KR-102962007-B1 - UNIVERSAL CONTROLLER APPARATUS WITH EOAT RECOGNITION AND REHABILITATION ROBOT CONTROL METHOD USING THE SAME

KR102962007B1KR 102962007 B1KR102962007 B1KR 102962007B1KR-102962007-B1

Abstract

A robot end-tool recognition type general-purpose controller device is disclosed, comprising: a sensor module installed internally in a main body and acquiring movement information of the main body; and a processor that performs a remote rehabilitation treatment process according to the movement information; wherein the processor detects whether the main body is equipped with an end-tool of a rehabilitation treatment robot, acquires movement information occurring when the main body is equipped with the end-tool through the sensor module, generates movement trajectory information of the rehabilitation treatment according to the acquired movement information, transmits the movement trajectory information to the rehabilitation treatment robot so that the rehabilitation treatment robot can operate the end-tool according to the movement trajectory information, and provides the rehabilitation treatment through the rehabilitation treatment robot that implements the transmitted movement trajectory information.

Inventors

김이근
함형원

Assignees

메디스비 주식회사

Dates

Publication Date: 20260507
Application Date: 20251117
Priority Date: 20241115

Claims (10)

A sensor module installed internally in the main body and acquiring movement information of the main body; and A processor that performs a remote rehabilitation treatment process according to the above movement information; comprising The above processor is, Detecting whether the above main body is mounted on the end tool of the rehabilitation therapy robot, and Through the sensor module above, movement information occurring while the main body is mounted on the end tool is obtained, and Generates movement trajectory information for rehabilitation treatment based on the movement information obtained above, and The movement trajectory information is transmitted to the rehabilitation therapy robot so that the rehabilitation therapy robot can manipulate the end tool according to the movement trajectory information, and A universal controller device with a robotic end-tool recognition system that provides rehabilitation treatment through a rehabilitation treatment robot implementing the transmitted movement trajectory information.
In paragraph 1, The above processor is, A universal controller device for recognizing robot end-tools, characterized by detecting a rehabilitation treatment area by analyzing movement information when detecting whether the end-tool is mounted on the main body.
In paragraph 2, The above processor is, A universal controller device for recognizing robot end-tools, characterized by identifying the end-tool as either an upper limb treatment tool or a lower limb treatment tool according to the rehabilitation treatment area.
In paragraph 1, The above processor is, A universal controller device for recognizing robot end-tools, characterized by transmitting the above movement trajectory information to the rehabilitation treatment robot, detecting whether the above end-tool is mounted on the upper limb rehabilitation treatment robot, and, if the above end-tool is mounted on the rehabilitation treatment robot, implementing the transmitted movement trajectory information through the rehabilitation treatment robot to provide the rehabilitation treatment.
In paragraph 1, The above main body is, A control unit for controlling the above-mentioned rehabilitation treatment robot; comprising, The above control unit is, Speed control button for the movement of the above-mentioned rehabilitation robot; A mode selection button for setting the movement operation mode of the above-mentioned rehabilitation therapy robot; and A universal controller device for recognizing robot end-tools, comprising: an emergency stop button for temporarily pausing the movement of the rehabilitation therapy robot.
In a method for remotely controlling a rehabilitation therapy robot using a universal controller device that recognizes robot end-tools, A step of detecting whether the device body is mounted on the end tool of the rehabilitation therapy robot; A step of acquiring movement information occurring while the above device body is mounted on the above end tool; A step of generating movement trajectory information for rehabilitation treatment based on the movement information obtained above; A step of transmitting the movement trajectory information to the rehabilitation therapy robot so that the rehabilitation therapy robot can manipulate the end tool according to the movement trajectory information; and A remote control method for a rehabilitation treatment robot, comprising the step of providing rehabilitation treatment through the rehabilitation treatment robot that implements the transmitted movement trajectory information.
In paragraph 6, The step of detecting whether the above-mentioned end tool is mounted is, A remote control method for a rehabilitation treatment robot, characterized by including the step of detecting a rehabilitation treatment area by analyzing movement information when detecting whether the above-mentioned end tool is attached to the above-mentioned main body.
In Paragraph 7, The step of detecting whether the above-mentioned end tool is mounted is, A remote control method for a rehabilitation treatment robot, characterized by including the step of identifying the extremity tool as either an upper limb treatment tool or a lower limb treatment tool according to the rehabilitation treatment area.
In Paragraph 7, The step of providing the above rehabilitation treatment is, A step of detecting whether the above-mentioned end-tool is equipped with an upper limb rehabilitation therapy robot; A remote control method for a rehabilitation treatment robot, characterized by including the step of providing the rehabilitation treatment by implementing the motion trajectory information transmitted through the rehabilitation treatment robot when the above-mentioned end tool is mounted on the rehabilitation treatment robot.
In Paragraph 7, A method for remotely controlling a rehabilitation robot, further comprising the step of receiving at least one control signal among a speed control signal for the movement of the rehabilitation robot, a signal for selecting the movement mode of the rehabilitation robot, and a signal for pausing the movement control of the rehabilitation robot through a control unit provided in the main body of the device, and remotely controlling the rehabilitation robot.

