JP2010279471A - Rehabilitation device - Google Patents
Rehabilitation device Download PDFInfo
- Publication number
- JP2010279471A JP2010279471A JP2009133900A JP2009133900A JP2010279471A JP 2010279471 A JP2010279471 A JP 2010279471A JP 2009133900 A JP2009133900 A JP 2009133900A JP 2009133900 A JP2009133900 A JP 2009133900A JP 2010279471 A JP2010279471 A JP 2010279471A
- Authority
- JP
- Japan
- Prior art keywords
- wearing tool
- rehabilitation device
- tool
- joint
- rehabilitation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Landscapes
- Rehabilitation Tools (AREA)
- Prostheses (AREA)
- Manipulator (AREA)
Abstract
Description
本発明は、一方の骨に対して他方の骨にねじりを与えるリハビリ装置に関するものである。 The present invention relates to a rehabilitation device for twisting one bone with respect to the other bone.
手首を屈曲／伸展、回動させる装着具は、関節を跨ぐように、上腕や前腕に装着される。 A wearing tool that flexes / extends and rotates the wrist is worn on the upper arm or the forearm so as to straddle the joint.
特許文献１によれば、弾性体によって連結された装具の前腕や上腕部に、関節を跨いで人工筋肉を取り付けているが、回転力を発生させる具体的な仕様については開示されていない。人工筋肉を駆動させても、回転力よりもむしろ関節を圧迫する力が作用する危険性がある。
また、弾性体が手首関節部に配置されているが、実際の手首の回動は橈骨、尺骨のねじれによって実現される。このため、前腕の手首部を固定し、手首部に対して手部を動作させても、回動は実現しない。
According to Patent Document 1, an artificial muscle is attached across a joint to the forearm and upper arm of an orthosis connected by an elastic body, but specific specifications for generating a rotational force are not disclosed. Even if the artificial muscle is driven, there is a risk that a force that compresses the joint rather than a rotational force acts.
Moreover, although the elastic body is arrange | positioned at a wrist joint part, actual rotation of a wrist is implement | achieved by the twist of a radius and an ulna. For this reason, even if the wrist part of the forearm is fixed and the hand part is operated with respect to the wrist part, the rotation is not realized.
本発明は、回内や回外、内旋や外旋といった関節のねじり動作を補助、矯正することができるリハビリ装置を提供することを目的とする。 It is an object of the present invention to provide a rehabilitation device that can assist and correct the torsional motion of joints such as pronation and rotation, internal rotation and external rotation.
請求項１記載の本発明のリハビリ装置は、関節の一方の骨に対して他方の骨にねじりを与えるリハビリ装置であって、第２の装着具の外周に第１の装着具を設け、前記第２の装着具の外周面と前記第１の装着具の内周面との間に回動機構を設け、前記第２の装着具には長手方向に対して傾斜させたガイド機構を、前記第１の装着具には長手方向に第１のガイド溝をそれぞれ設け、長手方向に長さを変化させる駆動部の一端を、前記ガイド機構及び前記第１のガイド溝に、前記駆動部の他端を前記第１の装着具に連結したことを特徴とする。
請求項２記載の本発明は、請求項１に記載のリハビリ装置において、前記第１の装着具を前記関節を跨いで配置し、前記第２の装着具を前記関節の他方の骨に沿って配置したことを特徴とする。
請求項３記載の本発明は、請求項１に記載のリハビリ装置において、前記第１の装着具を前腕に沿って配置し、前記第２の装着具を前記前腕から手首関節を跨いで手に配置したことを特徴とする。
請求項４記載の本発明は、請求項１記載のリハビリ装置において、前記第１の装着具を手首関節を跨いで配置し、前記第２の装着具を手に配置したことを特徴とする。
請求項５記載の本発明は、請求項１に記載のリハビリ装置において、前記第１の装着具には長手方向に第２のガイド機構を設け、前記駆動部の他端を、前記第２のガイド機構を介して前記第１の装着具に連結したことを特徴とする。
請求項６記載の本発明は、請求項１から請求項５に記載のリハビリ装置において、前記ガイド機構、前記第１のガイド溝、及び前記駆動部を有する駆動機構を複数備え、複数の前記駆動機構を前記駆動部の両端で１組に連結したことを特徴とする。
請求項７記載の本発明は、請求項１から請求項６に記載のリハビリ装置において、複数の前記駆動機構または複数組の前記駆動機構を前記第１の装着具の円周方向に沿って配置し、前記駆動部の伸縮に応じて、複数または複数組の前記駆動機構が同一の回動方向に駆動されることを特徴とする。
請求項８記載の本発明は、請求項１から請求項６に記載のリハビリ装置において、複数の前記駆動機構または複数組の前記駆動機構を前記第１の装着具の円周方向に沿って配置し、前記駆動部の伸縮に応じて、少なくとも１つまたは１組の駆動機構が他の駆動機構と逆の回動方向に駆動されることを特徴とする。
請求項９記載の本発明は、請求項１から請求項５に記載のリハビリ装置において、前記駆動部として、気体、液体、若しくは固体の物質、又はこれらの混合物の供給又は排出によって伸縮する人工筋を用いたことを特徴とする。
請求項１０記載の本発明は、請求項１から請求項７に記載のリハビリ装置において、前記駆動部として、エアシリンダー、油圧シリンダー、リニアモータ、ソレノイド、又はボイスコイルモータを用いたことを特徴とする。
