Upper extremity exercise system and control method therefor

Abstract

The present invention relates to an upper extremity exercise system and a control method therefor. The upper extremity exercise system according to the present invention comprises: a display unit that displays a handle marker and a target on a screen, wherein the handle marker moves on the screen in accordance with the movement of a handle; a sensing unit that senses the trunk movement of a user while the user is performing an exercise that involves moving the handle and extending the user's arm until the handle marker reaches the target; and a control unit that provides feedback according to the measurement results of the user trunk movement measured on the basis of data on the sensed trunk movement of the user. According to the present invention, it is possible to prevent compensatory trunk movement by moving the coordinates of the target by as much as the trunk movement distance during an upper extremity rehabilitation exercise by quantitatively measuring / analyzing the trunk movement. In addition, the trunk movement and whether the handle has been let go are sensed and a warning is output or the operation of an upper extremity rehabilitation exercise device is stopped when the trunk movement is abnormal or the handle is let go, thus enabling safe exercise.

Description

Upper limb movement system and its control method

[0001] The present invention relates to an upper extremity movement system and a control method thereof.

[0002] Many upper extremity rehabilitation exercise devices are being developed to restore upper extremity function in patients with impaired upper extremity function due to stroke or spinal cord injury. For example, an end-effector type upper extremity rehabilitation robot has been developed that provides arm reaching training by grasping a handle attached to a multi-section link with a five-section link structure. However, chronic stroke patients using end-effector type upper extremity rehabilitation robots may experience trunk compensatory movements due to insufficient elbow extension during reaching movements. This trunk compensation can limit functional improvements in arm reaching and increase the risk of injury.

[0003] The technical problem to be solved by the present invention is to provide an upper limb exercise system and a control method thereof that can prevent the occurrence of trunk compensatory movement during rehabilitation exercise using an upper limb rehabilitation exercise device.

[0004] An upper limb exercise system according to one embodiment of the present invention for solving the above-described technical problem includes an upper limb rehabilitation exercise device that supports a user to perform upper limb rehabilitation exercise while moving a handle, a display unit that displays a handle mark and a target on a screen, wherein the handle mark moves on the screen in response to the movement of the handle, a detection unit that detects a user's trunk movement when the user moves the handle and trains to extend an arm until the handle mark touches the target, and a control unit that provides feedback according to a user's trunk movement measurement result measured based on data detecting the user's trunk movement.

[0005] The above detection unit may include one or more of an RGB camera, an infrared camera, a lidar sensor, an ultrasonic sensor, an RGB-D camera, and an inertial sensor.

[0006] The upper limb rehabilitation exercise device may include the handle and a multi-section link to which the handle is attached.

[0007] The above handle can perform planar movement in conjunction with the above multi-section link.

[0008] The above feedback may be formed by at least one of a voice output through a speaker, a video output through the display, a vibration generated from the handle or the multi-section link, and a movement of the multi-section link.

[0009] The above multi-section link may include a left multi-section link and a right multi-section link.

[0010] The above handle may include a left handle and a right handle attached to the left multi-section link and the right multi-section link, respectively.

[0011] The above target may include a left target and a right target.

[0012] The above handle indication may include a left handle indication and a right handle indication corresponding to the left handle and the right handle, respectively.

[0013] The above multi-section link may have a five-section link structure.

[0014] When operating in assist mode, the upper limb rehabilitation exercise device can provide assistive force to a user's motion of moving the handle toward the target direction.

[0015] When operating in resistance mode, the upper limb rehabilitation exercise device can provide resistance to a user's motion of moving the handle toward the target direction.

[0016] The control unit can adjust the ratio of applying the auxiliary mode and the resistance mode based on the result of measuring the user's trunk movement while the user repeats the training a predetermined number of times by applying the auxiliary mode and the resistance mode at a predetermined ratio.

[0017] If the amount of movement of the user's trunk center is less than a predetermined standard while repeating the above training a predetermined number of times, the ratio of the resistance mode can be increased.

[0018] If the amount of movement of the user's trunk center is greater than a predetermined standard while repeating the above training a predetermined number of times, the ratio of the auxiliary mode can be increased.

[0019] The control unit can move the target in response to a movement vector of the user's trunk center, or move the target in a predetermined direction by a distance corresponding to the amount of movement of the user's trunk center.

