JPH09120464A - Rehabilitation support device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve the continuous intention of a patient for his rehabilitation by measuring the physical features of the patient and changing the image of a virtual world and the effect sounds to feed them back to the patient via a display and a speaker. SOLUTION: This support device is provided with a storage means 11 which stores the image data and the effect sound data, a display 12, a speaker 13 which generates the effect sounds, a centroid vibration meter 14 which measures the centroid of a patient body, and a control means 15 which calculates the moving direction and speed of a virtual world and takes out the image data to be displayed and the effect sounds to output them to the display 12 and the speaker 13 respectively. Then the patient steps on the meter 14 and keeps his upright posture. Thus the centroid position of the patient is measured and the patient can move straight along the center of a path of the virtual world as long as he keeps his upright posture. When the patient body tilts, the centroid of the patient gets out of the center of the path and at the same time a warning sound is produced through the speaker 13. If the patient body tilts more, the patient runs against a virtual wall. Thus a clash sound is produced and the movement of the virtual world stops.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a rehabilitation support device used for functional recovery training for a person with some physical disability.

[0002]

2. Description of the Related Art In recent years, it has been desired that persons with physical disabilities perform functional recovery training to return to society.
Along with this, the development of a device that supports rehabilitation according to various disorders has become an important issue.

An apparatus for solving these problems is shown in FIG.
A conventional rehabilitation support device, which is a first conventional example, will be described with reference to FIG.

FIG. 35 is a block diagram of a conventional habilitation support device for carrying out function recovery training for a sense of balance. FIG.
In FIG. 5, 61 is a center-of-gravity perturbation meter in which the patient stands upright and measures the center-of-gravity position, 62 is an analyzer for analyzing the measurement values of the center-of-gravity perturbation meter 61, and 63 is a graph of the analysis result of the analyzer 62 The data processing device 64 is an output device for outputting the graphs formed by the data processing device on paper.

An outline of the operation of the rehabilitation support apparatus configured as described above will be described. The first conventional example is an apparatus that supports functional recovery training for a patient with impaired balance. The patient puts both feet on the upper part of the body sway meter 61 and maintains an upright posture for a certain period of time. The center-of-gravity position of the patient is measured by a center-of-gravity sway meter 61, and analyzed by an analyzer 62
It is sent to the data processing device 63. The data processing device 63 performs a time series analysis and a frequency analysis,
It is graphed as a power spectrum, histogram, etc. After the inspection is completed, these graphs are output to paper by the output device 64. Patients can refer to this graph to know their condition. As a rehabilitation support system having such a structure, there is a center of gravity motion analysis system G5500 manufactured by Anima Co., Ltd.

Further, as a device for solving the above problems, a conventional rehabilitation support device which is a second conventional example will be described with reference to FIG.

FIG. 36 is a block diagram of a conventional habilitation support device for carrying out function recovery training for a sense of balance. In FIG. 36, 51 is a board part on which the patient puts both feet,
52 is a boss part whose upper part is fixed to the lower part of the board part 51 and whose lower part is in contact with the floor by its curved surface.

An outline of the operation of the rehabilitation support apparatus configured as described above will be described. The second conventional example is a device that supports functional recovery training for a patient with impaired balance. The patient stands with both feet on the board 51. Since the boss portion 52 is in contact with the floor with a curved surface, the entire apparatus is unstable, and the apparatus is tilted due to a slight movement of the center of gravity of the patient. The patient restores the function of equilibrium by keeping the board parallel to the floor while successfully moving the center of gravity. An example of a rehabilitation support system having such a configuration is Sakai Medical Co., Ltd.'s Dijoc Board SPR-2600.

[0009]

However, in the first conventional example, since the position of the center of gravity of the patient is measured and presented only on the paper or the display only with numerical values or graphs, the effect of rehabilitation is quantified. Is suitable, but there was a problem that I could not grasp my condition during the functional recovery training.

The second conventional example has a problem that the training tends to be monotonous and the patient lacks the motivation to continue the training. Further, in the configuration of the second conventional example, there is a risk that the patient undergoing the function recovery training may fall from the device and get injured, and the instructor must accompany him or her in order to prevent it. .

Further, in these conventional examples, there is a problem that only a single training can be performed, and the training content cannot be changed according to the degree of symptoms of each patient.

In view of the above problems, the present invention measures the physical characteristics of the patient, converts the situation into an intuitive environment such as images and sounds, and feeds back to the patient to obtain the physical characteristics of the patient. The purpose is to show the state clearly.

Another object of the present invention is to eliminate the monotony of the function recovery training by giving the training a game property, and to give the patient a sense of continuation of training.

It is another object of the present invention to eliminate the risk of injury by falling from the device during the function recovery training, and to provide an environment in which the patient can perform the function recovery training without attendance.

It is another object of the present invention to provide a training device capable of flexibly changing the training content according to the degree of symptoms of the patient.

[0016]

The first means for solving the above-mentioned problems is to store the body feature quantity measuring means for measuring the body feature quantity of the patient and the current position of the virtual patient in the virtual world. Current position data holding means, object data holding means for storing object data which is position information and size information of a virtual object inside the virtual world, image data holding means for storing image data of the virtual world, Display means for displaying an image, moving direction deciding means for deciding the moving direction of the virtual patient from the physical characteristic amount, moving speed deciding means for deciding the moving speed of the virtual patient from the physical characteristic amount, current position and moving direction A new position of the virtual patient is determined from the moving speed, and the current position determining means for updating the current position stored in the current position data holding means is compared with the current position and the object data. Collision determining means for determining collision between the patient and the virtual object, and image control means for extracting image data of the virtual world to be displayed from the image data holding means based on the moving direction, current position and collision determination, and displaying the image data on the display device. It is equipped with.

Here, in the first means of the present invention, the result information determining means for determining the result information of the patient from the collision judgment is added, and the moving speed determining means is taken out from the result information determining means. May be replaced with a moving speed determining means for determining the moving speed of the patient.

Further, in the first means of the present invention, the virtual environment surrounding the virtual patient is quantified from the physical characteristics of the patient, the moving speed, and the collision determination, and the virtual environment is reproduced from this environmental information to reproduce the environment given to the patient. Means may be added.

A second means for solving the above problems is a virtual patient image controller for generating a virtual patient image representing a virtual patient in the virtual world, in addition to the first means.

Here, in the second means of the present invention, the virtual patient image may be changed in association with the temporal change of the physical characteristic amount of the patient.

Further, in the second means of the present invention, the virtual patient image may be rotated about a specific direction in the virtual world as a rotation axis in association with the temporal change of the body feature amount of the patient.

A third means for solving the above-mentioned problems is the first means, in addition to the result determining means for determining the result based on the training result of the patient after the training and the result determined by the result determining means. Based on this, a training program determining means for determining the training program which is the content of the next rehabilitation is added.

Here, in the third means of the present invention, the training program is provided with a parameter for changing the difficulty level, and the training program determining means determines the value of this parameter, whereby the content of the next rehabilitation will be performed. May be determined.

In addition, in the third means of the present invention, a result history analysis means for analyzing the history information of the results determined by the result determination means is added, and the training program determination means is based on the analysis result of the result history analysis means. If the patient's performance is not improved, the training program corresponding to the previous rehabilitation stage may be determined as the next training program.

Further, in the third means of the present invention, fitness judging means for judging the fitness as an index of whether or not the patient has completed the rehabilitation based on the history of the physical feature quantity during the rehabilitation is added. However, if the training program determining means determines that the patient is not able to perform rehabilitation to the end based on the judgment result of the fitness determining means, the training program that the patient can handle is determined as the next training program, and the training program can be performed until the end. In this case, the next training program may be decided based on the judgment result of the result judging means.

A fourth means for solving the above-mentioned problems is the first means, which is the same as the first means, and includes a disapproval area data holding means for storing the disapproval area data of the patient and a current position stored by the present position data holding means. Marker generation for determining whether or not to generate a marker that gives a patient a warning of collision from the object data stored in the object data storage means and the disapproval area data stored in the disapproval area data storage means. A determination unit, an image combination unit that generates a marker image from the result of the marker generation determination, combines the image with the image data extracted from the image control unit, and outputs the image to the display unit, and a warning that outputs a warning sound from the result of the marker generation determination. The sound output means is added.

A fifth means for solving the above-mentioned problems is the body characteristic for compensating the body characteristic amount of the patient measured by the body characteristic amount measuring means according to the degree of the patient's obstacle. A quantity correction means is added.

Here, in the fifth means of the present invention, the body feature quantity correcting means may correct the body feature quantity by mapping the range of the value of the body feature quantity that the patient can output to a certain range of specific values. .

Further, in the fifth means of the present invention, the body characteristic amount correcting means is such that the patient can output a range of values larger by a certain amount than the range of values of the body characteristic values that the patient can actually output. It may be corrected assuming that the range of the value of the feature amount.

Further, in the fifth means of the present invention, the body characteristic amount correcting means may change the correction amount after the training or during the training based on the history of the body characteristic amount during the training.

In the fifth means of the present invention, a plurality of correction patterns may be prepared in advance, and the body feature quantity correcting means may select the correction pattern according to the purpose of training.

Further, as the body feature amount measuring means for measuring the body feature amount in the first to fifth means, the geometrical positional relationship between the patient's limbs and the body and the turning amount of the patient's head and upper body are measured. A body movement input camera that measures as a body feature amount, a center of gravity sway meter that measures a center of gravity position of a patient as a body feature amount, or a treadmill that measures at least one of a walking speed and a walking distance of a patient as a body feature amount, or A muscle force sensor that measures the patient's muscle strength as a physical feature amount, or the pedals with the left and right feet move forward or backward, respectively, depending on the stepping motion of the patient lying on his back,
A stepping training device equipped with a sensor that measures the stepping force and pullback force of each leg at that time, or a sensor that measures the air pressure when the patient extends his knees as a physical feature amount by placing it under the knees of both legs of the patient. It may be an air bag provided, or a handle provided with a sensor that turns by interlocking with twisting of the upper half of the patient's body and measures the amount of turning as a body feature amount.

In addition, a guide for preventing the patient's knees from facing outward is attached to the stepping training device, or the foot on the healthy side of the patient is stepped on and pulled back to utilize the foot on the paralyzed side. You may move the pedals on it.

A sixth means for solving the above problems is the first means, in which the body feature quantity measuring means is used to photograph a plurality of patients at the same time with one camera and decompose the images for each patient. It is a body motion input camera that individually measures the physical features of the patient, and also captures the physical features of multiple patients, generates multiple virtual patient images corresponding to each patient, and creates physical features corresponding to each patient. The patient image control means for changing the virtual patient image in association with the temporal change in the amount and synthesizing the image of the virtual world and the plurality of virtual patient images is added.

A seventh means for solving the above problems is a body movement measuring means for measuring the body movement of the subject.
A display for presenting an image to the target person, an environment output means for outputting the environment given to the target person, a communication means for communicating with an external device, and failure data indicating the degree of failure of the target person are input and held. An obstacle data input / holding means, an image to be given to a display and an environment output means based on the obstacle data of the subject, the body movement data of the subject obtained by the body movement measuring means, and the data obtained by the communication means. , A virtual world determining means for determining the environment to be output, an image synthesizing means for synthesizing the images to be output to the display in real time according to the command of the virtual world determining means, and an environment to be given to the subject in real time according to the command of the virtual world determining means. And an environment synthesizing means for instructing the environment output means.

