JP2003180868A - Training machine for closed kinematic chain - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a training machine for closed kinematic chain by which muscular power is measured precisely and muscle strengthening and rehabilitation can effectively be performed. <P>SOLUTION: The training machine for closed kinematic chain comprises a footrest (7), a footrest supporter (5) for supporting the footrest (7), a frame (2) for supporting the footrest supporter (5), and a sensor part (27) for detecting the force of a sole. In order to detect the force of the sole, the sensor part (27) is provided at the rotatable footrest supporter (5) or the rotatable footrest (7), and the pressurizing point (26) of the sole receiving part (55) of the footrest (7) is provided at a position biased from the center of the rotation of the footrest (7). <P>COPYRIGHT: (C)2003,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a closure in which a person (hereinafter referred to as a patient) having a motor dysfunction in the body performs measurement / training for strengthening muscle strength, improving range of motion of joints, and other functional recovery / treatment. Related to the sexual locomotor chain motility.

[0002]

2. Description of the Related Art Japanese Unexamined Patent Publication No. 11-262542 is a conventional technique.
There is a publication, which discloses an exercise therapy device including a load means and a control means.

[0003]

In the exercise therapy apparatus of the prior art, even if the muscular strength of the practitioner is inferior to the cardiopulmonary function, the load amount of the loading means is controlled based on the muscular strength value of the practitioner. It is possible to give an exercise load commensurate with muscle strength. However, the device is large-scale, the cost is high,
It was inconvenient. Also, the work to obtain the maximum muscle strength value is
It was inconvenient because it was complicated and lacked in reliability.

An object of the present invention is to accurately measure muscle strength,
It is to provide a closed locomotor chain motility device capable of effectively strengthening muscles and recovering functions.

[0005]

That is, according to the present invention, a foot support (7) on which a foot end acts, a foot support (5) for supporting the foot support (7), and a foot support. A frame body (2) that supports (5) and a sensor section (2) that detects the force of the sole of the foot.
7) and the sensor part (27) is provided on the rotatable foot support (5) or the rotatable foot support (7) so that the force of the sole can be detected. It is a closed locomotor chain motor characterized by. Further, the pressing point (26) of the sole receiving portion (55) of the foot receiving body (7) is provided at a position eccentric from the rotation center point of the foot receiving body (7). Further, the rotating body (6) held by the foot receiving support (5) has a sensor part (27).
It is possible to detect muscle force under an open kinematic chain by having at least one set of Furthermore, a sensor part (27) is provided on the rotating foot support (7). Also, foot support (5)
Are configured to simultaneously support the foot support (7) on the left and right.
Further, the foot receiving body (7) is supported by the foot receiving support body (5) so as to be rotatable independently on the left and right sides. Furthermore, it has an angle detector (57) for detecting the angle of the body portion (56) of the foot receiver (7). Alternatively, the foot support (5) has at least a vertical sensor unit (5) for detecting at least a vertical force, that is, a bending force.
8) and a left / right sensor section (59) for detecting a lateral force, that is, a twisting force. In addition, the sole receiving portion (55) of the foot receiving body (7) has a convex R surface (60) and / in the foot length direction.
Alternatively, it has a concave R surface (61) in the foot width direction. Further, the sole receiving portion (55) of the foot receiving body (7) has a foot alignment unevenness (67) and / or a slip prevention unevenness (62).
Furthermore, the sole receiving portion (55) of the foot receiving body (7) can be fixed or rotated. In addition, the patient can attach the gripping body (8) that can take a forward leaning posture in the sitting position to the seat frame (6
It is provided in 3). Furthermore, the gripper (8) is a handrail. Furthermore, a gripper side part (64) that the patient grips so as to be able to assume a vertical position in a sitting position is provided integrally with the gripper (8) on the side part of the seat frame (63). Furthermore, in the sitting position, whether the muscle force measurement of the closed motor chain in the forward leaning posture or the muscle force measurement of the closed motor chain in the vertical posture is performed,
Estimating means 47 for estimating the muscle strength value of one of the forward leaning posture and the vertical posture which is not measured by measuring one of the muscle strengths is provided.

[0006]

BEST MODE FOR CARRYING OUT THE INVENTION Using the present invention, a closed motor chain (= CK) that simultaneously contracts a main muscle and an antagonist muscle in a patient
Measure and exercise C). Body placing and fixing means 1
The muscular strength measuring means 19 included in measures and trains muscular strength.

