JP6744139B2 - Rehabilitation support control device and computer program - Google Patents

Description

The present invention relates to a technique for supporting rehabilitation.

BACKGROUND ART Conventionally, there is a technique of displaying an image for rehabilitation on a touch panel and evaluating the rehabilitation by detecting a place touched by an object person of the rehabilitation corresponding to the image (for example, refer to Patent Document 1).

JP, 2013-172897, A

Here, the target person of rehabilitation may be able to efficiently perform subsequent rehabilitation by objectively confirming the movement when the body is moved by the rehabilitation.
However, in the conventional technology, even if the practitioner who performs the rehabilitation can confirm the information indicating the movement result of the body of the subject, it is difficult for the subject himself to confirm the information indicating the movement result. Was sometimes.
Further, in the conventional technology, even if the practitioner who performs rehabilitation can understand the information indicating the movement result of the subject's body, it is difficult for the subject himself to understand the information indicating the movement result. There were cases.

In view of the above circumstances, the present invention has an object of providing a technique capable of easily recognizing information related to the result of the rehabilitation target's body movement by the rehabilitation.

One aspect of the present invention, based on the detection result information indicating the detection result of the body of the subject of rehabilitation, a recognition unit that recognizes a position of a part of the body of the subject, and the position that the recognition unit recognizes And a display control unit that controls display of information about the position based on the above.

One aspect of the present invention is the rehabilitation assistance control device described above, wherein the part of the body includes the hand or foot of the subject, and the recognition unit recognizes the position of the hand or foot. However, the display control unit controls the display of the locus of the hand accompanying the movement of the hand based on the position of the hand recognized by the recognition unit, or the display of the foot recognized by the recognition unit. Based on the position, the display of the trajectory of the foot accompanying the movement of the foot is controlled.

One aspect of the present invention is the rehabilitation assistance control device, wherein the recognition unit is a recognition result indicating a position of a part of the body of the subject recognized by the recognition unit in a first period, A comparison unit that compares the position of a part of the body of the subject based on a second recognition result that is the recognition result recognized at a second time that is earlier than the first time; The display control unit controls display of information regarding a comparison result obtained by comparing the first recognition result and the second recognition result.

One aspect of the present invention is the rehabilitation assistance control device described above, wherein the second recognition result is a recognition result of another target person different from the target person, and a part of the body of the target person. Comparing the first recognition result with the reference information, the comparison unit compares the position of a part of the body of the subject.

One aspect of the present invention, based on the detection result information indicating the detection result of the body of the subject of rehabilitation, a recognition unit that recognizes a position of a part of the body of the subject, and the position that the recognition unit recognizes A computer program for causing a computer to function as a rehabilitation assistance control device, comprising: a display control unit that controls display of information regarding the position based on the above.

According to the present invention, it becomes possible to easily and easily display the information regarding the result of the rehabilitation target person's body movement by the rehabilitation.

It is a perspective view showing the system configuration of rehabilitation assistance system 1 concerning one embodiment of the present invention. 3 is a schematic block diagram showing a functional configuration example of a rehabilitation support control device 300 included in the rehabilitation support system 1. FIG. 7 is a perspective view for explaining a first operation area by the rehabilitation support control device 300. FIG. 3 is a plan view showing an example of image display in the rehabilitation support system 1. FIG. 7 is a perspective view for explaining a second operation area by the rehabilitation support control device 300. FIG. 3 is a plan view showing an example of image display in the rehabilitation support system 1. FIG. 6 is a flowchart showing an example of a motion area determination process by the rehabilitation assistance control device 300. FIG. 6 is a perspective view showing an example in which the rehabilitation support control device 300 projects a target image as a target for moving the hand. It is a figure which shows the example which the rehabilitation assistance control apparatus 300 projects the disturbance of a hand. It is a figure which shows the example which the foot display parameter setting part 347 sets the value of a step. FIG. 6 is a perspective view showing an example in which the rehabilitation support control device 300 projects a target image that is an avoidance target when the subject EP walks. In rehabilitation using the rehabilitation support system 1 It is a flow chart which shows an example of parameter setting. An example of recognition by the recognition unit 341 when the rehabilitation content is walking It is a top view shown. It is a 1st figure which shows an example of the result image RP1. An example of recognition performed by the recognition unit 341 when the content of rehabilitation is movement of the hand It is a top view which shows an example. It is a 2nd figure which shows an example of the result image RP2. Outline showing a functional configuration example of a rehabilitation support control device 320 of a modified example It is a block diagram. It is a 3rd figure which shows an example of the result image RP3. Perspective view showing a modification of the system configuration of the rehabilitation support system 1. Is.

FIG. 1 is a perspective view showing a system configuration of a rehabilitation support system 1 according to an embodiment of the present invention. The rehabilitation support system 1 is a system that supports the implementation of rehabilitation for a target person (hereinafter referred to as “target person”) of rehabilitation. The rehabilitation support system 1 includes a sensor 100, an output device 200, and a rehabilitation support control device 300.

The sensor 100 detects the target person EP within a detection range 800 of the sensor 100 (a range surrounded by a broken line in FIG. 1).
The sensor 100 is, for example, an image sensor, an infrared sensor, a laser sensor, a thermosensor, or the like that can detect the movement of the target person EP without attaching a marker to the target person EP. In the present embodiment, as an example of such a sensor, a case where Kinect (registered trademark) in which a distance sensor and an image sensor are incorporated is used as the sensor 100 will be described.
The sensor 100 includes, for example, an image sensor (not shown). The image sensor (1) has a function as a moving image camera that captures a frontal direction of itself in real time and acquires a plurality of continuous two-dimensional images (frame images); It has a function as a distance sensor (depth sensor) for acquiring information (image displaying distance information) on the distance to the actual position corresponding to each position in the image (frame image). With the function of the distance sensor, an image obtained by capturing the target person EP and distance image information that is coordinate information in the three-dimensional space of each part of the body of the target subject EP captured in the image are acquired. The three-dimensional space detected by the sensor 100 is a space represented by the XYZ orthogonal coordinate system shown in FIG.
Each part of the body of the target person EP is a part of the body that is required to be detected in order to recognize the motion of the target person EP. Specifically, the respective parts of the body of the subject EP are, for example, positions of the head, shoulders, arms, hands, waist, legs, joints, etc. of the subject EP.
The sensor 100 outputs information indicating the detection result (hereinafter referred to as “detection result information”) to the rehabilitation assistance control device 300. The detection result information is, for example, position information of a part of the body of the subject EP.
The sensor 100 may be a sensor that attaches a marker to the target person EP and detects the target person EP by detecting the marker.

The output device 200 outputs an image relating to rehabilitation performed on the subject EP. The output device 200 is, for example, an image projection device such as a projector. The output device 200 projects an image that supports rehabilitation and displays it in the output area 900. Examples of the output image include an image including a movement history of a part of the body of the target person EP and a movement target position of a part of the body of the target person EP. For example, in the case of walking rehabilitation, the output device 200 displays one or both of the movement history of the foot position of the target person EP and the target position where the target person EP moves and moves the foot. Good. Further, in the case of hand movement rehabilitation, the output device 200 selects one or both of the movement history of the hand position of the target person EP and the target position where the target person EP moves and moves the hand. May be displayed. In the following description, an image showing the movement history of a part of the body of the subject EP is referred to as a history image. An image showing a movement target position of a part of the body of the target person EP is referred to as a target image.

The rehabilitation support control device 300 is configured using an information processing device. That is, the rehabilitation support control device 300 includes a CPU (Central Processor Unit), a memory, and an auxiliary storage device connected by a bus. The rehabilitation support control device 300 operates by executing a rehabilitation support program.

The sensor 100 and the like are supported by the legs 310. The leg portion 310 can be expanded and contracted in the vertical direction, and the height positions of the sensor 100 and the output device 200 can be adjusted. Thereby, the width of the detection range of the sensor 100 can be adjusted. Further, when the output device 200 is a projection device, it is possible to adjust the size of the output area 900. The leg portion 310 also includes casters 311, 312, 313, 314. Since the casters 311 to 314 can roll, the rehabilitation support system 1 can be freely moved on the floor by pushing it by hand.

FIG. 2 is a schematic block diagram showing a functional configuration example of the rehabilitation support control device 300 included in the rehabilitation support system 1. The rehabilitation support control device 300 includes an input unit 31, an output unit 32, a storage unit 33, a control unit 34, an operation unit 35, and a display unit 36.
The input unit 31 is an interface for inputting information from the outside. For example, the input unit 31 acquires information indicating the detection result (detection result information) from the sensor 100.
The output unit 32 is an interface that outputs the image generated by the control unit 34 to the output device 200.

The storage unit 33 is configured using a storage device such as a magnetic hard disk device or a semiconductor storage device. The storage unit 33 functions as a calibration information storage unit 331, a determination condition information storage unit 332, a detection history information storage unit 333, a parameter information storage unit 334, and a program information storage unit 335.

The calibration information storage unit 331 stores the calibration information. The calibration information is information that associates the coordinate system of the coordinates indicating the detection result of the sensor 100 with the coordinate system of the image plane projected by the output device 200. Therefore, the calibration in the rehabilitation assistance control device 300 is a process of grasping the positional relationship between the detection range 800 of the sensor 100 and the image output area 900 of the output device 200 and setting a coordinate system common to both. The detection range that the sensor 100 can detect may be wider than the illustrated detection range 800. The detection range 800 in the present embodiment is a detection range necessary for acquiring the position information of a part of the target body of the target person EP in the motion of the target person EP performed on the output area 900. Is. The term “on the output area 900” includes not only a flat area defined by the output area 900 but also a space up to a predetermined height based on the output area 900 in that area.

The calibration information may be obtained, for example, by performing calibration in advance.
More specifically, for example, the output device 200 projects a marker image for calibration onto a plurality of locations such as four corners of the image surface (image output area 900). The rehabilitation assistance control device 300 has already known the coordinates in the coordinate system of the output device 200.

When the output device 200 projects the marker image, the sensor 100 causes the position of each marker image to the rehabilitation assistance control device 300 in the coordinate system of the sensor 100 (coordinate system used by the sensor 100 to indicate the detection position). Output. Thereby, the rehabilitation support control device 300 (control unit 34) acquires the position of each marker by both the coordinates in the coordinate system of the sensor 100 and the coordinates in the coordinate system of the output device 200. Further, the rehabilitation assistance control device 300 (control unit 34) grasps the coordinates indicating the range of the output region 900 in the coordinate system of the output device 200 from the marker images projected on the four corners and the like. Thereby, the target determination unit 345 described later can calculate the target position in the coordinate system of the output device 200 in the output area 900.

The rehabilitation assistance control device 300 (control unit 34) acquires information for correcting the coordinate system of the sensor 100 as calibration information based on the obtained coordinates. When the sensor 100 has a coordinate system adjustment function, the rehabilitation assistance control device 300 (control unit 34) uses this function to perform calibration for matching the coordinate system of the sensor 100 with the coordinate system of the output device 200. Generate information. Alternatively, when the output device 200 has a coordinate system adjustment function, the rehabilitation support control device 300 (control unit 34) uses this function to match the coordinate system of the output device 200 with the coordinate system of the sensor 100. The calibration information may be generated.

When it is difficult to detect the marker image by the sensor 100, such as when the floor surface scatters light to blur the marker image, an operator such as a physical therapist manually detects the position instead of the position detection using the marker image. May be performed. With the output device 200 projecting an image on the entire output area 900, the sensor 100 captures an area including the entire projected image by the image sensor. The rehabilitation assistance control device 300 displays the image captured by the sensor 100 on the display screen. Then, the operator of the rehabilitation support system 1 specifies each of the four corners of the output area 900 displayed on the monitor screen by a touch operation.
Since the image displayed on the monitor screen is the image captured by the sensor 100, the position designated by the operator can be acquired by the coordinates in the coordinate system of the sensor 100. The rehabilitation support control device 300 (control unit 34) acquires the calibration information based on the coordinates and the coordinates of the four corners of the output area 900 in the coordinate system of the output device 200. The coordinates of the floor are used as the coordinates in the height direction.
Alternatively, a physical therapist or the like may place physical markers such as cones at the four corners of the image plane. In this case, the sensor 100 detects the placed markers and outputs the coordinates of each marker.