Further, in the seventh means of the present invention, the virtual world determining means is a virtual world data holding means for holding virtual world data representing a state of the virtual world, and a target person from the failure data input holding means. Interaction between the subject and the virtual world, using the handicap determination holding means that determines and holds the handicap data from the obstacle data, and the physical movement data and virtual world data of the subject obtained from the handicap data and the physical movement measurement means. Virtual world data holding means for judging the change of the virtual world from the data of the virtual world data holding means, virtual world data holding from the data of the interaction judging means and the virtual world judging means, and the communication means The virtual world determination means configured by the virtual world update means for updating the data of the means It may be in place.

According to the present invention using the first means, the body characteristic amount measuring means measures the body characteristic amount of the patient, and the image of the virtual world and the sound effect prepared in advance are changed according to the situation. By giving feedback to the patient through the display and speaker, the patient's condition can be clearly shown.

Further, by using the image of the virtual world as the image data and allowing the virtual world to move freely according to the change of the patient's physical feature amount, the monotony of rehabilitation is eliminated and the patient has a continuous consciousness. be able to.

Further, by obtaining the patient's performance from the number of collisions between the patient and the wall in the virtual world and determining the moving speed based on this performance, it is possible to individually respond to the degree of disability and the result of rehabilitation. it can.

Furthermore, by reproducing the environment of the virtual world surrounding the virtual patient and giving it to the patient, it is possible to further raise the consciousness of continuing rehabilitation.

According to the present invention using the second means, by displaying an image of a virtual patient in the virtual world, the patient can see his / her condition and the relationship between the patient and the virtual world. Can be intuitively understood.

In addition, according to the change of the patient's physical characteristic amount,
By rotating the virtual patient image, the patient can intuitively understand the change in his / her own state.

According to the present invention using the third means, after the training is completed, the training program, which is the content of the next rehabilitation, is determined based on the training result determined from the training result of the patient, thereby recovering the patient. Rehabilitation according to the degree can be implemented.

Further, by giving the training program a parameter for changing the difficulty level, it is possible to generate a plurality of training programs having different difficulty levels from one type of virtual world data.

Further, when the history information of the results is analyzed and the patient's results are not improved, the training program corresponding to the previous rehabilitation stage is determined as the next training program. The more basic functional recovery training needed to restore function can be re-done.

Further, based on the history of the physical features during the rehabilitation, the fitness that serves as an index of whether the patient can perform the rehabilitation to the end is determined, and if the patient has not performed the rehabilitation to the end, By determining the training program that can be handled by the next training program, rehabilitation can be continued without the patient's motivation for training.

According to the present invention using the fourth means, by preparing the patient's unacknowledged region data, when the obstacle in the virtual world is in the patient's unacknowledged region, and the patient is likely to collide. Sometimes warning can be given. By repeating this warning, the patient repeats the action of paying attention to the agnosia region, and can perform rehabilitation for the agnosia disorder.

Furthermore, by preparing the data of the unrecognized area for each individual, it is possible to carry out according to the situation of the individual failure.

According to the present invention using the fifth means, by correcting the physical characteristic amount of the patient according to the degree of the patient's disability, the patients having different degrees of the disability change similarly. You can experience the virtual world.

Further, by mapping the range of the value of the body feature value that the patient can output to a specific value range, the value of the body feature value input to the rehabilitation support system realized by using the first means. The range of can be limited to one.

Further, the body feature amount is corrected by assuming that the range of the value of the body feature amount that the patient can actually output is larger than the range of the value of the body feature amount that the patient can actually output. By doing so, the patient can be motivated to maximize their ability.

Further, after the training is completed, the correction amount is updated based on the history of the physical feature amount during the training, so that the rehabilitation more suitable for the patient's condition can be performed.

Further, during the training, the correction amount is sequentially updated based on the history of the body feature amount up to that point,
In addition to being able to respond in detail to the patient's condition, it is not necessary to measure the characteristics of the patient's physical characteristics in advance in order to determine the correction amount.

Further, by preparing a plurality of correction patterns in advance and selecting an appropriate correction pattern according to the purpose of the training, it is possible to perform the training according to the target function.

In the first to fifth means, since the body movement input camera for inputting the movement of the patient's body is used as the body characteristic amount measuring means, the body characteristic amount of the patient can be measured in a non-contact manner. , The patient can move around freely.

Since it is non-contact, rehabilitation can be performed safely without the risk of falling from the measuring instrument. Further, since it is non-contact, rehabilitation can be performed anywhere.

Further, by measuring the turning amount of the patient's head as a body feature value with the body movement input camera, the position of the center of gravity of the patient can be measured without contact, and it can be used for rehabilitation of a patient with impaired balance sensation. .

Further, by measuring the turning amount of the upper half of the body of the patient with the body movement input camera as the body feature amount, the balance ability of the trunk can be evaluated.

Further, by measuring the geometrical positional relationship between the limbs and the body of the patient with the body movement input camera as a body feature amount, it can be used for rehabilitation of a patient having a movement disorder in the limbs.

Further, by detecting the geometrical positional relationship between the extremities and the body as a gesture, the rehabilitation assistance device can be used for instructing mode switching or the like.

Further, in the first to fifth means, by using a barycenter swayometer for measuring the position of the center of gravity of the patient as the body feature amount as the body feature amount measuring means, the position of the center of gravity can be accurately measured. It can also be used for rehabilitation based on accurate data.

In the first to fifth means, the treadmill for measuring at least one of the walking speed and the walking distance of the patient as the physical feature amount is used as the physical feature amount measuring means, so that the walking disorder occurs. It can also be used for patient rehabilitation.

Further, in the first to fifth means, by using a muscle force sensor for measuring the muscle strength of the patient as the body characteristic amount as the body characteristic amount measuring means, the rehabilitation of the patient with weak muscle force and the muscle force can be performed. It can also be used to train patients to maintain.

In the first to fifth means, as the body feature amount measuring means, the pedals on which the left and right feet are placed move forward or backward or rotate in response to the stepping motion of the patient lying on his back. By using the stepping training device equipped with a sensor that measures the stepping force and the pulling back force of the lower limb of the patient as a body feature amount, it can be used for rehabilitation of a patient with a lower limb disorder.

In addition, the foot-training device is used to move the pedal on which the foot on the paralyzed side rests, by using the force of stepping on and pulling back the foot on the healthy side of the patient. It is possible to perform shrinkage prevention and function recovery training for the paralyzed side at the same time.

Further, by providing the stepping training device with a guide for preventing the patient's knee from facing outward, it is possible to prevent an excessive force from being applied to the knee.

In the first to fifth means, as the body characteristic amount measuring means, an air bag provided with a sensor which is placed below the knee of the patient and measures the air pressure when the patient extends the knee as the body characteristic amount is used. Therefore, it can be used for rehabilitation of patients who have weak legs and can only exert weak force.

In the first to fifth means, as the body characteristic amount measuring means, a handle equipped with a sensor which turns in conjunction with the twist of the upper half of the patient's body and measures the turning amount as a body characteristic amount is used. Therefore, it can be used for rehabilitation of patients who need trunk balance training.

According to the present invention using the sixth means, a plurality of patients are simultaneously photographed by one body motion input camera, and the images of each patient are decomposed, and then the body feature amount is measured to obtain a plurality of virtual patients. By displaying, multiple patients can collaborate in the virtual world.

According to the present invention using the seventh means, the rehabilitation support apparatus can be interconnected by the communication means, and a plurality of patients can share one virtual world at the same time.

Further, it is possible to set a relationship in the interaction between the subject and the rehabilitation support apparatus according to the difference in the degree of disability of the subject.

Moreover, it is possible to set an interaction according to the difference in the degree of disability between a plurality of target persons.

[0073]

BEST MODE FOR CARRYING OUT THE INVENTION Rehabilitation support devices according to embodiments of the present invention will be described below with reference to the drawings.

(Embodiment 1) FIG. 1 is a schematic diagram of a rehabilitation support apparatus according to a first embodiment of the present invention.

In FIG. 1, reference numeral 11 denotes a storage means for storing all image data that may be in the field of view when a patient moves inside a building in a virtual world, and sound effect data such as a collision sound. Is a display for displaying the image data of the storage means 11, 13 is a speaker for producing sound effects of the storage means 11, 14 is a center of gravity swayometer for measuring the center of gravity as a physical characteristic of the patient, and 15 is a center of gravity swayometer 14. The moving direction and moving speed in the virtual world are calculated from the position of the center of gravity of the patient, the image data and the sound effect to be displayed next are taken out from the storage means 11, and the display 12 and the speaker 1 are used.
It is a control means which outputs to 3 respectively.

In the present embodiment, the function recovery training for the sense of balance in the standing position is carried out for the disabled person having the balance disorder. As training for the equilibrium function in a standing position in a hospital, for example, a standing position in which the patient swings his / her upper body back and forth, as described on page 38 of “Rehabilitation” by Toshi Ueda, published by Medica Publishing. Balance training is conducted. In the present embodiment, by making the patient perform the same operation as this standing balance training,
This is intended to restore the balance function of the patient.

In the present embodiment, the patient rides on the center of gravity percussion meter 14 and keeps upright. The center of gravity swayometer 14 detects the position of the center of gravity, and while standing upright (that is, the center of gravity is in the center), the center of the passage in the virtual world can be moved straight.
The patient's body is tilted (that is, the center of gravity deviates from the center)
In this case, the speaker 13 starts to shift from the center of the passage and a warning sound is emitted from the speaker 13. If the body continues to tilt, it collides with the wall, a collision noise is heard, and movement stops. When the body stands upright, it returns to the center of the aisle and goes straight ahead, and the warning sound stops. The above operation is repeated.

Next, a more detailed description of the first embodiment will be given with reference to FIG.

FIG. 5 is a block diagram of a rehabilitation support apparatus according to the first embodiment of the present invention. In FIG. 5, 101 is a body feature amount measuring means for measuring the feature amount of the patient's body, 102 is a current position holding means for storing the current position of the virtual patient in the virtual world, 103.
Is an object data holding unit that stores, as object data, position information and size information of each of passages, walls, and obstacles that are virtual objects that configure the inside of the virtual world.
Image data holding means for storing all image data that may be in view when a patient moves inside a building in the virtual world, 105 is a display means for displaying an image of the virtual world, and 106 is a body feature A moving direction determining unit 109, which extracts the physical characteristic amount of the patient from the amount measuring unit 101 and determines the moving direction of the patient in the virtual world, 109 is the current position of the current position holding unit 102 and the object data holding unit 1
No. 03 object data to compare the virtual patient with the virtual object to determine collision, 121 is result information determining means for determining the patient's result from the collision determination of the collision determination unit 109, and 107 is A moving speed determining means for determining the moving speed of the patient in the virtual world based on the patient's results taken out from the result information determining means 121, and 108 for the patient in the virtual world taken out from the moving direction determining means 106 and the moving speed determining means 107. A current position determining unit that determines a new position of the patient in the virtual world from the moving direction and moving speed and the current position of the current position holding unit 102, and updates the current position stored in the current position holding unit;
Reference numeral 110 denotes the current position of the current position holding unit 102, the moving direction of the moving direction determining unit 106, and the collision determining unit 109.
Image control means for deciding the image data of the virtual world to be displayed from the collision judgment, and taking out the desired image data from the image data holding means 104 and outputting it to the display means 105.
Reference numeral 31 indicates the virtual environment surrounding the virtual patient in the virtual space based on the physical feature amount extracted from the physical feature amount measuring unit 101, the moving speed extracted from the moving speed determining unit 107, and the collision determination extracted from the collision determining unit 109. Environmental information generating means for generating quantified environmental information, 132
Is environment reproducing means for reproducing a virtual environment from the environment information extracted from the environment information generating means 131 and giving it to the patient.

In this embodiment, the body feature amount measuring means 10
As a specific device example of 1, a center of gravity perturbation meter for measuring the position of the center of gravity of the patient is used, and various sound effects are stored in advance as a specific device example of the environment information generating means 131 using the environment reproducing means 132 as a speaker. Sound source device that freely outputs to speakers. Also, the virtual world is the interior of a building that combines multiple straight passages.

