JP2002095710A - Force driving type inputting device - Google Patents

Force driving type inputting device

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Publication number
JP2002095710A
JP2002095710A JP2000287887A JP2000287887A JP2002095710A JP 2002095710 A JP2002095710 A JP 2002095710A JP 2000287887 A JP2000287887 A JP 2000287887A JP 2000287887 A JP2000287887 A JP 2000287887A JP 2002095710 A JP2002095710 A JP 2002095710A
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force
portion
target
display
device
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JP2000287887A
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Japanese (ja)
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Hiroshi Takao
宏 鷹尾
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Sanyo Electric Co Ltd
三洋電機株式会社
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Abstract

PROBLEM TO BE SOLVED: To provide a force driving type inputting device of simple structure for safe trainings. SOLUTION: In this force driving type inputting device 10, a fixed position of an upper extremity 14, for example, a portion of the fingers and forearms are held by an upper extremity fixing portion 16 of a supporting device 18, and the force generated from the portion of the fingers and forearms is detected by a force sensor placed on the upper extremity fixing portion 16, whereas the force thus detected is operated by an operation device 20 using the method same as that for expressing a target direction and size of force. A trainee can exercises so that the force generated by the portion of the fingers and forearms can be close to the target training force by displaying the result of operation together with the target force on a display device 24. Thus, the trainee can keep a balance, for example, between the principal muscle and antagonist muscle of the fingers and forearms by generating the force of the upper extremity to meet the target level that can be displayed on the display device 24.

Description

【発明の詳細な説明】 DETAILED DESCRIPTION OF THE INVENTION

【0001】 [0001]

【産業上の利用分野】この発明は力駆動型入力装置に関し、特にたとえば訓練者が肢体の所定部位の動作の感覚、筋力などに関する訓練を行う際に使用される力駆動型入力装置に関する。 Relates BACKGROUND OF THE INVENTION This invention force-driven input device, in particular for example trainee sense of operation of the predetermined portion of the limb, to the force-driven input device used when performing training on such strength.

【0002】 [0002]

【従来の技術】例えば、上肢に機能障害を持つ患者のリハビリ訓練において、通常は理学療法士や重力保証器により上肢を支持し、この上肢を予め設定された訓練軌道に沿って動作させることにより機能回復訓練が行われている。 BACKGROUND ART For example, in rehabilitation training of patients with upper extremity dysfunction, usually the upper limb supported by physiotherapists and gravity assurance unit, by operating along a preset training track the upper limb functional recovery training has been carried out.

【0003】 [0003]

【発明が解決しようとする課題】しかしながら、上肢の機能回復訓練に訓練機器を用いる際、上肢の動作に追従させるような機器構成とした場合、機器は複雑なものとなり、また訓練動作の安全性も問題となる。 However [0007] When using a training device in rehabilitation of upper extremity, when the device configuration to follow the operation of the upper limb, the device becomes complicated, and the training operation safety also a problem.

【0004】それゆえに、この発明の主たる目的は、簡単な構成で安全な訓練を行うことができる力駆動型入力装置を提供することである。 [0004] It is another object of the present invention is to provide a force-driven input device which can realize a safety training with a simple structure.

【0005】 [0005]

【課題を解決するための手段】この発明は、肢体の所定部位を保持する固定部を有する支持手段、固定部に設けられかつ所定部位が発生する力を検出する力検出手段、 SUMMARY OF THE INVENTION The present invention, the support means having a fixed portion for holding a predetermined part of the limb, the force detecting means for detecting a force provided and the predetermined portion is generated in the fixing portion,
この力検出手段で検出される力を目標とする力の方向および大きさと同じ表現法に演算する演算手段、および前記目標とする力の方向と大きさおよび前記演算手段で演算された前記所定部位が発生している力を同時に表示する表示手段を備える、力駆動型入力装置である。 Said predetermined portion calculated by the calculating means, and the force of the direction and magnitude and the arithmetic means and the target for calculating the force detected by the force detecting means in the same representation method as the direction and magnitude of the force target There comprising display means for displaying the force are generated at the same time, the force-driven input device.

