JP2004313555A - Functional electrostimulation walking assisting device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a functional electrostimulation walking assisting device in which components to be attached to a patient are light in weight, which enables the patient to smoothly walk without attaching the outfit to a diseased leg, and which is comfortable for the patient to use, inexpensive, light in weight, and easy to use, and also to provide a treatment device. <P>SOLUTION: Signals from a pressure switch 11 mounted to an insole 16 of a shoe 15 for a sound leg are transmitted by radio. The movement timing of the diseased leg is predicted from the movement of the sound leg in the walking assisting device body (a treatment device body) 20. Functional electrostimulation pulses with an accurate output envelope pattern are imparted to the diseased leg at an accurate timing. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a walking assist device suitable for being worn on a patient with one lower limb paralyzed, and more particularly, to a walking assist device and a therapeutic device using functional electrical stimulation (Functional Electric Stimulation).
[0002]
[Prior art]
Strokes, spinal cord injuries, and other disorders cause one leg, especially a patient with paralyzed legs, to bend down when trying to walk (drops and varus varus), causing the affected leg to move during the swing phase. Sometimes the toes of the affected legs interfere with the ground and cannot walk well. For this reason, conventionally, as shown in FIG. 7, it has been common practice to attach a brace to a patient and fix the ankle joint of the affected leg. However, attaching the orthosis is not always comfortable for the patient, and fixing the foot with the orthosis does not perform any flexion and extension movements of the foot, resulting in atrophy of the muscle that flexes and extends the foot. Therefore, no effect was expected for treatment and rehabilitation of paralyzed feet. Therefore, it is conceivable to use functional electrical stimulation.
[0003]
Many inventions have been proposed for assistive devices using functional electrical stimulation. For example, Japanese Patent Application Publication No. 2002-510224 discloses that, as shown in FIG. 1B, a host computer (12) stores a series of functional electrical stimulation patterns in a data file, reads out the patterns as appropriate, and reads out the data as needed. A method has been proposed in which an electrode (18) attached to the lower limb is excited in accordance with a stimulation pattern via (14). In Japanese Patent Application Laid-Open No. 2002-200104, as shown in FIG. 2, an ankle joint orthosis (1) is used in combination, and a surface electrode for stimulating the common peroneal nerve below the knee joint is provided above the ankle joint orthosis (1). (2) is arranged. A heel contact sensor (15) and a railroad crossing detection sensor (16) attached to the ankle orthosis (1) distinguish between a standing leg and a free leg of the affected leg. Then, during the swinging leg, functional electrical stimulation is applied to the common peroneal nerve to dorsiflex the legs and prevent the toes from getting stuck on the floor or the like and tripping. Further, as shown in FIG. 1 of Japanese Patent Application Laid-Open No. 9-38216, in a device to which functional electrical stimulation is applied, a microphone (6) as a command unit and a computer (9) as a control unit are wireless. (7a), in which a computer (9) and a functional electrical stimulation circuit (16) are connected wirelessly (12, 13). That is, it is known that a wireless circuit is used to lighten a part to be worn on a patient and reduce a burden.
[0004]
[Patent Document 1] Japanese Unexamined Patent Publication No. 2002-510224, FIG. 1B, Claim 10, the description of FIGS. 1A and 1B in the first paragraph of the column of “Description of Preferred Embodiment”.
[Patent Document 2] Japanese Patent Application Laid-Open No. 2002-200104, FIG. 2, FIG. 4, paragraph number 0022, paragraph number 0023.
[Patent Document 3] JP-A-9-38216, FIG. 1, paragraph number 0013, paragraph number 0018.
[0005]
[Problems to be solved by the invention]
However, the device described in Patent Document 1 is intended to generate a complicated and precise functional electrical stimulation signal by a host computer to move the upper limb and the lower limb, and the device becomes complicated and expensive. There is a problem. The lower limbs perform relatively regular exercise compared to the upper limbs that require complex movements, especially when used only for walking aid in patients with one of the lower limbs who is healthy and only one leg is paralyzed. If so, a lighter and cheaper walking assist device could be expected. The device disclosed in Patent Document 2 uses an ankle orthosis and auxiliary functional electrical stimulation. For this reason, there is a problem that the user is not released from the trouble of wearing the ankle joint orthosis. In addition, the method of applying functional electrical stimulation during the swing phase of the affected leg is simple, as stimulation is performed throughout the swing phase of the affected leg detected by the movement of the affected leg, so that the movement of the affected leg is not affected. Functional electrical stimulation can be uncomfortable for the patient, which may be contrary to the patient's will. The one described in Patent Document 3 is described only to show that it is known to use a wireless line.