When the output device 200 projects an image on the floor surface, if the rehabilitation support system 1 is used for the first time, it is not necessary to perform the calibration after the second use. Since the positional relationship between the sensor 100 and the floor surface and the positional relationship between the output device 200 and the floor surface do not change, the calibration information obtained during the first use can be used during the second and subsequent uses. is there.

The determination condition information storage unit 332 stores the conditions for determining the operation area. The operation area will be described later.
The detection history information storage unit 333 stores a history of position information (detection result information) regarding a part of the body of the target person EP recognized by the recognition unit 341. For example, when performing walking rehabilitation, the detection history information storage unit 333 stores a history of detection result information of the foot position of the target person EP. Further, when performing rehabilitation of hand movement, the detection history information storage unit 333 stores a history of detection result information of the hand position of the target person EP.

The parameter information storage unit 334 includes a foot display parameter set by a foot display parameter setting unit 347 described later, a hand display parameter set by a hand display parameter setting unit 348 described later, and a disturbance display parameter setting unit 349 described later. The display parameter for disturbance set by is stored.
The program information storage unit 335 stores a rehabilitation support program.

The control unit 34 is configured by using a CPU. By executing the rehabilitation support program, the control unit 34 executes the recognition unit 341, the display control unit 342, the motion area determination unit 343, the recording unit 344, the target determination unit 345, the evaluation unit 346, the foot display parameter setting unit 347, It functions as a display parameter setting unit 348 for hands and a display parameter setting unit 349 for disturbance.

The recognition unit 341 acquires the detection result information acquired by the input unit 31 and recognizes the target object indicated by the detection result information. For example, the recognition unit 341 recognizes a person, a table, a floor, a wall, etc. existing in the detection range 800 based on the detection result information. For example, if Kinect (registered trademark) is used, the positions of a plurality of parts on the human body of the subject EP can be recognized. For example, when the recognizing unit 341 recognizes the long end of the detection target on the table, the recognizing unit 341 detects the position information of the front end for each unit time. The recognition unit 341 recognizes the movement of part of the body of the target person EP based on the position information of these feature points detected by the sensor 100 every moment. For example, when a long object is detected, the recognition unit 341 recognizes the movement of the position of the tip of the object. The movement of the position of the tip may be treated as the position of the hand of the subject EP, for example. Further, the recognition unit 341 has a function of recognizing the position of each part when the target object can be recognized as a person by comparing the shape of the target object indicated by the detection result information with the human skeleton model. Good. According to this function, the recognition unit 341 can recognize the position information of each part of the human body in association with the part. For example, the subject EP stands upright in front of the sensor 100. Then, the recognition unit 341 compares the detection result information detected in that state with the human skeleton model, and recognizes that the object is a person because the object has a human shape. Further, the recognition unit 341 associates the position information of each part with each part such as left toe and its position information, right heel and its position information, left and right wrists and each position information. recognize. By using the function of recognizing the position of each part based on the skeleton model (hereinafter referred to as “skeleton tracking function”), the recognition unit 341 can recognize the movement of the position of each part of the target person EP. As described above, the recognition unit 341 tracks the predetermined position of the target object having the predetermined shape included in the detection result information, or by the skeleton tracking function, the position of a part of the body of the target person EP and the position thereof. Recognize movement. Further, by using Kinect (registered trademark), it is possible to obtain coordinate information of an object existing in the detection range 800 (point cloud data including coordinate information of the object existing in the detection range 800 at predetermined intervals). The recognizing unit 341 analyzes the detection result information (point cloud data), has an area equal to or larger than a predetermined width, and has a Z coordinate value that does not change (in short, a point cloud of which the Z coordinate value is substantially constant). Group) as a plane with walls, floors, tables, etc. Further, the recognizing unit 341 is the detection data of which part of the detection result information is the detection data of a part of the body (detection target part) of the target person EP related to the motion region determined by the motion region determining unit 343 described later. It is recognized and the data (detection target information CG) is selected.

Here, the motion region is a region in which the target motion of the rehabilitation of the subject EP is performed. More specifically, it is a predetermined region in the space in which a part strongly related to a motion intended to recover by rehabilitation operates. In addition, for example, the motion area is an area where the subject person EP brings the parts close to each other in the rehabilitation. In addition, for example, the motion region is a region including a position that is a target (a reaching point) of the motion in the rehabilitation of the subject EP. In addition, the motion region is a place where the subject EP performs a target motion during rehabilitation. In the case of a two-dimensional area, a floor, a table, and the like can be given as specific examples of the operation area. For example, in the case of a floor, the part that is strongly related to the motion aimed at recovery by rehabilitation is the foot, and in the case of the table, the part is the hand. Further, the subject EP brings his/her feet close to the floor in the rehabilitation of walking motion, and brings his/her hands close to the table in the rehabilitation of movement of hands. In addition, for example, in rehabilitation of walking motion, the floor is a region including a position (a display position of a target image) that is a reaching point of the walking motion, and the table is a position (a target position) that is a reaching point of the hand in rehabilitation of hand movement. This is an area including the image display position). In addition, the floor and the table are places where a desired motion is performed during the rehabilitation of walking motion and the rehabilitation of moving hand, respectively. In addition, as a specific example of the case where the operation area is three-dimensional, a space within a predetermined height range with respect to the table surface on the table (hereinafter referred to as “three-dimensional operation area”) can be cited. For example, the output device 200 displays the target image meaning “10 cm” on the table. For example, "10 cm" may be displayed at a certain position on the table. This is a target image that means that the position at a height of 10 cm with respect to the table surface in the space immediately above the position where the target image is displayed on the table is the position where the hand reaches. .. The position indicated by this target image is included in the three-dimensional motion area. Also in the case of this example, for example, the three-dimensional motion region is a region in which a part (hand) strongly related to a motion intended to recover by rehabilitation moves. In addition, the three-dimensional motion region is a region in which the hand is brought close to the rehabilitation of the movement of the hand. In addition, the three-dimensional motion area is an area including a position (position indicated by the target image) that is a reaching point of the hand movement. The three-dimensional motion area is a place where the subject EP performs a target motion during rehabilitation of hand movement. As another example of the case where the operation area is three-dimensional, a space on the output area 900 can be cited. For example, when the operation region is a space on the output region 900, the target image may be projected in this space and the target person EP may perform rehabilitation such as touching the target image with a hand.

The display control unit 342 generates an image output by the output device 200. For example, the display control unit 342 displays the target image that is displayed in the motion region and guides the motion of the target person EP, the image including the information on the evaluation result of the rehabilitation, and the motion of the detection target part of the target person EP performed during the rehabilitation. An image or the like showing a locus is generated.

The operation area determination unit 343 determines the operation area based on the recognition result by the recognition unit 341. As will be described later, there are various methods for determining the operation area. The operation area determination unit 343 determines that the operation area is the floor, for example, based on a predetermined determination condition. Further, for example, the motion area determination unit 343 determines that the motion area is a table.

When the motion area determination unit 343 determines the motion area, the motion area determination unit 343 determines a region (detection target region) that is a detection target related to the motion region of the target person EP. The detection target part is a part of the body that is closely related to the target motion of rehabilitation. For example, when the motion region determination unit 343 determines that the motion region is the floor, the motion region determination unit 343 determines the ankle of the target person EP as the detection target part. Alternatively, the motion region determination unit 343 may determine the toe of the subject EP as the detection target site. Further, for example, when the motion area determination unit 343 determines that the motion area is a table, the motion area determination unit 343 determines the back of the hand of the target person EP as the detection target part. Alternatively, the motion region determination unit 343 may determine the fingertip of the target person EP as the detection target site.

It should be noted that the detection target region related to the motion region is set in advance in the storage unit 33, and the motion region determination unit 343 determines the detection target region based on the information and the motion region determined by itself. As the detection target part, for example, a part having a large motion range in the target motion of rehabilitation may be set. For example, in the case of rehabilitation of walking motion, the part having a large motion range is the foot (ankle, toe, heel, etc.) of the subject EP. In the case of rehabilitation of movement of the hand, the part having a large movement range is the hand (wrist, fingertip, back of hand, etc.) of the target person EP.

Alternatively, a part close to the display position of the target image generated by the display control unit 342 may be set as the detection target part. For example, in the case of rehabilitation of walking motion, in the present embodiment, a target image simulating a foot pattern or the like is displayed at a position where the subject EP should step in the walking motion. In this case, the target image is close to the display position of the target image. The part to be performed is the foot (ankle, toe, heel, etc.) of the subject EP. In the case of hand movement rehabilitation, the target image is displayed at a position to be touched by the target person EP. In this case, the part close to the display position of the target image is the hand (wrist, fingertip) of the target person EP. , The back of the hand, etc.).

The recognition unit 341 uses the detection history information storage unit 333 via the recording unit 344 to store the data of the detection target part (positional information of a part of the body) determined by the operation area determination unit 343 included in the detection result information. To record.
The recording unit 344 writes and records the detection result information in the detection history information storage unit 333.

The target determination unit 345 determines the target position of the part of the body of the target person EP based on the position of the part of the body (the detection target part) of the target person EP recognized by the recognition unit 341. For example, in the case of rehabilitation of walking, the target determination unit 345 determines the foot of the subject EP based on at least one of the current foot position of the subject EP and the history of the foot position of the subject EP. Determine the moving target position. In particular, the target determination unit 345 may determine the traveling direction of the target person EP based on the history of the foot positions of the target person EP, and may determine the movement target position according to the determined traveling direction. Alternatively, the target determination unit 345 may determine the traveling direction of the target person EP based on the direction of the foot of the target person EP, and may determine the movement target position according to the determined traveling direction. Alternatively, the target determination unit 345 may determine the movement target position, for example, in a random direction or toward the position of a predetermined goal regardless of the traveling direction of the target person EP.

The target determination unit 345 may calculate the amount of movement of the detection target part of the body of the subject EP and determine the movement target position based on the calculated amount of movement. For example, when the recognition unit 341 recognizes the foot position of the target person EP, the target determination unit 345 calculates the stride of the target person EP based on the history of the foot position of the target person EP. Then, the target determination unit 345 sets the movement target position at a position moved by the stride from the current position of the foot of the subject EP. The stride of the target person EP indicates the amount of movement of the foot of the target person EP, and corresponds to an example of the amount of movement of the detection target part of the body of the target person EP.
When the recognition unit 341 recognizes the movement of the foot position of the target person EP, the target determination unit 345 may detect the interval at which the foot of the target person EP moves as the stride. Alternatively, when the recognizing unit 341 recognizes the position where the target person EP puts his/her foot on the floor surface, the target determining unit 345 causes the target determining unit 345 to move the position where the target person EP put his/her foot on the floor surface next. The interval up to may be detected as the stride.

The evaluation unit 346 evaluates the positional relationship between the position of the detection target part of the body of the subject EP and the movement target position. For example, the evaluation unit 346 calculates the distance between the position of the body part of the target person EP recognized by the recognition unit 341 and the movement target position determined by the target determination unit 345. Then, the evaluation unit 346 determines whether the calculated distance is less than or equal to a predetermined threshold. When it is determined that the distance between the detection target part of the body of the target person EP and the movement target position is equal to or less than the threshold value, the evaluation unit 346 evaluates that the target position has been reached. On the other hand, when it is determined that the distance between the detection target part of the body of the target person EP and the movement target position is larger than the threshold, the evaluation unit 346 evaluates that the target position has not been reached.

The threshold value of the distance used by the evaluation unit 346 may be a constant set in advance for a plurality of target persons EP. Alternatively, the evaluation unit 346 may set the threshold value for each target person EP, for example, by setting 1/10 of the stride of the target person EP as the threshold value. Moreover, the threshold value of the distance used by the evaluation unit 346 may be set commonly for a plurality of types of rehabilitation, or may be set for each type of rehabilitation. Further, the size of the threshold may be set so that the rehabilitation of moving the foot is larger than the rehabilitation of moving the hand.

