JP2009219804A - Motion-supporting equipment for thumb of hand - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To give semi-conical adduction and abduction movements to a thumb by external force in rehabilitation training for functional recovery of the thumb. <P>SOLUTION: A first link mechanism 40 the fixing member 48 of which is one of link pieces is installed. The first link mechanism 40 is linked with a second link mechanism 42 which has semi-circular arc pieces of link 74 and 76. A thumb attachment 44 which holds the thumb is attached to an upper end of the second link mechanism 42. The first link mechanism 40 is link-transformed by controlling normal/reverse rotation of a servomotor 46 which is placed on the fixing member 48 and, according to link-transformation of the first link mechanism 40, the second link mechanism 42 is link-transformed to give semi-conical rotational movements to the thumb attachment 44. A holder glove attached to the hand is attached to the thumb attachment 44, thereby the thumb is held by the thumb attachment 44. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a hand and finger movement support device, and more particularly to a hand and finger movement support device that can rotationally move a thumb on the affected side of an upper limb that requires recovery training (rehabilitation) of a motor function.

  Conventionally, due to neurosurgical diseases such as stroke, spinal cord injury when a large impact is applied to the human body due to a disaster, etc., the motor function of some parts of the body (mainly limbs) is significantly reduced or impaired by paralysis There are things to do. In particular, in the case of a neurosurgical disease such as a stroke, not all the motor functions of the whole body are impaired, but the motor functions of one half body (the left half body or the right half body) are often impaired. Among medical personnel, the half-body side with normal motor function is called “healthy side”, and the half-body side with reduced motor function and requiring function recovery training is called “affected side”. Is used.

  It is effective to perform various rehabilitation (function recovery training) according to the impaired function for the patient whose motor function of either half is reduced. This rehabilitation is often performed in a medical facility where medical staff such as specialists or physical therapists are enrolled. In the medical facility, optimal rehabilitation is performed according to a rehabilitation program corresponding to the situation of the motor function of the patient.

  In the case of the above-mentioned rehabilitation, the patient needs to go to a dedicated medical facility where medical staff is stationed. For this reason, it is difficult to receive rehabilitation several times a day, and there are cases where recovery is delayed or cannot be recovered. Thus, for rehabilitation, it is preferable that there is a device that allows a patient to perform it easily by one person, many times a day, preferably at home.

  By the way, there are many development examples of rehabilitation devices for assisting the movement of the upper limbs, that is, the movements of the shoulders, elbows, and wrist joints, and they have been commercialized. On the other hand, as for the rehabilitation device for fingers, the current situation is that only a CPM device that flexes and extends all joints of five fingers at a time has been commercialized.

  Therefore, the applicant has already proposed an upper limb hand rehabilitation system of Patent Document 1. This system is symmetrical to teach the exercise exercise on the affected side based on the normal healthy exercise when the disease appears in either the left or right half, such as the right half, as in stroke. This is a master-slave type upper limb hand rehabilitation system. By attaching the affected finger to the upper limb finger function recovery training apparatus used in this system, the same movement as that of the healthy upper limb finger can be passively performed on the affected upper limb finger without difficulty.

Note that Patent Document 2 uses a robot type hand to measure abnormal movements of the fingers due to brain dysfunction, and by monitoring the finger movement trajectory and the electroencephalogram activity state to predict the degree of physical disability, a recovery training program However, there is no disclosure regarding the specific configuration of the motion support mechanism attached to the upper limbs, especially the thumbs.
JP 2004-267254 A JP 2003-569 A

  However, in the upper limb finger function recovery training apparatus in Patent Document 1, the motion support mechanisms attached to the four fingers other than the thumb and the thumb are both the same configuration, and the opposing movement of the thumb is considered. Since this is not done, the movement of the thumb is limited, and there is a problem that it is difficult to realize the detailed fingertip movement unique to the thumb, such as picking an accessory.

  Therefore, the applicant of this application has applied for an upper limb finger function recovery training device that can impart to the affected upper extremity fingers a movement specific to the leech that picks small items or manipulates the objects without restricting the movement of the thumb. It has already been filed as 2006-248416. The training apparatus according to the invention of the already-applied application is capable of providing effective movement support for the opposite finger, and is excellent in that it has been put into practical use where it has not been possible with a conventional apparatus.

  However, there is room for improvement from the viewpoint of assisting exercise, that it is effective to perform the inward and outward motion in a semi-conical shape around the thumb CM joint (the thumb carpal middle joint). That is, among the fingers, the thumb finger performs a special movement as compared with the other four fingers when picking or manipulating an object. For example, as shown in FIG. 13, the bone structure of the thumb finger F1 surgically consists of a distal phalanx Ba, a proximal phalanx Bc, and a metacarpal bone Bd from the distal side toward the inside, and the metacarpal bone Bd is It is in contact with the carpal bone Be through the thumb CM joint J. For this reason, the thumb F1 has a large conical rotation range (movable region) with the thumb CM joint J as the apex, and can easily handle fine operations such as picking and manipulating objects with other fingers. It is possible.

  In other words, the thumb F1 of the hand is more important for the picking operation than the other four fingers F2 to F5. Therefore, when the movement of the thumb F1 is disturbed, it is possible to perform various operations with the daily hand. Inconvenience is further increased. Therefore, in the rehabilitation training for restoring the function of the thumb F1, as shown by a solid line in FIG. 14, a semi-conical inward and outward motion (addition motion and abduction motion) hypothesized with the thumb CM joint J as a vertex. Is effective to the thumb F1.

  An object of the present invention is to provide a hand / finger movement support device capable of passively applying a semiconical inward / outward motion to the thumb when performing rehabilitation training for restoring the function of the finger / finger.