[0006]
Therefore, the present invention is considered to be applied to a patient in which one leg is healthy and one leg is paralyzed. In normal walking, first, one heel touches the ground, and then the other heel takes off and enters the swing phase. Therefore, in order to apply functional electrical stimulation during the swinging period of the affected leg, it is only necessary to detect the take-off of the affected leg or to detect the grounding of the healthy leg.
Therefore, by predicting the movement timing of the affected leg from the exercise of the healthy leg and giving accurate functional electrical stimulation to the affected leg, a smooth walk can be performed simply by attaching lightweight parts to the affected leg without attaching a brace to the affected leg. It is an object of the present invention to provide a functional electric stimulation walking assist device which enables, is inexpensive, lightweight and easy to use, is comfortable for a patient, and is easy to use. In addition, it is also expected to be used as a walking treatment device or a rehabilitation device that aims to restore the function of a paralyzed foot by exercising the muscles of the paralyzed foot by functional electrical stimulation.
[0007]
[Means for Solving the Problems]
In order to achieve the above object, the invention of the first embodiment of the present invention refers to FIGS. 1 and 2 as an example. , A walking cycle storage unit 23 for measuring and storing a patient's walking cycle based on a signal from the stance phase sensor 10, and a basic envelope pattern of a functional electrical stimulation signal in advance. An envelope pattern storage means for outputting an envelope pattern in synchronism with a signal from the stance stage sensor by transforming the stored basic envelope pattern by the stored walking cycle; Means 25, a functional electrical stimulation pulse generating circuit 30 for outputting a functional electrical stimulation pulse according to the output envelope pattern, and a function for paralyzing the functional electrical stimulation pulse voltage. And functional electrical stimulation electrodes 33 and 34 to give the extensor nerve affected leg, characterized in that it comprises a.
[0008]
Here, the standing-stage sensor 10 may use, for example, a pressure switch 11 provided on an insole 16 of a shoe worn by a patient or a shoe sole, or may use a pressure sensor such as a strain gauge. Further, the stance phase may be detected by detecting the inclination of the shoe worn on one leg by the inclination sensor. The walking cycle storage means 23, the basic envelope pattern storage means 24, and the output envelope pattern output means 25 can be realized as software means using the microcomputer 22 including a memory. Therefore, it can be realized as an extremely lightweight one. These can also be realized as hardware electronic circuits. As shown in FIG. 2, each of the means 23 to 25 and the functional electrical stimulation (FES) pulse generating circuit 30 have a large amount of information to be exchanged, and therefore, it is preferable to be integrally mounted on the affected leg. Detector (standing phase sensor) 10 including a pressure switch 11, a transmitter 12, an antenna 13, and the like desirably mounted on a healthy leg, a receiver 21, a CPU 22, mounted on an affected leg, each of means 23 to 26, functions It is preferable that the walking assist device main body (therapeutic device main body) 20 including the electrical stimulation pulse generating circuit 30 and the like be connected by a wireless line (antennas 13 and 41). However, it is also possible to connect with a wired line, and both are included in the scope of the present invention. The functional electrical stimulation electrodes 33 and 34 are tightly fixed to the upper skin on the front of the lower leg so as to stimulate the extensor muscles of the lower leg.
[0009]
With this configuration, when the patient wearing the device of the present invention starts walking, a signal is sent from the stance phase sensor 10 each time the lower leg of the healthy leg enters the stance phase (grounds). The interval time of the rise of the signal is measured and stored in the walking cycle storage means 23. Therefore, the actual walking cycle of one leg of the patient is stored in the walking cycle storage means 23. On the other hand, the basic envelope pattern storage means 24 previously stores the basic envelope pattern of the functional electrical stimulation pulse. This basic envelope pattern is transformed by the output envelope pattern output means 25 in accordance with the walking cycle and is output as an output envelope pattern most suitable for the patient.
