JP2007307180A - Rehabilitation apparatus - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a rehabilitation apparatus which applies no excessive load on a user and applies a proper load on the user according to the physical capacity of the user while using relatively simple control. <P>SOLUTION: The rehabilitation apparatus is equipped with an outer load generating section generating outer load, a load acting section 3 acting the outer load to a human body via an outer load output shaft 12, an actual load detecting section detecting the actual load applied to the load acting section 3 from the user, a load setting section 5 setting the magnitude of the outer load practical load allowable amount allowable to be applied to the load acting section 3 from the user, and a load control section 6 controlling so as to stop the movement or reversing the moving direction of the load acting section 3 when the actual load reaches or comes closer to the actual load allowable amount while the load is applied to the load acting section such that the load acting section 3 moves in a predetermined direction, the actual load detecting section detects the actual load by measuring the torsional torque of the outer load output shaft 12 using a magnetostrictive sensor. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a rehabilitation apparatus suitable for functional recovery training for a person with a physical disability.

  As a well-known training apparatus that can be used for rehabilitation (hereinafter abbreviated as rehabilitation) in terms of improving a person's current functions, for example, there is the one shown in FIG. In the training apparatus shown in the figure, a wire 73 is hung on two pulleys 74 rotatably attached to a frame 72, a weight 71 having a constant weight is connected to one end of the wire 73, and the other end of the wire 73 is connected to a handle 75. The user who uses the training apparatus pulls up the handle 75 to raise the weight 71 and perform strength training. Using such a device, an external force of a certain magnitude and stroke (in this case, an upward force corresponding to the weight 71) is applied to the rehabilitation target user, such as the user's upper limb. It is possible to forcibly stretch (extend) the affected area.

  However, when a device such as that shown in FIG. 11 is used, a load having a constant magnitude corresponding to the weight 71 is always applied to the user. In some cases, the load cannot be adjusted finely, and in some cases, the load is excessive, which may cause fatigue in the affected area of the user and may damage the muscles.

  In order to cope with this, Patent Document 1 discloses a moving means for bending and extending the rehabilitation subject's foot by moving a fixing device to which the rehabilitation subject's foot is fixed, and a position corresponding to the driving time. Storage means for storing the command and torque upper limit value, detection means for detecting the current position of the fixing device and detecting the driving torque of the moving means, position command and detection means stored by the storage means A torque command is determined based on the deviation of the current position detected by the step, and when the torque command exceeds the torque upper limit value, a torque command determination unit that sets the torque upper limit value as a torque command; There is disclosed a rehabilitation device comprising control means for causing drive torque to coincide with the torque command determined by the torque command determination means.

Then, based on the deviation between the position command corresponding to the operating time and the current position of the fixed device moved by the moving means (or based on the deviation between the angle command and the current angle with respect to the operating time), the torque to the moving means When the command is determined and the torque command exceeds the torque upper limit value corresponding to the operation time, the torque upper limit value is set to the torque command, so that the patient can be rehabilitated without causing more pain than necessary. We are trying to realize appropriate rehabilitation treatment according to the recovery situation.
Japanese Patent Laid-Open No. 10-248891

  However, in the rehabilitation device and method disclosed in Patent Document 1, the speed command and the torque command are determined based on the deviation (or angle deviation) of the current position of the fixture, and the torque command is the torque upper limit value. Therefore, extremely complicated calculation processing and control processing are required, resulting in an increase in manufacturing cost and a decrease in torque command response to the moving means. There was a fear.

  SUMMARY OF THE INVENTION The present invention solves the above-mentioned problems, and can be controlled so that an appropriate load is applied according to the physical strength of the user without overloading the user while using a relatively simple control. An object of the present invention is to provide a rehabilitation device that can restore its function.