The rehabilitation device of the present invention according to claim 1 is a rehabilitation device for twisting one bone of a joint to the other bone, wherein the first attachment device is provided on the outer periphery of the second attachment device, A rotation mechanism is provided between the outer peripheral surface of the second mounting tool and the inner peripheral surface of the first mounting tool, and the guide mechanism that is inclined with respect to the longitudinal direction is provided on the second mounting tool, The first mounting tool is provided with a first guide groove in the longitudinal direction, and one end of the drive unit whose length is changed in the longitudinal direction is connected to the guide mechanism and the first guide groove in addition to the drive unit. An end is connected to the first mounting tool.
According to a second aspect of the present invention, in the rehabilitation apparatus according to the first aspect, the first wearing tool is disposed across the joint, and the second wearing tool is disposed along the other bone of the joint. It is arranged.
According to a third aspect of the present invention, in the rehabilitation device according to the first aspect, the first wearing tool is disposed along the forearm, and the second wearing tool is placed on the hand across the wrist joint from the forearm. It is arranged.
According to a fourth aspect of the present invention, in the rehabilitation device according to the first aspect, the first wearing tool is disposed across the wrist joint, and the second wearing tool is disposed in the hand.
According to a fifth aspect of the present invention, in the rehabilitation device according to the first aspect, the first wearing tool is provided with a second guide mechanism in the longitudinal direction, and the other end of the driving unit is connected to the second mounting mechanism. It is connected to the first mounting tool through a guide mechanism.
According to a sixth aspect of the present invention, in the rehabilitation device according to the first to fifth aspects of the present invention, the rehabilitation apparatus includes a plurality of driving mechanisms including the guide mechanism, the first guide groove, and the driving unit, and the plurality of the driving mechanisms. The mechanisms are connected to each other at both ends of the driving unit.
According to a seventh aspect of the present invention, in the rehabilitation device according to the first to sixth aspects, a plurality of the driving mechanisms or a plurality of sets of the driving mechanisms are arranged along a circumferential direction of the first wearing tool. And according to expansion and contraction of the drive unit, a plurality or a plurality of sets of the drive mechanisms are driven in the same rotation direction.
The present invention according to claim 8 is the rehabilitation apparatus according to any one of claims 1 to 6, wherein a plurality of the drive mechanisms or a plurality of sets of the drive mechanisms are arranged along a circumferential direction of the first wearing tool. In accordance with the expansion and contraction of the driving unit, at least one or one set of driving mechanisms is driven in a rotation direction opposite to that of the other driving mechanisms.
According to a ninth aspect of the present invention, in the rehabilitation apparatus according to the first to fifth aspects, the artificial muscle that expands and contracts by supplying or discharging a gas, a liquid, a solid substance, or a mixture thereof as the driving unit. It is characterized by using.
According to a tenth aspect of the present invention, in the rehabilitation apparatus according to the first to seventh aspects, an air cylinder, a hydraulic cylinder, a linear motor, a solenoid, or a voice coil motor is used as the drive unit. To do.
本発明によれば、回内や回外と言われる関節のねじりを矯正することができる。 According to the present invention, it is possible to correct joint torsion, which is called pronation or pronation.