In this embodiment, the angle is positive in the counterclockwise direction from the reference axis and the unit is radian (rad). Further, with respect to the virtual world, the X-axis is set in the east-west direction and the Y-axis is set in the north-south direction, and the east direction and the north direction are defined as positive directions. Also,
Variable E is the angle between the Y axis and the center line of the passage in the virtual world.
To be stored. Further, the position P of the patient is represented by a set of a variable PX that stores the X coordinate of the virtual world and a variable PY that stores the Y coordinate. The initial value of the patient position P is P0, and P0
Is one point on the center of one passage parallel to the Y-axis of the virtual world. Further, the moving direction of the patient is stored in the variable D at an angle formed with the center line of the passage. The moving speed of the patient is stored in the variable V. Further, the patient performance information is stored in the variable S.

In the barometer, the barycentric position of the patient appears as a point in the graph shown in FIG. The displacement of the center of gravity is expressed in a polar coordinate system by a set of a distance L between the center of gravity and the center point of the graph and an angle θ formed by the vertical axis.

As shown in FIG. 11, in the image data, the position P of the patient, the traveling direction D, and the angle between the center of the passage and the Y axis are 1
All the image data managed as records are stored in the image data holding unit 104 as a plurality of records.

Detailed operation of the first embodiment is shown in FIG.
From now on, description will be made with reference to the flowchart shown in FIG.

First, the patient position P is initialized to P0, the moving direction D to 0, the moving speed V to 100, and the result S to 0 (step S1).

Next, an image inside the virtual world which should be in the field of view of the patient is determined from the current position P and the moving direction D, and the angle formed by the passage and the Y axis is stored in the variable E (step S2).

Then, the image is displayed on the display 12 (step S3). Next, the movement direction determination process will be described with reference to FIG. First, the position (L, θ) of the patient's center of gravity is measured with a center of gravity sway meter. The moving direction D is determined depending on which of the areas 1, 2 and 3 in FIG. The relationship between each area and the moving direction D is shown in FIG. 10 (step S4).

Next, referring to FIG. 14 regarding the processing for determining the moving speed.
Will be described. The result information S is taken out from the result information determining means 120, and the moving speed V is determined in three stages according to the value (step S5).

Next, the process of determining a new position will be described. If the current patient position is P0 (PX0, PY0), the new current position P (PX, PY) can be calculated by (Equation 1) (step S6).

[0090]

(Equation 1)

Next, the collision process will be described with reference to FIG.
When a collision is detected, the speaker produces a sound effect at the time of the collision and the movement is interrupted until the position of the center of gravity of the patient returns to the region 1. When the position of the center of gravity returns to the region 1, the moving direction is reset to the straight line, and the position P of the patient is set on the center line of the nearest passage. Also, the collision sound effect stops. Then, the number of collisions in the last 3 minutes is stored in the variable S as the performance information (step S7).

The above steps S2 to S7 are repeated. When performing function recovery training of a sense of balance with a conventional rehabilitation support device, it was not possible to intuitively grasp the training situation after the training because it could be seen only by numbers and graphs. However, in the rehabilitation support apparatus according to the first embodiment of the present invention, by associating the moving direction and the position of the center of gravity in the virtual world in real time, the patient intuitively recognizes his or her state as an image or sound of the training situation. Can be grasped. Further, in the conventional example, the training tends to be monotonous, but in the present embodiment, it is possible to freely move around in the building of the virtual world and eliminate monotonous rehabilitation,
The patient can have a sense of continuity. Further, since the moving speed can be changed according to the result, it becomes possible to perform detailed training depending on the degree of recovery of the function.

In the first embodiment, a body sway meter for measuring the position of the center of gravity of the patient is used as a specific device example of the body feature amount measuring means 101. By replacing the body movement input camera that measures the feature quantity with a center of gravity sway meter, it becomes possible to measure the body feature quantity without contact. The position of the center of gravity of the patient can be easily calculated by, for example, obtaining the turning amount of the head from the image of the patient obtained by the body movement input camera.

Further, since it is a non-contact measurement, there is no risk of injury to the patient, which is a problem of the second conventional example, and it is not necessary for an auxiliary person to be present. Further, it is possible to perform rehabilitation at the bedside, for example, regardless of the measurement location.

In the first embodiment, a treadmill that measures a walking speed or a walking distance as a body feature amount is used as a specific device example of the body feature amount measuring means 101, so that a patient with a walking disorder can use the treadmill. It can also be used for rehabilitation. At this time, in the moving direction determining means 106, for example, when the target value of the walking speed is TA and the actual measured value of the walking speed is A, the moving direction D is obtained by (Equation 2).

[0096]

(Equation 2)

By changing the target value TA here according to the degree of the disorder, many patients can be individually treated.

In the first embodiment, as a concrete device example of the body feature amount measuring means 101, a muscle force sensor for measuring a patient's muscle force as a body feature amount is used to rehabilitate a patient with a gait disorder. Also available for. At this time, in the moving direction determining means 106, assuming that the target value of the muscle force is TA and the actual measured value is A, the moving direction D is obtained by the equation 2 as in the embodiment of the treadmill. By changing the target value TA according to the degree of the disorder, many patients can be individually treated. Also,
The measured value is the number of flexion of the muscle per unit time,
Similarly, by setting the target value TA, the target value TA can be used for sports training of not only disabled persons but also healthy persons.

In the first embodiment, as a concrete device example of the body characteristic amount measuring means 101, the stepping force and the pullback force of the lower limb accompanying the stepping motion of the patient lying on his back are measured as the body characteristic amount. It can also be used for rehabilitation of patients with lower limb disorders by using the stepping training device.

FIG. 32 is a view showing an example of a stepping training device, and 421 is a stepping pedal 422 on which a patient's foot is placed.
Is a pressure sensor for measuring the stepping force and pulling back force of the patient, 423 is an actuator for forcibly moving the patient's leg placed on the pedal, 424 is a guide for preventing the patient's knee from facing outward, 425 is a pressure sensor It is a pressure measuring device that digitizes the output of and outputs it to the control device.

At this time, in the moving direction determining means 106, assuming that the target value of the stepping force or the pulling back force of the lower limb is TA and the actual measured value is A, the moving direction D is expressed by the formula 2 as in the embodiment of the treadmill. Desired. By changing the target value TA according to the degree of the disorder, many patients can be individually treated.

Further, by using the actuator to move the pedal on which the foot on the paralyzed side rests by using the force of stepping on and returning the foot on the healthy side of the patient, prevention of contracture and paralysis on the healthy side Side function recovery training can be conducted at the same time.

Further, by attaching a guide for preventing the patient's knee from facing outward, it is possible to prevent an excessive force from being applied to the knee.

In the first embodiment, as a concrete device example of the body characteristic amount measuring means 101, a sensor which is placed below the knee of a patient and measures a change in air pressure when the patient extends the knee as a body characteristic amount. By using an air bag equipped with, it can be used for rehabilitation of a patient who has a weakness in the lower limbs and can exert only weak force.

FIG. 33 shows an example of such measuring means. 431 is an air bag, 432 is a pressure sensor for measuring the air pressure in the air bag, 433 is a numerical value of the output of the pressure sensor, and control is performed. It is a pressure measuring device that outputs to the device.

At this time, in the moving direction determining means 106, assuming that the target value of the air pressure when the knee is extended is TA and the actual measured value is A, the moving direction D is expressed by Equation 2 as in the embodiment of the treadmill. Desired. By changing the target value TA according to the degree of the disorder, many patients can be individually treated.

In the first embodiment, as a concrete device example of the body feature amount measuring means 101, a handle that turns in conjunction with the twist of the upper half of the patient's body and measures the turn amount as a body feature amount is used. When used, it can also be used for rehabilitation of patients who require trunk balance training.

FIG. 34 shows an example of such a measuring device, in which 441 is a handle gripped by the patient, and 44 is a handle.
Reference numeral 2 denotes a pedestal containing a movable portion of the handle, and 443 denotes a movable range of the handle. The handle rotates left and right around the patient within the range of motion in conjunction with the twist of the upper body of the patient, and the rotation angle is measured as the amount of rotation of the upper body of the patient.

At this time, in the moving direction determining means 106, assuming that the target value of the amount of turn of the upper body is TA and the actual measured value is A, the moving direction D is expressed by the formula 2 as in the embodiment of the treadmill.
Is required. By changing the target value TA according to the degree of the disorder, many patients can be individually treated.

In the first embodiment, as a concrete device example of the body feature amount measuring means 101, a body motion input for capturing an image of a patient with a camera and measuring a turning amount of the patient's upper body as a body feature amount. By using a camera,
It can also be used for rehabilitation of patients who need trunk balance training.

At this time, in the moving direction determining means 106, assuming that the target value of the amount of turn of the upper body is TA and the actual measured value is A, the moving direction D is expressed by the formula 2 as in the embodiment of the treadmill.
Is required. By changing the target value TA according to the degree of the disorder, many patients can be individually treated.

(Second Embodiment) A second embodiment of the present invention will be described below with reference to the drawings. FIG. 2 is a schematic diagram of a rehabilitation support apparatus showing a second embodiment of the present invention.

Reference numeral 11 denotes all image data that a patient may see when moving inside a building in the virtual world, sound effect data such as a collision sound, and the position and size of an object in the virtual world. Storage means for storing geometrical data such as size, 16 is a disapproval area data storage means for storing data of a spatial disapproval area in the visual field of the patient, 12 is a display for displaying image data of the storage means 11, Thirteen
Is a speaker for producing the sound effect of the storage means 11, and 21 is
The body movement input camera 22 for measuring the position of the upper limb of the patient,
A marker to alert the patient on the display 12, 15
Calculates the moving direction and moving speed in the virtual world from the position of the patient's upper limb measured by the body movement input camera 21, retrieves the image data to be displayed next from the storage means 11, and displays the image data to be displayed. If there is an obstacle inside, and that obstacle is inside the spatial agnostic region of the patient's field of view,
It is a control means that synthesizes the marker 22 with the obstacle and outputs it to the display 12, and outputs a warning sound from the storage means 11 to the speaker 13.

In the present embodiment, it is assumed that the function recovery training is performed in the present embodiment, targeting persons with disabilities who have the symptoms of spatial agnosia in the visual field.

In this embodiment, the patient has a display 12
Standing in front of, the body motion input camera 21 photographs the patient. The patient moves inside the building, which is a virtual world, while avoiding obstacles while designating the direction of travel at the position of the upper limb. If there is an obstacle in the patient's field of view and that obstacle is in the spatial agnostic region of the patient, for example, a star-shaped marker 22 is superimposed on the image to alert the patient that there is an obstacle. Along with the display, a warning sound is emitted from the speaker 13. Patients can perform functional recovery training by repeatedly focusing their attention on the spatial agnostic area.

Next, a more detailed description of the second embodiment will be given with reference to FIG.

