JPH06102073B2 - Rehabilitation support device - Google Patents

Description

TECHNICAL FIELD The present invention relates to a rehabilitation assistance device used to restore the function of a limb body such as an upper limb body or a lower limb body having a weakened muscle strength.

BACKGROUND ART In a typical prior art, a program or a pattern that requires training is input and stored in a means for rocking drive control of an arm to which a limb whose function is to be restored is attached.
Thereby, the rehabilitation operation can be automatically executed and the training data can be recorded. Such prior art is convenient from the viewpoint of a doctor.

Problems to be Solved by the Invention On the other hand, for patients undergoing training treatment, the rehabilitation motion is a relatively monotonous repetitive motion, which is sometimes painful. Therefore, the patient's own strong therapeutic efforts are required. Therefore, in order to promote the patient's treatment efforts, it was necessary to verbally encourage a patient who has a doctor or the like near the patient and is undergoing training treatment.

It is an object of the present invention to provide a rehabilitation support device which enables a patient who undergoes rehabilitation training treatment to be encouraged automatically and to enjoy rehabilitation while having fun.

Means for Solving the Problems The present invention has an arm to which a limb whose function is to be restored is mounted and angularly displaced, and is any of isotonic exercise, isometric exercise, constant velocity exercise, and range of motion exercise. A movement mechanism for performing at least one movement, and means for detecting the movement condition of the patient during training, which is provided in the arm, and 7, In response to the output of the detection means 7, 8, to encourage the patient Judgment means 9 and 11 that outputs a control signal for generating a sound by judging that it is in an appropriate situation, and a patient who responds to the control signal of the judgment means 9 and 11 and is performing training treatment during training Means for generating voices that excite people 13,18
It is a rehabilitation assistance device characterized by including and.

In a preferred embodiment, the movement mechanism performs an operation for isotonic movement, the detecting means 7 detects the speed of the arm, and the judging means 9 and 11 control when the detected speed is less than a predetermined value. It is characterized by outputting a signal.

Further, in a preferred embodiment, the movement mechanism performs an operation for isometric movement, the detection means 8 detects the torque acting on the arm, and the determination means 9 and 11 are the average values of the torque in each training.
When 1, l2 is calculated and the average value l2 of this time is less than the average value 1 of the previous time and is lower than the average value l2 of the previous time, a control signal for generating the first voice that excites the patient during the training is output, If the average value l2 of this time is more than the average value 1 of the previous time and it becomes less than the predetermined ratio of the maximum torque Tmax during the next round of training, the second reason for exciting the patient is to generate a voice during training. It is characterized by outputting one control signal.

In a preferred embodiment, the motor function performs an operation for constant velocity motion, the detecting means 8 detects the torque acting on the arm, and the judging means 9 and 11 determine the average value of the torque of one cycle in advance. A control signal is output when the value is less than the value.

In a preferred embodiment, the motion mechanism performs an operation for joint range of motion training, the detecting means 7 detects the angle of the arm, and the judging means 9 and 11 send a control signal that the detected angle is small. It is characterized by outputting.

Further, a preferred embodiment is characterized by including a visual display means for displaying the healing process of the patient undergoing training treatment.

Action According to the present invention, the limbs whose function of the patient is to be restored are attached to the arm of the motor function to operate, whereby training healing, that is, isotonic motion, isometric motion, constant velocity motion and range of motion of the joint is performed. Training will take place. During this training treatment, when the speed or force of the limb attached to the exercise mechanism decreases, it is detected by the detection means provided in the arm of the exercise mechanism, and it is determined that the patient should be encouraged. If judged by, encouragement is given by voice. Therefore, the patient undergoing the training treatment is encouraged, and the training treatment can be enjoyed, and it is not necessary to have a doctor or the like near the patient to verbally encourage the patient.

Embodiment FIG. 1 is a block diagram of an embodiment of the present invention. The rehabilitation assistance device according to the present invention is implemented in order to restore the function of a limb whose muscle strength is weakened or joint movement is poor. The upper or lower extremity of the patient is attached to the end 2 of the arm 1. Base end 3 of this arm 1
Is fixed to a rotary shaft 4 having a horizontal axis. The servomotor 5 drives the rotary shaft 4 in a reciprocal angular displacement. The angle of the arm 1 and the rotation speed of the rotation shaft 4 are detected by the rotation angle and speed detector 7. A force detector 8 is attached to the arm 1 so that the force acting on the arm 1 can be detected.
The force detected by the force detector 8 corresponds to the torque acting on the limb from the arm 1. The respective outputs from the rotation angle and speed detector 7 and the force detector 8 are given to the processing circuit 9, and the processing circuit 9 controls the servomotor 5. Input means
10 gives a signal to the processing circuit 9. In this way, the limbs whose functions are to be restored by the swing angle displacement of the arm 1 can perform isotonic exercise, isometric exercise, constant velocity exercise, and joint range of motion training.

