JP2004089616A - Joint drive assembly - Google Patents

Joint drive assembly Download PDF

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JP2004089616A
JP2004089616A JP2002258727A JP2002258727A JP2004089616A JP 2004089616 A JP2004089616 A JP 2004089616A JP 2002258727 A JP2002258727 A JP 2002258727A JP 2002258727 A JP2002258727 A JP 2002258727A JP 2004089616 A JP2004089616 A JP 2004089616A
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toe
joint
foot
holder
cuff
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JP2002258727A
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JP4085422B2 (en
Inventor
Toshiya Miyamura
宮村　俊哉
Shinji Murai
村井　真二
Masashi Kondo
近藤　正志
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Yaskawa Electric Corp
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Yaskawa Electric Corp
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Abstract

<P>PROBLEM TO BE SOLVED: To provide a joint drive assembly which enables bending and stretching of toes as well as plantar flexion and dorsiflexion of a foot joint at the same time, to make improvement of arthrogryposis in the foot and toe joints simultaneously. <P>SOLUTION: This joint drive assembly, designed to support a human foot joint and to allow it to move passively for rehabilitation, is provided with a base 10, a foot holder 11, a shin cuff 14, an instep cuff 13, and a foot holder drive means 21 which makes the foot holder 11 rockable about a foot joint shaft 20. It is also provided with a toe section holder 31 holding a toe section 102 and made rockable about a toes' second joint shaft 30, a toe section cuff 33 provided on the toe section holder 31, and a toe section holder drive means 32 engaged with the toe section holder 11. <P>COPYRIGHT: (C)2004,JPO

Description

【０００１】
【発明の属する技術分野】
本発明は、例えば脳血管疾患や整形外科疾患のリハビリテーションにおいて、足関節の関節可動域訓練、筋力増強訓練、持続力増強訓練など訓練のための関節の他動運動又は自動運動を行う関節駆動装置に関する。
【０００２】
【従来の技術】
人の足関節を保持し受動的に運動させることでリハビリテーションを行う足関節駆動装置として、従来の関節駆動装置は、足裏を押す運動としょう骨（かかと）を身体下方へ引き下げる運動を同時に行うような装置が提案されている。すなわち、図７および図８において、足部ホルダ１１に設けられたしょう骨把持部１２がカフ１３によって足部ホルダ１１に拘束された足部１０１のしょう骨を前記足部１０１の幅方向両側から挟むことにより、前記足部ホルダ１１は足関節軸２０まわりに足部ホルダ駆動手段２１によって揺動され、足関節周りの運動を適正に行うことができるというものである（特許文献１参照）。
【０００３】
【特許文献１】
特開平１１−８９８９７号公報
【０００４】
【発明が解決しようとする課題】
一般的に足関節の機能回復訓練において実際に理学療法士が徒手で施術するリハビリテーションでは、足関節の底屈・背屈を他動的に行う際に、より訓練効果を高めるため足指の屈曲・伸展運動もあわせて同時に行っている。
しかしながら、上記従来装置では、足関節周りの揺動運動は可能であるが、足指の屈曲・伸展運動が可能な構造が具備されておらず、上記のような理学療法士が実際に行う足関節の訓練パターンを実現できないため、尖足などの足関節の拘縮は改善されるものの、足指の屈曲拘縮、鷲爪変形等の関節拘縮が改善されず、正常な歩行パターンが実現されないという問題点があった。したがって、本発明の目的は、足関節の底屈・背屈運動と同時に足指の屈曲・伸展運動もあわせて行うことができ、足関節と足指の関節拘縮を同時に改善できる足関節駆動装置を提供することである。