[0010]
Here, "deformed according to the walking cycle" means that the basic envelope pattern is expanded or contracted only in the time axis according to the walking cycle time, or the pattern waveform is expanded or contracted in a similar manner according to the walking cycle time so that only the highest voltage is saturated. Or letting them do that. Then, the output envelope pattern is output from the output envelope pattern output unit 25 to the functional electrical stimulation pulse generation circuit 30 in synchronization with the rise of the signal from the stance phase sensor 11. Then, the functional electrical stimulation pulse generation circuit 30 outputs a functional electrical stimulation pulse according to the envelope pattern, and the functional electrical stimulation pulse is applied to the affected leg of the patient via the functional electrical stimulation electrodes 33 and 34. Is applied.
[0011]
Therefore, at the most suitable timing predicted from the walking pattern of the leg on which the stance stage sensor 10 is worn, a functional electrical stimulation pulse having the most suitable output envelope pattern is given to the affected leg. When the affected leg is about to become a free leg, at a predetermined timing during the predicted free leg period, the extensor muscles of the lower leg contract due to the functional electrical stimulation pulse, and the leg dorsiflexes. Therefore, when the patient walks, the toes of the affected leg do not interfere with the floor surface and hinder walking.
[0012]
As described above, since the present invention predicts the desired movement of the affected leg from the movement of one leg and gives a functional electrical stimulation pulse to the affected leg, sometimes the functional electrical stimulation is performed before the affected leg starts to move. It is also possible to apply a pulse to the affected leg, and there is an effect that a functional electrical stimulation pulse is applied to the affected leg for the required time at an optimal timing, and the leg can be flexed. Therefore, the patient is less likely to be uncomfortable. In addition, since there is no need for a brace for fixing the foot, there is an effect that the burden on the patient is light. Furthermore, since the muscles of the lower leg are contracted by the functional electrical stimulation pulse, a rehabilitation effect is expected and a therapeutic effect can be expected.
[0013]
Here, as in the invention of the second embodiment, the foot to which the stance phase sensor 10 is attached can be characterized as a healthy leg (a healthy leg) of the patient. With this configuration, it is possible to give a functional electric stimulation pulse to the affected leg by predicting the movement of the affected leg by the movement of the healthy leg, instead of giving a functional electric stimulation pulse to the affected leg by the movement of the affected leg. . Since the healthy leg exercises with more accurate periodicity than the affected leg, there is an effect that the timing of applying the functional electrical stimulation pulse to the affected leg can be made more appropriate.
[0014]
Here, as in the invention of the third embodiment, the walking cycle storage means 23 has a function of not storing the walking cycle when the walking cycle is longer than a predetermined upper limit time or shorter than a predetermined lower limit time. It can be characterized. With this configuration, when the apparent walking cycle becomes longer than the predetermined upper limit time, such as when the patient stops and takes a break, the false walking cycle is not stored, so that the apparatus does not operate with the wrong walking cycle. . In addition, when the patient poorly shakes the healthy leg, or by chattering of the stance phase sensor 10, an extremely short walking cycle is observed. Since the walking cycle is not stored, it does not operate in the wrong walking cycle. As described above, there is an effect that the noise information not directly related to walking can be canceled and a functional electrical stimulation pulse can be given based on a walking cycle corresponding to the actual walking movement of the patient.
[0015]
Here, as in the invention of the fourth embodiment, the basic envelope pattern storage means 24 can change the basic envelope pattern to be stored from a detachable external computer 50. It can be characterized by comprising setting means. With such a configuration, there is an effect that the basic envelope pattern can be set to a pattern that is well matched to the individuality and walking habit of each patient. In addition, there is an effect that it is easy to correct a defect point felt by a patient after actually using the apparatus.
