Sensor-based upper limb exercise apparatus

Abstract

The present invention provides a sensor-based upper limb exercise apparatus which is a rehabilitation apparatus provided with: a body part having an IMU sensor and a control unit therein, and configured to have a predetermined height in the vertical direction so as to be capable of being gripped by the hands; and a conductive cloth of which one portion is disposed on the outer side of the surface of the body part so as to detect pressure applied from the outside, and the other portions are embedded inside the body part and connected to the control unit, wherein the body part comprises a first body part and a second body part stacked in the vertical direction so as to be couplable or separable. The sensor-based upper limb exercise apparatus enables a rehabilitation motion in which a twisting force is applied to the first body part and the second body part so that a relative twisting motion occurs therebetween, or a separating force is applied thereto in the vertically separating direction, thereby separating the first body part and the second body part from each other, and during the rehabilitation motion, the control unit measures the pressure of the hands gripping the body part by using the conductive cloth, and measures the size of the twisting force or the separating force acting on the first body part and the second body part.

Description

Sensor-based upper limb exercise device

[0001] The present invention relates to an exercise device used for rehabilitation exercise of the elderly or patients, and in particular, considering that in daily life there are many movements that require holding an object or handle with the hand and applying a certain amount of force, and also in many cases where a force must be applied to move the arm in a specific direction while holding it with the hand, the present invention relates to a device that enables exercise for various movements of daily life.

[0002] Recently, as we enter an aging society, the number of stroke patients is increasing, and the number of spinal cord injury patients due to traffic accidents is increasing. Also, there is a growing demand for upper limb rehabilitation devices that can be applied to patients who lack active movement of their hands or upper limbs due to various diseases such as brain damage such as stroke, traumatic brain injury, cerebral palsy, or nervous system damage due to spinal cord injury.

[0003] Conventional upper limb rehabilitation devices are structured to focus on rehabilitation of upper arm movements such as the shoulder and elbow, and rehabilitation treatment is performed by performing special movements on a work table. Examples of such conventional technologies include Patent No. 10-2096292, which was first applied for and registered by the applicant.

[0004] The upper limb exercise device according to the above-described prior art includes a base (B), a frame (10) having one side fixed to the base but having a variable tilting angle, a table (20) mounted on the frame and having a target pointer displayed thereon, and a movable part (30, 40) in the shape of a 5-bar link, the movable part comprising a first link (30) and a second link (40) positioned above or below the table and capable of being driven. In addition, the present invention includes a handle (50) that a user (patient) holds with his / her hand to exercise the upper limb, and a serial elastic actuator (60) that provides auxiliary movement by assisting the user's force on the handle, wherein the first link (30) is in the form of a first-first member (31) and a first-second member (33) being connected. The first-first member is rotatably attached at one end to the frame and is driven by rotation, and the first-second member is rotatably attached at one end to the other end of the first-first member by a first connecting member (35), and a handle (50) that a user holds is attached to the other end. In addition, the second link (40) is formed by connecting the second-first member (41) and the second-second member (43), and the second-first member (41) is rotatably attached at one end to the frame and is driven by rotation, and the second-second member (43) is rotatably attached at one end to the other end of the second-first member, and a handle (50) that a patient holds and the other end of the first-second member are attached to the other end. In addition, a serial elastic actuator (60) that provides a rotational force to one end of the first-first member (31) and one end of the second-first member (41), respectively, is disclosed.

[0005] However, these conventional upper limb exercise devices had a limitation in that they could not support three-dimensional movement of the upper limb because the handle only moved in a two-dimensional plane. That is, the conventional technology applied movement only using two-dimensional force data from a sensor attached under the handle on the two-dimensional plane on which the upper limb exercise robot moved. Therefore, although the two-dimensional force data could be used to apply assistive or resistive force to the movement of the handle, it was difficult to train daily life activities related to various movements of both hands and both arms.

