Patent Description:
In general, each joint of a human body has a structure in which neighboring parts of the joint are rotatable with respect to the joint.

Meanwhile, people such as the elderly or rehabilitation patients with weak muscles have difficulty in moving their joints normally compared to healthy people, and even though they need exercise, it is difficult for them to exercise with typical exercise equipment in reality.

When a muscle is weakened or a damaged joint is left unattended over time, the muscle or joint becomes gradually stiff, causing pain when moving, which may interfere with normal activities even when damaged nerves recover.

In addition, patients who have undergone wrist and/or shoulder joint surgery have difficulty exercising by themselves, so joints of the wrist and/or shoulder may become stiff as muscles are weakened and nutrition supply is poor.

Thus, in order to prevent joint deformity and return to normal activities, affected people need to perform rehabilitation exercises accompanied by pain for a long period of time.

In an effort to solve this problem, as a related-art rehabilitation exercise device for enabling the elderly or rehabilitation patients with weak muscles to perform joint exercises through passive rehabilitation, a robotic shoulder apparatus for stroke patient's rehabilitation has been disclosed in <CIT>.

Such a rehabilitation exercise device disclosed in the related art has an unnecessarily complex structure, and thus is problematic in that it is difficult to provide benefits to more users because they need to bear the cost of purchase and installation. In addition, the rehabilitation exercise device is difficult to move, so most users need to move for exercise to the place where the device is located, which is cumbersome.

<CIT> illustrates for example a wearable movement assisting device has a drive unit on a knee joint of a left leg by connection to a support part of a waist belt mounted to the waist of a wearer. The drive unit includes a motor, a first transmission member and a second transmission member. The motor is disposed at the side of a left knee joint of the wearer.

<CIT> relates to a walking assistance apparatus including a drive portion capable of adjusting tension of a fixing portion, and a method of controlling the same. The walking assistance apparatus includes a support portion which applies assist power to assist walking to a human body, a fixing portion which is arranged at one end of the support portion to enclose the human body and fixes the support portion on the human body, a drive portion including at least one motor which adjusts tension of the fixing portion, and a control portion which adjusts a driving direction of the at least one motor during rotation of the support portion in order to prevent the fixing portion from rotating by assist power applied through the support portion.

<CIT> concerns a rehabilitation robot capable of movable gait training and stationary gait training.

<CIT> decsribes an orthosis or exoskeleton system comprising one or more body mounting modules, each body mounting module being structured and arranged to, in use, be mounted to one or more parts of a body of a patient.

Accordingly, the present disclosure has been made keeping in mind the above problems occurring in the related art, and an objective of the present disclosure is to provide a rehabilitation exercise device for upper and lower limbs, the rehabilitation exercise device being capable of: enabling a user to perform a rehabilitation exercise by simply adjusting a mounting angle of his/her upper or lower limb in response to the condition of a rehabilitation patient; being simplified in structure, thereby minimizing the cost of purchase and installation; being convenient to move, thereby enabling the elderly or rehabilitation patients with weak muscles to easily move and place the device on a desk, chair, mattress, etc., and then to easily place their upper limb or lower limb on the device; and enabling the user to perform a rehabilitation exercise of each joint of his/her upper limb or lower limb to resemble normal motion.

The invention is defined in the independent claim. A further advantageous embodiment is defined in the dependent claim.

According to the present disclosure, the rehabilitation exercise device for upper and lower limbs, the rehabilitation exercise device being capable of: enabling a user to perform a rehabilitation exercise by simply adjusting a mounting angle of his/her upper or lower limb in response to the condition of a rehabilitation patient; being simplified in structure, thereby minimizing the cost of purchase and installation; being convenient to move, thereby enabling the elderly or rehabilitation patients with weak muscles to easily move and place the device on a desk, chair, mattress, etc., and then to easily place their upper limb or lower limb on the device; and enabling the user to perform a rehabilitation exercise of each joint of his/her upper limb or lower limb to resemble normal motion.

The present disclosure relates to a rehabilitation exercise device for upper and lower limbs. The rehabilitation exercise device is characterized by including: a base plate; a mounting plate on which a rehabilitation exercise unit is mounted, the rehabilitation exercise unit including a first support for supporting a user's hand or foot, a second support for supporting a user's forearm or calf, a third support for supporting a user's upper arm or thigh, the mounting plate having a first side that is coupled to the base plate to be horizontally movable along a plate surface thereof; and a link member having opposite sides that are rotatably coupled to the base plate and the mounting plate, respectively, and configured to adjust an angle between the base plate and the mounting plate by being rotated when the first side of the mounting plate is moved horizontally along the plate surface of the base plate.

The above and other objectives, features, and advantages of the present disclosure will be more clearly understood from the following detailed description when taken in conjunction with the accompanying drawings. However, it should be understood that the various changes to the following embodiments are possible and the scope of the present disclosure is not limited to the following embodiments. The embodiments of the present disclosure are provided for allowing those skilled in the art to more clearly comprehend the present disclosure, and the scope of the present disclosure should be defined by the appended claims.

Terms used in this specification are selected to describe embodiments and thus should not be construed as the limit of the present disclosure. An element expressed in a singular form in this specification may be plural elements unless it is necessarily singular in the context. The terms "comprise" and/or "comprising" when used in this specification, specify the presence of stated features, but do not preclude the presence or addition of one or more other features. The same reference numerals are used throughout the different drawings to designate the same or similar components. The expression "and/or" is interpreted to include each of enumerated items, and all combinations including one or more items selected from among the enumerated items. Although the terms "first", "second", etc. may be used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another element. For example, a first element discussed below could be termed a second element without departing from the scope of the present disclosure.

Unless otherwise defined, all terms including technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs.

<FIG> illustrate a rehabilitation exercise device <NUM> for upper and lower limbs according to an embodiment of the present disclosure.

As illustrated in these drawings, the rehabilitation exercise device <NUM> according to the embodiment of the present disclosure includes a rehabilitation exercise unit <NUM> and a holder <NUM> for supporting the rehabilitation exercise unit <NUM>.

The rehabilitation exercise unit <NUM> may include: a first support <NUM> for supporting a user's hand or foot; a second support <NUM> for supporting a user's forearm or calf; a pair of first hinges <NUM> and <NUM> for rotatably connecting the first support <NUM> and the second support <NUM> to each other; a third support <NUM> for supporting a user's upper arm or thigh; and a pair of second hinges <NUM> and <NUM> for rotatably connecting the second support <NUM> and the third support <NUM> to each other.

The holder <NUM> includes a base plate <NUM>, and a mounting plate <NUM> on which the rehabilitation exercise unit <NUM> is mounted. The base plate <NUM> and the mounting plate <NUM> adopt a link-mechanism that converts horizontal motion into vertical motion. The link-mechanism is such that a first side of the mounting plate <NUM> is installed on the base plate <NUM> to be horizontally movable along a plate surface thereof, an intermediate region of the mounting plate <NUM> is connected to a first side of a link member <NUM>, and a second side of the link member <NUM> is rotatably installed on the base plate <NUM>.