[0007] The body placing and fixing means 1 is used to exercise, and the quantity and other information (= results of measurement, evaluation, training, etc.) obtained as a result are displayed on the display 12 and the muscle force feedback display 1.
3 is displayed for the visual sense, and the alarm sound / voice alarm 50 is displayed for the auditory sense.

A patient who intends to use the present invention is placed on the body placement and fixing means 1 and is then fixed. The seat portion seat 3, the back portion seat 4, and the frame body 2, which are embodiments of the body placement and fixing means 1, support the patient in a sitting posture.

The measurement angle of the muscle force measuring means 19 is fixed, and the operation relating to the measurement is the isometric muscle contraction. The foot receiving body 7 receives a person's sole. The foot support 5 supports the foot support 7. The frame body 2 supports the foot support 5. The sensor unit 27 is provided on the foot support 5 to detect muscle force. The patient pushes the pressing point 26 of the sole receiving portion 55 of the foot receiving body 7 with the foot. Sensor part 27 provided on the body placement fixing means 1
Can detect the force in a direction along the extending direction of the body portion 56 of the foot receiver 7 while being rotatable in the knee extension / flexion direction.

The patient pushes the pressing point 26 of the sole receiving portion 55 of the foot receiving body 7 provided at a position eccentric from the center of rotation of the foot receiving body 7 (= the position of the rotating body 6) with the foot. . Sensor part 2
7 is rotatable in the extension direction of the knee, and the force in the direction along the extending direction of the body portion 56 of the foot receiver 7 can be detected.

The rotating body 6 having at least one set of the sensor portions 27 measures the load applied to the rotating body 6. The foot support 5 supports the rotating body 6 so as to be horizontally rotatable. The foot support 7 is attached to the rotating body 6 to detect the muscle force of the closed kinematic chain, or the foot support 7 is removed from the rotating body 6 and replaced with the ankle support 70 shown in FIG. For the patient, muscle force detection of the open motor chain (= OKC) that contracts the driving muscle and the antagonist muscle separately is performed.

The body portion 56 of the foot receiving member 7 and the sole receiving portion 5
5, the sensor portion 27 provided on any of the supported portions 66 detects the pressing force applied to the sole receiving portion 55.

The foot support 5 supports the left foot support and the right foot support simultaneously on the left and right.

The foot receiving support 5 which supports the left foot receiving body and the right foot receiving body at the same time can rotate the left foot receiving body and the right foot receiving body independently of each other.

Angle detector 5 of the body-mounting / fixing means 1
7 detects the angle of the extending direction of the body portion 56

The vertical sensor unit 58 detects the vertical force (= bending) applied to the foot support 7. Left and right sensor section 5
Reference numeral 9 detects a lateral force (= twisting force) applied to the foot receiver 7.

The convex R surface 60 formed in the foot length direction of the foot receiving portion 55 of the foot receiving member 7 abuts on the central concave position of the sole of the patient to receive the corresponding portion. The foot receiving portion 55 of the foot receiving body 7
In addition, the concave R surface 61 formed in the foot width direction contacts the sole of the patient and guides and receives the relevant portion while guiding it to the center of the foot sole receiving portion 55 in the foot width direction.

The foot positioning projections and depressions 67 formed on the foot sole receiving portion 55 of the foot rest 7 allow the patient to put the sole of the foot on the sole sole receiving portion 55.
When touching, inform the sole of the contact position. The foot alignment irregularities 67 serve for the patient to align the sole of the foot to a suitable position on the sole receiving portion 55. The slip prevention unevenness 62 prevents the foot contacting the foot receiver 7 from slipping from the foot receiver 7.

The foot sole receiving portion 55 of the foot rest 7 rotates with respect to the foot sole supporting member 5. Alternatively, in another configuration, it is fixed to the foot support 5.

When measuring the muscle strength of the lower limbs, the patient sitting on the seat portion seat 3 holds the grip body 8 and assumes a forward leaning posture. Measure lower limb muscle strength in the forward leaning position. The gripping body 8 is composed of a handrail,
The patient who sits on the seat 3 holds the handrail to stabilize it.

The patient sitting on the seat portion 3 holds the grip body side portion 64 provided on the side portion of the seat portion seat 3 and integrated with the grip body 8 to take a vertical posture in the sitting position.