[0006] Looking at the movements that frequently occur using hands and arms in daily life, there are many different movements that occur in daily life using hands and arms, such as the movement of holding the handle of a closet and opening it, the movement of reaching forward to pick up an object, the movement of balancing a tray with both hands and lifting it, the movement of turning and opening a bottle cap, the movement of opening a drawer and taking out an object, the movement of holding a steak with one hand and holding a knife with the other hand and cutting the steak, etc. Most of these movements are movements in which the hands and arms apply force in many different directions in three-dimensional space.

[0007] In conventional technology, there were limitations in effectively performing rehabilitation exercises for various movements that occur very frequently in daily life.

[0008] The purpose of the present invention is to provide a device that can be easily used by a chronic stroke patient in a hospital or at home, and that can train hand grip strength and at the same time exercise various movements necessary for daily life using one hand or both arms.

[0009] The present invention provides a sensor-based upper limb exercise device, comprising: a body part having an IMU sensor and a control unit therein, formed at a predetermined height in the vertical direction so as to be gripped by a hand; a conductive fabric, a portion of which is disposed on the outside of the surface of the body part to detect pressure applied from the outside, and another portion of which is embedded in the inside of the body part and connected to the control unit; and a first body part and a second body part, which are respectively stacked in the vertical direction and can be connected or separated, wherein a reactivation operation of applying a twisting force to cause a relative twisting motion between the first body part and the second body part or applying a separation force in a direction in which they are separated in the vertical direction is possible, and during the reactivation operation, the control unit measures the pressure of the hand gripping the body part using the conductive fabric, and also measures the magnitude of the twisting force or separation force acting on the first body part and the second body part.

[0010] The first body part and the second body part constituting the above body part have corresponding screw threads formed at the top and bottom so that they can be joined and separated in the vertical direction, and each of the first body part (110) and the second body part (120) has a magnet (M) and a magnetic encoder (MC) arranged laterally therein, so that the relative rotation amount of the first body part (110) and the second body part (120) that rotate while overcoming the frictional force of the screw thread can be detected, and the frictional force of the screw thread can be adjusted to a predetermined size.

[0011] A magnet is provided inside one of the first body part and the second body part constituting the above body part, and a metal that exerts an attractive force on the magnet is provided inside the other of the first body part and the second body part, so that the first body part and the second body part can be stacked in the vertical direction to combine or separate, and the attractive force acting between the magnet and the metal can be adjusted to add a resistance necessary for the attractive force.

[0012] The above magnet is made of an electromagnet, and the resistance can be controlled by controlling the current applied to the electromagnet by the control unit.

[0013] The second body part further includes a table having a fixing groove formed therein in which the lower end of the second body part is received and fixed, and the second body part is fixed by having its lower end buried in the fixing groove, but the cross-section of the second body part is formed in a square shape so that rotation is impossible while fixed to the fixing groove, thereby enabling a re-activation operation of separating the first body part by holding it with one hand and applying a rotational force.

[0014] In addition, the present invention, as a second embodiment, comprises a body part having an IMU sensor and a control part therein, and formed at a predetermined height in the vertical direction so as to be gripped by hand; a conductive cloth, a part of which is disposed on the outside of the surface of the body part to detect pressure applied from the outside, and another part of which is embedded in the inside of the body part and connected to the control part; and the body part includes a first body part and a second body part that are divided in the horizontal direction, and the first body part and the second body part have magnets therein so as to be horizontally coupled or detachable, and the first body part and the second body part can be configured to be reusable by applying a separation force applied horizontally to the first body part and the second body part to separate them from each other.

[0015] During the reactivation, the control unit can measure the pressure with which the hand grips the body part using a conductive cloth, and also measure the size of the lateral separation force acting on the first body part and the second body part.

[0016] The first body part is formed in a shape in which the width decreases from the bottom to the top, and the second body part is formed in a shape in which the width increases from the bottom to the top, so that the first body part and the second body part have different centers of gravity, thereby enabling rehabilitation training of movements requiring uneven force.