[0016]
Here, as in the invention of the fifth embodiment, the output envelope pattern output means 25 temporally expands and contracts the basic envelope pattern stored in advance in accordance with the walking cycle stored in the walking cycle storage means 23. Then, the output envelope pattern can be obtained. With this configuration, it is possible to easily obtain an output envelope pattern corresponding to the walking state of the patient. Further, since the means for deforming the basic envelope pattern in the output envelope pattern output means 25 merely expands or contracts the time axis, the processing is simple and the cost of the apparatus is low.
[0017]
Here, as in the invention of the sixth embodiment, the stance phase sensor 10 is integrally modularized and embedded in the insole 16 of the shoe 15, and outputs the signal wirelessly. Can be characterized. With this configuration, the detector (stance sensor) 10 including the pressure switch 11 and the transmitter 12 is completely embedded in the insole 16 of the shoe 15. Since the insole 16 is wireless and wireless, there is no accessory such as a cord, so that the appearance of the insole 16 is not different from a normal one. For this reason, there is no inconvenience even when the user wears the opposite leg (healthy leg) of the leg to which functional electrical stimulation is applied. Also, there is an effect that the attachment / detachment from the shoe 15 is free, and the attachment / detachment of the detector (standing-state sensor) 10 and the exchange of the shoe 15 are extremely easy.
[0018]
BEST MODE FOR CARRYING OUT THE INVENTION
A first embodiment of the present invention will be described with reference to the drawings.
FIG. 1 is a block diagram showing an outline of a functional electric stimulation walking assist device according to the present invention. The main components of the device are a detector (standing phase sensor) 10 mounted on a healthy leg, a walking assist device main body (therapeutic device main body) 20 mounted on an affected leg, and a computer (PC) 50 which is removed when the patient walks. And The detector (a stance phase sensor) 10 includes a pressure switch 11 that operates at a predetermined pressure, a transmitter 12 that transmits the signal as a wireless signal, an antenna 13, and a battery 14. Since the reach of the radio signal is at most 1 m, it is sufficient to use an extremely weak radio wave. The members 11, 12, 13, and 14 constituting the detector (the stance phase sensor) 10 have a width of 10 mm, a length of 20 mm, and a thickness of 20 mm. It is modularized as a thin plate-shaped detector (standing phase sensor) 10 of about 3 mm.
[0019]
The modularized detector (stance sensor) 10 is embedded in an insole 16 of a shoe 15. Since the insole 16 is wireless and wireless, the appearance of the insole 16 is not different from a normal one without any accessories such as cords. Therefore, the shoes 15 can be freely attached and detached, and the shoes 15 can be easily replaced. Also, the detector (stance sensor) 10 is designed to output one pulse when a load is applied to the pressure switch 11 or to output one pulse when the load on the pressure switch 11 is removed. The selection is made with the attached slide switch. Therefore, when detecting a heel contact on the healthy leg side, a pulse may be output when a load is applied to the pressure switch 11, and when detecting the leaving of the affected leg, a pulse may be output when the load on the pressure switch 11 is removed. It may be used so as to output it (in this case, it works as a sensor for the swing phase of the affected leg). That is, the walking assist device can be controlled regardless of whether the detector 10 is mounted on the healthy leg side or the affected leg side.
[0020]
As described above, the present invention includes both the detector attached to the foot on the healthy leg side and the detector attached to the foot on the affected leg side. It is desirable to attach it to This is because the healthy leg exercises more rhythmically, and a signal having a more accurate periodicity can be obtained for the patient's walking cycle indicated by the detector (standing phase sensor) 10.
