JP2007037667A - Limb rehabilitation supporting apparatus - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a limb rehabilitation supporting apparatus which indicates a training motion by displaying an appropriate model motion corresponding to a degree of a difficulty of a handicapped person and certainly supports the training motion. <P>SOLUTION: This apparatus displays and informs the model motion which is a model of the training motion to restore a limb function for the handicapped person on a display means 1, wherein a motion supporting means 2 supports the training motion when the handicapped person executes the training motion of the limb function by referring to the model motion which is displayed and informed, a biological signal detecting means 3 detects a biological signal from the handicapped person who performs the training motion, a drive control means 6 performs the drive control of the motion supporting means 2 on the basis of the detected biological signal, and a display control means 8 controls the displaying and informing motion of the display means 1 by maintaining or correcting the model motion on the basis of the detected biological signal. Thereby, this apparatus can maintain or correct the optimum model motion corresponding to the degree of the difficulty of the handicapped person on the basis of the biological signal from the handicapped person so that the training motion of the handicapped person can be certainly supported. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a limb function recovery support device that supports a training operation for recovering the limb function of a disabled person, a patient, an elderly person, etc. (hereinafter referred to as a disabled person), and in particular, a model operation that serves as a model for recovery operation is disabled. The present invention relates to a limb body function recovery support device that displays an image that is adapted to the degree of limb body function of a person.

  In recent years, the rapid increase in the number of caregivers and the shortage of caregivers have become more serious with the rapid expansion of the birthrate and aging population. In rehabilitation to restore motor function after an accident or stroke (hereinafter referred to as rehabilitation), it is necessary to respond according to the patient's symptoms, and now it is a one-on-one by physical therapist (PT) or occupational therapist (OT). Therefore, it is expected to develop a limb function recovery support device that is a rehabilitation support robot signal using the most advanced robot technology.

  Conventionally, as this type of limb function recovery support device, there are those described in Japanese Patent Application Laid-Open No. 2002-35063 (Patent Document 1), Japanese Patent Application Laid-Open No. 2000-189475 (Patent Document 2), and other patent documents. Is shown in FIG. 6 and FIG.

  In FIG. 6, the prior art according to Patent Document 1 includes a load measuring unit 501 that measures the load generated by the limb 101 of the patient 100 that moves along a preset trajectory, and the set trajectory according to the magnitude and direction of the load. Accordingly, the teaching point update means 502 for advancing the target position of the limb body driving device, the device tip driving means 503 for driving the limb body driving device tip to the target position, and the tangential or normal component of the load with respect to the set trajectory Is provided with information presenting means 504 and 505 for presenting as visual, auditory, and tactile information.

  Based on this structure, this conventional technology is designed for relaxation, joint range of motion training, strength training, and strength training for the purpose of correcting systemic dysfunction, improving muscle and skeletal system functions, and maintaining and improving health. Limb body drive device that can easily carry out so-called exercise therapy, such as exercise training, neuromuscular re-education and other training, among so-called exercise therapy, exercise training with weak muscle force generation of the patient, that is, automatic assistance exercise Can solve the problem of vaguely exercising without being able to fully recognize the level of power that he has given himself.

  Further, in FIG. 7, the related art according to Patent Document 2 includes a mechanism unit 601 for supporting and exercising a patient's limb, a load measuring unit 602 that is provided in the mechanism 601 and measures a load applied to the patient's limb, Trajectory setting means 603 for presetting the trajectory followed by the mechanism unit 601 operating, and trajectory correcting means for correcting the set trajectory set in the trajectory setting means 603 along the magnitude and direction of the load obtained from the load measuring means 602 The trajectory correcting unit 604 receives the load information from the load measuring unit 602, and receives the load information from the load measuring unit 602. The secondary system dynamic model or virtual viscosity including the virtual inertia, virtual viscosity, and virtual stiffness of the load driven by the mechanism unit 601 is obtained. The position deviation is obtained by using a virtual impedance model having any one of the primary dynamic models composed of virtual rigidity and an arithmetic unit for calculating an integral term, and a trajectory setting means 03 orbit information by adding the position deviation which is configured to correct the trajectory.