【0006】 [0006]

【作用】訓練者は表示手段に表示される目標点に合せて固定部に保持される肢体の所定部位、例えば上肢の手指部や前腕部の力を発生させることによって、上肢の主動筋と拮抗筋のバランスをとることを訓練できる。 [Action] trainee predetermined portion of limb held in a fixed portion in accordance with the target point displayed on the display unit, for example, by generating a force of a finger portion and the forearm of the upper limbs, antagonize the main driving muscles of the upper limbs It can be trained to take the balance of muscle. また、 Also,
所定部位の固定部を任意の位置に設定することで、任意の姿勢で訓練することができる。 The fixed part of the predetermined portion by setting an arbitrary position, can be trained in any posture.

【0007】 [0007]

【発明の効果】この発明によれば、駆動部を必要としないため装置の機構が簡単となり、また、この装置は動きを伴わないので、訓練者に対して装置が接触したりあるいは無理な姿勢を強制する危険性がなく安全な訓練が可能となる。 Effects of the Invention According to the present invention, a mechanism device requires no driver is simplified, also, since the apparatus without movement, excessive or or contact device relative to the trainee posture risk of forced it is possible there is no safety training.

【0008】この発明の上述の目的,その他の目的,特徴および利点は、図面を参照して以下に行う実施例の詳細な説明により一層明らかとなろう。 [0008] The above described objects and other objects, features and advantages will become more apparent from the detailed description of the embodiments given below with reference to the drawings.

【0009】 [0009]

【実施例】図1〜図2に示すこの発明の一実施例である力駆動型入力装置にいついて説明する。 EXAMPLES illustrated in Figures 1-2 will be described Itsui the force-driven input device according to an embodiment of the present invention.

【0010】図1において、この力駆動型入力装置10 [0010] In FIG. 1, the force-driven input device 10
は、訓練者12の所定部位、例えば上肢14の手指部や前腕部を保持する固定部16を有する支持装置18と、 The predetermined portion of the trainee 12, for example, a supporting device 18 having a fixing portion 16 for holding the finger portion and the forearm of the upper limb 14,
この支持装置18に設けられ固定部16で保持される上肢14の手指部や前腕部が発生する力に基づいて力の方向と大きさを所定の表現法に演算するマイコンやメモリを内蔵する演算処理装置20と、この演算処理装置20 Operation with a built-in microcomputer and a memory for calculating the direction and magnitude of the force to a predetermined representation method based on the force finger portion and the forearm of the upper limb 14 which is held by the fixing portion 16 provided in the supporting device 18 is generated a processing unit 20, the processing unit 20
から出力される目標とする力および上肢14が発生する力を同時にモニター画面22に表示する表示装置24を含む。 The force force and upper limbs 14 of the target is generated which is output from the simultaneously includes a display device 24 for displaying on the monitor screen 22.

【0011】支持装置18は、例えば上肢14の訓練の場合、棒状の物体を手指部で握った状態で固定する、またはグローブ状の物体に手指部を入れる、あるいは上肢14の前腕部を棒状の物体にベルトで固定するなどの方法で上肢固定部16を構成するが、この実施例では上肢固定部16をグローブ状の物体としてその中に手指部を入れる構成としている。 [0011] support apparatus 18, for example, in the case of training of the upper limbs 14, the object of the rod-like fixing while gripping by the hand unit, or placing the finger portion in the glove-like object, or a rod-like forearm portion of the upper limb 14 While composing the upper extremity fixing portion 16 by a method such as fixing a belt to an object, in this embodiment has a configuration to put finger portions therein an upper extremity fixing portion 16 as a glove-like object.

【0012】そして、上肢固定部16には図示されない3軸の力センサが組み込まれており、訓練者12の固定された所定部位の力の方向および大きさ(強さ)を検出する。 [0012] Then, the upper extremity fixing portion 16 a force sensor 3 axes (not shown) is incorporated to detect the direction and magnitude of the force of a fixed predetermined portion of the trainee 12 (intensity). また、6軸の力センサを組み込めば、回転方向の力を検出することもできる。 Further, Incorporating a force sensor six-axis, it is possible to detect the rotational force.

【0013】一方、支持装置18の支持部26は上肢固定部16を任意の位置に固定して、訓練者12の訓練姿勢(所定部位の固定状態)を決定することができる。 Meanwhile, the supporting portion 26 of the supporting device 18 may be a limb fixing portion 16 is fixed to an arbitrary position, to determine the training posture of trainee 12 (fixed state of a given site).

【0014】そして、図2の回路ブロック図に示すように上肢固定部16に設けた力センサ部(力検出部)28 [0014] Then, the force sensor unit provided in the upper extremity fixed portion 16 as shown in the circuit block diagram of FIG. 2 (force detection unit) 28
で測定(検出)した所定部位の力は送信部30より演算処理装置20に送信される。 In the measurement (detection) by the force of the predetermined portion is transmitted to the processor 20 from the transmission unit 30.

