Apparatus and method for lower-limb rehabilitation training using weight load and joint angle as variables

• US 20060217233A1
• Filed: 03/23/2006
• Published: 09/28/2006
• Est. Priority Date: 03/24/2005
• Status: Active Grant

• Current Assignee: Kyungpook National University Industry-Academic Cooperation Foundation
• Original Assignee: Kyungpook National University
• Inventors: Lee, Yang-Soo
• Granted Patent: US 8,075,449 B2
• Time in Patent Office: Days
• US Class Current: 482/9
• CPC Class Codes: A61B 5/1071 measuring angles, e.g. using goniometers A61B5/1123 takes precedence
• CPC Class Codes: A61B 5/1116 Determining posture transitions
• CPC Class Codes: A61B 5/4519 Muscles A61B5/389, A61B5/224 take precedence
• CPC Class Codes: A61B 5/4528 Joints A61B5/4533, A61B5/4538 take precedence
• CPC Class Codes: A61B 5/6823 Trunk, e.g., chest, back, abdomen, hip
• CPC Class Codes: A61B 5/6828 Leg
• CPC Class Codes: A63B 21/00047 Exercising devices not moving during use benches A63B21/4029; isometric exercising devices A63B21/0023; step exercisers A63B23/0458; walk exercisers A63B23/0464
• CPC Class Codes: A63B 2208/0204 Standing on the feet
• CPC Class Codes: A63B 2220/16 Angular positions
• CPC Class Codes: A63B 2220/51 Force
• CPC Class Codes: A63B 2230/62 posture
• CPC Class Codes: A63B 23/04 for lower limbs training appliances for special sports A63B69/00; for the purpose of producing mechanical power F03G5/00
• CPC Class Codes: A63B 26/003 for improving balance or equilibrium balance beams A63B4/00; apparatus for rope dancing A63B7/08; balancing drums, balancing boards or the like A63B22/16

Abstract

The present invention relates to an apparatus and method for lower-limb rehabilitation training of a patient with lower limb paralysis. The invention measures the usage of the paralyzed lower limb, and based upon the measurement, forces patients with lower limb paralysis to use partially paralyzed muscles which they are not likely to use. The apparatus can measure the weight load and the angle of the joint, and by using the measure values as variables, display the condition of paralysis to the patient so that he/she can recognize his/her present condition of paralysis, and enable the user to training through feedback. The joint includes all of knee joint, ankle joint and hip joint of the lower limb, and the movement of important muscles of the lower limb can be detected. With the apparatus attached, the patient can perform a balance training of alternatively raising the paralyzed lower limb and the normal limb, a standing training of bending and straightening both knees of the lower limbs and a walking training of using the both lower limbs.

Claims

1. An apparatus for lower-limb rehabilitation training which uses weight load and joint angle, comprising:

a weight-measuring part placed to contact a bottom of a lower limb, the weight-measuring part measuring weight loaded on the lower limb to generate weight data;

a joint angle-measuring part for measuring the angle of a joint of the lower limb to generate joint angle data;

a controller for generating result data from the weight data measured by the weight-measuring part, the joint angle data measured by the joint angle-measuring part and weight data and joint angle data of reference data; and

a display part for displaying the result data generated by the controller to a user.

2. The apparatus for lower-limb rehabilitation training according to claim 1, wherein the joint angle-measuring part includes at least one selected from a group consisting of a knee joint angle-measuring part for measuring the angle of a knee joint to detect whether or not the user moves by using thigh muscles, an ankle joint angle-measuring part for measuring the angle of an ankle joint to detect whether or not the user moves by using calf muscles and a hip joint angle-measuring part for measuring the angle of a hip joint to detect the degree of force for raising the leg.

3. The apparatus for lower-limb rehabilitation training according to claim 2, wherein the joint angle-measuring part includes all of the knee joint angle-measuring part, the ankle joint angle-measuring part and the hip joint angle-measuring part in order to synthetically measure whether or not the lower limb is moved by using major muscles of the lower limb including the thigh muscles and the calf muscles and whether or not there is force for raising the lower limb.

4. The apparatus for lower-limb rehabilitation training according to claim 1, wherein the controller is adapted to generate time data of measurement data from a time period counted until the weight data measured by the weight-measuring part becomes substantially the same and time comparison data from the difference between the time data of the measurement data and reference time data.