In the sitting position, the muscle force of the closed motor chain is measured in the forward leaning posture, or the muscle force of the closed motor chain in the vertical posture is measured, or one of them is measured.
Get the measurements. The estimating means estimates the muscle strength value of the forward leaning posture or the vertical posture, whichever is not measured, based on the measured value.

[0023]

1 to 8 show a first embodiment of the present invention.
FIG. 1 and FIG. 2 show a body placing and fixing means 1 for placing a patient on and fixing the same. The seat portion seat 3 is placed on the frame body 2, and the back seat 4 is provided on the rear portion of the seat portion seat 3. It is installed and configured. FIG. 3 shows the rotating body 6 of the foot receiving support 5, and FIGS. 4 to 6 show the foot receiving body 7.
Shows a block diagram of the electrical configuration.

The body-placing and fixing means 1 supports a patient in a sitting posture, and includes a seat portion seat 3 on which the patient sits, and a back portion seat 4 which stands on the rear portion of the seat portion seat 3 and reclines. ,
A gripping body 8 which is provided on both sides of the seat sheet 3 and which is gripped by the patient
A waist fixing belt 9 for fixing the patient's waist to the seat 3; a thigh fixing belt 10 for fixing the patient's thigh to the seat 3; an operating unit 11; and an indicator 12. It consists of a muscular strength feedback indicator 13.

The seat frame 63 of the seat portion 3 is provided with a gripping body 8 which allows the patient to take a forward leaning posture (= 70 degrees) when sitting. The gripper 8 has a closed motor chain (= CK
C) A handrail for a forward leaning posture in measurement. The patient sitting on the seat 3 has a vertical posture (= 90
The grip body side portion 6 integrated with the grip body 8 so that
4 is provided on the side of the seat portion seat 3.

The frame body 2 comprises a front leg frame 16, a rear leg frame 17, and a bottom frame 18, and a wheel 14 for facilitating the movement of the body mounting and fixing means 1 is provided under the frame body 2.
A fixing leg 15 is provided for fixing the body placement fixing means 1 at the time of use. The foot support 5 is attached to the front leg frame 16 so that the foot support 5 can be easily moved and fixed, and the CKC measurement foot support 7 is attached to the foot support 5.

A sensor portion 27 (in a specific example, a stick-on type strain gauge) provided on the foot support is provided for detecting muscle force. Specifically, the sensor unit 27 is attached to the rotating body 6 so as to be rotatable in the knee extension and flexion directions and to detect the force in the direction along the extending direction of the body portion 56 of the foot receiver 7. ing. If the ankle receiver 70 shown in FIG. 8 is attached to the rotating body 6 instead of the foot receiver 7, it is possible to detect the muscle force of the open kinematic chain that causes the patient to contract the driving muscle and the antagonist muscle separately. .

The ankle receiver 70 has a mounting hole 74 fitted onto the rotating body 6, a fixed knob 71 for moving the pin 73 of the ankle receiver 70 forward and backward, a buffer 75 for contacting the ankle, and a band for hanging around the ankle. It consists of 76 and. When attaching the ankle receiver 70 to the rotating body 6, the mounting hole 74 is externally fitted to the rotating body 6, and the pin 73 is fitted to the pin receiving hole 72 of the rotating body 6 to be attached.

Although not shown, the frame body 2
As another embodiment of the present invention, a frame extending upward is erected on a side portion of the frame body 2, and the foot support 5 is attached to the frame.
It is also possible to measure the upper limb muscle group by attaching a hand support instead of the foot support and a hand support instead of the foot support 7.

The pressing point 26 of the sole receiving portion 55 of the foot receiving body 7
Is provided at a position eccentric from the center of rotation of the foot receiver 7. That is, the rotating body 6 of the foot support 5 and the pressing point 26 are separated from each other, and there is a distance between them.

The back seat 4 is provided with a knee alignment function 20 which is a slide mechanism for aligning the axial position of the knee joint. The knee positioning function 20 includes a back seat 4
A lock release lever 21 that allows or fixes the forward and backward movement of the is provided.

A patient who sits down on the seat portion seat 3, the back portion seat 4 and the frame body 2 in a sitting posture applies the sole of the foot to the foot receiver 7. The foot support 7 is a foot support portion 55 on which the sole is applied.
And a body portion 56 for attaching the foot rest 7 to the foot rest support 5
And a supported portion 66 that is fitted to the rotating body 6 at the base end of the body portion 56, and a foot receiving body fixing portion 65 that fixes the supported portion 66 to the rotating body 6.

