CN106456434A - Training apparatus for recovery of paralyzed function and training method for recovery of paralyzed function - Google Patents
Training apparatus for recovery of paralyzed function and training method for recovery of paralyzed function Download PDFInfo
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- CN106456434A CN106456434A CN201580030573.1A CN201580030573A CN106456434A CN 106456434 A CN106456434 A CN 106456434A CN 201580030573 A CN201580030573 A CN 201580030573A CN 106456434 A CN106456434 A CN 106456434A
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- 206010033799 Paralysis Diseases 0.000 title claims abstract description 90
- 238000011084 recovery Methods 0.000 title claims abstract description 41
- 238000000034 method Methods 0.000 title claims description 19
- 230000033001 locomotion Effects 0.000 claims abstract description 66
- 230000000638 stimulation Effects 0.000 claims description 96
- 230000002567 autonomic effect Effects 0.000 claims description 38
- 230000000007 visual effect Effects 0.000 claims description 17
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- 230000009471 action Effects 0.000 claims description 10
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- 230000000717 retained effect Effects 0.000 claims description 2
- 230000018199 S phase Effects 0.000 claims 1
- 230000001939 inductive effect Effects 0.000 abstract 1
- 230000000694 effects Effects 0.000 description 32
- 230000007246 mechanism Effects 0.000 description 29
- 210000003205 muscle Anatomy 0.000 description 12
- 210000000707 wrist Anatomy 0.000 description 12
- 210000000245 forearm Anatomy 0.000 description 10
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 10
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- 240000002791 Brassica napus Species 0.000 description 1
- 241001274660 Modulus Species 0.000 description 1
- 208000016285 Movement disease Diseases 0.000 description 1
- 206010033892 Paraplegia Diseases 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
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Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
This training apparatus (10) for recovery of a paralyzed function is provided with: a servo motor (21) for applying force from the outside to a paralyzed region of a patient and inducing passive movement; a servo motor (21) with which it is possible to apply resistance force to a paralyzed region of the patient in order to induce movement of the paralyzed region through intentional exertion by the patient; and a stimulus presentation means (72) for imparting a stimulus to alert the patient of the timing for exertion.
Description
Technical field
The present invention relates to for the training devicess of patient and the training method of training and treat the paralysis such as finger or forearm.
Background technology
In this manual, " passive " refers to a part of movement by making body from externally applied force, and " autonomous " is
Refer to a part of movement not from externally applied force body.
Paralytic has paralysis position on body.Can be by improving activities of daily living (ADL) and quality of life
(QOL) recovering the function at this paralysis position.For example, the flexion/extension with regard to finger is trained, first by the strength quilt of doctor
Carry out dynamicly, then the first joint of finger is applied to rap stimulation, arbitrarily independently stretched by upholding reflection.Pass through
This raps stimulation and promotes to uphold reflection, can effectively be trained.
The training of forearm be also likewise, then passive exercise and so that random autonomic movement is carried out.Here, patient is made to enter
The stimulation before the random autonomic movement of row, finger or the forearm of patient being applied drastically to accelerate is critically important.
But, if doctor or Oc Th etc. carry out such Occupational therapy with handss to a patient, need Pang
Big time and workload, are difficult to carry out the training of sufficient quality and quantity.
For the purpose of the burden eliminating staff, proposed training devicess' (for example, referring to patent documentation 1) in the past.
According to Figure 18, patent documentation 1 is illustrated.
As shown in figure 18, existing training devicess 100 are made up of following part：Pedestal 101；Motor 102, it is arranged at this
One end on pedestal 101；Cylinder 103, it is supported and rotated and reverse by this motor 102；Handle part (bar) 104, its from
This cylinder 103 is holded up；First band 105, it is arranged at the porch of cylinder 103；Vertical frame 106, it is arranged at another on pedestal 101
One end；Front receiving portion 109 and rear receiving portion 111, they extend from this vertical frame 106, respectively supporting forethiga 107 and upper arm parts
108；Second band 112 and the 3rd band 113, they are separately positioned in front receiving portion 109 and rear receiving portion 111；And control machine
Structure 120.
Wrist 114 is firmly fixed by first band 105, and forethiga 107 is firmly fixed by the second band 112, upper arm parts 108
Firmly fixed by the 3rd band 113.
On and off switch 121, the speed controlling knob 122 of motor 102, motor 102 are provided with controlling organization 120
On/off switch 123, the counting display part 124 of the rotating speed measuring and showing cylinder 103, the positive and negative rotating speed of control cylinder 103
Dial switch 124, control motor 102 the control handle 125 of torque and notify terminate buzzer 126.
And, to make cylinder 103 rotate the angle of regulation by motor 102, then to the angle of opposition side rotation regulation
For main points, it is repeated and rotates and reverse.
Such existing training devicess 100 there is a problem of following.
It is important that stimulating and carrying out strengthening the remaining function of body in this training.Training in patent documentation 1
In device 100, cylinder 103 is made to be rotated and reverse by the driving force of motor 102.Even if having shed power in patient from forearm
It appears that being also trained under the state (unloading the state of power) of amount.But, cannot be instructed in the state of having shed strength
The effect practiced.
So that patient is concentrated one's energy will not the power of unloading be critically important, but be not provided with such work(in training devicess 100
Energy.
But, improve in training effect it is desirable to promote the concentration power of patient and more reliably to realize function extensive in expectation
Multiple training devicess and training method.
Prior art literature
Patent documentation
Patent documentation 1：Japanese Unexamined Patent Publication 4-261657 publication
Content of the invention
Invention problem to be solved
The problem of the present invention is, provides the concentration power that can promote patient and more reliably realizes the instruction of functional rehabilitation
Practice device and training method.
