21) corresponding to the uneven groove (G1) formed on the bottom surface of its body; and a lower pressure block (G3) with its body positioned on the bottom surface of the uneven groove (G1) of the armrest bracket (E1), which is fastened to the upper pressure block (G2) by a fastener (G4) from the bottom surface to press the uneven groove (G1).

[0055] The above armrest position adjustment device (G0) can adjust the position of the armrest main body (E2) from the armrest bracket (E1) by adjusting the tightness of the upper pressure block (G2) and the lower pressure block (G3) according to the tightening of the fastener (G4).

[0056] In this way, the user has the convenience of being able to change the position of the armrest (E0) to a comfortable position according to the user's physique when using the armrest (E0), and the configuration of the armrest position adjustment device (G0) is simplified and operates smoothly, resulting in the effect of being convenient to use.

[0058] below, Fig. 12 The present invention will be described with reference as follows.

[0059] As described above, the main body (A0) may include an "H"-shaped bottom plate (A1); wheels (A2) installed at the four corners of the bottom surface of the bottom plate (A1) to enable the main body (A0) to move and be fixed; and fixed legs (A12); a fixed frame (A3) installed below the bottom plate (A1); mounting plates (A4) connected and installed from both sides of the fixed frame (A3); and a lifting frame (A5) installed from the bottom plate (A1) to the inner upper side of the fixed frame (A3).

[0060] By doing this, the main body (A0) can be moved easily, and there is the convenience of being able to fix it in place while it is moved.

[0062] below, Fig. 12 inside Fig. 13 The present invention will be described with reference as follows.

[0063] As described above, the main body (A0) may include an arm movement unit height adjustment device (H0) that allows the arm movement unit (C0) to be vertically raised and lowered from the main body (A0) to adjust the height.

[0064] The above arm movement unit height adjustment device (H0) may include: a lifting guide block (H1) installed vertically on both sides of a fixed frame (A3) of a main body (A0); a lifting frame (A5) installed to move vertically along the lifting guide block (H1); an electric cylinder (H2) installed between the central upper surface of the bottom plate (A1) of the main body (A0) and the upper middle lower surface of the lifting frame (A5) to move the lifting frame (A5); and a fixed plate (C1) of an arm movement unit (C0) installed on the upper front surface of the lifting frame (A5).

[0065] The above arm movement unit (C0) can adjust the height of the arm movement unit (C0) by vertically raising the lifting frame (A5) from the lifting guide block (H1) installed on the fixed frame (A3) of the main body (A0) according to the operation of the electric cylinder (H2).

[0066] By doing this, the position of the arm exercise unit (C0) can be changed to a comfortable position depending on whether the user is standing, sitting, or has a physique, and the configuration of the arm exercise unit height adjustment device (H0) is simplified and operates smoothly, resulting in a convenient user experience.

[0068] below, Fig. 14 inside Fig. 15 The present invention will be described with reference as follows.

[0069] As described above, the main body (A0) may include a main monitor (I0) that allows a user to view.

[0070] The main monitor (I0) above may be configured such that a support (I1) is connected and installed from the upper rear side of the lifting frame (A5) upward; a monitor mount (I2) is installed on the upper front side of the support (I1); and the main monitor (I0) is installed from the front side of the monitor mount (I2).

[0071] By doing this, the user can perform rehabilitation exercises while watching the video output from the main monitor (I0), and can view the training program, training statistics, training results, etc. output from the main monitor (I0), thereby improving the interest and efficiency of the rehabilitation training.

[0073] Additionally, as described above, the present invention may include a camera (J0) installed on the main monitor (I0) to capture the user's movements.

[0074] By doing this, the user's training process can be filmed, and posture can be corrected. Additionally, by detecting the user's movements from the video output on the main monitor (I0) and performing a rehabilitation training program through games, the interest in training can be increased, thereby improving training performance.

[0076] Additionally, as described above, the main body (A0) may include a management monitor (K0) that can be used by an administrator.

[0077] The above management monitor (K0) may be configured such that a monitor stand (K1) is installed on the side of a mounting plate (A4) installed on both sides of a fixed frame (A3) of a main body (A0); and the management monitor (K0) is installed from the front of the monitor stand (K1).