According to the above configuration, as illustrated in <FIG>, in a state in which the mounting plate <NUM> is folded to the base plate <NUM>, as illustrated in <FIG>, upper limb rehabilitation exercise is performed. On the other hand, as illustrated in <FIG>, in a state in which the mounting plate <NUM> is erected at a certain angle from the base plate <NUM> by the link mechanism, as illustrated in <FIG>, lower limb rehabilitation exercise is performed.

Here, angle adjustment between the mounting plate <NUM> and the base plate <NUM>, and angle fixing and releasing will be described later.

The rehabilitation exercise unit <NUM> according to the present disclosure includes a distance adjustment part for adjusting the distance between the first support <NUM> and the third support <NUM> by adjusting the length of the second support <NUM> according to application in an upper or lower limb, and the length of a rehabilitation patient's upper or lower limb.

The distance adjustment part of the rehabilitation exercise unit <NUM> according to the present disclosure will be described with reference to <FIG>.

The rehabilitation exercise unit <NUM> according to the present disclosure, as an example, adopts a stacked slide-crank structure to the second support <NUM> so that the length of the second support <NUM> supporting the forearm or the calf is adjusted.

The second support <NUM> may include a first fixing plate <NUM>, a second fixing plate <NUM>, a first moving plate <NUM>, a second moving plate <NUM>, and a hinge shaft <NUM>.

The first fixing plate <NUM> is connected to the pair of first hinges <NUM> and <NUM> to be rotatably coupled to the first support <NUM>. The second fixing plate <NUM> is connected to the pair of second hinges <NUM> and <NUM> to be rotatably coupled to the third support <NUM>.

The first moving plate <NUM> is provided between the first fixing plate <NUM> and the hinge shaft <NUM> and is movable reciprocally therebetween.

The second moving plate <NUM> is provided between the second fixing plate <NUM> and the hinge shaft <NUM> and is movable reciprocally therebetween.

The hinge shaft <NUM> is provided between the first fixing plate <NUM> and the second fixing plate <NUM>.

Meanwhile, the distance adjustment part includes a first crank <NUM> and a second crank <NUM>.

The first crank <NUM> is rotatably connected to the first fixing plate <NUM> and the hinge shaft <NUM> to convert a rotary motion of the hinge shaft <NUM> into a linear motion of the first fixing plate <NUM>.

The first crank <NUM> includes a first adjustment link 326a, a second adjustment link 326b, and a first connection link 326c.

The first adjustment link 326a is rotatably coupled to the hinge shaft <NUM>.

The second adjustment link 326b has a first side rotatably coupled to the first adjustment link 326a, and a second side rotatably coupled to the first fixing plate <NUM>.

The first connection link 326c is rotatably coupled to the first moving plate <NUM> and an intermediate region of the first adjustment link 326a.

The second crank <NUM> is rotatably connected to the second fixing plate <NUM> and the hinge shaft <NUM> to convert a rotary motion of the hinge shaft <NUM> into a linear motion of the second fixing plate <NUM>.

The second crank <NUM> includes a third adjustment link 327a, a fourth adjustment link 327b, and a second connection link 327c.

The third adjustment link 327a is rotatably coupled to the hinge shaft <NUM>. The third adjustment link 327a is disposed opposite to the first adjustment link 326a at an angle of <NUM> degrees.

The fourth adjustment link 327b has a first side rotatably coupled to the third adjustment link 327a, and a second side rotatably coupled to the second fixing plate <NUM>. The fourth adjustment link 327b is disposed opposite to the second adjustment link 326b.

The second connection link 327c is rotatably coupled to the second moving plate <NUM> and an intermediate region of the third adjustment link 327a. The second connection link 327c is disposed opposite to the first connection link 326c.

Meanwhile, reciprocating movement of the first moving plate <NUM> is guided by a pair of first guide rods 329a extending in length from the first fixing plate <NUM> toward the first moving plate <NUM>. In addition, reciprocating movement of the first moving plate <NUM> is guided by a pair of third guide rods 329c extending in length from the hinge shaft <NUM> toward the first moving plate <NUM>. Here, in this embodiment, it is illustrated that the first guide rods 329a and the third guide rods 329c are provided in pairs, respectively, but the present disclosure is not limited thereto. For example, at least one first guide rod 329a and at least one third guide rod 329c may be provided.

In addition, reciprocating movement of the second moving plate <NUM> is guided by a pair of second guide rods 329b extending in length from the second fixing plate <NUM> toward the second moving plate <NUM>. In addition, reciprocating movement of the second moving plate <NUM> is guided by a pair of third guide rods 329c extending in length from the hinge shaft <NUM> toward the second moving plate <NUM>. Here, in this embodiment, it is illustrated that the second guide rods 329b and the third guide rods 329c are provided in pairs, respectively, but the present disclosure is not limited thereto. For example, at least one second guide rod 329b and at least one third guide rod 329c may be provided.

According to the configuration as described above, in the distance adjustment part of the rehabilitation exercise device <NUM> according to the present disclosure, as illustrated in <FIG>, by implementing the slide-crank mechanism in which the first fixing plate <NUM> and the first moving plate <NUM>, and the second fixing plate <NUM> and the second moving plate <NUM> are operated in conjunction with each other, respectively, so as to be mutually approached or spaced apart with respect to the hinge shaft <NUM>, it is possible to adjust the length of the second support <NUM>, thereby adjusting the distance between the first support <NUM> and the third support <NUM>.

Hereinafter, in order to help the understanding of the present disclosure, the adjustment of the length of the second support <NUM> will be described in detail with reference to <FIG>.

In <FIG>, when the first adjustment link 326a and the second adjustment link 326b are pivoted clockwise around the hinge shaft <NUM>, the angle between the first adjustment link 326a and the second adjustment link 326b and the angle between the first adjustment link 326a and the first connection link 326c increase, so that the distance between the hinge shaft <NUM> and the first fixing plate <NUM> is increased. Similarly, the angle between the third adjustment link 327a and the fourth adjustment link 327b, and the angle between the third adjustment link 327a and the second connection link 327c increase to the same angle as that between the first adjustment link 326a and the second adjustment link 326b, so that the distance between the hinge shaft <NUM> and the second fixing plate <NUM> is increased. Consequently, the first fixing plate <NUM> and the second fixing plate <NUM> are spaced apart from each other by equal distances from the hinge shaft <NUM>.

On the contrary, in <FIG>, when the first adjustment link 326a and the second adjustment link 326b are pivoted counterclockwise around the hinge shaft <NUM>, the angle between the first adjustment link 326a and the second adjustment link 326b and the angle between the first adjustment link 326a and the first connection link 326c decrease, so that the distance between the hinge shaft <NUM> and the first fixing plate <NUM> is decreased. Similarly, the angle between the third adjustment link 327a and the fourth adjustment link 327b, and the angle between the third adjustment link 327a and the second connection link 327c decreased to the same angle as that between the first adjustment link 326a and the second adjustment link 326b, so that the distance between the hinge shaft <NUM> and the second fixing plate <NUM> is decreased. Consequently, the first fixing plate <NUM> and the second fixing plate <NUM> are approached to each other by equal distances from the hinge shaft <NUM>.

Therefore, in the rehabilitation exercise device <NUM> according to the present disclosure, the first fixing plate <NUM> and the first moving plate <NUM>, and the second fixing plate <NUM> and the second moving plate <NUM> are operated in conjunction with each other, respectively, so as to be mutually approached or spaced apart with respect to the hinge shaft <NUM>.