The sole receiving portion 55 is a semi-cylindrical object which is long in the left and right and has a convex R surface 60 which is curved upward in a convex shape.
When viewed from the front, the center is a concave R surface 61 that is concave in a curved shape.

On the surface of the sole receiving portion 55, a foot positioning unevenness 67 for positioning is provided. In particular,
A large number of strip-shaped concavities and convexities 24 are formed on the left and right portions of the foot support 7 in the width direction, and a plurality of strips (= 6 on each side in the specific example) are formed in the foot length direction. The strip-shaped irregularities 24 are formed on the sole of the foot 7
When the sole of the foot shifts to the left or right side of the foot receiver 7 in order to place it in the preferred center position, the fact is notified to the sole of the foot.

Further, on the surface of the foot support 7, there are formed slip prevention irregularities 62 for preventing foot slip. Specifically, a large number of hemispherical irregularities 25 are formed in the central portion of the foot support 7 in the width direction. The hemispherical unevenness 25 is formed by interspersing a plurality of hemispherical projections.

In order that the foot support 7 is in the preferred position on the sole of the foot,
The foot support 5 has a foot alignment function 22 that slides on the front leg frame 16 and aligns with the ankle. That is, the foot support 5 is slidably attached to the front leg frame 16,
The foot support 5 is fixed at an appropriate position on the front leg frame 16 by operating the fixing tool 23 formed of a knob bolt.

The rotating body 6 of the foot receiving support 5 is located at the center of the front surface of the body placing and fixing means 1. When the number of the foot receiving body 7 is one, it is attached to either the left or right side of the rotating body 6. . When there are two foot supports 7, they are attached to either the left or right of the rotating body 6.
In this case, the rotating body 6 is divided at the central position in the longitudinal direction, and the left portion and the right portion of the rotating body 6 can rotate independently.

The rotating body 6 can be fixed in rotation by operating the rotation fixing tool 68. The foot support 5 is provided with an angle detector 57 that detects the angle of the body portion 56 in the extending direction.

In another example relating to the mounting position of the sensor portion 27, the sensor portion 27 is not provided on the foot receiving support 5, but the body portion 56 of the foot receiving portion 7, the sole receiving portion 55, the supported portion. It may be attached to any of 66.

The front leg frame 16 and the foot support 7 constitute a muscular strength measuring means 19 for measuring the muscular strength, and the muscular strength measuring means 19 can measure the closed motor chain. The front leg frame 16 is one component member of the frame body 2 and also serves as a frame for attaching the foot receiving body 7.

The muscle strength measuring means 19 also serves as muscle strength training means for training muscle strength, and can perform muscle strength measurement and strength training. The object to be operated by the muscle force measuring means 19 is isometric muscle contraction, and the movement site related to the measurement is specified, and the measurement angle is fixed (= 60 degrees in the specific example).

In FIG. 2, reference numeral 54 is a support column and 69 is a connector.

The electrical construction of the first embodiment is the operation section 11
A sensor unit 27, a control unit 28, a data storage / storage unit 29, a display / notification unit 30, a transmission / reception device 31,
It comprises a PC / external device 32 and a printing device 33.

The operation section 11 is used by a person to give instructions to the body-mounting and fixing means 1 and operates it. The start switch 34, the stop switch 35, the print switch 36, the transfer switch 37, the forward switch 38, and the return button. It comprises a switch 39, an increase switch 40, and a decrease switch 41. By operating these switches, the age, sex, injury site, etc. are input.

The sensor section 27 is, in a specific example, a detector 42 and an angle detector 57. The detector 42 is attached to the rotating body 6 of the foot support 5 and measures the muscle force related to the movement of the closed movement chain. The angle detector 57 detects the angle in the extension direction of the lower limb, that is, the longitudinal direction of the body portion 56 of the foot receiver 7.

The control unit 28 processes the signal sent from the operation unit 26 and the signal sent from the sensor unit 27 and judges the signal processing / judging unit 43 and the signal from the signal processing / judging unit 43. The transmission / reception device 31 is controlled by the transmission / reception device 31 and the transmission / reception device 31 is controlled by the transmission / reception control unit 44, and the signal processing / determination unit 44 is controlled by the printing device 33. Print control unit 45 to control
And a display / notification control unit 46 that controls the display / notification unit 30 by obtaining a signal from the signal processing / determination unit 43.