[0078] By doing this, the device of the main body (A0) can be controlled via the management monitor (K0), user information can be registered and viewed, and a training program tailored to the user's characteristics can be output to the main monitor (I0) to enable the user to train. Additionally, training statistics, training results, etc. can be output to encourage the user's performance, and the entire main body (A0) can be conveniently controlled.

[0080] Additionally, as described above, the main body (A0) may include a monitor mounted on the main body (A0), a computer (L0) that controls a motor, and a control panel (L1).

[0081] The above computer (L0) and control panel (L1) may be installed from the rear of the fixed frame (A3) of the main body (A0).

[0082] By doing this, not only is it easy to install the computer (L0) and the control panel (L1), but it is also possible to control the main monitor (I0) and the management monitor (K0) by the computer (L0) and the control panel (L1), as well as control the arm movement motor (C3), the wrist movement motor (D2), and the electric cylinder (H2).

[0084] below, Fig. 16 inside Fig. 17 The present invention will be described with reference as follows.

[0085] As described above, the main body (A0) may include a lower cover (M0) that encloses a fixed frame (A3), a computer (L0), and a control panel (L1) from a bottom plate (A1).

[0086] The above lower cover (M0) may be divided into a front cover (M1) and a rear cover (M2) and connected to each other from the bottom plate (A1).

[0087] By doing this, not only can the devices installed on the main body (A0) be protected, but the components, mechanisms, and devices can also be concealed to make the appearance aesthetically pleasing.

[0089] Additionally, as illustrated, the main body (A0) may include an upper cover (N0) that encloses the support (I1) from the lifting frame (A5).

[0090] The upper cover (N0) may be divided into a left cover (N1) and a right cover (N2) and coupled to each other from both sides of the upper part of the lifting frame (A5).

[0091] By doing this, the components connected to the lifting frame (A5) on the main body (A0) can be protected, and the components, mechanisms, devices, etc. can be concealed to make the appearance aesthetically pleasing.

[0093] below, Fig. 18 inside Fig. 19 The present invention will be described with reference as follows.

[0094] As described above, the main body (A0) may include a chair (O0) on which a user can sit.

[0095] The above chair (O0) may be formed by: a chair connecting bracket (O1) installed on the bottom surface of the base plate (A1) of the main body (A0); a chair connecting member (O2) installed extending from the chair connecting bracket (O1) to the front of the main body (A0); a chair mounting bracket (O3) installed at the front end of the chair connecting member (O2); a fastening member (O4) fastened between the chair connecting bracket (O1) and the chair mounting bracket (O3); and mounting the chair (O0) from the rear side of the chair connecting member (O2).

[0096] By doing this, the user can sit and conveniently perform rehabilitation training, and by fixing the upper body, the user can reduce compensatory torso movements and focus on arm exercises. Additionally, if the user needs to use a wheelchair instead of the chair (O0), the chair (O0) can be separated from the main body (A0) using the fastener (G4), thus providing the convenience of easily separating or combining the chair (O0) depending on its use.

[0098] below, Figure 20 inside Fig. 21 The present invention will be described with reference as follows.

[0099] As described above, the chair (O0) may include a chair distance adjustment device (P0) capable of adjusting the front-to-rear distance of the chair (O0) from the main body (A0).

[0100] The above chair distance adjustment device (P0) may include: chair guide rails (P1) installed on both sides of the chair connecting member (O2); a moving member (P2) installed to move along the chair guide rails (P1); perforations (P3) formed at regular intervals along the length on the upper surface of the chair connecting member (O2); an adjustment footrest (P4) installed so that the rear is inclined and raised in the middle of the upper surface of the moving member (P2); a hinge part (P5) connected so that the front of the adjustment footrest (P4) is lifted from the side of the moving member (P2); an insertion pin (P6) formed to be inserted into the perforations (P3) from the front of the adjustment footrest (P4); and a chair (O0) installed from the center of the adjustment footrest (P4) to the upper part of the moving member (P2).

[0101] The above-mentioned moving member (P2) moves back and forth along the chair guide rail (P1) from the chair connecting member (O2), and when the rear of the adjustment footrest (P4) is pressed with the foot, the insertion pin (P6) is lifted from the hinge part (F5) and detached from the hole (P3), and when released, it is inserted so that the distance of the chair (O0) from the main body (A0) can be adjusted.

[0102] By doing this, the position of the chair (O0) can be conveniently adjusted to a position that is convenient for rehabilitation exercises according to the physique of the user using the chair (O0).