FIG. 6 is a block diagram of a rehabilitation support apparatus according to the second embodiment of the present invention. In FIG. 6, 101 is a body feature amount measuring means for measuring the feature amount of the patient's body, 102 is a current position holding means for storing the current position of the virtual patient in the virtual world, 103.
Is an object data holding means for storing, as object data, position information and size information of a passage, a wall and an obstacle which are virtual objects forming the inside of the virtual world.
An agnostic region data holding means for storing data of a spatial agnostic region in the field of view of the patient, 104 stores all image data that the patient may see when moving inside a building in the virtual world. Image data holding means, 105
Is a display unit for displaying an image of the virtual world, 106 is a movement direction determination unit for extracting the physical feature amount of the patient from the physical feature amount measurement unit 101, and a movement direction determination unit for determining the movement direction of the patient in the virtual world, and 109 is The current position of the current position holding unit 102 is compared with the object data of the object data holding unit 103 to determine the collision between the virtual patient and the virtual object. 142 is a current position of the current position holding unit 102. And the object data of the object data holding means 103,
Marker generation determination means for performing marker generation determination of whether or not to generate a warning marker indicating that there is an obstacle in the recognition area of the patient by comparing with the spatial recognition area data of the recognition area data holding means. Reference numeral 121 denotes a result information determining unit for determining the patient's result from the collision determination of the collision determining unit 109, 107.
Is a moving speed deciding means for deciding the moving speed of the patient in the virtual world from the result of the patient taken out from the result information deciding means 121, and 108 in the virtual world taken out from the moving direction deciding means 106 and the moving speed deciding means 107. A current position determining unit 110 that determines a new position of the patient in the virtual world from the moving direction and moving speed of the patient and the current position of the current position holding unit 102, and updates the current position stored in the current position holding unit. Is the current position of the current position holding means 102 and the moving direction determining means 106.
The image control means 143, which determines the image data of the virtual world to be displayed based on the moving direction of the image and the collision determination of the collision determination means 109, and retrieves the desired image data from the image data holding means 104, and the marker generation determination means 142. A marker image is extracted from the marker generation determination and the marker generation position, the marker determination unit is evaluated to generate the marker, and the image data and the marker extracted from the image control unit 110 are combined at the marker generation position and output to the display unit 105. Synthesizing means, 14
Reference numeral 4 denotes a warning sound output means that evaluates the marker generation judgment extracted from the marker generation judgment means 142 and outputs a warning sound for a certain period of time. Environmental information generating means for generating environmental information quantifying the virtual environment surrounding the virtual patient from the moving speed extracted from the means 107 and the collision determination extracted from the collision determining means 109, and 132 is extracted from the environmental information generating means 131. It is an environment reproduction means that reproduces a virtual environment from given environment information and gives it to the patient.

In the second embodiment, as a concrete device example of the body feature amount measuring means 101, a body movement input camera for photographing a patient image with a camera and measuring the body feature amount from the image is used, and a warning is given. The sound output unit 144 is an electric buzzer that emits a buzzer as a warning sound, the environment reproduction unit 132 is a speaker, and a sound source device that stores various sound effects in advance and outputs them to the speaker as a concrete device example of the environment information generation unit 131. And In addition, the virtual world is composed of buildings that combine a plurality of straight passages and obstacles in the passages.

Hereinafter, the coordinate system, unit, and variable used in the second embodiment are the same as those in the first embodiment unless the same names are specified. The detailed operation is also the first
This embodiment is the same as the embodiment described above, and the differences will be mainly described.

FIG. 16 shows a coordinate system used in the body motion input camera according to the second embodiment. FIG. 16 is a view as seen from above the patient's head, where the right shoulder of the patient is the origin, the straight line connecting both shoulders is the horizontal axis, and the axis passing through the origin and perpendicular to the horizontal axis is the vertical axis.
The body movement input camera outputs the length L of a straight line connecting the right shoulder and the tip of the upper right limb of the patient and the angle θ with respect to the vertical axis as the body feature amount.

Detailed operation of the second embodiment is shown in FIG.
This will be described with reference to the flowcharts shown in FIG.

Steps T1, T2, T in FIG.
3, T5 and T6 are the same operations as steps S1, S2, S3, S5 and S6 of the first embodiment shown in FIG.

The collision warning process will be described with reference to FIG.
When an obstacle exists in the spatial agnostic area of the patient, the warning marker is displayed over the obstacle and the warning buzzer sounds for a certain period of time.

Next, the process of determining the moving direction will be described. First, the patient's upper limb position (L, θ) is measured with a body motion input camera. This θ of the upper limb position is used as the moving direction D (step T4).

Next, the collision process will be described with reference to FIG.
When a collision with a wall or an obstacle is detected, the speaker produces a sound effect at the time of the collision, and the movement is interrupted. In this state, the tip of the patient's right upper limb comes to the position of the right shoulder (L = 0)
To continue. When the tip of the upper right limb comes to the position of the right shoulder, the moving direction is reset to straight and the position P of the patient is set on the center line of the nearest passage. Also, the collision sound effect stops. Then, the number of collisions in the last 3 minutes is stored in the variable S as the performance information (step T7).

Steps T2 to T7 are repeated. In the conventional function training for spatial agnosia, a trainer attends the patient's side and repeats the action of focusing on the spatial agnostic region in the visual field. However, in the rehabilitation support apparatus according to the second embodiment of the present invention, the leader moves by avoiding obstacles in the virtual world by his / her will and notifies the obstacles with the warning marker and the warning buzzer, thereby instructing the instructor. Function recovery training is possible without it. In addition, by having the disapproval region data for each patient, it is possible to display obstacles in the vicinity of the disapproval region in a focused manner, and to deal with each patient individually.

Further, since the moving speed can be changed according to the result, it becomes possible to carry out fine training depending on the degree of recovery of the function. Further, by setting various courses in the virtual world, it becomes possible to eliminate the monotonousness of the training and increase the motivation of the patient to continue the training.

In the present embodiment, the environment handled by the environment information generating means 131 and the environment reproducing means 132 is sound, but in addition to this, light, airflow, and odor can be used individually or in combination to further improve the environment. Give the patient a sense of presence,
Further effects can be expected.

(Embodiment 3) Hereinafter, a third embodiment of the present invention will be described with reference to FIG.

FIG. 3 is a schematic diagram of a rehabilitation support apparatus showing a third embodiment of the present invention. In FIG. 3, 25 is a virtual patient in the virtual world corresponding to the patient,
26 is a virtual musical instrument in the virtual world, 23 is image data of the virtual patient 25 corresponding to the posture of the patient, and the virtual musical instrument 26
Image data and position data of the virtual instrument 26 and sound data generated by the virtual musical instrument 26.
A display for displaying the image data of No. 3, a speaker 13 for producing the sound effect of the storage means 23, a body movement input camera 21 for taking in the images of a plurality of patients and measuring the posture of each patient as a physical feature, 24 Is the body motion input camera 21
The image data of the virtual patient 25 and the image data of the virtual musical instrument 26 are taken out from the storage means 11 and output to the display 12 based on the patient's posture measured in step 2.
It is a control unit that determines that the upper limb overlaps with the virtual musical instrument 26, extracts the sound data of the virtual musical instrument 26 from the storage unit 23, and outputs the sound data to the speaker 13.

In the present embodiment, it is assumed that the person having a movement disorder mainly in the upper limbs is to perform the functional recovery in the present embodiment.

In this embodiment, a virtual patient 25 and a virtual musical instrument 26 corresponding to a plurality of patients in the virtual world are displayed on the display 12. A plurality of patients stand in front of the display 12 and photograph a plurality of patients with one body motion input camera 21. The image data of the virtual patient 25 corresponding to the posture of each patient is taken out from the storage means 23, and the display 12 is displayed. To display. When the image of the upper limb of the virtual patient 25 and the image of the virtual musical instrument 26 overlap, the virtual musical instrument 2
The sound data of No. 6 is taken out from the storage means 23,
Output to Each patient can perform rehabilitation by moving an upper limb and playing an instrument.

Next, a more detailed description of the third embodiment will be given with reference to FIG.

FIG. 7 is a block diagram of a rehabilitation support apparatus according to the third embodiment of the present invention. 7, 202 is a camera for simultaneously capturing images of a plurality of patients, 203 is an individual image decomposing means for decomposing the images of a plurality of patients captured by the camera 202 for each patient, and outputting respective image data, 204 Is a posture information determining unit that determines the posture information of the patient for each image data extracted from the individual image decomposing unit 203, and 201 is a body motion configured by a camera 202, an individual image decomposing unit 203, and a posture information determining unit 204. An input camera 205 takes posture information of each patient from the posture information determination means 204 and stores posture information for each patient, posture information holding means 206
Is an instrument position holding means for storing the position of the virtual instrument, 20
Numeral 7 is a collision determination means for determining that the upper limb of the virtual patient overlaps with the virtual musical instrument from the posture of the patient in the posture information holding means 205 and the position of the virtual musical instrument in the musical instrument position holding means 206.
Reference numeral 209 is image data holding means for storing image data of a virtual patient in the virtual world and image data of a virtual musical instrument corresponding to all possible postures of the patient, 105 is a display means for displaying the image data, and 208 is The image data of the virtual patient to be displayed from the posture information of the posture holding unit 205 and the image data of the virtual musical instrument are read from the image holding unit 209, and the image data of the virtual musical instrument is displayed in the virtual musical instrument position of the musical instrument position holding unit 206. Are combined and output to the display unit 105. 210 is a sound data holding unit that stores all the tones of the virtual musical instrument. 212 is a sound output unit that outputs a sound. 211 is a collision determination unit 207. The necessary tone color data is obtained from the collision information extracted from the sound holding means 210.
It is a sound control unit that reads out from the output and outputs to the sound output unit 212.

It is assumed that a plurality of virtual musical instruments are arranged in the virtual world of this embodiment. In the present embodiment, all possible postures of the patient are managed as posture information, and the image data of the virtual patient corresponding to the posture information is stored in the image data storage unit 209 in association with the posture information.

In this embodiment, a speaker is used as the sound output means 212 and a large display is used as the display means 105.

FIG. 2 shows the detailed operation of the third embodiment.
0 will be described with reference to the flowchart shown in FIG.

First, the background without a patient is photographed by the camera as an initial background image and stored (step U1).

Next, the process of determining the posture information of the patient will be described with reference to FIG. All patients are photographed under the same imaging conditions as the initial background so that they do not overlap each other, and the difference in each pixel from the initial background is taken to obtain the same number of regions as the number of patients, that is, image data for each patient. it can. The patient wears an index object such as a glove of a single color in advance, determines the position of the upper limb of each patient as posture information from the image data of each patient, and records it in the posture information holding means for each patient. Yes (step U2).

From the posture information of each patient, the image data of the virtual patient corresponding to the posture information is determined (step U
3).

From the posture information of the patient and the position information of the virtual musical instrument, it is determined whether or not the upper limb of the patient and the virtual musical instrument overlap each other in the virtual world (step U4).

Only when they overlap, the timbre of the virtual musical instrument is read from the sound data holding means 210 and output from the speaker for a fixed time (step U5).

The above steps U3 to U5 are repeated for all patients. Next, the image of the initial background photographed in step U1, the image data of all the virtual patients determined in step U3, and the image of the virtual musical instrument are combined and displayed on a large display (step U6).

Steps U2 to U6 are repeated. In the third embodiment, since the virtual patient corresponding to the patient is displayed on the display, the patient can objectively see his / her physical condition. Also, you can enjoy the functional recovery training.

Further, since the measurement can be made in a non-contact manner with the camera,
It is possible to freely move the moving body without burdening the patient, and to play the musical instrument with a slight movement.

Further, since a plurality of patients can simultaneously perform functional recovery training, not only simple functional recovery,
It is possible to cultivate mutual cooperation, and it can be useful for social reintegration.

(Embodiment 4) Hereinafter, a fourth embodiment of the present invention will be described with reference to FIG.