Further, the number of steps by which the evaluation unit 346 evaluates the relative positional relationship between the position (detection target part) of the body of the target person EP and the movement target position is the target position arrival or target position non-arrival described above. The number of stages is not limited to two, and may be three or more stages. For example, the evaluation unit 346 uses, in addition to the threshold for determining whether or not the target position has been reached, the determination threshold for the amount of deviation when the target position has not been reached, using three levels of target position arrival, small deviation, and large deviation. You may make it evaluate.

Further, the method in which the evaluation unit 346 evaluates the positional relationship between the position of the detection target part of the body of the target person EP and the movement target position is not limited to the method using the threshold value. For example, the evaluation unit 346 may determine whether or not the position of the detection target part of the body of the target person EP and the movement target position overlap, and if it determines that there is overlap, the target position arrival may be evaluated.
Further, for example, in the case of rehabilitation of walking, the target determination unit 345 determines the movement target position on the floor surface within a certain area, and the recognition unit 341 determines the position of the foot of the target person EP to the target person EP. It may be recognized in the range of the shape of the foot. Then, the evaluation unit 346 may determine whether or not the range determined as the movement target position and the range detected as the position of the foot of the subject EP overlap.

The foot display parameter setting unit 347 sets foot display parameters in rehabilitation such as walking in which the foot is moved. The foot display parameter is a parameter used to display a target image when the subject EP moves the foot.
The hand display parameter setting unit 348 sets hand display parameters in rehabilitation in which the hand is moved. The display parameter for hands is a parameter used for displaying a target image when the subject EP moves his/her hand.
The disturbance display parameter setting unit 349 sets the disturbance display parameter. The disturbance display parameter is a parameter used to display a disturbance that prevents the subject EP from moving the foot or hand to the target image when the subject EP for rehabilitation moves the foot or hand to the predetermined target image. is there. Alternatively, the disturbance display parameter is used to display the disturbance that prevents the subject EP from avoiding the foot or hand from the target image when the subject EP of the rehabilitation avoids the target image from the foot or hand. These are the parameters used.

The operation unit 35 is configured by using an existing input device such as a keyboard, a pointing device (mouse, tablet, etc.), a button, a touch panel and the like. The operation unit 35 is operated by a physical therapist or the like when inputting an instruction from the physical therapist or the like to the rehabilitation support control device 300. The operation unit 35 may be an interface for connecting the input device to the rehabilitation assistance control device 300. In this case, the operation unit 35 inputs the input signal generated by the input device according to the input of the physical therapist or the like to the rehabilitation support control device 300. The operation unit 35 may be configured as a touch panel integrated with the display unit 36.

The display unit 36 is an image display device such as a CRT (Cathode Ray Tube) display, a liquid crystal display, and an organic EL (Electro Luminescence) display. The display unit 36 displays images and characters. The display unit 36 may be an interface for connecting the image display device to the rehabilitation support control device 300. In this case, the display unit 36 generates a video signal for displaying an image or a character and outputs the video signal to the image display device connected to itself.

FIG. 3 is a perspective view for explaining the first operation region by the rehabilitation assistance control device 300.
FIG. 3 illustrates a state in which the subject EP performs rehabilitation of hand movement on the table T (first movement region). The output device 200 projects the target image M1 on the table T. The target person EP performs the rehabilitation regarding the movement of the hand based on the target image M1 output by the output device 200 to the output area 900.
The sensor 100 detects the position of a part of the body of the target person EP when the target person EP moves his/her hand within the detection range 800, and outputs the detection result information to the rehabilitation assistance control device 300 at predetermined time intervals. ..

FIG. 4 is a plan view showing a display example of an image in the rehabilitation support system 1. FIG. 4 shows an example of an image when the rehabilitation support system 1 is used to perform rehabilitation of a hand motion. In the example of FIG. 4, the image is displayed on the projection surface (output area 900) on the desk by the projection of the image of the output device 200. Specifically, target images M111a, M111b, M112a and M112b showing the history of the target position, history images M121a and M121b of the hand position of the subject EP, and an image M131a showing the current hand position of the subject EP. , M131b, and target images M141a and M141b indicating the next target position are shown as hand-shaped images, respectively. In FIG. 4, reference numeral “a” indicates the right hand, and “b” indicates the left hand. For example, the target image M111a shows the history of the target position of the right hand. The target image M111b shows the history of the target position of the left hand.

However, these images in the rehabilitation support system 1 are not limited to the images of the shape of the detection target part of the body. For example, the output device 200 may display the target position of the right hand in a red circle and the target position of the left hand in a blue circle, and display a circle instead of the image of the shape of the detection target part of the body. Good.

In this way, the display control unit 342 controls the output device 200 to display the target image and the history image on the table T, so that the target person EP intuitively moves his/her hand with respect to the target. You can grasp the achievements.

FIG. 5 is a perspective view for explaining the second operation region by the rehabilitation support control device 300.
FIG. 5 shows a state in which the subject EP is performing rehabilitation of walking motion on the floor FL (second motion region). The output device 200 projects the target images M2 to M5 on the floor FL. The target person EP performs the rehabilitation of the walking motion based on the target images M2 to M5 output by the output device 200 to the output area 900. For example, the subject EP performs rehabilitation by walking from the start position shown in the target images M2 to M5 to the target position. The sensor 100 detects the position of the foot of the target person EP within the detection range 800 of the target person EP, and outputs the detection result information to the rehabilitation assistance control device 300 at predetermined time intervals.

FIG. 6 is a plan view showing an example of image display in the rehabilitation support system 1.
FIG. 6 is a diagram showing another example of image display in the rehabilitation support system 1. FIG. 6 shows an example of an image when the rehabilitation of walking is performed using the rehabilitation support system 1. In the example of FIG. 6, the image is displayed on the projection surface (output area 900) on the floor by the projection of the image of the output device. Specifically, target images M211 to M214 showing the history of the target position, history images M221 to M223 of the foot position of the target person EP, an image M231 showing the current position of the foot of the target person EP, and the following The target image M241 indicating the target position is shown as a foot-shaped image.

In the example of FIG. 4, the target positions of the right hand and the left hand are displayed, respectively, whereas in the example of FIG. 6, the target image M241 next to the left foot is shown, but the target image next to the right foot is shown. It has not been. This is because the right hand and the left hand can be moved at the same time in the movement of the hand, while the right foot and the left foot are alternately moved in the walking. According to the rehabilitation support system 1 of the present embodiment, not only walking (moving left and right feet alternately) but also continuous movement of one foot, or “conflict” as rehabilitation of the movement of the foot. It is also possible to train the movement of the legs by moving both legs at the same time as in. In that case, the output device 200 outputs the target image and the history image corresponding to the movement of each foot to the output area 900.
Note that, as described with reference to FIG. 4, the image displayed by the output device 200 is not limited to the foot-shaped image. For example, the output device 200 may display the target position of the right foot in a red circle and the target position of the left foot in a blue circle, and display a circle instead of the foot-shaped image. Further, contrary to the above embodiment, the target images of the left and right feet may not be displayed one by one, but the target images of the left and right feet may be always displayed together in advance. It is also possible to display different images for the current foot position image and the past foot position history image. For example, the current position image of the foot may be displayed as a figure such as a circle or a square, and the history images of the left and right feet in the past may be displayed as a "foot after" figure.

In this way, the display control unit 342 controls the output device 200 to display the target image and the history image on the floor FL, so that the subject EP intuitively moves his/her foot relative to the target. You can grasp the achievements.

Next, the flow of the process of detecting and recording the rehabilitation detection target information of the target person will be described with reference to FIGS . 7 to 11 .
FIG. 7 is a flowchart showing an example of an operation area determination process by the rehabilitation assistance control device 300.
FIG. 8 is a perspective view showing an example in which the rehabilitation assistance control device 300 projects a target image which is a target for moving the hand.
FIG. 9 is a diagram showing an example in which the rehabilitation assistance control device 300 projects hand disturbance.
FIG. 10 is a diagram showing an example in which the foot display parameter setting unit 347 sets the step value.
FIG. 11 is a perspective view showing an example in which the rehabilitation assistance control device 300 projects a target image as an avoidance target when the subject EP walks .
First, the rehabilitation support system 1 is moved to an environment in which the subject EP performs rehabilitation according to the rehabilitation content that the physical therapist or occupational therapist is about to perform. Also, the height of the leg portion 310 is appropriately adjusted. Next, the subject EP takes a posture in the detection range 800 according to the content of rehabilitation to be performed. For example, when performing arm rehabilitation on a table, the subject EP takes a posture of sitting on a chair and placing his hand on the table. Moreover, for example, when performing rehabilitation of a walking motion, the subject EP takes a standing posture. When the subject EP takes these postures, the physical therapist or the like inputs the preparation start instruction information into the rehabilitation support control device 300. The operation unit 35 acquires the preparation start instruction information (step S10). After the physical therapist or the like inputs the preparation start instruction information to the rehabilitation support control device 300, the subject EP may take the posture in the detection range 800 according to the content of rehabilitation to be performed.

Then, the sensor 100 starts detection, and the input unit 31 acquires the detection result information (step S11). The input unit 31 outputs the detection result information to the control unit 34. In the control unit 34, the recognition unit 341 acquires the detection result information and recognizes the motion of the target person EP. Alternatively, the recognition unit 341 recognizes a table, floor, etc. existing in the detection range 800. The recognition unit 341 outputs the recognition result to the operation area determination unit 343.

Next, the operation area determination unit 343 determines the operation area by the method described with reference to FIGS. 3 and 5 (step S12). For example, the motion region determination unit 343 may determine that the motion region is the floor FL if the recognition result by the recognition unit 341 indicates that the whole body of the target person EP is recognized. Further, for example, the operation area determination unit 343 may determine that the operation area is the table T if the recognition result indicates the existence of the table T. In addition to this, the operation area determination unit 343 can determine the operation area using the various determination methods described above. Next, the operation area determination unit 343 determines whether the operation area is the floor FL (step S13). When the motion region is the floor FL (step S13; Yes), the motion region determination unit 343 sets the detection target part to the foot (for example, ankle or toe) of the target person EP (step S17). When the motion region determination unit 343 sets the detection target part to the foot of the subject EP, the foot display parameter setting unit 347 next sets the foot display parameter in the rehabilitation in which the foot is moved (step S18). The foot display parameter is a parameter used to display a target image when the subject EP moves the foot.

The foot display parameters include, for example, foot distance parameters, foot time parameters, foot vector parameters, and the like. The foot distance parameter is used, for example, to determine a parameter (a step value shown in FIG. 10) used to determine the stride indicated by the target image and a stance (including a step) indicated by the target image. The parameters (steps shown in FIG. 10) and the like are included. The stance is two parallel lines extending in front of the subject (for example, the direction in which the front face of the body or face is faced or the direction in which the subject is going to travel), and the predetermined parts of the two legs of the subject (for example, the tip of the heel or thumb). ) Represents the distance of parallel lines passing through each. Further, the foot time parameter is, for example, a parameter indicating the total time during which the target image is displayed and rehabilitation is performed, the time from when the currently displayed target image is displayed until the next timing when the target image is displayed. It includes a parameter that indicates. Further, the foot vector parameter includes, for example, a parameter used to determine the display direction of the target image displayed at the next timing based on the currently displayed target image. The foot display parameter setting unit 347 records the specified foot distance parameter, foot time parameter, foot vector parameter, and the like in the parameter information storage unit 334. By setting these parameters, for example, a foot-shaped target image as illustrated in FIG. 6 can be displayed according to the content of the rehabilitation of the subject EP.

In addition to this, for example, in the case where the target image is the rehabilitation that is the avoidance target when the target person EP walks, the foot display parameter setting unit 347 responds to the foot input according to the information input from the operation unit 35. Set display parameters for. The rehabilitation in which the target image is the avoidance target when the subject EP walks is, for example, as shown in FIG. 11, the rehabilitation support control device 300 indicates the avoidance target when the subject EP walks the pedestrian crossing. This is a rehabilitation in which a target image in the shape of an automobile is displayed and the subject EP avoids the target image.