[0021]
FIG. 2 is a block diagram showing functions of the functional electric stimulation walking assist device. The walking assist device main body (the therapeutic device main body) 20 is a well-known micro-compact comprising an antenna 41 for receiving a radio signal from the detector (a stance phase sensor) 10, a receiver 21 for demodulation, a CPU 22, and a memory (ROM, RAM). It comprises a computer, a functional electrical stimulation (FES) pulse generation circuit 30. Each of the units described above, that is, the walking cycle storage unit 23, the basic envelope pattern storage unit 24, the output envelope pattern output unit 25, and the frequency variable unit 26 are realized as processing procedures in a microcomputer (such as the CPU 22). You. The walking assist device main body (treatment device main body) 20 is housed in a plastic housing that conforms to the shape of a patient's lower leg of about 30 mm × 50 mm × 20 mm. Further, a voltage adjusting volume 31 of the functional electric stimulation pulse is attached to the housing, so that the pulse voltage of the functional electric stimulation pulse can be adjusted from the outside. The voltage adjustment volume 31 also uses the power switch of the walking assist device main body (the therapeutic device main body) 20. Further, a test button 32 is attached to the housing, and a functional electrical stimulation pulse is output from the functional electrical stimulation pulse generation circuit 30 to the functional electrical stimulation electrodes 33 and 34 while the test button 32 is pressed. Has become. The two functional electrostimulation electrodes 33 and 34 are provided so as to be exposed on the housing, that is, on the back surface of the walking assist device (the therapeutic device main body) 20, and the functional electrostimulation electrodes 33 and 34 are directly attached to the patient's skin. It can be brought into direct contact with the attached skin surface electrodes 81, 82 with an adhesive gel pad.
[0022]
A voltage / current is supplied from a power supply 40 to the walking assist device main body (the therapeutic device main body) 20. A rechargeable NiH battery is used as the power source 40, and four AAA batteries are accommodated in four holders to constitute the power source 40. Further, a communication interface circuit 42 for connecting to an external computer (PC) 50 is built in the main body 20 of the walking assist device (the main body of the treatment device). The external computer 50 and the walking assist device main body (the therapeutic device main body) 20 are connected via a communication signal level converter 51 and a connection cable 52. The external computer 50 exchanges data with the microcomputer (the CPU 22 and the like) of the walking assist device main body (the therapeutic device main body) 20 to make various settings and change the settings. When the patient actually walks, the external computer 50, the communication signal level converter 51, and the connection cable 52 are detached from the walking assist device main body (the therapeutic device main body) 20.
[0023]
FIG. 3 is a perspective view showing the lower leg in a front view, and showing the extensor leg muscle group and the peroneal muscle group. The femur 61 is connected to the tibia 63 via a knee joint 62. The tibia 63 and the fibula 64 are connected by an inter-tibial interstitial membrane 65. The distal end of the tibia 63, together with the distal end of the fibula 64, forms a tarsal bone 66 and an ankle 67. The tibialis anterior 71 starts from the outer side of the tibia 63 and stops at the sole 72. The long peroneus 73 and the short peroneus 74 start from the outer side of the fibula 64 and stop at the sole 72. These extensor muscle groups 71, 73, 74 are governed by the deep peroneal nerve and the superficial peroneal nerve. The deep peroneal nerve and the superficial peroneal nerve are united as a common peroneal nerve on the front surface near the knee joint 62. The vicinity of the ankle joint 67 of each of the extensor muscle groups 71, 73, and 74 is supported by the inferior peroneal muscle support 75, the lower extensor support 76, and the upper extensor support 77. Therefore, by stimulating the deep peroneal nerve, the superficial peroneal nerve, or the common peroneal nerve with a functional electrical stimulation pulse, each extensor muscle group such as the tibialis anterior 71, the long peroneus 73, the short peroneus 74 is contracted, Can be dorsiflexed.
[0024]
Based on the above configuration, the operation and use of the functional electric stimulation walking assist device according to the present invention will be described.
FIG. 4 is a perspective view showing a state where the skin surface electrodes 81 and 82 with the adhesive gel pad are attached to the affected leg. The affected leg is, for example, the right leg. Two skin surface electrodes 81 and 82 with an adhesive gel pad are attached to the skin near the upper perforated outer leg of the right leg near where the common peroneal nerve runs. In order to balance the affected leg of the patient with the healthy leg, ordinary right shoes 17 are worn.