Based on this configuration, this prior art includes a load measuring means 602 for measuring a load applied to the patient's limb, and a trajectory correcting means 604 for correcting the set trajectory along the magnitude and direction of the load. The target range of motion training and stretch training that applies a constant load to the muscles while preventing excessive overloading, while preventing sudden overload on the limbs, Can solve the conventional problem that it is insufficient to perform stretch training and the conventional problem that the limb body overshoots beyond the range of motion of the target joint during training
JP 2002-35063 A JP 2000-189475 A JP 2001-54507 A JP 2004-129698 A

  All of the prior art models can be used as models for training operations even if patients (corresponding to persons with disabilities) can recognize their own training operations and prevent the training operations from becoming a sudden overload. When the exercise cannot be displayed, the patient (corresponding to the disabled person) performs the training operation along with the movement of the apparatus tip driving unit 503 or the mechanism unit 601 along the preset trajectory when executing the training operation. Therefore, there is a problem that the training operation cannot be performed due to the muscular strength based on the patient's own will.

  In addition, there are limb function recovery support devices that display model motions as examples of training motions on the display screen and show them to patients undergoing training, but motion support (power assist) is important for rehabilitation. However, this motion support rehabilitation system has a problem that it cannot perform proper motion support according to the state of each patient, because it repeats simple motions or repeats motions taught in advance.

  The present invention has been made in order to solve the above-mentioned problems, and displays an appropriate model action according to the degree of disability of the handicapped person to instruct a training action, and assists the recovery of the limbs and functions to reliably assist this training action. An object is to provide an apparatus.

  The limb function recovery support device according to the present invention displays and / or reports a model action that is a model of a training action for recovering the limb function to a handicapped person, and displays and / or reports on the display means. When a handicapped person performs a limb body function training operation with reference to the model motion to be performed, a motion assisting means for assisting the training motion, and a biological signal detection means for detecting a biological signal from the handicapped person performing the training motion Drive control means for driving and controlling the operation assisting means based on the detected biological signal, and maintaining and correcting the model operation based on the detected biological signal and displaying the display means and / or Display control means for controlling the notification operation.

  As described above, in the present invention, the model operation that is a model of the training operation for recovering the limb body function for the handicapped person is displayed and / or notified on the display means, and this display and / or the model operation that is notified is referred to. When the handicapped person performs the training operation of the limb body function, the motion assisting means assists the training motion, and the biological signal detection means detects the biological signal from the handicapped person who executes the training motion, and the detected biological body A drive control unit drives and controls the operation assisting unit based on the signal, and the display operation of the display unit and / or the notification operation is performed by maintaining or correcting the model operation based on the detected biological signal. Therefore, it is possible to maintain or modify the optimal model operation according to the degree of disability of the handicapped person based on the biological signal of the handicapped person, thereby ensuring the training operation of the handicapped person. An effect that can help.

  In addition, the limb function recovery support device according to the present invention, if necessary, the posture specifying means for specifying the posture of the handicapped person in the training operation based on the detected biological signal and / or the auxiliary position of the movement support means and the designation And an auxiliary operation calculating means for calculating a command signal for instructing an auxiliary operation by the operation auxiliary means based on the detected specific posture and / or the detected biological signal, and a drive control means based on the calculated command signal Controls the driving assisting means.

  As described above, in the present invention, the posture specifying unit specifies the posture of the disabled person in the training operation based on the detected biological signal and / or the auxiliary position of the movement auxiliary unit, and the specified specific posture and / or the Since the auxiliary operation calculating means calculates a command signal for instructing an auxiliary operation by the operation auxiliary means based on the detected biological signal, the drive control means changes the operation auxiliary means based on the calculated instruction signal. It becomes possible to assist the handicapped person's training operation by driving control, and even if the handicapped person is not aware or not aware, more precise and accurate assisting operation is possible with posture or biological signal at the time of training .