【０００５】
【課題を解決するための手段】
上記問題を解決するため、請求項１記載の関節駆動装置は、下腿部（１００）を保持するベース（１０）と、足部（１０１）を保持する足部ホルダ（１１）と、前記ベース（１０）に設けられた脛部カフ（１４）と、前記足部ホルダ（１１）に設けられた足甲部カフ（１３）と、足関節軸（２０）を回転中心として前記足部ホルダ（１１）を揺動させる足部ホルダ駆動手段（２１）とを備え、人の足関節を保持し受動的に運動させるリハビリテーションを行う関節駆動装置において、足指部（１０２）を保持し、かつ足指第２関節軸（３０）を回転中心として揺動可能に設けられた足指部ホルダ（３１）と、前記足指部ホルダ（３１）に設けられた足指部カフ（３３）と、前記足部ホルダ（１１）に係合された足指部ホルダ駆動手段（３２）とを有することを特徴とするものである。
請求項１記載の関節駆動装置によれば、足関節の底屈・背屈運動と同時に足指の屈曲・伸展運動もあわせて行うことができる。
【０００６】
請求項２記載の関節駆動装置は、下腿部（１００）を保持するベース（１０）と、足部（１０１）を保持する足部ホルダ（１１）と、前記ベース（１０）に設けられた脛部カフ（１４）と、前記足部ホルダ（１１）に設けられた足甲部カフ（１３）と、足関節軸（２０）を回転中心として前記足部ホルダ（１１）を揺動させる足部ホルダ駆動手段（２１）とを備え、人の足関節を保持し受動的に運動させるリハビリテーションを行う関節駆動装置において、足指部（１０２）を保持し、かつ足指第２関節軸（３０）を回転中心として揺動可能に設けられた足指部ホルダ（３１）と、前記足指部ホルダ（３１）の両側面もしくは片側面にその回転中心が前記足指第２関節軸（３０）と平行となるように係合された足指部ヒンジＢ（４３）と、前記足指部ヒンジＢ（４３）に係合されたＬ字形状のバー（４１）と、前記バー（４１）を前記足指第２関節軸（３０）と平行な足指回転軸（４０）まわりに揺動可能かつ前記足指回転軸（４０）と直交する方向に直動可能に支持するために前記ベース（１０）に係合されたジョイント（４２）を有し、前記ジョイント（４２）の位置を変更可能に前記ベース（１０）に係合されていることを特徴とするものである。
請求項２記載の関節駆動装置によれば、前記足部ホルダ駆動手段２１一つにより、足関節の底屈・背屈運動と足指の屈曲・伸展運動を同時に与えることが可能になるとともに、患者によって足指の屈曲・伸展角度を調節することができ、各々の患者に最適な運動を与えることが可能になる。
【０００７】
請求項３記載の関節駆動装置は、前記足部ホルダ（１１）に足長方向に直動可能なスライド部（５０）と、前記スライド部（５１）の係止機構（５１）とを備えたことを特徴とするものである。
請求項３記載の関節駆動装置によれば、患者の足の大きさにあわせて足指の揺動運動中心を調整することができ、各々の患者に最適な運動を与えることが可能になる。
【０００８】
【発明の実施の形態】
（実施例１）本発明の第１の実施形態の関節駆動装置について図１から図３に基づいて説明する。図１は本発明の第１実施形態を示す図であり、（ａ）は正面図、（ｂ）は左側面図である。さらに図２、図３はそれぞれ第１実施形態の足指部ホルダ駆動手段３２の具体例を示す正面図である。すなわち、図１の（ａ）または（ｂ）に示す下腿部１００を保持するためのベース１０と、足部１０１を保持するための足部ホルダ１１と、ベース１０と足部ホルダ１１にそれぞれ設けられた脛部カフ１４と足甲部カフ１３と、ベース１０に固定され足部ホルダ１１を足関節軸２０を回転中心として揺動させるための足部ホルダ駆動手段２１によって構成し、さらに足部ホルダ１１先端に、足指部１０２を保持し、かつ足指第２関節軸３０を回転中心として揺動可能に設けられた足指部ホルダ３１と、足指部ホルダ３１に設けられた足指部カフ３３と、足部ホルダ１１に係合された足指部ホルダ駆動手段３２によって構成する。
【０００９】
この実施の形態において、ベース１０に設けられた脛部カフ１４により患者の訓練肢の下腿部１００が、また足部ホルダ１１と足部ホルダ１１に設けられた足甲部カフ１３により患者の訓練肢の足部１０１がそれぞれ保持・固定される。さらに、足指部ホルダ３１と足指部カフ３３により患者の訓練肢の足指部１０２が保持・固定される。この状態で、足部ホルダ１１に保持・固定された足部１１が、足関節軸２０を回転中心として足部ホルダ駆動手段２１により揺動されることで、足関節の底屈・背屈運動が実現できる。
なお、この足部ホルダ駆動手段２１は、例えば特開平１１−８９８９７号にあるように、回転駆動器の正逆方向の回転運動を減速ギヤ、駆動プーリ、駆動ベルト、および従動プーリを介して減速・伝達して足部ホルダ１１を揺動させるものである。あるいは、実登２５９４９４４号にあるように、直動駆動器の両端をベース１０と足部ホルダ１１にそれぞれ回動可能に支持し、直動駆動器の並進運動を足関節軸２０を回転中心とした回転運動に変換することで足部ホルダ１１を揺動させるものでもよい。一方、足指部ホルダ３１に保持・固定された足指部１０２は、足指第２関節軸３０を回転中心として、足部ホルダ１１に係合された足指部ホルダ駆動手段３２により揺動される。この足指部ホルダ駆動手段３２の具体例を図２と図３に示す。すなわち、図２における足指部ホルダ駆動手段は、足部ホルダ１１にその回転中心が足指第２関節軸３０と平行になるように係合された回転駆動器３００と、減速機（図示しない）、駆動プーリ（図示しない）、伝動ベルト３０１、および従動プーリ（図示しない）によって構成されるものである。
【００１０】
この実施の形態によれば、回転駆動器３００の正逆方向の回転運動を、減速機、駆動プーリ、伝動ベルト３０１、および従動プーリを介して減速・伝達して、足指部ホルダ３１を足指第２関節軸３０を回転中心として揺動させることで、足指の屈曲・伸展運動を実現することができる。