  In order to solve the above-described problems, the rehabilitation device of the present invention is provided with an external load generating unit that generates an external load that acts on the human body of the user, and is movably disposed along a predetermined direction. A load application unit that causes the generated external load to act on the human body via the external load output shaft; an actual load detection unit that detects an actual load that is a force applied by the user to the load application unit; and With a load setting unit that sets the size and the actual load allowable amount that can be allowed to be added from the user to the load acting unit, and in a state that the load acting unit is moved in a predetermined direction by an external load, A load control unit that controls the movement of the load acting unit to stop or reverse the movement direction when the actual load reaches or approaches the allowable load, and the actual load detection unit is external negative Characterized by being configured to detect the actual load by measuring the torsional torque of the output shaft with a magnetostrictive sensor.

  The rehabilitation device of the present invention includes an external load generating unit that generates an external load that acts on the human body of the user, and a load operation that causes the external load generated by the external load generating unit to act on the human body via the external load output shaft. An actual load detecting unit that detects an actual load that is a force applied by the user to the load acting unit, and an actual load that can be allowed to be applied from the user to the magnitude of the external load and the load acting unit. A load setting unit that sets a load allowable amount; and a load control unit that controls an external load of the load generating unit so that the actual load does not become larger than the actual load allowable amount. The present invention is characterized in that the actual load is detected by measuring the torsion torque of the external load output shaft using a magnetostrictive sensor.

  With this configuration, the torsion torque of the external load output shaft is configured to detect the actual load at the location where the user's force is applied using a magnetostrictive sensor, so an excessive load is applied to the human body with simple control. Therefore, it is possible to perform rehabilitation that allows the user to safely recover the function while controlling the external load with the rehabilitation device while matching the physical strength of the user.

  According to the rehabilitation device of the present invention, the configuration is such that the actual load at the location where the user's force is applied is detected by measuring the torsion torque of the external load output shaft using the magnetostrictive sensor, so that it is relatively simple. The control can be safely recovered within the tolerance of the user's physical strength while minimizing the increase in manufacturing cost by using simple control, and the control in this case can be performed relatively easily. The increase in cost can be minimized, and the external load on the user can be controlled with good responsiveness to the actual load, thereby improving safety and reliability. That is, it is possible to provide a safe, effective, and economical rehabilitation apparatus that eliminates excessive fatigue caused by applying an excessive external load or worry about damage to the affected area.

  The rehabilitation device of the present invention includes an external load generating unit that generates an external load that acts on the human body of a user, and an external load generated by the external load generating unit that is movably disposed along a predetermined direction. A load acting part that acts on the human body via the shaft, an actual load detecting part that detects an actual load that is a force applied by the user to the load acting part, and a magnitude and a load acting part of the external load. A load setting unit that sets an allowable actual load that can be added by a user, and the actual load is allowed to move in a predetermined direction due to an external load. A load control unit that controls the movement of the load acting unit to stop or reverse the moving direction when the capacity is reached, and the actual load detecting unit uses a magnetostrictive sensor to detect the torsion torque of the external load output shaft. The Characterized by being configured to detect the actual load by measuring.

  The rehabilitation device of the present invention includes an external load generating unit that generates an external load that acts on the human body of the user, and a load operation that causes the external load generated by the external load generating unit to act on the human body via the external load output shaft. , An actual load detection unit that detects an actual load that is an actual torque applied from the user to the load application unit, and a magnitude and direction of external load and an application from the user to the load application unit A load setting unit that sets an allowable actual load that can be permitted, and a load control unit that controls an external load of the load generating unit so that the actual load does not become larger than the allowable actual load, The actual load detector is configured to detect an actual load by measuring a torsion torque of an external load output shaft using a magnetostrictive sensor.

  By measuring the torsion torque of the external load output shaft using a magnetostrictive sensor in this way, it is configured to detect the actual load at the location where the user's force is applied. It is possible to perform rehabilitation that allows the user to safely recover the function while controlling the external load with the rehabilitation device, while adjusting the physical strength of the user without imposing a heavy load, minimizing the increase in manufacturing cost. The external load on the user can be controlled with good responsiveness to the actual load, and safety and reliability can be improved.