FIG. 4 shows an example in which two rehabilitation support devices of the present invention are connected using a communication line to play a virtual tennis game. In FIG. 4, two target persons, the target person (A) 301A and the target person (B) 301B, stand in front of the displays 304A and 304B, respectively. Rehabilitation device A for the target person (A) 301A
The display 304A shows a virtual tennis court image, a virtual tennis ball image, and the target person (B) 301.
An image of a virtual person (B) 302A corresponding to A is projected. The body movement of the target person (B) 301B is captured by the body movement measuring means 303B such as a camera. Target person (B) 30
The body movement data of 1B is sent to the communication means 306A of the rehabilitation support device of the target person (A) 301A via the communication means 306B. The virtual world determination means 308A determines the target person (A) based on the body motion data of the target person (B) 301B received by the communication means 306A and the current state of the virtual world.
Determine the virtual world viewed from 301A. According to the determination made by the virtual world determining unit 308A, the image combining unit 309A combines the movement of the virtual person (B) 302A and the image of the virtual world and outputs the combined image to the display 304A. The environment synthesizing means 310A such as a sound synthesizing device gives the target person (A) 301A a sound and a virtual person (B) 3 considering the position and speed of the tennis ball.
An environment such as a sound field that gives the voice of 02A or the like is synthesized and output to the environment output unit 305A such as a speaker. The same process is performed by the rehabilitation device of the subject (B) 301A. During the game, first, on the display 304A of the target person (A) 301A, an image in which the tennis ball hit by the virtual person (B) 302A moves toward the target person (A) 301A is projected. Target person (A) 3 according to the image
01A performs an action of hitting a tennis ball. The body movement measuring unit 303A measures the movement of the target person (A) 301A. The virtual world determination means 308A is the target person (A) 301A
The body movement measurement data, which is the movement to try to hit the ball, and the obstacle data, which is the motor ability of the target person (A) 301A, and the trajectory data of the ball are compared, and the trajectory of the hit ball is determined and displayed on the display 304A. The image of the ball moving away from the person (A) 301A is projected.
On the other hand, a virtual person (B) 302A in the target person (A) 301A is displayed on the display 304B of the target person (B) 301B.
The image viewed from is projected.

Next, FIG. 8 shows the virtual world determining means 3 of FIG.
It is a detailed block diagram of 08A.

The moving ability, joint range of motion, muscular strength, exercise age, visual field, etc. of the subject representing the degree of the obstacle are input to the obstacle data input holding means 307A. Based on the obstacle data, the handicap determination holding means 351 determines the permissible area of physical action for hitting back the tennis ball and the permissible timing of physical action. In addition, the ball speed and the area of the court that are hit back by the opponent are also determined. In the interaction determination means 352, the interaction between the virtual world and the target person is based on the handicap data of the handicap determination holding means 351, the physical movement data of the target person of the physical movement measurement means 303A, and the virtual world data of the virtual world data holding means 350. To judge. In parallel, the virtual world determination means 353 determines the movement of the ball and the unique change in the virtual world from the virtual world data. Virtual world update means 3
Reference numeral 54 represents an update of the position and orientation of the virtual human (B) 302A based on the data of the communication means 306A, and an update of the ball movement direction by the return of the ball based on the determination result of the interaction determination means 352 and a virtual world determination means 353. The position of the ball is updated by bouncing the ball on the ground based on the judgment result of. The virtual world determination means 353 can also determine the game according to the tennis rules.

(Fifth Embodiment) Hereinafter, a fifth embodiment of the present invention will be described with reference to FIG.

FIG. 22 is a schematic diagram of a rehabilitation support apparatus according to the fifth embodiment of the present invention. FIG.
In 221, 221 is a virtual world database that stores material data used when synthesizing the video and audio presented to the patient during training, 222 is a display that displays the video presented to the patient during training, and 223 is the training A speaker 224 that outputs a sound to be presented to the patient is a center of gravity sway meter 225 that measures a center of gravity position as a patient's body feature amount.
Is a general control unit 226 for synthesizing the video and audio output to the display 222 and the speaker 223 using the material data held in the virtual world database 221 on the basis of the position of the center of gravity measured by the center of gravity sway meter 224. A virtual patient image 227 representing the patient at is a chair on which the patient sits.

The present embodiment is intended for persons with a disability having a balance disorder to perform a balance function recovery training in a sitting position.

As the training of the equilibrium sensory function in a sitting position in a hospital or the like, for example, a patient sitting on a chair can move his or her upper body forward, backward, left and right as described on page 34 of "Rehabilitation" edited by Satoshi Ueda, published by Medica Publishing. There is a dynamic sitting balance training that is being swayed by. In the present embodiment, by making the patient perform the same operation as this dynamic sitting balance training, the balance sense function of the patient is restored.

In this embodiment, the chair 227 is placed on the center of gravity sway meter 224. The patient sits on chair 227. The patient shakes his / her upper / back / left / right while watching the image displayed on the display 222, in particular, the virtual patient image 226 which is an incarnation of himself / herself. The movement of the center of gravity of the patient at this time is measured by the center of gravity sway meter 224, and based on the measurement result, the overall control device 225 synthesizes the audiovisual data output to the display 222 and the speaker 223 at the next moment. The overall control device 225 synthesizes the virtual patient image 226 and the audiovisual data that is the background thereof by using the material data such as the virtual world model data and the acoustic data which the virtual world database 221 holds in advance.

By synthesizing the video and audio according to the movement of the patient and providing it to the patient, the patient uses the movement of his or her body to
The audiovisual can be controlled freely. The exercise of the upper body at that time improves the balance function including the balance function of the trunk of the patient.

Further, by placing a chair on the center of gravity sway monitor and placing the patient on the chair, the position of the center of gravity of the patient in the sitting posture can be measured, and the patient is provided with audiovisual sound. By doing the exercise that shakes the upper body,
The balance function in the sitting position can be improved.

FIG. 23 is a block diagram of a rehabilitation support apparatus according to the fifth embodiment of the present invention. In FIG. 23, reference numeral 231 denotes a training program, which is a set of data relating to training content, such as a correspondence rule between an input from a patient and an audiovisual output, a training evaluation item, a target value, and a training time. The training program storage means 232 that holds a plurality of training programs according to the above, selects a training program suitable for the degree of the patient's disability as a training program to be given to the patient from the plurality of training programs held by the training program storage means 231. The training program determining means 233, the body feature amount measuring means for measuring the position of the center of gravity of the patient as the body feature amount, and the 234, the virtual world state storing means 235 for storing the state of the virtual world presented to the patient.
Controls the state of the virtual patient image representing the patient in the virtual world according to the content of the training program determined by the training program determining means 232 based on the value of the patient's body feature amount measured by the body feature amount measuring means 233. The virtual patient image control unit 236, based on the state of the virtual patient image determined by the virtual patient image control unit 235, according to the content of the training program determined by the training program determination unit 232.
The virtual world updating means 237 for updating the state of the virtual world held by the virtual world state storing means 234 synthesizes the audiovisual data presented to the patient based on the state of the virtual world held by the virtual world state storing means 234. The audiovisual synthesis means 238, the audiovisual presentation means for outputting the audiovisual data synthesized by the audiovisual synthesis means 237, and the training audio determined by the training program determination means 232 on the basis of the processing result of the virtual world updating means 236. Training result output means for obtaining patient training results for the evaluation items of the program,
Numeral 240 is a result judgment means for obtaining the training result of the patient from the training result obtained by the training result output means 239 and the target value of the training program decided by the training program decision means 232, and 241 is the physical characteristic amount of the patient. The correction pattern storage unit 242 that holds a plurality of correction patterns to be corrected according to the purpose of correction is a correction pattern storage unit 241.
A correction pattern for selecting a correction pattern according to the purpose of training from a plurality of correction patterns held by the user, and for determining the correction amount based on the characteristics of the patient's body feature amount measured by the body feature amount measuring unit 233. The determining unit 243 sequentially corrects the body feature amount of the patient measured by the body feature amount measuring unit 233 based on the correction pattern and the correction amount determined by the correction pattern determining unit 242, and inputs it to the virtual patient image control unit 235. It is a body feature amount correction means.

In the training program stored in the training program storage means 231, data relating to the training contents are
For example, items such as the table shown in FIG. 24 are included.

The training task represents what the patient should do in the training, and the task parameter is a concrete numerical value of the task. In the example shown in FIG. 24, the coordinate values of two points A and B in the virtual world and the trajectory of the course on the way are defined, and as a task, the patient is requested to move from point A to point B. To do. In reality, a virtual patient image is arranged at the point A in the virtual world, and the patient moves his / her body so as to move the virtual patient image to the point B.

The value of the task parameter also determines the difficulty of the training task as well as embodying the training task. FIG.
In the example shown in FIG. 4, increasing the distance between the two points AB or complicating the course of the course makes it a difficult task. Conversely, shortening the distance, or making the course of the course close to a straight line. If it does, it will be a less difficult task.

The evaluation item serves as an index for evaluating the training result. For example, the time taken by the patient to solve the given task. If the patient can control the virtual patient well, the required time is short, and conversely, if the patient cannot be controlled, the required time is long. Therefore, by using this required time as an evaluation item, the ability of the physical function of the patient can be evaluated. .

The reference value is set for the evaluation item, and is determined according to the degree of difficulty determined by the task parameter. There is a target value at the level at which a task is considered clear, and a minimum standard value at which it is meaningless to give the task unless at least that level is achieved. The degree of recovery of the patient is evaluated by comparing the training result of the patient with this reference value.

The virtual world data is data for constructing a virtual world necessary for a training task given to a patient. It includes the types and shapes of objects that make up the virtual world, positions, and audio data.

The position control pattern and the posture control pattern of the patient image indicate how to control the virtual patient image in the virtual world according to the change of the position of the center of gravity of the patient measured by the body feature amount measuring means 233. To define. This control pattern will be described with a specific example.

FIG. 25 shows the relationship between the virtual patient image and the virtual world. In the virtual patient image, a local coordinate system with the foot as the origin is set. Position of the origin of this local coordinate system in the coordinate system of the virtual world (Ix, Iy, Iz)
Represents the position of the virtual patient image in the virtual world.

On the other hand, the position of the center of gravity of the patient measured by the center of gravity sway meter is based on the position of the center of gravity in the initial state in which the patient is stationary, the X axis is positive in the right-hand direction of the patient, and the front direction of the patient is positive. It is represented by a two-dimensional coordinate system consisting of the Y axis. Further, the position of the center of gravity at a certain moment is represented by (Gx, Gy). A position control pattern is a formulation of how much the position (Ix, Iy, Iz) of the virtual patient image is changed when the position of the center of gravity (Gx, Gy) is input.

FIG. 26 shows an example of this position control pattern. In this embodiment, Iy = 0 always
It is assumed that the position changes only in the X and Z directions. Further, the displacements in the X and Z directions when the state of the virtual world is updated once are set as ΔIx and ΔIz, respectively.

In pattern 1, the displacement in each direction is proportional to the value of the position of the center of gravity, which means that the more the patient shakes his / her upper body, the more the virtual patient moves in the virtual world.

In pattern 2, the moving direction is determined depending on the positive and negative signs of the position of the center of gravity, and the moving amount is always constant.

In pattern 3, even if the patient keeps the posture in the initial state and the center of gravity is equal to the origin, the virtual patient moves at a constant speed, and when the patient shakes the state, the magnitude of the movement. The amount of movement changes in proportion to.

The pattern 4 changes in the pattern 1 in the X direction and in the pattern 3 in the Z direction.

FIG. 27 shows how the virtual patient image is rotated in the local coordinate system. The posture of a virtual patient at a certain moment is calculated by rotating angles (θx, θ) around each coordinate axis at that time.
y, θz). When the position of the center of gravity (Gx, Gy) of the patient is input, the posture (θx, θy, θ) of the virtual patient image is input.
The attitude control pattern is a formalization of how much z) is changed.

FIG. 28 shows an example of this attitude control pattern. When updating the state of the virtual world once,
The angular displacements around each axis are Δθx, Δθy, Δ
It is represented by θz.

Pattern 1 means that the virtual patient image is rotated around the Y-axis in proportion to the magnitude of the shaking of the patient in the left-right direction.