本発明の第１の実施の形態によるリハビリ装置は、関節の一方の骨に対して他方の骨にねじりを与えるリハビリ装置であって、第２の装着具の外周に第１の装着具を設け、第２の装着具の外周面と第１の装着具の内周面との間に回動機構を設け、第２の装着具には長手方向に対して傾斜させたガイド機構を、第１の装着具には長手方向に第１のガイド溝をそれぞれ設け、長手方向に長さを変化させる駆動部の一端を、ガイド機構及び第１のガイド溝に、駆動部の他端を第１の装着具に連結したものである。本実施の形態によれば、回内や回外と言われる関節のねじりを矯正することができる。
本発明の第２の実施の形態によるリハビリ装置は、第１の実施の形態によるリハビリ装置において、第１の装着具を関節を跨いで配置し、第２の装着具を関節の他方の骨に沿って配置したものである。本実施の形態によれば、関節を跨いで装着具を装着することでより確実に回内や回外と言われる関節のねじりを矯正することができる。
本発明の第３の実施の形態によるリハビリ装置は、第１の実施の形態によるリハビリ装置において、第１の装着具を前腕に沿って配置し、第２の装着具を前腕から手首関節を跨いで手に配置したものである。本実施の形態によれば、前腕における回内や回外と言われる関節のねじりを矯正することができる。
本発明の第４の実施の形態によるリハビリ装置は、第１の実施の形態によるリハビリ装置において、第１の装着具を手首関節を跨いで配置し、第２の装着具を手に配置したものである。本実施の形態によれば、前腕における回内や回外と言われる関節のねじりを矯正することができる。
本発明の第５の実施の形態によるリハビリ装置は、第１の実施の形態によるリハビリ装置において、第１の装着具には長手方向に第２のガイド機構を設け、駆動部の他端を、第２のガイド機構を介して第１の装着具に連結したものである。本実施の形態によれば、ねじりによって生じた駆動部の経路差を第２のガイド機構で吸収することができ、駆動部へのストレスを低減して、より安定したねじりを与えることができる。
本発明の第６の実施の形態によるリハビリ装置は、第１から第５の実施の形態によるリハビリ装置において、ガイド機構、第１のガイド溝、及び駆動部を有する駆動機構を、複数備え、複数の駆動機構を駆動部の両端で１組に連結したものである。本実施の形態によれば、複数の駆動機構を連結して動作させることで安定した駆動力を発生させ、安定したねじりを付与することができる。
本発明の第７の実施の形態によるリハビリ装置は、第１から第６の実施の形態によるリハビリ装置において、複数の駆動機構または複数組の駆動機構を第１の装着具の円周方向に沿って配置し、駆動部の伸縮に応じて、複数または複数組の駆動機構が同一の回動方向に駆動されるものである。本実施の形態によれば、複数または複数組の駆動機構を円周に沿って配置することでより確実に、安定して関節にねじりを与えることができる。
本発明の第８の実施の形態によるリハビリ装置は、第１から第６の実施の形態によるリハビリ装置において、複数の駆動機構または複数組の駆動機構を第１の装着具の円周方向に沿って配置し、駆動部の伸縮に応じて、少なくとも１つまたは１組の駆動機構が他の駆動機構と逆の回動方向に駆動されるものである。本実施の形態によれば、両回動方向への駆動機構を備えることで、片方向にのみ駆動力を発生する駆動部を用いても、関節に両方向のねじりを与えることができる。
本発明の第９の実施の形態によるリハビリ装置は、第１から第５の実施の形態によるリハビリ装置において、駆動部として、気体、液体、若しくは固体の物質、又はこれらの混合物の供給又は排出によって伸縮する人工筋を用いたものである本実施の形態によれば、駆動部に流体圧式の人工筋肉を用いることで、軽量なリハビリ装置を実現することができる。
本発明の第１０の実施の形態は、第１から第７の実施の形態によるリハビリ装置において、駆動部として、エアシリンダー、油圧シリンダー、リニアモータ、ソレノイド、又はボイスコイルモータを用いたものである。本実施の形態によれば、伸張と収縮の両方向に駆動力を発生させる駆動部を用いることで、同一方向の駆動機構のみを用いても、関節に両方向のねじりを付与することができる。
The rehabilitation device according to the first embodiment of the present invention is a rehabilitation device that twists one bone of a joint to the other bone, and the first attachment device is provided on the outer periphery of the second attachment device. A rotation mechanism is provided between the outer peripheral surface of the second mounting tool and the inner peripheral surface of the first mounting tool, and the first mounting tool is provided with a guide mechanism that is inclined with respect to the longitudinal direction. The mounting tool is provided with a first guide groove in the longitudinal direction, one end of the drive unit whose length is changed in the longitudinal direction, the guide mechanism and the first guide groove, and the other end of the drive unit in the first direction. It is connected to the mounting tool. According to the present embodiment, it is possible to correct the torsion of the joint, which is called pronation or pronation.
The rehabilitation device according to the second embodiment of the present invention is the rehabilitation device according to the first embodiment, wherein the first wearing tool is arranged across the joint, and the second wearing tool is placed on the other bone of the joint. It is arranged along. According to the present embodiment, it is possible to correct the torsion of the joint, which is referred to as pronation or pronation, more reliably by mounting the mounting tool across the joint.