In order to overcome the above-mentioned problems and achieve the intended purpose, the invention according to claim 1 of the present invention provides:
A forearm support that supports the forearm of the upper limb that requires rehabilitation of the thumb,
A fixing member provided at the lower front portion of the forearm support base is one of the link pieces, and a first link mechanism that is pivotally supported by the fixing member and can tilt up and down
A link piece integrally provided on one link piece in the first link mechanism and a link piece displaceably pivoted on the first link mechanism are provided, and an attachment link piece is pivotally attached to the ends of both link pieces. The second link mechanism
A thumb attachment attached to the thumb and attached to the attachment link piece;
The first link mechanism is tilted up and down to deform the link, and the second link mechanism accompanying the link deformation is also deformed to provide a semi-conical rotational motion to the thumb attachment. Is the gist.

  Therefore, according to the first aspect of the present invention, the first link mechanism pivotally supported by the fixing member by the actuating means is tilted up and down to deform the link, and the second link mechanism linked to the first link mechanism. Can also be imparted with a semi-conical rotational motion to the thumb attachment. In other words, the patient's thumb held by the thumb attachment is given a rehabilitation support motion by a semiconical adduction / extraction motion with the thumb CM joint as the apex, and the motion support of the opposite motion of the thumb is performed dynamically. Can do. In addition, the semiconical inward and outward rotation motion of the thumb is repeated every required time by forward / reverse control of the operating means.

According to a second aspect of the present invention, the two link pieces in the second link mechanism are curved in a direction in which interference with other fingers requiring rehabilitation can be avoided, and a space allowing passage of the hand portion is secured. In summary, the thumb attachment is positioned above the hand.
Therefore, according to the second aspect of the present invention, it is possible to avoid interference with other fingers by curving the two link pieces of the second link mechanism on the side where the thumb attachment is attached. In particular, when providing a mechanism for giving the rehabilitation support movement to the other four fingers other than the thumb, the link piece of the second link mechanism is curved and does not interfere with each other. Can be increased.

According to a third aspect of the present invention, the operating means is a motor, and the first link mechanism pivotally supported by the fixed member is repeated by giving the motor forward / reverse rotation control at predetermined time intervals. The main point is to make it lift and tilt.
Therefore, according to the third aspect of the present invention, the rotation of the motor employed as the actuating means is transmitted to the first link mechanism pivotally supported by the fixed member, and the motor is intermittently rotated forward and backward. Thus, it is possible to repeatedly give upward tilt and downward tilt to the first link mechanism.

The gist of the invention described in claim 4 is that the repetitive up-and-down tilting of the first link mechanism gives the thumb attachment a semi-conical reciprocating rotation virtually assumed by the thumb CM joint as a vertex. To do.
Therefore, according to the fourth aspect of the present invention, the thumb attachment for holding the affected thumb has a semi-conical shape with the tip of the thumb CM joint referred to in external science as a result of repeated tilting by the first link mechanism. Since rotational movement is given, effective movement support for the thumb is provided.

According to a fifth aspect of the present invention, the pivot positions of the two link pieces to the attachment link piece are offset from each other, whereby the thumb attachment provided on the thumb attachment is attached to the thumb attachment. The gist of the invention is that a semi-conical rotation is generated while the posture is always displaced so that the tool is directed to the center of the semi-conical rotational movement.
Therefore, according to the invention which concerns on Claim 5, the link piece of the 2nd link mechanism mutually deviates the pivot support position to the link piece for attachment to which a thumb attachment is attached. That is, when both link pieces are deformed, as a result of the pivot position of one link piece being displaced from the pivot position of the other link piece, the thumb attachment provided on the thumb attachment is always semi-conical. A conical rotation is generated in the thumb attachment that displaces the posture so as to face the center of the rotational motion.

The invention according to claim 6 is a glove to be worn on the hand part;
A holding portion that is provided at a position corresponding to the thumb attachment of the glove and is separably held by a thumb attachment provided on the thumb attachment;
A finger fixing member that is attached to the glove and fixes the glove to the thumb finger accommodated in the glove;
The gist is to attach the holding part of the glove attached to the hand part to the thumb attachment of the thumb attachment, and to hold the thumb on the thumb attachment.
Therefore, according to the sixth aspect of the present invention, the thumb is held on the thumb attachment by the glove attached to the hand. Since the glove is fixed to the thumb by the finger fixing member, the thumb does not deviate from the thumb attachment while the thumb / movement support device is supporting the motion of the thumb. Further, by removing the finger fixing member, the hand portion can be removed from the glove even when the glove is attached to the thumb attachment.

  According to the hand and finger movement support device of the present invention, when performing rehabilitation training for the function recovery of the hand and thumb, the first link mechanism and the second link mechanism are deformed by the operating means, whereby the thumb and A semicircular arc-shaped rotational motion can be imparted to the thumb attachment to be held, and thereby a semiconical inward and outward motion can be passively imparted to the thumb.

  Next, the hand and finger movement support device according to the present invention will be described below with reference to the accompanying drawings.

(Example)
FIG. 1 is an overall perspective view of an upper limb finger function recovery training device 10 provided with a hand / finger movement support device 16 of the embodiment, and FIG. 3 holds the forearm A1 of the upper limb A in the upper limb finger function recovery training device 10. It is the top view which showed the state which carried out. As shown in FIG. 1, the upper limb finger function recovery training device 10 includes a forearm exercise support device 12 that supports the pronation and supination motion of the forearm A <b> 1, and a wrist joint exercise that supports the extension / bending exercise of the wrist joint W. The support device 14, the hand / finger motion support device 16 of the embodiment that supports the flexion motion of the thumb F1 and the semiconical adduction / extraction motion, and the flexion motion of the four fingers F2, F3, F4, and F5 other than the thumb F1 (In FIG. 3, the hand joint motion support device 14 and the finger motion support device 18 are omitted). First, the overall configuration of the upper limb finger function recovery training apparatus 10 will be schematically described with reference to FIG. For convenience of explanation, the side where the forearm exercise support device 12 is inserted into the forearm A1 is designated as the rear side of the upper limb finger function recovery training device 10, the hand side is referred to as the front side, and the left limb finger function recovery training is viewed from the front side. The left side and the right direction of the device 10 are referred to as the right side. Therefore, FIG. 1 is a perspective view of the upper limb finger function recovery training device 10 viewed from the right front side.