[0020] The above control unit can ignore the user trunk movement measurement result if the movement amount of the user trunk center is less than a predetermined standard.

[0021] The above control unit can measure the movement of the user's trunk using a moving average value of the position coordinates of the center of the user's trunk.

[0022] If the control unit determines that the user has let go of the handle, it can execute at least one of outputting a warning sound, outputting a warning message, and stopping the operation of the upper limb rehabilitation exercise device.

[0023] In a control method of an upper limb exercise system according to one embodiment of the present invention for solving the above-described technical problem, the method includes a step of measuring a user's trunk movement when the user moves a handle and trains to extend an arm until a handle mark displayed on a screen reaches a target, and a step of providing feedback based on the result of the user's trunk movement measurement.

[0024] According to one embodiment of the present invention for solving the above-described technical problem, a computer program stored in a computer-readable recording medium executes a control method of the upper limb movement system when executed by at least one processor.

[0025] According to the present invention, trunk movement can be quantitatively measured and analyzed during upper limb rehabilitation exercises, and target coordinates can be shifted by the distance the trunk has moved, thereby preventing compensatory trunk movement. Furthermore, trunk movement and handle release can be detected, and if abnormal trunk movement or the handle has been released, a warning can be output or the upper limb rehabilitation exercise device can be stopped, ensuring safe training.

[0026] Figure 1 is a block diagram showing the configuration of an upper limb exercise system according to one embodiment of the present invention.

[0027] FIG. 2 is a drawing showing a user training using an upper limb exercise system according to one embodiment of the present invention.

[0028] FIG. 3 is a drawing showing an example of a two-handed upper limb rehabilitation exercise device according to one embodiment of the present invention.

[0029] FIG. 4 is a drawing showing an example of a screen displayed on a sensing unit according to one embodiment of the present invention.

[0030] Figure 5 illustrates a stretching movement direction according to one embodiment of the present invention.

[0031] FIG. 6 is a drawing provided to explain an example of evaluating the amount of movement of a user's trunk center by applying a hysteresis comparator according to one embodiment of the present invention.

[0032] Figure 7 is a flowchart for explaining a control method of an upper limb rehabilitation exercise system according to one embodiment of the present invention.

[0033] Hereinafter, with reference to the attached drawings, an embodiment of the present invention will be described in detail so that a person having ordinary skill in the art to which the present invention pertains can easily carry out the present invention.

[0034] The terminology used herein is for the purpose of describing embodiments only and is not intended to limit the present invention. In this specification, the singular also includes the plural unless specifically stated otherwise. As used herein, the terms "comprises" and / or "comprising" do not exclude the presence or addition of one or more other components in addition to the mentioned components. Like reference numerals refer to like components throughout the specification, and "and / or" includes each and any combination of one or more of the mentioned components. Although "first", "second", etc. are used to describe various components, these components are not limited by these terms. These terms are only used to distinguish one component from another. Therefore, it should be understood that a first component mentioned below may also be a second component within the technical spirit of the present invention.

[0035] FIG. 1 is a block diagram showing the configuration of an upper limb exercise system according to one embodiment of the present invention, FIG. 2 is a drawing showing a user training using an upper limb exercise system according to one embodiment of the present invention, and FIG. 3 is a drawing showing an example of a two-handed upper limb rehabilitation exercise device according to one embodiment of the present invention.

[0036] An upper limb exercise system according to one embodiment of the present invention may include an upper limb rehabilitation exercise device (110), a display unit (120), a detection unit (130), a speaker (140), and a control unit (150).

[0037] The upper limb rehabilitation exercise device (110) is a device that provides upper limb rehabilitation exercise, such as extending or pulling the arm while the user holds and moves the handle (111), as illustrated in FIG. 1.

[0038] The upper limb rehabilitation exercise device (110) may include a multi-section link (113) to which a handle (111) is attached. The multi-section link (113) may allow the handle (111) to move in a plane (2 degrees of freedom) horizontally to the ground.

[0039] The upper limb rehabilitation exercise device (110) can operate in several operation modes, such as passive mode, active mode, assistive mode, and resistance mode.

[0040] The passive mode is a mode in which the upper limb rehabilitation exercise device (110) provides upper limb rehabilitation exercise to the user by forcibly moving the handle (110) along a predetermined movement path according to a proactively planned movement path. In the passive mode, the upper limb rehabilitation exercise device (110) can actively move the handle (110) along the planned movement path through a multi-section link (113). As a result, the hand holding the handle (110) moves along with it, allowing the user to passively perform upper limb rehabilitation exercise, such as extending or pulling the arm.

