JP2003000569A - Robot for aiding finger locomotion function recovery - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a device with which lowering in a finger locomotion function caused by injury or brain damage can be measured and evaluated, a recovery exercise program can be prepared and at-home rehabilitation, self-learning rehabilitation or health diagnosis can be performed by utilizing a two-way communication system. SOLUTION: In the finger locomotion function recovery supporting robot, an artificial joint master robot hand applies a locomotion instruction by utilizing the communication system under the instruction of a doctor in charge or therapist, the signal of a locomotion track display part from an artificial joint slave robot hand can be received and at-home rehabilitation and self-learning rehabilitation can be performed. Besides, this device is attached with a compact camera, a microphone and a cardiac sound measuring instrument, with which the doctor or therapist can extract data showing the complexion, the motions of the eyes, the motions of the lips, cardiac sounds and cardiac sound intervals of a patient since the function rehabilitation requires a long period.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention is based on the fact that the motor function (ability) of the human hand 1 is closely related to the soundness of brain function, and the five fingers of the human hand 1 (thumb 21, index finger 2).
2, the movement of the middle finger 23, the ring finger 24, the little finger 25) is measured,
This is displayed spatially as a locus, and the results of FFT (Fast Fourier) frequency analysis of the electroencephalogram are displayed side by side as a window frame together with the locus diagram for the purpose of detecting functional deterioration or loss of function of the brain motor cortex. By doing so, it is possible to measure the deterioration of the motor function of the fingers, perform self-training for recovering the loss of the motor function, or receive the assistance of the motion of the artificial joint child robot hand 3 by remote control of the artificial joint parent robot hand 16 to provide training guidance. Related equipment.

[0002] In addition, subjects who have had brain disorders often have abnormalities in the circulatory system such as the heart, and this device displays complexion, eye movements, movements of the upper and lower lips during conversation, and heartbeat. The present invention relates to a device including a function capable of monitoring information such as number and heartbeat interval by a two-way communication to a doctor or a therapist.

[0003]

2. Description of the Related Art Deterioration or loss of motor function of the fingers is caused by a motor area in the brain that controls the movements of the ligaments, muscles, and muscles, a somatosensory area that controls the cutaneous sensation and deep perception, and signaling nerve fibers between the brain and fingers. It is a symptom that appears when problems with any of these are related. The most common are disorders caused by brain diseases related to the motor cortex (cerebral infarction, cerebral hemorrhage, etc.), and often require care by a third party. Therefore, in the present situation, as a method for recovering finger movement function, long-term treatment is provided by one-on-one guidance of doctors and therapists based on physical therapy and occupational therapy.

[0004] The present condition, which is a shortage of doctors and therapists in charge, puts a heavy burden on the patient and his / her family, which is one of the causes of increasing the burden of medical expenses in Japan. In this situation,
It was desired to develop a recovery training program for each subject and to develop a robot that assists in training recovery, as it has the same effect as physical therapy and occupational therapy. In addition, there was no measuring instrument that could allow the functional recovery trainees to check the circulatory system at home for those who had experienced brain damage.

[0005]

SUMMARY OF THE INVENTION According to the present invention, first, in order to measure the motor performance of a finger, a subject is made to repeatedly perform a finger motion, and a motion locus is displayed on the display unit in different colors. Have. It has a function of displaying the temporal change diagram of the movement trajectory curve in this display and the electroencephalogram data related to the activities of the left and right brain functions measured at the same time side by side with the movement trajectory curve. The data recorded in this way is
Alternatively, it is used to quantitatively examine the degree of disability and the degree of recovery of training, and has the function of creating a recovery training program for each subject. Furthermore, the artificial joint parent robot hand 16 gives a motion command using the two-way communication system 17 under the guidance of the attending doctor or therapist, and the motion trajectory display unit 5 from the artificial joint child robot hand 3 It is a robot for recovery of finger movement function, which has the function of receiving the signal of "," and aims to perform home-based recovery training and self-study recovery training.

[0006] Further, since a subject who has suffered a stroke or a traumatic brain disorder often has an abnormality of the circulatory system such as the heart, this device causes complexion of the image, movement of eyes, movement of lips during conversation. Information such as heart rate and heartbeat interval can be monitored by a doctor or therapist by bidirectional communication.

[0007]

In order to achieve the above-mentioned object, the device according to claim 1 of the present invention, as shown in FIG. 1, is interlocked with the movement of the human finger 1 by, for example, an optical fiber method. The movement of the artificial joint robot hand 3 in which the joint can be moved by a built-in drive motor or the like integrated with the three-dimensional position detection device within a predetermined time is the movement trajectory display unit 5
Shown in. In this figure, the loci of bending and rotating motions are drawn for the five fingers of the finger 1.