The data accumulating / storing section 29 obtains a signal from the signal processing / determining section 43, accumulates and stores the signal, and further provides the accumulated data to the signal processing / determining section 43. , Estimation data 48 and evaluation / instruction data 49.

The estimating means 47 measures the muscular strength of either the forward leaning posture or the vertical posture by measuring the muscular strength of either the forward leaning posture or the vertical posture. I guess.

The estimation data 48 is data utilized when the estimation means 47 makes the above-mentioned estimation.

The evaluation / instruction data 49 is data utilized when calculating relative evaluation / instruction based on the measurement result of the muscle strength of the closed motor chain.

The display / notification unit 30 includes a display device 12 for visually displaying measurement / evaluation / training results and a muscle force feedback display device 1 for displaying measured muscle force in real time.
3 and a notification sound / voice notification device 50 for displaying the measurement / evaluation / training results to the auditory sense.

The display 12 comprises a set value display 51, a measurement / exercise state display 52, and a measurement result / estimated value / evaluation / instruction display 53.

The transmission / reception device 31 processes both the signal obtained from the transmission / reception control unit 44 or the signal obtained from the PC / external device 32, and the transmission / reception control unit 44 and the PC / external device 3 are processed.
To transmit the signals of two parties to each other,
It has an external device connection function. The transmission / reception control unit 44 and the transmission / reception device 31 exhibit an interface function.

The PC / external device 32 is a device connected to the outside such as a personal computer. The printing device 33 prints measurement / training results and other data.

It should be noted that the structure of the display / notification unit 30 is deleted and P
The C / external device 32 may be provided with the function of the display / notification unit 30.

When measuring / training a closed motor chain using the first embodiment, a patient in a sitting posture places the sole of the foot on the foot support 7 attached to the foot support 5. Move the thighs in the direction of extension and perform a stepping motion. The foot receiving body 7 rotates about the rotating body 6 and reaches an angle in the same direction as the direction of the force of extension of the lower limb.

The sensor unit 27 detects the force applied to the foot receiving body 7 as the mechanical displacement amount (distortion amount) of the foot receiving body 7 or the foot receiving support body 5. In the case of a sensor rotation type in which the sensor unit 27 is attached to the rotating body 6, when the force is gradually applied to the foot receiving body 7, the foot receiving body 7 rotates in the direction in which the muscle force is exerted. At the beginning, when exerting maximum strength, the torso portion 56
The direction of is consistent with the direction of muscle strength and is stable.

At the time of the above-mentioned operation, the main muscles of the patient's lower limbs and the antagonist muscles both contract and act on the foot receiver 7, and the muscle force can be measured in the form of a closed motor chain. After performing the above measurement, muscle training is performed in the same operation as the measurement operation.

When the operator leans forward with the grasping body 8 (= handrail) in the diagonally forward direction, the activity of the biceps femoris becomes more active than in the vertical posture, and the direction in which the force is applied is also relative to the tibial axis. Since it is shallower, less front pulling force is applied to the knee. After the measurement, the measurement result is output to the display / notification unit 30, the printing device 33, and the PC / external device 32.

Based on the estimation data 48, the total muscle force of the muscle group to be measured is output as an actual measurement value, and the muscle force of each main muscle included in the muscle group is output as an estimated value.

Based on the estimation data 48, the muscle strength of the muscle to be measured is output as an actually measured value, and the overall muscle strength of the muscle group including the muscle to be measured and individual muscle strengths other than the object of measurement are output as estimated values.
For example, in the case of the lower limbs, as the estimated value, the total muscle force such as the muscle force of the hip joint, the knee joint, and the ankle joint, and the muscle force of the hip joint other than the measurement target muscle or the muscle force of the ankle joint are output as the estimated value.

In the case of measurement, the evaluation / teaching data 49 is compared with the measurement result together with the measurement result, and relative evaluation, precautions in daily life, and training advice are output. To give some examples of advice, "exercise is impossible. A medical examination is required.""Light jogging is allowed for rehabilitation.""Muscular strength is excellent."

The body resting and fixing means 1 shown in FIGS. 1 and 2 is in a sitting posture with the back seat 4 standing upright, but if the back seat 4 is tilted backward (not shown), it should be in a supine posture. The measurement can be performed in the supine posture.