[0041] Active mode is a mode in which the user can perform upper limb rehabilitation exercises by actively moving his or her upper limbs. In active mode, the upper limb rehabilitation exercise device (110) operates a multi-section link (113) so that the movement of the handle (111) is subject to low inertia and low frictional resistance, allowing the user to freely move the handle (111).

[0042] The assistive mode is a mode that provides the assistive force required for the user to perform upper limb rehabilitation exercise according to the planned exercise path. In the assistive mode, the upper limb rehabilitation exercise device (110) can provide assistive force to the user's motion of moving the handle (111) in the target direction. For example, when the user holds the handle (110) and trains to extend the arm in an arbitrary X direction, the multi-section link (113) can be used to provide assistive force to move the handle (110) in the X direction, so that the user can train to extend the arm in the X direction more easily than in the active mode.

[0043] The resistance mode is a mode that provides the resistance required for the user to perform upper limb rehabilitation exercise according to the planned exercise path. In the resistance mode, the upper limb rehabilitation exercise device (110) provides resistance to the user's motion of moving the handle (111) in the target direction. For example, when the user holds the handle (110) and trains to extend the arm in an arbitrary X direction, the handle (110) can be provided with resistance in the opposite direction to the X direction through the multi-section link (113), or the multi-section link (113) can be operated stiffly so that the user can train to extend the arm in the X direction more difficultly than in the active mode.

[0044] Although not specifically illustrated in the drawing, the upper limb rehabilitation exercise device (110) may be provided with a driving means (e.g., a motor, a gear, a spring, etc.) for operating a multi-section link (113) to provide force, assistance, resistance, or low inertia and low frictional resistance to the movement of the handle (110) depending on the operating mode. Since the technical configuration for operating a multi-section link (113) to which a handle (111) is attached in a passive mode, an active mode, an assistance mode, and a resistance mode is already well known, a detailed description thereof will be omitted.

[0045] In Fig. 2, an example of an upper limb rehabilitation exercise device (110) implemented in a form in which a handle (111) is attached to a multi-section link (113) of a 5-section link structure is described, but it should be understood that the upper limb rehabilitation exercise device (110) according to the present invention is not limited thereto. The upper limb rehabilitation exercise device (110) may be implemented in any other form of device that can provide a passive mode, an active mode, an assist mode, and a resistance mode while allowing the handle (111) to move in a plane (2 degrees of freedom).

[0046] The multi-section link (113) may be implemented to provide feedback on the user's upper limb rehabilitation exercise through vibration generated from the multi-section link (113) by including a vibration motor or the like. Of course, it is also possible to implement the handle (111) to provide feedback to the user through vibration from the handle (111).

[0047] Meanwhile, the upper limb rehabilitation exercise device (110) may include a left multi-section link (113L) and a right multi-section link (113R), and the upper limb rehabilitation exercise device (110) may include a left handle (111L) and a right handle (111R) attached to the left multi-section link (113L) and the right multi-section link (113R), respectively, so as to support upper limb rehabilitation exercise using both hands, as illustrated in FIG. 3.

[0048] The motors (M1-1, M1-2, M2-1, M2-2) can drive the left multi-section link (113L) and the right multi-section link (113R) under the control of the control unit (150). Accordingly, the left multi-section link (113L) and the right multi-section link (113R) can provide an assisting force, a forcing force, or a resisting force to allow the user to move the left handle (111L) and the right handle (111R) in a predetermined direction.

[0049] The display unit (120) can be implemented as a display device such as an LCD monitor, LED monitor, or television, and can display various information and data related to the operation of the upper limb exercise system according to the present invention as images on the screen.

[0050] The display unit (120) can display a handle display (51) and a target (52) on the screen.

[0051] The handle display (51) moves on the screen in response to the movement of the handle (111). For example, if the handle (111) moves to the right on a plane horizontal to the ground, the handle display (51) moves to the right on the screen in response.

[0052] The target (52) may be displayed at a predetermined distance in a predetermined direction from the handle mark (51) for the user's upper limb rehabilitation exercise. For example, for an arm stretching motion in a right diagonal direction, the target (52) may be displayed on the screen at a predetermined distance in a right diagonal direction from the handle mark (51).

