JP2001170207A - Lower limb kinetogenic motion training device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a lower limb kinetogenic motion training device for kinetogenic motion capable of suppressing spastic appearance by efficiently utilizing the reciprocal innervation of the action muscles and the antagonistic muscles and a suppression mechanism. SOLUTION: This lower limb kinetogenic motion training device has a foot loading plate 1 on which both feet are placed, a heel holding part 4 and tightening band 3 which stably place the foot on a health side and the foot on an ill side, a frame which freely vertically liftably holds an installation plate 8 having wheels on its bottom surface to the inner side of this frame 5, a hinge which has an axis of oscillation at the one side of the foot loading plate and the frame, a spring material 9 which is a loading device for energizing the foot loading plate and the installation plate toward an open direction and installation plate moving holes 7c and 7d and an installation plate holding hole 6a for installing the fastening device.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to the prevention of equinus contracture caused by the sequelae of cerebrovascular disease or the patient presenting with equinus contracture, the decrease in muscle strength of lower limb muscles, and the range of motion of lower limb joints. Can be replaced by passive exercise by a physiotherapist that was performed to improve equinus contracture and extend the range of motion for patients with dysfunction, etc., and in addition to electrical stimulation therapy, The present invention relates to a lower limb function training device for an exercising movement, which can exercise an appropriate and necessary stimulus to suppress the appearance of spasticity by passively moving the affected side by the movement of the unaffected lower limb by the patient's own exercise by the exerciser using a training device.

[0002]

BACKGROUND OF THE INVENTION Hemiplegia after a stroke, lowering of lower limb muscle strength due to rupture of Achilles tendon, etc., and impairment of the range of motion of lower limb joints and knee joints due to fractures of lower limbs, etc.
If these disorders are left unattended, the joints of the feet or knees may contract, resulting in chronic leg disorders. Therefore, training or exercise for recovery from these dysfunctions is required.

[0003] Further, as a device for performing a function recovery exercise by a plantar flexion and a dorsiflexion of a handicapped person having a muscular strength capable of sitting on a chair by his own power, or a tool for training the same, Utility Model Registration No. 200458 is available.
There was a No. 7 ankle and knee plantar flexion dorsiflexor. In addition, as a device for performing a function recovery exercise by plantar flexion and dorsiflexion of a disabled person having a muscular strength capable of sitting on a chair with his / her own power, or a training tool therefor, there is a lower-limb function training device of Design Registration No. 997739.

[0004] Further, another conventional example is intended for assisting walking of a handicapped person whose limb muscular strength and lower limb nerves and other disorders have been restored to such an extent that walking can be performed by assisted walking. There is a medical walker having a structure in which support shelves erected so as to surround the left and right side surfaces, and several casters are movably mounted on the lower surface of the support shelves. Then, the disabled person leans forward on the upper body, supports the support shelf, and pushes, while moving the casters to independently exercise the walking or training while requiring the assistance of a helper. Is what you do.

[0005] Further, there are passive exercise by a physiotherapist and electrical stimulation therapy by a doctor. However, it is difficult to perform passive exercise and electrical stimulation therapy at any time at one's convenience due to human problems. It is.

[0006] Further, there is Japanese Patent Application No. 11-358206 and PCT / JP99 / 07115, which have not been published by the present applicant. The footrest on which both feet are placed, as claimed in claim 9 of the patent application by the applicant, can selectively reciprocate in the front-back direction or swing up and down. There is a lower limb function training device characterized by the following.

In a thirteenth aspect of the present invention, a footrest on which both feet are placed and which can swing up and down, a contact sensor provided on an upper surface of the footrest, and a footrest mounted on the footrest are provided. Foot joint data obtaining means for obtaining data on the state of the joint of the foot, wherein when the contact sensor detects that the foot has simultaneously contacted four points of the footrest plate, the foot joint data obtaining means is provided. There is a lower limb function training apparatus characterized in that data on the condition of the foot joint is obtained.

[0008]

[Problems to be Solved by the Invention] Under normal conditions, α-motor
-neuron synapses contain pre-synaptici
The mechanism of spastic suppression called "nhibition" works by inhibiting the secretion of the inhibitory neuron from the terminal of the inhibitory neuron just before the synapse where the Ia fiber is connected to the α-fiber, which depolarizes and blocks the transmission of the impulse. It is thought that spasticity gradually appears when the impulse from the inhibitory neuron does not come due to upper central disorder. Regardless of cerebrovascular disorder or spinal cord injury, the acute phase is flaccid and spasticity is unlikely to form unless a certain period has elapsed.

[0009] Until now, spasticity which has been observed even after performing passive exercise for improving equinus contracture and expanding the range of motion of joints has been observed. If appropriate electrical stimulation is given in advance from the synapse, spasticity appears. Therapy of electrical stimulation has been attempted on the idea that it may be suppressed.