なお、この場合の回転駆動器としては、インバーター式交流電動機や交流サーボ電動機等の電動式あるいは油圧モーター等の油圧式を用いることができる。さらに減速・伝達手段の別の態様としては、回転駆動器３００を足指第２関節軸３０と平行になるように係合し減速機と複数個よりなる平歯車列（図示しない）を介して揺動させるもの、回転駆動器３００を足指第２関節軸３０と直交するように係合し減速機とかさ歯車（図示しない）を介して揺動させるもの、あるいは回転駆動器３００を足指第２関節軸３０と同一軸上に係合し減速ギヤ（図示しない）を介して揺動させるものを用いてもよい。
【００１１】
また、図３における足指部ホルダ駆動手段は、直動駆動器３１０と、その回転中心が足指第２関節軸３０と平行となるように足部ホルダ１１に係合された足部ヒンジ３１１と、同じくその回転中心が足指第２関節軸３０と平行となるように足指部ホルダ３１に係合された足指部ヒンジＡ３１２によって構成され、直動駆動器３００の両端が足部ヒンジ３１１と足指部ヒンジＡ３１２により回動可能に支持されるものである。
【００１２】
この実施の形態によれば、直動駆動器３１０の並進運動を足指第２関節軸３０を回転中心とした回転運動に変換し、足指部ホルダ３１を揺動させることで、足指の屈曲・伸展運動を実現することができる。
なお、この場合の直動駆動器としては、交流サーボ電動機にボールネジ機構を組み合わせたものや交流リニアサーボ電動機等の電動式あるいは油圧シリンダ等の油圧式を用いることができる。
以上のように、この実施の形態の関節駆動装置によれば、足部ホルダ１１を足部ホルダ駆動手段２１で、足指部ホルダ３１を足指部駆動手段３２でそれぞれ揺動することで、足関節の底屈・背屈運動と同時に足指の屈曲・伸展運動もあわせて行うことができ、足関節と足指の関節拘縮を同時に改善できる足関節駆動装置を提供することができる。
【００１３】
（実施例２）次に本発明の第２の実施形態の関節駆動装置について図４と図５に基づいて説明する。図４は本発明の第２実施形態を示す図であり、（ａ）は正面図、（ｂ）は左側面図である。また図５は第２実施形態による訓練中の足部ホルダ揺動角度別の形態を示す図である。図４の（ａ）または（ｂ）において、前述の第１実施形態と同様、ベース１０に設けられた脛部カフ１４により患者の訓練肢の下腿部１００が、またベース１０に訓練肢の足関節軸２０を回転中心として揺動可能に係合された足部ホルダ１１と足部ホルダ１１に設けられた足甲部カフ１３により患者の訓練肢の足部１０１がそれぞれ保持・固定される。さらに、足部ホルダ１１先端に患者の訓練肢の足指第２関節軸３０を回転中心として揺動可能に係合された足指部ホルダ３１と足指部ホルダ３１に設けられた足指部カフ３３により患者の訓練肢の足指部１０２が保持・固定される。このような状態において、足部ホルダ１１に保持・固定された足部１０１が、足関節軸２０を回転中心として、ベース１０に係合された足部ホルダ駆動手段２１により揺動されることで、足関節の底屈・背屈運動が実現できる。
【００１４】
この足部ホルダ駆動手段２１は、前述の第１実施形態と同様に、例えば特開平１１−８９８９７号や実登２５９４９４４号にあるような構成により足部ホルダ１１を揺動させるものである。一方、足指部１０２を保持する足指部ホルダ３１の両側面にはその回転中心が足指第２関節軸３０と平行となるように足指部ヒンジＢ４３が係合されており、さらに当該する足指部ヒンジＢ４３にはＬ字形状のバー４１が係合されている。また、ベース１０にはバー４１を足指第２関節軸３０と平行な足指回転軸４０まわりに揺動可能かつ足指回転軸４０と直交する方向に直動可能に支持するためのジョイント４２がその位置を変更可能な手段をもって係合されている。その際、当該するジョイント４２は足関節軸２０よりも足指部１０２に近い側に必ず係合される。なお、これら当該する足指部ヒンジＢ４３、バー４１およびジョイント４２は、その機械的強度が足指部の運動を実現するに十分な場合は、足指部ホルダ３１およびベース１０の片側面のみに係合する形態としても良い。
【００１５】
以上の実施形態による各構成要素の動作を図５により説明する。すなわち、中央の図（２）は患者の治療肢の足関節の角度が自然状態の時を示しており、この状態で患者の治療肢の足指の角度が自然な状態となるように、まずバー４１をジョイント４２部で直動させその位置を定める。この状態から左の図（３）のように足関節を背屈させる方向に足部ホルダ駆動手段２１により足部１０１を足関節軸２０回りに揺動させると、バー４１とジョイント４２の位置関係より、足部１０１の揺動運動に連動して足指部ホルダ３１が足指部１０２を伸展させる方向に揺動される。
さらに、自然状態を経て、右の図（１）のように足関節を底屈させる方向に足部ホルダ駆動手段２１により足部１０１を足関節軸２０回りに揺動させると、バー４１とジョイント４２の位置関係より、足部１０１の揺動運動に連動して足指部ホルダ３１が足指部１０２を屈曲させる方向に揺動される。また、ジョイント４２の係合位置を変えることで、足部１０１の揺動運動に連動して行われる足指部１０２の揺動運動角度が所望の角度に設定される。
【００１６】
この実施の形態の関節駆動装置によれば、足部ホルダ駆動手段２１により足部ホルダ１１を揺動運動させることで、足関節の底屈・背屈運動と足指の屈曲・伸展運動を同時に与えることが可能になるとともに、ジョイント４２の係合位置を調整することで患者によって足指の屈曲・伸展角度を調節することができ、各々の患者に最適な運動を与えることが可能になる。
【００１７】
（実施例３）次に本発明の第３の実施形態について図６に基づいて説明する。