[0053] The user can train by looking at the handle mark (51) and target (52) displayed on the screen and moving the handle (111) to extend the arm until the handle mark (51) touches the target (52).

[0054] FIG. 4 is a drawing showing an example of a screen displayed on a sensing unit according to one embodiment of the present invention.

[0055] When a user trains using an upper limb rehabilitation exercise device (110) including a left handle (111L) and a right handle (111R) as illustrated in FIG. 3, the display unit (120) can display a left handle mark (51L) and a right handle mark (51R) corresponding to the left handle (111L) and the right handle (111R) on the screen, as illustrated in FIG. 4. In addition, the display unit (120) can also display a left target (52L) and a right target (52R) on the screen.

[0056] The detection unit (130) can detect the user's trunk movement when the user moves the handle (111) to train the user to align the handle mark (51) with the target (52). For example, the detection unit (130) includes an RGB camera, an infrared camera, a lidar sensor, an ultrasonic sensor, and an RGB-D camera, and can acquire data on the user's appearance while holding the handle (111) in front of the user and performing upper limb rehabilitation exercise.

[0057] Additionally, according to an embodiment, the detection unit (130) is implemented as an inertial sensor worn on the user's upper body, so that the user's trunk movement can be detected when the user performs upper limb rehabilitation exercise.

[0058] The speaker (140) can output various types of information or warnings related to the operation of the upper limb exercise system according to the present invention as voice feedback.

[0059] The control unit (150) can control the overall operation of the upper limb exercise system according to the present invention. In particular, the control unit (150) can measure the user's trunk movement based on data detected by the detection unit (130) and provide feedback based on the measured user's trunk movement measurement results.

[0060] A well-known technology is one that uses computer vision and motion analysis technology to track and analyze the positions and movements of a user's body joints and bones using skeletal data acquired from data captured by a sensor (130). Furthermore, a well-known technology is another that uses inertial sensors attached to appropriate locations on the user's body to track and analyze the positions and movements of the user's body joints and bones based on these sensors.

[0061] In an embodiment of the present invention, it is possible to measure the user's trunk movement based on the movement of the user's trunk center coordinates defined below. Specifically, the user's skeleton data can be analyzed to obtain the coordinates of the left clavicle center, the coordinates of the right clavicle center, and the coordinates of the sternum center. Then, as in Mathematical Formula 1, the user's trunk center coordinates can be defined as the average coordinates of the left clavicle center coordinates, the right clavicle center coordinates, and the coordinates of the sternum center coordinates.

[0062]

[0063] And by tracking the movement of the user's trunk center coordinates, the amount of movement of the user's trunk center (△P 사용자 체간 중심 ) can be measured.

[0064] In the space where the user trains, an XYZ coordinate system is defined with an XY plane parallel to the ground and a Z axis perpendicular to the ground, and for the screen displayed on the display unit (120), the x-axis direction is defined as a horizontal direction on the screen, and the y-axis direction is defined as a two-dimensional coordinate system with the vertical direction on the screen, and it is assumed that the user's trunk center is (X0, Y0, Z0) and the target coordinate is (x0, y0) at the start of upper limb rehabilitation exercise.

[0065] When the user's trunk center moves to (X0+△X, Y0+△Y, Z0+△Z) during upper limb rehabilitation training, the amount of movement of the user's trunk center (△P 사용자 체간 중심 ) to ((△X) 2 +(△Y) 2 +(△Z)2 ) 1 / 2 can be obtained. Then, the control unit (150) moves the target (52) from the existing position (x0, y0) to the amount of movement (△P) of the center of the user's torso in the direction of the stretching movement. 사용자 체간 중심 ) is determined in proportion to the distance (△P 타겟 ) can be moved. Here, the direction of the stretching exercise can be predetermined in the direction with the position of the handle mark (51) at the start of the upper limb rehabilitation exercise as the starting point and the position of the target (52) as the ending point. △P 사용자 체간 중심 and △P 타겟 The conversion formula between them may be predetermined.

[0066] Figure 5 illustrates a stretching movement direction according to one embodiment of the present invention.

[0067] Figures 5(a), 5(b), and 5(c) show examples in which the stretching movement direction is the left diagonal direction, the forward direction, and the right diagonal direction, respectively.

