JP2007185325A - Upper limb rehabilitation exercise system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide equipment which has a high affinity and a high therapeutic effect while considering the use environment of an actual occupational therapy and the physical condition of a trainee by devising an exercise system which permits an easy exercise on a table to permit a person to implement a reaching exercise implemented in an actual occupational therapist's office while staying in a home. <P>SOLUTION: The upper limb rehabilitation exercise system 1 is composed of a display 4 which displays an exercise program for a trainee 5 to view, a training grip 2 to be moved on the table for an exercise, a controller 3 to control the display 4 and the training grip. The training grip 2 has an autonomous movement mechanism, a grip position sensor 7, a force sensor 8, and a magnetic coupling 11 to improve the safety. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to an upper limb rehabilitation training system. More specifically, the present invention relates to a simple and highly effective rehabilitation training system that enables home training in upper limb motor function rehabilitation.

2. Description of the Related Art Conventionally, a person whose motor function of the upper limb or lower limb is impaired due to cerebrovascular disorder or spinal injury or the like has generally been tried to recover the motor function by rehabilitation. There are many rehabilitation devices for recovering motor function, mainly support systems for rehabilitation of lower limbs, such as walking training devices and lower limb function recovery support machines, and there are very few devices that target upper limbs for rehabilitation, In addition, in the training of upper limbs, large-scale devices that are expected to be used in medical facilities have been developed, but they were not suitable for training at home. (For example, Patent Document 1, Patent Document 2)
However, with the advent of an aging society, the demand for rehabilitation support systems targeting the upper limbs is increasing due to the increasing trend of cerebrovascular disease patients with upper limb paralysis. Therefore, the development of a simple and low-cost rehabilitation training device is desired.
JP 2002-272895 A Japanese Patent Application No. 2005-162352

  The present invention has been made in view of the above-described conventional situation, and devised a device capable of simulating physical movements such as reaching training performed in an actual occupational therapy field, and uses actual occupational therapy. It is an issue to be solved to provide equipment that can be used for home training with high affinity, simple treatment, and high therapeutic effects while taking into consideration the environment and the physical condition of the trainee.

  The above problem can be solved by the upper limb rehabilitation training system described in the claims.

  According to the rehabilitation training system of claim 1, the above-mentioned problem is solved as follows.

  Since the training grip is equipped with an autonomous moving mechanism, the training system becomes compact and low cost.

  In addition, since the training grip is equipped with an autonomous movement mechanism, when the subject himself moves the training grip on the table, he / she can perform training (resistance exercise) by applying a load to the upper arm as in the conventional training. The training grip can be moved while receiving assistance, and rehabilitation training of the upper limb motor function with high therapeutic effect can be performed.

  According to the rehabilitation training system according to claim 2, by providing the autonomous moving mechanism with a device for enhancing safety, an unexpected situation such as a runaway can be avoided, and the training can be performed safely.

  DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments embodying the present invention will be described below with reference to the drawings.

  FIG. 1 shows a state where a subject 5 holds a training grip 2 with a training hand, or holds a training hand on the grip 6 using a holding mechanism, while watching a training menu displayed on the display 4. It is a state that rehabilitation training is performed while moving the training grip 2. As a training menu, exercise (resistance exercise) is performed by applying a load to the upper arm, so that the range of motion of the shoulder joint is strengthened, the strength of the biceps and triceps is strengthened, and the flexors and extensors are coordinated. Training such as improvement of sex and endurance of the whole body can be performed.

The rehabilitation training system 1 of the present invention has the following characteristics.
1) Space saving and low cost.
Since the training system 1 of the present invention is composed of a training grip 2 that can be connected to a commercially available game machine as an external controller, the development target can be narrowed down to the training grip 2 and the training program dedicated to the game machine, thereby reducing the size and cost. .

2) Carryable.
Just carry the training grip 2 and the training program, and you can use it anywhere that has a commercially available game machine. In addition to home training, it can also be used in rehabilitation training rooms, hospital rooms, and nursing homes.

3) Structurally stable.
By adopting a low center of gravity structure, stability is ensured.

4) Safety is taken into consideration.
By providing a mechanism for transmitting the driving force of the actuator 9 used for the autonomous movement mechanism of the training grip 2 to the driving wheel 12 using the magnetic coupling 11, the torque of the actuator can be easily limited. As a result, the safety of the training grip 2 can be avoided because it can avoid an unexpected runaway. In addition, the low center-of-gravity structure with improved stability gives consideration to the safety of falling.

5) Force feedback by reaction force presentation is possible.
The training grip 2 is composed of the following four as shown in FIG.
(1) Omnidirectional moving mechanism (for example, this can be realized by using an omni wheel for the drive wheel 12 and devising the arrangement of the actuator 9, the magnetic coupling 11, and the drive wheel 12).
(2) A drive system having a magnetic coupling 11 mounted between the actuator 9 and the drive wheel 12
(3) A grip equipped with a force sensor 7 for measuring the magnitude of the force applied by the patient 5 or the magnitude of the reaction force felt by the patient 5
(4) Position sensor 8 for measuring the position of the training grip 2 on the table
By controlling the drive system with the control algorithm, it is possible to present a reaction force to the patient via the grip 6, thereby enabling training such as reaching training and muscle strength training that can vary the training load. is there. At the same time, training assistance through grips is possible with the control algorithm.

6) Amusement.
By displaying an amusement training program and training results on the screen, or by connecting to the Internet, remote diagnosis and remote training through two-way communication between the therapist and patient, as well as providing a place for communication between trainers By making it possible, improvement of therapeutic effect and improvement of motivation for rehabilitation can be expected.

It is a figure which shows the mode of training using the upper limb rehabilitation training system. It is a figure of the structure of the training grip.

Explanation of symbols

1 Upper limb rehabilitation training system 2 Training grip 3 Controller 4 Display 5 Subject (patient)
6 Grip 7 Force sensor 8 Position sensor 9 Actuator 10 Actuator drive circuit 11 Magnetic coupling 12 Drive wheel

Claims (2)

An upper limb rehabilitation training system in which a subject can perform rehabilitation training by freely moving a training grip on a fixed board,
The upper limb rehabilitation training system is an upper limb rehabilitation training system comprising a training grip, a controller for controlling the training grip, and a display means for displaying a training program,
The training grip of the upper limb rehabilitation training system comprises an autonomous movement mechanism, a position detection means for detecting the current position of the grip, and an upper limb movement force detection means for detecting the force with which the subject operates the training grip. The upper limb rehabilitation training system.   The upper limb rehabilitation training system is characterized in that the autonomous movement mechanism of the training grip of the upper limb rehabilitation training system includes a safety device in the drive system.