[0010] Thus, it is considered that the suppression of spasticity by appropriate stimulation is not delayed even after the appearance of spasticity, and the present method, ie, the exercise movement, is similar to the method of electric stimulation therapy in that the stimulation is stimulated by the action muscle and the antagonistic muscle. Alternately, the inhibitory substance is secreted from the inhibitory neuron terminal immediately before the synapse where the Ia fiber is connected to the α-fiber, thereby not only suppressing spasticity,
The spastic appearance can be suppressed by making good use of the reciprocal innervation and inhibition mechanisms of the action muscle and the antagonist muscle, and the present invention is an invention that realizes this lower limb movement with a single device.

The ankle plantar flexion and dorsiflexion exerciser disclosed in Utility Model Registration No. 2004587 has a number of casters provided freely on the lower surface of a footrest on which both feet are mounted, and an upper surface of the footrest on the footrest. A means for providing a holding means for detachably holding the feet is adopted. In addition, the lower limb function training tool of Design Registration No. 997739 is provided with a load device on the lower surface of a footrest plate on which both feet are placed, and provided with holding means for detachably holding the two feet on the upper surface of the footrest plate. Means. When performing ankle plantar flexion and dorsiflexion exercises and knee extension and flexion exercises, it was necessary to replace the equipment.

Incidentally, Japanese Patent Application No. 11-35820 by the present applicant
6 and PCT / JP99 / 07115 have filed an invention that allows ankle plantar flexion, dorsiflexion, knee extension, and flexion to be performed with a single device. This lower limb function training apparatus can perform the exercise of the two devices with one device at any time at his / her convenience.

The present application is based on Japanese Patent Application No. 11-358206 and PCT / JP99 /
The lower limb, characterized in that the footrest on which both feet are placed can selectively perform reciprocating movement in the front-rear direction or swinging in the up-down direction, as claimed in claim 9, It is an improved version of the function training device, and is provided with an installation plate for installing the frame and wheels, so that it can be used more easily.

Japanese Patent Application No. 11-358206 and PCT / JP99 / 07115
14. The footrest according to claim 13, wherein both feet are placed and a footrest that can swing up and down, a contact sensor provided on an upper surface of the footrest, and a foot placed on the footrest. Ankle joint data obtaining means for obtaining data on the state of the joint, wherein when the contact sensor detects that the foot has simultaneously contacted four points of the footrest plate, A lower limb function training apparatus characterized by obtaining data on the state of the lower limb. In this way, when the contact sensors are arranged so as to simultaneously contact the four points on the footrest plate, and when the equicuspid contracture is strong, the little finger side is strongly eversion, so the four points of the sole are applied to the contact sensors. In some cases, it is necessary to make the contact manually by a physiotherapist or the like.

In this patent application, it was detected that the foot of the application contacted four points of the footrest simultaneously, but the contact sensor detected that the foot simultaneously contacted six points of the footrest. At this time, the ankle data obtaining means obtains data on the state of the ankle.

The situation in which the sole of the patient in the state of the cusp foot contacts the footrest plate is classified into the little finger part, the thumb part and the heel part in the case of the cusp foot. This makes it possible to detect contact between the little finger, the thumb, and the heel, thereby improving the measurement accuracy. Further, in the movement by swinging in the vertical direction, when measurement is impossible, the movement in the front-back direction can be performed as it is. The measurement range is widened by the continuous movement by the swing and the movement in the front-rear direction.

[0017]

According to the present invention, there is provided a lower limb drive exercise training apparatus comprising: a footrest plate on which both feet are placed; and a stable foot and an affected foot on the footrest plate. Inside the heel holder (4), the tightening band (3) and the frame (5) to be placed,
A frame for holding an installation plate (8) having wheels (10) on its lower surface so as to be able to move up and down freely, and a hinge (1) having one side of the footrest plate and the frame as a swing axis (11); 11a), a spring member (9) as a load device for urging the footrest plate and the installation plate in the opening direction, and a stabilizer (20) capable of stably installing the installation plate (10) having wheels. ) And mounting plate moving holes (7a, 7b, 7c, 7d) for mounting the fixing device (21).
And mounting plate holding holes (6a, 6b).

There is a case where a load device is provided on the footrest plate and the frame so as to urge it from the outside of the frame in the opening direction, and the load device is urged in the opening direction.

A driving device (5) for moving the installation plate up and down in the frame
0).

In some cases, the frame and the installation plate are integrally formed.

The wheels may have a brake structure (220).

Further, contact sensors (51a, 51b, 51c, 51d, 51e, 5) provided on the upper surface of the footrest plate are provided.
1f), the contact sensor may be able to detect that the foot has simultaneously contacted the points corresponding to the heel, the toe side, and the toe side of the footrest plate. .

When the contact sensor detects that the foot has simultaneously contacted the points corresponding to the heel portion, the toe side portion, and the toe side portion of the footrest plate, a signal is generated. There is a case where a signal output device (52) for outputting to the outside is provided.

In some cases, the ankle data obtaining means (53) started to be used in response to a signal from the signal output device obtains data on the state of the ankle.

In some cases, a contact sensor (70) for detecting that the foot rest plate on which both feet are placed comes into contact with the frame is provided.

A control device (71) comprising a microcomputer or the like for measuring the number of detections by the contact sensor or the like for detecting that the footrest plate has come into contact with the frame each time both feet are placed and swinging. May be provided.