図６は本発明の第３実施形態を示す図であり、（ａ）は正面図、（ｂ）は左側面図である。図６の（ａ）または（ｂ）において、足部ホルダ１１には足長方向に直動可能なスライド部５０とその係止機構５１が備えられている。この場合の直動機構はスライド部５０の断面形状を足部ホルダ１１の断面形状よりも少し大きい相似形とし、かつスライド部５０と足部ホルダ１１を摺動材料で構成する簡易な機構、あるいはスライド部と足部ホルダを直線案内軸受を介して係合する機構などを用いることができる。また係止機構５１はスライド部５０に設けられる足長方向のストロークと同等の長さを有する長穴部と足部ホルダ１１に具備されるネジ部などにより構成することができる。以上の構成により、患者の足長が異なる場合にスライド部５０を足長方向に直動させることで足指第２関節軸３０の位置合わせを行い、係止機構５１により位置固定することができる。
この実施の形態の関節駆動装置によれば、患者の足の大きさにあわせてスライド部５０を動かすことで足指の揺動運動中心を調整することができ、各々の患者に最適な運動を与えることが可能になる。
【００１８】
【発明の効果】
請求項１記載の関節駆動装置によれば、足部ホルダを足部ホルダ駆動手段で、足指部ホルダを足指部駆動手段でそれぞれ揺動することで、足関節の底屈・背屈運動と同時に足指の屈曲・伸展運動もあわせて行うことができ、足関節と足指の関節拘縮を同時に改善できる足関節駆動装置を提供することができる。
請求項２記載の関節駆動装置によれば、足部ホルダ駆動手段により足部ホルダを揺動運動させることにより、足関節の底屈・背屈運動と足指の屈曲・伸展運動を同時に与えることが可能になるとともに、ジョイントの係合位置を調整することで患者によって足指の屈曲・伸展角度を調節することができ、各々の患者に最適な運動を与えることが可能になる。
請求項３記載の関節駆動装置の関節駆動装置によれば、患者の足の大きさにあわせてスライド部を動かすことで足指の揺動運動中心を調整することができ、各々の患者に最適な運動を与えることが可能になる。
【図面の簡単な説明】
【図１】本発明の第１の実施形態の関節駆動装置を示す図であり、（ａ）が正面図、（ｂ）が左側面図である。
【図２】本発明の第１の実施形態の関節駆動装置の足指ホルダ駆動手段の第一の具体例を示す正面図である。
【図３】本発明の第１の実施形態の関節駆動装置の足指ホルダ駆動手段の第二の具体例を示す正面図である。
【図４】本発明の第２の実施形態の関節駆動装置を示す図であり、（ａ）が正面図、（ｂ）が左側面図である。
【図５】本発明の第２の実施形態の関節駆動装置による訓練中の足部ホルダ揺動角度別の形態を示す図である。
【図６】本発明の第３の実施形態の関節駆動装置を示す図であり、（ａ）が正面図、（ｂ）が左側面図である。
【図７】従来の関節駆動装置を示す斜視図である。
【図８】従来の関節駆動装置を示す右側面図である。
【符号の説明】
１０：ベース
１１：足部ホルダ
１２：しょう骨把持部
１３：足甲部カフ
１４：脛部カフ
２０：足関節軸
２１：足部ホルダ駆動手段
３０：足指第２関節軸
３１：足部ホルダ
３２：足指部ホルダ駆動手段
３３：足指部カフ
４０：足指回転軸
４１：バー
４２：ジョイント
４３：足指部ヒンジＢ
５０：スライド部
５１：係止機構１００：下腿部
１００：下腿部
１０１：足部
１０２：足指部
３００：回転駆動器
３０１：伝動ベルト
３１０：直動駆動器
３１１：足部ヒンジ
３１２：足指部ヒンジＡ[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a joint drive device that performs passive or automatic movement of a joint for training such as range of motion exercise of an ankle joint, training for strengthening muscle strength, training for enhancing sustaining strength, for example, in rehabilitation of cerebrovascular disease or orthopedic disease. About.
[0002]
[Prior art]
As an ankle drive device that performs rehabilitation by holding a person's ankle joint and passively exercising, a conventional joint drive device simultaneously performs an exercise of pushing the sole of the foot and an exercise of pulling the calcaneus (heel) down the body. Such an apparatus has been proposed. In other words, in FIGS. 7 and 8, the calcaneus grasping portion 12 provided on the foot holder 11 moves the calcaneus of the foot 101 restrained to the foot holder 11 by the cuff 13 from both sides in the width direction of the foot 101. By pinching, the foot holder 11 is swung around the foot joint axis 20 by the foot holder driving means 21 so that the movement around the foot joint can be appropriately performed (see Patent Document 1).