Meanwhile, the first fixing plate <NUM> and the second fixing plate <NUM> are connected to each other by a pair of connection bars <NUM>.

In the present disclosure, a side of each of the connection bars <NUM> is fixed to the second fixing plate <NUM>, and the first fixing plate <NUM> is movably coupled to the connection bars <NUM>, so that the first fixing plate <NUM> is approached to and spaced apart from the second fixing plate <NUM>.

A through-hole 322a (see <FIG>) for allowing passage of each of the connection bars <NUM> therethrough may be formed in the first fixing plate <NUM>, so that longitudinal movement of the first fixing plate <NUM> may be guided along the connection bar <NUM>.

In addition, a length stopper <NUM> may be installed on the first fixing plate <NUM> to restrain the longitudinal movement of the first fixing plate <NUM>, for example, to limit relative movement of the first fixing plate <NUM> and the second fixing plate <NUM>. In the present disclosure, as an example, a pair of length stoppers <NUM> are installed on the pair of connection bars <NUM>, respectively.

<FIG> is a sectional view illustrating the region of the length stopper <NUM> according to the present disclosure. Referring to <FIG>, the length stopper <NUM> may include a restraining lever <NUM> and a pressurizing member <NUM>.

The restraining lever <NUM> is rotatably installed on a rotary shaft 322b coupled to the first fixing plate <NUM>.

The restraining lever <NUM> includes a pusher <NUM> provided at a first end thereof to pressurize or release the pressurizing member <NUM>, and a knob <NUM> provided at a second end thereof to rotate the pusher <NUM> to allow the pusher <NUM> to pressurize or release the pressurizing member <NUM>.

The pusher <NUM> has a semicircular arc shape having a predetermined radius of curvature, and is configured to be brought into contact with and spaced apart from the pressurizing member <NUM> by rotation.

Therefore, in <FIG>, when the restraining lever <NUM> is rotated clockwise around the rotary shaft 322b, the pusher <NUM> is rotated toward the pressurizing member <NUM> to be brought into contact with the pressurizing member <NUM> and to pressurize the pressurizing member <NUM>, and the pressurizing member <NUM> pressurizes the connection bar <NUM> passing through the through-hole 322a to prevent the first fixing plate <NUM> from moving in the longitudinal direction. On the other hand, when the restraining lever <NUM> is rotated counterclockwise around the rotary shaft 322b, the pusher <NUM> is spaced from the pressurizing member <NUM> and releases the pressurizing member <NUM>, so that the connection bar <NUM> is allowed to be moved inside the through-hole 322a, thereby allowing the movement of the first fixing plate <NUM> in the longitudinal direction along the connection bar <NUM>.

Here, in this embodiment, it is illustrated that a side of the connection bar <NUM> is fixed to the second fixing plate <NUM>, and the first fixing plate <NUM> is movably coupled to the connection bar <NUM>, but the present disclosure is not limited thereto. For example, the side of the connection bar <NUM> may be fixed to the first fixing plate <NUM>, and the second fixing plate <NUM> may be movably coupled to the connection bar <NUM>. In this case, the restraining lever <NUM> is provided on the second fixing plate <NUM>.

<FIG> are views illustrating an example of a structure for restraining longitudinal movement of a second support <NUM> according to another embodiment of the present disclosure. A rehabilitation exercise unit <NUM> according to the other embodiment of the present disclosure may include a rotation stopper <NUM> provided on a hinge shaft <NUM> to limit relative movement of a first fixing plate <NUM> and a second fixing plate <NUM>.

As described above, the second support <NUM> according to the present disclosure has a slide-crank structure in adjusting a longitudinal length thereof, which includes rotation of the hinge shaft <NUM>. The rotation stopper <NUM> restrains the rotation of the hinge shaft <NUM> to maintain a predetermined length.

The rotation stopper <NUM> includes a restraining dial <NUM>, a shaft body <NUM> for forming the hinge shaft <NUM>, a shaft column <NUM> protruding upward from the shaft body <NUM>, and a shaft plate <NUM> rotated around the shaft body <NUM> and connected to the first adjustment link 326a and the third adjustment link 327a to rotate the first adjustment link 326a and the third adjustment link 327a with respect to the shaft body <NUM>.

The restraining dial <NUM> includes a restraining pin 351a and a catching recess 351c.

The restraining pin 351c is formed by protruding from an end of the restraining dial <NUM> oriented toward the shaft body <NUM>, and is inserted into or released from any one selected from among a plurality of restraining holes 352a which will be described later.

The catching recess 351c is depressed in a region of the end of the restraining dial <NUM> oriented toward the shaft body <NUM>, at a position spaced from the restraining pin 351a. In this embodiment, a pair of catching recesses 351c are provided opposite to each other.

The plurality of restraining holes 352a are formed in the shaft body <NUM> at a predetermined interval along the circumferential direction of the shaft column <NUM>.

The shaft plate <NUM> has a circular ring shape. The shaft plate <NUM> is configured such that the first adjustment link 326a and the third adjustment link 327a are connected to an outer circumference thereof, and the restraining dial <NUM> is rotatably provided on an inner circumference thereof. In addition, the shaft plate <NUM> has a pair of catching protrusions 352b protruding from a region of the inner circumference thereof, and connecting the restraining dial <NUM> to the shaft plate <NUM> by being caught by the catching recesses 351c of the restraining dial <NUM>.

In addition, the rotation stopper <NUM> according to the present disclosure may further include an elastic member <NUM>.

The elastic member <NUM> is provided between the shaft column <NUM> and the restraining dial <NUM>, and generates elastic force acting on the restraining dial <NUM> so that the restraining pin 351a is inserted into the selected restraining hole 352a.

When a user wants to adjust the length of the second support <NUM>, the user adjusts the length by pulling the restraining dial <NUM> upward so that the restraining dial <NUM> ascends from the shaft body <NUM> to a position where the restraining pin 351a is separated from the restraining hole 352a. Then, when the second support <NUM> is adjusted to a desired length, the user releases the restraining dial <NUM> so that the restraining dial <NUM> descends toward the shaft body <NUM> by the elastic force of the elastic member <NUM>, and at the same time, the restraining pin 351a is inserted into the restraining hole 352a at a corresponding position.

With this configuration, in the rotation stopper <NUM> according to the present disclosure, when the restraining pin 351a is inserted into the restraining hole 352a, the shaft plate <NUM> is not rotated with respect to the shaft body <NUM>, so that the length of the second support <NUM> is not allowed to be adjusted. At the same time, the catching protrusions 352b of the shaft plate <NUM> are caught by the catching recesses 351c of the restraining dial <NUM>, so that the restraining dial <NUM> is prevented from being rotated around the shaft column <NUM>.