In some cases, the lower limb exercise training apparatus outputs detection data of the controller to the outside.

The contact sensors (51a, 51b, 51c, 51d, 51e, 5) provided on the upper surface of the footrest plate
1f) and the contact sensor (70) detected that the footrests on which both feet were placed contacted the frame without contacting six points of the contact sensors provided on the upper surface of the footrests. In some cases, the driving device (50) that moves the installation plate downward in the frame may be driven.

Then, the contact sensor (51) provided on the upper surface of the footrest plate and the contact sensor (70) do not contact the six points of the contact sensor provided on the upper surface of the footrest plate,
When it is detected that the footrests on which both feet are placed have come into contact with the frame, the brakes of the wheels may be released.

In some cases, the footrest on which both feet are placed can reciprocate back and forth after swinging downward.

In some cases, the present invention is incorporated into a pet robot or the like.

In this specification, the front, rear, left and right directions of the lower limb function training apparatus are set to be the same as the front, rear, left and right directions of the patient using the lower limb function training apparatus.

[0033]

Next, a first embodiment of a lower limb function training apparatus according to the present invention will be described with reference to FIGS. FIG. 1 is a side view of the lower limb function training apparatus according to the first embodiment in a state of use at the time of exercise by back and forth movement.
FIG. 2 is a front view of the lower limb function training apparatus according to the first embodiment in a state of use at the time of exercise by swinging a footrest plate. FIG. 3 is a perspective view of the lower limb function training apparatus according to the first embodiment in a state of use at the time of exercise by swinging a footrest plate. FIG. 4 is a bottom view of the lower limb function training apparatus according to the first embodiment in a state of use at the time of exercise by swinging a footrest plate. FIG. 5 is a bottom view of the lower limb function training apparatus according to the first embodiment in the state of use at the time of exercise by the forward and backward movement of the footrest plate. FIG. 6 is a front view of the lower limb function training apparatus according to the first embodiment in a state of use during exercise due to forward and backward movement of a footrest plate.

The footrest plate 1 is formed in a substantially rectangular plane by using wood (or plastic as required). It may be hollow. This footrest 1 is
It has a sufficiently large area (for example, about 25 cm in length and about 20 cm in width) on which w and 1y can be placed. Therefore, a person with a disability, while sitting in a chair or the like, suffers from hemiplegia of lower limb nerves, lowering of lower limb muscle strength due to rupture of the Achilles tendon, or an obstacle such as an ankle joint such as a fracture or a range of motion of a knee joint. Both feet 1w and 1y of the foot 1w and the healthy other foot 1y without obstacles can be placed. 1w, 1
Although y indicates a footprint, both feet 1w and 1y placed are omitted.

In order to set and fix both feet on the footrest 1, it is sufficient to lock the heel to the heel support part 4 and to lock the toe by the tightening band of the holding means 3.
According to the size of the disabled person's foot, both feet can be aligned with the upper surface of the footrest plate 1 and easily set and fixed. In order that a healthy foot does not apply an excessive burden by assisting the other foot with an obstacle, the footrest plate 1 is gradually applied while controlling its own movement according to the degree of the obstacle, as shown in FIG. The footrest plate 1 is moved back and forth in the direction indicated by the arrow aa ′, and the footrest plate 1 is swung in the direction indicated by the arrow b in FIG. Perform the muscle exercise on the unaffected side, that is, the exercise exercise.

A non-slip portion may be provided on the upper surface of the footrest plate 1 as needed. The non-slip is formed, for example, by bonding a rubber sheet or the like having a plurality of irregularities. When the footrest plate 1 is made of plastic or the like, it is integrally formed on the upper surface of the footrest plate 1. Is also good. It may be formed integrally with the contact sensor.

[0037]

The heel support part 4 is made of, for example, plastic, leather,
It is formed of a band-like material such as cloth, has a substantially C-shape in plan view, is fixed to the upper surface of the rear portion of the footrest plate 1 with studs, nails, mounting screws, or the like. When the wheels 1w and 1y are aligned and placed, the backward movement of the heels of both feet 1w and 1y is prevented. The heel support component 4 may be formed integrally with the footrest plate 1 when the footrest plate 1 is made of plastic. Further, in this embodiment, the heel is formed of a belt-like material, but any structure may be used as long as the heel can be prevented from moving backward.

In the present embodiment, the heel support component 4 is screwed by the mounting piece portion and the screw 4a by the mounting piece portion of the heel support component 4. In addition, holding means 103 for both feet are fixed to the footrest plate 101 at right and left ends of the footrest plate 101 at a substantially central position in the longitudinal direction at an interval forward from the heel support part 104. It is provided using a tightening band. The tightening band, which is the holding means 103, is fixed to the side surface of the footrest plate 101 using a mounting bracket 103a, and both ends extend above the footrest plate 101, respectively. Although not shown, the holding means 103
The right and left ends of the tightening band are superimposed on each other and removably engaged by a suitable engaging means such as a velvet fastener, a snap, a hook or the like. The tightening band serving as the holding means 103 may be formed of a single tightening band, or may be configured to cover the foot.