On the other hand, of the five electrodes attached to the bee-belt 7, the electrode 8 (left brain electrode A) and the electrode 9 (left brain electrode A)
B) on the left side of the brain, electrode 10 (reference electrode) on the boundary between the left and right cerebral hemispheres (center of the left eye 13), electrode 11 (right brain electrode A) and electrode 12 (right brain electrode B) on the right brain. By detecting a potential change and processing it using the amplification circuit 14 and the FFT analysis circuit 15 (FIG. 2), the activation state of the frontal lobe and related cerebrum is displayed in real time on the screen of the movement trajectory display unit 5.
The joint motion locus window frames are displayed side by side at the same time.
Quantitatively evaluate the motor dysfunction and recovery of the subject's finger 1 by comparing this with the measurement data, etc. of a normal person or when the person has performed functional training after the disability. You can Next, it is used by a specialist to create a motor function recovery program from these measurement results.

Based on the created motor function recovery program, an artificial joint child robot hand 3 having the same movement as the movement locus shown on the parent robot movement locus display portion 18 of the artificial joint parent robot hand 16 is attached to the human finger 1. Under the guidance of a medical doctor or a therapist, the device assists the movement of the human finger 1 while supporting the recovery of the finger movement function. This type of recovery training often requires a long period of time, and at-home recovery can be performed by using the interactive communication system 17 shown in claim 2 to give recovery training status and exercise commands. It is a device that enables training and self-study recovery training.

Further, a small camera 19 and a microphone 20 are installed on the motion locus display unit 5 and the parent robot motion display unit 18, respectively, and a heart sound measuring device 21 is attached to the wrist portion of the artificial joint robot hand 3 to detect the subject. Images of the entire face, voice, and information such as heart rate and time intervals related to the heart can be used to interactively detect the medical health of the subject using the two-way communication system 17, enabling medical examination at home. And

[0011]

EXAMPLE A three-dimensional position detecting device 2 for measuring the movement of each joint of the five fingers of a human hand 1 and an artificial joint robot hand 3 having a shape size equivalent to that of the human hand 1 are shown in the left frame of FIG. There is a glove 4 that integrally fixes the artificial joint robot hand 3 to the human finger 1, and a human hand movement function measuring device 6 including a movement locus display unit 5 that indicates the movement of the joint from the detection device 2. Five electrodes 8 (left brain electrode A), electrode 9 (left brain electrode B), electrode 10 (reference electrode), electrode 11 (brain electrode A), whose positions are fixed on the bee-belt 7.
The concept of a device in which the electrode 12 (left brain electrode B) is brought into contact with a human fly 13 and detected from the right brain 27 and the left brain 28, respectively, is shown. The two types of bioelectric signals from the electrodes are processed by the amplification circuit 14 and the FFT frequency analysis circuit 15, and the real-time waveform image (FIG. 2: EEG recording example when an arbitrary consciousness is strengthened) shows a motion locus display unit. It is a robot for recovery function of finger movement function which has a function of being able to be displayed as another window frame on Claim 5 (claim steel claim 1).

[0012] For a subject with abnormal motor ability of fingers due to traumatic injury or circulatory system brain injury, a robot for recovery of finger movement function shown in Fig. 1 is attached with gloves 4.
Ask them to perform daily exercises such as bending and rotating their fingers, and measure and record their athletic performance. Further, the subject is attached with a Hachimaki band 7 with five electrodes for separating the right and left brains and recording the electroencephalogram.

The measurement results are displayed in real time on the movement locus display unit 5 side by side with the movement locus diagram, so that they are provided to a specialist for judging the finger movement ability of the subject. In the motion measuring method according to the present invention, since the movements of the fingers are shown in real time as a three-dimensional spatial coordinate system, it is possible to distinguish even subtle movements that are difficult for the human eye to judge. like this,
After measurement, a functional recovery training program is created by specialists, physics, and occupational therapists, and exercise guidance is provided for artificial joint parent robot hand 16, two-way communication system 17, parent robot movement display unit 18 (in the right frame of FIG. 1). Since it operates by a motor built in the artificial joint robot hand 3 attached to the subject (claim steel claim 2),
You can teach the method of functional recovery training and check the training recovery status of the subject. Since this kind of recovery training often lasts for a long period of time, the use of the two-way communication system 17 has a feature that the training at home and the training by self-study can be carried out.

In implementing the above, FIGS.
No. 9 is a display example of bending motion and rotation motion, respectively, and can be shown together with coordinate values in a three-dimensional space. Therefore, both of them are shown as a comparative diagram for measuring the motor performance of the subject's fingers or by drawing the motion loci of the normal person and the subject's finger 1 so as to be able to quantitatively understand the degree of disability. To help. This can display the motion locus for each certain time (for example, 0.2 seconds) in different colors (claim 3). These data are clear finger 1
Of abnormal movements of the brain and comparison with EEG data to identify the cause of the disorder from the viewpoint of specialists (eg, ligaments, muscles, motor cortex in the brain, somatosensory cortex, signaling between the brain and fingers, nerve fibers Part) etc. By performing such measurement on five fingers, each subject is provided with a recovery training program.