Means for solving the problems
The present invention staff finds, wants to solve above-mentioned problem, can implement training devicess and the training repeatedly promoting to treat
Method is effective.
Repeatedly promote treatment to refer to the finger of paralysis or the trick of therapist (doctor and teacher of the recuperating etc.) operation patient, use pin
Spine swashs necessary neural circuit, and induction is as the action of target.Be rebuild by this action is repeated by persistence,
Strengthen necessary neural circuit and promote the new method of rehabilitation of the recovery of paralysis.
Promote to refer to patient is wanted the position applying stimulation of movement to carry out assistant exercise so that patient easily intends
The method of the action done.
Unilateral paralysis patient is difficult to make paralysis limbs move by the will (from the instruction of brain) of itself.But, pass through
Paralysis limbs are applied to stimulate, extension reflection can be caused, thus neurocyte is excited, paralysis limb is made according to the instruction from brain
Body moves.Therefore, in order to apply to stimulate to the neural circuit related to the motion as purpose, the muscle of target is rapidly made to stretch
, muscular tone causes extension reflection after increasing at once, orders the contraction of this muscle, thus induces the action as target.
And, there is paralysis side and non-paralysis side in generally unilateral paralysis patient.First, feel good and can be just various
Often carry out the training that arbitrarily paleocinetic non-paralysis side is trained device.And, so that patient is understood, grasp training devicess'
" knack " of training.Then, it is trained the training of device in paralysis side.That is, using " knack " grasped in non-paralysis side,
Paralysis side is also carried out with the training of training devicess.
In principle, on the right side of left brain control, on the left of right brain control, but exist related to the motor function of the left and right sides in brain
" common portion ".If the motion association with training devicess has been grasped in training by the training of the non-paralysis side of training devicess
Mediation motion knack etc., then be directed to the effect of the training of training devicess of paralysis side and efficiency is improved.
In order to induce the target action of forearm it is necessary to extension reflection is caused by the stimulation of needle point.Instruction in patent documentation 1
Practice in device it is impossible to simply cause the extension of needle point to reflect.
On the other hand, in the present invention, uphold reflection thus causing random autonomic movement to induce, adding makes patient carry
The stimulation mechanism of high concentration power is effective.
Invention according to claim 1, there is provided paralysis functional recovery training device, this paralysis functional recovery training device
Have：Passive exercise component, it makes it passively move the paralysis part applying power of patient from outside；Arbitrarily autonomic movement
Component, it allows the patient to firmly make described fiber crops with the will of itself by the paralysis part applying resistance to described patient
The componental movement of numbness；And stimulating prompting component, it applies the stimulation on opportunity of exerting oneself for transmission to patient.
In the invention of claim 2, preferably, passive exercise and arbitrarily autonomous can be implemented by same moving link
Motion, this passive exercise is so that it is passively moved the paralysis part applying power of patient from outside, this random autonomic movement
It is to allow the patient to firmly make the part of described paralysis with the will of itself by the paralysis part applying resistance to patient
Motion.
In the invention of claim 3, preferably, stimulation patient being applied is to carry out action in passive exercise component
During and the release of passive exercise component after both any one of opportunity be applied to the stimulation of patient.
In the invention of claim 4, preferably, the stimulation with regard to applying to patient, applies visual stimulus, listens to patient
Feel at least one stimulation stimulating with tactual stimulation.
In the invention of claim 5, preferably, visual stimulus are using luminous.
In the invention of claim 6, preferably, auditory stimuluses adopt voice.
In the invention of claim 7, preferably, tactual stimulation adopts mechanical vibration.
In the invention of claim 8, preferably, it is configured to, moving link is kept using the bar for patient's operation, bar
For being rotated centered on the axis vertical with length axle, in the case of rotating in a first direction, the fiber crops to patient for this bar
Numbness part applying power and make it carry out passive exercise, in a second direction that is opposite the first direction rotate in the case of, this bar
It is made to carry out random autonomic movement by the paralysis part applying resistance to patient.
In the invention of claim 9, preferably, above-mentioned bar is rotated in the first rotational direction with the first angular velocity,
Then rotated in the first rotational direction with the second angular velocity bigger than the first angular velocity, then revolve in a second rotational direction
Turn, and, start to stimulate the stimulation to patient for the component in the first angular velocity region.
In the invention of claim 10, preferably, terminated before bar rotates in a second direction to patient apply with
The vision stimulation related with the side in audition.
In the invention of claim 11, preferably, the end of rotation in a first direction simultaneously terminates to trouble with bar
Person applies the stimulation related to the side in vision and audition.
In the invention of claim 12, preferably, terminate patient is applied in bar rotation in a second direction with
The related stimulation of tactile.
Invention according to claim 13, is paralysis functional recovery training method, it comprises：From the paralysis to patient for the outside
Part applying power and make the passive exercise that it passively moves；Allowed the patient to by the paralysis part applying resistance to patient
The random autonomic movement of enough componental movements firmly making described paralysis with the will of itself；And patient is applied to use for transmission
The process of the stimulation on power opportunity.
In the invention of claim 14, preferably, in paralysis functional recovery training, carrying out allokinetic process
After the allokinetic end of neutralization, any one of both opportunitys apply to stimulate to patient.
In the invention of claim 15, preferably, in paralysis functional recovery training, stimulation is visual stimulus, audition
Stimulate and at least one in tactual stimulation.
In the invention of claim 16, preferably, in paralysis functional recovery training, thorn is applied to patient by light
Swash.
In the invention of claim 17, preferably, in paralysis functional recovery training, thorn is applied to patient by voice
Swash.
In the invention of claim 18, preferably, in paralysis functional recovery training, thorn is applied to patient by vibration
Swash.