[0068] The user can perform a stretching exercise in the direction indicated by the black line in Figures 5(a), 5(b), and 5(c). The distance indicated by the black line (i.e., the distance between the target and the handle mark) can be adjusted according to the difficulty. As explained above, the amount of movement of the user's trunk center (△P 사용자 체간 중심 ) can be linked to move the target (52) in the direction in which the black line extends, thereby moving it away from the handle mark (51).

[0069] Meanwhile, according to an embodiment, it is also possible to ignore the vertical movement (△Z) of the user's trunk center, obtain the movement vector of the user's trunk center on the XY plane, and move the target (52) in response to the movement vector of the user's trunk center. In this case, if the user's trunk center moves to (X0+△X, Y0+△Y) during upper limb rehabilitation training, the control unit (150) can move the target coordinates to (x0+△x, y0+△y). The conversion formula between the movement vector (△X, △Y) of the user's trunk center and the movement vector (△x, △y) of the target may be determined in advance.

[0070] Of course, it is also possible to implement a method other than that described here to evaluate the movement of the user's torso center during training and move the target (52) accordingly.

[0071] In this way, by causing the target to move further when the center of gravity of the trunk changes due to the user's upper body movement during the stretching exercise, the user can be induced to perform the stretching exercise with minimal upper body movement.

[0072] Meanwhile, the control unit (150) can also be implemented to ignore the user's torso movement measurement result if the amount of movement of the user's torso center is less than a predetermined standard.

[0073] FIG. 6 is a drawing provided to explain an example of evaluating the amount of movement of a user's trunk center by applying a hysteresis comparator according to one embodiment of the present invention.

[0074] When measuring the user's trunk center coordinates using the camera described above, nonlinear factors may affect the measurement due to the shaking of the position coordinates. Therefore, when the amount of movement of the user's trunk center coordinates is between the upper and lower threshold values ​​based on the current position for the average shaking, the shaking problem of the position coordinates can be solved by applying a hysteresis comparator as illustrated in Fig. 6. Fig. 6 illustrates a case where the upper and lower threshold values ​​are set to ±3σ.

[0075] According to an embodiment, the control unit (150) can also measure the movement of the user's trunk using the moving average value of the position coordinates of the center of the user's trunk.

[0076] Meanwhile, the control unit (150) can operate the upper limb rehabilitation exercise device (110) in an assistive mode or a resistance mode based on the user's trunk movement measurement results.

[0077] Specifically, the control unit (150) can increase the ratio of the resistance mode if the amount of movement of the user's trunk center is less than a predetermined standard while repeating the training a predetermined number of times, and conversely, can increase the ratio of the assistance mode if the amount of movement of the user's trunk center is greater than a predetermined standard while repeating the training a predetermined number of times.

[0078] For example, 120 stretching exercises can be performed as 1 SET, and half of them (60) can be used in the assistance mode, and the remaining half (60) can be used in the resistance mode. In addition, when performing 120 stretching exercises, the trunk is well maintained, and the amount of movement of the user's trunk center (△P) can be increased. 사용자 체간 중심 ) is below the predetermined standard, the ratio of the resistance mode can be increased and applied to increase the training difficulty, and conversely, if it is difficult to maintain the trunk, the ratio of the assistance mode can be increased and applied.

[0079] Meanwhile, if the control unit (150) determines that the user has let go of the handle (111) during upper limb rehabilitation training, it may execute at least one of outputting a warning sound through the speaker (140), outputting a warning message through the display unit (120), and stopping the operation of the upper limb rehabilitation exercise device (110).

[0080] The control unit (150) can analyze the image captured of the handle (110) and the user through the detection unit (130) and determine that the user has let go of the handle (111) during upper limb rehabilitation training if the user's hand is a predetermined distance away from the handle (111). Of course, it is also possible to implement a method of determining whether the user has let go of the handle (111) during upper limb rehabilitation training by attaching a touch sensor or the like to the handle (110) that can detect whether the user has gripped the handle (110).

[0081] Figure 7 is a flowchart for explaining a control method of an upper limb rehabilitation exercise system according to one embodiment of the present invention.

[0082] Referring to FIG. 7, when the user moves the handle (111) and trains to extend the arm until the handle mark (51) displayed on the screen reaches the target (52), the control unit (150) can measure the user's trunk movement based on data detected by the detection unit (130) regarding the user's trunk movement (S710).