On the other hand, in the rotation stopper <NUM> according to the present disclosure, when the dial pin 351a is released from the restraining hole 352a, the shaft plate <NUM> is rotated with respect to the shaft body <NUM>, so that the length of the second support <NUM> is allowed to be adjusted. At this time, the catching protrusions 352b of the shaft plate <NUM> are maintained caught by the catching recesses 351c of the restraining dial <NUM>, so that the restraining dial <NUM> is maintained in a state connected to the shaft plate <NUM>. Thus, the restraining dial <NUM> is allowed to be rotatable forward and backward around the shaft column <NUM>, so that the first fixing plate <NUM> and the second fixing plate <NUM> are mutually approached or spaced apart with respect to the shaft body <NUM>, thereby adjusting the length of the second support <NUM>.

In <FIG>, reference numeral 351b denotes a pin insertion portion into which the restraining pin 351a is inserted and fixed, and reference numeral 351d denotes a shaft through-hole through which the shaft column <NUM> passes and fixed. For convenience of explanation, <FIG> illustrates a state in which the restraining pin 351a is inserted in the restraining hole 352a in a state of being released from the restraining dial <NUM>.

As such, by implementing a slide-crank mechanism in which the first fixing plate <NUM> and a first moving plate <NUM>, and the second fixing plate <NUM> and a second moving plate <NUM> are operated in conjunction with each other, respectively, so as to be mutually approached or spaced apart with respect to the hinge shaft <NUM>, it is possible to adjust the length of the second support <NUM>, thereby adjusting the distance between the first support <NUM> and the third support <NUM> in response to various lengths of the forearm or calf of the user during rehabilitation.

Hereinafter, the configuration of the holder <NUM> according to the present disclosure will be described in detail with reference to <FIG>.

As described above, the holder <NUM> may include the base plate <NUM>, the mounting plate <NUM>, and the link member <NUM>. According to this configuration, a link mechanism as illustrated in <FIG> is implemented.

As described above, the opposite sides of the link member <NUM> are rotatably coupled to the base plate <NUM> and the mounting plate <NUM>, respectively. Here, the first side (i.e., in the direction of the first support <NUM>) of the mounting plate <NUM> is coupled to the base plate <NUM> to be horizontally movable along the plate surface thereof, and the first side of the link member <NUM> is rotatably coupled to the intermediate region of the mounting plate <NUM>. In addition, a second side of the mounting plate <NUM> is approached to and spaced apart from the base plate <NUM> in the vertical direction by the link mechanism, so that angle adjustment is implemented as illustrated in <FIG> and <FIG>.

The second side of the link member <NUM> is rotatably coupled to a fixing shaft <NUM> provided on the base plate <NUM>, so that when the first side of the mounting plate <NUM> moves in the horizontal direction, the angle of the mounting plate <NUM> is adjusted by rotation of the opposite sides of the link member <NUM>.

Meanwhile, a pair of extension brackets <NUM> are installed opposite at the first side of the mounting plate <NUM> by extending parallel toward the third support <NUM>. First ends of the pair of extension brackets <NUM>, for example, first ends thereof oriented toward the first support <NUM>, are rotatably coupled to the mounting plate <NUM>. Second ends of the pair of extension brackets <NUM>, for example, second ends thereof oriented toward the third support <NUM>, are connected to each other by a connection rod <NUM>.

In addition, a catching plate <NUM> is installed inside the base plate <NUM>, with a plurality of catching protrusions <NUM> formed thereon along the longitudinal direction and allowing the connection rod <NUM> to be caught thereby in response to the angle between the mounting plate <NUM> and the base plate <NUM>. The plurality of catching protrusions <NUM> are formed at a predetermined interval along the longitudinal direction of the pair of extension brackets <NUM>, so that the connection rod <NUM> is selectively caught by the catching protrusions <NUM>. Thus, in response to an inclination angle between the mounting plate <NUM> and the base plate <NUM>, the connection rod <NUM> is caught by any one of the catching protrusions <NUM>, so that the inclination angle is maintained at a predetermined angle.

In addition, the holder <NUM> according to the present disclosure may include a fixing unit <NUM> for fixing the connection rod <NUM> to maintain the connection rod <NUM> caught by any one of the catching protrusions <NUM>.

In the embodiment of the present disclosure, as an example, as illustrated in <FIG> and <FIG>, the base plate <NUM> includes a plurality of restraining recesses 513a and a moving hole 513b.

The plurality of restraining recesses 513a are depressed in a side surface of the base plate <NUM> at respective positions corresponding to the catching protrusions <NUM>. In other words, the plurality of restraining recesses 513a are arranged at a predetermined interval on the side surface of the base plate <NUM> along the longitudinal direction thereof in correspondence with the catching protrusions <NUM> arranged along the longitudinal direction of the extension brackets <NUM>.

The moving hole 513b is formed in each of the restraining recesses 513a by passing therethrough to be oriented toward a selected catching protrusion <NUM>. In other words, the moving hole 513b is formed to pass through an inside and an outside of a plate surface of the base plate <NUM> at a position where the restraining recess 513a is formed.

Here, as illustrated in in <FIG>, the moving hole 513b has a shape that is open diagonally upward to allow insertion or release of an extension unit <NUM> of a fixing unit <NUM>, which will be described later, into or from the moving hole 513b.

As illustrated in <FIG>, the fixing unit <NUM> according to an embodiment of the present disclosure may include the extension unit <NUM> and a unit body <NUM>.

The extension unit <NUM> has a first side connected to the connection rod <NUM>, and a second side extending outward of the base plate <NUM> through the moving hole 513b. In the present disclosure, as an example, as illustrated in <FIG>, the first side of the extension unit <NUM> is connected to the connection rod <NUM> through an intermediate plate <NUM>. The intermediate plate <NUM> may be directly fastened to the connection rod <NUM> or may be connected to the connection rod <NUM> by being fastened to an associated one of the extension brackets <NUM> connected to the connection rod <NUM>.

The unit body <NUM> is coupled to the second side of the extension unit <NUM>. In the present disclosure, as an example, an insertion hole (not illustrated) for allowing insertion of the extension unit <NUM> therein is formed in the unit body <NUM> so that the extension unit <NUM> is inserted into the insertion hole to be coupled to the unit body <NUM>.

In the embodiment of the present disclosure, as an example, the unit body <NUM> is coupled to the extension unit <NUM> so as to be movable between a fixing position inserted into the restraining recess 513a and a release position released from the restraining recess 513a. To this end, as an example, as illustrated in <FIG>, the extension unit <NUM> has a pair of operating grooves 542b formed at a predetermined interval along the longitudinal direction thereof. In addition, as an example, the unit body <NUM> has an operating protrusion 541c caught by the operating grooves 542b at the fixing position and the release position of the unit body <NUM>, respectively.

In the present disclosure, the operating protrusion 541c may be configured in a form that is elastically pressurized in the directions of the operating grooves 542b so that when the user pulls the unit body <NUM> in the release direction, the operating protrusion 541c caught by an inner operating groove 542b is released therefrom and inserted into an outer operating groove 542b. On the other hand, when the user pushes the unit body <NUM> in the fixing direction, the operating protrusion 541c caught by the outer operating groove 542b is released therefrom and inserted into the inner operating groove 542b.

In addition, the unit body <NUM> includes an insertion portion 541b inserted into the restraining recess 513a at the fixing position and the release position, and a knob 541a operable by the user to move the unit body <NUM> between the fixing position and the release position. Here, the insertion portion 541b is configured in a size that is insertable into the restraining recess 513a, preferably in a size that is caught by the moving hole 513b without moving thereinto.