Invention effect
In the invention of claim 1, in realizing the training of functional rehabilitation of unilateral paralysis patient, due to have for
Patient is applied with the stimulation prompting component stimulating, therefore has and so that patient is understood when carrying out arbitrarily paleocinetic
The such effect of machine.
In the invention of claim 2, due to passive exercise being implemented by same moving link and arbitrarily independently transporting
Dynamic, therefore there is the simple structure of training devicess and alleviate the such effect of the burden to patient.
In the invention of claim 3, due to being during passive exercise to the stimulation of patient or passive exercise knot
After bundle, patient is applied, therefore there is following such effect：Can be to patient's before so that random autonomic movement is carried out
Finger or the forearm stimulation that drastically accelerates of applying, promote to uphold reflection it is contemplated that effective train.
In the invention of claim 4, due to stimulating prompting component that patient is applied with visual stimulus or auditory stimuluses or touching
Feel stimulate in any one or be combined with multiple stimulations, therefore have can according to training situation and select suitably to stimulate structure
The such effect of part.
In the invention of claim 5, because visual stimulus are based on luminous stimulation, therefore have and can understand and letter
Just carry out the such effect of the stimulation to patient.
In the invention of claim 6, because auditory stimuluses are voice-based stimulations, therefore there is following such effect
Really：Patient is it will be appreciated that the implication stimulating is such that it is able to more swimmingly transfer to random autonomic movement.
In the invention of claim 7, because tactual stimulation is the stimulation based on vibration, therefore has and can mitigate to trouble
The such effect of burden of the training of person.
In the invention of claim 8, due to moving link be for patient operation bar, bar be retained as can with length
Rotate centered on the vertical axis of degree axle, this bar is configured to, the paralysis part in the case of rotating in a first direction, to patient
Applying power and make it carry out passive exercise, in a second direction that is opposite the first direction rotate in the case of, by patient
Paralysis part apply resistance and make it carry out random autonomic movement, the construction therefore with training devicess is easy and can subtract
The effect of the burden of light patient.
In the invention of claim 9, due to starting to stimulate the stimulation to patient for the component in the first angular velocity region, because
This has the effect that patient identifies the opportunity to the transfer of random autonomic movement with being rich in enough and to spare.
In the invention of claim 10, due to terminate before rotating in a second direction in bar to patient apply and regard
Feel the stimulation related with the side in audition, therefore there is patient and can reliably identify the opportunity to the transfer of random autonomic movement
Effect.
In the invention of claim 11, the end due to the rotation in a first direction with bar simultaneously terminates to patient
Apply the imparting of the stimulation related to the side in vision and audition, therefore there is patient and can more reliably identify to arbitrarily certainly
The effect on the opportunity of main motion transfer.
In the invention of claim 12, due to terminate during rotating in a second direction in bar to patient apply with
The related stimulation of tactile, therefore have can make patient abundant confirm the stimulation related to tactile after identify to arbitrarily independently transporting
The effect on the opportunity of dynamic transfer.
In the invention of claim 13, due to realizing applying thorn to patient in the training of functional rehabilitation of paralysis patient
Swash, therefore have and can easily make patient understand opportunity such effect of exerting oneself.
In the invention of claim 14, due to during carrying out passive exercise or passive exercise terminate after to patient
Apply to stimulate, therefore there is following such effect：Finger or front that can be before making random autonomic movement carry out to patient
The stimulation that arm applying drastically accelerates, promotes to uphold reflection, such that it is able to expect effectively to train.
In the invention of claim 15, due to patient is given with appointing in visual stimulus or auditory stimuluses or tactual stimulation
Meaning is a kind of or is combined with multiple stimulations, therefore has and the species suitably stimulating can be selected such according to the situation of training
Effect.
In the invention of claim 16, due to being based on luminous stimulation to the stimulation of patient, therefore have to patient
The stimulation effect that can understand and easily carry out.
In the invention of claim 17, due to being voice-based stimulation to the stimulation of patient, therefore have following this
The effect of sample：Patient, it will be appreciated that the implication of stimulation, can more swimmingly shift to random autonomic movement.
In the invention of claim 18, the stimulation to patient is based on the stimulation vibrated, and therefore has and can mitigate trouble
The such effect of burden of the training of person.
Brief description
Fig. 1 is the side view of the paralysis functional recovery training device of the present invention.
Fig. 2 is the axonometric chart of the paralysis functional recovery training device of the present invention.
Fig. 3 is the axonometric chart of half cylinder body.
Fig. 4 is the sectional view of 4 lines along Fig. 1.
Fig. 5 is the sectional view of 5 lines along Fig. 1.
Fig. 6 is the exploded perspective view of the major part of paralysis functional recovery training device.
Fig. 7 is the sectional view of the 7-7 line along Fig. 6.
Fig. 8 is the front view in wrist supports portion.
Fig. 9 is the action diagram in wrist supports portion.
Figure 10 is the action diagram of paralysis functional recovery training device.
Figure 11 is the action diagram of half cylinder body.
Figure 12 is the figure that passive exercise is illustrated.
Figure 13 is the front view of torque detection means.
Figure 14 is the figure that the principle to torque detection means illustrates.
Figure 15 is the figure that the effect to luminesence stimulation mechanism and auditory stimuluses mechanism illustrates.
Figure 16 is the figure that the principle to vibratory stimulation mechanism illustrates.
Figure 17 is the figure that the effect to vibratory stimulation mechanism illustrates.
Figure 18 is the structure chart of existing training devicess.
Specific embodiment
Hereinafter, referring to the drawings a preferred embodiment of the present invention is illustrated.