【0015】この演算処理装置20は、支持装置18から訓練者12の所定部位が発生した力信号を受信する受信部32、訓練目標とする力の方向と大きさを入力するキーボードなどによる入力部34、この入力部34より入力された目標とする力を記憶する記憶部(メモリ)3 [0015] The processing unit 20 includes a support device 18 receiving unit 32 of a predetermined portion of the trainee 12 receives the force signal generated from the input by a keyboard as an input the direction and magnitude of the force and training target portion 34, a storage unit for storing a force to input target from the input section 34 (memory) 3
6、受信部34で受信した力の大きさを表示するために力の大きさに比例してベクトルの長さ、ポイントの速度などに変換する演算部(マイコンを含む)38、および訓練目標とする力の方向と大きさ(速度)および演算結果を表示装置24に送信する送信部40を含む。 6, the length of the vector in proportion to the magnitude of the force to display the magnitude of the force received by the receiver 34, (including the microcomputer) calculation unit for converting the like to the speed of the point 38, and a training target It includes a transmitter unit 40 for transmitting the power of direction and magnitude (velocity) and the calculation result to the display device 24.

【0016】また、表示装置24は、目標とする力および演算処理装置20による演算処理結果を受信する受信部42、目標とする力の方向とその大きさ(表示ベクトルの長さ、表示ポイントの速度などで表す)を示しかつ所定部位が発生している力を目標とする力と同じ表現法(力の方向:表示ベクトルの長さ、力の大きさ:表示ポイントの速度)で示すモニター画面22としての表示部44を含む。 [0016] The display device 24 includes a receiver 42 for receiving the operation result by the force and processing unit 20 as a target, and the direction of the force target its size (the length of the display vector of the display points speed, etc. in representative) indicates and the same representation method the force to target a force predetermined portion is occurring (in the direction of force: the length of the display vector of the force size monitor screen shown at a speed of display points) a display unit 44 as 22.

【0017】次に図3に示すフローチャートに基づき動作の流れについて説明する。 [0017] Next, the flow of operation will be described with reference to a flowchart shown in FIG.

【0018】先ず、訓練者12はステップS1で肢体の所定部位、例えば上肢14の手指部を支持装置18のグローブ状固定部16に挿入固定する。 [0018] First, the trainee 12 is inserted and fixed a predetermined portion of the limb in step S1, for example, a finger portion of the upper limb 14 the globular fixing portion 16 of the supporting device 18. つぎにステップS Next, in step S
3において演算処理装置20の入力部34より予め入力されて記憶部36で記憶されている目標とする力の方向・大きさの時間変位として演算部38において目標とする力を表示方法(表現法)に従い演算する。 How to force a targeted by the arithmetic unit 38 as an arithmetic processing unit 20 of the input unit 34 input in advance by the time the displacement of the direction and size of the force target stored in the storage unit 36 ​​than in 3 (phraseology ) is calculated in accordance with. そして、ステップS5で目標とする力を表示装置24の表示部44 The display unit 44 of the display device 24 the force the target in step S5
に表示する。 To display in. すなわち、モニター画面22に目標とする力は、ターゲットの移動方向で力の方向が、また、移動速度で力の大きさ(強さ)が夫々示される。 That is, the force that the target on the monitor screen 22, the direction of force in the moving direction of the target, also the magnitude of the force at a moving speed (strength) are shown respectively.

【0019】一方、ステップS7では、訓練者12が表示部44に表示された目標に従って所定部位、つまり上肢14の手指部を動かして固定部16に力を加える。 Meanwhile, in step S7, a predetermined portion in accordance with the target that the trainee 12 is displayed on the display unit 44, i.e. added by moving the finger portions a force to the fixing portion 16 of the upper limb 14. ステップS9では固定部16に設けられている力センサ部28により手指部の発生した力を検知する。 The force sensor unit 28 provided in the step S9 fixing portion 16 in the detecting the generated power of the finger portion.