[0083] Next, the control unit (150) can provide feedback according to the result of the user's trunk movement measurement (S720). In step (S720), the control unit (150) can change the position of the target (52) displayed on the screen according to the result of the user's trunk movement measurement. In addition, in step (S720), the control unit (150) can adjust the training difficulty by changing the ratio of the resistance mode and the assistance mode in the next SET according to the result of the user's trunk movement measurement after completing 1 SET of upper limb rehabilitation training in which the resistance mode and the assistance mode are configured at a predetermined ratio. In addition, in step (S720), the control unit (150) can execute at least one of outputting a warning sound through the speaker (140), outputting a warning message through the display unit (120), and stopping the operation of the upper limb rehabilitation exercise device (110) if it is determined that the user has let go of the handle (111).

[0084] The embodiments described above may be implemented using hardware components, software components, and / or a combination of hardware components and software components. For example, the devices, methods, and components described in the embodiments may be implemented using one or more general-purpose computers or special-purpose computers, such as, for example, a processor, a controller, an arithmetic logic unit (ALU), a digital signal processor, a microcomputer, a field programmable gate array (FPGA), a programmable logic unit (PLU), a microprocessor, or any other device capable of executing instructions and responding to them. The processing device may execute an operating system (OS) and one or more software applications running on the operating system. The processing device may also access, store, manipulate, process, and generate data in response to the execution of the software. For ease of understanding, the processing device is sometimes described as being used alone; however, one of ordinary skill in the art will recognize that the processing device may include multiple processing elements and / or multiple types of processing elements. For example, a processing unit may include multiple processors, or a processor and a controller. Other processing configurations, such as parallel processors, are also possible.

[0085] Software may include computer programs, codes, instructions, or a combination of one or more of these, and may configure a processing device to perform a desired operation or, independently or collectively, command the processing device. The software and / or data may be permanently or temporarily embodied in any type of machine, component, physical device, virtual equipment, computer storage medium, or device for interpretation by the processing device or for providing instructions or data to the processing device. The software may also be distributed over networked computer systems and stored or executed in a distributed manner. The software and data may be stored on one or more computer-readable recording media.

[0086] The method according to the embodiment may be implemented in the form of program commands that can be executed through various computer means and recorded on a computer-readable medium. The computer-readable medium may include program commands, data files, data structures, etc., alone or in combination. The program commands recorded on the medium may be those specially designed and configured for the embodiment or may be those known and available to those skilled in the art of computer software. Examples of the computer-readable recording medium include magnetic media such as hard disks, floppy disks, and magnetic tapes, optical media such as CD-ROMs and DVDs, magneto-optical media such as floptical disks, and hardware devices specially configured to store and execute program commands, such as ROMs, RAMs, and flash memories. Examples of the program commands include not only machine language codes generated by a compiler, but also high-level language codes that can be executed by a computer using an interpreter, etc. The hardware devices described above may be configured to operate as one or more software modules to perform the operations of the embodiment, and vice versa.

[0087] Although the embodiments described above have been described with limited drawings, those skilled in the art will appreciate that various technical modifications and variations can be applied based on the above. For example, appropriate results can still be achieved even if the described techniques are performed in a different order than described, and / or components of the described systems, structures, devices, circuits, etc. are combined or combined in a different manner than described, or are replaced or substituted with other components or equivalents.

Claims

1. An upper limb rehabilitation exercise device that supports the user to perform upper limb rehabilitation exercises by moving the handle. A display unit that displays a handle indication and a target on the screen, wherein the handle indication moves on the screen in response to movement of the handle. A sensing unit that detects the user's trunk movement when the user moves the handle and trains the user to extend the arm until the handle mark reaches the target, and An upper limb exercise system including a control unit that provides feedback based on a result of measuring user trunk movement measured based on data detecting the user trunk movement.

2. In paragraph 1, The above detection unit, An upper limb movement system comprising one or more of an RGB camera, an infrared camera, a lidar sensor, an ultrasonic sensor, an RGB-D camera, and an inertial sensor.

3. In paragraph 2, The above upper limb rehabilitation exercise device, including the handle and the multi-section link to which the handle is attached; The above handle is an upper limb exercise system that performs planar movement in conjunction with the above multi-section link.