According to the configuration as described above, when the user wants to adjust the angle between the base plate <NUM> and the mounting plate <NUM>, the user pulls the knob 541a with the unit body <NUM> being at the fixing position to allow the unit body <NUM> to be moved to the release position, so that the insertion portion 541b of the unit body <NUM> is released from the restraining recess 513a.

In this state, when the user moves the knob 541a diagonally upward, the connection rod <NUM> connected to the extension unit <NUM> is released from the catching protrusion <NUM>, and at the same time, the extension unit <NUM> is moved along the moving hole 513b to a position outside the moving hole 513b.

In this state, when the user moves the knob 541a while adjusting the angle of the mounting plate <NUM> so that the extension unit <NUM> is inserted into a moving hole 513b associated with a desired angle, the extension unit <NUM> is inserted into the moving hole 513b, and at the same time, the connection rod <NUM> is caught by an associated one of the catching protrusions <NUM>.

When the angle adjustment is completed as described above, the user pushes back the unit body <NUM> to allow the insertion portion 541b to be inserted into a restraining recess 513a associated with the moving hole 513b. Then, the insertion portion 541b is caught by the moving hole 513b, so that the connection rod <NUM> is fixed to the selected catching protrusion <NUM>.

Meanwhile, as illustrated in <FIG>, each of the catching protrusions <NUM> according to an embodiment of the present disclosure may extend to a length corresponding to the length of the connection rod <NUM> in a direction intersecting the longitudinal direction of the extension brackets <NUM>, i.e., in the longitudinal direction of the connection rod <NUM>.

In addition, as illustrated in <FIG> and <FIG>, each of the catching protrusions <NUM> according to the embodiment of the present disclosure may be configured such that a side thereof in a direction in which the fixing unit <NUM> is installed, i.e., a D1 direction in <FIG>, protrudes relatively more than an opposite side thereof in a D2 direction, in a direction in which catching is released.

As described above, in the embodiment of the present disclosure, as an example, the fixing unit <NUM> is installed only on a side of the base plate <NUM>. Thus, when the user releases the connection rod <NUM> from the catching protrusion <NUM> while moving the fixing unit <NUM>, a lengthwise side of the connection rod <NUM> in the direction of the fixing unit <NUM> may be lifted relatively more in the release direction, and an opposite lengthwise side may be lifted relatively less.

Therefore, as illustrated in <FIG>, by configuring a lengthwise side of the catching protrusion <NUM> opposite to the direction of the fixing unit <NUM> to protrude relatively less, in releasing the connection rod <NUM> from the catching protrusion <NUM> through manipulation of the fixing unit <NUM>, when catching of the lengthwise side of the connection rod in the direction in which the fixing unit <NUM> is installed is released, the entire connection rod <NUM> may be released from the catching protrusion <NUM>.

Meanwhile, as illustrated in <FIG>, the rehabilitation exercise device <NUM> for the upper and lower limbs according to the embodiment of the present disclosure may further include an elastic unit 522f.

The elastic unit 522f provides an elastic force acting in a direction in which the connection rod <NUM> is maintained caught by the catching protrusion <NUM>, so that the connection rod <NUM> is prevented from being released from the catching protrusion <NUM> without a user's manipulation. For example, in a state in which the unit body <NUM> of the fixing unit <NUM> is located at the release position due to a process of a user's manipulation or other cause, when the connection rod <NUM> is released from the catching protrusion <NUM> due to an external impact or the like, the mounting plate <NUM> may be rapidly folded in the direction of the base plate <NUM>. Therefore, the release of the connection rod <NUM> is prevented even with a certain impact, so that a safety accident is prevented from occurring.

In addition, even during the manipulation of the fixing unit <NUM>, the connection rod <NUM> is in a state of being pressurized in the insertion direction into the catching protrusion <NUM>. Therefore, a force that moves the connection rod <NUM> in the insertion direction is generated at an insertion position of the connection rod <NUM>, thereby facilitating the insertion of the connection rod <NUM> into the catching protrusion <NUM>.

This will be described in more detail with reference to <FIG>. The mounting plate <NUM> according to an embodiment of the present disclosure may include a moving bracket <NUM>, a pair of mounting brackets <NUM>, and a mounting portion <NUM>.

The moving bracket <NUM> is installed on the base plate <NUM> to be horizontally movable along the base plate <NUM>. The pair of mounting brackets <NUM> are rotatably coupled to opposite sides of the moving bracket <NUM>. Here, each of the pair of link members <NUM> may be rotatably coupled to an intermediate region of an associated one of the mounting brackets <NUM>. The mounting portion <NUM> is formed in a plate shape supported by the moving bracket <NUM> and the mounting brackets <NUM> to define an upper plate of the mounting plate <NUM>, and allows mounting of the rehabilitation exercise unit <NUM> thereon.

Here, the extension brackets <NUM> are rotatably coupled to the opposite sides of the moving brackets <NUM> so that the moving bracket <NUM> is moved in conjunction with movement of the extension brackets <NUM>. At this time, the elastic unit 522f pressurize at least one of the pair of extension brackets <NUM> downward in a state of being installed on the moving bracket <NUM>, so that the connection rod <NUM> coupled to the extension brackets <NUM> is pressurized in a direction caught by the catching protrusion <NUM>.

In the present disclosure, as an example, as illustrated in <FIG>, the elastic unit 522f is provided in the form of a plate spring. In addition, the extension bracket <NUM> has a skirt 522d extending inward, so that the elastic unit 522f pressurizes the skirt 522d to pressurize the extension bracket <NUM>.

Meanwhile, in the rehabilitation exercise device <NUM> according to the present disclosure, the drive module <NUM> may be selectively couple to any one of the pair of first hinges <NUM> and <NUM> and the pair of second hinges <NUM> and <NUM>. For example, in the case of the upper limb, when the drive module <NUM> is mounted on any one of the first hinges <NUM> and <NUM>, wrist rehabilitation exercise is possible. On the other hand, when the drive module <NUM> is mounted on any one of the second hinges <NUM> and <NUM>, elbow joint rehabilitation exercise is possible.

At this time, in the case of the pair of first hinges <NUM> and <NUM>, a mounting position of the drive module <NUM> may be determined according to rehabilitation of a left or right upper limb. Similarly, in the case of the pair of second hinges <NUM> and <NUM>, the drive module <NUM> may be selectively mounted according to rehabilitation of a right or left upper limb.

Hereinafter, the drive module <NUM> according to the present disclosure will be described in detail with reference to <FIG>.

As described above, the drive module <NUM> is selectively mounted on any one of the pair of first hinges <NUM> and <NUM> and the pair of second hinges <NUM> and <NUM> to pivot the first support <NUM> or the second support <NUM>.

The drive module <NUM> may include a body housing <NUM> in which components such as a drive motor, a printed circuit board, etc. are accommodated, a drive shaft <NUM> to which a rotary shaft of the drive motor is connected, and a ring member <NUM> for allowing mounting and fixing of the drive module <NUM> on the first hinges <NUM> and <NUM> or the second hinges <NUM> and <NUM>.

In addition, a ring coupling portion <NUM> is formed on each of the first hinges <NUM> and <NUM> or each of the second hinges <NUM> and <NUM>.