[0003]
[Patent Document 1]
JP-A-11-89897
[Problems to be solved by the invention]
Generally, in rehabilitation in which a physiotherapist manually performs an ankle joint function recovery training, the toe flexion is performed to increase the training effect when passively performing plantar flexion and dorsiflexion of the ankle joint. -The extension movement is also being carried out at the same time.
However, in the above-mentioned conventional device, a rocking motion around the ankle joint is possible, but a structure capable of bending / extending the toes is not provided. Since the joint training pattern cannot be realized, the contracture of the ankle joint such as the tiptoe is improved, but the joint contracture such as the flexion contracture of the toe and the deformed eagle nail is not improved, and a normal walking pattern is realized. There was a problem that it was not done. Accordingly, it is an object of the present invention to provide an ankle joint drive which can simultaneously perform the flexion and extension movement of the toes simultaneously with the plantar flexion and dorsiflexion movements of the ankle joint, and can simultaneously improve the joint contracture of the ankle joint and the toe. It is to provide a device.
[0005]
[Means for Solving the Problems]
In order to solve the above problem, the joint driving device according to claim 1, wherein a base (10) for holding a lower leg (100), a foot holder (11) for holding a foot (101), and the base. A shin cuff (14) provided in (10), an instep cuff (13) provided in the foot holder (11), and the foot holder ( 11) A joint drive device for rehabilitation, which holds a human ankle joint and passively exercises, by holding a toe part (102) and a foot A toe holder (31) provided to be swingable about the second finger joint axis (30) as a center of rotation, a toe cuff (33) provided to the toe holder (31), Toe holder driving means (32) engaged with the foot holder (11) It is characterized in that it has a.
According to the joint drive device of the first aspect, the flexion and extension of the toes can be performed simultaneously with the plantar flexion and dorsiflexion of the ankle.
[0006]
The joint drive device according to claim 2 is provided on the base (10) for holding the lower leg (100), the foot holder (11) for holding the foot (101), and the base (10). A shin cuff (14), an instep cuff (13) provided on the foot holder (11), and a foot for swinging the foot holder (11) about the ankle axis (20) as a center of rotation. A joint drive device for performing rehabilitation for passively exercising and holding a human ankle joint, comprising: a toe part (102); and a toe second joint shaft (30). ), The toe holder (31) provided to be swingable about the rotation center, and the rotation center of the toe second joint shaft (30) on both side surfaces or one side surface of the toe holder (31). And a toe hinge B (43) engaged in parallel with An L-shaped bar (41) engaged with a toe hinge B (43), and the bar (41) is rotated around a toe rotation axis (40) parallel to the toe second joint axis (30). A joint (42) engaged with the base (10) to support the base (10) so as to be swingable and linearly movable in a direction perpendicular to the toe rotation axis (40). It is characterized in that it is engaged with the base (10) so that its position can be changed.
According to the joint driving device of the second aspect, it is possible to simultaneously give the plantar flexion / dorsiflexion motion of the ankle joint and the flexion / extension motion of the toe by one foot holder driving means 21, The flexion and extension angle of the toes can be adjusted by the patient, and each patient can be given an optimal exercise.
[0007]
The joint drive device according to claim 3, the foot holder (11) includes a slide portion (50) that can directly move in a foot length direction, and a locking mechanism (51) of the slide portion (51). It is characterized by the following.
According to the joint drive device of the third aspect, the center of the swing motion of the toes can be adjusted in accordance with the size of the patient's foot, and it is possible to give an optimal exercise to each patient.
[0008]
BEST MODE FOR CARRYING OUT THE INVENTION
(Embodiment 1) A joint driving apparatus according to a first embodiment of the present invention will be described with reference to FIGS. 1A and 1B are diagrams showing a first embodiment of the present invention, wherein FIG. 1A is a front view, and FIG. 1B is a left side view. 2 and 3 are front views each showing a specific example of the toe holder driving means 32 of the first embodiment. That is, a base 10 for holding the lower leg 100 shown in FIG. 1A or 1B, a foot holder 11 for holding the foot 101, and a base 10 and the foot holder 11 respectively. A shin cuff 14 and an instep cuff 13 are provided, and a foot holder driving means 21 fixed to the base 10 for swinging the foot holder 11 about the ankle joint shaft 20 as a center of rotation. At the tip of the part holder 11, a toe part holder 31 is provided which holds the toe part 102 and is swingable around the second joint axis 30 of the toe, and a foot provided on the toe part holder 31. It comprises a finger cuff 33 and a toe holder driving means 32 engaged with the foot holder 11.
[0009]
In this embodiment, the lower leg 100 of the patient's training limb is provided by the shin cuff 14 provided on the base 10, and the patient's lower leg 100 is provided by the foot holder 11 and the instep cuff 13 provided on the foot holder 11. The legs 101 of the training limbs are held and fixed, respectively. Further, the toe part 102 of the training limb of the patient is held and fixed by the toe part holder 31 and the toe part cuff 33. In this state, the foot 11 held and fixed to the foot holder 11 is swung by the foot holder driving means 21 about the ankle shaft 20 as a center of rotation, so that the plantar flexion / dorsiflexion of the ankle joint is achieved. Can be realized.