The rehabilitation device according to the third embodiment of the present invention is the rehabilitation device according to the first embodiment, wherein the first wearing tool is disposed along the forearm, and the second wearing tool is straddled from the forearm to the wrist joint. Is placed in hand. According to the present embodiment, it is possible to correct the torsion of the joint which is said to be pronation or pronation in the forearm.
The rehabilitation device according to the fourth embodiment of the present invention is the rehabilitation device according to the first embodiment, in which the first wearing tool is arranged across the wrist joint and the second wearing tool is arranged in the hand. It is. According to the present embodiment, it is possible to correct the torsion of the joint which is said to be pronation or pronation in the forearm.
The rehabilitation device according to the fifth embodiment of the present invention is the rehabilitation device according to the first embodiment, wherein the first wearing tool is provided with a second guide mechanism in the longitudinal direction, and the other end of the drive unit is provided. It is connected to the first mounting tool via the second guide mechanism. According to the present embodiment, the path difference of the drive unit caused by torsion can be absorbed by the second guide mechanism, stress on the drive unit can be reduced, and more stable torsion can be given.
The rehabilitation device according to the sixth embodiment of the present invention is the rehabilitation device according to the first to fifth embodiments, and includes a plurality of drive mechanisms having a guide mechanism, a first guide groove, and a drive unit. The drive mechanism is connected to one set at both ends of the drive unit. According to the present embodiment, it is possible to generate a stable driving force by connecting and operating a plurality of driving mechanisms, and to impart a stable torsion.
The rehabilitation device according to the seventh embodiment of the present invention is the rehabilitation device according to the first to sixth embodiments, wherein a plurality of drive mechanisms or a plurality of sets of drive mechanisms are arranged along the circumferential direction of the first wearing tool. And a plurality or a plurality of sets of drive mechanisms are driven in the same rotation direction in accordance with the expansion and contraction of the drive unit. According to the present embodiment, it is possible to more reliably and stably twist the joint by arranging a plurality or a plurality of sets of drive mechanisms along the circumference.
The rehabilitation device according to the eighth embodiment of the present invention is the rehabilitation device according to the first to sixth embodiments, wherein a plurality of drive mechanisms or a plurality of sets of drive mechanisms are arranged along the circumferential direction of the first wearing tool. And at least one or a set of drive mechanisms are driven in the direction of rotation opposite to the other drive mechanisms in accordance with the expansion and contraction of the drive unit. According to the present embodiment, by providing a drive mechanism in both rotation directions, it is possible to give the joint a twist in both directions even if a drive unit that generates a drive force only in one direction is used.
The rehabilitation device according to the ninth embodiment of the present invention is the rehabilitation device according to the first to fifth embodiments, by supplying or discharging a gas, a liquid, a solid substance, or a mixture thereof as a drive unit. According to this embodiment, which uses an artificial muscle that expands and contracts, a lightweight rehabilitation device can be realized by using a hydraulic artificial muscle for the drive unit.
In the rehabilitation apparatus according to the first to seventh embodiments, the tenth embodiment of the present invention uses an air cylinder, a hydraulic cylinder, a linear motor, a solenoid, or a voice coil motor as a drive unit. . According to the present embodiment, by using a drive unit that generates drive force in both directions of expansion and contraction, it is possible to impart torsion in both directions to the joint even if only the drive mechanism in the same direction is used.
以下に、本発明のリハビリ装置の一実施例について説明する。
図１は本発明の一実施例におけるリハビリ装置を正常者が装着した状態を示す上面構成図、図２は回内患者が同リハビリ装置を装着した状態を示す上面構成図、図３は回内を矯正した状態を示す上面構成図である。
本実施例は、手首に設けるリハビリ装置であり、前腕側を一方、手側を他方として以下説明する。
本実施例によるリハビリ装置は、関節の一方の骨に沿って配置される第１の装着具１０と、関節を跨いで配置される第２の装着具２０とを備えている。本実施例では、ガイド機構１４、第１のガイド溝１３、第２のガイド溝４３、及び駆動部４０を有する駆動機構の組み合わせを１セットとして、第１の装着具１０の長手方向に配置している。
本実施例では、２本の駆動部４０を平行に設置している例を示しているが、１本よりも２本を１組として用いたほうが、動作が安定するという点で優位である。ただし、駆動部４０の本数は限定されるものではなく、１本でも２本以上の複数でもかまわない。駆動部４０を複数備える場合、複数の駆動部４０の端部をそれぞれ一体に連結することも、動作の安定に有効である。
Below, one Example of the rehabilitation apparatus of this invention is described.