5. The apparatus for lower-limb rehabilitation training according to claim 1, wherein the controller is adapted to generate measurement data including the weight data generated by the weight-measuring part and joint angle data generated by the joint angle-measuring part simultaneously with the weight data, to generate weight comparison data and joint angle comparison data through the measurement data and the reference data each including the weight data and the joint angle data, and to generate condition data through the weight comparison data and the joint angle comparison data.

6. The apparatus for lower-limb rehabilitation training according to claim 5, wherein the joint angle comparison data includes at least one of selected from a group consisting of knee joint angle comparison data, ankle joint angle comparison data and hip joint angle comparison data, wherein the knee joint angle comparison data is generated through knee joint angle data of the measurement data generated by a knee joint angle-measuring part and knee joint angle data of the reference data, wherein the ankle joint comparison data is generated through ankle joint angle data of the measurement data generated by the ankle joint angle-measuring part and ankle joint angle data of the reference data, and wherein the hip joint angle comparison data is generated through hip joint angle data of the measurement data generated by the hip joint angle-measuring part and hip joint angle data of the reference data.

7. The apparatus for lower-limb rehabilitation training according to claim 4, wherein the result data includes at least one selected from a group consisting of time data, weight data and joint angle data of the measurement data;

time data, weight data and joint angle data of the reference data; and

time comparison data, weight comparison data, joint angle comparison data and condition data.

8. The apparatus for lower-limb rehabilitation training according to claim 5, wherein the result data includes at least one selected from a group consisting of time data, weight data and joint angle data of the measurement data;

time data, weight data and joint angle data of the reference data; and

time comparison data, weight comparison data, joint angle comparison data and condition data.

9. The apparatus for lower-limb rehabilitation training according to claim 6, wherein the result data includes at least one selected from a group consisting of time data, weight data and joint angle data of the measurement data;

time data, weight data and joint angle data of the reference data; and

time comparison data, weight comparison data, joint angle comparison data and condition data.

10. The apparatus for lower-limb rehabilitation training according to claim 4, wherein the reference data is generated by measuring a normal one of both lower limbs or previously storing normal person'"'"'s data.

11. The apparatus for lower-limb rehabilitation training according to claim 5, wherein the reference data is generated by measuring a normal one of both lower limbs or previously storing normal person'"'"'s data.

12. The apparatus for lower-limb rehabilitation training according to claim 6, wherein the reference data is generated by measuring a normal one of both lower limbs or previously storing normal person'"'"'s data.

13. The apparatus for lower-limb rehabilitation training according to claim 4, wherein the controller is adapted to generate a game by using the result data as parameters in order to get the user interested in training, wherein the game is operated so that the object of the game is accomplished when weight comparison data is within an error range and joint angle comparison data is within an error range.

14. The apparatus for lower-limb rehabilitation training according to claim 5, wherein the controller is adapted to generate a game by using the result data as parameters in order to get the user interested in training, wherein the game is operated so that the object of the game is accomplished when weight comparison data is within an error range and joint angle comparison data is within an error range.

15. The apparatus for lower-limb rehabilitation training according to claim 6, wherein the controller is adapted to generate a game by using the result data as parameters in order to get the user interested in training, wherein the game is operated so that the object of the game is accomplished when weight comparison data is within an error range and joint angle comparison data is within an error range.

16. The apparatus for lower-limb rehabilitation training according to claim 4, wherein the display part is adapted to display at least one selected from a group consisting of a weight data graph of the measurement and reference data generated in real-time with time on one axis and the weight data on the other axis, a knee joint angle data graph of the measurement and reference data generated in real-time with time on one axis and knee joint angle data on the other axis, an ankle joint angle data graph of the measurement and reference data generated in real-time with time on one axis and ankle joint angle data on the other axis, a hip joint angle data graph of the measurement and reference data generated in real-time with time on one axis and hip joint angle data on the other axis, and a condition data graph with time one axis and condition data on the other axis, the condition data generated in real-time through weight comparison data and joint angle comparison data in order to assist the user to easily recognize conditions.

17. The apparatus for lower-limb rehabilitation training according to claim 5, wherein the display part is adapted to display at least one selected from a group consisting of a weight data graph of the measurement and reference data generated in real-time with time on one axis and the weight data on the other axis, a knee joint angle data graph of the measurement and reference data generated in real-time with time on one axis and knee joint angle data on the other axis, an ankle joint angle data graph of the measurement and reference data generated in real-time with time on one axis and ankle joint angle data on the other axis, a hip joint angle data graph of the measurement and reference data generated in real-time with time on one axis and hip joint angle data on the other axis, and a condition data graph with time one axis and condition data on the other axis, the condition data generated in real-time through weight comparison data and joint angle comparison data in order to assist the user to easily recognize conditions.