【0020】次にステップS11では手指部の発生力を演算処理装置20に入力して目標とする力の表示方法(表現法)に基づき演算部38でその方向と大きさを表示ベクトルの長さおよび表示ポイントの速度として演算処理し、その演算処理結果としてステップS13で手指部の発生力を表示装置24の表示部44に表示してステップS5に戻る。 [0020] Then the length of the display vector and the direction and magnitude in the calculating portion 38 based on the power of the display method according to enter the target generation power of the finger portion at step S11 to the processing unit 20 (Representation) and arithmetic processing as the speed of the display point, the flow returns to step S5 to display the generated force of the finger portion at the step S13 as a processing result on the display unit 44 of the display device 24. 以後同様な動作を繰り返し実行することにより、上肢14の筋力アップの訓練を行うことができる。 By executing hereafter repeats the same operation can be performed training strength up upper limb 14.

【0021】すなわち、モニター画面22に表示される目標とする力の方向と大きさに追随するように訓練者はモニター画面22を目視しつつ、上肢固定部16に保持される所定部位、つまり手指部に力を加えることにより筋力アップの訓練を実行できる。 [0021] That is, while the trainee visually monitor screen 22 so as to follow the force of the direction and magnitude of the target displayed on the monitor screen 22, a predetermined portion to be held in the upper extremity fixing portion 16, i.e. the fingers You can perform training strength up by applying a force to the part. なお、上述の実施例は肢体の上肢の筋力アップに適用したものであるが、これに限定されるものでなく、下肢にも適用できることはいうまでもない。 Incidentally, the above-described embodiments but is applied to a muscle-up limb of the upper limbs, not limited thereto, the present invention can be applied to the lower limbs.

【0022】以上説明したようにこの発明によれば、例えば、任意の位置に固定された力センサで上肢の力を感知し、上肢の力の方向、強さを表示方法に従い表示装置のモニター画面上で位置や速度に変換して表示することにより、上肢を実際に動作させることなく筋肉の強さとそのバランスの訓練を行うことができる。 According to this invention, as described above, for example, to sense the power of the upper limb a force sensor fixed to an arbitrary position, direction of the upper limbs of the force, the monitor screen of the display device in accordance with the display method strength by converting and displaying the position and speed above can be performed muscle strength and training of the balance without actually operating the upper limb.

【0023】また、訓練者は肢体の所定部位を固定する支持装置の固定部を任意の位置に設定することで、任意の姿勢で訓練を行うことができる。 Further, the trainee by setting a fixed part of the supporting device for fixing a predetermined portion of the limb to an arbitrary position, it is possible to perform training in any posture.

【0024】更に、訓練に際して、この訓練装置は動きを伴わないので、動きのある従来の訓練装置に比較して、駆動部などを必要とせず、装置の機構が簡単になる。 Furthermore, during the training, so this training device without motion, as compared to conventional training devices in motion, without the need for a driving unit, mechanism of the apparatus is simplified.

【0025】また、装置が動きを伴わないので、訓練者に対して装置が接触することにより無理な姿勢を強制するなどの危険が解消される。 [0025] In addition, because the device does not involve movement, the risk is eliminated, such as to force the unreasonable attitude by the contact device for the trainee.

【0026】上では、この発明が訓練装置として用いられる実施例について説明したが、この発明は訓練装置だけでなく、コンピュータやその他装置への入力装置として利用され得る。 [0026] On, although the invention has been described embodiment used as a training device, the invention is not only exercise device can be utilized as an input device to a computer or other device. 特に、手先や指が自由に動かせない人でも、この発明の入力装置に手首や足などの可動部位を固定して力を加えることによって、マウスのような入力装置として利用できる。 In particular, even in people who hand or a finger does not move freely, by adding a fixed to force the movable part such as the wrist or foot to the input device of the present invention can be utilized as an input device such as a mouse.

【図面の簡単な説明】 BRIEF DESCRIPTION OF THE DRAWINGS

【図1】この発明の一実施例を示す力駆動型入力装置の概略斜面図である。 1 is a schematic slant view of a force-driven input device according to an embodiment of the present invention.

【図2】一実施例である力駆動型入力装置の構成を示す回路ブロック図である。 2 is a circuit block diagram showing a configuration of a power-driven input device according to an embodiment.

【図3】一実施例である力駆動型入力装置の動作を示すフローチャートである。 3 is a flowchart showing the operation of the power-driven input device according to an embodiment.