Further, at a distance from the heel support component 4 to the front and at a substantially central position in the longitudinal direction of the footrest plate 1,
The holding means 3 for both feet is provided using a tightening band whose left and right ends are fixed to the footrest plate 1. The tightening band serving as the holding means 3 is fixed to the side surface of the footrest plate 1 by using a mounting bracket 3 a, and both ends thereof extend above the footrest plate 1. Although not shown, the right and left ends of the tightening band as the holding means 3 are overlapped with each other, and are detachably engaged by appropriate engaging means such as velvet fasteners, snaps, and hooks. The tightening band serving as the holding means 3 may be constituted by a single tightening band, or may be configured to cover the foot.

The holding means 3 covers the insteps of both feet 1w and 1y from above, and prevents the feet 1w and 1y from moving upward and forward. The feet 1w and 1y are held on the footrest plate 1 by the heel support component 4 and the holding means 3, but they may not be used depending on the condition of the patient. In addition, as long as the holding means 3 and 4 can hold the feet 1w and 1y placed on the footrest plate 1, the structure and material thereof can be appropriately changed. Further, when the patient recovers and the two legs are each exerted force, the holding means 3 and 4 for these legs may not be necessary.

Holding holes 2 for holding the fixing device 21 so as to be freely insertable at two places on the left and right sides of the front side of the footrest plate 1 and substantially at the center in the vertical direction.
Are each opened.

Hinges 11a each having a swing shaft 11 as a swing center are provided between the upper surface of the frame and the lower side of the rear portion of the footrest plate 1 on the left and right sides.

A load device 9 using a spring material interposed between the footrest plate 1 and the installation plate 8 is provided substantially below the center of the footrest plate 1. Although no particular description is given of the spring material, any fixing means such as glue, screws, nails, etc. may be used, and in this embodiment, it is glued.

The load device 9 using a spring material has a spring pressure that swings downward at a pressure of about 4 kg. The load device 9 uses a coil spring made of steel, but the load device is not limited to this spring, and any load device may be used as long as it can bias the footrest plate 1 in the opening direction. Although this embodiment is grounded internally, the load device may be externally urged with a rubber material or the like. In that case, it is possible to provide a pillar on the frame body 5 and urge it from above the pillar.

The fixing device 21 is provided so that the wheels 10 of the caster structure provided on the installation plate 8 can be stably grounded on the moving surface Q when the footrest plate 1 moves back and forth together with the frame 5. The fixing device 21 is made of a substantially U-shaped iron plate, and is fixed to the holding hole 2 and the installation plate holding hole 6a.
It is used by inserting a U-shaped part.

When the fixing device 21 is not used, the foot plate 1 is urged in the opening direction by the pressure of the load device 9. When the footrest plate 1 is urged in the opening direction and swings accordingly, the installation plate 8 moves up and down. The wheel 10 is moved in accordance with the vertical movement of the installation plate 8.
Moves up and down, so that the moving surface Q cannot be stably stuck on the ground, and is unsuitable for the starting movement. The inconvenience is solved by providing the fixing device 21. In this embodiment, the fixing device 21 is inserted and used. However, it is possible to stably secure the installation plate 8 by providing a lock mechanism or the like.

The frame 5 has wooden boards arranged in front, rear, left and right.
Although it is a cube having a hollow center, it may be integrally formed of plastic or the like, or the frame portion may have a hollow structure.

The size of the four sides is the same as that of the footrest plate 1 (for example, about 25 cm in length and about 20 cm in width). The width of one side is a width (for example, about 1 cm) at which the cube can have a strong structure. In the present embodiment, four plates are laminated, and the front and rear surfaces are decoratively finished so as to draw a smooth curve, but this is not always necessary. The height is such that the wheels 10 can be completely housed inside and the load 9
Is a height (for example, about 5 cm) that can be accommodated in a compressed state. An installation plate 8 is provided in the central hollow portion so as to be movable up and down.

The frame 5 is provided with mounting plate moving holes 7a, 7b, 7c, 7d of the same size on the left and right sides, respectively, so that the mounting plate 8 can be stably moved up and down freely. The frame 5 has an installation plate holding hole 6 on the front surface of the frame 5 so that the installation plate 8 can stably rest at any required position when the footrest plate 1 selectively moves back and forth or swings.
a, An installation plate holding hole 6b is provided on the rear surface of the frame 5.

The installation plate 8 is made of a wooden plate, and the frame 5
It is large enough to be able to freely move up and down, and has a thickness (approximately 1 cm) in which a load device 9 for urging the footrest plate 1 and the installation plate in the opening direction can be provided.

The mounting plate 8 is provided with four movable holding screws 8a so that the movable holding screws 8a can move stably when moving vertically within the frame 5.
Book is provided. The four moving holding screws 8a are provided through the installation plate moving holes 7a, 7b, 7c, 7d of the frame 5 respectively.

As shown in FIG. 3, the mounting plate 8 is
Swinging motion in the vertical direction using the load device 9 between the
That is, in the case where the plantar flexion movement of the foot is performed as the motive movement, it is located on the lower surface of the installation plate 8 and penetrates the installation plate holding hole 6a on the front surface of the frame 5 and the installation plate holding hole 6b on the rear surface of the frame 5. Then, the stabilizing device 20 that sufficiently supports the pressure caused by the vertical movement stabilizes the upper position.