18. The apparatus for lower-limb rehabilitation training according to claim 6, wherein the display part is adapted to display at least one selected from a group consisting of a weight data graph of the measurement and reference data generated in real-time with time on one axis and the weight data on the other axis, a knee joint angle data graph of the measurement and reference data generated in real-time with time on one axis and knee joint angle data on the other axis, an ankle joint angle data graph of the measurement and reference data generated in real-time with time on one axis and ankle joint angle data on the other axis, a hip joint angle data graph of the measurement and reference data generated in real-time with time on one axis and hip joint angle data on the other axis, and a condition data graph with time one axis and condition data on the other axis, the condition data generated in real-time through weight comparison data and joint angle comparison data in order to assist the user to easily recognize conditions.

19. The apparatus for lower-limb rehabilitation training according to claim 4, wherein the display part is adapted to display at least one selected from a group consisting of weight comparison data, angle comparison data, condition data and time comparison data with numbers or characters in order to assist the user to easily recognize conditions.

20. The apparatus for lower-limb rehabilitation training according to claim 5, wherein the display part is adapted to display at least one selected from a group consisting of weight comparison data, angle comparison data, condition data and time comparison data with numbers or characters in order to assist the user to easily recognize conditions.

21. The apparatus for lower-limb rehabilitation training according to claim 6, wherein the display part is adapted to display at least one selected from a group consisting of weight comparison data, angle comparison data, condition data and time comparison data with numbers or characters in order to assist the user to easily recognize conditions.

22. The apparatus for lower-limb rehabilitation training according to claim 1, wherein the weight-measuring part comprises a force plate including at least one pressure sensor positioned in contact with disposed at a position contacting a bottom of the lower limb in order to measure weight loaded on the lower limb based upon variation in the pressure sensor.

23. The apparatus for lower-limb rehabilitation training according to claim 1, wherein the weight-measuring part comprises at least one balance including a spring placed to directly or indirectly contact a bottom of the lower limb to be deformed under the weight loaded on the lower limb in order to measure the weight loaded on the lower limb based upon the deformation of the spring.

24. The apparatus for lower-limb rehabilitation training according to claim 2, wherein the joint angle-measuring part comprises an electric goniometer including a flexible bar capable of bending along with a joint and an attachment support connected to upper and lower regions of the joint and to the flexible bar for fixing the flexible bar aside the joint, the goniometer capable of measuring the angle of the joint based upon the degree of bending of the flexible bar.

25. The apparatus for lower-limb rehabilitation training according to claim 2, wherein the joint angle-measuring part comprises a variable resistance goniometer including a variable resistor capable of varying resistance value in response to variation in the angle of the joint, the variable resistor having a resistance adjusting part positioned to move along with the joint, and an attachment support attached to upper and lower regions of the joint to fix the variable resistor.

26. The apparatus for lower-limb rehabilitation training according to claim 2, wherein the joint angle-measuring part comprises a motion capturing goniometer including a camera and a patch attachable to a joint and upper and lower regions of the joint and recognizable by the camera, the motion capturing goniometer measuring variation in the angle of the joint through the position of the patch.

27. The apparatus for lower-limb rehabilitation training according to claim 26, wherein the motion capturing goniometer includes one or two cameras to two-dimensionally measure bent angle of the joint only.

28. The apparatus for lower-limb rehabilitation training according to claim 22, further comprising a signal processor for converting a value detected by the weight-measuring part and the joint angle-measuring part into an electric signal and transmitting the converted electric signal to the controller.

29. The apparatus for lower-limb rehabilitation training according to claim 23, further comprising a signal processor for converting a value detected by the weight-measuring part and the joint angle-measuring part into an electric signal and transmitting the converted electric signal to the controller.

30. The apparatus for lower-limb rehabilitation training according to claim 24, further comprising a signal processor for converting a value detected by the weight-measuring part and the joint angle-measuring part into an electric signal and transmitting the converted electric signal to the controller.

31. The apparatus for lower-limb rehabilitation training according to claim 25, further comprising a signal processor for converting a value detected by the weight-measuring part and the joint angle-measuring part into an electric signal and transmitting the converted electric signal to the controller.