Moreover, the rehabilitation device of the present invention is characterized in that a display unit for displaying the actual load state is provided.
With this configuration, the actual load status when used is displayed on the display unit, so the user or the person who is performing rehabilitation on the user can see the actual load status of the user. Easy to see and recognize. In addition to displaying the actual load and the external load and the allowable actual load, it is also possible to observe in comparison with the preset external load and the allowable actual load. It can also be confirmed whether the allowable amount is a value commensurate with the actual load.

  In the rehabilitation apparatus of the present invention, the load setting unit is provided with a mode changeover switch for switching between a rehabilitation mode for controlling the load acting unit to move by an external load and a training mode for applying an external load in a predetermined direction. It is characterized by that.

  With this configuration, by switching to the rehabilitation mode, the rehabilitation motion that follows the moving direction of the load acting part can be performed well, and by switching to the training mode, the direction opposite to the moving direction of the load acting part can be achieved. Training that applies an external load so as to push back to the back can be performed well.

  Further, the rehabilitation device of the present invention is configured to detect the action direction of the actual load based on the output information from the actual load detection unit or the position information of the load action unit, and mode switching for switching between the rehabilitation mode and the training mode. In the rehabilitation mode, the load acting part is moved by the external load in the direction along the acting direction in the rehabilitation mode. In the training mode, the external load is moved in the direction opposite to the moving direction of the load acting part. It is characterized by acting.

With this configuration, rehabilitation or training can be performed satisfactorily according to the mode set by the mode switch and according to the direction of the force applied by the user.
Further, the load setting unit according to the rehabilitation apparatus of the present invention is configured to be able to set the external load amount, the actual load allowable amount, and the operation stroke of the load action unit based on a programmed arbitrary pattern. .

  With this configuration, it is possible to apply an external load that is finely programmed according to usage needs to the human body, and the actual load allowance can also be appropriately programmed according to the external load, thereby improving the efficiency of training and rehabilitation. This can be further improved.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. Note that the present invention is not limited to the embodiments.
(Embodiment 1)
1 to 5 show a rehabilitation apparatus according to an embodiment of the present invention, FIG. 1 is a side view schematically showing a state in which the rehabilitation apparatus is used, and FIG. 2 relates to load control of the rehabilitation apparatus. FIG. 3 is a partial cutaway perspective view of the rehabilitation device, and FIG. 5 is a front sectional view of a load setting unit provided in the rehabilitation device.

  As shown in FIG. 1 and FIG. 2, the rehabilitation device 1 according to the embodiment of the present invention generates an external load that acts on a rehabilitation (hereinafter abbreviated as “rehabilitation”) user X from the rehabilitation device 1 side. An external load generating unit 2, a load operating unit 3 that causes the external load generated by the external load generating unit 2 to act on the user X, and an actual load that is a force applied from the user X to the load operating unit 3 The actual load detecting unit 4 that detects the load, the magnitude and direction of the external load to be loaded on the user X, and the maximum actual load that can be allowed to be applied from the user X to the load acting unit 3 A load setting unit 5 that sets a load allowable amount and a load control unit 6 that performs control related to the load are provided. Here, the load control unit 6 is configured so that when the actual load reaches the actual load allowable amount in a state in which the load application unit 3 is loaded by an external load so as to move in a predetermined direction, Control to reverse the direction of movement.

Hereinafter, each part will be described.
As shown also in FIGS. 3 and 4, the external load generator 2 decelerates the output drive force from the motor 10 that generates the drive force in accordance with the instruction content of the load control unit 6 and keeps constant. It is comprised from the reduction gear 11 which increases by a ratio and outputs, and the external load output shaft 12 which outputs an external load from the reduction gear 11, The state which the external load output shaft 12 protruded from the reduction gear 11 to the side It is arranged by. Further, the end of the external load output shaft 12 is connected to the base end of the load arm 13 that extends in a curved shape when viewed from the side, and the load arm 13 is centered on the load output shaft 12 and the arrow shown in FIG. It arrange | positions so that it may rock | fluctuate integrally along ab direction.