  In addition, the limb body function recovery support device according to the present invention calculates a model operation to calculate and determine the next model operation to be displayed next based on the detected biological signal and / or the posture of the disabled person as necessary. A determining unit is provided, and the determined next model operation is displayed on the display unit by the display control unit.

  As described above, in the present invention, the model operation determining unit calculates and determines the next model operation to be displayed next based on the detected biological signal and / or the specified posture of the handicapped person, and displays it on the display unit. As a result, the model operation corresponding to the true degree of disability of the handicapped person can be determined and a display instruction can be given to the handicapped person, and an appropriate and precise auxiliary operation can be performed in accordance with the degree of disability.

  Further, the limb body function recovery support device according to the present invention includes a test pattern operation output means for outputting a preset test pattern operation for detecting a movable limit value of a disabled person, and the test pattern operation as necessary. The display control means displays and / or informs the display means, and detects the movable limit value of the handicapped person based on the biological signal detected from the handicapped person performing the training operation based on the displayed and / or informed test pattern action. And a limit value detecting means.

  As described above, in the present invention, a preset test pattern operation for detecting the movable limit value of the handicapped person is output by the output means by the test pattern operation, and the display control means displays the test pattern operation on the display means. The limit value detecting means detects the movable limit value of the handicapped person based on the biological signal detected from the handicapped person performing the training operation based on the display and / or the reported test pattern operation. Therefore, the movable limit value of the handicapped person can be known in advance before the training operation, and the instruction of the training operation for the handicapped person can be performed more accurately and precisely.

  Further, the limb function recovery support device according to the present invention is provided with an imaging unit for imaging a training operation for a disabled person assisted by the operation assisting unit, if necessary, and a model operation and an imaged training operation on the display unit, Is displayed.

  As described above, in the present invention, the imaging unit images the training operation of the disabled person assisted by the operation assisting unit, and the captured training operation is displayed on the display unit together with the model operation. Thus, the difference between the training operation and the instructed model operation can be recognized accurately and quickly, and the training operation can be executed more reliably.

(First embodiment of the present invention)
Hereinafter, a limb function recovery support device according to a first embodiment of the present invention will be described with reference to FIGS. 1 is a block diagram of the limb function recovery support device according to the present embodiment, FIG. 2 is an operation flowchart of the limb function recovery support device shown in FIG. 1, and FIG. 3 is a detailed operation of steps 11 and 12 in FIG. A flowchart is shown.

  In each of the drawings, the limb function recovery support device according to the present embodiment refers to the display means 1 for displaying the model action for restoring the limb function to the rehabilitation site of the handicapped person, and the model action displayed by the display means 1 as a reference. When the handicapped person performs the training operation of the limb body function, the motion assisting means 2 for assisting the training motion, and the living body for detecting the myoelectric signal (EMG) which is a biological signal from the handicapped person performing the training motion. A signal detecting means 3; a posture specifying means 4 for specifying the posture of the disabled person in the training operation based on the detected myoelectric signal and / or the auxiliary position of the movement assisting means; ) And an auxiliary motion calculation means 5 for calculating a command signal for instructing an auxiliary motion by the motion auxiliary means 2 based on a myoelectric signal, and the motion auxiliary means based on the command signal. Drive control means 6 for controlling the driving, model action determining means 7 for determining a model action based on the detected myoelectric signal and the specific posture, and controlling the display of the determined model action on the display means 1 The display control means 8 is provided.

  The operation assisting means 2 is disposed facing the display screen of the display means 1 and has a main body 21 having a seat surface and a backrest in the shape of a chair, and an arm that can be driven for each arm attached to the side of the backrest. The structure includes an auxiliary arm 22 composed of a mechanism and a drive unit 23 that is signaled in the main body 21 and drives the auxiliary arm 22 with hydraulic pressure (or a motor). The auxiliary arm 22 is configured such that each arm of the arm configuration is driven by hydraulic pressure, or is driven by rotation of a motor disposed at a connecting portion of each arm.