32. The apparatus for lower-limb rehabilitation training according to claim 26, further comprising a signal processor for converting a value detected by the weight-measuring part and the joint angle-measuring part into an electric signal and transmitting the converted electric signal to the controller.

33. The apparatus for lower-limb rehabilitation training according to claim 27, further comprising a signal processor for converting a value detected by the weight-measuring part and the joint angle-measuring part into an electric signal and transmitting the converted electric signal to the controller.

34. The apparatus for lower-limb rehabilitation training according to claim 1, wherein the display part comprises at least one selected from a group consisting of a monitor, an LED window and a dedicated monitor for a rehabilitation training machine in order to display the result data generated by the controller.

43. The apparatus for lower-limb rehabilitation training according to claim 21, wherein the rehabilitation training irregularly represents at least one action selected from a group consisting of loading maximum weight on one lower limb and bending the knee of the weight-loaded lower limb, standing, balancing and walking so that the user perform the action as represented.

44. The apparatus for lower-limb rehabilitation training according to claim 27, wherein the rehabilitation training irregularly represents at least one action selected from a group consisting of loading maximum weight on one lower limb and bending the knee of the weight-loaded lower limb, standing, balancing and walking so that the user perform the action as represented.

45. The apparatus for lower-limb rehabilitation training according to claim 21, wherein the result data of the rehabilitation training is generated by selecting either one of the reference data and the measurement data each including at least one of weight data, joint angle comparison data and time data, and comparing the value of the selected data, which is taken half-period before the present time, with the present value of the unselected data, so that comparison value is generated with respect to equal lower limb condition.

46. The apparatus for lower-limb rehabilitation training according to claim 27, wherein the result data of the rehabilitation training is generated by selecting either one of the reference data and the measurement data each including at least one of weight data, joint angle comparison data and time data, and comparing the value of the selected data, which is taken half-period before the present time, with the present value of the unselected data, so that comparison value is generated with respect to equal lower limb condition.

35. A method for lower-limb rehabilitation training which uses weight load and joint angle, comprising steps of:

(a) at a load-measuring part, measuring weight loaded on a lower limb to generate weight data of the measurement data, and at a joint angle-measuring part, measuring the angle of a joint of the lower limb to generate joint angle data of the measurement data;

(b) generating weight data and joint angle data of reference data;

(c) comparing the weight data of the measurement data with the weight data of the reference data to generate weight comparison data and comparing the joint angle data of the measurement data with the joint angle data of the reference data to generate comparison data;

(d) generating condition data through the weight comparison data and the joint angle comparison data;

(e) generating result data including at least one of the condition data, the weight comparison data, the joint angle comparison data, the weight data of the measurement data, the joint angle data of the measurement data, the weight data of the reference data and the joint angle data of the reference data; and

(f) displaying the result data to a user.

36. The method for lower-limb rehabilitation training according to claim 35, wherein the measurement data includes time data of the measurement data generated by counting a time period until the weight data of the measurement data becomes substantially the same afterward, and

the method further comprising a step of:

generating time data by counting a time period until the weight data of the reference data becomes the same afterward and including the time data as of the reference data.

37. The method for lower-limb rehabilitation training according to claim 35, further comprising:

receiving basic information of the user before the step (b).

38. The method for lower-limb rehabilitation training according to claim 37, wherein the basic information of the user is used for generating reference data including at least one selected from a group consisting of weight data, joint angle data and time data.

39. The method for lower-limb rehabilitation training according to claim 35, wherein the rehabilitation training allows the user to load weight as much as possible on one lower limb and bend the weight-loaded lower limb thereby training muscles of the weight-loaded lower limb to have power for burdening the weight.

40. The method for lower-limb rehabilitation training according to claim 35, wherein the rehabilitation training is a balance training in which the user trains muscles by repeating actions of touching the floor with toes of both lower limbs while alternatively raising heels in order to evenly load weight on the both lower limbs.

41. The method for lower-limb rehabilitation training according to claim 35, wherein the rehabilitation training is a standing training in which the user trains muscles necessary for both lower limbs to bend or straighten knees of the both lower limbs by touching the floor with the soles of the both lower limbs and at the same time bending and straightening the knees.

42. The method for lower-limb rehabilitation training according to claim 35, wherein the rehabilitation training is a walking training in which the user trains muscles necessary for normal walking by repeatedly performing an action of alternatively raising and lowering lower limbs with the foot sole thereof not touching the floor so that the powers for raising legs and for bending knees are analyzed.