[0017] In addition, the present invention, as a third embodiment, comprises a body part having an IMU sensor and a control part therein, and formed at a certain height in the vertical direction so as to be gripped by hand; a conductive cloth, a part of which is disposed on the outside of the surface of the body part to detect pressure applied from the outside, and another part of which is embedded in the inside of the body part and connected to the control part; and a wire having one end attached to the body part and a spring to which the other end of the wire is attached, wherein the body part is gripped by hand and a reactivation operation of pulling it laterally is possible, and during the reactivation operation, the control part may be configured to measure the pressure applied by the hand to grip the body part using the conductive cloth, and also measure the magnitude of the force pulling it laterally.

[0018] The above body part includes a first body part and a second body part that are divided in the transverse direction, and the wire and the spring can be arranged between the first body part and the second body part.

[0019] The table further includes a rail groove formed so that the lower part of the body part can be movably accommodated, and the lower parts of the first body part and the second body part can be re-activated by applying force in a direction away from each other while the lower parts are embedded in the rail groove.

[0020] The above rail home is formed in a curved shape on the table top, so that the hand holding the body part during the re-activation operation can also apply force in the XY direction on the table.

[0021] In addition, the present invention includes a body part having an IMU sensor and a control unit therein, and formed at a certain height in the vertical direction so as to be gripped by a hand; a conductive cloth, a part of which is disposed on the outside of the surface of the body part to detect pressure applied from the outside, and another part of which is embedded in the inside of the body part and connected to the control unit; wires and springs arranged and connected in a plurality of directions at the lower end of the body part; and a reactivation operation of gripping the body part by a hand and applying force in the XY direction on a plane by overcoming the elasticity of the spring or applying force in the Z direction perpendicular to the plane is performed, and during the reactivation operation, the control unit can be configured to measure the pressure applied by the hand gripping the body part using the conductive cloth, and also measure the force in the XY direction and the Z direction.

[0022] Here, the body part and the wire and spring are placed on a touch-type display, a target pointer is displayed on the touch-type display, and the user can perform a reactivation operation by moving the body part toward the target point.

[0023] The present invention is a device that can be utilized by a chronic stroke patient, and can train various movements necessary for daily life using one or both hands, and can move not only on a plane but also in three dimensions including up and down movements, and requires movement of one or both hands simultaneously, and can effectively train various movements necessary for daily life, such as grabbing (holding) a handle, pressing down, or pulling up, based on a movement of holding with a certain amount of force using the hands.

[0024] Figures 1 to 7 are sensor-based upper limb exercise devices according to a first embodiment of the present invention.

[0025] Figure 8 is an upper limb exercise device according to a second embodiment of the present invention.

[0026] Figures 9 to 14 are upper limb exercise devices according to a third embodiment of the present invention.

[0027] The purpose, specific advantages, and novel features of the present invention will become more apparent from the following detailed description and preferred embodiments, which are illustrated in the accompanying drawings. Furthermore, the terms used are defined based on the functions of the present invention and may vary depending on the user's intentions or practices. Therefore, the definitions of these terms should be based on the overall content of this specification.

[0028] The present invention enables chronic stroke patients to easily use it at home and perform various bilateral coordination-related exercises or games frequently used in daily life, and enables training such as grasping, pushing, twisting, and lowering objects. In other words, it allows for practice of frequently performed daily tasks such as using both hands to turn and open a water bottle cap or to open and close a clothing zipper. In the case of a water bottle, training is performed by holding the body of the bottle with one hand and the cap with the other, and then turning the cap to open and close it. When wearing zippered clothing in daily life, many movements of moving the zipper are required, and to do this, one part is held with one hand and the other is used to move the zipper to close or open it.