  The biological signal detection means 3 includes a detection pad 31 that is attached to the skin close to the muscle that moves the handicapped part of the handicapped person, and the detection pad 31 detects a myoelectric signal output from muscle strength. In addition to the myoelectric signal, the biological signal detection means 3 can also be configured to detect a biological signal including an electroencephalogram, a pulse, a facial expression, eye movement, a ratio of sympathetic nerves and para-switching nerves, and the like. .

  The posture specifying means 4 is based on the position of each muscle in the vicinity where the detection pad 31 is attached, and each myoelectric signal detected from each muscle and / or the auxiliary position of the motion assisting means. In this configuration, the motion position and motion angle of a certain arm are calculated and estimated, the posture in the training motion of the handicapped person is specified, and the specific posture is output.

  Next, the operation | movement which supports the training operation | movement of a disabled person of the limbs body function recovery assistance apparatus based on this embodiment based on the said structure is demonstrated. First, input about input selection of a rehabilitation part of a handicapped person and model operation which recovers this rehabilitation part is inputted from an input part (illustration omitted) (Step 1).

  It is determined whether any of these input selections have been selected (Step 2). When the movable range is automatically estimated (Step 3), the movable range is manually input (Step 4), or the previous record is used (Step 5). Is executed. Note that the automatic estimation of the movable range in step 3 will be described in detail in an embodiment of the operation assisting means 2 described later. In addition, in the manual input of the movable range in Step 4, a model motion based on motion data obtained by the PT or OT directly contacting the handicapped person is input.

  When the model motion is specified by any of the above, it is input to the display control means 8, which displays the input model motion on the display means 1 and from the speaker (not shown) of the display means 1 Announcement of explanation of model operation is notified (step 6). A myoelectric signal is generated by the willingness to execute a training operation for the disabled person to recover the arm's motion function based on the model motion displayed and notified on the display means 1 (step 7).

Due to the generation of the myoelectric signal, the arm that is the rehabilitation site of the handicapped person operates (step 8). The myoelectric signal of the handicapped person is detected by the biological signal detecting means 3, and the posture of the handicapped person is output from the drive unit 23 of the motion assisting means 2 and is input to the posture specifying means 4, and based on this myoelectric signal. Posture specifying means 4 specifies the posture of the handicapped person, that is, the movement position and movement angle of the arm and outputs the specific posture (step 9).
When this specific posture is output, it is determined whether or not the rehabilitation operation continues (step 10). If it is determined to continue, the power assist control algorithm (step 11) and the operation instruction algorithm (step 12) are executed in parallel.

The power assist control algorithm in step 11 is based on the specific posture output from the posture specifying unit 4 and the myoelectric signal detected by the biological signal detecting unit 3, and the auxiliary operation calculating unit 5 moves the auxiliary arm 22 of the operation auxiliary unit 2. The assist operation amount and the assist force to be operated are determined, and based on this determination, a command signal is output to the drive control means 6 (step 111). Based on this command signal, the drive control means 6 causes the drive unit 23 of the operation assisting means 2 to operate. Under control, the driving unit 23 drives the auxiliary arm 22 (step 112).
Returning to step 8 and repeating the operations from step 8 to step 11 while smoothly performing the operation by supporting the operation based on the will of the handicapped person by driving the auxiliary arm 22.

  On the other hand, the motion instruction algorithm in the step 12 is based on the specific posture output from the posture specifying unit 4 and the myoelectric signal detected by the biological signal detecting unit 3, and the model motion determining unit 7 displays the next on the display unit 1. The next model operation to be notified is determined (step 121), and the determined next model operation is displayed on the display unit 1 by the display control unit 8 to perform notification control (step 122).