The second embodiment shown in FIGS. 9 to 11 is the first embodiment.
The rotation body 6 according to the embodiment is replaced with a fixed shaft that does not rotate, and the sensor unit 27 is attached to the support column 54.

In the second embodiment, the sensor section 27 is attached to the support column 5.
4 are attached to the upper and lower surfaces (= upper and lower sensor portions 58) and the left and right surfaces (= left and right sensor portions 59) at four locations, and the output signal of the sensor portion 27 is corrected and calculated with a predetermined coefficient to obtain an accurate muscle strength value I will get it.

In the case of the sensor fixed type in which the sensor unit 27 is attached to the non-rotating support column 54, the foot support 7 and the foot support 7 are fixed when the force applied to the foot support 7 is constant. As the angle A formed by the direction of the force F applied to the force increases, the strain amount B detected by the vertical direction sensor decreases linearly proportionally, and the strain amount C detected by the horizontal sensor increases linearly proportionally. Become.

Then, the strain amount C with respect to the change of the angle A is
The change amount ΔC of the strain amount B is larger than the change amount ΔB of the strain amount B. Predetermined equations hold for the numerical values F, A, B, and C. Further, the angle A can be known by obtaining the ratio between the strain amount B and the strain amount C. In the second embodiment, it is also possible to measure muscle force under an open motor chain in which the main muscle and the antagonist muscle are separately contracted to the patient.

In the third embodiment shown in FIG. 12, the foot receiving body 7 according to the first embodiment is replaced with a double foot receiving body 78 which integrally has left and right foot receiving portions 55. The bipedal support 78 includes the left and right foot support portions 55, a central body portion 77 that supports the left and right foot support portions 55, and the left and right connecting portions of the central body portion 77 that are connected to the rotating body 6 at the base end position. The supported portion 66.

In measuring or exercising the closed motor chain according to the third embodiment, the left and right lower limbs are simultaneously measured or exercised in the same direction. In the case where the sensor unit 27 is provided on each of the left and right foot receiving portions 55 of the double foot receiving body 78, the muscle force of the left and right lower limbs acting on the left and right foot receiving portions 55 is individually detected.

[0070]

According to the present invention, the pressing point 26 of the foot receiving portion 55 of the foot receiving body 7 is provided at a position eccentric from the center of rotation of the foot receiving body 7, and the sensor section 27 is extended in the knee extension / flexion direction. It is provided so as to be rotatable and to detect a force in a direction following the extending direction of the body portion 56 of the foot receiver 7. In the conventional technology, the force in the direction perpendicular to the pedal surface is estimated from the rotational torque applied to the crank and the angle formed by the pedal and the crank.
Although this is the human muscular strength, the direction in which the human exerts the force is not always perpendicular to the pedal surface, so the measured value was inaccurate, but in the present invention, under the closed motor chain,
This is convenient because the lower limb muscle strength can be accurately measured without placing a burden on the knee.

Further, according to the present invention, the practitioner can instruct the optimal training amount, so that the muscle strength of the patient can be surely strengthened, and the patient misunderstands that the training is proper, and the excessive training leads to the ligaments and muscles. It is safe and convenient because there is no possibility of damaging the

The present invention is based on the sole receiving portion (5) of the foot receiving body (7).
Since the pressing point (26) of 5) is provided at a position eccentric from the center of rotation of the foot receiving body (7), the sensor portion 27 provided on the body placement fixing means 1 is The force in the direction of extension can be accurately detected, and the force in the direction along the extending direction of the body portion 56 of the foot receiver 7 can be accurately detected, and the closed kinematic chain movement can be accurately measured. Training is convenient and convenient.

In the present invention, the foot support 5 is the sensor portion 2
Since the rotating body 6 having at least one set of 7 is provided and the muscle force can be detected under the open motion chain, the conventional measurement of the muscle force under the open motion chain is also possible. Since it is possible, grasp the correlation from the two measurement results output in the open motor chain and the closed motor chain, process the muscle strength evaluation performed under the closed motor chain based on the correlation, It can be used as a muscle strength evaluation under the open motor chain. That is, the measurement value of the open kinematic chain can be known only by the measurement of the safe closed kinematic chain, which does not place a burden on the knee, and the number of measurement steps can be saved, which is convenient.