[0029] That is, the present invention enables rehabilitation exercise of holding a specific part with the hand and rotating, pulling, or pushing, and in this case, it is performed in two stages. First, in the first stage, grip strength (grasping strength) is required to hold a specific part with the hand by applying a certain force, and, in the second stage, a pulling, pushing, or rotating force must be applied while holding it. The present invention provides a device that can simultaneously measure the force in these two stages and also perform rehabilitation, and is characterized by having a configuration that can adjust (control) the force required in the first and second stages in consideration of the patient's condition.

[0030] A sensor-based upper limb exercise device (hereinafter referred to as “upper limb exercise device”) according to a first embodiment of the present invention will be described with reference to FIGS. 1 to 4.

[0031] The upper limb exercise device according to the present invention is capable of performing various movements such as pulling, pushing, or turning while holding it with a hand and applying a certain gripping force, and has a body (100) of a predetermined height and having a cylindrical or polygonal shape, and an IMU sensor, a control unit, a battery, etc. are provided inside the body, and other LEDs, MCUs, and necessary software, etc. are provided. In addition, the upper limb exercise device is provided with a conductive cloth (200) to measure the user's gripping force, and the conductive cloth can detect pressure applied from the outside and is arranged to be connected to the control unit inside the exercise device. The upper limb exercise device (100) has a slot (105) having a certain width on the surface, so that a part of the conductive cloth (200) is arranged on the outside and the other part is arranged on the inside.

[0032] Referring to Fig. 2, a portion (210) of the conductive fabric is arranged on the outer surface of the body part to detect pressure applied from the outside, and another portion (220) is embedded in the interior of the body part and connected to the control unit. It is possible to detect the force (grinding force) applied by the user to the body part by the conductive fabric.

[0033] Referring to FIG. 3, the body part (100) of the upper limb exercise device of the present invention may be composed of a plurality of members that are respectively stacked in the vertical direction and coupled or detachable. That is, the body part may be composed of a first body part (110), a second body part (120), a third body part (130), a fourth body part (140), and an Nth body part. In the drawing, for convenience, a case in which the body part is composed of the first to fourth body parts is illustrated. In the following description, a case in which the body part is composed of the first body part (110) and the second body part (120), which are some of them, will be described as an example.

[0034] In daily life, in actions such as opening a bottle cap, there are cases where a twisting force (turning force) is required and cases where an up-down separation movement is required. Therefore, considering this, the present invention can perform a re-activation operation of applying a twisting force so that a relative twisting movement occurs between the first body part and the second body part, and also can perform a re-activation operation of applying a separation force in a direction where the first body part and the second body part are separated from each other in the up-down direction.

[0035] In the present invention, in the first stage of the re-activity operation, the control unit measures the pressure with which the hand grips the body part using a conductive cloth, and in the second stage of the operation, the size of the turning force (twisting force) or separation force acting on the first body part and the second body part is measured. In addition, the size of the pressure or force measured in the first and second stages is configured to be appropriately adjusted, thereby providing a user-customized exercise device for performing the re-activity operation.

[0036] In order to couple the first body part (110) and the second body part (120) to each other while applying a force in the second stage in the exercise device of the present invention, corresponding screw threads (115, 125) are formed on the upper and lower ends of each of the first body part (110) and the second body part (120) so that they can be coupled and separated in the vertical direction. In addition, the first body part (110) and the second body part (120) each have a magnet (M) and a magnetic encoder (MC) arranged laterally therein, so that the relative rotation amount of the first body part (110) and the second body part (120) that rotate while overcoming the frictional force of the screw threads can be detected, and it is preferable that the frictional force of the screw threads be adjustable to a predetermined size.

[0037] A magnet is provided inside one of the first body part and the second body part, and a metal that exerts an attractive force on the magnet is provided inside the other of the first body part and the second body part, so that the first body part and the second body part can be stacked in the vertical direction to enable a reusable operation of joining or separating them.