【Embodiment】
As shown in figure 1, paralysis functional recovery training device 10 is made up of following part：Mobile station 12, it has castor (ten thousand
To wheel) 11；Forearm mounting table 13, it is arranged at the one end in this mobile station 12；Device pedestal 14, it is arranged at mobile station 12
On；Half cylinder body 15, it is supported in this device pedestal 14 in the way of can rotating around trunnion axis, and upper surface opens wide；
As the bar 16 of moving link, it is arranged in this half cylinder body 15；Wrist supports portion 17, it is arranged in half cylinder body 15；
Drive shaft 18, its one end is linked with half cylinder body 15, and extends along trunnion axis；E axle supporting platform 19,19, they are arranged at device
On pedestal 14, drive shaft 18 is rotatably supported；Servo motor 21, it is arranged on device pedestal 14, to drive shaft 18
It is driven；Encoder 23, it is arranged at this servo motor 21, the anglec of rotation of measurement motor drive shaft 22；Control unit 24, its carry out with
Under a series of controls：Obtain rotary angle information from this encoder 23, so that half cylinder body 15 direction to the left and right is rotated forward,
Stop, inverting, stop, in rotating forward, in order to the extension that the anxiety of the muscle by realizing functional rehabilitation causes muscle is reflected simultaneously
Make neurocyte excited, and to control applying muscle with the first angular velocity with than the second angular velocity of described first angular velocity high speed
Stimulation speed, in reversion, the muscular tone that stimulates and maintain in order to persistently carry out muscle applies resistance；And torque
Conversion portion 25, the torque that its computing applies to bar 16 is simultaneously sent to control unit 24.
In addition, a part for castor 11 can also be common wheel (non-Universal wheel).And, castor can also be omitted
11.In this case, mobile station 12 is estrade.
If estrade, then can substitute estrade with suitable desk or desk, therefore whether mobile station 12 is configured at
It is arbitrary under device pedestal 14.
But, because servo motor 21 and encoder 23 are heavier, therefore the burden mitigating people aspect it is recommended that as this reality
Applying example makes device pedestal 14 integrated with mobile station 12 like that.
And, as long as a part for half cylinder body 15 cylinder is cut out, otch rate is not limited to 50%.And, partly cut
Cylinder 15 adopts half cyclotomy cylinder in principle but it is also possible to be polygon cylinder.
It is provided with torque detection means 60 between half cylinder body 15 and drive shaft 18.This torque detection means described below
60 structurally and functionally.
As shown in Fig. 2 mobile station 12 is made up of main part 27 and secondary platform part 29, this main part 27 is by four pillars
26 supportings, this secondary platform part 29 extends from this main part 27 and front end is supported by a pillar 28.This secondary platform part 29 is thin
Long, there is space 31,32 around so that patient can enter at least one party in space 31 and space 32.Can pass through
Comprise pillar 26,28 and realize the lightweight of mobile station 12 in interior composition light gauge steel (specifically, aluminum frame).
The top of bar 16 is provided with the light-emitting component 71,71 as visual stimulus mechanism, this visual stimulus mechanism is thorn
Swash a mode of prompting component.This light-emitting component 71,71 enters line flicker under the control of control unit 24.In control unit 25 just
Face (closest to the face of patient) is provided with the speaker 72 as auditory stimuluses mechanism, and this auditory stimuluses mechanism is to stimulate prompting structure
One mode of part.
Other structures key element continues to use the label of Fig. 1, and omits the description.
As shown in figure 3, opening wide above half cylinder body 15.
As shown in figure 4, it is around water that half cylinder body 15 is supported by the first cam follower 31 and the second cam follower 32
Flat axis rotates freely.
And, as shown in figure 5, half cylinder body 15 is by the 3rd cam follower 33, the 4th cam follower 34 and the 5th
It is to rotate freely around horizontal axis that cam follower 35 supports.
In addition, the 4th cam follower 34 in central authorities can be dismantled.And, cam follower 31～35 is by fulcrum, peace
The needle bearing being loaded on this axle and the assembling part of the roller composition surrounding this needle bearing, but as long as be so-called free roll
(rotating freely roller), construction is arbitrary.
As shown in fig. 6, drive shaft 18 links via the motor drive shaft 22 of shaft coupling 36 and servo motor 21.In this drive shaft 18
On be fixed with the bar-like member 38 of the band plate-like extending upward in leading section, be formed with side more forward than this bar-like member 38
Square shaft portion 39, is formed with external thread part 41 in side more forward than party axle portion 39.
It is fixed with plectane 42 in one end of half cylinder body 15, this plectane 42 is provided with square hole 43.Square shaft portion 39 embeds
In this square hole 43.Then, as shown in figure 3, being provided with nut 44 at external thread part 41.By above content, half cylinder body 15
Link with drive shaft 18, complete the positioning in the axial direction of half cylinder body 15.That is, without having to worry about half cylinder body 15 in rotation
Axle moves up.
As shown in fig. 6, drive shaft 18 is rotatably supported by a pair of e axle supporting platform 19,19.This e axle supporting platform 19 with
Between e axle supporting platform 19, key 45 is fixed with drive shaft 18.And, between e axle supporting platform 19 and e axle supporting platform 19, backstop
Block 46 is fixed on device pedestal 14.
As shown in fig. 7, stop block 46 has stop surface 47,48 on an upper, this stop surface 47,48 is configured at drive shaft
Under 18.Key 45 is located at the top of drive shaft 18 in a neutral state.Drive shaft 18 respectively can rotate to the left and right from neutral position
90 °, drive shaft 18 maximum can rotate 180 °.That is, key 45 moves the position shown in imaginary line.Even the key shown in imaginary line
At 45, also have with stop surface 47 1.5mm about gap α.Therefore, usual key 45 is not abutted with stop surface 47.With regard to backstop
Face 48 is also same.