FIG. 1 is a top view illustrating a state in which a normal person wears a rehabilitation device according to an embodiment of the present invention, FIG. 2 is a top view illustrating a state in which a pronation patient is wearing the rehabilitation device, and FIG. It is an upper surface block diagram which shows the state which correct | amended.
This embodiment is a rehabilitation device provided on the wrist, and will be described below with the forearm side as one side and the hand side as the other side.
The rehabilitation device according to the present embodiment includes a first wearing tool 10 arranged along one bone of the joint and a second wearing tool 20 arranged across the joint. In the present embodiment, the combination of the drive mechanism having the guide mechanism 14, the first guide groove 13, the second guide groove 43, and the drive unit 40 is set as one set and arranged in the longitudinal direction of the first wearing tool 10. ing.
In the present embodiment, an example is shown in which two drive units 40 are installed in parallel, but using two as one set is more advantageous than using one in terms of stable operation. However, the number of the drive units 40 is not limited, and may be one or more than two. In the case where a plurality of drive units 40 are provided, it is also effective for stable operation that the end portions of the plurality of drive units 40 are connected together.
第２の装着具２０の外周面と第１の装着具１０の内周面との間には、回動機構としての一対のベアリング３１、３２を設けている。これらのベアリング３１、３２によって、第１の装着具１０は第２の装着具２０に対して回動する。
第２の装着具２０には長手方向に対して傾斜させたガイド機構１４を、第１の装着具１０には長手方向に第１のガイド溝１３と第２のガイド溝４３をそれぞれ設けている。
駆動部４０は、長手方向に長さを変化させるアクチュエータである。例えば、気体、液体、若しくは固体の物質、又はこれらの混合物の供給又は排出によって伸縮する人工筋が、軽量かつ適度なあそびを持つために適している。ここで例示する人工筋肉は、収縮方向にのみ駆動力を発生するものである。駆動部４０の一端のピン４１は、ガイド機構１４及び第１のガイド溝１３に係合し、駆動部４０の他端のピン４２は第１の装着具１０の第２のガイド溝４３に連結している。本実施例のリハビリ装置を装着する形態としては、装着体そのものによって手や前腕を挟み込み保持する形態、ベルトを使用して装着体を保持する形態、装着体を被服体に埋め込み、被服体によって保持する形態などが考えられる。
Between the outer peripheral surface of the second mounting tool 20 and the inner peripheral surface of the first mounting tool 10, a pair of bearings 31 and 32 are provided as a rotation mechanism. With these bearings 31, 32, the first mounting tool 10 rotates with respect to the second mounting tool 20.
The second mounting tool 20 is provided with a guide mechanism 14 inclined with respect to the longitudinal direction, and the first mounting tool 10 is provided with a first guide groove 13 and a second guide groove 43 in the longitudinal direction. .
The drive unit 40 is an actuator that changes its length in the longitudinal direction. For example, an artificial muscle that expands and contracts by supplying or discharging a gas, liquid, or solid substance, or a mixture thereof is suitable for having a light and moderate play. The artificial muscle exemplified here generates a driving force only in the contraction direction. The pin 41 at one end of the drive unit 40 engages with the guide mechanism 14 and the first guide groove 13, and the pin 42 at the other end of the drive unit 40 is connected to the second guide groove 43 of the first wearing tool 10. is doing. The rehabilitation apparatus according to the present embodiment can be mounted in a form in which the hand or forearm is sandwiched and held by the mounting body itself, a mode in which the mounting body is held using a belt, and the mounting body is embedded in the clothing body and held by the clothing body The form to do is conceivable.
本実施例のように、リハビリ装置を手首関節に設ける場合には、第１の装着具１０を前腕に沿って配置し、第２の装着具２０は、手首関節を跨いで手と前腕に配置している。
なお、駆動部４０は、上記説明では上面側だけについて説明したが、対称となる下面についても同様の構成を有していることが好ましい。
また、本実施例は、手首関節以外の例えば肩関節などにも同様の配置で使用することができる。ただし、手首関節に用いる場合には、第２の装着具２０を手側、前腕側、もしくは両方に保持することが可能であるが、肩関節などに用いる場合には、他方にのみ保持される。第１の装着具１０も、手首関節に用いる場合には、動作を阻害しないように前腕の肘関節側のみで保持する必要があるが、肩関節などに用いる場合では、一方の骨の全面で保持することができる。これは、手首関節の回内外が前腕の橈骨、尺骨のねじれによって発生する動作であるのに対し、肩関節など他の関節の回旋は、関節を挟む骨同士のねじれによって発生する動作だからである。また、首や背骨部など、複数の関節を跨いで発生するねじれについては、ねじれの両端に位置する骨を、一方、他方として配置することで、同様の機能を実現することができる。単に端部の骨だけを支持するのではなく、動作を疎外しない程度に、なるべく広い範囲で体を支持することが望ましい。
さらに、手首関節に用いる場合に限定すれば、同様の理由から、第２の装着具を一方（前腕）にのみ配置し、他方（手側）を省略することも可能である。
When the rehabilitation device is provided at the wrist joint as in this embodiment, the first wearing tool 10 is arranged along the forearm, and the second wearing tool 20 is arranged on the hand and the forearm across the wrist joint. is doing.