Further, in the present apparatus, the motion locus display unit 5 and the parent robot motion display unit 18 are provided with a small camera 1 respectively.
9, the microphone 20 is installed, the heart sound measuring device 21 is attached to the wrist part of the artificial joint robot hand 3,
An image of the entire subject's face, voice, and information such as the heart rate and time interval regarding the heart can be used to interactively detect the medical health of the subject by using the two-way communication system 17, and a medical examination at home can be performed. Is possible (Claim 4).

FIG. 5 shows an embodiment in which the interactive communication system 7 is used to provide guidance by a doctor and self-study while staying at home.

[0017]

As described above, measurement / evaluation of deterioration of finger movement function due to injury or brain disorder, and creation of recovery training program, home-based recovery training and self-study recovery training using a two-way communication system, Provided a device that enables health checkups.

[Brief description of drawings]

FIG. 1 is a block diagram of the present invention: an artificial joint robot hand (left frame) having a brain wave measuring unit that is measured in real time, an image, voice, and heart sound data measuring unit, and a mechanism that drives each joint by a motor. Robot for recovery of finger movement function consisting of artificial robot parent robot hand (right frame) that can be remotely controlled

[Fig. 2] Configuration of real-time simple EEG measurement unit

FIG. 3 is a motion locus diagram regarding bending of a thumb colored by a certain time interval (example)

FIG. 4 is a motion locus diagram relating to rotation of a thumb color-coded by a certain time interval (example)

FIG. 5: Example of function recovery training using both home and hospital communication systems using this patent

[Explanation of symbols]

1 human fingers 2 3D position detector 3 Artificial joint robot hand 4 gloves 5 Motion locus display 6 Human hand movement function measuring device 7 Hachimaki belt 8 electrodes (left brain electrode A) 9 electrodes (left brain electrode B) 10 electrodes (reference electrode) 11 electrodes (right brain electrode A) 12 electrodes (right brain electrode B) 13 Hitai 14 Amplification circuit 15 FFT (Fast Fourier) frequency analysis circuit 16 artificial joint parent robot hand 17 Two-way communication system 18 Parent robot movement display 19 small cameras 20 microphones 21 Heart Sound Measuring Instrument 22 thumb 23 Index finger 24 Middle finger 25 ring finger 26 pinky 27 right brain 28 Left brain 29 upper lip 30 Lower lip 31 jaw

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Claims (4)

[Claims] 1. A three-dimensional position detecting device 2 for measuring the movements of the joints of the five fingers of a human hand 1 and an artificial joint robot hand 3 having a shape size equivalent to that of the human finger 1 are integrated to form the artificial joint robot. There is a glove 4 for fixing the hand 3 to the human finger 1, the above-mentioned human hand movement function measuring device 6 which shows the movement of the joint in the movement locus display section 5, and the five electrodes 8 whose positions are fixed on the bee-belt 7. (Left brain electrode A), electrode 9 (left brain electrode B), electrode 10 (reference electrode), electrode 11
(Right brain electrode A) and electrode 12 (left brain electrode B) are brought into contact with a human fly 13, and two kinds of bioelectric signals detected respectively from the right and left brain sides are amplified by an amplifier circuit 14 and FFT (fast Fourier) frequency. Support for recovery of finger movement function, which is characterized by being processed by the analysis circuit 15 and displaying the waveform in real time as a separate window frame on the movement locus display unit 5 simultaneously with the diagram of the measured joint movement locus. robot. 2. The mechanism according to claim 1, wherein a mechanism for driving each joint of the artificial joint robot hand 3 by a motor is built in, and this drive control is bidirectional by the movement of the artificial joint parent robot hand 16. Using the communication system 17 to give a motion command, the artificial joint robot hand 3
A robot for recovering finger movement function, which is capable of receiving a signal from the movement locus display unit 5 from. 3. The method according to claim 1, wherein the parent robot movement locus display unit 18 of each joint of the artificial joint parent robot 16 and the movement locus display unit 5 of each joint of the artificial joint child robot hand 3 The time of the human finger 1 can be displayed by including two or more types of data, including the motion locus measured and recorded in the above, in a form of comparison, and by displaying the movement of the joint during measurement in different colors at regular time intervals. A robot for recovery of finger movement function, which is characterized by quantitatively distinguishing physical exercise ability, recovery, and decline. 4. In claim 1, a small camera 19 and a microphone 20 are installed on the motion locus display unit 5 and the parent robot motion display unit 18, respectively, and further on the wrist part of the artificial joint robot hand 3. A robot for recovering finger movement function characterized in that a heart sound measuring device 21 is attached, and information such as a subject's image, voice, and heart rate and heartbeat interval related to the heart can be detected using the two-way communication system 17. .