When the rotation amount causing drive shaft 18 in fault because of control system etc. changes, key 45 and stop surface 47 and stop surface
A side in 48 abuts, and drive shaft 18 does not further rotate.Result is, without having to worry about half cylinder body (in Fig. 3, label 15) rotation
Exceed predetermined angular.That is, although the control of rotation amount is carried out by encoder in the present invention, in order to guard against the fault of encoder
Deng, be provided with machinery stop part, thus improve safety.
As shown in figure 8, wrist supports portion 17 is by the bracket 49 of the U-shaped up opened with via screw 52,52 supporting
In this bracket 49 wall portion 51,51 and clamp described wrist left and right bending part 53,54 constitute.Can be hooked by finger
Rod 5 makes screw 52 rotate.
As shown in figure 9, entering in the state of wrist 56 is clamped by the bending part 53,54 of left and right across bolster 57,57
Row training, but because the top of the bending part 53,54 of bracket 49 and left and right opens, as long as therefore patient willingness just can be as sky
White arrow extracts wrist 56 like that upwards.I.e., with rich open sense correspondingly, constriction and restraint feeling very little, can implement more
Preferably train.
As shown in Figure 10, patient for example needs to implement training to left hand, and wrist 56 is placed in wrist supports portion 17, will
Forethiga 58 is placed in forearm mounting table 13.
The wrist 56 making left hand during from patient view is referred to as " inward turning fortune to the center rotating of body as arrow (1)
Dynamic ", " outward turning campaign " will be referred to as outside rotates as arrow (2).
" random autonomic movement " will be referred to as towards the motion that arrow (1) or arrow (2) rotate by the will of itself, will be
This random autonomic movement is larger caused to be referred to as " passive exercise " from externally applied force with the motion rotating towards the opposing party.
For example, by carrying out " passive exercise " to the direction of arrow (1), can cause to the direction of arrow (2) " arbitrarily certainly
Main motion ".
Because drawing is numerous and diverse, therefore not in wrist described in Figure 11 (a), but Figure 11 (a) is in neutral condition, from this shape
State starts to train.
As shown in Figure 11 (b), passive exercise is carried out by servo motor 21.
Specifically, as shown in figure 12, first, passive exercise is carried out with the first angular velocity, then carries out brish acceleration,
Again passive exercise is carried out with the second angular velocity.For example, the first angular velocity is 2.5 radian per seconds, the second angular velocity be 11.0 radians/
Second.That is, 2 times～5 times of the second angular velocity about the first angular velocity are made.
Brish acceleration is set as the acceleration of the maximum that servo motor 21 can export.For example, from 0.01 second
One angular velocity transfers to the second angular velocity.Now angular acceleration is (11.0-2.5)/0.01=about 1000 radian per second2.
That is, improve the muscular tone realizing functional rehabilitation as follows：Carried out with the first angular velocity certain
After rotation, rapidly rotated with brish acceleration and the second angular velocity.So, extension reflection has been encouraged by muscular tone.
Reflected by this extension, promote the contraction of muscle, such as shown in Figure 11 (c), carried out arbitrarily with the will of patient
Autonomic movement.But, in order to persistently carry out the stimulation of muscle using servo motor 21 to maintain muscular tone, make servo motor 21
Produce lighter resistance.
Want to produce lighter resistance by servo motor 21, need to know that what patient produced in the rotation of active turns
Square.That is, if torque is big, increase resistance (moment of resistance), if torque is little, reduce resistance, so that patient will not be become
Burden.
In the present invention, there are torque detection means for the purpose.
In addition, shaft torque can be detected by strain gauge is pasted onto in drive shaft 18.But, outer in drive shaft 18
When footpath is less, the torsional capacity (in Figure 14, reference numeral θ a) of axle is less, therefore, it is difficult to being measured and evaluated error is larger.
In the present invention, the good torque detection means of measurement accuracy are employed as following.
As shown in figure 13, torque detection means 60 are made up of following part：Pin 61, it is in the way of extending to drawing front
It is erected at the peripheral part of plectane 42；Bar-like member 38, its one end is chimeric with this pin 61 and extends to the center of rotation of plectane 42；Contracting
Cervical region 62, it is arranged at the midway of this bar-like member 38；Strain gauge 63, it is pasted on this necking part 62；And torque conversion portion
25, the strain information acquired by this strain gauge 63 is scaled torque by it.
One end of bar-like member 38 is chimeric with pin 61 via the elongated hole 64 extending on the length direction of bar-like member 38, makes
The movement that bar-like member 38 is with respect to pin 61 must be allowed.And, the other end of bar-like member 38 is clipped in drive shaft by flange 65,66
In 18 other square shaft portion 67.
Bar-like member 38 can also be pole, square rod in addition to band plate, and shape is arbitrary, but, if band plate,
Then the width at two ends is larger, therefore, it is possible to easily one end is installed on plectane 42 and can easily will be another using this width
One end is installed on drive shaft 18.
Next describe the effect of the torque detection means 60 of such structure.
As shown in Figure 14 (a), by random autonomic movement, torque Tm is applied to plectane 42 via bar 16.This torque Tm was both
It is directly passed to drive shaft 18 and be also indirectly transferred to drive shaft 18 via bar-like member 38.If directly the torque of transmission is Ta,
If the torque indirectly transmitted is Ts, then Tm=Ta+Ts.Strain gauge 63 is only arranged at bar-like member 38.
As shown in Figure 14 (b), by torque Ts, bar-like member 38 is bent into く shape with necking part 62 as inflection point.Turn
Square Ts is bigger, and bending is bigger.Using this systematicness, can on structural mechanics calculating torque Ts.