In addition, although the drive part 40 demonstrated only the upper surface side in the said description, it is preferable that the symmetrical lower surface also has the same structure.
In addition, this embodiment can be used in a similar arrangement for a shoulder joint other than the wrist joint. However, when used for a wrist joint, the second wearing tool 20 can be held on the hand side, the forearm side, or both, but when used for a shoulder joint or the like, it is held only on the other side. . When the first wearing tool 10 is also used for the wrist joint, it is necessary to hold it only on the elbow joint side of the forearm so as not to hinder the movement. Can be held. This is because the rotation of the wrist joint is caused by torsion of the ribs and ulna of the forearm, while the rotation of other joints such as the shoulder joint is caused by torsion of the bones sandwiching the joint. . Moreover, about the twist generate | occur | produced ranging over several joints, such as a neck and a spine part, the same function is realizable by arrange | positioning the bone located in the both ends of a twist as one side. It is desirable not only to support only the bones at the ends, but to support the body in as wide a range as possible so as not to alienate the movement.
Furthermore, if it is limited to the case where it is used for the wrist joint, for the same reason, it is possible to dispose the second wearing tool only on one side (forearm) and omit the other side (hand side).
以下本実施例によるリハビリ装置の動作について説明する。
図２に示すように、患者の自発的な回内が発生した場合、第２の装着具２０も回内にあわせて回動する。第２の装着具２０に設けられたガイド機構１４は、回内によってガイド機構１４の手側が第１の装着具１０のガイド溝１３と一致するように、傾斜して配置されている。このため、駆動部４０の一端のピン４１は、ガイド機構１４、ガイド溝１３に沿って手の先端側に移動する。またこのとき、駆動部４０の他方のピン４２も、第２のガイド溝４３に沿って第２のガイド溝４３の手側の終端まで移動する。
回内を戻すためには、図２に示す状態において、駆動部４０を縮める方向に駆動することで図３に示す状態に動作させる。
駆動部４０を駆動すると、駆動部４０の一端のピン４１はガイド溝１３に沿って肘側に移動する。この移動に伴ってピン４１は、ガイド機構１４に沿って移動するが、ガイド機構１４は、傾斜して設けているため、第２の装着具２０には回外方向に力が加わり、第２の装着具２０は第１の装着具に対して回外動作をする。
本実施例によれば、直進駆動のアクチュエータを用いても、有効な回動動作を実現することができる。また、駆動機構を一方の骨にのみ配置することで、コンパクトで動作を阻害しないリハビリ装置を実現することができる。
The operation of the rehabilitation apparatus according to this embodiment will be described below.
As shown in FIG. 2, when the patient's spontaneous pronation occurs, the second wearing tool 20 also rotates in accordance with the pronation. The guide mechanism 14 provided in the second mounting tool 20 is disposed so as to be inclined so that the hand side of the guide mechanism 14 coincides with the guide groove 13 of the first mounting tool 10 by pronation. For this reason, the pin 41 at one end of the drive unit 40 moves to the tip side of the hand along the guide mechanism 14 and the guide groove 13. At this time, the other pin 42 of the drive unit 40 also moves along the second guide groove 43 to the end on the hand side of the second guide groove 43.
In order to return the pronation, in the state shown in FIG. 2, the driving unit 40 is driven in a contracting direction to operate in the state shown in FIG. 3.
When the drive unit 40 is driven, the pin 41 at one end of the drive unit 40 moves to the elbow side along the guide groove 13. Along with this movement, the pin 41 moves along the guide mechanism 14. However, since the guide mechanism 14 is provided at an inclination, a force is applied to the second mounting tool 20 in the outward rotation direction, and the second The mounting tool 20 performs a gyrating operation with respect to the first mounting tool.
According to the present embodiment, even if a straight drive actuator is used, an effective rotation operation can be realized. Further, by arranging the drive mechanism only on one bone, a rehabilitation device that is compact and does not hinder the operation can be realized.