According to the present invention, since the sensor portion 27 is provided on the rotating foot support 7, the structure of the foot support 5 can be simplified, and the manufacturing cost can be reduced and the manufacturing cost can be reduced. Is.

Since the foot support 5 according to the present invention is configured to support the foot support 7 simultaneously on the left and right sides, the muscle strengths of the left and right legs can be measured simultaneously or alternately, which is convenient.

Since the foot support 7 according to the present invention has a structure in which the left and right foot supports 7 are independently rotatable, it is possible to perform simultaneous measurement even if the muscle exerting directions are different between the left and right legs, which is convenient. is there.

Since the present invention has the angle detecting means 57 for detecting the angle of the body portion 56 of the foot receiver 7, the correlation between age, sex, and physical constitution of the lower limb muscle strength is grasped. Yes, because of this correlation,
This is convenient because it allows not only a muscular strength value but also a comprehensive evaluation including the direction of muscular strength.

Since the foot support 5 according to the present invention is provided with at least the vertical sensor portion 58 for detecting the vertical force and the left and right sensor portion 59 for detecting the horizontal force, It is convenient because it can measure lower limb muscular strength and direction of muscular strength with a simple structure.

The foot receiving portion 55 of the foot receiving body 7 according to the present invention is
Convex R surface 60 in the foot length direction and / or concave R surface 61 in the foot width direction
Therefore, the convex R surface 60 of the foot receiving portion 55 is included.
Since the shape of is similar to the shape of a human sole having a concave R-shaped shape in the center, positioning is easy, and the direction of the foot is substantially forward, which improves reproducibility during measurement, which is convenient. Also,
This is convenient because there is no discomfort when force is applied and measurement is easy.

The foot rest portion 55 of the foot rest 7 according to the present invention is
Foot alignment irregularities 67 and / or slip prevention irregularities 62
Therefore, since it is possible to perform visual alignment to a suitable position and it is difficult to slip, the reproducibility at the time of measurement is high and therefore the reliability of the measured value is high, which is convenient.

The foot rest portion 55 of the foot rest 7 according to the present invention is
The structure is fixed or rotatable. In the case of the structure that can be fixed, the correlation between the ankle joint angle and the exerted muscle strength value can be grasped from the measurement result for each angle of the ankle joint, and the foot receiving portion 55 is set so that the ankle joint angle is the most comfortable for the patient to exert force. It can be set, which is convenient. Further, in the case of a rotatable structure, the muscle force in the same direction as the extension direction of the lower limbs can be measured, and the accurate muscle force of the lower limbs can be measured, which is convenient.

In the seated position according to the present invention, since the gripping body 8 capable of assuming the forward leaning posture is provided on the seat frame 63, the muscles are put in an appropriate posture, and the muscles are more effective for the knees. This makes it possible to exercise safely, which is convenient.

Since the grip body 8 according to the present invention is a handrail which is projected forward from both sides of the seat portion seat 3,
The patient can hold the holding body 8 stably, has no discomfort, and is convenient.

A person sitting on the seat 3 according to the present invention,
Since the gripper side part 64 integrated with the gripper 8 is provided on the side part of the seat part seat 3 so as to be able to take the vertical position in the sitting position, the structure is simple, the manufacturing cost is reduced, and the manufacturing cost is low, which is convenient. Is.

According to the present invention, in the sitting position, the muscle force of the closed motor chain is measured in the forward leaning posture, or the muscle force of the closed motor chain in the vertical posture is measured. By performing the measurement, the estimation unit 47 for estimating the muscular strength value of the forward leaning posture or the vertical posture, whichever is not measured, is provided. Since it is possible to measure muscle strength in a vertical position, it is possible to understand the correlation between the two positions in the measurement results output in the vertical position or the forward leaning position, and it is safer for the knee. This is convenient because it is possible to estimate the muscle strength value (= maximum muscle strength value) in the vertical position simply by measuring the muscle strength with.

[Brief description of drawings]

FIG. 1 is a front view of a first embodiment of the present invention.

FIG. 2 is a side view of the first embodiment of the present invention.

FIG. 3 is a diagram showing a rotating body of a foot support according to the first embodiment of the present invention.

FIG. 4 is a front view showing a foot receiver according to the first embodiment of the present invention.

FIG. 5 is a side view showing the foot receiver according to the first embodiment of the present invention.