  The pronation / extroversion movement of the forearm A1 described above is an exercise in which the hand H is rotated to the left or right with the forearm A1 protruding forward (see FIG. 3), and the hand H is moved to the trunk side. The rotating motion is referred to as pronation, and the rotation of the hand H to the opposite side of the trunk is referred to as supination motion. As shown in FIGS. 1 to 4, the forearm exercise support device 12 that supports the pronation / extraction of the forearm A <b> 1 includes a forearm support base 22 disposed on the upper surface of the support plate 20. The forearm support base 22 is provided with a forearm holding member 24 for holding the forearm A1 in the upper limb A of the affected side that requires rehabilitation of fingers from the periphery, and is formed in a semi-cylindrical shape so as to be rotatable in the circumferential direction. A forearm support 26 and driving means (not shown) for rotating the forearm support 26 are provided. That is, by rotating the forearm support 26 by a predetermined angle (150 to 180 degrees) in the circumferential direction by the driving means, the forearm A1 held by the forearm holding member 24 is in a state where the palm is directed downward and the palm is upward. The forearm A1 can be imparted with the pronation and supination movements by rotating between the states directed to the forearm.

  The above-described extension / bending movement of the wrist joint W is a movement of bending the wrist (see FIG. 3), and the movement of bending the wrist so that the hand H is bent toward the palm of the hand is called an extension movement. The action of bending the wrist to bend to the side is called bending motion. As shown in FIG. 1, the wrist joint motion support device 14 that supports the extension / bending motion of the wrist joint W includes a pair of support arms 28, 28 that extend horizontally forward from the left and right sides of the forearm support base 22. And a pair of swivel arms 30 and 30 pivotally supported at the tips of the support arms 28 and 28, and the finger movement support device 18 and the finger and finger movement support device are installed between the free ends of the swivel arms 30 and 30. And a support frame 32 on which 16 is installed. A drive motor 34 linked to the right turning arm 30 is disposed on the right side of the forearm support base 22, and the right turning arm 30 is moved to the right support arm 28 by driving the drive motor 34. Is designed to swivel. In the wrist joint support device 14 configured as described above, the state in which both the swing arms 30 and 30 are directed vertically downward (the state shown in FIG. 1) is set to the neutral position, and the drive motor 34 is controlled by forward / reverse rotation control. The swivel arms 30 and 30 rotate to the state where they extend horizontally forward and the swivel arms 30 and 30 extend to the state where they extend horizontally rearward. That is, both the swivel arms 30 are rotated about 180 degrees in the front-rear direction by the drive motor 34, whereby the extension movement and the bending movement can be applied to the wrist joint W positioned in front of the forearm support base 22.

  Next, the finger and finger movement support device 16 of the embodiment will be described in detail with reference to FIGS. The hand / finger movement support device 16 of the embodiment includes a first link mechanism 40 provided at a lower front portion of the forearm support base 22, a second link mechanism 42 coupled to the first link mechanism 40, and the second link. A thumb attachment 44 attached to the mechanism 42 and a servo motor 46 as an operating means linked to the first link mechanism 40 are provided. That is, the hand / finger movement support device 16 of the embodiment causes the first link mechanism 40 to be tilted up and down and deformed by forward / reverse control of the servomotor 46 and the link deformation of the first link mechanism 40. Accordingly, the second link mechanism 42 is subjected to link deformation, thereby imparting a semiconical rotational motion to the thumb attachment 44.

  As shown in FIGS. 2 to 10, the first link mechanism 40 includes, as a first link piece, a fixing member 48 that is erected and fixed on the upper surface of the support frame 32 at the lower front portion of the forearm support base 22. It is pivotally supported by the fixing member 48 and tilted up and down. That is, the first link mechanism 40 includes a first link piece 48 fixed to a fixed position of the support frame 32, a second link piece 52 pivotally attached to the first link piece 48 via a first pin 50, A third link piece 56 is pivotally attached to the second link piece 52 via a second pin 54, and one end is pivotally attached to the third link piece 56 via a third pin 58 and the other end is fourth. The fourth link piece 60 is pivotally attached to the first link piece 48 via a pin 62.

  The second link piece 52 and the fourth link piece 60 are elongated lever-like members, and as shown in FIG. 2, the distance between the first pin 50 and the second pin 54 in the second link piece 52 is The distance between the third pin 58 and the fourth pin 62 in the fourth link piece 60 is set to be the same. Further, the distance between the first pin 50 and the fourth pin 62 in the first link piece 48 is set to be the same as the distance between the second pin 54 and the third pin 58 in the third link piece 56. Has been. Accordingly, the first link mechanism 40 is a so-called parallel link, the third link piece 56 is always held in parallel with the first link piece 48, and the second link piece 52 and the fourth link piece 60 are always held in parallel. The