When the foot display parameter setting unit 347 sets the foot display parameter, the disturbance display parameter setting unit 349 then sets the foot disturbance display parameter (step S19).
For example, the rehabilitation support control device 300 executes a dedicated application, and a physical therapist or the like inputs various information to the rehabilitation support control device 300. The disturbance display parameter setting unit 349, according to the information input to the rehabilitation support control device 300, in the case of the rehabilitation in which the target image is the movement target of the foot when the subject EP walks, according to the information input to the disturbance display parameter. To set.
The disturbance display parameter has, for example, the shape of an automobile that prevents the rehabilitation support control device 300 from moving the foot of the rehabilitation target EP to a predetermined target image when the target person EP walks on a pedestrian crossing. It is a parameter used to display the disturbance as an image.

The foot disturbance display parameters include, for example, a disturbance distance parameter, a disturbance time parameter, and a disturbance vector parameter. The disturbance distance parameter includes, for example, a parameter used to determine the distance from the currently displayed disturbance to the disturbance displayed at the next timing. Further, the disturbance time parameter includes, for example, a parameter indicating the time until the currently displayed disturbance is displayed at a position different from the current position. Further, the disturbance vector parameter includes, for example, a parameter used to determine the display direction of the disturbance displayed at the next timing based on the currently displayed disturbance. The disturbance display parameter setting unit 349 records the designated disturbance distance parameter, disturbance time parameter, disturbance vector parameter, and the like in the parameter information storage unit 334.

On the other hand, when the operation area is not the floor FL (step S13; No). The motion area determination unit 343 sets the detection target part to the hand (for example, the back of the hand or the fingertip) (step S14). The operation area determination unit 343 outputs the information of the detection target part to the recognition unit 341. Further, the motion area determination unit 343 outputs the motion area to the display control unit 342. When the operation area determination unit 343 sets the detection target part in the hand of the target person EP, the hand display parameter setting unit 348 then sets the hand display parameter (step S15). For example, the rehabilitation support control device 300 executes a dedicated application, and an occupational therapist or the like inputs various information to the rehabilitation support control device 300. The hand display parameter setting unit 348 displays the hand image according to the information input from the rehabilitation support control device 300 when the target image is the rehabilitation that is the movement target of the hand when the subject EP moves the hand. Set the parameters.
The rehabilitation in which the target image is the movement target of the hand when the target person EP moves the hand is, for example, as shown in FIG. 8, the rehabilitation support control device 300 indicates that the hand when the target person EP moves the hand. This is a rehabilitation in which a target image in the shape of an apple that is a moving target is displayed, and the subject EP moves his hand to the position of the target image.

The hand display parameter includes, for example, a hand position parameter, a hand time parameter, a hand vector parameter, and the like. The hand position parameter includes, for example, a parameter used to determine the area in which the target image is displayed. The manual time parameter includes a time parameter indicating the time until the currently displayed target image is displayed at a position different from the current position. The vector parameter for hand includes a parameter used for determining the display direction of the target image displayed at the next timing based on the currently displayed target image. The manual display parameter setting unit 348 records the specified manual distance parameter, manual time parameter, manual vector parameter, and the like in the parameter information storage unit 334. By setting these parameters, for example, the target image as illustrated in FIG. 4 can be displayed according to the content of the rehabilitation of the subject EP.

When the hand display parameter setting unit 348 sets the hand display parameter, the disturbance display parameter setting unit 349 sets the hand disturbance display parameter (step S16).
For example, the rehabilitation support control device 300 executes a dedicated application, and an occupational therapist or the like inputs various information to the rehabilitation support control device 300. The disturbance display parameter setting unit 349 displays the disturbance display according to the information input to the rehabilitation support control device 300 when the target image is the rehabilitation that is the movement target of the hand when the target person EP moves the hand. Set the parameters.
For example, as shown in FIG. 9, the display parameter for disturbance of the hand indicates that movement of the hand is disturbed when the rehabilitation support control device 300 moves the hand to the position of the target image which is the character selected by the target person EP. It is a parameter used to display a disturbance that is a character that must not be selected as an image.

The disturbance display parameter of the hand includes, for example, a disturbance distance parameter, a disturbance time parameter, and a disturbance vector parameter. The disturbance distance parameter includes, for example, a parameter used to determine the distance from the currently displayed disturbance to the disturbance displayed at the next timing. Further, the disturbance time parameter includes, for example, a parameter indicating the time until the currently displayed disturbance is displayed at a position different from the current position. Further, the disturbance vector parameter includes, for example, a parameter used to determine the display direction of the disturbance displayed at the next timing based on the currently displayed disturbance. The disturbance display parameter setting unit 349 records the designated disturbance distance parameter, disturbance time parameter, disturbance vector parameter, and the like in the parameter information storage unit 334. This completes the actual rehabilitation preparation process. Next, the target person EP starts rehabilitation in the operation area determined in the preparation process.

Next, the recognition process of the target person EP during rehabilitation will be described .
The target person EP who performs rehabilitation enters the detection range 800 and starts rehabilitation. Further, the physical therapist or the like inputs the rehabilitation start instruction information into the rehabilitation support control device 300 together with the name, sex, height, etc. of the target person EP. Then, the operation unit 35 acquires the rehabilitation start instruction information (step S20). Next, the display control unit 342 generates a target image according to the operation area. For example, when the operation area is the floor FL, the display control unit 342 generates a target image displaying a foot pattern. Further, the target determining unit 345 calculates coordinate information of the position where the target image is displayed. The position at which the target image is displayed may be changed according to the foot display parameter set in step S18. In addition, when the operation area is a table, the display control unit 342 generates a target image that displays a target that is a target to be touched by the target person EP. The target determination unit 345 also calculates the coordinate information of the display position. The output unit 32 acquires these pieces of information (target image and display position) and gives an output instruction to the output device 200. The output device 200 displays the target image generated by the display control unit 342 in the output area 900 according to the instruction from the output unit 32 (step S21). In this way, when the output device 200 displays the target image in the operation area, the target person EP performs an operation of moving the body part related to the detection target part to the display position. For example, when the target image of the foot shape is displayed, the subject EP moves the foot to the position where the foot shape is displayed. Further, for example, when the target image of the target is displayed on the table, the target person EP moves his/her hand to the position where the target image is displayed, and touches the table.
The sensor 100 continues to detect the motion of the target person EP and outputs the motion to the rehabilitation support control device 300. In the rehabilitation support control device 300, the input unit 31 acquires the detection result information (step S22) and outputs the detection result information to the control unit 34.

In the control unit 34, the recognition unit 341 acquires the detection result information. When the recognition unit 341 acquires the detection result information, the recognition unit 341 selects the data of the detection target part from the information. For example, when Kinect (registered trademark) is used, the recognition unit 341 acquires position information about a plurality of parts of the subject EP as the detection result information. The recognition unit 341 selects the position information of the detection target site determined by the motion region determination unit 343 from the recognition information. For example, when the detection target part determined by the motion area determination unit 343 is the foot (the motion area is the floor), the recognition unit 341 selects the position information of the foot (eg, ankle) from the detection result information. Further, for example, when the detection target part determined by the motion area determination unit 343 is a hand (the motion area is a table), the recognition unit 341 selects the position information of the hand (for example, the back of the hand) from the detection result information. The recognition unit 341 outputs the selected detection target site and its position information to the recording unit 344. The recording unit 344 records the detection result information of the detection target part in the detection history information storage unit 333 (step S23). As described above, even when the detection result information includes whole-body data regarding the motion of the target person EP, the recognition unit 341 detects which data among the data included in the detection result information is the detection target related to the motion region. Recognize whether it is the data of the part and select the data. Then, the recording unit 344 records only the detection result information (position information) of the selected detection target part.

Next, the display control unit 342 generates a history image and outputs it to the output unit 32. The output device 200 displays the history image in the output area 900 according to the instruction from the output unit 32 (step S24).
Next, the control unit 34 determines whether to end the detection process (step S25). For example, when a physical therapist or the like inputs the rehabilitation end instruction information, the control unit 34 acquires the information via the operation unit 35 and determines to end the detection process. In addition, when the target person EP goes out of the detection range 800, when the hand of the target person EP goes out of the detection range 800, or when a preset rehabilitation implementation time elapses. Moreover, the control unit 34 determines to end the detection process.
When it is determined that the processing is not completed (step S25; No), the processing from step S21 is repeated.
When it is determined that the processing is to be ended (step S25; Yes), the control unit 34 ends the processing of generating the target image and the processing of recording the data of the detection target part. The display control unit 342 uses the data (detection target information CG) of the detection target part of the target person EP recorded in the detection history information storage unit 333 to determine the operation result of the target person EP in this rehabilitation (for example, the detection target). An image (hereinafter, referred to as a result image RP) that displays the locus of movement of the body part may be generated, and the output device 200 may display this image. Here, the result image RP is an example of image information.

Next, with reference to FIG. 12, the processing will be described setting parameters during rehabilitation.
FIG. 12 is a flowchart showing an example of parameter setting in rehabilitation using the rehabilitation support system 1.
First, before performing rehabilitation, a physical therapist or the like sets parameters (foot display parameters and the like) for the subject EP (step S30). Specifically, a physical therapist or the like refers to the display screen (display unit 36) provided on the rehabilitation support control device 300 and inputs various parameters to the rehabilitation support control device 300. Next, the physical therapist or the like inputs the preparation start instruction information to the rehabilitation support control device 300 to perform the rehabilitation (step S31). As described above, the motion area determination unit 343 of the rehabilitation support control device 300 determines the motion area and sets the detection target part. When the operation area is the floor FL, the foot display parameter setting unit 347 sets the foot display parameter input in step S30. Further, the disturbance display parameter setting unit 349 sets the foot disturbance display parameter input in step S30. On the other hand, when the operation area is the table T, the hand display parameter setting unit 348 sets the hand display parameter input in step S30, and the disturbance display parameter setting unit 349 sets the hand input parameter in step S30. Set the display parameters for disturbance. When the parameter setting by the foot display parameter setting unit 347 or the like is completed, the display control unit 342 generates a target image or the like according to the operation area, and the output device 200 displays the images. The target person EP performs rehabilitation based on the displayed target image. When a series of predetermined rehabilitation programs ends, the display control unit 342 generates an image including the rehabilitation result, and the output device 200 displays the rehabilitation result (step S32). The rehabilitation result is, for example, the actual value of the evaluation result through the rehabilitation program by the evaluation unit 346. The rehabilitation result may be displayed, for example, as a ratio of the number of times the evaluation unit 346 evaluated that the target position has been reached with respect to the total number of displayed target images.

Next, a physical therapist or the like determines whether to continue rehabilitation. For example, a physical therapist or the like may determine whether to continue the rehabilitation depending on whether the rehabilitation has been performed for a predetermined time. Alternatively, the physical therapist or the like may judge whether to continue the rehabilitation based on the degree of fatigue of the subject EP or the degree of achievement indicated by the rehabilitation result. When it is determined that the rehabilitation is not continued (step S33; No), the flowchart is ended.

When it is determined that the rehabilitation is to be continued (step S33; Yes), the physical therapist or the like determines whether the parameter setting needs to be reviewed (step S34). For example, when the rehabilitation result of the subject EP is higher than expected, the physical therapist or the like determines that it is necessary to revise the parameter setting so as to request a more difficult motion. Alternatively, if the movement of the hand or foot of the subject EP is as expected and it seems that it is better to train the movement of the hand or foot of the same difficulty level again, the physiotherapist, etc. It is judged that it is not necessary to review the parameter settings. When it is determined that the parameter setting need not be reviewed (step S34; No), the physical therapist or the like inputs the start instruction information to the rehabilitation support control device 300 and repeats the processing from step S31. When the rehabilitation of the same target person EP is repeated in the same motion region, the motion region determination processing by the motion region determination unit 343 may be omitted.
When it is determined that the parameter settings need to be reviewed (step S34; Yes), the physical therapist or the like considers new parameters (step S35). For example, if the result of the rehabilitation is good this time, the physical therapist or the like considers parameters that require more difficult movements. Alternatively, if the result of this rehabilitation is not good, the physical therapist or the like considers parameters that require less difficult movements. When the parameters have been examined, the physical therapist or the like sets the new parameters (step S30) and repeats the processing from step S31. According to the rehabilitation support system 1 of the present embodiment, the parameters can be arbitrarily set, and thus the subject EP can carry out rehabilitation according to the physical condition and ability. In the above description, the parameter input/setting is executed by referring to the display screen (display unit 36) provided in the rehabilitation support control device 300, but refer to the parameter setting screen output from the output device 200. Various parameter inputs/settings may be executed on the setting screen displayed on the floor or the table.