  Moreover, the rod-shaped load action part 3 which consists of the holding part which the user X of rehabilitation object grasps is provided in the front-end | tip part of the arm 13 for load, In the state where the user X grasped this load action part 3 By applying an external load from the load arm 13, a force is applied in the direction in which the upper limb of the user X such as the arm portion is extended or bent.

  Further, the swing range of the load arm 13 is restricted by an upper limit swing position restricting stopper 14 and a lower limit swing position restricting stopper 15 which are fixedly disposed at predetermined positions. The upper limit swing position restriction stopper 14 is provided with an upper limit stroke restriction limit switch 21, and the lower limit swing position restriction stopper 15 is provided with a lower limit stroke restriction limit switch 22. The load control unit 6 is notified that the load arm 13 has been reached.

  4, the load output shaft 12 includes, for example, an amorphous magnetic thin film 16a provided on the surface of the load output shaft 12, and the load output shaft 12 facing the magnetic thin film 16a. A magnetostrictive sensor 16 is provided, which includes a coil 16b disposed on the outer periphery, and detects a change in strain generated on the surface of the load output shaft 12 by a human torque acting on the load output shaft 12, based on a change in permeability. By measuring the minute torsional strain generated in the load output shaft 12 based on the signal from the magnetostrictive sensor 16, the torsional torque generated in the load output shaft 12, and hence the force applied from the user X to the load acting unit 3. The actual load is detected by the actual load detection unit 4.

  In addition, an angle sensor 24 is provided on the end surface near the rotation center of the load output shaft 12 so that the current position with respect to the rotation direction of the load output shaft 12 and the load arm 13 can be detected. Furthermore, a rotation amount detection sensor composed of a rotary encoder, a potentiometer, or the like may be provided at the base end portion of the load arm 13 so as to be able to detect the movement integrated amount.

  As shown in FIG. 5, the load setting unit 5 includes an external load adjustment knob 7 for setting the magnitude of the external load (external load amount) to be loaded on the user X, and an allowable amount setting for setting the actual load allowable amount. A knob 8 and an operation switch 9 for starting and stopping the operation are provided. The load setting unit 5 is configured to output a setting signal such as an external load amount and a load allowable amount and a driving operation signal of the rehabilitation apparatus 1 to the load control unit 6.

  As shown in FIGS. 3 and 4, the external load generation unit 2, the load control unit 6, and the actual load detection unit 4 including the motor 10 and the speed reducer 11 are arranged very close to each other and integrally formed in the case 25. It is housed and unitized.

Next, the operation and action of the rehabilitation device 1 will be described.
For example, when the user X is a rehabilitation target person, an actual load allowable amount (for example, 9 kg) and an external load (for example, 10 kg) are determined in advance according to the situation in which the user X can bend and stretch, muscle strength, and the like. In response to this, after operating the external load adjustment knob 7 and the allowable amount setting knob 8 of the load setting unit 5 to set the desired external load amount and allowable load amount, the operation switch 9 is operated. The operation of the rehabilitation device 1 is started. The rehabilitation device 1 is stopped in a state where the load arm 13 is in contact with the lower limit swing position regulating stopper 15, for example.

  When the operation switch 9 is switched to the ON state with the user X holding the load acting unit 3, the set external load amount and allowable load amount are read, and after a predetermined time (for example, after 5 seconds), An external load is generated from the external load generator 2 in the direction in which the load arm 13 moves in the direction a, and this external load is applied to the load action unit 3 via the external load output shaft 12 and the load arm 13. As a result, the load arm 13 is automatically moved in the direction a. In this case, when performing rehabilitation exercises, it is desirable to gradually stretch or bend the affected area, so that a large force is not applied suddenly, so that the external load gradually increases. It is preferable to control.

  With the above operation, an external load is applied in the direction of extending the upper limb of the user X holding the load arm 13, and the user X to be rehabilitated gradually follows the movement operation of the load arm 13. Rehabilitation exercise is performed by extending the upper limb of user X. When the load arm 13 continues to move in the direction a and the load arm 13 reaches the upper limit swing position restriction stopper 14, this state is detected by the upper limit stroke restriction limit switch 21, and the load arm 13 The movement direction of 13 is switched to the b direction, and the rehabilitation exercise is performed so that the upper limb of the user is gradually bent along with the movement operation of the load arm 13.