  As shown in FIGS. 5 to 10, the servo motor 46 is attached to the upper portion of the fixing member 48 from the front side with the output shaft extending toward the second link piece 52, and the output shaft One gear 64 is attached. A second gear 66 that meshes with the first gear 64 is pivotally supported by the first pin 50 in a state in which the second gear 66 is fixed to the second link piece 52 so as not to rotate. Therefore, by applying forward / reverse control to the servo motor 46 at predetermined time intervals, the driving force of the servo motor 46 is transmitted to the front second link piece 52 via the first gear 64 and the second gear 66. As a result, the second link piece 52 swings around the first pin 50. As a result, the first link mechanism 40 repeatedly tilts up and down between a right-down state (FIGS. 5 and 9) and a substantially vertical state (FIGS. 8 and 9) of about 45 degrees. That is, when the first link mechanism 40 repeatedly tilts up and down, the third link piece 56 side to which the second link mechanism 42 is connected rises and lowers with respect to the fixed first link piece (fixing member) 48. As shown in FIG. 2, the end of the second link piece 52 opposite to the third link piece 56 side and the end of the fourth link piece 60 opposite to the third link piece 56 side are balanced. Weights 68 and 68 are respectively attached.

  As shown in FIGS. 2 to 10, the second link mechanism 42 is pivotally attached to an extension portion 70 of the second link piece 52 on the side where the second pin 54 is pivotally attached via a fifth pin 72. A fifth link piece 74, a sixth link piece 76 that is provided integrally with the third link piece 56 and makes a pair with the fifth link piece 74, and a sixth pin that has one end connected to the fifth link piece 74. The seventh link piece (attachment link piece) 82 is pivotally attached via 78 and the other end is pivotally attached to the sixth link piece 76 via a seventh pin 80. The thumb attachment 44 is attached to the seventh link piece 82.

  As shown in each drawing, the fifth link piece 74 and the sixth link piece 76 are curved so as to protrude in the direction that can avoid interference with the hand H that requires rehabilitation and other fingers, that is, to the right of the device 10. The thumb attachment 44 can be positioned above the hand H while avoiding a finger during a link operation. As shown in FIG. 5, the distance on the straight line connecting the second pin 54 and the seventh pin 80 is set to be the same as the distance on the straight line connecting the fifth pin 72 and the sixth pin 78. ing. Further, the distance between the second pin 54 and the fifth pin in the extension portion 70 is set to be the same as the distance between the sixth pin 78 and the seventh pin 80 in the seventh link piece 82. Accordingly, the second link mechanism 42 is a so-called parallel link, and the seventh link piece 82 is always held parallel to the extension portion 70.

  The thumb attachment 44 is attached to the seventh link piece 82 in the second link mechanism 42 as shown in FIGS. Specifically, the thumb attachment 44 includes a bracket 86 attached to the seventh link piece 82 using bolts 84, 84, a third arm portion 92 rotatably connected to the bracket 86, and a third arm portion. The second arm portion 90 is rotatably connected to the second arm portion 90, and the first arm portion 88 is rotatably connected to the second arm portion 90. Each of the first to third arm portions 88, 90, 92 includes a rear arm 88B, 90B, 92B and a front arm 88A, 90A, 92A that are rotatably connected to each other.

  At the tip of the front arm 88A of the first arm portion 88, a first thumb attachment 94 that holds the distal phalange portion Fa (see FIG. 13) corresponding to the distal phalange Ba of the thumb F1 is rotatably disposed. Yes. At the distal end of the front arm 90A of the second arm portion 90, a second thumb attachment 96 that holds a proximal phalange portion Fc corresponding to the proximal portion Bc of the thumb F1 is rotatably disposed. Further, a third thumbfitting tool 98 that holds the metacarpal bone part Fd corresponding to the metacarpal bone Bd of the thumb F1 is rotatably disposed at the tip of the forearm 92A of the third arm part 92. . The first thumb mount 94, the second thumb mount 96, and the third thumb mount 98 are configured identically, and include a force sensor inside and a neodymium magnet piece 100 at the tip.

  Further, a first operating motor 102 that causes the first arm portion 88 to bend and stretch is disposed on the forearm 90A of the second arm portion 90, along the movable range of the IP joint (interphalangeal joint). A bending motion is applied to the thumb F1. The forearm 92A of the third arm portion 92 is provided with a second operating motor 104 that exerts a bending / extending operation on the second arm portion 90, and a thumb finger along the movable range of the MP joint (interphalangeal joint). A bending motion is given to F1. The bracket 86 is provided with a third actuating motor 106 that develops a bending / extending operation on the third arm portion 92, and imparts a bending motion to the thumb F1 along the movable range of the thumb CM joint J.

  As shown in FIG. 9, the second link mechanism 42 to which the thumb attachment 44 is attached has pivotal positions (sixth pin) of the fifth link piece 74 and the sixth link piece 76 to the seventh link piece 82. 78 and the position of the seventh pin 80) are offset from each other. Accordingly, when the first link mechanism 40 is repeatedly tilted up and down by the forward / reverse rotation control of the servo motor 46, a semiconical rotational motion occurs in the thumb attachment 44 attached to the seventh link piece 82. Is done. That is, as shown in FIG. 9, the repetitive up-and-down tilting of the first link mechanism 40 causes a semi-conical reciprocating rotational motion imaginary with the thumb CM joint J as the apex.