[0038] In addition, the necessary resistance to be applied in the process of rotating and separating the first body part and the second body part can be adjusted by controlling the attractive force between the magnets arranged in the first body part (110) and the second body part (120) (Fig. 4) or the attractive force acting between the magnets arranged in the first body part (110) and the second body part (120) and the metal (Fig. 5). At this time, the magnet is formed of an electromagnet, and the size of the resistance can be adjusted by controlling the current applied to the electromagnet by the control unit. Through this control, a necessary degree of resistance (frictional force between screw threads) can be added to the user, so that customized rehabilitation can be achieved. In Fig. 5, unexplained reference numeral 118 represents a plurality of magnets, and 122 represents metal.

[0039] The body part (100) in FIGS. 1 to 5 has a cylindrical shape with a circular cross-section, but may also have a polygonal cross-section, as illustrated in FIG. 6. In this polygonal shape, it is convenient to fix the body part to the table on which rehabilitation work is performed. That is, as illustrated in FIG. 7, when rehabilitation exercise is performed on a specific table (T), a fixing groove (T-1) for fixing the body part is formed on the upper surface of the table (T), and the lower end of the second body part is received in the fixing groove and fixed so that relative rotation is impossible. The cross-section of the fixing groove follows the cross-section of the body part. The polygonal body part is expressed as 100-1 for convenience. The lower end of the body part (100-1) is embedded in the fixing groove (T-1) and fixed so that rotation is impossible in the fixed state, so that a reactivation work of gripping the upper end of the body part with one hand and applying a rotational force to separate it is possible.

[0040] Figure 8 is an upper limb exercise device according to a second embodiment of the present invention.

[0041] The upper limb exercise device illustrated in (a) to (c) of FIG. 8 also has an IMU sensor and a control unit inside, a body part formed at a certain height in the vertical direction so that it can be gripped by hand, and a conductive cloth that is disposed on the outer surface of the body part to detect pressure applied from the outside and another part is embedded in the body part and connected to the control unit, etc., as described in the first embodiment.

[0042] In this embodiment, the difference is that the parts forming the body portion are separated laterally. That is, the body portion includes a plurality of body portions (a first body portion and a second body portion) that are separated laterally, and the first body portion and the second body portion have magnets inside so that they can be joined or separated laterally, and can be configured so that a re-activation operation is possible by applying a separation force laterally to the first body portion and the second body portion to separate them from each other.

[0043] And, during the reactivation operation by applying a transverse separation force, the control unit can measure the pressure with which the hand grips the body part using a conductive cloth, and also measure the size of the transverse separation force acting on the first body part and the second body part.

[0044] The body part according to the present embodiment may be formed of two left and right members that are symmetrical to each other ((a) of FIG. 8), may be formed of two members that are divided into upper and lower parts ((b) of FIG. 8), or may be formed of two to three members that have inclined division surfaces that are not symmetrical to each other ((c) of FIG. 8).

[0045] As shown in (c) of Fig. 8, among the transversely separated members, the first body part is formed in a shape in which the width decreases from the bottom to the top, and the second body part is formed in a shape in which the width increases from the bottom to the top, so that the first body part and the second body part have different centers of gravity, thereby enabling rehabilitation training of movements requiring non-uniform force.

[0046] Figures 9 to 14 are upper limb exercise devices according to the third embodiment of the present invention.

[0047] The upper limb exercise device of the third embodiment of the present invention also has an IMU sensor and a control unit inside, a body part formed at a certain height in the vertical direction so as to be gripped by hand, and a conductive cloth, etc., which is disposed on the outer surface of the body part to detect pressure applied from the outside and another part is embedded in the inside of the body part and connected to the control unit, as described in the first embodiment.

[0048] In this embodiment, as shown in Fig. 9, a wire (W) is attached to the body (100) of the upper limb exercise device, and a spring (S) is provided at the other end of the wire. In addition, the spring is fixed on a table (T). In this state, a reactivation operation utilizing the elasticity of the spring is possible through an operation of gripping the body with a hand and applying a force pulling in a transverse direction. During the reactivation operation, the control unit may be configured to measure the pressure with which the hand grips the body using a conductive cloth, and also measure the magnitude of the force pulling in a transverse direction.