[0104] Additionally, as described above, the chair (O0) may include a support (Q0) installed on a chair connecting member (O2); a seat plate (Q1) installed on the upper part of the support (Q0); a backrest (Q2) installed at the rear of the seat plate (Q1); and an armrest (Q3) installed forward from the backrest (Q2).

[0106] In addition, the above chair (O0) may include a chair height adjustment device (R0) capable of adjusting the height.

[0107] The above chair height adjustment device (R0) may include a gas spring (R1) installed between the chair connecting member (O2) and the seat plate (Q1); and a height adjustment footrest (R2) installed rearward from the support (Q0) to adjust the pressure of the gas spring (R1).

[0108] The above chair height adjustment device (R0) can be configured such that when the height adjustment footrest (R2) is pumped and pressed, the seat plate (Q1) rises, and when the pressed state is maintained, it lowers so that the chair (O0) can be adjusted in height.

[0109] By doing this, the height of the chair (O0) can be conveniently adjusted to a position that is convenient for rehabilitation exercises according to the physique of the user of the chair (O0).

[0111] below, Figure 20 inside Fig. 21 The present invention will be described with reference as follows.

[0112] As described above, the chair (O0) includes an armrest (Q4) installed on an armrest (Q3), and the armrest (Q4) may include an armrest distance adjustment device (S0) that can move back and forth from the armrest (Q3).

[0113] The above armrest distance adjustment device (S0) may include a rail (S1) installed on the bottom surface of the armrest (Q4); a pressure plate (S2) inserted into the rail (S1); and a fastening lever (S3) connected to the pressure plate (S2) from the bottom of the armrest (Q3).

[0114] The above armrest distance adjustment device (S0) can be configured such that when the fastening lever (S3) is tightened, the pressure plate (S2) presses the rail (S1) against the armrest (Q3) to fix the armrest (Q4), and when the fastening lever (S3) is released, the contact force is loosened, allowing the armrest (Q4) to be moved back and forth from the pressure plate (S2).

[0115] By doing this, the distance of the armrest (Q4) can be conveniently adjusted to a position convenient for rehabilitation exercises according to the physique of the user using the chair (O0).

[0117] With that, the description of the present invention is concluded.This invention provides drawings of the configuration and specific components included therein to facilitate understanding of the principles of the configuration sought in this invention, and explains them based on these drawings. The structure, form, shape, arrangement, direction, and quantity of the configuration and specific components included in this invention are determined in consideration of the principles sought, and these may be modified in various ways as necessary. The configuration and specific components presented in this invention serve as examples for those skilled in the art to understand the effects sought in this invention and which principles are most desirable to apply to obtain better effects. Accordingly, while it is most desirable to complete this invention by including all the configurations described above, it may be completed by selecting or excluding some of the configurations described above for cost reduction, ease of manufacturing, environmental conditions, or as needed, or by separating one or some of the configurations and merging them with other configurations. Furthermore, each configuration described above may be independently applied to other technical fields outside of this field, taking into account principles, uses, functions, roles, operations, and effects. Based on this, the scope of rights of the present invention is defined as follows to encompass the claims of the present invention as much as possible, and the claims are presented in order starting from the claim with the broadest rights. Through this, it is expected that a person skilled in the art with ordinary knowledge in this technical field will be able to sufficiently grasp the essence sought by the present invention through the specific details described above and the scope of claims to be described below, and the effects of parts that are illustrated but not explained can be sufficiently inferred from the drawings. Accordingly, a person skilled in the art will be able to apply various modifications and changes based on the content mentioned in the present invention to this technical field, thereby contributing to the advancement of this technical field as well as further increasing efficiency in use.