  Specifically, in the state where the first link mechanism 40 is lowered to the right as shown in FIG. 5 (the state where the first link mechanism 40 is tilted all the way to the bottom dead center), the first to third thumb attachments 94, 96, 98 is directed to the upper left diagonally like the extension portion 70 and the seventh link piece 82, and the thumb attachment 44 holds the thumb F1 in a state where the palm H is fully open on the palm side. To do. When the first link mechanism 40 is in the horizontal state shown in FIG. 6, the first to third thumb attachments 94, 96, 98 of the thumb attachment 44 are horizontal like the extension 70 and the seventh link piece 82. The thumb attachment 44 holds the thumb F1 slightly rising from the hand H from the side. When the first link mechanism 40 is in the right-up state shown in FIG. 7, the first to third thumb attachments 94, 96, 98 of the thumb attachment 44 are connected to the extension 70 and the seventh link piece 82. Similarly, the thumb attachment 44 holds the thumb F1 rising substantially vertically from the palm from obliquely above. Further, when the first link mechanism 40 is in a substantially vertical state shown in FIG. 8 (a state in which the first link mechanism 40 is fully tilted to the top dead center), the first to third thumb attachments 94, 96, 98 of the thumb attachment 44 are The extension 70 and the seventh link piece 82 are directed substantially directly below the same angle, and the thumb attachment 44 holds the thumb F1 lying on the upper surface of the palm from above. That is, in the hand / finger movement support device 16 of the embodiment, a half cone is formed on the thumb F 1 along the movable range of the thumb CM joint J by the link deformation of the first link mechanism 40 and the second link mechanism 42 by the servo motor 46. Gives the shape of abduction motion. The first thumb attachment 94, the second thumb attachment 96, and the third thumb attachment 98 provided on the thumb attachment 44 are displaced in their postures so as to always face the center of the semiconical rotational movement. The thumb F1 that makes a conical inward and outward motion is held so as to wrap around from the outside, so that the thumb F1 can be stably held and no load is applied to the thumb F1.

  Therefore, when the first and second operation motors 102 and 104 disposed on the thumb attachment 44 are individually operated, the hand / finger movement support device 16 of the embodiment follows the movable range of the IP joint or the MP joint. The bent motion is applied to the thumb F1. In addition, the first to third operating motors 102, 104, and 106 disposed on the thumb attachment 44 are operated synchronously to impart bending motion along the movable range of the thumb CM joint J to the thumb F1. Can do. Further, the first link mechanism 40 and the second link mechanism 42 are deformed by forward / reverse control of the servomotor 46, so that the semi-conical inward and outward rotations along the movable range of the thumb CM joint J are achieved. It is also possible to apply movement to the thumb F1 passively and repetitively.

  As shown in FIG. 1, each of the finger movement support devices 18, 18, 18, 18 for supporting the movement of four fingers F2, F3, F4, F5 other than the thumb F1 is supported by the support frame 32. On the upper surface of the frame 32, it arrange | positions in the horizontal direction at right and left. Each finger movement support device 18 has the same basic configuration, and includes a finger attachment 107 having a different number of arms from the thumb attachment 44. That is, the finger attachment 107 of each finger movement support device 18 includes a bracket 108 attached to the upper surface of the support frame 32, a second arm portion 112 rotatably disposed on the front side of the bracket 108, The first arm unit 110 is rotatably provided at the tip of the two arm unit 112.

  A first finger attachment 114 is disposed at the distal end of the first arm portion 110, and a second finger attachment 116 is disposed at the distal end of the second arm portion 112. The first finger attachment 114 and the second finger attachment 116 are provided with force sensors in the same manner as the first thumb attachment 94, the second thumb attachment 96 and the third thumb attachment 98, respectively. A neodymium magnet piece 118 is provided at the tip. Each first finger attachment 114 holds the middle phalanx Fb (see FIG. 13) of each finger F2, F3, F4, F5, and each second finger attachment 116 has each finger F2, F3, F4, F5. The proximal phalanx Fc (see FIG. 13) is held. The second arm 112 is provided with a fourth operating motor 120 for operating the first arm 110, and the bracket 108 is provided with a fifth operating motor 122 for operating the second arm 112. . Each finger movement support device 18 configured in this way operates the fourth and fifth operation motors 120 and 122 to thereby operate the PIP joint (proximal interphalangeal joint) and the MP joint (interphalangeal). A bending motion along the movable range of the joint) can be applied to each finger F2, F3, F4, F5.

  In the rehabilitation of fingers by the upper limb finger function recovery training device 10, a holder glove (glove) 124 shown in FIGS. 3 and 11 is attached to the hand portion H, and the holder glove 124 is attached to the thumb finger of the finger movement support device 16. This is performed under the condition that the attachment 44 and the finger attachment 107 of the finger movement support device 18 are magnetically attracted. FIG. 11 shows the holder glove 124 for the left hand as viewed from the side corresponding to the back of the hand, and the holder glove 124 is formed of a material having a high elasticity. The holder glove 124 includes a first finger accommodating portion 124A in which the thumb F1 is accommodated and second to fifth finger accommodating portions 124B, 124C in which the remaining four fingers F2, F3, F4, F5 are accommodated. , 124D, and 124E, finger clamp belts (finger fixing members) 126 wound around the stored thumb F1 and fingers F2 to F5 are arranged so that the tightening state of the corresponding fingers can be adjusted. ing. These finger tightening belts 126 are formed of a non-stretchable material such as a hook-and-loop fastener. Further, the first finger accommodating portion 124 </ b> A has the neodymium magnet piece 100 at a position corresponding to the neodymium magnet piece 100 disposed on each of the first to third thumbfitting fixtures 94, 96, 98 of the thumb attachment 44. A neodymium magnet piece (holding portion) 128 capable of adsorbing magnetic force is disposed. Each of the second to fifth finger accommodating portions 124B to 124E has a position corresponding to the neodymium magnet piece 118 disposed on each of the first and second finger attachments 114 and 116 of the finger attachment 107. A neodymium magnet piece 118 and a neodymium magnet piece 128 capable of attracting magnetic force are disposed.