Here, if 18 length is L1 from inflection point to drive shaft, if from inflection point to pin, 61 length is L2, if necking down
The length in portion 62 is Lx, if the width of necking part 62 is b.Although not recording in figure, set the thickness (drawing of necking part 62
Positive and negative direction size) it is h.And, set the longitudinal modulus of elasticity (Young's moduluss) of necking part 62 as E.
As shown in Figure 14 (c), when torque Ta acts on drive shaft 18, drive shaft 18 is somewhat reversed.Torque Ta is bigger, figure
In angle, θ a bigger.Using this systematicness it is also possible on structural mechanics calculating torque Ta.
Here, if the length of drive shaft 18 is LL, if a diameter of R.And, set the transverse modulus of elasticity of drive shaft 18 as G.
Although eliminating detailed description, torque Ta is the function of Ts as shown below.
【Mathematical expression 1】
Tm=Ta+Ts
Torque Ts can be obtained using strain gauge 63, therefore, using torque conversion portion 25, according to obtained by strain gauge 63
Strain information, obtains torque Tm.With this torque Tm accordingly, the moment of resistance is produced by servo motor 21.This resistance described below
The detailed content of square.
In random autonomic movement, when applying the resistance of suitable size, the forearm of patient is persistently stimulated and maintains
Muscular tone, can more greatly rotate.
In addition, in Figure 14 (b), the width b of necking part 64 is less, and bar-like member 38 more significantly bends, in necking part
Larger strain is produced at 64.Due to being pasted with strain gauge 63 on such necking part 64, therefore precision is obtained well and is turned
Square Tm.That is, can with apparently higher than directly strain gauge is pasted in the drive shaft 18 shown in Figure 14 (c) when precision to torque
Detected.
Next, illustrating to the acquiring method of the moment of resistance.
Set the current angle of servo motor as θ, imaginary inertia be I, imaginary viscosity be C, imagination elasticity for K when, pin
Formula of impedance to the torque Tm detecting is following formula.
【Mathematical expression 2】
Assume K=0, carry out discretization and transplant.
Rotary speed (angular velocity)
△t：Sampling time
Tn：The moment of resistance
The size of resistance when at the uniform velocity, is determined by adjusting C value.In acceleration/deceleration, can be by adjusting K1, K2
To determine the moment of resistance.Especially, in the case of the delay of time to be reduced, as long as setting in the way of close to K2=0 after determining C
Determine I value.
By above content, moment of resistance Tn is set to suitable value.
Next, the effect to visual stimulus mechanism and auditory stimuluses mechanism illustrates.
In the opportunity of moving stimulates it is important that when adding random active exercise to patient (unilateral paralysis patient) transmission
Machine is to cause random autonomic movement.If this purpose cannot be realized, effective stimulation just cannot be become.Therefore, have to cause
The random autonomic movement of effect, needs to study the beginning/stopping opportunity of visual stimulus mechanism and auditory stimuluses mechanism.With regard to vision thorn
The beginning of sharp mechanism and auditory stimuluses mechanism/stopping opportunity, needs to consider following item.
In order to implement more effectively to train, need to carry out random autonomic movement while carrying out and uphold reflection.
Mechanisms are stimulated to start working from two, patient is changed to according to random from brain according to vision/Auditory Perception
Instruction and all spend the time till being moved.
Improve the concentration power of patient.
Thus, if starting to stimulate when carrying out random autonomic movement or passive second angular velocity motion, patient from
Mechanism's perceptible stimulus are stimulated optionally to make muscular work will spend the time, the extension reflection of patient terminates it is impossible to rhythm is good
Ground is synchronously rotated, and training effect is relatively low.Therefore, open from random autonomic movement or the second passive angular velocity motion
Beginning, it is just too late to carry out stimulation.
Based on this cognition, using the midway of the first passive angular velocity as the beginning opportunity stimulating.By from first jiao of speed
The midway of degree starts to stimulate, and arbitrarily independently can be transported according to the random instruction from brain while carrying out and uphold reflection
Dynamic.
And, using the end of the second passive angular velocity as the end opportunity stimulating.As stimulation mechanism it is desirable to make trouble
The concentration power of person improves/continues.It is shortened by stimulation time, the concentration power of patient can be made to improve/continue.Recognized based on above
Know, there is provided the control shown in Figure 15.
The longitudinal axis of Figure 15 is the anglec of rotation, different from the angular velocity dimension shown in Figure 12.
Passive exercise is implemented with the first angular velocity and the second angular velocity.Because the first angular velocity is low speed, therefore with slope
Little straight line represents, because the first angular velocity is at a high speed, is therefore represented with the big straight line of slope, has a common boundary for brish acceleration.
In the present invention, in the midway in the first angular velocity region, preferably at the point Ps in latter stage, start to light (or send out
Sound).That is, in the latter stage rotating forward, the light-emitting component 71,71 shown in Fig. 2 starts luminous and sends sound from speaker 72.Due to
Hold bar 16, therefore patient visually confirms to light at once.And, because speaker 72 is placed on the vicinity of patient, therefore patient
Hear sound at once.So, patient is made to concentrate one's energy.Result is to uphold reflection and fully improve.Luminous (or sounding) is at second jiao
Terminate at speed finish time Pf.Luminous (or sounding) time is of about for example 0.2 second, extremely short.
In addition, in fig .15, have studied when the second angular velocity region or random autonomic movement start (when reversion starts)
Apply situation about stimulating, but there is time delay, uphold reflection and fully do not improve.Therefore, when as in the present invention in first jiao of speed
When degree region, the preferably latter stage in the first angular velocity region start to apply to stimulate, eliminate time delay, uphold reflection and fully improve.