The foot holder driving means 21 reduces the forward and reverse rotational motion of the rotary driver through a reduction gear, a driving pulley, a driving belt, and a driven pulley, as described in, for example, Japanese Patent Application Laid-Open No. H11-89897. -It transmits and swings the foot holder 11. Alternatively, as disclosed in Japanese Utility Model No. 2594944, both ends of the linear motion driver are rotatably supported by the base 10 and the foot holder 11, respectively, and the translation motion of the linear motion driver is performed with the ankle shaft 20 as the rotation center. The rotation may be converted into a rotational motion, so that the foot holder 11 is swung. On the other hand, the toe part 102 held and fixed to the toe part holder 31 is swung about the second toe joint shaft 30 by the toe part holder driving means 32 engaged with the toe part holder 11. Is done. A specific example of the toe holder driving means 32 is shown in FIGS. In other words, the toe holder driving means in FIG. 2 includes a rotation driver 300 engaged with the foot holder 11 so that the rotation center thereof is parallel to the toe second joint shaft 30, and a reduction gear (not shown). ), A driving pulley (not shown), a transmission belt 301, and a driven pulley (not shown).
[0010]
According to this embodiment, the forward / reverse rotation of the rotary driver 300 is reduced and transmitted via the reduction gear, the drive pulley, the transmission belt 301, and the driven pulley, and the toe holder 31 is moved to the foot. By swinging the second finger joint axis 30 around the center of rotation, the bending / extending motion of the toes can be realized.
In this case, an electric motor such as an inverter-type AC motor or an AC servomotor or a hydraulic motor such as a hydraulic motor can be used as the rotary driver. As another mode of the deceleration / transmission means, the rotary drive 300 is engaged so as to be parallel to the second joint shaft 30 of the toe, and is connected via a speed reducer and a plurality of spur gear trains (not shown). A swinging device, a device in which the rotation driver 300 is engaged with the toe second joint shaft 30 so as to be orthogonal to the toe and swings via a reduction gear and a bevel gear (not shown), or the rotation driver 300 is A mechanism that coaxially engages with the second joint shaft 30 and swings via a reduction gear (not shown) may be used.
[0011]
The toe holder driving means in FIG. 3 includes a linear motion driver 310 and a foot hinge 311 engaged with the toe holder 11 such that the rotation center is parallel to the toe second joint axis 30. Similarly, a toe hinge A312 engaged with the toe holder 31 so that the center of rotation is parallel to the toe second joint axis 30 is provided. It is rotatably supported by 311 and toe hinge A312.
[0012]
According to this embodiment, the translational motion of the linear motion driver 310 is converted into a rotary motion about the toe second joint shaft 30 as a rotation center, and the toe holder 31 is swung, thereby towing the toe. Bending and extension movements can be realized.
In this case, as the direct drive, an electric motor such as an AC servomotor combined with a ball screw mechanism or an AC linear servomotor or a hydraulic motor such as a hydraulic cylinder can be used.
As described above, according to the joint driving device of this embodiment, the foot holder 11 is rocked by the foot holder driving means 21 and the toe holder 31 is rocked by the toe driving means 32, respectively. A flexion / extension motion of a toe can be performed simultaneously with a plantar flexion / dorsiflexion motion of an ankle joint, and an ankle drive device capable of simultaneously improving joint contracture of an ankle and a toe can be provided.
[0013]
(Embodiment 2) Next, a joint driving device according to a second embodiment of the present invention will be described with reference to FIGS. FIG. 4 is a view showing a second embodiment of the present invention, in which (a) is a front view and (b) is a left side view. FIG. 5 is a diagram showing another form of the foot holder swing angle during training according to the second embodiment. 4A or 4B, the lower leg 100 of the patient's training limb is attached to the base 10 by the shin cuff 14 provided on the base 10 and the training limb is attached to the base 10 as in the first embodiment. The foot 101 of the patient's training limb is held and fixed by the foot holder 11 that is swingably engaged around the ankle joint shaft 20 and the instep cuff 13 provided on the foot holder 11. . Further, a toe holder 31 and a toe provided on the toe holder 31 are engaged with the tip of the toe holder 11 so as to be swingable about the toe second joint axis 30 of the patient's training limb about the rotation center. The cuff 33 holds and fixes the toe portion 102 of the patient's training limb. In such a state, the foot 101 held and fixed to the foot holder 11 is swung by the foot holder driving means 21 engaged with the base 10 about the ankle shaft 20 as a rotation center. In addition, the plantar flexion and dorsiflexion of the ankle joint can be realized.