  That is, in the first finger accommodating portion 124A, the finger tightening belt 126 is disposed so as to be wound around the outer surface of the first finger accommodating portion 124A at positions corresponding to the distal phalange portion Fa and the proximal phalange portion Fc of the thumb F1. It is installed. Further, neodymium magnet pieces 128 are attached to positions corresponding to the outer sides of the distal phalange portion Fa, the proximal phalange portion Fc, and the metacarpal bone portion Fd, respectively. On the other hand, in each of the second to fifth finger accommodating portions 124B, 124C, 124D, and 124E, the fingers F2, F3, F4, and F5 are positioned at positions corresponding to the middle phalanx Fb and the proximal phalange Fc. A tightening belt 126 is disposed so as to be wound around the outer surfaces of the finger receiving portions 124B, 124C, 124D, and 124E. Further, a neodymium magnet piece 128 is attached at the same position as the finger tightening belt 126 is disposed.

  In addition, each neodymium magnet piece 128 is arrange | positioned in the state coat | covered with the cover 130 stitch | sutured by each finger accommodating part 124A-124E, as shown to Fig.12 (a) and FIG.12 (b). Each finger tightening belt 126 has one end in the longitudinal direction stitched to each finger accommodating portion 124A to 124E, and a circular opening 132 is formed in a portion corresponding to the neodymium magnet piece 128, and the corresponding finger accommodating portion. When wound around 124A to 124E, the opening 132 is aligned with the neodymium magnet piece 128 (cover 130).

(Operation of Example)
Next, rehabilitation of the thumb F1 by the thumb and finger movement support device 16 provided in the upper limb finger function recovery training device 10 configured as described above will be described. Here, the operation of the finger / hand movement support device 16 which is the subject of the present invention will be mainly described, and the description of the operation of the forearm motion support device 12, the wrist joint motion support device 14, and each finger motion support device 18 will be omitted. . In the initial state of the upper limb finger function recovery training device 10, the wrist joint motion support device 14 and each finger motion support device 18 are held in the state shown in FIG. The state shown in FIG. 5 is maintained.

  Prior to rehabilitation, the holder glove 124 is attached to the hand H of the upper limb A of the affected side. Then, after the thumb F1 and the fingers F2, F3, F4, and F5 are accommodated in the first to fifth finger accommodating portions 124A to 124E, the finger tightening belt 126 is moved to the thumb F1 and the fingers F1 to F5. The holder glove 124 is fixed to the hand portion H (the thumb F1 and the fingers F2 to F5). In addition, since the holder glove 124 can be attached to the hand H before setting the forearm A1 in the upper limb A of the affected side to the upper limb finger function recovery training device 10, even if the person has a disorder in the upper limb A or the finger, the holder The glove 124 can be easily attached.

  Then, with the holder glove 124 attached to the hand H, the upper limb A is inserted from the rear side with respect to the forearm support base 22 of the forearm exercise support device 12, and the forearm H1 is placed with the palm pointing up. It is held by the forearm holding member 24. Thereby, as shown in FIG. 3, each neodymium magnet piece 128 disposed in the first finger accommodating portion 124 </ b> A has the first to third thumb attachments 94 in the thumb attachment 44 of the finger movement support device 16, The thumb finger F1 is held by the thumb attachment 44 due to the magnetic attraction between the south pole and the north pole of the neodymium magnet pieces 100, 128 in proximity to the neodymium magnet pieces 100 disposed at 96, 98. Further, the neodymium magnet pieces 128 disposed in the second to fifth finger accommodating portions 124B to 124E are respectively connected to the first and second finger attachments 114 and 116 in the finger attachment 107 of each finger movement support device 18. The second to fifth fingers F2 to F5 are respectively attached to the finger attachments 107 by the magnetic adsorption between the south pole and the north pole of the neodymium magnet pieces 118 and 128. Retained. As a result, the hand portion H is held with the palm side open.

  When the holding of the thumb F1 and the fingers F2 to F5 with respect to the finger movement support device 16 and the finger movement support device 18 is completed, the first to third operation motors 102, 104, 106 and the servo motor 46 are collectively controlled. The exercise support of the thumb F1 is performed. For example, if the first and second operation motors 102 and 104 disposed on the thumb attachment 44 are individually operated, bending motion along the movable range of the IP joint and the MP joint can be imparted to the thumb F1. . Further, if the first to third operation motors 102, 104, 106 arranged on the thumb attachment 44 are operated synchronously, bending motion along the movable range of the thumb CM joint J is imparted to the thumb F1. Can do.

  Further, the servo motor 46 is controlled to rotate forward / reversely so that the first link mechanism 40 is repeatedly tilted up and down, and the second link mechanism 42 is linked by the link deformation of the first link mechanism 40. By deforming, the thumb attachment 44 is given a semi-conical rotational motion that is virtually assumed with the thumb CM joint J as the apex. Thereby, the thumb F1 held by the thumb attachment 44 is given a semi-conical rotational motion along the movable range of the thumb CM joint J, thereby supporting the inner and outer rotation motion of the thumb F1. In addition, by continuously performing forward / reverse rotation control on the servo motor 46, the semiconical inner / outer rotation motion of the thumb F1 is repeated every required time.

  In addition, when the rehabilitation of fingers by the upper limb finger function recovery training apparatus 10 is completed, the finger tightening belts 126 disposed in the first to fifth finger accommodating portions 124A to 124E are loosened. Thereby, even if the holder glove 124 is held by the thumb attachment 44 of the finger movement support device 16 and the finger attachment 107 of the finger movement support device 18 by the magnetic force of each neodymium magnet piece 100, 118, 128, the holder glove The hand portion H can be easily pulled out from 124. However, it is also possible to separate the hand H from the hand / finger movement support device 16 and the finger movement support device 18 with the holder glove 124 attached to the hand H without loosening each finger tightening belt 126. is there.

