UPPER LIMB EXERCISE APPARATUS AND CONTROL METHOD THEREFOR

摘要

The present invention provides an upper limb exercise apparatus comprising: a base (B); a frame (10) having one side thereof fixed to the base and having a variable tilting angle; a display (20) mounted on the frame and displaying a target pointer; 5-bar linkage-type movable parts (30, 40) positioned on the upper or lower side of the display and including a first link (30) and a second link (40) which are drivable, wherein the first link (30) comprises a 1-1 member (31) of which one end is attached to the frame and is rotationally driven, and a 1-2 member (33) of which one end is rotatably attached to the other end of the 1-1 member, and the other end has attached thereto a handle (50) gripped by a user, and the second link (40) comprises a 2-1 member (41) of which one end is attached to the frame and is rotationally driven, and a 2-2 member (43) of which one end is rotatably attached to the other end of the 2-1 member, and the other end has attached thereto the handle (50) gripped by a patient and the other end of the 1-2 member; and series elastic actuators (60) each attached to the one end of the 1-1 member (31) and the one end of the 2-1 member (41), and providing torque.