  Here, during the operation of the rehabilitation device 1, the actual load detection unit 4 detects an actual load that is a force applied from the user X to the load acting unit 3 and is recognized by the load control unit 6. Yes. For example, when it is difficult for the user X to extend the upper limb, it becomes difficult to follow the movement of the load arm 13 in the direction a, and the actual load increases and reaches a preset load allowable amount. The motor 10 of the external load generating unit 2 is reversed, and the moving direction of the load acting unit 3 is reversed. Thereby, the user X can perform functional recovery exercises (rehabilitation) such as flexion and extension of the upper limbs within the range of the allowable load amount, without giving the patient user X more pain than necessary. Appropriate rehabilitation treatment according to the recovery situation can be realized.

  In addition, according to the present invention, the torsion torque of the external load output shaft 12 is measured using the magnetostrictive sensor 16 so that the actual load at the location where the user X force is applied is detected. It is possible to safely recover the function within the allowable range of the physical strength of the user X while using a simple control. In this way, control can be performed relatively easily, so that the increase in manufacturing cost can be minimized, and the direction of action of external load on the user with good response to the actual load. It can be controlled and good safety and reliability can be maintained.

  The operation of the rehabilitation device 1 is configured such that the operation switch 9 is switched to the ON state and is automatically stopped after being driven for a predetermined time, or is reciprocated in the a direction and the b direction a predetermined number of times. It may be configured to stop after exercise, but is not limited to this, and the reciprocating operation in the a direction and the b direction may be continuously performed until the operation switch 9 is switched to the OFF state. Good. On the contrary, it may be configured to move once in the direction a or b and stop, and a switch for switching between these continuous operations and non-continuous operations may be provided.

  In the above embodiment, the load setting unit 5 is provided with one external load adjustment knob 7 and one allowable amount setting knob 8, and in this case, the load arm 13 moves in the direction a. In this case, the external load amount and the permissible amount set amount in the case of moving in the b direction are set to be equal to each other. However, the present invention is not limited to this. The external load adjustment knob 7 for adjusting the external load and the allowable amount setting knob 8 for adjusting the actual load are separately provided for each of the case where the load arm 13 moves in the direction b and the case where the load arm 13 moves in the direction b. The external load and the actual load allowable amount may be set individually for each operating direction. As a result, when performing the flexion / extension movement of the upper limb, the optimum actual load and external load in the moving direction are individually set for the user X who wants to recover the function of extending and the user X who wants to recover the function of bending. The function recovery exercise (rehabilitation) can be performed well in accordance with the above.

  In the above embodiment, the case where the actual load allowable amount is assumed to be set smaller than the external load is described. However, the present invention is not limited to this, and only the actual load allowable amount can be set. In other words, the external load adjustment knob 7 is omitted, and the actual load allowable amount and the external load are set to the same value, or the value is increased (or decreased) by a predetermined amount with respect to the actual load allowable amount. You may comprise so that it may set automatically. In addition, when moving in the extending direction or bending direction, the external load is gradually increased, and the moving direction of the load arm 13 is reversed when a predetermined actual load is reached. May be. Further, when the external load adjustment knob 7 and the allowable amount setting knob 8 are individually provided as in the above embodiment, the actual load allowable amount is set larger than the external load, or the actual load When the allowable amount and the external load are set to the same value, the actual load allowable amount may be automatically corrected so that the predetermined amount is smaller than the external load.

  In addition, as described above, the rehabilitation apparatus is configured such that the components of the external load generator 2 that generates the external load, the magnetostrictive sensor 16 of the actual load detector 4 that detects the actual load, and the like are integrally stored in the case 25. The whole 1 can be made compact.