Claims

Claim 1 A main body (A0); a handle (B0) connected from one side of the main body (A0) and configured to be grasped by a user's hand; an arm exercise unit (C0) that enables shoulder exercises by rotating the arm left and right around the shoulder and elbow exercises by extending and retracting the elbow around the shoulder while holding the handle (B0) from one side of the main body (A0); and a wrist exercise unit (D0) that enables wrist exercises by rotating the wrist while holding the handle (B0) with a hand; wherein the arm exercise unit (C0) comprises an upper and lower fixing plate (C1) installed on one side of the main body (A0); and an operating arm (C2) installed such that a single-section link overlaps vertically from the upper and lower fixing plate (C1). The device comprises: an arm movement motor (C3) installed so that one end of each single-section link rotates from each of the above fixed plates (C1); the wrist movement part (D0) and the handle (B0) comprise: an operating arm connecting bracket (D1) connected to the end of the operating arm (C2); a wrist movement motor (D2) installed on one side of the operating arm connecting bracket (D1) to rotate; a handle bracket (B1) connected to the front of the wrist movement motor (D2); and a handle (B0) connected to one side of the handle bracket (B1) and configured to be grasped by a user with a hand; the handle (B0) comprises a grip strength sensing handle (B01) capable of detecting the user's grip strength; and the grip strength sensing handle (B01) comprises a one-side handle body (B2) fixed to one side of the handle bracket (B1). An upper limb rehabilitation robot capable of performing individual or complex joint movements of the wrist, elbow, and shoulder through a single mechanical device, comprising: a first handle body (B2) and a second handle body (B3) separated and coupled with a predetermined gap; and a load cell (B4) coupled between the gap between the first handle body (B2) and the second handle body (B3). Claim 2 Claim 1 comprises: an armrest plate (E0) installed to support an elbow on the handle (B0); wherein the armrest plate (E0) comprises: an armrest plate bracket (E1) connected to one side of the handle bracket (B1); and an armrest plate body (E2) coupled to one side of the armrest plate bracket (E1); wherein the armrest plate (E0) comprises: a detachable device (F0) detachably coupled to the handle (B0); wherein the detachable device (F0) comprises: a detachable plate (F1) installed between the handle bracket (B1) and the handle (B0); a detachable groove (F2) formed as a circular depression in the middle of the detachable plate (F1); and an insertion groove (F3) formed in front of the armrest plate bracket (E1) to be inserted into the detachable plate (F1). A pair of detachable brackets (F4) connected and installed from the inside of the armrest bracket (E1) to the inner and rear sides of the insertion groove (F3); a hinge part (F5) connecting the detachable brackets (F4) to both inner sides of the insertion groove (F3) from the inside of the armrest bracket (E1); a latch (F6) at the front of the detachable bracket (F4) formed to rotate inward toward the insertion groove (F3) around the hinge part (F5) and be fitted into the detachable groove (F2); and a spring (F7) elastically connecting the rear of the detachable bracket (F4) between the rear sides of the armrest bracket (E1) around the hinge part (F5). The above detachable bracket (F4) includes a detachable lever (F8) that causes the rear sides of the armrest bracket (E1) to protrude outward from the sides of the inner sides of the armrest bracket (E1); the armrest (E0) includes an armrest position adjustment device (G0) that allows the position of the armrest main body (E2) to be adjusted from the armrest bracket (E1); the armrest position adjustment device (G0) includes an uneven groove (G1) formed laterally along the length of the armrest bracket (E1) from the rear side of the armrest bracket (E1); and an upper pressure block (G2) coupled to the bottom surface of the armrest main body (E2), with the body positioned on the upper surface of the uneven groove (G1) and an uneven projection (G21) corresponding to the uneven groove (G1) formed on the bottom surface of the body.A lower pressure block (G3) comprising a body positioned on the lower surface of the uneven groove (G1) of the above armrest bracket (E1), and connected to an upper pressure block (G2) by a fastener (G4) from the lower surface to apply pressure to the uneven groove (G1); wherein the main body (A0) comprises a bottom plate (A1); wheels (A2) installed at the four corners of the lower surface of the bottom plate (A1) to enable the main body (A0) to move and be fixed; a fixing frame (A3) installed below the bottom plate (A1); and mounting plates (A4) connected and installed from both sides of the fixing frame (A3). The device includes a lifting frame (A5) installed from the base plate (A1) to the inner upper side of the fixed frame (A3); the main body (A0) includes an arm movement unit height adjustment device (H0) that allows the arm movement unit (C0) to be vertically raised and lowered from the main body (A0) to adjust the height; the arm movement unit height adjustment device (H0) includes