Above explanation can be arranged as herein below.
In fig. 11, the arrow (1) of Figure 11 (b) illustrates passive exercise, and the arrow (2) of Figure 11 (c) illustrates autonomous motion
I.e. random autonomic movement.Patient can implement passive exercise and random autonomic movement by same moving link (bar 16).?
It is provided with bar 16 as the light-emitting component 71 stimulating prompting component, thus understanding the opportunity of exerting oneself.
That is, the device shown in Figure 11 has：As the servo motor 21 of passive exercise component, its fiber crops to patient from outside
Numbness part applying power makes it passively move；As the servo motor 21 of random autonomic movement component, it is by the fiber crops to patient
Numbness part applies resistance and allows the patient to the will of itself firmly so that the componental movement of paralysis；And carry as stimulation
Show the light-emitting component 41 of component, it applies the stimulation on opportunity of exerting oneself for transmission to patient.
Next, illustrating to the vibratory stimulation mechanism as a mode stimulating prompting component.
In vibratory stimulation it is important that for patient training objectives muscle induction/amplify uphold reflection, cause its with
Meaning autonomic movement.But, if adding vibratory stimulation when passive exercise starts, outside training objectives muscle is expected in advance
Contraction, with passive direction antagonism, thus cannot cause sufficient passive exercise and based on it extension reflection.And, if
Add vibratory stimulation when the motion of active starts, then uphold reflection by promoting logical Induced by Stimulation, therefore vibratory stimulation
Effect reduces.
If cannot realize upholding the amplification/induction of reflection, effective stimulation cannot be become.Accordingly, it would be desirable in induction
The opportunity effectively upholding reflection starts/terminates vibratory stimulation.Beginning with regard to vibratory stimulation/end opportunity, need consider with
Under item.
If starting in the second passive angular velocity to stimulate by vibratory stimulation mechanism, vibrate simultaneously to patient perceivable
Require time for till promoting to uphold reflection.
Uphold after reflection if in induction, then can improve random autonomic movement sensitivity and make random autonomic movement
Continue.
That is, if starting vibratory stimulation in passive second angular velocity, vibrate to physical perception and make muscle to uphold anti-
The time is spent, training effect's step-down till penetrating.Therefore it is known that start vibratory stimulation in passive second angular velocity just too late.
Based on this cognition, it is set to start vibratory stimulation from the midway in allokinetic first angular velocity region.With Figure 16 and
Figure 17 illustrates to its specific example.
As shown in figure 16, vibratory stimulation mechanism is by the distribution 73 extending from control unit 24 and the front end being arranged at this distribution 73
And there is vibration pad 74,75 composition of oscillator.
It is pasted with vibration pad 74,75 in the inner side and outer side of forethiga 58 respectively.Stimulated before rotation using a vibration pad 74
Tetres (muscle in returning), stimulates supinator (returning outer muscle) using another vibration pad 75.
As long as oscillator converts rotational motion into the vibrating motor of vibration, produces piezoelectric ceramics of strain etc. because of electric energy
The mechanical energy of electric energy or compressed air is converted to the part of vibration, no matter what species can.
As shown in figure 17, vibration is to start in the midway (in this example embodiment when more forward than centre) of the first angular velocity
's.Also sustained vibration in brish acceleration, the second angular velocity, time delay, terminates to vibrate in the midway of reversion.
Different from light and sound, as vibration, there is the effect promoting to uphold reflection.Additionally, compared with light and sound, vibrating
The impact bringing patient is more stable.That is, by applying vibratory stimulation until reversion midway, promote while the burden of patient can not be increased
Enter to uphold reflection.Vibration duration in one circulation e.g. about 0.8 second.
In addition, as visual stimulus mechanism light-emitting component 71 in stimulation time in addition to continuously lighting it is also possible to
It is to be lighted with the interval that the short time flashes repeatedly.
And, light-emitting component can also be the luminous body being made up of the arrow mark representing the direction of motion or character.At this
In the case of the luminous body of sample, patient, it will be appreciated that the implication of stimulation, can more swimmingly transfer to random autonomic movement.
Speaker 72 as auditory stimuluses mechanism can be buzzer or bell.But, if it is considered that producing melodious sound
Sound, then preferably produce the speaker of synthesized voice.
And, sounding can also be the voice that the recording of the sound of people or the sound of simulation people are synthesized.So
Voice in the case of, patient it will be appreciated that stimulate implication such that it is able to more swimmingly transfer to random autonomic movement.
In the above-described embodiment, the unilateral paralysis forearm functional recovery training with unilateral paralysis patient as object is carried out
Explanation, but the invention is not restricted to unilateral paralysis patient, certainly can also apply to movement disorder patient.And, above-mentioned
In embodiment, the paralysis functional recovery training device that unilateral paralysis patient is held with the type of the bar of rotation is illustrated, but
The part that can also apply to the other kinds of body for example making patient moves back and forth the paralysis work(of such construction
Device can be resumed training.
Industrial applicability
The present invention is suitable for following training：The forethiga training left half body or right paraplegic patient is to promote to recover.
Label declaration
10：Paralysis functional recovery training device；16：Bar as moving link；21：As passive exercise component with arbitrarily
The servo motor of autonomic movement component；71：As the light-emitting component of visual stimulus mechanism, this visual stimulus mechanism is to stimulate prompting
One mode of component；72：As the speaker of auditory stimuluses mechanism, this auditory stimuluses mechanism is stimulate prompting component one
Mode；74、75：As the vibration pad of vibratory stimulation mechanism, this vibratory stimulation mechanism is a mode stimulating prompting component.