  In step 12, the control returns to step 6 where the display means 1 performs display / notification by controlling the display / notification of the next model operation, and the operations from step 6 to step 12 are repeated. On the other hand, when it is determined in step 10 that the rehabilitation operation is not continued, the support operation is completed (step 13).

As described above, the optimal model operation corresponding to the degree of handicap of the handicapped person is appropriately corrected based on the handicapped person's myoelectric signal, so that the handicapped person's training operation can be executed safely and efficiently.
Note that the myoelectric signal to the drive control means 6 and the model motion determination means 7 is not necessarily required, and the command signal is generated by the drive control means 6 and the next model motion is determined by the model motion determination means 7 only in a specific posture. You can also.

(Second embodiment of the present invention)
A limb function recovery support device according to a second embodiment of the present invention will be described with reference to FIG. FIG. 4 shows a block diagram of the main part of the limb function recovery support apparatus according to the second embodiment.
In the figure, the limb function recovery support device according to the present embodiment is similar to the first embodiment in that the display means 1, the motion assisting means 2, the biological signal detecting means 3, the posture specifying means 4, the assisting motion calculating means 5, In addition to this configuration, the drive control means 6, the model action determination means 7 and the display control means 8 are provided in common, and in addition to this configuration, a test pattern action for outputting a preset test pattern action for detecting the handicapped person movement limit value Limit value detection in which the output means 9 and the display control means 8 display and / or notify the test pattern operation on the display means 1, and detect the movable limit value of the handicapped person based on the display and notified test pattern operation. And means 10.

  Next, the operation | movement which supports the training operation | movement of a disabled person of the limbs body function recovery assistance apparatus based on this embodiment based on the said structure is demonstrated. As in the case of the first embodiment, input of model operation for recovering the rehabilitation site is input from the input unit (not shown) together with the input of the rehabilitation site of the handicapped person.

  When the automatic estimation of the movable range is selected in this input selection, the test pattern operation output means 9 outputs a preset test pattern operation to the display control means 8 and the test pattern operation to the limit value detection means 10 as well. Is output. The display control means 8 displays this test pattern operation on the display means 1 and notifies a commentary announcement of this display content.

  The disabled person follows and executes the test pattern operation instructed by the display and notification of the display means 1, and the biological signal detection means 3 detects the biological signal (for example, myoelectric signal) of the disabled person along with this execution. To do. The detected biological signal is input to the limit value detecting means 10, and the limit value detecting means 10 detects the movable limit value in the training operation of the handicapped person based on the test pattern operation and the detected biological signal to assist. It outputs to the operation calculation means 5 and the drive control means 6.

  The auxiliary motion calculation means 5 to which the movable limit value is input is based on the movable limit value and a specific posture (addition of a biological signal as necessary) in addition to the operation in the first embodiment. The assist operation and the assist force necessary to operate the auxiliary arm 22 are determined and a command signal is output to the drive control means 6.

The drive control unit 6 controls the drive unit 23 of the operation assisting unit 2 to drive the auxiliary arm 22 together with the movable limit value input from the limit value detecting unit 10 in addition to the command signal. Since the driving of the auxiliary arm 22 is controlled within a range that does not exceed the movable limit value of the handicapped person, the training operation for the handicapped person can be performed without difficulty.
The limit value detecting means 10 may be configured to control the operation assisting means 2 by adding a myoelectric signal to the command signal.

(Third embodiment of the present invention)
A limb function recovery support device according to a third embodiment of the present invention will be described with reference to FIG. FIG. 5 shows a monitor camera arrangement configuration diagram and a block configuration diagram thereof in the limb function recovery support device according to the third embodiment.
In the figure, a limb function recovery support device according to the present embodiment is arranged at the upper part of the screen of the display means 1 and a front monitor camera 11 for imaging a disabled person supported by the motion assisting means 2 from the front, and the motion assisting means 2. A side monitor camera 12 that images the disabled person from the side, a camera control unit 13 that controls the imaging angle and magnification of the front monitor camera 11 and the side monitor camera 12, and the front monitor. Each captured image from the camera 11 and the side monitor camera 12 is input, and an imaging state adjusting unit 14 that adjusts each captured image so as to match the model operation input from the model operation determining unit 7 is provided. The adjusted captured images are displayed together with the model motion image on the display unit 1 under the control of the display control unit 8.
Note that each captured image and model motion image displayed on the display unit 1 may be displayed in a comparative manner by being arranged side by side on the left or right or top and bottom in addition to the superimposed display form.