The stabilizer 20 is made of a stainless steel plate and has a grip portion 20a and a holding hole 20b. The stabilizer 20 may be made of any material, such as iron or plastic, which can secure the stability of the installation plate 8. The case of the installation plate 8 having a pressure driving device may be omitted.

The grip portion 20a is a portion which has been machined so as to be easily gripped, and may have any structure as long as it has a thickness which does not come off when inserted. In this embodiment, the stabilizer 20 has a thickness of about 2 mm, and the grip 20a has a thickness of about 4 mm.

The holding hole 20b functions as a stopper using the U-shaped screw 22. Any method can be used as long as training can be performed stably during use, such as fixing with hooks instead of inserting screws into holes.

Next, a second embodiment will be described with reference to FIGS. 7 to 11. FIG. 7 is a side view in a use state at the time of exercise by forward and backward movement. FIG. 8 is a plan view in a use state at the time of exercise by swinging the footrest plate. FIG.
FIG. 7 is a rear view in a use state at the time of exercise by back and forth movement. FIG. 10 is a control circuit diagram. FIG. 11 shows that the user places his / her foot on a footrest to obtain data on the state of the joint of the foot.
It is a flowchart until it outputs the information which contacted the contact sensor provided in the upper surface of the footrest plate. FIG. 12 is a reference diagram for obtaining the same effect.

The footrest plate 101 is formed of wood (or plastic as required) in a substantially rectangular plane. It may be hollow. The footrest plate 101 is the same as the footrest plate shown in the first embodiment. The footrest plate 101 has a sufficiently large area (for example, a size of about 25 cm in length and about 20 cm in width) on which both feet can be placed. Therefore, a person with a disability, while sitting in a chair or the like, suffers from hemiplegia of lower limb nerves, lowering of lower limb muscle strength due to rupture of the Achilles tendon, or an obstacle such as an ankle joint such as a fracture or a range of motion of a knee joint. Both feet can be placed on the foot and on the other foot without any obstacles.

In order to set and fix both feet on the footrest 101, the heel is locked on the heel support part 104,
Since it is sufficient to lock the toe with the tightening band of the holding means 103, both feet are placed in accordance with the size of the disabled person's foot.
1 and can be easily set and fixed. In order that the healthy foot does not apply an excessive burden by assisting the other disabled foot, the footrest plate 101 is moved forward and backward by gradually applying force while controlling its own movement according to the degree of the obstacle. In addition, the footrest plate 101 is swung to perform a pseudo-passive movement of the lower limb on the affected side, a movable range expansion movement of the ankle joint, and a muscular strength movement on the unaffected side, that is, an exercising movement.

[0060]

A non-slip portion may be provided on the upper surface of the foot plate 101 as needed. Non-slip is formed, for example, by bonding a rubber sheet or the like having a plurality of irregularities. When the footrest plate 101 is formed of plastic or the like, it is integrally formed on the upper surface of the footrest plate 101. Is also good. It may be formed integrally with the contact sensor 51 (a, b, c, d, e, f).

The contact sensors 51a, 51b and 51c are connected by an information transmission and power path 49, and are contact sensors 51d and 51e.
And 51f are connected by an information transfer and power path 49. When the points of the contact sensors 51a, 51b, 51c, 51d, 51e, and 51f simultaneously detect contact, a signal is output from the signal output device 52.

In this embodiment, the signal output device 52 is an antenna, and transmits a radio signal from the signal output device 52. In the present embodiment, the signal input / output device 54 is also provided, and it is also possible to perform wired output.

The ankle data obtaining means 53 collects data on the state of the ankle joint based on a signal from the signal output device 52. In this embodiment, the ankle joint data obtaining means 53 is an artificial retinal camera. In the present embodiment, the lower extremity exercise training apparatus is located away from the lower extremity exercise training apparatus and viewed from the side. It is also possible to provide a room for placing the lower limb movement exercise training device, and to install a camera on the side wall. A simple partition can be provided, and a camera can be installed on the side partition wall. If an artificial retinal camera is used, it may be anywhere if the camera is on the side.

The ankle joint data obtaining means 53 is not limited to an artificial retinal camera, but may be any camera, such as a CCD camera or a video camera, capable of simultaneously photographing a wide area and continuously detecting photographed data. Also, the foot plate 101
Then, the angle of the frame 105 or the installation plate 108 can be detected. That is, any means may be used as long as the angle of the user's ankle joint at the time when the signal is output from the signal output device 52 can be detected.

In the present embodiment, the footrest plate 101 is installed facing upward at an angle of 37.5 degrees. When a healthy foot is placed, it comes into contact with all the sensors at the same time. However, contracted feet cannot contact at the same time. In the case of an exercising motion in which an oscillating axis is provided and the ankle joint is oscillated up and down based on the oscillating axis, the activating exercise training device is effective from ankle plantar flexion 37 degrees to about 0 degrees, Measuring the range of the ankle plantar flexion angle of a healthy person from 0 ° to 45 ° is not accurate using only an exercise exercise trainer that provides an oscillation axis and performs an exercise by an oscillating motion.