Claims (18)
1. a kind of paralysis functional recovery training device, it has：
Passive exercise component, it makes it passively move the paralysis part applying power of patient from outside；
Arbitrarily autonomic movement component, its allowed the patient to by resistance is applied to the paralysis part of described patient with itself
Will firmly makes the componental movement of described paralysis；And
Stimulate prompting component, it applies the stimulation on opportunity of exerting oneself for transmission to patient.
2. paralysis functional recovery training device according to claim 1, wherein,
Described paralysis functional recovery training device can implement passive exercise and random autonomic movement by same moving link, should
Passive exercise is so that it is passively moved the paralysis part applying power of patient from outside, and this random autonomic movement is by right
The paralysis part of described patient is applied resistance and allows the patient to firmly be made the componental movement of described paralysis with the will of itself.
3. paralysis functional recovery training device according to claim 1, wherein,
Described stimulation is during described passive exercise component carries out action and the release of described passive exercise component
Afterwards both any one of opportunity stimulation that patient is applied.
4. paralysis functional recovery training device according to claim 1, wherein,
The described at least one stimulating prompting component patient to be applied in visual stimulus, auditory stimuluses and tactual stimulation stimulates.
5. paralysis functional recovery training device according to claim 4, wherein,
Described visual stimulus are based on luminous stimulation.
6. paralysis functional recovery training device according to claim 4, wherein,
Described auditory stimuluses are voice-based stimulations.
7. paralysis functional recovery training device according to claim 4, wherein,
Described tactual stimulation is the stimulation based on mechanical vibration.
8. paralysis functional recovery training device according to claim 1, wherein,
Described moving link is the bar for patient's operation, and described bar is retained as can be centered on the axis vertical with length axle
Rotation, described bar is configured to, in the case of rotating in a first direction, the paralysis part applying power of patient is made its carry out by
Dynamic motion, in the case of rotating in a second direction that is opposite the first direction, applies resistance to the paralysis part of described patient
And make it carry out random autonomic movement.
9. paralysis functional recovery training device according to claim 8, wherein,
Described bar is rotated in described first direction of rotation with the first angular velocity, then with the second jiao speed bigger than the first angular velocity
Degree rotates in described first direction of rotation, then rotates in described second direction of rotation, and, in described first angular velocity
Start the described stimulation stimulation to patient for the component in region.
10. paralysis functional recovery training device according to claim 9, wherein,
Terminated described patient is applied and the side's phase in vision and audition before described bar rotates in this second direction
The stimulation closed.
11. paralysis functional recovery training devices according to claim 9, wherein,
End with the rotation in said first direction of described bar simultaneously terminates described patient is applied and vision and audition
In the related stimulation of a side.
12. paralysis functional recovery training devices according to claim 9, wherein,
The rotation in this second direction of described bar terminates apply the stimulation related to tactile to described patient.
A kind of 13. paralysis functional recovery training methods, it comprises：
From outside, the paralysis part applying power of patient is made with the passive exercise that it passively moves；By the fiber crops to described patient
Numbness part is applied resistance and allows the patient to firmly be made arbitrarily independently the transporting of componental movement of described paralysis with the will of itself
Dynamic；And patient is applied with the process of the stimulation for transmitting the opportunity of exerting oneself.
14. paralysis functional recovery training methods according to claim 13, wherein,
During carrying out described passive exercise and after described allokinetic end, any one of both opportunitys are to trouble
Person applies described stimulation.
15. paralysis functional recovery training methods according to claim 13, wherein,
Described stimulation is at least one in visual stimulus, auditory stimuluses and tactual stimulation.
16. paralysis functional recovery training methods according to claim 15, wherein,
Described visual stimulus are based on luminous stimulation.
17. paralysis functional recovery training methods according to claim 15, wherein,
Described auditory stimuluses are voice-based stimulations.
18. paralysis functional recovery training methods according to claim 15, wherein,
Described tactual stimulation is the stimulation based on mechanical vibration.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
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| JP2014-122428 | 2014-06-13 | ||
| JP2014122428 | 2014-06-13 | ||
| PCT/JP2015/067053 WO2015190605A1 (en) | 2014-06-13 | 2015-06-12 | Training apparatus for recovery of paralyzed function and training method for recovery of paralyzed function |
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| CN109044720A (en) * | 2018-09-12 | 2018-12-21 | 常超 | A kind of whole body touching training machine |
| CN110270062A (en) * | 2018-03-15 | 2019-09-24 | 深圳市荣原科技有限公司 | Healing robot teletherapy system and method |
| CN111093588A (en) * | 2017-08-31 | 2020-05-01 | 国立大学法人鹿儿岛大学 | Training device and method for recovering function of forearm of hemiplegia |
| CN112516581A (en) * | 2020-12-21 | 2021-03-19 | 南京伟思医疗科技股份有限公司 | Game type active and passive rehabilitation training device based on single-shaft motor stress |
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| JP7475620B2 (en) | 2018-08-23 | 2024-04-30 | オージー技研株式会社 | Motor function recovery training device |
| JP6995290B2 (en) * | 2020-05-28 | 2022-01-31 | 山田 榮子 | Method of measuring frictional force between mold and slab in continuous casting |
| CN114177582B (en) * | 2021-12-16 | 2022-12-27 | 南京伟思医疗科技股份有限公司 | Active and passive rehabilitation game training method for upper and lower limbs |
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Also Published As
| Publication number | Publication date |
|---|---|
| JPWO2015190605A1 (en) | 2017-04-20 |
| JP6657083B2 (en) | 2020-03-04 |
| WO2015190605A1 (en) | 2015-12-17 |
| CN106456434B (en) | 2019-02-15 |
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