[0014]
As in the first embodiment, the foot holder driving means 21 swings the foot holder 11 by a configuration as disclosed in, for example, Japanese Patent Application Laid-Open No. H11-89897 or Japanese Utility Model No. 2594944. On the other hand, toe side hinges B43 are engaged with both side surfaces of the toe part holder 31 holding the toe part 102 such that the rotation center thereof is parallel to the toe second joint axis 30. An L-shaped bar 41 is engaged with the toe hinge B43. A joint 42 for supporting the bar 41 on the base 10 so as to be able to swing around a toe rotation axis 40 parallel to the toe second joint axis 30 and to be able to linearly move in a direction orthogonal to the toe rotation axis 40. Are engaged with means capable of changing their positions. At this time, the joint 42 is always engaged on the side closer to the toe portion 102 than the ankle joint shaft 20. Note that, when the mechanical strength of the toe hinge B43, the bar 41, and the joint 42 is sufficient to realize the motion of the toe, the toe hinge B43, the bar 41, and the joint 42 are provided only on one side of the toe holder 31 and the base 10. It is good also as a form which engages.
[0015]
The operation of each component according to the above embodiment will be described with reference to FIG. That is, FIG. 2B at the center shows a state in which the angle of the ankle joint of the treatment limb of the patient is in a natural state. In this state, the angle of the toe of the treatment limb of the patient is in a natural state. The bar 41 is moved directly by the joint 42 to determine its position. When the foot 101 is swung about the ankle axis 20 by the foot holder driving means 21 in the direction to dorsiflex the ankle as shown in FIG. 3C on the left from this state, the positional relationship between the bar 41 and the joint 42 is obtained. Thus, the toe holder 31 is swung in the direction in which the toe 102 is extended in conjunction with the swing movement of the foot 101.
Further, when the foot 101 is swung about the foot joint axis 20 by the foot holder driving means 21 in a direction for plantar flexion of the foot joint as shown in FIG. From the positional relationship 42, the toe holder 31 is swung in the direction in which the toe 102 is bent in conjunction with the swing movement of the foot 101. Further, by changing the engagement position of the joint 42, the swing motion angle of the toe portion 102 performed in conjunction with the swing motion of the foot portion 101 is set to a desired angle.
[0016]
According to the joint drive device of this embodiment, the foot holder 11 is caused to swing by the foot holder drive means 21 so that the plantar flexion / dorsiflexion of the ankle joint and the flexion / extension of the toe can be simultaneously performed. By adjusting the engagement position of the joint 42, the flexion / extension angle of the toes can be adjusted by the patient, and optimal movement can be given to each patient.
[0017]
(Embodiment 3) Next, a third embodiment of the present invention will be described with reference to FIG.
6A and 6B are views showing a third embodiment of the present invention, wherein FIG. 6A is a front view, and FIG. 6B is a left side view. 6A or 6B, the foot holder 11 is provided with a slide portion 50 that can move directly in the foot length direction and a locking mechanism 51 thereof. The linear motion mechanism in this case is a simple mechanism in which the cross-sectional shape of the slide portion 50 is similar to the cross-sectional shape of the foot holder 11 and is slightly larger than the cross-sectional shape of the foot portion holder 11, and the slide portion 50 and the foot holder 11 are made of a sliding material. A mechanism that engages the slide portion and the foot holder via a linear guide bearing can be used. In addition, the locking mechanism 51 can be configured by a long hole portion provided on the slide portion 50 and having a length equivalent to the stroke in the foot length direction, a screw portion provided on the foot portion holder 11, and the like. According to the above configuration, when the foot length of the patient is different, the slide portion 50 is directly moved in the foot length direction to align the toe second joint shaft 30, and the position can be fixed by the locking mechanism 51. .
According to the joint driving device of the present embodiment, the center of the swing motion of the toes can be adjusted by moving the slide portion 50 in accordance with the size of the patient's foot, and the optimal motion for each patient can be adjusted. It becomes possible to give.
[0018]
【The invention's effect】
According to the joint driving device of the first aspect, the foot holder is rocked by the foot holder driving means, and the toe holder is rocked by the toe driving means, so that the plantar flexion / dorsiflexion motion of the ankle joint is achieved. At the same time, a flexion / extension movement of the toes can be performed at the same time, and an ankle drive device capable of simultaneously improving joint contracture between the ankle and the toe can be provided.
According to the joint driving device of the second aspect, the foot holder driving means swings the foot holder, thereby simultaneously providing plantar flexion / dorsiflexion of the ankle joint and flexion / extension of the toe. By adjusting the engagement position of the joint, the flexion / extension angle of the toes can be adjusted by the patient, and optimal movement can be given to each patient.
According to the joint driving device of the third aspect of the present invention, the center of the swing motion of the toes can be adjusted by moving the slide portion in accordance with the size of the patient's foot, which is optimal for each patient. Exercise can be given.
[Brief description of the drawings]
FIG. 1 is a view showing a joint driving device according to a first embodiment of the present invention, wherein (a) is a front view and (b) is a left side view.
FIG. 2 is a front view showing a first specific example of a toe holder driving unit of the joint driving device according to the first embodiment of the present invention.
FIG. 3 is a front view showing a second specific example of a toe holder driving unit of the joint driving device according to the first embodiment of the present invention.
4A and 4B are diagrams showing a joint driving device according to a second embodiment of the present invention, wherein FIG. 4A is a front view and FIG. 4B is a left side view.
FIG. 5 is a diagram showing another form of a foot holder swing angle during training by the joint driving device according to the second embodiment of the present invention.