4. In paragraph 3, The above feedback is, An upper limb movement system comprising at least one of voice output through a speaker, image output through the display unit, and movement of the multi-section link.

5. In paragraph 4, The above multi-section link includes a left multi-section link and a right multi-section link, The above handle includes a left handle and a right handle attached to the left multi-section link and the right multi-section link, respectively, The above target includes a left target and a right target, The above handle display is an upper limb exercise system including a left handle display and a right handle display corresponding to the left handle and the right handle, respectively.

6. In paragraph 2, The above multi-section link is an upper limb movement system having a five-section link structure.

7. In paragraph 1, When operating in assist mode, the upper limb rehabilitation exercise device provides assistance to the user's motion of moving the handle toward the target direction, An upper limb exercise system that, when operating in resistance mode, provides resistance to a user's motion of moving the handle toward the target direction.

8. In paragraph 7, The above control unit, An upper limb exercise system that adjusts the ratio of applying the assistance mode and the resistance mode based on the results of measuring the user's trunk movement while the user repeats the training a predetermined number of times by applying the assistance mode and the resistance mode at a predetermined ratio.

9. In paragraph 8, If the movement of the user's trunk center is less than a predetermined standard while repeating the above training a predetermined number of times, the ratio of the resistance mode is increased, An upper limb exercise system that increases the ratio of the auxiliary mode when the movement amount of the user's trunk center exceeds a predetermined standard while repeating the above training a predetermined number of times.

10. In paragraph 1, An upper limb exercise system in which the control unit moves the target in response to a movement vector of the user's trunk center, or moves the target in a predetermined direction by a distance corresponding to the amount of movement of the user's trunk center.

11. In paragraph 10, The upper limb exercise system wherein the control unit ignores the user's trunk movement measurement result if the movement amount of the user's trunk center is less than a predetermined standard.

12. In paragraph 1, The above control unit is an upper limb movement system that measures the movement of the user's trunk using a moving average value of the position coordinates of the center of the user's trunk.

13. In paragraph 1, An upper limb exercise system in which the control unit, when it determines that the user has let go of the handle, executes at least one of outputting a warning sound, outputting a warning message, and stopping the operation of the upper limb rehabilitation exercise device.

14. A control method for an upper limb exercise system including an upper limb rehabilitation exercise device that supports a user to perform upper limb rehabilitation exercise by moving a handle, A step for measuring the user's trunk movement when the user trains to extend his / her arm until the handle mark displayed on the screen reaches the target by moving the handle, and A control method of an upper limb movement system, comprising a step of providing feedback based on the results of the user's trunk movement measurement.

15. In paragraph 14, When operating in assist mode, the upper limb rehabilitation exercise device provides assistance to the user's motion of moving the handle toward the target direction, A control method of an upper limb exercise system, wherein the upper limb rehabilitation exercise device, when operating in resistance mode, provides resistance to a user's motion of moving the handle toward the target direction.

16. In paragraph 15, A control method for an upper limb exercise system in which the ratio of applying the assistance mode and the resistance mode is adjusted based on the result of measuring the user's trunk movement while the user repeats the training a predetermined number of times by applying the assistance mode and the resistance mode at a predetermined ratio.

17. In paragraph 16, If the movement of the user's trunk center is less than a predetermined standard while repeating the above training a predetermined number of times, the ratio of the resistance mode increases, A control method of an upper limb exercise system that increases the ratio of the auxiliary mode when the movement amount of the user's trunk center is greater than a predetermined standard while repeating the above training a predetermined number of times.

18. In paragraph 14, A control method of an upper limb movement system that moves the target in response to a movement vector of the user's trunk center, or moves the target in a predetermined direction by a distance corresponding to the amount of movement of the user's trunk center.

19. In paragraph 18, A control method of an upper limb movement system in which the user's trunk movement measurement result is ignored if the movement amount of the user's trunk center is less than a predetermined standard.

20. In paragraph 14, A control method of an upper limb movement system in which the user's trunk movement is measured using a moving average value of the position coordinates of the center of the user's trunk.

21. In paragraph 14, A control method of an upper limb exercise system in which at least one of a warning sound output, a warning message output, and a stoppage of the operation of the upper limb rehabilitation exercise device is executed when it is determined that the user has let go of the handle.

22. In a computer program stored on a computer-readable recording medium, A computer program that, when executed by at least one processor, executes the method described in claim 14.

Images