(Embodiment 2)
Furthermore, in addition to the configuration of the first embodiment described above, the user X is not a rehabilitation target person, but is a healthy person, and can be used for the user X who wants to use for physical strength enhancement, so-called training. In addition, the following configuration may be adopted. That is, in the first embodiment, the configuration is optimal for the rehabilitation movement in which the user X follows the movement of the load arm 13, but in addition to this, the movement direction of the load arm 13 by the external load May be configured to have a mode suitable for training to increase muscle strength by moving it back in the opposite direction.

  That is, as schematically shown in FIG. 6, a mode changeover switch 26 for switching between the training mode and the rehabilitation mode is provided. When the mode changeover switch 26 is switched to the training mode side, the user X is used for the purpose of enhancing muscle strength by moving the load arm 13 in the direction opposite to the moving direction of the load arm 13 due to the external load. Assuming that, according to the physical strength of the user X, the external load W and the allowable load amount Wa are set so that the allowable load amount Wa is larger than the external load W.

  As a result, when the operation switch 9 is turned on with the mode switch 26 switched to the training mode side, for example, as an initial setting, the load arm 13 is first lowered until it contacts the lower limit swing position restriction stopper 15. In this state, the external load W is controlled to act in the b direction. In this state, the user X applies a force to push up the load acting portion 3 at the tip of the load arm 13 in the direction a, and moves the load arm 13 in the direction a to perform training. When the load acting unit 3 is pushed up in the direction a and the allowable load Wa is reached, the load control unit 6 reduces the external load W by a predetermined amount. As a result, the actual load F is controlled so that the external load W <the actual load F <the load allowable amount Wa, and as a result, the user X does not experience excessive fatigue due to applying an excessive external load. It is possible to train in a good state that can improve muscle strength.

  When the load arm 13 is pushed up to reach the upper limit swing position restricting stopper 14, this state is detected by the upper limit stroke restricting limit switch 21. The arm 13 may be configured to be switched so that a force is applied in the direction a. As a result, this time, the user X can train by applying a force to lower the user X in the b direction. However, the present invention is not limited to this, and a changeover switch for specifying the load direction of the external load can be provided so that the load acting portion 3 at the tip of the load arm 13 can always be urged in the a direction (or b direction). You may comprise.

  According to the above configuration, the load setting unit 5 is provided with the mode changeover switch 26 for switching between the rehabilitation mode for controlling the load acting unit 3 to automatically move and the training mode for applying an external load in a predetermined direction. Therefore, by switching to the rehabilitation mode, the rehabilitation exercise to follow the moving direction of the load acting unit 3 can be performed favorably, and by switching to the training mode, the direction opposite to the moving direction of the load acting unit 3 is achieved. Training that applies an external load so as to push back to the back can be performed well.

(Embodiment 3)
In the rehabilitation device 1 according to the first and second embodiments described above, the device configuration can perform rehabilitation and training on the upper limb, but is not limited thereto. For example, as schematically shown in FIG. 7, a pedal 31 as a load acting portion supports a load arm 32 provided at the tip so as to be rotatable in a predetermined direction, and with respect to the load arm 32, An external load can be applied from an external load generating unit 2 including a motor and a speed reducer (not shown), and a magnetostrictive sensor is attached to a load output shaft 33 that outputs the external load to the load arm 32. You may comprise so that a load may be detected. Thereby, the same effect | action and effect with respect to the user's X leg can be exhibited.

(Embodiment 4)
FIG. 8 is a front view of the load setting unit of the rehabilitation apparatus according to the fourth embodiment of the present invention.

  8, in the rehabilitation apparatus according to this embodiment, the load setting unit 5 is provided with an external load adjustment knob 7 for adjusting the magnitude of the external load, and an actual load allowable amount. In addition to the allowable amount setting knob 8 and the operation switch 9 that can be set, the display unit 40 that displays the load state such as the magnitude of the external load and the load allowable amount, and the swing range (movement range) of the load arm ) And a mode changeover switch 26 for switching the external load direction and load application start timing to the training mode or the rehabilitation mode. Here, the display unit 40 is configured to display changes in the external load set value, the actual load allowable amount, and the actual value of the actual load.