[0025]
FIG. 5 is a perspective view showing a state in which the walking assist device main body (the therapeutic device main body) 20 is attached to the affected leg. The left shoe 15 and the left insole 16 for a healthy leg are also depicted. A walking assist device main body (treatment device main body) 20 is fixed to a band 80 made of cloth or rubber. The main body of the walking assist device (the main body of the treatment device) 20 is brought into contact with the lower leg of the affected leg, and the functional electric stimulation electrodes 33 and 34 made of metal or conductive rubber on the back of the main body of the walking assist device (the main body of the treatment device) 20 are The skin surface electrodes 81 and 82 with the adhesive gel pad attached to the affected leg are brought into close contact with each other. Then, the band 80 is wrapped around the affected leg, and fixedly attached with a magic tape (trade name) so as not to be unwound. The walking assist device main body (the therapeutic device main body) 20, the belt 80, and the like mounted on the affected leg are lightweight and do not burden the patient. On the other hand, a pressure switch 11, which operates at a predetermined pressure, a transmitter 12, an antenna 13, and a detector (a standing period sensor) 10 comprising a battery 14 are embedded in a left insole 16 of a left shoe 15 worn on the left foot which is a healthy leg. I have. The detector (standing phase sensor) 10 sends a radio signal to the walking assist device main body (therapeutic device main body) 20 when pressure is applied to the heel of the left foot (healthy leg).
[0026]
In the state of FIG. 5, when the voltage adjustment volume 31 is slightly turned, the power of the walking assist device main body (therapeutic device main body) 20 is turned on, and a state in which a functional electrical stimulation pulse voltage can be output. When the test button 32 is pressed, a functional electric stimulation pulse voltage is output only while the test button 32 is pressed, and the extensor muscles of the lower leg are stimulated. Therefore, during this time, the patient adjusts the voltage adjustment volume 31 by himself to obtain an appropriate functional electrical stimulation pulse voltage.
[0027]
FIG. 6 is a screen diagram showing a display screen of the computer (PC) 50. FIG. 6A is a screen for setting the detection limit of the walking cycle. Even if a walking cycle other than the range set here is detected, it is assumed that it is not due to actual walking, and is excluded from storage as a walking cycle. As the detection limit, a predetermined lower limit time 91 and a predetermined upper limit time 92 are set. In the text box for setting the predetermined lower limit time 91, a range from 0.3 seconds to 3.0 seconds can be set. By double-clicking the text box to be set, inputting a numerical value from the keyboard, and pressing the enter key, the numerical value is set or updated. In the example of the figure, it is set to one second. In the text box for setting the predetermined upper limit time 92, a range from 0.8 seconds to 6.0 seconds can be set. In the example of the figure, it is set to 2.5 seconds. Therefore, in this setting, only the walking cycle detected by the healthy leg detector (standing phase sensor) 10 between 1 second and 2.5 seconds is recognized in the walking assist device body 20 as the walking cycle of the healthy leg. Is done.
[0028]
FIG. 6B is a screen for setting the basic envelope pattern and the frequency of the functional electrical stimulation pulse. The frequency 93 of the functional electrical stimulation pulse can be set in the range of 20 Hz to 80 Hz. In the illustrated example, the frequency is set to 40 Hz. The basic envelope pattern is set based on the time from the rising edge of the signal from the healthy leg detector (stance phase sensor) 10. The time is set in% of the previous walking cycle time. The delay time 94 from the rising edge of the detector (resting stage sensor) 10 signal to the start of the functional electrical stimulation pulse is set to 5% in the example shown. The rise time 95 until the functional electrical stimulation pulse voltage reaches the maximum value is set to 10% in the example shown. The stimulus width time 96 during which the pulse voltage lasts at the maximum value is set to 35% in the example of the figure. The fall time 97 until the functional electrical stimulation pulse voltage falls to 0 V is set to 10% in the example shown. When the setting is completed, the external computer 50, the communication signal level converter 51, and the connection cable 52 are detached from the external computer 50, the communication signal level converter 51, and the connection cable 52 from the walking assist device main body (treatment device main body) 20. Only the walking assist device body (therapeutic device body) 20 is left on the affected leg.
[0029]
In this manner, according to the pulse frequency and the basic envelope pattern set by the computer 50, based on the signal of the healthy foot stance phase from the detector 10 attached to the healthy foot, an appropriate timing is set in accordance with the walking cycle of the previous healthy foot. A pulse of functional electrical stimulation pulse voltage is applied to the nerves that control the extensor muscles of the affected leg. Thereby, the leg of the affected leg dorsiflexes once during the swing phase. In the embodiment described above, the leg is bent only once in accordance with the swinging period of the affected leg. However, it is assumed that the basic envelope pattern has two peaks, and the back is twice in the swinging period of the affected leg. It will be apparent to those skilled in the art that functional electrical stimulation may be applied to yield.