According to the hand and finger movement support device 16 of the embodiment configured as described above, the following operational effects can be obtained.
(1) The first link mechanism 40 pivotally supported by the fixed member 48 is tilted up and down by forward / reverse control of the servo motor 46 to deform the link, and the second link accompanying the link deformation of the first link mechanism 40 By deforming the mechanism 42 as well, a semi-conical rotational motion can be given to the thumb attachment 44. That is, the patient's thumb F1 held by the thumb attachment 44 is given a semi-conical adduction / extraction motion with the thumb CM joint J as the apex in terms of external science. It can be done dynamically.
(2) Since the fifth link piece 74 and the sixth link piece 76 of the second link mechanism 42 to which the thumb attachment 44 is attached are curved, the second link mechanism 42 and the hand H and fingers or other devices Interference can be avoided. In particular, the finger movement support device 18 that gives the rehabilitation support movement to the other fingers F2 to F5 other than the thumb F1 does not interfere with the second link mechanism 42, so that the degree of freedom in designing the device is increased. Can be increased.
(3) Since the servo motor 46 and the first link mechanism 40 pivotally supported by the fixing member 48 are linked by the first gear 64 and the second gear 66, the servo motor 46 is intermittently rotated forward and backward. As a result, it is possible to reliably give the first link mechanism 40 an upward tilt and a downward tilt.
(4) The fifth link piece 74 and the sixth link piece 76 of the second link mechanism 42 are offset from each other in the pivotal position to the seventh link piece 82 to which the thumb attachment 44 is attached. Accordingly, when the link pieces 74 and 76 are displaced, the fifth link piece 74 is displaced from the pivot position of the sixth link piece 76. As a result, the thumb attachment 44 has a semiconical shape. Rotational motion occurs.
(5) The thumb attachment 44 is attached to each of the first to third thumb attachments 94 on the distal phalange portion Fa, the proximal phalange portion Fc, and the metacarpal bone portion Fd of the thumb finger F1 in terms of the external science of the hand. Since it is attached through 96, 98, the thumb F1 is securely held.
(6) The holding of the thumb F1 and the fingers F2 to F5 with respect to the hand and finger movement support device 16 and each finger movement support device 18 is performed by the neodymium magnet piece 128 disposed on the holder glove 124 attached to the hand portion H and the finger and finger. Since it is made by magnetic force adsorption with the neodymium magnet pieces 100 and 118 disposed on the attachment 44 and the finger attachment 107, the hand portion H can be set easily and easily. After the rehabilitation, the hand H can be easily removed from the holder glove 124 held by the finger attachment 44 and the finger attachment 107 simply by loosening each finger fastening belt 126 of the holder glove 124. Further, since the holder glove 124 is fixed to the thumb F1 and the fingers F2 to F5 by the finger tightening belt 126, the thumb F1 and the fingers F2 are supported during the exercise support by the finger movement support device 16 and the finger movement support device 18. -F5 does not deviate from the thumb attachment 44 and the finger attachment 107.

(Example of change)
(1) The operating means 46 serving as a power supply source of the hand / finger movement support device 16 employs a servo motor that can easily perform forward / reverse control. However, the operating means 46 is not limited to a servo motor, and may be, for example, a pulse motor. A linear actuator such as a pneumatic cylinder, an electromagnetic solenoid, or the like may be used.
(2) The fifth link piece 74 and the sixth link piece 76 in the second link mechanism 42 of the finger / finger movement support device 16 do not come into contact with the hand portion H, fingers, equipment, etc. (the passage of the hand portion H is allowed) If so, the shape may not be curved in a semicircular arc shape. For example, it may be a bent shape having a “U” shape, or may be a straight elongated plate shape or a rod shape.
(3) The second link piece 52 and the fourth link piece 60 in the first link mechanism 40 of the hand / finger movement support device 16 are not limited to a straight lever shape, but the fifth link piece 74 of the second link mechanism 42. And it is good also as a curved shape like the 6th link piece 76. FIG.
(4) The neodymium magnet pieces 100, 118, and 128 disposed on the finger attachments 94, 96, and 98, the finger attachments 114 and 116, and the holder globe 124 may be replaced with ferrite magnets or the like. In addition, instead of the neodymium magnet piece 128, the holder glove 124 may be an iron piece that can be attracted to the neodymium magnet pieces 100, 118 disposed on the finger attachment tools 94, 96, 98 and the finger attachment tools 114, 116. It is good also as a steel piece.
(5) In the embodiment, the hand movement support device 16 that performs rehabilitation on the finger of the left arm is shown. However, by extending the extending directions of the first link mechanism 40 and the second link mechanism 42 left and right symmetrically, It can be easily applied to fingers.
(6) In the embodiment, a finger tightening belt made of a hook-and-loop fastener is exemplified as the finger fixing member 126 provided on the holder glove 124. However, the finger fixing member 126 has the holder glove 124 attached to the hand portion H (the thumb F1 and each finger). Any one that can be appropriately fixed to the fingers F2 to F5), for example, has an appropriate stretchability, and has an appropriate tightening force when wound around the thumb F1 and the fingers F2 to F5 while being stretched. It may be a rubber finger tightening belt or the like that can develop.