Pattern 2 means that the virtual patient image is rotated around the Z-axis in proportion to the magnitude of the horizontal shake of the patient.

Pattern 3 means that the virtual patient image is rotated around the X axis in proportion to the magnitude of the patient's forward and backward shaking.

The constants in the definition formulas for the position control and attitude control patterns are the refresh rate indicating how many times the state of the virtual world is updated per second, and what kind of world the virtual world shows. For example, when the screen is updated at high speed, the change in one update may be small, and conversely, when the refresh rate is small, the change in one update is large. The amount of change is also increased when it is desired to move the virtual patient at high speed depending on the contents of the virtual world.

By selecting an appropriate pattern according to the purpose of training, the contents of the virtual world, the posture of the patient's movement, and the like from the control patterns described above by giving examples,
Since the patient can control the virtual patient image in the virtual world without discomfort, the patient can concentrate on the training and the rehabilitation effect is enhanced.

Training program storage means 2 in FIG.
31 holds a plurality of training programs as described above according to the type and degree of the obstacle to be trained, and the training program determination means 232 selects the symptom of the patient from the training programs. Select a training program according to.

The training program determining means 232 also indicates to the patient in the next training based on the judgment result of the performance judging means 240 after the training and the history of the center of gravity position measured by the physical feature measuring means 233 during the training. Determine the training program to give.

FIG. 29 shows a flow of processing for determining a new training program based on the training result in the training program determining means 232 of FIG.

First, the history of the physical features of the patient undergoing training is analyzed, and it is checked whether or not the training has been completed (step V1).

If it is determined that the training has been completed to the end, that is, that the training is suitable, the process proceeds to the next step V4 in order to make a normal grade determination (step V2).

If the training is interrupted on the way, it is judged that the training is not adapted, and as the next training task, a less difficult task such as one with a short course distance in the virtual world is designated and processed. To finish. As a result, it is possible to prevent the patient who is unable to complete the training from deteriorating the training motivation (step V3).

If the training is applied, the training result is evaluated. First, the target value in the training task is set to 100 and the minimum reference value is set to 0, and the training result of the patient is scored (step V4).

Next, the history of the results in the repetition of the training up to that point is analyzed, and it is judged with each training whether or not the results are improving (step V5).

If the result is improved, the next step V8
(Step V6). If it is determined that the grade is not improved and is saturated, the training task targeting more basic functions is designated as the next task, and the process ends. As a result, the basic functions can be improved, and as a result, the functions targeted in the current training task can be restored (step V
7).

If the result is improving and the training result of the patient exceeds the target value, the process proceeds to step V10 (step V8).

If the target value is not exceeded, the current training task is designated as it is as the next training task, and the process is terminated (step V9).

When the training result of the patient exceeds the target value and the difficulty set in the training task is the highest difficulty (step V10), the rehabilitation stage of the patient is advanced and higher-order functions are performed. The training task targeted at is designated as the next training task, and the process ends (step V12).

If it is not the highest difficulty level, the training task in which the task parameter having the higher difficulty level is set is designated as the next task, and the process is terminated (step V11).

By carrying out the above processing each time one training is completed, it is possible to provide an appropriate training task according to the degree of recovery of the patient.

The position of the center of gravity of the patient under training is input to the virtual patient image control means 235 while being sequentially corrected by the body feature quantity correction means 243 of FIG. This correction method will be specifically described.

First, the correction formula will be described. The value of the physical feature amount used in the training is represented by P. The range of values that a healthy person can give

[0196]

(Equation 3)

Is set as the reference range of P. Here, PSL and PSH are the minimum value and the maximum value of the physical feature value that a healthy person can give, respectively. On the other hand, measure the range of values that the patient can give and

[0198]

(Equation 4)

And put. Here, PTL and PTH are the minimum value and the maximum value of the physical feature amount that the patient can produce, respectively.
Basically, the correction is to map the patient's value to the healthy person's value so that when the patient's minimum and maximum values are input, the minimum and maximum values that the healthy person can output are output. By doing.

FIG. 30 specifically shows an example of the correction pattern. Letting Pt be the value of the physical feature of the patient during training, the function for correction is represented by F (Pt).

The filter 1 does not substantially correct anything and can be used when it is desired to reflect the ability of the patient as it is.

The filter 2 obtains the ratio of the values of the patient and the healthy person to the minimum value and the maximum value, and corrects the input value from the patient with a linear line using the larger ratio. It means that at least all values within the reference range can be given, and can be used when training is performed within the practicable ability of the patient.

The filter 3 finds the ratio of the values of the patient and the healthy person to the minimum value and the maximum value, respectively, and corrects the input value from the patient with a linear line using the smaller ratio. The value means that the inferior part does not reach the standard value in the inferior part, and it can be used when the inferior part is to be concentrated and trained.

The filter 4 uses the ratio of the minimum value in the negative region and the ratio of the maximum value in the positive region with the zero point as a boundary, and corrects each with a linear line. Means that the value falls within the reference range in the positive and negative regions, and can be used when it is necessary to use all the values within the reference range in training.

The filter 5 uses the ratio of the minimum value in the negative region and the ratio of the maximum value in the positive region with respect to the zero point as a boundary, and corrects with a quadratic curve. This means that the output changes greatly in the region, and can be used when it is desired to enhance the control ability in the limit region.

The filter 6 uses a value that is larger than the maximum and minimum values of the actual physical feature amount of the patient in the filter 4 by a certain amount as the range of the physical feature amount of the patient, and the corrected value is the reference. It means that the minimum and maximum values of the range are not reached, and by trying to approach the minimum and maximum values of the reference range, it is possible to try to bring out the capacity beyond the current limit capacity of the patient. Can be used. Here, α is a constant for expanding the range of the patient's body feature amount.

By selecting an appropriate filter from the filters described above according to the purpose of training and the type of body feature quantity used in training, training suitable for each patient can be performed.

Furthermore, for example, if a filter such as the filter 6 that tries to draw out a portion exceeding the patient's limit ability is used,
It can be used not only for persons with disabilities but also for functional training for sportsmen and others.

Further, by correcting the physical features of the patients in this way, almost equal output values can be obtained even among patients having different symptoms, so that the same training can be performed. As a result, communication between patients or competitiveness in comparison with other people occurs, and training is enthusiastically performed, so that the rehabilitation effect is enhanced.

Next, a procedure for correcting the patient's physical feature amount in the training will be described. FIG. 31 shows a flow of processing for correcting a body feature amount using the correction filter described above.

First, before starting the training, a reference value, which is a range of values that can be averaged by a healthy person, is set for the physical feature amount used in the training (step W1).

Next, the range of the body feature amount that the patient can take is measured (step W2). Next, a correction filter according to the purpose of training is selected from the correction filters as shown in FIG. 30 (step W3).

Next, the parameters of the correction filter are calculated from the reference value of the physical characteristic amount and the input range of the patient, and the correction amount is determined (step W4).

Training is started (step W5). The body feature amount of the patient measured during the training is sequentially corrected using the correction amount determined in step W4 and input to the virtual patient image control means (step W6).

When the training is completed, the process proceeds to step W8, and if not, the process proceeds to step W10 (step W7).

If the training is still continuing, it is judged whether or not a preset time has elapsed from the start of the training or the last time the parameters were updated during the training. If W6 is repeated and the time has passed, the process proceeds to step W11 (step W10).

After that, the minimum value and the maximum value of the body feature amount input from the patient are obtained, the parameters of the correction filter are calculated again based on these values, the correction filter is changed, and then step W6 is repeated ( Step W11).

After the completion of one training, if the training is to be repeated again, the process proceeds to step W12, and if the training is not repeated and the process proceeds to step W9 (step W8).

When the training is finished, the minimum and maximum values of the physical feature amount of the patient under training are recorded for use in determining the parameters for the next training, and the process is finished (step W9).

When the training is repeated, the minimum value and the maximum value of the physical characteristic amount of the patient under training are obtained, the parameters of the correction filter are calculated again based on the values, the correction filter is changed, and the training is started ( Step W12).

The above steps are repeated for each training. By updating the parameters of the correction filter during the training based on the history of the body feature amounts as processed in steps W10 and W11, the error in the measurement of the input range of the patient in step W2 and the fatigue of the patient during the training It is possible to immediately respond to changes in the state due to such things as.

Furthermore, if the training is started by using the reference value of a healthy person and the parameters of the correction filter are sequentially updated during the training, the measurement of the patient before the training can be omitted and the training time can be shortened. Can be shortened.

After the training, the parameters of the correction filter for the next training are determined based on the history of the physical features during the training, so that the measurement of the patient for the next training can be omitted. , Training time can be shortened.

Furthermore, since the correction amount suitable for the patient's condition can be determined, the patient can concentrate on the training and enjoy it.

As described above, according to the fifth embodiment of the present invention, the virtual patient image is controlled and the physical characteristics of the patient are controlled according to the purpose and content of the training, the physical characteristic amount of the patient to be used, and the like. By adjusting the amount and setting the training task based on the training results, it is possible to carry out rehabilitation that closely corresponds to the difference in the symptoms of individual patients.

[0226]

According to the present invention using the first means, the physical characteristic amount of the patient is measured by the physical characteristic amount measuring means, and the image of the virtual world and the sound effect prepared in advance are prepared according to the situation. By changing and feeding back to the patient through the display and the speaker, the monotony of rehabilitation can be eliminated, and the patient can improve their continuous consciousness.

Further, by using the image of the virtual world as the image data and allowing the virtual world to move freely according to the change of the patient's physical feature amount, the continuous consciousness of rehabilitation can be further enhanced.

Further, by obtaining the patient's performance from the number of collisions between the patient and the wall in the virtual world and determining the moving speed based on this performance, it is possible to individually respond to the degree of disability and the result of rehabilitation. Therefore, rehabilitation can be performed efficiently.

Further, by reproducing the environment of the virtual world surrounding the virtual patient and giving it to the patient, it is possible to increase the sense of realism and further raise the consciousness of continuing rehabilitation.

According to the present invention using the second means, by displaying the image of the virtual patient corresponding to the patient on the display, the patient can see the condition of the patient himself and the relationship between the patient himself and the virtual world. You can get used to the training easily because you can intuitively understand.

[0231] In addition, according to the change in the physical feature of the patient,
By rotating the virtual patient image, the patient can intuitively understand changes in the patient's own condition, and thus can train the ability to control the physical condition.

According to the present invention using the third means, after the completion of the training, the training program which is the content of the next rehabilitation is determined based on the training result determined from the training result of the patient to recover the patient. Rehabilitation according to the degree can be implemented.

Further, by giving the training program a parameter for changing the degree of difficulty, it is possible to generate a plurality of training programs of different degrees of difficulty from one type of virtual world data. Can be flexibly dealt with.

If the patient's performance is not improved, a training program corresponding to the previous rehabilitation stage can be performed next time, whereby more basic function recovery training can be performed and the basic function can be improved. As a result, the originally targeted function is improved.

In addition, the fitness which is an index of whether or not the patient is able to complete rehabilitation is judged,
If the patient has not been trained to the end, by providing a training program that the patient can handle next time, rehabilitation can be continuously performed without discouraging the patient's training motivation.

According to the present invention using the fourth means, the spatial agnostic data of the patient is prepared, and the operation of paying attention to the spatial agnostic area is repeated for the patient, and the rehabilitation of the spatial agnostic disorder is performed. Can be done.

Furthermore, by preparing the individual spatial disapproval data, it can be performed according to the individual's obstacle situation.

According to the present invention using the fifth means, by correcting the physical characteristic amount of the patient according to the degree of the patient's disability, the patients having different degrees of the disability change similarly. Since you can experience the virtual world, you can communicate with each other and evaluate with the same criteria.