According to this embodiment, the movement information (detection target information CG of this embodiment) of the target person EP in the rehabilitation on the floor FL performed by the physical therapist and the rehabilitation on the table T performed by the occupational therapist is recorded as one record. It can be performed by the rehabilitation support system 1 of the table. For example, even if the place where the rehabilitation of the walking motion is performed and the table T that performs the rehabilitation of the movement of the hand are located apart from each other, the rehabilitation support system 1 is moved to detect the motion of the subject EP at each position. However, the operation information can be recorded. Further, in the case where the rehabilitation of the movement of the hand is performed by setting the table T at a place where the rehabilitation of the walking motion is performed, the motion region determining unit 343 only determines the motion region before the rehabilitation, and the rehabilitation of the walking motion is performed. It is possible to switch between the detection mode and the hand movement rehabilitation detection mode. Therefore, it is not necessary to introduce a rehabilitation support control device for each type of rehabilitation. Further, when a plurality of rehabilitation support control devices are introduced, it is general that the data structures of the data regarding the target person EP output by the devices are different. If the data structure is different, for example, when analyzing the rehabilitation history of a certain subject EP, the handling of the data becomes complicated and difficult. In the present embodiment, the data to be recorded regarding the subject EP is position information of one part of both hands or both feet and can be recorded and processed with a common data structure. Therefore, the analysis processing of the recorded data can be shared, and the data can be easily handled. In addition, no matter what action the subject EP performs, since the recognition process and the recording process are focused on a pair of left and right data of the part related to the intended rehabilitation action, the process can be speeded up and simplified. You can In addition, in general motion capture, there is a problem that the target person EP needs to wear a marker in order to detect the motion of the target person EP, which is troublesome. However, in the rehabilitation support system 1 of the present embodiment, For example, the target person EP does not need to wear a marker, and the motion of the target person EP can be easily detected.

[Specific example of recognition information: When rehabilitation content is walking]
Hereinafter, a more specific example of the detection target information CG and the result image RP when the rehabilitation content is walking will be described with reference to FIGS . 13 and 14 .
FIG. 13 is a plan view showing an example of recognition by the recognition unit 341 when the content of rehabilitation is walking.
As described above, the recognition unit 341 can recognize the position information of each part of the human body in association with the part. Further, in this example, the recognition unit 341 recognizes whether or not the detection data is a part of the body (detection target portion) of the target person EP, and supplies the detection target information CG to the display control unit 342. In the following description, a part of the body of the target person EP (detection target site) recognized by the recognition unit 341 will be referred to as a rehabilitation target site TP. The recognition unit 341 supplies the detection target information CG indicating the position of the recognized rehabilitation target site TP of the target person EP to the display control unit 342.
As described above, in this example, the rehabilitation target site TP is the foot. Specifically, the rehabilitation target site TP is the right foot and the left foot. Therefore, the recognition unit 341 recognizes the positions of the right foot and the left foot of the target person EP among the positions of the target person EP.
The recognition unit 341 supplies the right foot position RFL indicating the coordinates of the position on the floor FL where the right foot lands on the display control unit 342 as the detection target information CG as the target person EP walks. In addition, the recognition unit 341 supplies the left foot position LFL indicating the coordinates of the position on the floor FL on which the left foot lands, to the display control unit 342 as the detection target information CG as the target person EP walks.

As shown in FIG. 13 , in this example, the right foot and the left foot land five times each. The recognition unit 341 recognizes the right foot position RFL1 which is the right foot position RFL of the first landing of the right foot to the right foot position RFL5 which is the right foot position RFL of the fifth landing. In the following description, when the right foot position RFL1 to the right foot position RFL5 are not distinguished, they are collectively referred to as the right foot position RFL. The recognition unit 341 recognizes the left foot position LFL1 which is the left foot position LFL of the first landing of the left foot to the left foot position LFL5 which is the left foot position LFL of the fifth landing. In the following description, if the left foot position LFL1 to the left foot position LFL5 are not distinguished, they are collectively referred to as the left foot position LFL.

The recognition unit 341 supplies the right foot locus RFT indicating the coordinates of the locus of the right foot moving in the air with the walking of the subject EP to the display control unit 342 as the detection target information CG. Further, the recognition unit 341 supplies the left foot locus LFT indicating the coordinates of the locus of the left foot moving in the air with the walking of the target person EP to the display control unit 342 as the detection target information CG.
As shown in FIG. 13 , in this example, the right foot and the left foot each move four times in the air. The recognition unit 341 recognizes the right foot locus RFT1 that is the first right foot locus RFT of the right foot to the right foot locus RFT4 that is the fourth right foot locus RFT. In the following description, when the right foot locus RFT1 to the right foot locus RFT4 are not distinguished, they are collectively referred to as the right foot locus RFT. The recognition unit 341 recognizes a left foot locus LFT1 which is the first left foot locus LFT of the left foot to a left foot locus LFT1 which is the fourth left foot locus LFT. In the following description, when the left foot locus LFT1 to the left foot locus LFT4 are not distinguished, they are collectively referred to as the left foot locus LFT.

[Specific example of display control unit: When the rehabilitation content is walking]
Hereinafter, with reference to FIG. 14 , a more specific example of the result image RP controlled by the display control unit 342 will be described.
FIG. 14 is a first diagram showing an example of the result image RP1.
As described above, the display control unit 342 generates the result image RP indicating the result of the rehabilitation performed on the rehabilitation target site TP of the target person EP based on the detection target information CG. In the following description, the result image RP when the rehabilitation target site TP is the foot will be referred to as the result image RP1.
As shown in FIG. 14 , in the result image RP1, trajectory information TC, landing timing information GT, landing rhythm information GR, average stride information ALS, average step information AFD, as information regarding the position of the foot that is the rehabilitation target site TP, The required time information TR and the standing time comparison information STD are included.

[About trajectory information]
The locus information TC is information indicating the locus of the foot as the subject EP walks.
The display control unit 342 controls the display of the locus of the foot accompanying the movement of the foot, based on the right foot position RFL, the left foot position LFL, the right foot locus RFT, and the left foot locus LFT included in the detection target information CG.
For example, the display control unit 342 controls the display connecting the coordinates indicated by the right foot position RFL and the right foot trajectory RFT included in the detection target information CG for each predetermined time. Accordingly, the display control unit 342 performs control to display the trajectory of the right foot as the trajectory information TC. Further, the display control unit 342 controls, for example, a display connecting the coordinates of the left foot position LFL and the left foot locus LFT at predetermined time intervals shown in the detection target information CG. Accordingly, the display control unit 342 performs control to display the locus of the left foot as the locus information TC.

Further, as shown in FIG. 14 , the trajectory information TC is shown along the walking direction axis axd that indicates the walking direction of the subject EP.
The display control unit 342 calculates the walking direction axis axd based on the right foot position RFL, the left foot position LFL, the right foot locus RFT, and the left foot locus LFT. The display control unit 342 controls to display the trajectory information TC along the walking direction axis axd.
Further, the display control unit 342 controls to display the trajectory information TC by aligning the walking direction axis axd and the axis of the result image RP. The display control unit 342 performs control to display the trajectory information TC so that the walking direction axis axd and the y axis of the result image RP match, for example.

In addition, although the display control part 342 demonstrated the case where it controls so that the direction of the walking direction axis axd and the y-axis of the result image RP may correspond, above, it is not restricted to this. The display control unit 342 may perform control to display such that the axis indicating a certain straight line direction and the walking direction axis axd match. The axis indicating a certain straight line direction may be, for example, the direction of the x axis of the result image RP, or the axis indicating the direction in which the x axis and the y axis of the result image RP are combined. The y-axis of the result image RP is an example of a first axis relating to display.

Moreover, although the case where the trajectory information TC is displayed as the result image RP has been described above, the present invention is not limited to this. The display control unit 342 may display the result image RP indicating the trajectory information TC as a moving image joined for each unit time.

[About landing timing information]
The landing timing information GT is information indicating the foot landing timing when the subject EP walks.
The display control unit 342 controls the display of the landing timing accompanying the landing of the foot based on the right foot position RFL and the left foot position LFL included in the detection target information CG.
For example, the display control unit 342 performs control to display the movement of the position of the right foot over time based on the time and the position at which the right foot position RFL included in the detection target information CG is detected. In addition, the display control unit 342 performs control to display the movement of the position of the left foot over time based on the time and the position at which the left foot position LFL included in the detection target information CG is detected.

Further, as shown in FIG. 14 , the landing timing information GT is shown along the walking direction axis axd that indicates the walking direction of the subject EP.
The display control unit 342 calculates the walking direction axis axd based on the right foot position RFL and the left foot position LFL. The display control unit 342 controls to display the landing timing information GT along the walking direction axis axd.
In addition, the display control unit 342 controls the walking direction axis axd and the axis of the result image RP so as to display the landing timing information GT. The display control unit 342 performs control to display the landing timing information GT so that the walking direction axis axd and the y-axis of the result image RP coincide with each other, for example.

Further, although the case where the landing timing information GT is displayed as the result image RP has been described above, the present invention is not limited to this. The display control unit 342 may display the result image RP indicating the landing timing information GT as a moving image that is connected for each unit time.

[About landing rhythm information]
The landing rhythm information GR is information indicating the landing rhythm that the foot lands on the floor FL when the subject EP walks.
The display control unit 342 controls the display of the landing rhythm associated with the landing of the foot based on the right foot position RFL and the left foot position LFL included in the detection target information CG.
For example, the display control unit 342 performs control to display the times at which the right foot position RFL and the left foot position LFL included in the detection target information CG are detected, side by side on the time axis axt indicating the elapsed time.

Further, as shown in FIG. 14 , the display control unit 342 controls to display the landing rhythm information GR by aligning the time axis axt with the axis of the result image RP. The display control unit 342 performs control to display the landing rhythm information GR so that the direction of the time axis axt and the x axis of the result image RP match, for example.

In addition, although the display control part 342 demonstrated the case where it displayed so that the direction of the time-axis axt and the x-axis of the result image RP may correspond in the above, it is not restricted to this. The display control unit 342 may perform control such that the axis indicating a certain straight line direction and the time axis axt are displayed so that the directions thereof match. The axis indicating a certain straight line direction may be, for example, the y-axis direction of the result image RP, or the axis indicating the direction in which the x-axis and the y-axis of the result image RP are combined. The x-axis of the result image RP is an example of the second axis related to display.

Moreover, although the case where the landing rhythm information GR is displayed as the result image RP has been described above, the present invention is not limited to this. The display control unit 342 may display the result image RP indicating the landing rhythm information GR as a moving image that is connected for each unit time.

[About average stride information]
The average stride information ALS is information indicating the average stride of the foot when the subject EP walks. Specifically, the average stride information ALS includes information indicating the average stride of the right foot of the subject EP and information indicating the average stride of the left foot.
For example, the display control unit 342 calculates the stride of the right foot, which is the distance between the landing positions of the right foot, based on the right foot position RFL included in the detection target information CG. Further, when a plurality of right foot positions RFL are acquired, the display control unit 342 calculates the average stride of the right foot calculated based on the right foot position RFL. The display control unit 342 also calculates the stride of the left foot, which is the distance between the landing positions of the left foot, based on the left foot position LFL included in the detection target information CG. Further, when a plurality of left foot positions LFL are acquired, the display control unit 342 calculates the average of the stride of the left foot calculated based on the left foot position LFL. The display control unit 342 performs control to display the calculated average stride length of the right foot and the calculated average stride length of the left foot as the average stride information ALS.