Isotonic exercise refers to training involving joint movement.
It is an action like pulling up the weight, and it has a constant value depending on the load on the muscle and the weight of the weight. Isometric exercise is isometric contraction of muscles, that is, contraction that does not cause displacement of length, and repeating this training helps strengthen muscle strength. It is equivalent to pushing a wall or holding a weight without end. The constant-velocity movement can be thought of as isometric movement to which joint movement is added, and its speed is constant.
This is equivalent to pushing a wall that moves at a constant speed with the body position fixed. The joint range of motion training is a training for moving a joint that is difficult to move, and is a movement that moves at a constant and slow speed, for example, 1 to 2 ° / sec. In order to perform such training and other training, the processing circuit 9 drives and controls the arm 1 to which the limb is attached by the servomotor 5. Input means 10
Is operated by a doctor or therapist, etc., to select each training type and control. In the processing circuit 9,
The display means 20 is connected.

A training mode signal, a torque signal, and a position signal are given from the processing circuit 9 to the voice code selection circuit 11. The training mode signal is a signal representing a training mode in which training treatment is being performed, that is, one of isotonic exercise, isometric exercise, constant velocity exercise, joint range of motion exercise, and the like. The torque signal is
The position signal is a signal representing the torque acting on the arm 1, and the position signal is a signal representing the angular displacement position of the arm 1. The output signal, which is a control signal from the voice code selection circuit 11, is input via the line 12 to the input / output interface 14 of the voice output device 13.
Is input to the processing circuit 15 via. The output from the input / output interface 14 is given to a voice synthesis circuit 16 realized by a large-scale integrated circuit, the output is amplified by an amplifier 17, and a voice is generated for a patient by a speaker 18. To be done. A read-only memory 19 storing a voice pattern of, for example, 92 words is connected to the voice synthesizing circuit 16, and based on the stored contents by the control signal,
A voice signal is generated from the voice synthesis circuit 16 to the amplifier 17.
The read-only memory 19 is realized by a so-called EP ROM or the like that can erase and rewrite the program.

The operation will be described with reference to FIG. At step n1 to step n2, at the start of each training mode, referring to the history of healing of the patient undergoing the training treatment up to the previous time, the voice synthesis circuit 16 outputs a message from the speaker 18 to “A% of normal time”. I am recovering. Be careful of B and try my best today. " In the above A, a numerical value is entered, and in B, an item to be noted by the patient during the training treatment is entered.

At step n3, it is judged whether or not an isotonic movement should be performed, and if so, the arm 1 is drive-controlled for isotonic movement at step n4. In step n5, the speed at which the patient's arm is moved is, for example, 80% of the preset value.
It is judged whether or not it exceeds. If it is over 80%, then move to step n10. When it does not exceed 80%, the process moves to step n6, and when it is less than 80%, that is, the speed at which the patient's arm moves is set to the above-mentioned set value.
When it is less than 80%, the process proceeds to step n7, and the voice synthesizing circuit 16 uses the speaker 18 to make a note that "it is fast". When it is equal to 80%, the process moves from step n6 to step n8, and then to step n9.

At step n10, it is judged whether or not isometric movement should be performed, and if so, the operation moves to step n11, and the arm 1 is driven by the servomotor 5 for isometric movement.

At step n12, it is determined whether the limb strength has begun to decline during the patient's therapeutic training. That is, as shown in FIG. 3, the torque applied to the arm 1 from the limb at the first time is shown by the waveform p1 in FIG. 3, and at the second time, the waveform p2.
Suppose that The average value 1 of the torque in the first training is calculated, and this is set as the second set value, and the average value 12 during the second training is calculated. At the second time, as shown in FIG. 3, when the average value l2 at the second time is less than the set value 1 and is lower than the set value 1, the voice synthesis circuit 16 causes the speaker 1
8 encourages the patient with a voice saying, "Please do your best". In this way, the average value set in the previous training is set as the current set value, and when the set value is below this time, the patient is encouraged by voice.

If the current average value is equal to or more than the previous average value, that is, the current set value, the process proceeds from step n12 to step n14. In step n14, during the third training,
It is determined whether or not the torque acting on the arm 1 has reached a predetermined value, for example, less than 50% of the maximum torque Tmax, and if so, the voice in step n15 encourages "Do your best". This state is as shown in FIG. When isometric exercise is being performed, at time t1 when less than 50% of the maximum torque Tmax, as described above,
The voice of "Do your best" is generated.