In the present embodiment, if it is not possible to simultaneously contact all the sensors beyond the limit of 37 degrees, the lowering switch of the driving device 50 lowers the installation plate 108 to move the wheels 110 on the moving surface. Make it movable with Q. That is, even when the angle exceeds the limit of 37 degrees, the detection of 37 degrees or more and 45 degrees can be performed by adding the movement of the knee joint.

The contact sensor 7 is provided on the lower surface of the footrest plate 101.
0 is provided. As for the contact sensor 70, the footrest plate 101 is
Upon contact with 5, a signal is sent to the controller 71, and the controller 71 calculates the number of times. The contact sensor 70 is the footrest plate 10
It is connected to the information transmission and power path 49 by a transmission path 70a passing through a hole 49a penetrating through 1. Information obtained by the contact sensor 70 is stored in the control device 71. When the number of times specified by the information and power transmission path number specifying switch 83 has been reached, a signal is output from the signal output device 52. Further, a signal input / output device 54 is provided, and it is also possible to perform a wired output. The contact sensor 70 can use an accelerometer and transmit the number of times of acceleration detection to the control device 71 instead of the contact signal.

When the number of times specified by the number-of-times specifying switch 83 has been reached, a signal output from the control device 71 raises or lowers the installation plate 108, thereby making it possible to apply a brake to the starting movement. is there. That is, in the case of the back-and-forth movement, the wheel cannot be used due to the rise of the installation plate 108. In the case of swinging up and down movement, the setting plate 108
The urging amount decreases due to the lowering of.

[0070]

In this embodiment, the mounting plate 108 has wheels
110 is provided, and control is performed by raising and lowering the installation plate 108 in the frame 105, but even if the frame and the installation plate are integrated, the wheels of the patent 2979170 are used to control the sliding stabilizer The same effect can be obtained. As shown in FIG. It is the most suitable form when it is molded and used for a pet robot or the like because it can get over a step in a Japanese house. If the brake device is reliable, other casters can be used as well.

The heel support part 104 is made of, for example, plastic,
It is formed of a belt-like material such as leather or cloth, has a substantially C-shape in plan view, is fixed to the upper surface of the rear portion of the footrest plate 101 with tacks, nails, mounting screws, or the like. When the both feet are aligned and placed, the backward movement of the heels of both feet is prevented. The heel support component 104 may be formed integrally with the footrest plate 101 when the footrest plate 101 is formed of plastic. Further, in this embodiment, the heel is formed of a belt-like material, but any structure may be used as long as the heel can be prevented from moving backward. Further, the control unit outer structure 80 may be shaped so as to support the heel.

The mounting piece of the heel support part 104 and the screw 10
4a, the heel support component 104 is screwed at the mounting piece in this embodiment.

Further, at an approximately central position in the longitudinal direction of the footrest plate 101 at a distance from the heel support part 104 in a forward direction, the left and right ends of the footrest plate 101 are fixed to the footrest plate 101 with respect to both feet. Means 103 are provided using a fastening band. The tightening band serving as the holding means 103 is glued and fixed to the side surface of the footrest plate 101, and both ends extend above the footrest plate 101. Although not shown, the right and left ends of the tightening band as the holding means 103 are overlapped with each other, and are detachably engaged by appropriate engaging means such as velvet fasteners, snaps, and hooks. The tightening band serving as the holding means 103 may be formed of a single tightening band, or may be configured to cover the foot.

The tightening band as the holding means 103 covers the insteps of both feet 1 from above, and prevents the feet from moving upward and forward. Both feet are held on the footrest plate 101 by the heel support component 104 and the tightening band serving as the holding means 103. However, it is possible that the feet are not used depending on the condition of the patient. The structure, material, and the like of the holding means 103 and the heel support component 104 can be appropriately changed as long as both the feet can be held on the foot rest plate 101. Further, when the patient recovers and the two legs are each applied with force, the holding means 103 and the heel support parts 104 for these two legs may not be necessary.

Two holding holes 102 for holding the fixing device 121 so as to be insertable are formed at two places in the left and right sides of the front surface of the footrest plate 101 and substantially at the center in the vertical direction.

Under the rear lower portion of the footrest plate 101, hinges 111a each having a swing shaft 111 as a swing center are provided between the upper surface of the frame body and the left and right sides thereof.

An installation plate 1 is provided substantially below the center of the footrest plate 101.
08 using a spring material interposed between the load device 109
Is provided. Although no particular description is given of the spring material, any fixing means such as glue, screws, nails, etc. may be used, and in this embodiment, it is glued.

The load device 109 using the spring material is 4 kg.
This is a spring pressure that swings downward with a moderate pressure. Load device 1
09 uses a coil spring made of steel, but the load device is not limited to this spring, and any load device may be used as long as it can urge the footrest plate 101 in the opening direction. Although this embodiment is grounded internally, the load device may be externally urged with a rubber material or the like. In this case, it is possible to provide a pillar on the frame body 105 and urge it from above the pillar.