  As described above, the imaging screen in which the disabled person is actually imaged by the front monitor camera 11 and the side monitor camera 12 and the model operation screen of the operation instruction are displayed on the same screen in the display means 1, so that the training operation is performed. The execution degree can be easily recognized visually, and the training operation can be executed reliably.

It is a block block diagram of the limb body function recovery assistance apparatus which concerns on the 1st Embodiment of this invention. It is an operation | movement flowchart of the limb body function recovery assistance apparatus of FIG. It is a detailed operation | movement flowchart of step 1 and step 12 in FIG. It is a principal block block diagram of the limb body function recovery assistance apparatus which concerns on the 2nd Embodiment of this invention. It is the monitor camera arrangement block diagram and its block block diagram in the limbs function recovery assistance apparatus which concerns on the 3rd Embodiment of this invention. Conventional limb function recovery support device. Conventional limb function recovery support device.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Display means 2 Operation | movement assistance means 21 Main-body part 22 Auxiliary arm 3 Biosignal detection means 31 Detection pad 4 Posture specification means 5 Auxiliary action calculation means 6 Drive control means 7 Model action determination means 8 Display control means 9 Test pattern action output means 10 Limit value detection means 11 Front monitor camera 12 Side monitor camera 13 Camera control section 14 Imaging state adjustment section 100 Patient 101 Limb 501 Load measurement means 502 Update means 503 Device tip drive means 504, 505 Information presentation means 601 Mechanism part 602 Load measurement means 603 Trajectory setting means 604 Trajectory correction means

Claims (5)

A display means for displaying and / or notifying a model action that is a model of a training action for recovering a limb function to a disabled person;
An operation assisting means for assisting the training operation when the disabled person performs the training operation of the limb body function with reference to the model operation displayed and / or notified by the display unit;
Biological signal detection means for detecting a biological signal from a disabled person who performs the training operation;
Drive control means for driving and controlling the operation assisting means based on the detected biological signal;
A limb function recovery support device, comprising: display control means for controlling the display and / or notification operation of the display means by maintaining or correcting the model motion based on the detected biological signal. In the limb physical function recovery support device according to claim 1,
Based on the detected biological signal and / or the posture position of the handicapped person in the training operation based on the assist position of the motion assisting means, and on the basis of the specified specific posture and / or the detected biological signal An auxiliary operation calculating means for calculating a command signal for instructing an auxiliary operation by the operation auxiliary means,
The limb function recovery support device, wherein the drive control means controls the operation assisting means based on the calculated command signal. In the limb body function recovery support device according to claim 1 or 2,
Model operation determining means for calculating and determining the next model operation to be displayed next based on the detected biological signal and / or the identified posture of the disabled person,
A limb body function recovery support device, wherein the determined next model motion is displayed on the display means by the display control means. In the limb function recovery support device according to any one of claims 1 to 3,
Test pattern operation output means for outputting a preset test pattern operation for detecting the movable limit value of the disabled person,
The display control means displays and / or informs the test pattern operation on the display means, and the disabled person based on the biological signal detected from the disabled person who performs the training operation based on the displayed and / or notified test pattern operation. A limb function recovery support device, comprising: limit value detecting means for detecting a movable limit value of the limb. In the limb function recovery support device according to any one of claims 1 to 4,
Comprising imaging means for imaging a training operation of a disabled person assisted by the movement assisting means;
A limb physical function recovery support device, wherein the display means displays a model action and an imaged training action.

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