Note that, in the above, an example in which the display control unit 342 controls the display with the information regarding the stride of the subject EP as the average stride information ALS has been described, but the present invention is not limited to this. The display control unit 342 may perform control to display the maximum value of the stride of the subject EP based on the right foot position RFL and the left foot position LFL. In addition, the display control unit 342 may perform control to display the minimum value of the stride of the subject EP based on the right foot position RFL and the left foot position LFL.
Moreover, although the example in which the average stride information ALS of the subject EP includes the average stride of the right foot and the average stride of the left foot has been described above, the present invention is not limited to this. The display control unit 342 may perform control to display the average stride of the right foot and the left foot of the subject EP as the average stride information ALS.

[About average step information]
The average stride information AFD is information indicating the stance of the right foot and the left foot when the subject EP walks.
For example, the display control unit 342 connects the coordinates indicated by the right foot position RFL included in the detection target information CG, and calculates the right foot axis indicating the direction in which the right foot advances. Further, the display control unit 342 connects the coordinates indicated by the left foot position LFL included in the detection target information CG, and calculates the left foot axis indicating the direction in which the left foot advances. The display control unit 342 calculates the average of the steps, which is the distance from the right foot axis to the left foot axis in the direction orthogonal or substantially orthogonal to the right foot axis and the left foot axis.
The display control unit 342 performs control to display the calculated average of the steps as the average step information AFD.

Note that, in the above, an example in which the display control unit 342 controls the display by using the information regarding the step of the target person EP as the average step information AFD has been described, but the present invention is not limited to this. The display control unit 342 may perform control to display the maximum value of the step interval of the subject EP based on the right foot position RFL and the left foot position LFL. In addition, the display control unit 342 may perform control to display the minimum value of the step of the subject EP based on the right foot position RFL and the left foot position LFL.

[About time required information]
The required time information TR is information indicating the time from the operation start to the operation end of the rehabilitation target site TP in which the subject EP operates according to the target image.
For example, the display control unit 342 detects the time when the earliest right foot position RFL or left foot position LFL is detected in the detection target information CG and the latest right foot position RFL or left foot position LFL in the detection target information CG. Control is performed to display the time difference from the designated time as required time information TR.

[Specific example of recognition information: When rehabilitation content is hand movement]
Hereinafter, a more specific example of the detection target information CG and the result image RP when the rehabilitation content is the movement of the hand will be described with reference to FIGS . 15 and 16 .
FIG. 15 is a plan view showing an example of recognition by the recognition unit 341 when the content of rehabilitation is hand movement.
As shown in FIG. 15 , in this example, the detection range 800 and the output region 900 are a table T having a surface on which the subject EP moves his/her hand. The target person EP performs the rehabilitation regarding the movement of the hand based on the target image that the output device 200 outputs to the output area 900.
In this example, the subject EP performs rehabilitation based on the target image, in which the subject EP moves the hand over a plurality of movement target positions shown in the target image.
As described above, the recognition unit 341 can recognize the position information of each part of the human body in association with the part. In addition, in this example, the recognition unit 341 recognizes whether the detection data is a part of the body (detection target portion) of the target person EP, and supplies the detection target information CG to the display control unit 342.
As described above, in this example, the rehabilitation target site TP is the hand. Specifically, the rehabilitation target parts TP are the right hand and the left hand. Therefore, the recognition unit 341 recognizes the positions of the right hand and the left hand of the target person EP among the positions of the target person EP.
The recognition unit 341 supplies the display control unit 342 with the right hand position RHL indicating the coordinates of the position on the table T where the right hand stops as the target person EP moves. The recognition unit 341 also supplies the left-hand position LHL indicating the coordinates of the position on the table T where the left hand stops as the detection target information CG to the display control unit 342 as the hand of the target person EP moves.
As shown in FIG. 15 , in this example, the right hand and the left hand each stop on the table T nine times each. The recognition unit 341 recognizes the right hand position RHL1 that is the right hand position RHL that stops for the first time of the right hand and the right hand position RHL9 that is the right hand position RHL that stops for the ninth time. In the following description, when the right hand position RHL1 to the right hand position RHL9 are not distinguished, they are collectively referred to as the right hand position RHL. The recognition unit 341 recognizes the left-hand position LHL1 that is the left-hand position LHL that stops at the first time of the left hand and the left-hand position LHL9 that is the left-hand position LHL that stops at the ninth time. In the following description, when the left hand position LHL1 to the left hand position LHL9 are not distinguished, they are collectively referred to as the left hand position LHL.

The recognition unit 341 supplies the display control unit 342 with the right-hand locus RHT indicating the coordinates of the locus of movement of the right hand in the air as the subject EP moves as the detection target information CG. The recognition unit 341 also supplies the left-hand locus LHT indicating the coordinates of the locus of the left hand moving in the air as the detection target information CG to the display control unit 342.

In the above description, the case where the rehabilitation of the movement of the hand moves the hand over the movement target position shown in the target image has been described, but the present invention is not limited to this. The rehabilitation of the movement of the hand may be an operation of touching the movement target position shown in the target image. In this case, the recognition unit 341 may recognize the coordinates touching the movement target position shown in the target image as the right hand position RHL and the left hand position LHL.

[Specific example of display control unit: When rehabilitation content is hand movement]
Hereinafter, with reference to FIG. 16 , a more specific example of the result image RP controlled by the display control unit 342 will be described.
FIG. 16 is a second diagram showing an example of the result image RP2.
As described above, the display control unit 342 generates the result image RP indicating the result of the rehabilitation performed on the rehabilitation target site TP of the target person EP based on the detection target information CG. In the following description, the result image RP when the rehabilitation target site TP is the hand is referred to as the result image RP2.
As shown in FIG. 16 , in the result image RP2, the right hand reach range information RHA, the left hand reach range information LHA, the movement speed information HV, the average movement speed information AHV, and the reach area are shown as information regarding the position of the hand that is the rehabilitation target portion TP. The information RS, the reach information RD, and the left-right use comparison information LRD are included.

[Right hand reach information]
The right-hand reach range information RHA is information indicating a range that the right hand reaches by the subject EP operating the right hand.
The display control unit 342 controls the display of the range reached by the right hand, based on the right hand position RHL and the right hand trajectory RHT.
For example, the display control unit 342 controls the display indicating the range connecting the right hand position RHL and the right hand locus RHT indicating the coordinates far from the position of the target person EP on the XY plane by the spline curve. Accordingly, the display control unit 342 performs control to display the range reached by the right hand as the right hand reach range information RHA.

[About left hand reach information]
The left-hand reach range information LHA is information indicating the reach of the left hand when the subject EP operates the left hand.
The display control unit 342 controls the display of the range reached by the left hand, based on the left hand position LHL and the left hand trajectory LHT.
For example, the display control unit 342 controls the display of a range connecting the left-hand position LHL and the left-hand locus LHT, which indicate coordinates distant from the position of the target person EP in the direction including the Y-axis component on the XY plane, by a spline curve. To do. Accordingly, the display control unit 342 performs control to display the range reached by the left hand as the left hand reach range information LHA.

[About operating speed information]
The operation speed information HV is information indicating the speed at which the target person EP moves his or her hand. Specifically, the movement speed information HV includes movement speed information HVR indicating the fastest movement speed of the right hand of the target person EP and movement speed information HVL indicating the highest movement speed of the left hand.
The display control unit 342 controls the display of the fastest speed when the right hand moves based on the right hand position RHL and the right hand trajectory RHT.
For example, the display control unit 342 calculates the time from the time when the certain right hand position RHL is detected to the time when the right hand position RHL detected next to the certain right hand position RHL is detected. Further, the display control unit 342 moves the right hand based on the calculated time and the moving distance of the right hand from the right hand position RHL indicated by the right hand trajectory RHT to the right hand position RHL detected next to the right hand position RHL. Calculate speed. The display control unit 342 performs control to display the highest moving speed of the calculated moving speeds of the right hand as the operation speed information HVR.

The display control unit 342 controls the display of the fastest speed when the left hand moves based on the left hand position LHL and the left hand locus LHT.
For example, the display control unit 342 calculates the time from the time when a certain left hand position LHL is detected to the time when the left hand position LHL detected next to the certain left hand position LHL is detected. In addition, the display control unit 342 moves the left hand based on the calculated time and the moving distance of the left hand from the left hand position LHL indicated by the left hand trajectory LHT to the left hand position LHL detected next to the left hand position LHL. Calculate speed. The display control unit 342 performs control to display the moving speed that is the fastest among the calculated moving speeds of the left hand as the operation speed information HVL.

[About average operating speed information]
The movement speed information HV is information indicating an average speed when the subject EP moves the hand. Specifically, the movement speed information HV includes average movement speed information AHVR indicating the average movement speed of the right hand of the subject EP and average movement speed information AHVL indicating the highest movement speed of the left hand.
The display control unit 342 controls the display of the average speed when the right hand moves based on the right hand position RHL and the right hand trajectory RHT.
For example, the display control unit 342 calculates the time from the time when the certain right hand position RHL is detected to the time when the right hand position RHL detected next to the certain right hand position RHL is detected. Further, the display control unit 342 moves the right hand based on the calculated time and the moving distance of the right hand from the right hand position RHL indicated by the right hand trajectory RHT to the right hand position RHL detected next to the right hand position RHL. Calculate speed. The display control unit 342 also calculates the average speed of the calculated moving speeds of the right hand. The display control unit 342 controls to display the calculated average speed of the right hand as the average operation speed information AHVR.

The display control unit 342 controls the display of the average speed when the left hand moves based on the left hand position LHL and the left hand locus LHT.
For example, the display control unit 342 calculates the time from the time when a certain left hand position LHL is detected to the time when the left hand position LHL detected next to the certain left hand position LHL is detected. In addition, the display control unit 342 moves the left hand based on the calculated time and the moving distance of the left hand from the left hand position LHL indicated by the left hand trajectory LHT to the left hand position LHL detected next to the left hand position LHL. Calculate speed. The display control unit 342 also calculates the average speed of the calculated moving speeds of the left hand. The display control unit 342 performs control to display the calculated average speed of the left hand as average operation speed information AHVL.

[About reach area information]
The reach area information RS is information indicating the area of the range reached by the hand when the subject EP moves the hand. Specifically, the reach area information RS includes reach area information RSR indicating the area of the reach of the right hand of the target person EP and reach area information RSL indicating the area of the reach of the left hand of the target person EP. included.
The display control unit 342 controls the display of the area of the range reached by the right hand, based on the right hand position RHL and the right hand trajectory RHT. Further, the display control unit 342 controls the display of the area of the range reached by the left hand, based on the left hand position LHL and the left hand trajectory LHT.
For example, the display control unit 342 performs control to calculate the area of the range indicated by the above-mentioned right-hand reachable range information RHA by a known method and display it as reach area information RSR. The display control unit 342 also performs control to calculate the area of the range indicated by the above-mentioned left-hand reach area information LHA by a known method and display it as reach area information RSL.

[About reach information]
The reach information RD is information indicating the distance from the target person EP to the furthest position, which is the position where the hand reaches when the target person EP operates the hand. Specifically, the reach information RD includes reach information RDR that is a position reached by the right hand of the target person EP and is the farthest position from the target person EP. Further, the reach information RD includes reach information RDL indicating the distance from the target person EP to the farthest position, which is the position reached by the target person EP's left hand.

The display control unit 342 controls the display of the distance from the position of the target person EP to the farthest position, which is the position reached by the right hand, based on the right hand position RHL and the right hand trajectory RHT. Further, the display control unit 342 controls the display of the distance from the position of the target person EP to the furthest position, which is the position reached by the left hand, based on the left-hand position LHL and the left-hand locus LHT.

For example, the display control unit 342 performs control to calculate the distance from the target person EP to the farthest position in the outer diameter of the range indicated by the right-hand reach range information RHA, and display the reach information RDR.
In addition, the display control unit 342 performs control to calculate the distance from the target person EP to the farthest position among the outer diameters of the range indicated by the left-hand reach range information LHA described above, and display the reach information RDL.