[0049] And, as shown in Fig. 10, the body part may be composed of a first body part and a second body part that are divided in the transverse direction, and the wire and spring may be arranged between the first body part and the second body part. In this case, a re-activation operation is possible by holding the two first body parts and the second body parts with both hands and pulling them away from each other.

[0050] In Fig. 11, a straight rail groove (R) is formed on the table, and the lower end of the upper limb exercise device body (100) can be arranged to enable linear movement along the rail groove while being accommodated in the rail groove (R). In addition, a wire (W) and a spring (S) are arranged between the first body part and the second body part to apply elastic force. Through this, a re-activity operation of applying force in a direction away from each other while the lower end is embedded in the rail groove is possible. The wire (W) and the spring (S) may be arranged between the first body part and the second body part, but may also be arranged on the outer sides of the first body part and the second body part, respectively.

[0051] Fig. 12 shows that the rail home (R) is formed in a curved shape on the table top surface, so that the hand holding the body part during re-activation applies force in the XY direction on the table.

[0052] The form illustrated in Fig. 13 is a form in which wires and springs arranged in various directions are connected to the lower part of the body part (100) that is vertically arranged on the table to apply elastic force, and in this state, the user can hold the body part with his hand and apply force in the XY direction on the table plane to cause a reactivation operation, and in addition, by applying force in the Z direction perpendicular to the table plane, a reactivation operation to move the body part upward can be caused.

[0053] What is shown in Fig. 14 is the structure shown in Fig. 13, but instead of on a table, it is implemented on a touch-type display (D). By configuring it as a touch-type display, it can be utilized in various ways. That is, the display displays a target pointer that the user follows with the body part (100), and the user exercises the upper limbs by moving the body part toward the target pointer. The target pointer can be provided randomly, or the target pointer can be displayed at a location that provides a good exercise effect by considering the position of the handle.

[0054] Although the preferred embodiments of the present invention have been described in detail above, the scope of the present invention is not limited thereto, and various modifications and improvements made by those skilled in the art using the basic concept of the present invention defined in the following claims also fall within the scope of the present invention.

Claims

1. A body part having an IMU sensor and a control unit inside, and formed at a certain height in the vertical direction so that it can be held by hand; Some are disposed on the outside of the surface of the body part to detect pressure applied from the outside, and others are embedded in the inside of the body part to have a conductive cloth connected to the control unit; The above body part includes a first body part and a second body part that are stacked in the vertical direction and can be combined or separated, It is possible to perform a reactivation operation to separate the first body part and the second body part from each other by applying a torsional force to cause a relative torsional movement between the first body part and the second body part or by applying a separating force in a direction that separates them in the vertical direction. A sensor-based upper limb exercise device characterized in that, during a re-activity operation, the control unit measures the pressure with which the hand grips the body part using a conductive cloth, and also measures the magnitude of a twisting force or separation force acting on the first body part and the second body part.

2. In paragraph 1, The first body part and the second body part constituting the above body part have corresponding screw threads formed at the top and bottom, so that they can be joined and separated in the vertical direction. Each of the first body part (110) and the second body part (120) above has a magnet (M) and a magnetic encoder (MC) positioned transversely therein, A sensor-based upper limb exercise device capable of detecting the relative rotation amount of the first body part (110) and the second body part (120) that rotate while overcoming the frictional force of the screw thread, and characterized in that the frictional force of the screw thread can be adjusted to a predetermined size.

3. In paragraph 1, A magnet is provided inside one of the first body part and the second body part constituting the above body part, and a metal that exerts an attractive force on the magnet is provided inside the other of the first body part and the second body part, A sensor-based upper limb exercise device characterized in that the first body part and the second body part can be stacked vertically to be combined or separated for reactivation, and the attractive force acting between the magnet and the metal can be adjusted to add the amount of resistance necessary for reactivation.