  Further, when the mode changeover switch 26 is set to the training mode side, the torsional torque of the load output shaft 12 generated when the user X moves the load acting unit 3 when the operation switch 9 is operated and the operation is started. The magnetostriction sensor 16 of the actual load detection unit 4 senses and is controlled so as to apply an external load in the direction opposite to the movement direction of the user X. The moving direction of the load acting unit 3 (load arm 13) may be determined from the output information from the magnetostrictive sensor 16 of the actual load detecting unit 4, but instead, the angle (position) of the load acting unit 3 is determined. ) May be determined based on information from the angle sensor 24 that detects.

  Further, when the mode changeover switch 26 is set to the rehabilitation mode side, when the operation switch 9 is operated and the operation is started, the direction in which the load acting unit 3 is moved by the user X is detected, and the same direction as this direction is detected. The load acting unit 3 is controlled to automatically move.

  When the mode changeover switch 26 is on the training mode side, when the actual load of the user X against the load acting unit 3 reaches the load allowable amount, the load control unit 6 reduces the external load to a predetermined amount. Is controlled to reduce only.

  On the other hand, when the mode changeover switch 26 is in the rehabilitation mode side, when the actual load of the user X acting on the load acting unit 3 reaches the load allowable amount, the motor 10 of the external load generating unit 2 is reversed. Thus, the moving direction of the load acting unit 3 is reversed.

  Thereby, for the user X who performs training, with the external load amount matching the physical strength and the actual load allowable amount set, by switching the mode changeover switch 26 to the training mode side, excessive external load is reduced. The muscular strength can be improved without causing excessive fatigue due to the application.

  Moreover, about the user X who performs rehabilitation, functional recovery exercises (rehabilitation), such as bending and stretching of the upper limbs, can be performed well within the allowable load range, and the user X who is a patient is suffered more than necessary. Therefore, appropriate rehabilitation treatment according to the recovery situation can be realized.

  In any case, when the rehabilitation device 1 is operated, the actual load state during use is displayed on the display unit 40. As a result, the actual load state of the user X and the person who is causing the user X to perform rehabilitation can easily recognize the actual load state of the user X visually. The user X who is performing confirms the state of enhancement of his / her physical strength, the user X who is performing rehabilitation, and the person who is performing rehabilitation confirms the degree of recovery of the function of the user X Can do. In addition, since the actual load can be observed in comparison with the preset external load amount and the actual load allowable amount, it is also confirmed whether the external load amount and the actual load allowable amount are values that match the actual load. can do.

  As described above, according to the rehabilitation apparatus 1, one machine can be used by easily switching between two types of training and rehabilitation depending on the application. It can be adjusted and set according to the physical strength and health condition of the user X, and efficient and efficient training or rehabilitation can be performed economically in a small space. Moreover, the actual load state can be recognized on the spot, and the load setting that does not exceed the physical strength limit becomes easy.

(Embodiment 5)
FIG. 9 is a front view of the load setting unit of the rehabilitation apparatus according to the fifth embodiment of the present invention.

  As schematically shown in FIG. 9, in the rehabilitation device of this embodiment, the load setting unit 5 has an external load, an actual load allowable amount, and an operation stroke of the load acting unit 3 as shown in FIG. 10 as an example. The program load setting unit 43 is configured to set and output to the external load control unit 2 based on an arbitrary programmed pattern.

  With this configuration, it is possible to apply an external load that is finely programmed according to usage needs to the human body, and also to set the actual load allowance appropriately according to the external load, thereby improving the efficiency of training and rehabilitation. This can be further improved.

  In this embodiment, the case where the program load setting unit 43 is provided inside the load setting unit 5 is illustrated. However, the present invention is not limited to this, and the program load setting unit 43 is connected to the outside of the load setting unit 5. It is good also as a structure, The same effect can be obtained also in this case.

  In addition, as a separate configuration, when the training mode is switched to the rehabilitation mode, if you forget to change the external load or load tolerance to a good value, a large external load acts in the rehabilitation mode, In order to prevent the load allowable amount from remaining, the maximum external load allowable amount and the maximum load allowable amount in the rehabilitation mode may be set in advance or stored as an initial value. According to this, safety is further improved.