Meanwhile, in this embodiment, the drive module <NUM> is mounted on the second hinge <NUM> located on the right side as viewed from the first support <NUM> to the third support <NUM> in <FIG>. Therefore, for convenience of explanation, the second hinge <NUM> located on the right side is hereinafter referred to as a right second hinge <NUM>.

Here, a plurality of mounting protrusions <NUM> are formed on an inside of the ring member <NUM> at a predetermined interval along the circumferential direction of the ring member <NUM>, and a ring coupling portion <NUM> to which the ring member <NUM> of the drive module <NUM> is coupled is provided circumferentially around an opening of the right second hinge <NUM>. A plurality of catching portions <NUM> may be formed in the ring coupling portion <NUM> corresponding to the mounting protrusions <NUM>.

Thus, when the drive module <NUM> is inserted into the right second hinge <NUM> and then the ring member <NUM> is rotated, the mounting protrusions <NUM> are rotated and caught by the catching portions <NUM>, so that the drive module <NUM> is prevented from being released.

In addition, a catching lever <NUM> is provided on the body housing 710a to restrain rotation of the ring member <NUM> by being inserted into the ring member <NUM>, so that after rotating the ring member <NUM>, the catching lever <NUM> is pushed and inserted into the ring member <NUM> to thereby prevent rotation of the ring member <NUM>.

Meanwhile, as illustrated in <FIG>, the right second hinge <NUM> according to the embodiment of the present disclosure may have a rotary shaft hole 3322a for receiving the drive shaft of the drive module <NUM>. Here, the drive shaft <NUM> of the drive module <NUM> passes through the rotary shaft hole 3322a and is coupled to the right second hinge <NUM> when the drive module <NUM> is mounted on the right second hinge <NUM>. Thus, when the drive shaft <NUM> is rotated in response to the driving of the drive module <NUM>, the second support <NUM> is pivoted.

In more detail, in the embodiment of the present disclosure, as an example, as illustrated in <FIG>, the second support <NUM> includes a shaft coupling bracket <NUM> and a drive shaft fixing member <NUM>.

The shaft coupling bracket <NUM> may extend toward the drive shaft of the drive module <NUM>. In the embodiment of the present disclosure, as an example, as illustrated in <FIG>, the shaft coupling bracket <NUM> extends from the second fixing plate <NUM> of the second support <NUM> toward the rotary shaft of the drive motor.

The drive shaft fixing member <NUM> fixes the drive shaft <NUM> inserted through the rotary shaft hole 3322a to the shaft coupling bracket <NUM> when the drive module <NUM> is fastened to the right second hinge <NUM>. Thus, when the drive shaft <NUM> is rotated in response to the driving of the drive module <NUM>, the shaft coupling bracket <NUM> is pivoted in response to the rotation of the drive shaft <NUM>, so that the entire second support <NUM> is pivoted with respect to the third support <NUM>.

In the present disclosure, for example, the drive shaft <NUM> has a polygonal shape in cross-section. Although <FIG> and <FIG> illustrate that the drive shaft <NUM> has a hexagonal shape in cross-section, the scope of the present disclosure is not limited thereto.

Corresponding to the cross-sectional shape of the drive shaft <NUM>, as illustrated in <FIG>, the drive shaft fixing member <NUM> according to the embodiment of the present disclosure may include a polygonal fixing hole <NUM> having a polygonal inner diameter. As described above, the polygonal fixing hole <NUM> may also be configured to have a hexagonal inner diameter corresponding to the drive shaft <NUM> having a hexagonal shape in cross-section.

This will be described in more detail with reference to <FIG>. The drive shaft fixing member <NUM> may include a bracket fastening portion <NUM> and a pair of tightening members <NUM> and <NUM>.

The bracket fastening portion <NUM> is provided at a first side of the drive shaft fixing member <NUM> with respect to the polygonal fixing hole <NUM>, and is fastened to the shaft coupling bracket <NUM> to fix the drive shaft fixing member <NUM> to the shaft coupling bracket <NUM>.

The pair of tightening members <NUM> and <NUM> are provided at a second side of the drive shaft fixing member <NUM> with respect to the polygonal fixing hole <NUM>, and are spaced apart from each other with a space <NUM> formed therebetween. As illustrated in <FIG>, the fixing hole <NUM> is formed between the pair of tightening members <NUM> and <NUM>. In a state in which the drive shaft <NUM> is inserted into the polygonal fixing hole <NUM>, the pair of tightening members <NUM> and <NUM> are approached to each other, so that the drive shaft <NUM> inserted into the polygonal fixing hole <NUM> is tightened and fixed.

In the embodiment illustrated in <FIG>, as an example, the pair of tightening members <NUM> and <NUM> are branched from the bracket fastening portion <NUM>, but the present disclosure is not limited thereto. For example, the pair of tightening members <NUM> and <NUM> may be configured such that two symmetrical members are combined at respective first sides thereof to form the bracket fastening portion <NUM>, with respective second sides thereof spaced apart from each other.

In the embodiment of the present disclosure, as an example, the bracket fastening portion <NUM> is fastened to the shaft coupling bracket <NUM> through bolt fastening. To this end, a plurality of bolt fastening holes 366c and 366d are formed in the bracket fastening portion <NUM>, and in the present disclosure, as an example, the bolt fastening is performed in the biaxial direction. In other words, as an example, the plurality of bolt fastening holes 366c and 366da include a pair of bolt fastening holes 366c fastened to coupling holes 3231a formed in a plate surface of the shaft coupling bracket <NUM>, and a pair of bolt fastening holes 366b fastened to coupling holes 3234a formed in a pair of extension portions <NUM> extending in a U-shape from the plate surface of the shaft coupling bracket <NUM>.

In addition, any one of the pair of tightening members <NUM> and <NUM> may have a first tightening hole 366a passing through a side thereof, and a remaining one of the pair of tightening members <NUM> and <NUM> may have a second tightening hole (not illustrated) for fastening a tightening bolt (not illustrated) passing through the first tightening hole so as to adjust the distance between the tightening members <NUM> and <NUM>.

Meanwhile, the right second hinge <NUM> may include a first rotary part <NUM> and a second rotary part <NUM>.

The first rotary part <NUM> is rotated in conjunction with the right second support <NUM> in response to rotation of the drive shaft <NUM>. In addition, the second rotary part <NUM> is installed to be freely rotatable with respect to the first rotary part <NUM>, and is connected to the third support <NUM> to be rotated in conjunction with the third support <NUM>. Here, as an example, the first rotary part <NUM> and the second rotary part <NUM> are coaxially coupled around the rotary shaft hole 3322a.

In the embodiment of the present disclosure, as an example, the first rotary part <NUM> is axially coupled to the shaft coupling bracket <NUM> to be rotated relative to the second rotary part <NUM> in conjunction with rotation of the drive shaft <NUM>.

<FIG> is a view illustrating a state in which the drive shaft fixing member <NUM> is removed, and <FIG> is a view illustrating a state in which the shaft coupling bracket <NUM> is removed.

Referring to <FIG> and <FIG>, the shaft coupling bracket <NUM> may further include a bracket coupling hole <NUM> and a plurality of rotation synchronization holes <NUM>.