Note that the finger / finger movement support device of the present application may have the following configuration.
A forearm support that supports the forearm of the upper limb that requires rehabilitation of the thumb,
A first link piece fixed at a fixed position at the front lower part of the forearm support base, a second link piece pivotally attached to the first link piece via a first pin, and a second pin on the second link piece A third link piece pivotally attached to the first link piece, and a first link pivotally attached to the third link piece via a third pin and the other end pivoted to the first link piece via a fourth pin. A first link mechanism comprising a piece;
A fifth link piece pivotally attached to the extension portion of the second link piece on the side on which the second pin is pivotally attached via a fifth pin, and the fifth link piece integrally provided on the third link piece. A sixth link piece that forms a pair with the link piece, and a seventh link that has one end pivotally attached to the fifth link piece via a sixth pin and the other end pivoted to the sixth link piece via a seventh pin. A second link mechanism comprising a piece;
A thumb attachment attached to a seventh finger attached to the seventh link piece of the second link mechanism;
The second link piece is repeatedly tilted up and down around the first pin to deform the first link mechanism, and along with the link deformation, the second link mechanism is deformed, and the thumb attachment is half An apparatus for assisting finger movement, comprising an operating means for giving a conical rotational movement.

It is a whole perspective view of an upper limb finger function recovery training device provided with a finger and finger movement support device concerning an example. It is a front view of a finger and finger movement support device. It is a top view of a finger and finger movement support device. It is a left view of a finger and finger movement support device. It is a principal part front view in the state where the 1st link mechanism in a finger / finger movement support device was tilted to the bottom dead center. It is a principal part front view in the state which has the 1st link mechanism in FIG. 5 in a horizontal position. It is a principal part front view in the state where the 1st link mechanism in FIG. 5 tilted diagonally upward and was approaching the top dead center. It is a principal part front view in the state where the 1st link mechanism in FIG. 5 was tilted all the way to the top dead center. It is the principal part front view which synthesize | combined the motion of the 1st link mechanism and the 2nd link mechanism of FIGS. 5-8, Comprising: The locus | trajectory of the two pivot pins in the link piece in the state which removed the thumb attachment is intermittent It shows. It is a right side figure showing the 1st link mechanism and the 2nd link mechanism in a finger and finger movement support device. It is the top view which showed the structure of the holder glove. (a) is sectional drawing which showed the neodymium magnet piece and finger clamp belt which were provided in the holder glove, (b) is a perspective view of (a). It is the schematic explanatory drawing which observed the skeleton of the hand surgically. It is explanatory drawing which shows the state which gives a semiconical rotational motion to a thumb with the thumb CM joint of a hand as a vertex position.

Explanation of symbols

22 forearm support base, 40 first link mechanism, 42 second link mechanism 44 thumb attachment, 46 servo motor (actuating means)
48 fixing member (first link piece), 50 first pin, 52 second link piece, 54 second pin 56 third link piece (link piece), 58 third pin, 60 fourth link piece, 62 fourth pin 70 Extension part, 72 5th pin, 74 5th link piece (link piece)
76 Sixth link piece (link piece), 78 Sixth pin, 80 Seventh pin 82 Seventh link piece (link piece for attachment), 94 First thumb attachment (finger attachment)
96 Second thumb mount (thumb mount), 98 Third thumb mount (thumb mount)
124 Holder Glove (Glove), 126 Finger Tightening Belt (Finger Fixing Member)
128 neodymium magnet piece (holding part), A1 forearm, F1 thumb, Fd metacarpal bone, H hand J thumb CM joint

Claims (6)

A forearm support (22) that supports the forearm (A1) of the upper limb that requires rehabilitation of the thumb (F1);
A fixing member (48) provided at the lower front portion of the forearm support base (22) is one of the link pieces, and a first link mechanism (40) that is pivotally supported by the fixing member (48) and can be tilted up and down;
A link piece (76) provided integrally with one link piece (56) in the first link mechanism (40) and a link piece (74) pivotally attached to the first link mechanism (40). A second link mechanism (42) having an attachment link piece (82) pivotally attached to the ends of both link pieces (76, 74);
A thumb attachment (44) attached to the attachment link piece (82) and attached to the thumb (F1);
The first link mechanism (40) is tilted up and down to deform the link, and the second link mechanism (42) is also deformed by the link deformation to rotate the thumb attachment (44) in a semi-conical shape. A hand / finger movement support device comprising an operation means (46) for applying exercise.   The two link pieces (76, 74) in the second link mechanism (42) are curved in a direction that can avoid interference with other fingers requiring rehabilitation, and allow the passage of the hand portion (H). The thumb / finger movement support device according to claim 1, wherein the thumb attachment (44) is positioned above the hand portion (H) while securing the above.   The actuating means (46) is a motor, and the first link mechanism (40) pivotally supported by the fixing member (48) is repeated by giving the motor forward / reverse rotation control at predetermined time intervals. The hand and finger movement support device according to claim 1 or 2, wherein the device is moved up and down.   The semicircular reciprocating rotation virtually assumed with the thumb CM joint (J) as a vertex is given to the thumb attachment (44) by repetitive up-and-down tilting of the first link mechanism (40). The hand and finger movement support device according to any one of claims 3 to 4.   The pivot support positions of the two link pieces (76, 74) to the attachment link piece (82) are offset from each other, whereby the thumb attachment (44) has the thumb attachment (44). 5. A semiconical rotation is generated while the thumb attachment (94, 96, 98) provided on the head is always displaced in a posture so as to face the center of the semiconical rotational movement. The hand and finger movement support device according to Item. A glove (124) attached to the hand (H),
A holding part (128) which is provided at a position corresponding to the thumb attachment (44) of the glove (124) and is separably held by a thumb attachment (94, 96, 98) provided on the thumb attachment (44). When,
A finger fixing member (126) attached to the glove (124) and fixing the glove (124) to the thumb (F1) housed in the glove (124);
The holding part (128) of the glove (124) attached to the hand part (H) is attached to the thumb attachment (94, 96, 98) of the thumb attachment (44), and the thumb (F1) is attached to the thumb attachment. The hand and finger motion support device according to any one of claims 1 to 5, which is held by (44).

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