FIG. 6 is a plan view showing a foot receiver according to the first embodiment of the present invention.

FIG. 7 is a block diagram showing an electrical configuration of the first embodiment of the present invention.

FIG. 8 is a perspective view showing an ankle receiver according to the first exemplary embodiment of the present invention.

FIG. 9 is a side view showing a measuring unit according to a second embodiment of the present invention.

FIG. 10 is a front view showing a measuring unit according to a second embodiment of the present invention.

FIG. 11 is a sectional view showing a sensor unit according to a second embodiment of the present invention.

FIG. 12 is a front view showing a third embodiment of the present invention.

[Explanation of symbols]

2 frame body 5 foot support 6 rotating body 7 foot receiver 8 gripping body 26 pressure points 27 Sensor section 47 Guessing means 55 Foot sole receiving part 56 body part 57 Angle detector 58 Vertical sensor section 59 Left and right sensor section 60 convex R surface 61 concave R surface 62 Anti-slip unevenness 63 seat frame 64 gripper side 67 foot alignment bumps

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Claims (15)

[Claims] 1. A foot support (7) on which the end of a foot acts, a foot support (5) supporting the foot support (7), and a frame body (5) supporting the foot support (5). 2) and a sensor part (27) for detecting the force of the sole of the foot, and the sensor part (27) includes a rotatable foot support (5) or a swivel support so that the force of the sole of the foot can be detected. Free foot support (7)
A closed kinematic chain exerciser characterized by being provided in. 2. The pressing point (26) of the sole receiving portion (55) of the foot receiving body (7) is provided at a position eccentric from the center of rotation of the foot receiving body (7). The closed kinematic chain exerciser according to claim 1. 3. A rotating body (6) held by a foot support (5)
3. The closed kinematic chain exerciser according to claim 2, further comprising at least one pair of sensor portions (27), which is capable of detecting muscle force under an open kinematic chain. 4. A sensor part (2) is attached to a rotating foot support (7).
The closed kinematic chain exerciser according to claim 2, further comprising 7). 5. The closed kinematic chain exerciser according to claim 3, wherein the foot support (5) is configured to support the foot support (7) simultaneously on the left and right. 6. The closed kinematic chain exerciser according to claim 2, wherein the foot support (7) is rotatably supported by the foot support (5) independently of left and right. . 7. The closed kinematic chain exerciser according to claim 1, further comprising an angle detector (57) for detecting an angle of a body portion (56) of the foot support (7). 8. (Upper and lower sensor parts and left and right sensor parts on foot support) Foot support (7), foot support (5) for supporting foot support (7), and foot support ( 5) is composed of a frame body (2) that supports the force and a sensor part (27) that detects the force of the sole of the foot. The foot support (5) detects at least a vertical force, that is, a bending force. A closed kinematic chain exercising device provided with an up / down sensor part (58) and a left / right sensor part (59) for detecting a lateral force, that is, a twisting force. 9. The sole receiving portion (55) of the foot receiving body (7),
The closed kinematic chain exerciser according to claim 1, which has a convex R surface (60) in the foot length direction and / or a concave R surface (61) in the foot width direction. 10. The sole receiving portion (55) of the foot receiving body (7).
2. The closed kinematic chain exerciser according to claim 1, wherein the foot positioning unevenness (67) and / or the slip preventing unevenness (62). 11. The sole receiving portion (55) of the foot receiver (7).
10. The closed kinematic chain exerciser according to claim 8, which is configured to be fixed or rotatable. 12. The closed kinematic chain exerciser according to claim 1, wherein the seat frame (63) is provided with a gripping body (8) that allows a patient to assume a forward leaning posture in a sitting position. 13. The gripper (8) is a handrail.
The closed motor chain exercising machine according to 1. 14. The gripper side (64) for gripping the patient so that the patient can also assume a vertical position in a sitting position is a gripper (8).
13. The closed kinematic chain exerciser according to claim 12, wherein the kinematic chain exerciser is provided integrally on the side of the seat frame (63). 15. In the sitting position, the muscular strength of the closed motor chain is measured in the forward leaning posture, or the muscular strength of the closed motor chain in the vertical posture is measured, or one of the muscular strength is measured. 14. The closed motor chain movement exerciser according to claim 13, further comprising: an estimation unit (47) that estimates the muscle strength value of the forward leaning posture or the vertical posture using the measured value, whichever is not measured.