The bracket coupling hole <NUM> is formed corresponding to the rotary shaft hole 3322a, and allows passage of the drive shaft <NUM> passing through the rotary shaft hole 3322a. The drive shaft <NUM> passing through the bracket coupling hole <NUM> is fixed by the drive shaft fixing member <NUM>.

The rotation synchronization holes <NUM> are formed by passing through the plate surface of the shaft coupling bracket <NUM> along the outer periphery of the bracket coupling hole <NUM>. Here, as illustrated in <FIG>, the first rotary part <NUM> may include a plurality of rotation synchronization protrusions 3322b. Thus, when the shaft coupling bracket <NUM> is fastened to the first rotary part <NUM>, the rotation synchronization protrusions 3322b are inserted into the respective rotation synchronization holes <NUM>, so that when the drive shaft <NUM> is rotated in response to the driving of the drive module <NUM>, the first rotary part <NUM> is rotatable in conjunction with rotation of the shaft coupling bracket <NUM>.

The configuration of the right second hinge <NUM> driven by being coupled to the drive module <NUM> described with reference to <FIG> is symmetrically implemented in the remaining second hinge <NUM>. Similarly, the same mechanism may be applied to each of the first hinges <NUM> and <NUM>, except that the first support <NUM> and the second support <NUM> are configured such that the first support <NUM> is pivoted in response to the driving of the drive module <NUM>.

Hereinafter, a rotation restraining part <NUM> according to an embodiment of the present disclosure will be described in detail with reference to <FIG>.

As illustrated in <FIG>, <FIG>, and <FIG>, a hinge cover may be installed where the drive module <NUM> is not installed from among the pair of first hinges <NUM> and <NUM> and the pair of second hinges <NUM> and <NUM>. <FIG> illustrate the first hinge <NUM> on the right side from among the first hinges <NUM> and <NUM>.

The rotation restraining part <NUM> includes a rotary gear plate <NUM> rotated in conjunction with the first rotary part <NUM>, i.e., the first rotary part <NUM> rotated in conjunction with the first support <NUM> or the second support <NUM>, and a gear restraining member <NUM> installed on the second rotary part <NUM>.

The rotary gear plate <NUM> may have gear teeth circumferentially formed along an end thereof, and the gear restraining member <NUM> may have a gear insertion portion <NUM> formed at an end thereof to be insertable into a space between the gear teeth. Thus, when the gear insertion portion <NUM> is inserted into the space between the gear teeth of the rotary gear plate <NUM> by sliding the gear restraining member <NUM>, rotation of the first rotary part <NUM> is restrained.

Here, the rotation restraining part <NUM> may include a pair of restraining protrusions <NUM> protruding opposite to each other and being able to be elastically pressurized. In addition, a pair of restraining recesses <NUM> may be formed in a plate surface of the second rotary part <NUM> at each side of the rotation restraining part <NUM> along the moving direction of the rotation restraining part <NUM> so that when the rotation restraining part <NUM> is moved in the vertical direction, the restraining protrusions <NUM> are inserted into the restraining recesses <NUM>.

With this configuration, as illustrated in <FIG>, When the drive module <NUM> is mounted on the second hinges <NUM> and <NUM>, and the gear restraining member <NUM> and the rotary gear plate <NUM> of each of the pair of first hinges <NUM> and <NUM> are meshed with each other so that the pair of first hinges <NUM> and <NUM> are not rotated, the second support <NUM> performs a pivoting motion by a rotational force of the drive module <NUM>, whereas the first support <NUM> is limited in pivoting motion, so that the user can exercise an elbow joint while a wrist joint is not moved.

In addition, when the drive module <NUM> is mounted on the first hinges <NUM> and <NUM>, and the gear restraining member <NUM> and the rotary gear plate <NUM> of each the pair of second hinges <NUM> and <NUM> are meshed with each other so that the pair of second hinges <NUM> and <NUM> are not rotated, the first support <NUM> performs a pivoting motion by the rotational force of the drive module <NUM>, whereas the second support <NUM> is limited in pivoting motion, so that the user can exercise the wrist joint while the elbow joint is not moved.

The above configuration may be applied equally to the second hinges <NUM> and <NUM>.

<FIG> is a view illustrating the configuration of a rotation restraining part <NUM> according to another embodiment of the present disclosure.

In the embodiment illustrated in <FIG>, a pair of restraining recesses 774a are formed on each side of the rotation restraining part <NUM>, and a restraining rod 775a installed in the second rotary part <NUM> is inserted into the restraining recesses 774a. Here, the restraining rod 775a is elastically pressurized in a direction of being inserted into the restraining recesses 774a, and, for example, may have a configuration that is pressurized in the direction of being inserted into the restraining recesses 774a by an elastic force of a spring.

Meanwhile, as illustrated in <FIG> and <FIG>, the drive module <NUM> according to the embodiment of the present disclosure may include a gear protrusion.

Here, the gear protrusion is installed on a position capable of being in contact with the gear restraining member <NUM> at a position where the gear restraining member <NUM> is meshed with the rotary gear plate <NUM>. Thus, the drive module <NUM> is prevented from being fastened to the first hinges <NUM> and <NUM> or the second hinges <NUM> or <NUM> in a state in which the gear restraining member <NUM> is meshed with the rotary gear plate <NUM>, i.e., in a state in which the first rotary part <NUM> and the second rotary part <NUM> cannot be rotated relative to each other. In other words, this is because when fastening of the drive module <NUM> is allowed in a state in which the gear restraining member <NUM> is meshed with the rotary gear plate <NUM>, the drive module <NUM> is rotated in a state in which rotation of the first rotary part <NUM> is restrained, which may cause failure of the drive module <NUM>.

Therefore, by not allowing fastening of the drive module <NUM> in a state in which rotation of the first rotary part <NUM> is restrained, failure due to the above-described situation is prevented from occurring.

In addition, each of the first hinges <NUM> and <NUM> and the second hinges <NUM> and <NUM> may have a status display window <NUM> on which a current status is displayed in response to the operation of the gear restraining member <NUM>. In other words, when the gear restraining member <NUM> is at a position meshed with the rotary gear plate <NUM>, 'Lock' may be displayed on the status display window <NUM>. On the other hand, when the meshing is released, 'Unlock' may be displayed on the status display window <NUM>. On the other hand, this may be mechanically implemented so that such characters are displayed in conjunction with sliding movement of the gear restraining member <NUM>.

In the above embodiment, as an example, the gear restraining member <NUM> is installed on the second rotary part <NUM> and the rotary gear plate <NUM> is configured to be rotated in conjunction with the first rotary part <NUM>. However, the opposite example may be applied. In other words, the gear restraining member <NUM> may be installed on the first rotary part <NUM>, and the rotary gear plate <NUM> may be configured to be rotated in conjunction with the second rotary part <NUM>.

Meanwhile, the rehabilitation exercise apparatus <NUM> according to an embodiment of the present disclosure may enable the user to perform rehabilitation by selectively mounting the drive module <NUM> to each hinge in response to a position of the upper or lower limb to be exercised.