The fixing device 121 is such that the footrest plate 101 is
When moving back and forth with 5, the wheels 110 of the caster structure provided on the installation plate 108 are provided so that the moving surface Q can be stably grounded. The fixing device 121 is made of a substantially U-shaped iron plate, and has a holding hole 102 and a holding hole 1.
It is used by inserting the U-shaped part of the fixing device 121 into 06.

When the fixing device 121 is not used, the foot plate 101 is urged in the opening direction by the pressure of the load device 109. When the footrest plate 101 is urged in the opening direction and swings accordingly, the installation plate 108 may move up and down.
The wheels 110 move up and down with the up and down movement of the installation plate 108, so that it is impossible to stably touch the moving surface Q and there is a possibility that the wheel 110 may become inappropriate for the starting movement. The inconvenience is solved by providing the fixing device 121. In this embodiment, the fixing device 121 is inserted and used, but a lock mechanism or the like is provided, and the installation plate 108 can be stably secured. Since the securing of the installation plate 108 by the driving device 50 is sufficiently stable, there is no necessity in this embodiment.

The frame body 105 is a cube having wooden boards arranged in front, rear, left and right and having a hollow center, but may be integrally formed of plastic or the like. May be.

The four sides have the same size (for example, a size of about 25 cm in length and about 20 cm in width) of the footrest plate 101. The width of one side is a width (for example, about 1 cm) at which the cube can have a strong structure. In this embodiment, four plates are laminated. The height is a height (for example, about 5 cm) that can completely accommodate the wheel 110 and accommodate the load device 109 in a compressed state. An installation plate 108 is provided in the central hollow portion so as to be movable up and down.

The control unit 80 is provided on the heel side. The control unit 80 is hollow and includes a control device 71 and a power supply device 85. At the upper part of the control unit 80, a control unit piece 80a for accommodating two driving devices 50 is provided. An upper / lower selection switch 81 for selecting the position of the installation plate 108 is provided on the upper surface of the control unit piece 80a. On the upper surface of the control unit 80, a changeover switch 82 for the exercise training device and the angle tester is provided. The number-of-times designation switch 83 is provided on the upper surface of the control unit 80. To realize the vertical movement of the installation plate 108 in the control unit 80,
An installation plate piece 108d is provided. Four screw holes 108e penetrating the installation plate piece 108d are provided. The four rotation shafts 108f, which are rotatably secured up and down in the control unit 80, penetrate through the screw holes 108e. The rotating shaft 108f is a driving device
This is a driving force transmission device that rotates with the rotation of the motor shaft 50a of the rotation unit 50. Four rotary shafts 108f pass through four screw holes 108e formed in the installation plate portion 108d of the installation plate portion 108d. Installation plate piece 1 with screws cut into screw holes 108e with rotation of rotation shaft 108f
08d, that is, the installation plate 108 moves up and down. In the present embodiment, a vertical movement mechanism using a rotating shaft is used, but in the case of a driving mechanism using a rotating shaft or a chain,
Any number of rotating shafts may be used instead of four, and hydraulic air pressure or the like may be used. That is, any drive mechanism may be used as long as the installation plate 108 can be moved up and down and can be stably secured. Although not shown in this embodiment, the frame 1
05 and the control unit 80 are screwed.

The control device 71 is constituted by a microcomputer or the like.
In addition to performing the contact signal processing, it is possible to receive the signal of the acceleration sensor and perform the same processing. When the acceleration detection device is used, the control device 71 counts each time an acceleration signal is input, and generates the number of reciprocating motions of the footrest plate 101. When the acceleration detection device is used, the control device 71 can store the acceleration input from the acceleration detection device and the number of reciprocating motions of the footrest plate 101 as data in a storage unit, and can output the data as needed. In addition, it is also possible to detect the speed in one direction instead of the acceleration, and use the speed and the number of times a new speed is generated. further,
The information processing that is normally performed can be performed by being configured by the microcomputer.

The driving device 50 uses a motor in this embodiment. The driving device 50 is a device for vertically moving the installation plate 108, and in this embodiment, the motor shaft 50
With the rotation of a, a structure is used in which the rotation is transmitted to a rotating shaft 108f that rotates in a screw hole 108e formed in a threaded installation plate piece 108d, and can be freely moved up and down with the rotation of the rotating shaft 108f. The power supply device 85 is a dry cell storage unit. It can be opened and closed. Further, an external power terminal 85a is provided.

The frame 105 is provided with four mounting plate moving holes 107 of the same size on the left and right sides, respectively, so that the mounting plate 108 can be stably moved up and down freely. The frame 105 has such a size that the installation plate power transmission device piece 108d can be freely moved up and down on the control unit mounting side of the frame 105 so that the installation plate 108 can be stably moved to any desired position and can be stopped. , A frame opening 105z is provided.

The installation plate 108 is made of a wooden plate and has a size that allows it to freely move up and down within the frame 105. The installation device 108 includes a load device 109 for urging the footrest plate 101 and the installation plate in the opening direction. (About 1 cm).