Description

Universal Controller Apparatus with Endoat Recognition and Rehabilitation Robot Control Method Using the Same The present disclosure relates to a controller device. More specifically, it relates to a universal controller device for recognizing a robot end-tool and a method for remotely controlling a rehabilitation therapy robot using the same. Recently, with the widespread adoption of rehabilitation robots, there has been an increase in cases where rehabilitation training for the disabled or patients is performed using these robots. Consequently, the development of related technologies to assist in rehabilitation training is also actively underway. Previously, many rehabilitation robots were distributed that were designed with simple structures to repeatedly perform specific movements without evaluating or analyzing the trainee's condition. However, recently, there has been a trend toward developing bidirectional (or interactive) rehabilitation robots designed to perform optimized rehabilitation training to enhance the effectiveness of rehabilitation, based on an analysis of the trainee's condition. However, conventional technologies for rehabilitation robots developed to actively assist rehabilitation by considering the rehabilitation status of the trainee have limitations in that they can only be applied to specific types of rehabilitation, thus lacking versatility. Furthermore, regarding the interaction between the trainee and the robot, they are merely rudimentary technologies that do not sufficiently account for the subtle changes in the trainee during rehabilitation. Meanwhile, tablet devices for direct control of rehabilitation training robots have been proposed, but there was a problem in that the interface that the rehabilitation trainee had to handle was complex. FIG. 1 is a conceptual diagram of a remote control system for a rehabilitation therapy robot according to one embodiment of the present disclosure. Figure 2 is a drawing illustrating an example of a controller device shown in Figure 1. Figures 3 and 4 are drawings showing an example of the combined state of the controller device and the end tool shown in Figure 1. Figures 5 and 7 are diagrams showing the overall process of the system illustrated in Figure 1. FIG. 8 is a control block diagram of a controller device according to one embodiment of the present disclosure. FIGS. 9 and FIGS. 10 are flowcharts of a remote control method for a rehabilitation therapy robot according to one embodiment of the present disclosure. Throughout this disclosure, the same reference numerals denote the same components. This disclosure does not describe all elements of the embodiments, and general content in the art to which this disclosure pertains or content that overlaps between embodiments is omitted. The terms 'part, module, component, block' as used in the specification may be implemented in software or hardware, and depending on the embodiments, a plurality of 'parts, modules, components, blocks' may be implemented as a single component, or a single 'part, module, component, block' may include a plurality of components. Throughout the specification, when a part is described as being "connected" to another part, this includes not only cases where they are directly connected but also cases where they are indirectly connected, and indirect connections include connections made via a wireless communication network. Furthermore, when it is stated that a part "includes" a certain component, this means that, unless specifically stated otherwise, it does not exclude other components but may include additional components. Throughout the specification, when it is stated that a component is located "on" another component, this includes not only cases where a component is in contact with another component, but also cases where another component exists between the two components. The terms first, second, etc. are used to distinguish one component from another, and the components are not limited by the aforementioned terms. Singular expressions include plural expressions unless there is an obvious exception in the context. In each step, identification codes are used for convenience of explanation and do not describe the order of the steps; the steps may be performed differently from the specified order unless a specific order is clearly indicated in the context. The operating principles and embodiments of the present disclosure will be described below with reference to the attached drawings. In this specification, the term "device according to the present disclosure" includes all various devices capable of performing computational processing and providing results to a user. For example, the device according to the present disclosure may include all of a computer, a server device, and a portable terminal, or may be in the form of any one of these. Here, the computer may include, for example, a notebook, desktop, laptop, tablet PC, slate PC, etc. equipped with a web b