4. In paragraph 1, A sensor-based upper limb exercise device characterized in that the magnet is formed of an electromagnet and the resistance is controlled by controlling the current added to the electromagnet by the control unit.

5. In paragraph 1, Further comprising a table having a fixing groove formed to accommodate and fix the lower portion of the second body portion; A sensor-based upper limb exercise device characterized in that the second body part is fixed by having its lower end buried in the fixing groove, and the cross-section of the second body part is formed in a square shape so that it cannot rotate while fixed to the fixing groove, thereby enabling a reactivation operation of separating the first body part by holding it with one hand and applying a rotational force.

6. A body part having an IMU sensor and a control unit inside, and formed at a certain height in the vertical direction so that it can be held by hand; Some are disposed on the outside of the surface of the body part to detect pressure applied from the outside, and others are embedded in the inside of the body part to have a conductive cloth connected to the control unit; The above body part includes a first body part and a second body part that are divided transversely, and the first body part and the second body part have magnets inside so that they can be combined or separated transversely. It is possible to perform a re-activation operation by applying a separation force in the transverse direction to the first body part and the second body part to separate them from each other. A sensor-based upper limb exercise device characterized in that, during a re-activity operation, the control unit measures the pressure with which the hand grips the body part using a conductive cloth, and also measures the size of the lateral separation force acting on the first body part and the second body part.

7. In paragraph 6, A sensor-based upper limb exercise device characterized in that the first body part has a shape in which the width decreases from the bottom to the top, and the second body part has a shape in which the width increases from the bottom to the top, so that the first body part and the second body part have different centers of gravity, thereby enabling rehabilitation training of movements requiring non-uniform force.

8. A body part having an IMU sensor and a control unit inside, and formed at a certain height in the vertical direction so that it can be held by hand; Some of the conductive fabrics are arranged on the outside of the surface of the body to detect pressure applied from the outside, and others are embedded in the inside of the body to connect to the control unit; and It includes a wire having one end attached to the body part and a spring to which the other end of the wire is attached, A sensor-based upper limb exercise device capable of performing a reactivation operation of holding the body part with a hand and pulling it laterally, wherein the control unit measures the pressure with which the hand holds the body part using a conductive cloth during the reactivation operation and also measures the magnitude of the force pulling it laterally.

9. In paragraph 8, The above body part includes a first body part and a second body part that are divided in the transverse direction, A sensor-based upper limb exercise device characterized in that the above wire and spring are arranged between the first body part and the second body part.

10. In paragraph 9, The lower part of the above body part further includes a table having a rail home formed therein to be movably accommodated, A sensor-based upper limb exercise device characterized in that the lower ends of the first body part and the second body part are capable of reactivating by applying force in a direction away from each other while the lower ends are embedded in the rail home.

11. In paragraph 10, A sensor-based upper limb exercise device characterized in that the rail home is formed in a curved shape on the table top surface, and the hand holding the body part during re-activity applies force in the XY direction on the table.

12. A body part having an IMU sensor and a control unit inside, and formed at a certain height in the vertical direction so that it can be held by hand; Some of the conductive fabrics are arranged on the outside of the surface of the body to detect pressure applied from the outside, and others are embedded in the inside of the body to connect to the control unit; It includes wires and springs arranged in multiple directions connected at the bottom of the above body part; The above body part is grasped by hand, and the elastic force of the spring is overcome to apply force in the XY direction on the plane or in the Z direction perpendicular to the plane. A sensor-based upper limb exercise device characterized in that, during re-activity, the control unit measures the pressure with which the hand grips the body using a conductive cloth, and also measures the force in the XY and Z directions.

13. In paragraph 12, A sensor-based upper limb exercise device characterized in that the body part and the wire and spring are arranged on a touch-type display, a target pointer is displayed on the touch-type display, and a user can move the body part toward the target point.

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