【符号の説明】 DESCRIPTION OF SYMBOLS

10 …力駆動型入力装置 14 …上肢(肢体の所定部位) 16 …上肢固定部 18 …支持装置(支持手段) 20 …演算処理装置(演算手段) 22 …表示装置(表示手段) 28 …力センサ部(力検出手段) 10 ... power-driven input device 14 ... upper extremity (predetermined portion of limbs) 16 ... upper extremity fixing portion 18 ... supporting device (supporting means) 20 ... processing unit (calculating means) 22 ... display device (display means) 28 ... force sensor part (force detection means)

Claims (4)

    【特許請求の範囲】 [The claims]
  1. 【請求項1】肢体の所定部位を保持する固定部を有する支持手段、 前記固定部に設けられかつ前記所定部位が発生する力を検出する力検出手段、 前記力検出手段で検出される力を目標とする力の方向および大きさと同じ表現法に演算する演算手段、および前記目標とする力の方向とその大きさおよび前記演算手段で演算された前記所定部位が発生している力を同時に表示する表示手段を備える、力駆動型入力装置。 1. A support means having a fixing portion for holding the predetermined portion of the limb, the force detecting means for detecting a force provided and said predetermined portion is generated in the fixed part, the force detected by said force detecting means display calculating means for calculating the same representation method as the direction and magnitude of the force target, and the direction of the force and the target their size and force the predetermined portion calculated by said calculation means are generated at the same time It comprises display means for the force-driven input device.
  2. 【請求項2】前記力検出手段は3軸力センサまたは6軸力センサの少なくとも1つを含む、請求項1記載の力駆動型入力装置。 Wherein said force detecting means comprises at least one of the three-axis force sensor or force sensor of claim 1, wherein the force-driven input device.
  3. 【請求項3】前記支持手段は前記所定部位を固定する固定部と前記固定部を支持する支持部を含む、請求項1または2記載の力駆動型入力装置。 Wherein said support means said predetermined portion and a fixed portion for fixing the containing support portion for supporting the fixed portion, a force-driven input device according to claim 1 or 2 wherein.
  4. 【請求項4】前記表現法は力の方向および大きさを前記演算手段により位置および速度に変換し、前記表示手段に表示ベクトルの長さおよび表示ポイントの速度で表示する、請求項1ないし3のいずれかに記載の力駆動型入力装置。 Wherein said phraseology converts the direction and magnitude of the force to the position and speed by the calculating means, for displaying at a rate of length and display point of the display vector on the display unit, claims 1 3 power-driven input device according to any one of.
JP2000287887A 2000-09-22 2000-09-22 Force driving type inputting device Withdrawn JP2002095710A (en)

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1581847A2 (en) * 2002-12-04 2005-10-05 Powergrid Fitness, Inc. Computer interactive isometric exercise system and method for operatively interconnecting the exercise system to a computer system for use as a peripheral
JP2007054543A (en) * 2005-08-26 2007-03-08 Matsushita Electric Works Ltd Massaging machine
US7699755B2 (en) 2002-12-04 2010-04-20 Ialabs-Ca, Llc Isometric exercise system and method of facilitating user exercise during video game play
US7727117B2 (en) 2002-12-04 2010-06-01 Ialabs-Ca, Llc Method and apparatus for operatively controlling a virtual reality scenario with a physically demanding interface
JP2014008324A (en) * 2012-07-02 2014-01-20 Kanazawa Univ System for evaluating a thumb and fingers

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1581847A2 (en) * 2002-12-04 2005-10-05 Powergrid Fitness, Inc. Computer interactive isometric exercise system and method for operatively interconnecting the exercise system to a computer system for use as a peripheral
JP2006508764A (en) * 2002-12-04 2006-03-16 パワーグリッド フィットネス インコーポレイテッドPowerGrid Fitness, Inc. Methods for operatively connecting the exercise system to the computer interactively isometric exercise system and a computer system
US7699755B2 (en) 2002-12-04 2010-04-20 Ialabs-Ca, Llc Isometric exercise system and method of facilitating user exercise during video game play
US7727117B2 (en) 2002-12-04 2010-06-01 Ialabs-Ca, Llc Method and apparatus for operatively controlling a virtual reality scenario with a physically demanding interface
EP1581847A4 (en) * 2002-12-04 2012-04-11 Powergrid Fitness Inc Computer interactive isometric exercise system and method for operatively interconnecting the exercise system to a computer system for use as a peripheral
JP2007054543A (en) * 2005-08-26 2007-03-08 Matsushita Electric Works Ltd Massaging machine
JP4696784B2 (en) * 2005-08-26 2011-06-08 パナソニック電工株式会社 Massage machine
JP2014008324A (en) * 2012-07-02 2014-01-20 Kanazawa Univ System for evaluating a thumb and fingers

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