[About hand trajectory information]
The hand trajectory information HTC is information indicating the trajectory of the hand as the subject EP moves the hand.
The display control unit 342 controls the display of the locus accompanying the movement of the hand of the target person EP, based on the right hand position RHL, the left hand position LHL, the right hand locus RHT, and the left hand locus LHT included in the detection target information CG.
For example, the display control unit 342 controls the display connecting the coordinates indicated by the right-hand position RHL and the right-hand trajectory RHT included in the detection target information CG for each predetermined time. Accordingly, the display control unit 342 performs control to display the trajectory of the right hand as the trajectory information HTC. In addition, the display control unit 342 controls, for example, a display connecting the coordinates indicated by the left-hand position LHL and the left-hand locus LHT indicated by the detection target information CG at predetermined time intervals. Accordingly, the display control unit 342 performs control to display the left hand trajectory as the hand trajectory information HTC.

Although the case where the hand trajectory information HTC is displayed as the result image RP has been described above, the present invention is not limited to this. The display control unit 342 may display the result image RP indicating the hand trajectory information HTC as a moving image that is connected for each unit time.

[About left and right use comparison information]
The right-and-left use comparison information LRD is information indicating the ratio of use of the right hand and the left hand of the target person EP based on the right hand position RHL, the right hand locus RHT, the left hand position LHL, and the left hand locus LHT.
The display control unit 342 controls the display of information indicating the usage ratio of the right hand and the left hand of the subject EP based on the right hand position RHL, the right hand trajectory RHT, the left hand position LHL, and the left hand trajectory LHT.
For example, the display control unit 342 calculates the distance traveled by the right hand from the start to the end of the rehabilitation, based on the right hand position RHL and the right hand trajectory RHT. Further, the display control unit 342 calculates the distance that the left hand has moved from the start to the end of the rehabilitation, based on the left hand position LHL and the left hand trajectory LHT. The display control unit 342 calculates the ratio of the distance traveled by the right hand and the distance traveled by the left hand to the calculated total distance traveled by the right hand and the left hand, and displays the ratio as left-right use comparison information LRD.

[Summary of Embodiments]
As described above, the rehabilitation assistance control device of the present embodiment (the rehabilitation assistance control device 300 in the example of the present embodiment) detects the body of the target person of the rehabilitation (the subject EP in the example of the present embodiment). Recognition that recognizes the position of a part of the body of the subject (the rehabilitation target site TP in the example of the present embodiment) based on the detection result information indicating the detection result of the sensor (the sensor 100 in the example of the present embodiment). Unit (recognition unit 341 in the example of the present embodiment) and a display control unit that controls the display of information regarding the position based on the position recognized by the recognition unit (the detection target information CG in the example of the present embodiment). In an example of the present embodiment, the display control unit 342) is provided.

Here, there are cases where it is difficult for the target person of the rehabilitation to objectively confirm the result of a part of the body of the target person operating in response to the rehabilitation.
The rehabilitation assistance control device according to the present embodiment controls the display of the result of the operation in which a part of the body of the subject is operated according to the rehabilitation performed on the subject. The output device outputs a display controlled by the rehabilitation assistance control device.
According to the rehabilitation support control device of the present embodiment, the rehabilitation target person can objectively confirm the result of the movement of a part of the target person's body. The target person of the rehabilitation can refer to the result of the subsequent rehabilitation by objectively confirming the result of the movement of a part of the body of the target person.
Therefore, according to the rehabilitation assistance control device of the present embodiment, it is possible to assist the rehabilitation of the target person of the rehabilitation.

Further, in the rehabilitation assistance control device of the present embodiment, the recognition unit causes the position of the foot of the target person who is a part of the body of the target person of the rehabilitation (in the example of the present embodiment, the right foot position RFL, the right foot locus RFT, the left foot). The position LFL and the left foot locus LFT) are recognized, and the display control unit determines the foot locus (the locus information TC in the example of the present embodiment) associated with the foot movement based on the foot position recognized by the recognition unit. Control the display.

When a subject of rehabilitation undergoes foot rehabilitation, it may be difficult to objectively confirm the result of the subject's foot operating according to the rehabilitation.
The rehabilitation assistance control device of the present embodiment controls the display of the locus of the foot accompanying walking of the subject according to the rehabilitation performed on the subject. The output device outputs a display controlled by the rehabilitation assistance control device.
According to the rehabilitation support control device of the present embodiment, the rehabilitation target person can objectively confirm the trajectory of the foot of the target person according to the walking of the target person. The target person of the rehabilitation can objectively confirm the movement of the foot when the target person walks by checking the trajectory of the target person's foot.

Further, in the rehabilitation assistance control device according to the present embodiment, the display control unit includes an axis indicating the traveling direction of the target person (the walking direction axis axd in the example of the present embodiment) and a first axis related to the display of information regarding the position. (In the example of this embodiment, the y-axis) is combined to control the display of the trajectory.

The rehabilitation assistance control device of the present embodiment performs control to display the trajectory of the foot by combining the axis indicating the traveling direction of the subject and the first axis related to display. Specifically, the rehabilitation assistance control device performs control to display the trajectory so that the direction of the trajectory output by the output device in the projection range and the direction in which the rehabilitation target person walks in the detection range match.
Thereby, the subject of rehabilitation can easily recognize the trajectory of the subject's foot with respect to the subject's walking.

Further, the recognition unit of the rehabilitation support control device of the present embodiment, the position of the foot that is a part of the body of the subject of rehabilitation, the landing position of the right foot and the left foot (in the example of the present embodiment, the right foot The position RFL and the left foot position LFL) are recognized, and the display control unit, based on the landing position recognized by the recognition unit, the relationship between the landing timing of the foot and the elapsed time, the information regarding the position (in the example of the present embodiment, , And controls display on the second axis (x-axis in the example of the present embodiment) relating to display of landing rhythm information GR).

The rehabilitation assistance control device of the present embodiment shows the relationship between the landing timing of the right foot and the left foot of the subject and the elapsed time on the second axis relating to display. Specifically, the rehabilitation support control device performs a control of indicating a lapse of time on the x-axis and displaying the x-axis side by side according to the time when the landing of the right foot and the left foot of the subject is detected.
Accordingly, the rehabilitation target person can easily recognize how long the time period during which the person is standing with only the right foot or the left foot is at the time of walking.

Further, in the rehabilitation assistance control device according to the present embodiment, the recognition unit uses the position of the hand that is a part of the body of the target person for rehabilitation (in the example of the present embodiment, the right hand position RHL, the right hand trajectory RHT, the left hand position LHL, and The display control unit recognizes the left hand locus LHT), and the display control unit, based on the position of the hand recognized by the recognition unit, the reach range of the hand (in the example of the present embodiment, the right hand reach range information RHA and the left hand reach range information LHA). Control the display showing.

When a subject of rehabilitation undergoes hand-related rehabilitation, it may be difficult to objectively confirm the result of the subject's hand operating according to the rehabilitation.
The rehabilitation support control device of the present embodiment controls the display of the range reached by the hand of the subject according to the rehabilitation performed on the subject. The output device outputs a display controlled by the rehabilitation assistance control device.
According to the rehabilitation support control device of the present embodiment, the target person of rehabilitation can objectively confirm the range reached by the target person's hand according to the movement of the target person's hand. By confirming the reach of the subject's hand, the target person of the rehabilitation can objectively confirm the movable range of the hand when the subject moves his or her hand.

Further, the rehabilitation assistance control device of the present embodiment, based on the detection result information indicating the detection result of the sensor for detecting the body of the rehabilitation target person, a recognition unit for recognizing the position of a part of the target person's body, Based on the position recognized by the recognizing unit, a range in which the target person visually recognizes from the detection position (the detection range 800 in the example of the present embodiment) where the target person is detected by the sensor (the output region 900 in the example of the present embodiment) ), and a display control unit that controls the display of information regarding the position.

The rehabilitation support control device of the present embodiment controls the display of outputting the operation result when a part of the body of the subject moves according to the rehabilitation to the projection range of the output device.
Here, a plurality of persons such as the target person and the relatives of the target person may check the operation result. In this case, according to the rehabilitation support control device of the present embodiment, the target person and the relatives of the target person can easily confirm the operation result as compared with the case where the output device is a display or the like.

Further, in the rehabilitation assistance control device according to the present embodiment, the display control unit controls the display showing the information regarding the position on the same scale as a part of the body of the subject.
The rehabilitation support control device of the present embodiment performs control to display the operation result when a part of the body of the subject moves according to the rehabilitation in the projection range of the output device on the same scale. Specifically, the rehabilitation support control device of the present embodiment performs control to display the operation result when a part of the body of the subject moves according to the rehabilitation in the projection range of the output device in actual size.
Therefore, according to the rehabilitation assistance control device of the present embodiment, the operation result can be displayed in more detail as compared with the case where the output device is a display or the like.
According to the rehabilitation assistance control device of the present embodiment, the subject can recognize the operation result in more detail as compared with the case where the output device is a display or the like.

[Modification 1]
In the above embodiment, the rehabilitation assistance control device 300 controls the display of the information regarding the position of the rehabilitation target site TP of the subject EP based on the detection result information detected by the sensor 100, but the present invention is not limited to this. I can't.
The modified example 1 is different from the above-described embodiment in that the rehabilitation assistance control device 300 controls the display of information regarding the comparison result obtained by comparing the detection result information detected by the sensor 100 with other detection result information.
Hereinafter, the first modification will be described with reference to FIGS . 17 and 18 .
In addition, when it has the same structure as the above-mentioned embodiment, the same code|symbol is attached|subjected and overlapping description is abbreviate|omitted.

[About the configuration of the rehabilitation support control device]
FIG. 17 is a schematic block diagram showing a functional configuration example of the rehabilitation assistance control device 320 of the first modification.
The rehabilitation support control device 320 is configured using an information processing device. The rehabilitation support control device 320 includes a CPU, a memory, and an auxiliary storage device connected by a bus. The rehabilitation support control device 320 operates by executing a rehabilitation support program.
The rehabilitation support control device 320 includes an input unit 31, an output unit 32, a storage unit 33, and a control unit 37.

As described above, the detection history information storage unit 333 stores the detection result information detected by the sensor 100 in the past. Specifically, the detection history information storage unit 333 stores the history of the position information (detection result information) of the rehabilitation target site TP of the target person EP recognized by the recognition unit 341. For example, when performing walking rehabilitation, the detection history information storage unit 333 stores a history of detection result information of the foot position of the target person EP. Further, when performing rehabilitation of hand movement, the detection history information storage unit 333 stores a history of detection result information of the hand position of the target person EP.
The control unit 37 is configured by using a CPU. The control unit 34 functions as the recognition unit 341, the display control unit 342, and the comparison unit 351 by executing the rehabilitation support program.

The recognition unit 341 recognizes the position of the rehabilitation target site TP of the target person EP based on the detection result information acquired from the input unit 31. The recognition unit 341 also reads the detection result information previously detected by the sensor 100 from the detection history information storage unit 333, and recognizes the position of the rehabilitation target site TP of the target person EP.
The recognition unit 341 supplies the detection target information CG indicating the position of the recognized rehabilitation target site TP of the target person EP to the display control unit 342. In the following description, the rehabilitation target site TP of the target person EP recognized based on the detection result information acquired by the recognition unit 341 from the input unit 31 will be referred to as detection target information CG1. Further, the rehabilitation target site TP of the target person EP recognized based on the detection result information read by the recognition unit 341 from the detection history information storage unit 333 is described as detection target information CG2.
The recognition unit 341 supplies the recognized detection target information CG1 and detection target information CG2 to the comparison unit 351 and the display control unit 342.

The comparison unit 351 acquires the detection target information CG1 and the detection target information CG2 from the recognition unit 341.
The comparison unit 351 compares the information regarding the current position of the rehabilitation target site TP with the information regarding the past position of the rehabilitation target site TP based on the acquired detection target information CG1 and detection target information CG2.
The comparison unit 351 calculates the ratio of the difference between the operation speed information HV of the present time and the past operation speed as the operation comparison speed information HVD based on the detection object information CG1 and the detection object information CG2, for example. Further, the comparison unit 351 calculates, as the reach comparison information RDD, the ratio of the difference between the reach information RD between the present and the past based on the detection target information CG1 and the detection target information CG2, for example.
The comparison unit 351 supplies the display control unit 342 with comparison result information indicating a comparison result between the calculated information regarding the position of the current rehabilitation target site TP and the information regarding the past position of the rehabilitation target site TP. Specifically, the comparison unit 351 supplies the calculated motion comparison speed information HVD and the reach comparison information RDD to the display control unit 342 as comparison result information.