FIG. 6 is a view showing a joint driving device according to a third embodiment of the present invention, wherein (a) is a front view and (b) is a left side view.
FIG. 7 is a perspective view showing a conventional joint driving device.
FIG. 8 is a right side view showing a conventional joint driving device.
[Explanation of symbols]
10: base 11: foot holder 12: calcaneus grip 13: instep cuff 14: shin cuff 20: ankle joint axis 21: foot holder driving means 30: toe second joint axis 31: foot holder 32: Toe holder driving means 33: Toe cuff 40: Toe rotation axis 41: Bar 42: Joint 43: Toe hinge B
50: slide part 51: locking mechanism 100: lower leg 100: lower leg 101: foot 102: toe 300: rotary driver 301: transmission belt 310: linear drive 311: foot hinge 312: Toe hinge A

Claims (3)

下腿部（１００）を保持するベース（１０）と、足部（１０１）を保持する足部ホルダ（１１）と、前記ベース（１０）に設けられた脛部カフ（１４）と、前記足部ホルダ（１１）に設けられた足甲部カフ（１３）と、足関節軸（２０）を回転中心として前記足部ホルダ（１１）を揺動させる足部ホルダ駆動手段（２１）とを備え、人の足関節を保持し受動的に運動させるリハビリテーションを行う関節駆動装置において、
足指部（１０２）を保持し、かつ足指第２関節軸（３０）を回転中心として揺動可能に設けられた足指部ホルダ（３１）と、
前記足指部ホルダ（３１）に設けられた足指部カフ（３３）と、
前記足部ホルダ（１１）に係合された足指部ホルダ駆動手段（３２）とを有することを特徴とする関節駆動装置。A base (10) for holding the lower leg (100), a foot holder (11) for holding the foot (101), a shin cuff (14) provided on the base (10), and the foot An instep cuff (13) provided on the holder (11); and a foot holder driving means (21) for swinging the foot holder (11) about the ankle axis (20) as a center of rotation. In a joint drive device that performs a rehabilitation that holds a human ankle joint and passively exercises,
A toe holder (31) that holds the toe (102) and is swingably provided about the toe second joint axis (30) as a center of rotation;
A toe cuff (33) provided on the toe holder (31),
A joint drive device comprising: a toe holder driving means (32) engaged with the foot holder (11). 下腿部（１００）を保持するベース（１０）と、足部（１０１）を保持する足部ホルダ（１１）と、前記ベース（１０）に設けられた脛部カフ（１４）と、前記足部ホルダ（１１）に設けられた足甲部カフ（１３）と、足関節軸（２０）を回転中心として前記足部ホルダ（１１）を揺動させる足部ホルダ駆動手段（２１）とを備え、人の足関節を保持し受動的に運動させるリハビリテーションを行う関節駆動装置において、
足指部（１０２）を保持し、かつ足指第２関節軸（３０）を回転中心として揺動可能に設けられた足指部ホルダ（３１）と、
前記足指部ホルダ（３１）の両側面もしくは片側面にその回転中心が前記足指第２関節軸（３０）と平行となるように係合された足指部ヒンジＢ（４３）と、
前記足指部ヒンジＢ（４３）に係合されたＬ字形状のバー（４１）と、
前記バー（４１）を前記足指第２関節軸（３０）と平行な足指回転軸（４０）まわりに揺動可能かつ前記足指回転軸（４０）と直交する方向に直動可能に支持するために前記ベース（１０）に係合されたジョイント（４２）を有し、
前記ジョイント（４２）の位置を変更可能に前記ベース（１０）に係合されていることを特徴とする関節駆動装置。A base (10) for holding the lower leg (100), a foot holder (11) for holding the foot (101), a shin cuff (14) provided on the base (10), and the foot An instep cuff (13) provided on the holder (11); and a foot holder driving means (21) for swinging the foot holder (11) about the ankle axis (20) as a center of rotation. In a joint drive device that performs a rehabilitation that holds a human ankle joint and passively exercises,
A toe holder (31) that holds the toe (102) and is swingably provided about the toe second joint axis (30) as a center of rotation;
A toe hinge B (43) engaged on both side surfaces or one side surface of the toe holder (31) such that the rotation center thereof is parallel to the toe second joint axis (30);
An L-shaped bar (41) engaged with the toe hinge B (43);
The bar (41) is swingably supported around a toe rotation axis (40) parallel to the toe second joint axis (30) and linearly movable in a direction perpendicular to the toe rotation axis (40). A joint (42) engaged with said base (10) to
A joint driving device characterized in that the joint (42) is engaged with the base (10) so that the position of the joint (42) can be changed. 前記足部ホルダ（１１）に足長方向に直動可能なスライド部（５０）と、
前記スライド部（５１）の係止機構（５１）とを備えたことを特徴とする請求項１乃至２記載の関節駆動装置。A slide portion (50) that can directly move in the foot length direction on the foot holder (11);
The joint drive device according to claim 1, further comprising a locking mechanism (51) of the slide portion (51).
JP2002258727A 2002-09-04 2002-09-04 Joint drive device Expired - Fee Related JP4085422B2 (en)

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