For example, when the drive module <NUM> is mounted on the left second hinge <NUM> or the left second hinge <NUM>, the rehabilitation exercise device <NUM> according to the embodiment of the present disclosure is worn on a right upper limb to exercise, without causing interference of the drive module <NUM> with a user's torso. In this case, when the drive module <NUM> is mounted on the left first hinge <NUM>, exercise of a right wrist joint is possible. On the other hand, when the drive module <NUM> is mounted on the left second hinge <NUM>, exercise of a right elbow joint is possible.

When the drive module <NUM> is mounted on the right second hinge <NUM> or the left second hinge <NUM>, the rehabilitation exercise device <NUM> according to the embodiment of the present disclosure is worn on a left upper limb to exercise, without causing interference of the drive module <NUM> with the user's torso. In this case, when the drive module <NUM> is mounted on the right first hinge <NUM>, exercise of a left wrist joint is possible. On the other hand, when the drive module <NUM> is mounted on the right second hinge <NUM>, exercise of a left elbow joint is possible.

Here, the drive module <NUM> according to the embodiment of the present disclosure may be configured to enable interworking with an app installed in a smart device such as a smart phone. In this case, it will be preferable for the drive module <NUM> to be able to automatically recognize whether the drive module <NUM> is installed on the first hinges or the second hinges, and whether the drive module <NUM> is installed on the left or right side.

Thus, the rehabilitation exercise apparatus <NUM> according to the embodiment of the present disclosure may include a mounting position detecting part for automatically detecting the mounting position of the drive module <NUM>.

The mounting position detecting part detects the mounting position where the drive module <NUM> is mounted from among the pair of first hinges <NUM> and <NUM> and the pair of second hinges <NUM> and <NUM>. In the embodiment of the present disclosure, as an example, the mounting position detecting part includes a to-be-detected module, and a sensor module HS.

The to-be-detected module is installed on each of the pair of first hinges <NUM> and <NUM> and the pair of second hinges <NUM> and <NUM>. In addition, the sensor module HS is installed in the drive module <NUM>, and recognizes the to-be-detected module when the drive module <NUM> is mounted on any one of the first hinges <NUM> and <NUM> and the second hinges <NUM> and <NUM>.

Here, the respective to-be-detected modules installed on the first hinges <NUM> and <NUM> and the second hinges <NUM> and <NUM> are configured to be distinguishably recognized, so that the sensor module HS recognizes where the drive module <NUM> is installed from among the first hinges <NUM> and <NUM> and the second hinges <NUM> and <NUM>.

<FIG> and <FIG> are views illustrating an example of the configuration of a mounting position detecting part according to an embodiment of the present disclosure. As an example, the sensor module HS according to the embodiment of the present disclosure includes a Hall sensor.

As an example, as illustrated in <FIG>, the Hall sensor is installed in the body housing <NUM> of the drive module <NUM>.

As an example, the respective to-be-detected modules include magnet members M and magnet holes 810a, 810b, 810c, and 810d. The respective magnet members M may be embedded in the first hinges <NUM> and the second hinges <NUM> and <NUM> at positions corresponding to each other. Here, the magnet members M are installed at positions detectable by the Hall sensor when the drive module <NUM> is mounted on the first hinges <NUM> and <NUM> or the second hinges <NUM> and <NUM>.

As illustrated in <FIG>, the magnet holes 810a, 810b, 810c, and 810d are formed in the first hinges <NUM> and <NUM> and the second hinges <NUM> and <NUM>, respectively, to allow exposure of the magnet members M therethrough. Here, the respective magnet holes 810a, 810b, 810c, and 810d may be configured to differ in at least one of position and size, so that when detecting the magnetic fields of the magnet members M, the Hall sensor recognizes the mounting position of the drive module <NUM> by detecting magnetic fields having different characteristics according to the positions and sizes of the magnet holes 810a, 810b, 810c, and 810d.

Referring to <FIG>, the four magnet holes 810a, 810b, 810c, and 810d formed in the first hinges <NUM> and <NUM> and the second hinges <NUM> and <NUM>, respectively, may be located at upper and lower positions with respect to the Hall sensor. For example, when the magnet hole 810a is formed in the right first hinge <NUM>, the magnet hole 810b is formed in the left first hinge <NUM>, the magnet hole 810c is formed in the right second hinge <NUM>, and the magnet hole 810d is formed in the left second hinge <NUM>, during mounting of the drive module <NUM>, the mounting position of the drive module <NUM> is recognized by detecting magnetic fields having different characteristics according to the positions of the magnet holes 810a, 810b, 810c, and 810d.

Although in <FIG> it is illustrated that the magnet holes 810a, 810b, 810c, and 810d have different positions and sizes, other configurations are possible as long as magnetic field characteristics are distinguishable.

In another embodiment, the to-be-detected module may include a short-range communication tag, for example, a RF or NFC tag, in which information on a corresponding position is embedded, and the sensor module HS may include a reader that recognizes the information embedded in the tag.

Thus, the above-described exemplary embodiments are intended to be illustrative in all respects, rather than restrictive, of the present disclosure.

Claim 1:
A rehabilitation exercise device (<NUM>) for upper and lower limbs, the rehabilitation exercise device (<NUM>) comprising:
a first support (<NUM>) supporting a user's hand or foot;
a second support (<NUM>) supporting a user's forearm or calf;
a pair of first hinges (<NUM>, <NUM>) rotatably connecting the first support (<NUM>) and the second support (<NUM>) to each other;
a third support (<NUM>) supporting a user's upper arm or thigh;
a pair of second hinges (<NUM>, <NUM>) rotatably connecting the second support (<NUM>) and the third support (<NUM>) to each other;
a drive module (<NUM>) selectively mounted on any one of the pair of first hinges (<NUM>, <NUM>) and the pair of second hinges (<NUM>, <NUM>), and configured to pivot the first support (<NUM>) or the second support (<NUM>); and
a mounting position detecting part detecting a mounting position where the drive module (<NUM>) is mounted from among the pair of first hinges (<NUM>, <NUM>) and the pair of second hinges (<NUM>, <NUM>), wherein the mounting position detecting part comprises:
a to-be-detected module installed on each of the pair of first hinges (<NUM>, <NUM>) and the pair of second hinges (<NUM>, <NUM>); and
a sensor module (HS) installed in the drive module (<NUM>), and configured to recognize the to-be-detected module when the drive module (<NUM>) is mounted on any one of the first hinges (<NUM>, <NUM>) and the second hinges (<NUM>, <NUM>),
wherein the respective to-be-detected modules installed on the first hinges (<NUM>, <NUM>) and the second hinges (<NUM>, <NUM>) are configured to be distinguishably recognized, wherein the sensor module (HS) comprises a Hall sensor; wherein
the to-be-detected module comprises:
a magnet member (M) embedded in each of the first hinges (<NUM>, <NUM>) and the second hinges (<NUM>, <NUM>) so that the respective magnet members (M) are located at positions corresponding to each other; and
a magnet hole (810a, 810b, 810c, 810d) formed in each of the first hinges (<NUM>, <NUM>) and the second hinges (<NUM>, <NUM>) to allow exposure of the magnet member (M) therethrough,
wherein the respective magnet holes (810a, 810b, 810c, 810d) are configured to differ in at least one of position and size, so that the hall sensor distinguishably recognizes the mounting position of the drive module (<NUM>).