  As described above, the rehabilitation apparatus according to the present invention is optimal for functional recovery training for persons with physical disabilities, but is not limited thereto, and may be used as a training apparatus for enhancing various physical strengths. It can be applied, and can be widely used as a device for muscle strength improvement training or rehabilitation of the upper limbs, lower limbs, and other parts of the human body.

The side view which shows roughly the use condition of the rehabilitation apparatus which concerns on the 1st Embodiment of this invention Block diagram for load control of the rehabilitation device Partial cutaway perspective view of the rehabilitation device Plan sectional view of the rehabilitation device Front view of the load setting unit provided in the rehabilitation device The front view of the load setting part of the rehabilitation apparatus concerning the 2nd Embodiment of this invention The side view which shows roughly the use condition of the rehabilitation apparatus which concerns on the 3rd Embodiment of this invention. The front view of the load setting part of the rehabilitation apparatus concerning the 4th Embodiment of this invention The front view of the load setting part of the rehabilitation apparatus concerning the 5th Embodiment of this invention The figure which shows schematically the state of the program load of the load setting part in the rehabilitation apparatus Side view schematically showing the state of use of a conventional training device

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Rehabilitation apparatus 2 External load generation part 3 Load action part 4 Actual load detection part 5 Load setting part 6 Load control part 7 External load adjustment knob 8 Allowable amount setting knob 9 Operation switch 10 Motor 11 Reducer 12 External load output shaft 13 Load Arm 14 Upper limit swing position restricting stopper 15 Lower limit swing position restricting stopper 16 Magnetostrictive sensor 21 Upper limit stroke restricting limit switch 22 Lower limit stroke restricting limit switch 24 Angle sensor 26 Mode selector switch 40 Display unit 43 Program load setting unit X User

Claims (6)

  An external load generator that generates an external load that acts on the human body of the user, and an external load generated by the external load generator that acts on the human body via the external load output shaft. The load acting part to be applied, the actual load detecting part for detecting the actual load that is the force applied by the user to the load acting part, and the external load size and the load acting part are allowed to be applied by the user. When the actual load reaches the actual load allowable amount in a state where the load setting unit sets the actual load allowable amount that can be performed and the load acting unit is moved by an external load so as to move in a predetermined direction, A load control unit that controls the movement of the load acting unit to stop or reverse the moving direction, and the actual load detecting unit measures the torsion torque of the external load output shaft by using a magnetostrictive sensor. Configuration to detect The rehabilitation device.   An external load generator that generates an external load that acts on the human body of the user, and an external load generated by the external load generator that acts on the human body via the external load output shaft. The load acting part to be applied, the actual load detecting part for detecting the actual load that is the force applied by the user to the load acting part, and the external load size and the load acting part are allowed to be applied by the user. A load setting unit configured to set an actual load allowable amount, and a load control unit configured to control an external load of the load generation unit so that the actual load does not become larger than the actual load allowable amount. A rehabilitation device configured to detect an actual load by measuring a torsion torque of an external load output shaft using a magnetostrictive sensor.   The rehabilitation apparatus according to claim 1, further comprising a display unit that displays an actual load state.   The load setting unit is provided with a mode changeover switch for switching between a rehabilitation mode for controlling the load acting unit to move by an external load and a training mode for applying an external load in a predetermined direction. The rehabilitation device according to item. Based on the output information from the actual load detection unit or the position information of the load action unit, the action direction of the actual load can be detected,
A mode selector switch is provided to switch between rehabilitation mode and training mode.
In the rehabilitation mode, the load acting part is moved by the external load in the direction along the acting direction according to the acting direction of the actual load,
The rehabilitation device according to any one of claims 1 to 3, wherein in the training mode, an external load is applied in a direction opposite to a moving direction of the load acting unit.   The rehabilitation according to any one of claims 1 to 5, wherein the load setting unit is configured to be able to set the external load amount, the actual load allowable amount, and the operation stroke of the load acting unit based on an arbitrary programmed pattern. apparatus.

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