次に、本発明のリハビリ装置の他の実施例について説明する。
図４は本発明の他の実施例におけるリハビリ装置を正常者が装着した状態を示す上面構成図、図５は回内患者が同リハビリ装置を装着した状態を示す上面構成図、図６は回内を矯正した状態を示す上面構成図である。
本実施例によるリハビリ装置は、前腕の骨に沿って手首関節を跨いで配置される第１の装着具１０と、手側もしくは手首関節を跨いで配置される第２の装着具２０とを備えている。また、第２の装着具２０は掌側又は手の甲側の一方もしくは両方に配置する。第１の装着具１０と第２の装着具２０の配置場所が異なる以外は第１の実施例と装置構成は同じである。
本実施例のように、リハビリ装置を前腕に設ける場合には、第１の装着具１０を前腕の骨に沿って手首関節を跨いで配置し、第２の装着具２０を手側もしくは手首関節を跨いで配置する。これにより、前腕の橈骨、尺骨による回内のリハビリが可能である。
本実施例では、２本の駆動部４０を平行に設置している例を示しているが、１本よりも２本を１組として用いたほうが、動作が安定するという点で優位である。ただし、駆動部４０の本数は限定されるものではなく、１本でも２本以上の複数でもかまわない。
Next, another embodiment of the rehabilitation apparatus of the present invention will be described.
FIG. 4 is a top view illustrating a state in which a normal person wears a rehabilitation device according to another embodiment of the present invention, FIG. 5 is a top view illustrating a state in which a pronation patient is wearing the rehabilitation device, and FIG. It is an upper surface block diagram which shows the state which corrected the inside.
The rehabilitation apparatus according to the present embodiment includes a first wearing tool 10 arranged across the wrist joint along the forearm bone, and a second wearing tool 20 arranged across the hand side or the wrist joint. ing. In addition, the second wearing tool 20 is disposed on one or both of the palm side and the back side of the hand. The apparatus configuration is the same as that of the first embodiment except that the placement location of the first wearing tool 10 and the second wearing tool 20 is different.
When the rehabilitation device is provided on the forearm as in the present embodiment, the first wearing device 10 is disposed across the wrist joint along the forearm bone, and the second wearing device 20 is placed on the hand side or the wrist joint. And straddle across. Thereby, pronation rehabilitation by the radius and ulna of the forearm is possible.
In the present embodiment, an example is shown in which two drive units 40 are installed in parallel, but using two as one set is more advantageous than using one in terms of stable operation. However, the number of the drive units 40 is not limited, and may be one or more than two.
上記各実施例では、上面に駆動機構を設けた場合を示したが、下面にも駆動機構を設置することで、さらに動作が安定する。この場合には、上記各実施例のように２組１セットとすることなく、上面の駆動機構、下面の駆動機構をそれぞれ一つで構成しても、十分に安定した動作が得られる。駆動部４０の設置スペースが十分に確保できない場合、重量を軽減したい場合などには、有効な手段となる。
本実施例でも、手首関節以外の肩関節などに、同様の構成で利用することが可能である。ただしその場合、第２の装着具２０は、他方にのみ配置される。
本実施例によれば、駆動力の作用する場所を関節の他方に配置することで、安定した動作を実現することができる。また、駆動部４０の配置場所を広く取ることができ、収縮率の低い駆動部４０でも大きな動作を実現することができる。
In each of the above-described embodiments, the case where the drive mechanism is provided on the upper surface is shown, but the operation is further stabilized by installing the drive mechanism on the lower surface. In this case, a sufficiently stable operation can be obtained even if each of the upper drive mechanism and the lower drive mechanism is constituted by one, without using two sets and one set as in the above embodiments. This is an effective means when the installation space of the drive unit 40 cannot be sufficiently secured or when it is desired to reduce the weight.
Also in the present embodiment, it is possible to use the same configuration for a shoulder joint other than the wrist joint. However, in that case, the second mounting tool 20 is disposed only on the other side.
According to the present embodiment, a stable operation can be realized by arranging the place where the driving force acts on the other side of the joint. Further, the drive unit 40 can be arranged widely, and a large operation can be realized even with the drive unit 40 having a low contraction rate.