At step n16, it is determined that the uniform velocity motion is to be performed, and at step n17 it is executed. At this time, the process proceeds to step n18, where it is judged when the generated torque is small, that is, whether the torque average value for one cycle is less than a preset set value, and if so, in step n19, "let's do our best." The sound is generated. The set torque in step n18 is determined by the doctor by looking at the previous situation of functional recovery. For example, the generated torque is set to be 10% more than the set torque described above, and the set torque is set as today's set torque.
At step n20, the end of the training is judged, and a voice is generated saying, "Today's training is over. In the next training, be careful of C and train." The above-mentioned C includes, for example, "training to move faster with an arm". Step n2
At 1, the training operation ends.

As another embodiment of the present invention, when the patient tries to pull out a little during isotonic exercise, that is, when the speed at which the arm is moved becomes low, a voice message "Let's try to make it a little faster." Is generated. You may encourage it.

Further, as shown in FIG. 5, when the arm 1 reaches a predetermined angle θ1 in the joint range of motion training, a large torque is required to angularly displace the arm 1 by the limbs beyond that. Therefore, in the range of the angle 0 to θ2 of the arm 1 until the torque applied to the arm 1 by the patient reaches the predetermined value T1, the angle 0 to θ2 of the arm 1 is voiced by the speaker 18 "Let's have some pain but let's do our best." Empowers the patient to encourage and enjoy the training.

In the processing circuit 9, the treatment history of the patient is stored, and the content is displayed by the display means 20 such as a cathode ray tube so as to be understood at a glance. By this display means 20, the degree of recovery from the start of treatment to the present and the comparison with the normal time are displayed, and further the scheduled discharge date is displayed so that the healing state of the patient can be seen at a glance and visually appealed. By doing so, the patient can carry out the rehabilitation operation more inspiringly and encouragingly. As described above, in the above-described embodiment, the therapeutic effect due to the interaction between the human and the machine can be improved as compared with the prior art in which the rehabilitation monotonous operation and the therapeutic training by the command are performed.

Furthermore, the display means 20 may display an image of a training method or the like.

In the above embodiment, the numerical values such as the discrimination level of 80% shown in steps n5, n6, n8 and the discrimination level of 50% shown in step n14 in FIG. It can be set to an appropriate value by appropriately changing it according to the patient's condition.

As yet another embodiment of the present invention, a case will be described in which, for example, during the exercise of isotonic exercise, the speed at which the limb acts on the arm 1 to which the limb is attached follows the course indicated by reference numeral 19 in FIG. Regarding the speed acting on the arm 1 during isotonic training, 80% of the normal speed is defined as the first discrimination level l3, and 50% of the normal speed is defined as the second discrimination level l4. 7th
During the operation of the processing circuit 9 shown in the figure, if it is determined that the mode is the isotonic movement mode at step m1, the isotonic movement is started at time t10 in FIG. 6 at the next step m2. A patient undergoing training treatment moves arm 1 at the speed indicated by line 19 in FIG. During this training treatment, if the speed becomes less than 80% of the normal speed at time t11, that is, less than the first discrimination level l3, step m3 to step m3
Move to m4. If the speed of the arm 1 is 50% or more of the normal state in step m4, that is, the second discrimination level l4 or more,
In step m5, the voice synthesizing circuit 16 uses the speaker 18 to give the patient a voice "quickly hold". This increases the speed at which the patient moves his arm. After that, in step m6, it is judged whether or not the speed at which the patient's arm is moving is increased and the level is less than the first discrimination level l3, which is 80% of the normal time. , "At time t12.

When the speed at which the patient's arm moves is less than 50% of the normal time, that is, less than the second discrimination level l4, the process moves from step m4 to step m8, and at time t13, it is "quick and fast", which is significantly higher than in the normal state. Be careful, as you can see that the speed is very small and therefore that the speed must be greatly improved.

In step m6, when the patient was encouraged by the voice "holding fast", but the arm speed did not increase and was below the first discrimination level l3, which is 80% of the normal time, the step The process moves from m9 to step m8, and a voice warning is given, "If you hold it, it will be faster." In this way, multiple discriminating levels below the normal value during the treatment operation
By setting l3 and l4, the patient can be encouraged with individual contents below the discrimination level and detailed training treatment can be performed. Such an operation can be performed not only in isotonic exercises, but also in isometric exercises, constant velocity exercises, and joint range of motion exercises.

As still another embodiment of the present invention, the voice information generated during each of the training treatments of isotonic exercise, isometric exercise, constant velocity exercise, and range of motion exercise may be set as shown in Table 1, for example. Good.