Further, by mapping the range of the value of the physical feature amount that the patient can output to the range of the specific value, the value of the physical feature amount input to the rehabilitation support system realized by the first means. Since the range of can be limited to one,
A rehabilitation support system tailored to the degree of disability at a certain stage can be used by multiple patients with different levels of disability.

Further, the body feature value is corrected by assuming that the range of the value of the body feature value that the patient can actually output is larger than the range of the value of the body feature value that the patient can actually output. By doing so, the patient can be motivated to exert their maximum ability, and the training effect in the limit area of ability is enhanced, so not only for rehabilitation but also for functional improvement training for healthy people and sportsmen. Is also available.

After the training, by updating the correction amount based on the history of the physical feature quantity during the training, the next time, the rehabilitation which is more suitable for the patient's condition can be performed. You can concentrate and enjoy.

Further, during the training, the correction amount is sequentially updated based on the history of the body feature amount up to that point,
It is not necessary to measure the characteristics of the patient's physical features in advance to determine the correction amount, and the training time can be shortened.

By preparing a plurality of correction patterns in advance and selecting an appropriate correction pattern according to the purpose of training and the type of physical feature used in training, the symptoms of individual patients Training can be conducted according to

Further, in the first to fifth means, by using the body movement input camera for inputting the movement of the patient's body, the patient's body characteristic amount can be measured without contact, so that the patient can move freely. You can

Further, since it is non-contact, rehabilitation can be performed safely without the risk of falling from the measuring instrument. In addition, since it is non-contact, rehabilitation can be performed anywhere such as at the bedside.

Further, by measuring the amount of rotation of the patient's head as a body feature amount with a body movement input camera, the position of the center of gravity of the patient can be measured without contact, and it can be used for rehabilitation of a patient with a disorder of sway of center of gravity. .

Also, by measuring the amount of rotation of the upper body of the patient as a body feature amount with a body movement input camera, the balance ability of the trunk can be evaluated, so that rehabilitation of a patient who needs trunk balance training is possible. Also available for.

Further, the body movement input camera is used to measure the geometrical positional relationship between the limbs and the body of the patient as the body feature quantity by using the body movement input camera, thereby performing rehabilitation of the patient having movement disorders in the limbs. be able to.

Further, by detecting the geometrical positional relationship between the extremities and the body as a gesture, it is possible to instruct the rehabilitation support apparatus to switch modes.

In the first to fifth means, by measuring the position of the center of gravity of the patient by using the center of gravity sway meter,
The position of the center of gravity can be accurately measured, and rehabilitation based on accurate data can be performed.

In the first to fifth means, the treadmill is used to measure the walking speed or the walking distance of the patient, so that the function recovery training of the patient with a walking disorder can be applied.

In addition, in the first to fifth means, the muscle force sensor is used to measure the muscle force of the patient, so that the invention can be applied to a patient with weak muscle strength or a patient who wants to maintain muscle strength.

Further, in the first to fifth means, by using the stepping training device, the stepping force and the pulling back force of the lower limbs of the patient lying on his back during the stepping motion are measured, and the patient with the lower limb is injured. It can also be used for rehabilitation.

[0254] Further, by using the foot training apparatus to move the pedal on which the foot on the paralyzed side rests, by using the force of stepping on and pulling back the foot on the healthy side of the patient, the foot on the healthy side is restrained. It is possible to perform shrinkage prevention and function recovery training for the paralyzed side at the same time.

Further, by providing the stepping training device with a guide for preventing the patient's knee from facing outward, it is possible to prevent the knee from being subjected to an excessive force.

Further, in the first to fifth means, by using the air bag placed under the knee of the patient, the change in the air pressure when the patient extends the knee is measured. It can also be used for rehabilitation of patients who cannot reach.

Further, in the first to fifth means, a handle that turns in conjunction with the twist of the upper half of the patient is used,
By measuring the amount of turning, it can be used for rehabilitation of patients who need trunk balance training.

According to the present invention using the sixth means, a plurality of patients can be collaborated in a virtual world by simultaneously photographing a plurality of patients with a body movement input camera and displaying a plurality of virtual patients. , It is possible to cultivate mutual cooperation, and it can be useful for rehabilitation.

The apparatus can be provided at low cost by simultaneously photographing a plurality of patients with one body movement input camera.

According to the present invention using the seventh means, it becomes possible to jointly carry out rehabilitation by sharing one virtual world with a plurality of patients, so that sociality is cultivated and social Useful for returning.

Also, in rehabilitation, which was conventionally monotonous, the interaction can be set according to the difference in disability for each individual, and it becomes a game when there is a difference in sports or disability, which is difficult and difficult for people with disabilities in the past. Even in real-life sports that cannot be realized, people will be able to exercise together regardless of disabilities, and sports can be added to rehabilitation.

[Brief description of the drawings]

FIG. 1 is a schematic diagram of a rehabilitation support device according to a first embodiment of the present invention.

FIG. 2 is a schematic diagram of a rehabilitation support device according to a second embodiment of the present invention.

FIG. 3 is a schematic diagram of a rehabilitation support device according to a third embodiment of the present invention.

FIG. 4 is a schematic diagram of a rehabilitation support device according to a fourth embodiment of the present invention.

FIG. 5 is a block diagram of a rehabilitation assistance device according to the first embodiment of the present invention.

FIG. 6 is a block diagram of a rehabilitation assistance device according to a second embodiment of the present invention.

FIG. 7 is a block diagram of a rehabilitation support device according to a third embodiment of the present invention.

FIG. 8 is a block diagram of a rehabilitation assistance device according to a fourth embodiment of the present invention.

FIG. 9 is a diagram showing the relationship between the movement of the center of gravity and the body feature amount of the rehabilitation support apparatus according to the first embodiment of the present invention.

FIG. 10 is a relational diagram of the movement of the center of gravity and the movement direction of the rehabilitation assistance apparatus according to the first embodiment of the present invention.

FIG. 11 is a diagram showing a data format of image data of a virtual world of the rehabilitation support apparatus in the first and second embodiments of the present invention.

FIG. 12 is an overall processing flowchart of the rehabilitation support apparatus according to the first embodiment of the present invention.

FIG. 13 is a flowchart of a moving direction determination process of the rehabilitation support apparatus according to the first and second embodiments of the present invention.

FIG. 14 is a movement speed determination processing flowchart of the rehabilitation support apparatus in the first and second embodiments of the present invention.

FIG. 15 is a collision process flowchart of the rehabilitation assistance device according to the first embodiment of the present invention.

FIG. 16 is a relationship diagram between the upper limb position and the physical feature amount of the rehabilitation support apparatus according to the second embodiment of the present invention.

FIG. 17 is an overall processing flowchart of the rehabilitation support apparatus according to the second embodiment of the present invention.

FIG. 18 is a collision warning processing flowchart of the rehabilitation assistance apparatus according to the second embodiment of the present invention.

FIG. 19 is a flowchart of a collision process of the rehabilitation assistance device according to the second embodiment of the present invention.

FIG. 20 is an overall process flowchart of the rehabilitation support device according to the third embodiment of the present invention.

FIG. 21 is a posture information determination processing flowchart of the rehabilitation support apparatus according to the third embodiment of the present invention.

FIG. 22 is a schematic diagram of a rehabilitation support device according to a fifth embodiment of the present invention.

FIG. 23 is a block diagram of a rehabilitation assistance device according to a fifth embodiment of the present invention.

FIG. 24 is a diagram showing the contents of a training program for the rehabilitation support apparatus in the fifth embodiment of the present invention.

FIG. 25 is a relationship diagram between a virtual world and a virtual patient image of the rehabilitation support apparatus according to the fifth embodiment of the present invention.

FIG. 26 is a relationship diagram between the physical feature amount and the movement amount of the virtual patient image of the rehabilitation assistance device according to the fifth embodiment of the present invention.

FIG. 27 is a diagram showing a state of rotation of a virtual patient image of the rehabilitation assistance device according to the fifth embodiment of the present invention.

FIG. 28 is a relationship diagram between a body feature amount and a rotation amount of a virtual patient image of the rehabilitation assistance device according to the fifth embodiment of the present invention.

FIG. 29 is a flowchart of a training program determination process of the rehabilitation support device according to the fifth embodiment of the present invention.

FIG. 30 is a formula for correcting a physical feature quantity of the rehabilitation assistance apparatus according to the fifth embodiment of the present invention.

FIG. 31 is a flowchart of a body feature amount correction process of the rehabilitation assistance device according to the fifth embodiment of the present invention.

FIG. 32 is a schematic diagram of a stepping training device of the rehabilitation support device according to the first embodiment of the present invention.

FIG. 33 is a schematic diagram of an air bladder of the rehabilitation assistance device according to the first embodiment of the present invention.

FIG. 34 is a schematic view of a handle of the rehabilitation assistance device according to the first embodiment of the present invention.

FIG. 35 is a schematic diagram of a first conventional rehabilitation support device.

FIG. 36 is a schematic diagram of a second conventional rehabilitation support device.

[Explanation of symbols]

 11 Storage Means 12 Display 13 Speaker 14 Center of Gravity Meter 15 Control Means 16 Spatial Disapproval Data Storage Means 21 Body Motion Input Camera 22 Markers 23 Storage Means 24 Control Means 25 Virtual Subjects 26 Virtual Musical Instruments 51 Boards 52 Boss 101 101 Physical Features Measuring means 102 Current position holding means 103 Object data holding means 104 Image data holding means 105 Display means 106 Moving direction determining means 107 Moving speed determining means 108 Current position determining means 109 Collision determining means 110 Image controlling means 121 Result information determining means 131 Environment Information generating means 132 Environment reproducing means 141 Unrecognized area data holding means 142 Marker generation judging means 143 Marker image synthesizing means 144 Warning sound outputting means 201 Body motion input camera 202 Camera 203 Individual image decomposing means 204 Force information determination means 205 Posture information holding means 206 Instrument position holding means 207 Collision determination means 208 Image control means 209 Image data holding means 210 Sound data holding means 211 Sound control means 212 Sound output means 221 Virtual world database 222 Display 223 Speaker 224 Centroid Shake meter 225 Overall control device 226 Virtual patient image 227 Chair 231 Training program storage means 232 Training program determination means 233 Body feature amount measurement means 234 Virtual world state storage means 235 Virtual patient image control means 236 Virtual world update means 237 Video sound synthesis means 238 audiovisual presentation means 239 training result output means 240 grade determination means 241 correction pattern storage means 242 correction pattern determination means 243 body feature amount correction means 301A rehabilitation Target person (A) 302A Virtual person (B) 303A Physical movement measuring means of the target person (A) 304A Display of the target person (A) 305A Environmental output means of the target person (A) 306A Communication of the target person (A) Means 307A Failure data input holding means 308A for target person (A) 308A Virtual world determination means for target person (A) 309A Image synthesis means for target person (A) 310A Environment synthesis means for target person (A) 301B Rehabilitation target person (B ) 302B Virtual human (A) 303B Physical movement measuring means of target person (B) 304B Display of target person (B) 305B Environmental output means of target person (B) 306B Communication means of target person (B) 307B Target person (B) ) Fault data input holding means 308B Virtual world determination means for target person (B) 309B Image combining means for target person (B) 31 B Target person (B) environment synthesis means 350 Virtual world data holding means 351 Handicap determination holding means 352 Interaction determination means 353 Virtual world determination means 354 Virtual world updating means 421 Foot pedal 422 Pressure sensor 423 Actuator 424 Guide 425 Pressure measuring device 431 Air bag 432 Pressure sensor 433 Pressure measuring device 441 Handle 442 Pedestal 443 Range of motion

