JP2001299840A - Upper limb rehabilitation assistance control rule based on ideal exercise pattern - Google Patents
Upper limb rehabilitation assistance control rule based on ideal exercise patternInfo
- Publication number
- JP2001299840A JP2001299840A JP2000168273A JP2000168273A JP2001299840A JP 2001299840 A JP2001299840 A JP 2001299840A JP 2000168273 A JP2000168273 A JP 2000168273A JP 2000168273 A JP2000168273 A JP 2000168273A JP 2001299840 A JP2001299840 A JP 2001299840A
- Authority
- JP
- Japan
- Prior art keywords
- rehabilitation
- upper limb
- exercise pattern
- control rule
- ideal exercise
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
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- Rehabilitation Tools (AREA)
Abstract
Description
【発明の詳細な説明】 この発明は、理想運動パターンに基づいて、上肢リハビ
リを自律的にアシストする制御則である。それは、セラ
ピストから抽出した理想リハビリ運動パタンに基づい
て、適切なリハビリ指導動作を自動的に生成する上で、
理想リハビリ運動パタンを目標値として、リハビリ時被
訓練者の実際筋力と上肢運動軌跡をフィードバック値と
して、上肢リハビリアシストを自律的に行う。被訓練者
は正確なリハビリ動作を現す音声画像の指示に従って、
上肢の関節可動域回復訓練と筋力増強訓練を実施するに
より、効果的なリハビリテーションを達成する。本制御
則は以下の二つのサブコントローラから構成される（図
１）。DETAILED DESCRIPTION OF THE INVENTION The present invention is a control law for autonomously assisting upper limb rehabilitation based on an ideal movement pattern. It is based on the ideal rehabilitation exercise pattern extracted from the therapist, and automatically generates the appropriate rehabilitation instruction movement.
The rehabilitation assist of the upper limb is performed autonomously using the ideal rehabilitation exercise pattern as a target value and the actual muscular strength and upper limb movement trajectory of the trainee during the rehabilitation as feedback values. The trainee follows the instructions of the audio and visual images that show correct rehabilitation
Achieve effective rehabilitation by performing upper extremity range of motion recovery training and strength training. This control law is composed of the following two sub-controllers (FIG. 1).
サブコントローラ１（適応コントローラ）： 上肢
の理想リハビリ運動パタンを理想値として、リハビリ時
の上肢筋力パタンおよび手先運動軌跡をフィードバック
値として、上肢可動域回復訓練支援を実現する。Sub-controller 1 (adaptive controller): Implements upper limb movable range recovery training support using an ideal upper limb rehabilitation exercise pattern as an ideal value and an upper limb muscle strength pattern and hand movement trajectory during rehabilitation as feedback values.
サブコントローラ２（インピーダンスコントロー
ラ）： リハビリ時の上肢筋力と上肢運動軌道をフィー
ドバックし、上肢筋力増強訓練支援を実現する。Sub-controller 2 (impedance controller): Provides feedback on the upper limb muscle strength and upper limb movement trajectory during rehabilitation, and implements upper limb muscle strength training support.
【図１】 本発明の制御ブロック図である。FIG. 1 is a control block diagram of the present invention.
１ 規範モデル ２ サーブコントローラＩ ３ サーブコントローラＩＩ ４ 上肢リハビリアシスト装置 1 Reference Model 2 Serve Controller I 3 Serve Controller II 4 Upper Limb Rehabilitation Assist Device
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【手続補正書】[Procedure amendment]
【提出日】平成１２年８月７日（２０００．８．７）[Submission Date] August 7, 2000 (2000.8.7)
【手続補正２】[Procedure amendment 2]
【補正対象書類名】図面[Document name to be amended] Drawing
【補正対象項目名】図１[Correction target item name] Fig. 1
【補正方法】変更[Correction method] Change
【補正内容】[Correction contents]
【図１】 FIG.
Claims (1)
アシスト制御則1. An upper limb rehabilitation assist control law based on an ideal movement pattern
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2000168273A JP2001299840A (en) | 2000-04-27 | 2000-04-27 | Upper limb rehabilitation assistance control rule based on ideal exercise pattern |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2000168273A JP2001299840A (en) | 2000-04-27 | 2000-04-27 | Upper limb rehabilitation assistance control rule based on ideal exercise pattern |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JP2001299840A true JP2001299840A (en) | 2001-10-30 |
Family
ID=18671300
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2000168273A Pending JP2001299840A (en) | 2000-04-27 | 2000-04-27 | Upper limb rehabilitation assistance control rule based on ideal exercise pattern |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2001299840A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8162857B2 (en) | 2006-10-11 | 2012-04-24 | Koninklijke Philips Electronics N.V. | Limb movement monitoring system |
| CN112137832A (en) * | 2019-06-27 | 2020-12-29 | 丰田自动车株式会社 | Learning system, rehabilitation support system, method, program, and learning completion model |
-
2000
- 2000-04-27 JP JP2000168273A patent/JP2001299840A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8162857B2 (en) | 2006-10-11 | 2012-04-24 | Koninklijke Philips Electronics N.V. | Limb movement monitoring system |
| CN112137832A (en) * | 2019-06-27 | 2020-12-29 | 丰田自动车株式会社 | Learning system, rehabilitation support system, method, program, and learning completion model |
| JP2021005312A (en) * | 2019-06-27 | 2021-01-14 | トヨタ自動車株式会社 | Learning device, rehabilitation assistance system, method, program, and trained model |
| JP7147696B2 (en) | 2019-06-27 | 2022-10-05 | トヨタ自動車株式会社 | LEARNING DEVICE, REHABILITATION SUPPORT SYSTEM, METHOD, PROGRAM, AND LEARNED MODEL |
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