[Specific example of display control unit: comparison between past and present]
Hereinafter, with reference to FIG. 18 , a more specific example of the result image RP3 controlled by the display control unit 342 will be described.
FIG. 18 is a third diagram showing an example of the result image RP3.
The display control unit 342 acquires the detection target information CG1 and the detection target information CG2 from the recognition unit 341. Further, the display control unit 342 acquires the comparison result information from the comparison unit 351.
The display control unit 342 generates a result image RP indicating a comparison between the result of the rehabilitation performed on the rehabilitation target site TP of the subject EP and the past based on the comparison result information.
In the following description, the display control unit 342 describes the generated result image RP as the result image RP3 based on the detection target information CG1, the detection target information CG2, and the comparison result information.
As shown in FIG. 18 , the result image RP3 includes, as information regarding the position of the hand that is the rehabilitation target region TP, information regarding the motion comparison speed information HVD and reach comparison information RDD, in addition to the information included in the result image RP2. ..

[About operation comparison speed information]
The motion comparison speed information HVD is information indicating the difference between the current speed and the past speed at which the target person EP moves the hand at the fastest speed, as a ratio.
The display control unit 342 controls to display the operation comparison speed information HVD based on the acquired comparison result information.

[About reach comparison information]
The reach comparison information RDD is information indicating the difference between the present and past distances from the target person EP to the furthest position, which is the position where the hand reaches when the target person EP moves the hand. is there.
The display control unit 342 performs control to display the reach comparison information RDD based on the acquired comparison result information.

[Comparison of right-hand reach range information and left-hand reach range information between the present and past]
In the above description, the case where the display control unit 342 displays the operation comparison speed information HVD and the reach comparison information RDD based on the comparison result has been described, but the present invention is not limited to this.
The display control unit 342 may control the display regarding the comparison between the present and the past based on the detection target information CG1 and the detection target information CG2 acquired from the recognition unit 341.
For example, the display control unit 342 performs control to display the range reached by the right hand as the right hand reachable range information RHA1 indicating the current right hand reachable range information RHA based on the detection target information CG1. The display control unit 342 also performs control to display that the left hand reaches as the left-hand reach range information LHA1 indicating the current left-hand reach range information LHA based on the detection target information CG1.
Further, the recognition unit 341 performs control to display the range reached by the right hand as the right hand reachable range information RHA2 indicating the past right hand reachable range information RHA based on the detection target information CG2.
In addition, the display control unit 342 controls the left hand reachable range information LHA1 indicating the past left hand reachable range information LHA, based on the detection target information CG2, to display the range reached by the left hand.
As shown in FIG. 18 , in this example, the display control unit 342 performs control to display the right-hand reach range information RHA1, the right-hand reach range information RHA2, the left-hand reach range information LHA1, and the left-hand reach range information LHA2 in an overlapping manner.

In the above description, the case where the detection target information CG1 is information in which the recognition unit 341 recognizes the rehabilitation target site TP of the target person EP based on the detection result information currently detected by the sensor 100 has been described, but the present invention is not limited to this. I can't. If the recognition unit 341 recognizes the rehabilitation target site TP of the target person EP based on the detection result information detected after the detection result information included in the detection history information storage unit 333, the detection target information CG1 is currently It does not have to be the detected detection result information.

As described above, in the habilitation assistance device of this embodiment (the rehabilitation assistance control device 320 in the example of the modified example 1), the recognition unit recognizes the target at the first time (in the example of the modified example 1, the present). The first recognition result (the detection target information CG1 in the example of the first modification), which is the recognition result indicating the position of a part of the person's body, and the recognition result recognized in the second time period earlier than the first time period. The comparison unit that compares the position of a part of the body of the subject based on the second recognition result (in the example of the modification 1, the detection target information CG2) that is (Comparison unit 351 in the example of the modification 1). ) Is further provided, the display control unit controls the display of information regarding a comparison result obtained by comparing the first recognition result and the second recognition result.

Here, there are cases where it is difficult for the target person of the rehabilitation to objectively confirm the progress of the rehabilitation of the target person.
The rehabilitation support control device of the present embodiment is based on the detection result information that the position of the body of the target person for rehabilitation is detected in the past, and the detection result information that is detected after the detection result information is detected, The effect of rehabilitation can be confirmed objectively.

In addition, in the above, about the case where the rehabilitation assistance control device 320 controls the display of the information regarding the comparison result based on the past detection result information of the rehabilitation target person and the current detection result information of the target person. Although explained, it is not limited to this.
The rehabilitation support control device 320 controls the display of the information about the comparison result based on the reference information indicating the reference of the motion of the part of the body of the rehabilitation subject and the current detection result information of the subject. May be.

Here, there are cases where it is difficult for the target person of the rehabilitation to objectively confirm the difference between the result of the rehabilitation of the target person and the goal of the rehabilitation.
The rehabilitation support control device of the present embodiment, the detection result information that the position of the body of the target person of rehabilitation is detected, and the reference information indicating the target of rehabilitation of the target person, based on the deviation to the target of rehabilitation. It can be confirmed objectively.

As described above, the habilitation assistance device of this embodiment (the rehabilitation assistance control device 320 in the example of the modified example 1) includes the comparison unit (the comparison unit 351 in the example of the modified example 1). The comparing unit detects the first recognition result (the detection target information CG1 in the example of the modified example 1) that is the recognition result indicating the position of the part of the body of the target person recognized by the recognition unit in the first period, and the first recognition result. The position of a part of the body of the subject based on the second recognition result (the detection target information CG2 or the reference information in the example of the modification 1) that is the recognition result recognized at the second time earlier than the time. To compare. The display control unit 342 controls the display of information about the comparison result obtained by comparing the first recognition result and the second recognition result.

Moreover, in the above, about the case where the rehabilitation support control device 320 controls the display of the information regarding the comparison result based on the past detection result information of the rehabilitation target person and the current detection result information of the target person. Although explained, it is not limited to this.
The rehabilitation support control device 320 compares the comparison result based on the prediction information indicating the prediction based on the past detection result information of the partial movement of the body of the rehabilitation target person and the current detection result information of the target person. The display of information regarding may be controlled.

Here, there are cases where it is difficult for the target person of the rehabilitation to objectively confirm the difference between the result of the rehabilitation of the target person and the goal of the rehabilitation.
The rehabilitation support control device of the present embodiment, the detection result information that the position of the body of the target person of rehabilitation is detected, and the prediction information indicating the target of rehabilitation of the target person, based on the deviation to the target of rehabilitation. It can be confirmed objectively.

The rehabilitation assistance control device according to the present embodiment controls the display by comparing the detection result information in which the position of the body of the rehabilitation target person is detected with other information. Thus, the target person of the rehabilitation can recognize the degree of the result of the rehabilitation by comparing the result of the rehabilitation with other information.

[Modification 2]
FIG. 19 is a perspective view showing a modified example 2 of the system configuration of the rehabilitation support system 1.
The rehabilitation assistance control device 300 may be implemented by dividing the functions into a plurality of devices. For example, the input unit 31 and the recognition unit 341 may be mounted on another device as an image recognition device. For example, the recognition unit 341 may be provided in the sensor 100.
The output device 200 may be configured by using an image display device that displays an image instead of the image projection device. In this case, as shown in FIG. 19 , the output device 200 is configured as a display device having a display surface on a surface corresponding to the surface (projection surface) on which the image projection device projects an image in the above description. Specific examples of the image display device include a liquid crystal display device, an organic EL (Electro Luminescence) display device, and a touch panel display device. For example, a display device may be incorporated on the surface of the table, and a mark touched by the subject EP may be displayed on the display screen of the display device. In this case as well, the rehabilitation assistance control device 300 (control unit 34) performs calibration by using, for example, the marker image displayed on the display device as a mark.

All or part of each function provided in each device described above may be realized by using hardware such as an ASIC (Application Specific Integrated Circuit), a PLD (Programmable Logic Device), and an FPGA (Field Programmable Gate Array). The program executed by each device described above may be recorded in a computer-readable recording medium. The computer-readable recording medium is, for example, a portable medium such as a flexible disk, a magneto-optical disk, a ROM, a CD-ROM, or a storage device such as a hard disk built in a computer system. Each program may be transmitted via a telecommunication line.

DESCRIPTION OF SYMBOLS 1... Rehabilitation support system, 31... Input part, 32... Output part, 33... Storage part, 34, 37... Control part, 100... Sensor, 200... Output device, 300, 320... Rehabilitation support control device, 331... Calibration Information storage unit, 333... Detection history information storage unit, 341... Recognition unit, 342... Display control unit, 351... Comparison unit, 800... Detection range, 900... Output area, 901... End point, OP... Target image, AFD... Average Step information, AHV, AHVL, AHVR... Average motion speed information, ALS... Average stride information, axd... Walking direction axis, axt... Time axis, CG, CG1, CG2... Recognition information, EP... Target person, TP... Rehabilitation target Part, FL... Floor, T... Table, GT... Landing timing information, HV... Operating speed information, HVD, HVL, HVR... Operating speed information, LFL... Left foot position, LFT... Left foot locus, LHA... Left hand reach range information, LHL ... left hand position, LHT... left hand locus, LRD... left/right use comparison information, RFL... right foot position, RFT... right foot locus, RHA... right hand reach range information, RHL... right hand position, RHT... right hand locus, TR... required time information, RDD Reach comparison information, RD... Reach information, RDL... Reach information, RDR... Reach information, RP, RP1, RP2, RP3... Result image, RS, RSL, RSR... Reach area information, STD... Standing time comparison information, TC... Locus information

Claims (4)

A determination unit that determines whether the part to be detected is a hand or a foot, based on the area where the rehabilitation target operates.
Based on the detection result information indicating the detection result of the part of the detection target of the hand or foot determined by the determination unit , a recognition unit that recognizes the position of the part of the hand or foot in the detection range,
Based on the recognition unit recognizes the position of the detection range to heavy Do that output region, at a predetermined position, so as to display a target image generated by the site based on the parameters of the hand or foot control Display control unit,
With, rehabilitation support controller. Prior Symbol display control unit, based on the position of the recognition unit recognizes the hand, or to control the display of the trajectory of the hand with the movement of the hand, or the position of the recognition unit recognizes the foot Based on, to control the display of the trajectory of the foot with the movement of the foot,
The rehabilitation assistance control device according to claim 1, wherein the display control unit performs control to display an operation result when the part of the hand or foot operates on the same scale as the part of the hand or foot . A first recognition result which is a recognition result indicating the position of the part of the hand or foot recognized by the recognition unit at the first time, and the recognition result recognized at a second time earlier than the first time. in it based on the second recognition result, said the operating speed of the site of the hand or foot in the first period, and the operation speed of the site of the hand or foot in timing of the second comparison of said first The position at which the part of the hand or foot reaches at the time of 1 and the farthest position from the target person, and the position at which the part of the hand or foot reaches at the second time, which is the target. Of the distance from the person to the furthest position , and the reach of the part of the hand or foot at the first time , and the reach of the part of the hand or foot at the second time, Further comprising a comparison unit for performing at least one of the comparisons,
The display control unit controls display of information regarding a comparison result performed by the comparison unit ,
The rehabilitation assistance control device according to claim 1 or 2. Based on the position of the hand recognized by the recognition unit, the display control unit controls to display a target image of the hand and a history image indicating the trajectory of the hand accompanying the movement of the hand, or Based on the position of the foot recognized by the recognition unit , control is performed to display a target image of the foot and a history image indicating a trajectory of the foot accompanying the movement of the foot .
The rehabilitation assistance control device according to any one of claims 1 to 3 .

Images