As another embodiment of the present invention, when the training treatment is brought to an emergency and the training treatment should be stopped, the patient makes a voice saying "Please stop" and the microphone provided in the processing circuit 9 outputs this voice. Received, by means of which the processing circuit 9
Stops the operation of the servomotor 5 to stop the training treatment, and causes the speaker 18 to make a sound "stop" by the sound generator 13. In this way, safety can be improved.

Effects As described above, according to the present invention, it is possible for a patient who undergoes rehabilitation training treatment to be encouraged and to have fun while automatically performing. Therefore, as described in connection with the above-mentioned prior art, it is not necessary to have a doctor or the like near the patient, which is convenient.

In particular, according to the present invention, when the detecting means 7 and 8 detect the situation of the patient's exercise during the training by the exercise mechanism, and the determining means 9 and 11 determine that the patient should be encouraged. ,
The voice generating means 13 and 18 generate a voice that excites the patient. Therefore, even when the patient is tired due to a great effort during the training, since the voice encouragement is performed, the patient can be surely encouraged.

Moreover, since this voice is generated during the training, the patient undergoing the training can continue the training by being encouraged, and the rehabilitation support is sufficiently provided.

[Brief description of drawings]

FIG. 1 is a block diagram of an embodiment of the present invention, and FIG.
A flow chart for explaining the operation of the embodiment shown in the figure, FIG. 3 is a diagram for explaining the operation of step n12 during isometric exercise, and FIG. 4 is an operation of step n14 during isometric exercise. FIG. 5 is a diagram for explaining another embodiment of the present invention, FIG. 6 is a diagram for explaining the operation during isotonic exercise of another embodiment of the present invention,
FIG. 7 is a flow chart for explaining the operation of the embodiment described with reference to FIG. 1 ... Arm, 5 ... Servo electric motor, 8 ... Force detector, 9, 15 ...
Processing circuit, 10 ... Input means, 11 ... Voice code selection circuit, 13
… Voice generator, 14… Input / output interface, 16… Voice synthesis circuit, 18… Speaker

 ─────────────────────────────────────────────────── ─── Continued Front Page (72) Inventor Takao Wada 1-1 Kawasaki-cho, Akashi-shi, Hyogo Kawasaki Heavy Industries Ltd. Akashi Plant (72) Inventor Kazushi Hirohata 5-chome, Kusu-cho, Chuo-ku, Kobe-shi, Hyogo 1 (72) Inventor Ryoichi Shiba 3-15-3 Shimoyamate-dori, Chuo-ku, Kobe-shi, Hyogo (56) References JP-A-60-194966 (JP, A) JP-A-61-64264 (JP, A) Actual Kai 61-21501 (JP, U)

Claims (6)

[Claims] 1. An arm having a limb whose function is to be restored is attached and angularly displaced, and an operation for at least one of isotonic exercise, isometric exercise, constant velocity exercise, and range of motion exercise is performed. The movement mechanism to perform and the means 7 and 8 provided on the arm to detect the movement status of the patient during training, and the output of the detection means 7 and 8 in response to the judgment to determine that the patient should be encouraged Then, in response to the control signals of the judgment means 9 and 11 and the judgment means 9 and 11 for outputting a control signal for generating a sound, a sound that encourages the patient undergoing the training treatment is generated during the training. Means 13,18
A rehabilitation assistance device including: 2. The motion mechanism performs an operation for isotonic motion, the detecting means 7 detects the speed of the arm, and the judging means 9, 11 control when the detected speed is less than a predetermined value. The rehabilitation assistance device according to claim 1, wherein the rehabilitation assistance device outputs a signal. 3. The movement mechanism performs an operation for isometric movement, the detecting means 8 detects the torque acting on the arm, and the judging means 9 and 11 determine the average value of the torque in each training.
When 1, l2 is calculated and the average value l2 of this time is less than the average value 1 of the previous time and is lower than the average value l2 of the previous time, a control signal for generating the first voice that excites the patient during the training is output, When the current average value l2 is equal to or more than the previous average value 1 and becomes less than a predetermined ratio of the maximum torque Tmax during the next training, a second voice for exciting the patient is generated during the training. The rehabilitation assistance device according to claim 1, wherein the rehabilitation assistance device outputs one control signal. 4. The motion mechanism performs an operation for constant velocity motion, the detecting means 8 detects the torque acting on the arm, and the judging means 9, 11 determine the average value of the torque of one cycle in advance. The rehabilitation assistance device according to claim 1, wherein a control signal is output when the number is less than the above. 5. The motion mechanism performs an operation for training the range of motion of the joint, the detecting means 7 detects the angle of the arm, and the judging means 9, 11 output a control signal when the detected angle is small. The rehabilitation assistance device according to claim 1, wherein 6. A visual display means for displaying the healing process of a patient undergoing training treatment.
Rehabilitation assistance device described.