a lifting guide block (H1) installed vertically on both sides of the fixed frame (A3) of the main body (A0); a lifting frame (A5) installed to be vertically raised and lowered along the lifting guide block (H1); and an electric cylinder (H2) installed between the central upper surface of the base plate (A1) of the main body (A0) and the upper middle lower surface of the lifting frame (A5) to raise and lower the lifting frame (A5). The device comprises: an arm exercise unit (C0) installed on the upper front of the lifting frame (A5); a main monitor (I0) installed on one side of the main body (A0) to allow a user to view; a camera (J0) installed on one side of the main body (A0) to capture the user's movements; a management monitor (K0) installed on one side of the main body (A0) to allow a manager to use; a computer (L0) installed on one side of the main body (A0) to control a monitor and a motor mounted on the main body (A0); and a control panel (L1); and a lower cover (M0) installed to enclose the fixed frame (A3), the computer (L0), and the control panel (L1) from the bottom plate (A1) of the main body (A0).The device includes: an upper cover (N0) installed to surround a support member (I1) from a lifting frame (A5) of the main body (A0); a chair (O0) installed on one side of the main body (A0) for a user to sit on; a chair distance adjustment device (P0) installed between the main body (A0) and the chair (O0) to adjust the front-to-rear distance of the chair (O0) from the main body (A0); the main monitor (I0) is a support member (I1) connected to the upper rear side of the lifting frame (A5); a monitor mount (I2) installed on the upper front side of the support member (I1); and the main monitor (I0) is installed from the front of the monitor mount (I2); the management monitor (K0) is a monitor mount (K1) installed on the side of a mounting plate (A4) installed on both sides of a fixed frame (A3) of the main body (A0); A management monitor (K0) is installed from the front of the monitor stand (K1); the computer (L0) and control panel (L1) are installed from the rear mounting bracket (L2) of the fixed frame (A3) of the main body (A0); the lower cover (M0) is divided into a front cover (M1) and a rear cover (M2) and is coupled to each other from the floor plate (A1); the upper cover (N0) is divided into a left cover (N1) and a right cover (N2) and is coupled to each other from both upper sides of the lifting frame (A5); the chair (O0) is a chair connecting bracket (O1) installed on the bottom surface of the floor plate (A1) of the main body (A0); a chair connecting rod (O2) that is elongatedly connected from the chair connecting bracket (O1) to the front of the main body (A0); and a chair mounting bracket (O3) installed at the front end of the chair connecting rod (O2). A fastener (O4) that is fastened between the chair connecting bracket (O1) and the chair mounting bracket (O3); mounting a chair (O0) from the rear side of the chair connecting member (O2); the chair distance adjustment device (P0) comprises a chair guide rail (P1) installed on both sides of the chair connecting member (O2); and a movable member (P2) installed to move along the chair guide rail (P1).Perforations (P3) formed at regular intervals along the length on the upper surface of the chair connecting member (O2); an adjustment footrest (P4) installed in the middle of the upper surface of the movable member (P2) so that the rear is inclined and raised; a hinge part (P5) joined so that the front of the adjustment footrest (P4) is lifted from the side of the movable member (P2); an insertion pin (P6) formed to be inserted into the perforations (P3) from the front of the adjustment footrest (P4); and a chair (O0) installed on the upper part of the movable member (P2) from the center of the adjustment footrest (P4); the chair (O0) includes a support (Q0) installed on the chair connecting member (O2); a seat plate (Q1) installed on the upper part of the support (Q0); a backrest (Q2) installed on the rear of the seat plate (Q1); and an armrest (Q3) installed forward from the backrest (Q2). The above chair (O0) includes a chair height adjustment device (R0) capable of adjusting the height; the chair height adjustment device (R0) includes a gas spring (R1) installed between the chair connecting member (O2) and the seat plate (Q1); and a height adjustment footrest (R2) installed rearward from the support (Q0) to adjust the pressure of the gas spring (R1); the above chair (O0) includes an armrest (Q4) installed on the armrest (Q3); the armrest (Q4) includes an armrest distance adjustment device (S0) capable of moving back and forth from the armrest (Q3); the armrest distance adjustment device (S0) includes a rail (S1) installed on the bottom surface of the armrest (Q4); and a pressure plate (S2) inserted into the rail (S1). An upper limb rehabilitation robot capable of performing individual or complex joint movements of the wrist, elbow, and shoulder through a single mechanical device, comprising: a fastening lever (S3) connected to a pressure plate (S2) from the bottom of the armrest (Q3); and one or more of the above. Claim 3 delete Claim 4 delete Claim 5 delete Claim 6 delete

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