The installation plate 108 is provided with four movable holding screws 108a on the left and right sides so as to be able to move stably when moving up and down in the frame 105. Four moving holding screws 108
“a” is provided so as to penetrate the four installation plate moving holes 107 of the frame body 105 respectively.

The installation plate 108 is driven when the vertical swinging movement, that is, the plantar flexion / dorsiflexion movement of the foot is performed as the activating movement by using the load device 109 between the foot plate 101 and the foot plate 101. The device 50 and the power transmission device 51 stabilize the upper position by raising the power transmission device piece 108d of the installation plate 108. In this embodiment, the driving device 50 uses a motor, and the rotation of the rotating shaft 50b of the motor causes the rotation of the rotating shaft, which is the power transmitting device 51, to move the power transmitting device piece 108d of the installation plate 108 up and down.

In FIG. 12, a wheel 220 is provided on the installation plate 208, and a caster of Patent 2979170 is used for the wheel. The same effect can be obtained by controlling the slide stabilizer. As shown in FIG. It is the most suitable form when it is molded and used for a pet robot or the like because it can get over a step in a Japanese house. If the brake device is reliable, other casters can be used as well. In FIG. 12, 270 is the second embodiment.
It is an acceleration sensor that replaces 170. 201 is 1 of the second embodiment.
This is a footrest similar to 01. 203 is a holding means similar to 103 in the second embodiment. Reference numeral 204 denotes a heel support component similar to 104 of the second embodiment, which can have the function of the control unit 80 of the second embodiment. 208 is an installation plate similar to 108 in the second embodiment. 209 is a load device similar to 109 of the second embodiment.

[Brief description of the drawings]

FIG. 1 is a side view of a lower limb function training apparatus according to a first embodiment in a state of use at the time of exercise by back and forth movement.

FIG. 2 is a front view of the lower limb function training apparatus according to the first embodiment in a state of use during exercise by swinging a footrest plate.

FIG. 3 is a perspective view of the lower limb function training apparatus according to the first embodiment in a state of use during exercise by swinging a footrest plate.

FIG. 4 is a bottom view of the lower limb function training apparatus according to the first embodiment in a state of use during exercise by swinging a footrest plate.

FIG. 5 is a bottom view of the lower limb function training apparatus according to the first embodiment in a state of use at the time of exercising by moving the footrest plate back and forth.

FIG. 6 is a front view of the lower limb function training apparatus according to the first embodiment in a state of use at the time of exercising by moving the footrest plate back and forth.

FIG. 7 is a side view of a usage state at the time of exercise by forward and backward movement according to the second embodiment.

FIG. 8 is a plan view of a usage state at the time of exercise by swinging the footrest plate of the second embodiment.

FIG. 9 is a rear view of the usage state at the time of exercise by back and forth movement according to the second embodiment.

FIG. 10 is a control circuit diagram of a second embodiment.

FIG. 11 is a view showing information in which a user puts his / her foot on a footrest and obtains contact information with a contact sensor provided on an upper surface of the footrest in order to obtain data on a state of a foot joint in two embodiments. 4 is a flowchart up to the output.

FIG. 12 is a reference diagram of another embodiment for obtaining a similar effect.

[Explanation of symbols]

 One footboard v \: * {behavior: url (# default # VML);} o \: * {behavior: url (# default # VML);} w \: * {behavior: url (# default # VML) ;} .shape {behavior: url (# default # VML);} taki Normal taki 3 6 2000-06-16T03: 14: 00Z 2000-06-16T03: 44: 00Z 3 7 43 taki 1 1 52 9.2812

Claims (5)

[Claims] An exercise training system for lower extremity movement, characterized in that a footrest on which both feet are placed can selectively reciprocate in a front-back direction or swing up and down. . 2. A footrest for holding both feet detachably, a footrest on which both feet are placed, an installation board on which wheels are installed, and interposed between the footrest and the installation board. A load device for urging in the opening direction, a frame configured to be able to move up and down the installation plate, and any one side of the frame and the footrest plate provided as a swing axis. Exercise exercise training device. 3. A contact sensor interposed between the installation plate on which wheels are installed and the footrest plate, and a contact sensor provided on an upper surface of the installation plate, wherein the contact sensor is provided between the installation plate and the footrest plate. The lower limb movement exercise training device according to claim 1, wherein a signal can be output when the contact of the lower limb is detected. 4. A footrest on which both feet are mounted and which can swing up and down or reciprocate back and forth around a heel portion as a swing axis, and a contact provided on an upper surface of the footrest. A sensor and an ankle joint data obtaining means for obtaining data of a state of a joint of a foot placed on the footrest, wherein the contact sensor detects that the foot has simultaneously contacted six points of the footrest. In addition, the foot joint data obtaining means obtains data of a state of a foot joint, and the lower limb movement exercise training device is characterized in that the data is obtained. 5. A contact sensor interposed between a footrest plate capable of swinging up and down and an installation plate, and a contact sensor provided on an upper surface of the installation plate, wherein the contact sensor is A lower limb exercise training apparatus, comprising: an output device that outputs a signal when contact between an installation plate and the footrest plate is detected.