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Miho Hayakawa 1006 Kadoma, Kadoma City, Osaka Prefecture Matsushita Electric Industrial Co., Ltd. (72) Inventor Akiko Imagawa 2-8-10 Misonocho, Kodaira-shi, Tokyo (72) Invention Shinichiro Takasugi 1-29-21 Chiyo, Hakata-ku, Fukuoka-shi, Fukuoka (72) Inventor Tetsuro Kashiro 7-12-11 Nagazumi, Minami-ku, Fukuoka-shi, Fukuoka (72) Takahide Uejima Higashi-ku, Fukuoka-shi, Fukuoka 2-27-4 Hakozaki

Claims (34)

[Claims] 1. A storage unit that stores an image of a virtual world and a sound effect, a display that displays the image of the virtual world, a speaker that emits the sound effect, and a physical characteristic amount measurement that measures a physical characteristic amount of a patient. Means for capturing the body feature amount measured by the body feature amount measuring means, and changing the body feature amount and the image of the virtual world of the storage means and the sound effect in association with each other, the display And a control means for outputting to the speaker. 2. The virtual world is defined as the interior of a virtual building or the interior of a virtual city, and the image of the virtual world stored in the storage means is an image that a patient can see when moving within the virtual world. The rehabilitation support device according to claim 1. 3. The control means fetches the body feature amount measured by the body feature amount measuring means and links at least one of the moving direction and moving speed of the patient in the virtual world with the body feature amount. 3. The rehabilitation support apparatus according to claim 2, wherein the body feature amount, the image of the virtual world in the storage unit, and the sound effect are changed in association with each other and are output to a display and a speaker. 4. The control means captures the body feature amount measured by the body feature amount measuring means, generates a virtual patient image representing a virtual patient in the virtual world, and links the temporal change of the body feature amount. 4. The rehabilitation support apparatus according to claim 1, further comprising a patient image control unit that changes the virtual patient image and synthesizes an image of a virtual world and the virtual patient image. 5. The patient image control means rotates the virtual patient image with a specific direction in the virtual world as a rotation axis in association with a temporal change in the body feature amount. Rehabilitation support device. 6. A grade determination means for determining a grade based on a training result of a patient at the end of rehabilitation, and a training program determination for determining a training program which is the content of the next rehabilitation based on the grade determined by the grade determination means. 6. The rehabilitation support device according to claim 1, further comprising: a control unit that operates in accordance with the content of the training program. 7. The rehabilitation support apparatus according to claim 6, wherein the training program determining means generates a new training program by changing a parameter forming an existing training program. 8. A grade history analyzing means for analyzing the history information of grades determined by the grade judging means, wherein the training program determining means improves the grade of the patient based on the analysis result of the grade history analyzing means. The rehabilitation support apparatus according to claim 6 or 7, wherein a training program corresponding to a previous rehabilitation stage is determined as a next training program if there is no such training program. 9. A fitness determination means for determining fitness as an index of whether or not a patient is able to perform rehabilitation to the end based on a history of physical features measured by the physical feature measurement means during rehabilitation, If the patient has not completed rehabilitation based on the judgment result of the fitness judgment means, the training program determination means determines the training program that the patient can handle as the next training program, and executes the training program until the end. When there is, the rehabilitation support device according to any one of claims 6 to 8, wherein the next training program is determined based on the determination result of the grade determination means. 10. The storage means is further provided with a function of storing an agnostic region in a patient's visual field and geometrical characteristics of a virtual object in a virtual world, and the control means is a body feature amount measuring means. In addition to the body feature amount measured in step 1, when the geometrical characteristics of the aforesaid region and the virtual object of the storage means are taken in, and there is a risk of a patient colliding with a virtual object in the aforesaid region in the virtual world, The rehabilitation support apparatus according to claim 1, further comprising a function of generating a warning marker for prompting a warning, outputting the warning marker to a display, and outputting a warning sound to the speaker. 11. A body feature amount measuring means for measuring a body feature amount of a patient, a current position data holding means for storing a current position of a virtual patient in the virtual world, and position information and size of a virtual object in the virtual world. Object data holding means for storing object data which is the information, image data holding means for storing image data of the virtual world, display means for displaying an image of the virtual world, and the body feature amount measuring means A moving direction determining means for determining a moving direction of the virtual patient from the physical characteristic amount; a moving speed determining means for determining a moving speed of the virtual patient from the physical characteristic amount extracted from the physical characteristic amount measuring means; The current position of the position data holding means, the moving direction extracted from the moving direction determining means, and the movement extracted from the moving speed determining means. And a current position of the current position stored in the current position data holding unit, the current position of the current position data holding unit, and the object. A collision determination unit that compares the object data of the data holding unit to determine a collision between a virtual patient and a virtual object, and the movement direction extracted from the movement direction determination unit,
Image control means for extracting the image data of the virtual world to be displayed from the image data holding means based on the current position of the current position holding means and the collision determination extracted from the collision determination means, and displaying the image data on the display means. A rehabilitation support device comprising: 12. A performance information determining means for determining the performance information of the patient from the collision determination is added, and a moving speed determining means determines the moving speed of the patient from the performance information extracted from the performance information determining means. The rehabilitation support device according to claim 11, wherein the rehabilitation support device is replaced with a moving speed determining means. 13. A virtual environment surrounding a virtual patient is quantified from a physical feature amount extracted from a physical feature amount measuring unit, a moving speed extracted from a moving speed determining unit, and a collision determination extracted from a collision determining unit. The environment information generating means for generating environment information, and the environment reproducing means for reproducing a virtual environment from the environment information extracted from the environment information generating means and giving it to a patient are added. Rehabilitation support device. 14. A disapproval area data holding means for storing disapproval area data of a patient, a current position of a current position holding means, object data of an object data holding means, and an inaccuracy of the disapproval area data holding means. A marker generation determination unit that determines whether or not to generate a marker that gives a warning of a collision to a patient from region data; and a marker image that captures the marker generation determination from the marker generation determination unit and generates the image. An image synthesizing means for synthesizing with the image data taken out from the control means and outputting to the display means, and a warning sound output means for outputting the warning sound by taking in the marker generation judgment from the marker generation judging means are added. The rehabilitation support apparatus according to any one of claims 11 to 13. 15. The body characteristic amount measuring means comprises a body characteristic amount correcting means for correcting the body characteristic amount according to the degree of the disorder of the patient.
14. The rehabilitation support device according to any one of 14. 16. The rehabilitation support apparatus according to claim 15, wherein the body feature amount correcting means maps a range of values of the body feature amount that the patient can output into a specific value range. 17. The body feature value correcting means assumes that a range of values of the body feature value that the patient can actually output is a certain range larger than a range of values of the body feature value that the patient can actually output. The rehabilitation support apparatus according to claim 16, wherein the rehabilitation assisting apparatus corrects the physical feature amount. 18. The body feature amount correcting means changes the correction amount after the end of the rehabilitation, based on the history of the body feature amount measured by the body feature amount measuring means during the rehabilitation.
The rehabilitation support device according to any one of 5 to 17. 19. The body feature amount correcting means sequentially changes the correction amount during rehabilitation based on the history of the body feature amount measured by the body feature amount measuring means during rehabilitation. The rehabilitation assistance device according to any one of 15 to 18. 20. The rehabilitation support device according to claim 15, wherein the body feature amount correction means selects a correction pattern according to the content of the training from a plurality of correction patterns. 21. The body feature quantity measuring means is a body motion input camera for simultaneously photographing a plurality of patients with one camera, decomposing images for each patient, and measuring the body feature quantity of each patient, and The patient image control means takes in the physical feature quantities of a plurality of patients, respectively generates a plurality of virtual patient images corresponding to each patient, and links the temporal change of the physical feature quantity corresponding to each patient to the virtual patient image. 21. The rehabilitation support apparatus according to any one of claims 1 to 20, wherein each virtual patient image is changed and replaced by a patient image control unit that synthesizes an image of a virtual world and a plurality of the virtual patient images. 22. The body feature amount measuring means is a body movement input camera that captures an image of a patient and measures the body feature amount, and the body movement input camera is used to determine the geometrical positional relationship between the patient's limbs and the body. The rehabilitation support device according to claim 1, wherein the rehabilitation support device is measured as a feature amount. 23. The body feature amount measuring means is a body movement input camera that captures an image of a patient and measures the body feature amount, and the body movement input camera measures the turning amount of the patient's head as the body feature amount. The rehabilitation support device according to any one of claims 1 to 20. 24. The body feature amount measuring means is a body movement input camera that captures an image of a patient and measures the body feature amount, and the body movement input camera measures the turning amount of the upper body of the patient as the body feature amount. 21. The rehabilitation support device according to claim 1. 25. The rehabilitation support according to claim 1, wherein the body characteristic amount measuring means is a center of gravity sway meter, and the center of gravity position of the patient is measured as the body characteristic amount by the body sway meter. apparatus. 26. The treadmill is used as the physical characteristic amount measuring means, and at least one of the walking speed and the walking distance of the patient is measured as the physical characteristic amount by the treadmill. The rehabilitation support device described in. 27. The rehabilitation support apparatus according to claim 1, wherein the body feature amount measuring means is a muscle force sensor, and the muscle force sensor measures a patient's muscle force as a body feature amount. 28. The body characteristic amount measuring means is configured such that the pedals on which the left and right feet are placed move forward or backward or rotate in response to the stepping motion of the patient lying on his back.
A stepping training device equipped with a sensor that measures the stepping force and the pullback force of the foot at that time for each foot, wherein the sensor measures the stepping force and the pullback force of the foot by the patient. The rehabilitation support device according to claim 1. 29. The rehabilitation assistance device according to claim 28, wherein the stepping training device includes a guide for preventing the knee of the patient from facing the outside of the body. 30. The stepping training device uses the force of stepping on and pulling back the healthy side of the patient to move the pedal on which the foot on the paralyzed side rests. The described rehabilitation support device. 31. An air bag provided with a sensor for measuring the internal air pressure, wherein the body characteristic amount measuring means is placed under each knee of both legs with the knee bent lightly, and the sensor is used by the patient. 21. The rehabilitation assistance device according to claim 1, wherein the air pressure inside the air bag when the knee is stretched is measured as a body feature amount. 32. The body characteristic amount measuring means is a handle that is held by a patient with both hands and is rotatable around the patient, and the rotation angle of the handle that rotates with the upper body of the patient is used as the body characteristic amount. The rehabilitation assistance device according to any one of claims 1 to 20, which is measured. 33. A body movement measuring unit for measuring a body movement of a target person, a display for presenting an image to the target person, an environment output unit for outputting an environment given to the target person, and for communicating with an external device. Communication means, failure data input holding means for inputting and holding failure data indicating the degree of failure of the subject, and the failure data of the subject and the body of the subject obtained by the body movement measuring means A virtual world determination means for determining an image to be given to the display and an environment to be outputted by the environment output means, based on the operation data and the data obtained by the communication means, and to the display according to an instruction of the virtual world determination means. An image synthesizing means for synthesizing images to be output in real time, and an environment to be given to a subject in real time according to an instruction of the virtual world determining means are synthesized, Rehabilitation supporting device including an environment combining means for instructing the output means. 34. The virtual world determining means determines the handicap data from the virtual world data holding means for holding virtual world data representing the state of the virtual world, and the obstacle data of the target person from the obstacle data input holding means. A handicap determination holding means for holding, an interaction determination means for determining an interaction between the target person and the virtual world based on the handicap data, the physical activity data of the target person obtained from the physical activity measuring means, and the virtual world data. A virtual world data holding means for judging a change of the virtual world from the data of the virtual world data holding means, a data of the virtual world data holding means from the data of the interaction judging means, the judgment of the virtual world judging means and the communication means 4. A virtual world updating means for updating Rehabilitation support device according.