[0030]
【The invention's effect】
As described above, the present invention provides a lightweight component without attaching a brace to the affected leg by predicting the movement timing of the affected leg from the exercise of one leg and applying accurate functional electrical stimulation to the affected leg. There is an excellent effect that it is possible to provide an inexpensive, lightweight, and easy-to-use functional electric stimulation walking assist device that is comfortable to use for a patient, that is inexpensive, easy to use, and that enables smooth walking simply by attaching the device to a leg. In addition, by exercising the muscles of the paralyzed leg by the functional electrical stimulation, it is possible to achieve the therapeutic effect that the function of the paralyzed leg can be restored.
[Brief description of the drawings]
FIG. 1 is a block diagram showing an outline of a functional electric stimulation walking assist device according to the present invention.
FIG. 2 is a block diagram showing functions of a functional electric stimulation walking assist device according to the present invention.
FIG. 3 is a perspective view showing the lower leg in a front view and showing the extensor leg muscle group and the peroneal muscle group.
FIG. 4 is a perspective view showing a state where a skin surface electrode with an adhesive gel pad is attached to an affected leg.
FIG. 5 is a perspective view showing a state in which the main body of the walking assist device (the main body of the treatment device) is attached to the affected leg.
FIG. 6 is a screen diagram showing a display screen of a computer (PC).
FIG. 7 is a perspective view showing a conventional leg orthosis.
[Explanation of symbols]
10 Detector (Standing stage sensor)
11 Pressure switch
12 transmitter
20 Walking assistance device body (therapeutic device body)
21 Receiver
22 CPU
23 Walking cycle storage means
24 Basic envelope pattern storage means
25 Output envelope pattern output means
26 Pulse frequency variable means
30 Functional electrical stimulation pulse generation circuit
31 Voltage adjustment volume
32 test button
33 Functional Electrostimulation Electrode
34 Functional Electrical Stimulation Electrode
50 Computer (PC)
81 Skin surface electrode with adhesive gel pad
82 Skin surface electrode with adhesive gel pad

Claims (6)

A stance phase sensor that is attached to one of the patient's feet and detects that the leg is grounded and in the stance phase,
Walking cycle storage means for measuring and storing the walking cycle of the patient based on the signal from the stance phase sensor,
Basic envelope pattern storage means for storing in advance a basic envelope pattern of the functional electrical stimulation signal;
Output envelope pattern output means for deforming the stored basic envelope pattern by the stored walking cycle and outputting an output envelope pattern in synchronization with a signal from the stance phase sensor;
A functional electrical stimulation pulse generation circuit that outputs a functional electrical stimulation pulse according to the output envelope pattern;
A functional electrical stimulation electrode for applying the functional electrical stimulation pulse voltage to a nerve of the extensor muscle of a paralyzed affected leg,
A functional electric stimulation walking assist device comprising: 2. The functional electrical stimulation walking assist device according to claim 1, wherein the foot on which the stance phase sensor is worn is a leg (healthy leg) of a patient who is healthy. 3. The functional unit according to claim 1, wherein the walking cycle storage unit has a function of not storing the walking cycle when the walking cycle is longer than a predetermined upper limit time or shorter than a predetermined lower limit time. Electric stimulation walking assist device. 4. The basic envelope pattern setting unit according to claim 1, wherein the basic envelope pattern storage unit includes a basic envelope pattern setting unit that can change a setting of a basic envelope pattern to be stored from a detachable external computer. A functional electric stimulation walking assist device according to any one of the claims. The output envelope pattern output unit is a unit that temporally expands and contracts a basic envelope pattern stored in advance in accordance with a walking cycle stored in the walking cycle storage unit to obtain an output envelope pattern. The functional electrical stimulation walking assist device according to claim 1. 6. The stance sensor according to any one of claims 1 to 5, wherein the stance sensor is integrated into a module, embedded in a shoe insole, and outputs the signal wirelessly. Functional electrical stimulation walking aid as described.

Images