次に、本発明のリハビリ装置の更に他の実施例について説明する。
上記実施例は、リハビリ装置が発生させる回動の向きを一方向としたが、第１の装着具の長手方向の軸線に対して対称に配置した駆動機構の回動方向を互いに逆方向に回動するように構成してもよい。すなわち、図示はしないが、第１の装着具１０の下面に上面とは逆方向に回動する駆動機構を配置する。第１の装着具１０の下面と上面の駆動機構の回動方向が逆になるように配置することで、回内・回外の両方の向きに回動を発生することができる。上記実施例のように、装置が発生させる回動の向きが一方向の場合には、たとえば回内を矯正する方向に装置を設計した場合、発生した回内を強制することはできるが、装置自身は回内方向への駆動力を発生しない。このため、患者自身が回内を発生させる、もしくは、共同運動によって回内を発生させた後でしか、回内補正の動作を行えない。これに対して、本実施例では、対称に配置された駆動部４０を交互に動作させることによって、回内・回外の両方向の運動に対応することが可能であり、繰り返しのリハビリをすることができ、継続的に動作のトレーニングを行うことができる。
本実施例では、駆動機構を第１の装着具１０の上面と下面に配置したが、第１の装着具１０の円周上であれば、両側面や角度をなす位置に配置してもかまわない。また、回動方向の異なる駆動機構をそれぞれ複数配置してもかまわない。駆動機構の配置は、安定した回転力を発生するように、同一方向の駆動機構は、第１の装着具１０の円周上に均等に配置することが望ましいが、装着のスペースを確保するため対称に配置できない場合、デザインを重視する場合には、円周上で配置を変えることも有効である。ここでいう円周上とは、第１の装着具１０の外周であり、第２の装着具２０が回動する軸の円周上である。
Next, still another embodiment of the rehabilitation apparatus of the present invention will be described.
In the above embodiment, the direction of rotation generated by the rehabilitation device is one direction, but the rotation directions of the drive mechanisms arranged symmetrically with respect to the longitudinal axis of the first wearing tool are rotated in the opposite directions. You may comprise so that it may move. That is, although not shown, a drive mechanism that rotates in the direction opposite to the upper surface is disposed on the lower surface of the first wearing tool 10. By disposing the drive mechanism on the lower surface and the upper surface of the first mounting device 10 so that the rotation directions are reversed, rotation can be generated in both the inward and outward directions. When the direction of rotation generated by the device is one direction as in the above embodiment, for example, when the device is designed in a direction to correct the pronation, the generated pronation can be forced. It does not generate a driving force in the pronation direction. For this reason, the operation of the pronation correction can be performed only after the patient himself / herself generates the pronation or the pronation is generated by the joint movement. On the other hand, in the present embodiment, by alternately operating the drive units 40 arranged symmetrically, it is possible to cope with both inward and outward movements, and repetitive rehabilitation is performed. Can be trained continuously.
In the present embodiment, the drive mechanism is disposed on the upper surface and the lower surface of the first mounting device 10, but may be disposed on both sides or at an angle as long as it is on the circumference of the first mounting device 10. Absent. A plurality of drive mechanisms having different rotation directions may be arranged. The drive mechanisms are preferably arranged evenly on the circumference of the first wearing tool 10 so as to generate a stable rotational force, but in order to secure a space for wearing. If it is not possible to arrange symmetrically, it is also effective to change the arrangement on the circumference when emphasizing the design. Here, on the circumference is the outer periphery of the first wearing tool 10 and is on the circumference of the axis around which the second wearing tool 20 rotates.
次に、本発明のリハビリ装置の更に他の実施例について説明する。
本実施例では、ガイド機構１４、第１のガイド溝１３、第２のガイド溝４３、及び駆動部４０を有する駆動機構の組み合わせを２セット１組として、１組もしくは複数組の駆動機構を第１の装着具１０の円周上に配置する。このとき、２セット１組の各々の駆動機構の回動方向を互いに逆に構成する。この構成により、回内・回外の両方向の運動に対応することが可能であり、繰り返しのリハビリをすることができる。
駆動機構の配置は、第１の装着具１０の円周上に均等に配置することが望ましいが、円周上に配置されるのであれば、均等な位置でなくても、回動させることは可能である。装着のスペースを確保するため対象に配置できない場合、デザインを重視する場合には有効である。
本実施例では、回動方向の異なる駆動機構を１セットづつ、２セット１組としたが、２セット以上の組み合わせでも、それぞれの回動方向の駆動機構が同数でなくてもかまわない。
Next, still another embodiment of the rehabilitation apparatus of the present invention will be described.
In this embodiment, the combination of the drive mechanism having the guide mechanism 14, the first guide groove 13, the second guide groove 43, and the drive unit 40 is one set, and one set or a plurality of sets of drive mechanisms are the first set. It arrange | positions on the periphery of the mounting tool 10 of 1. At this time, the rotation directions of the drive mechanisms of the two sets of one set are opposite to each other. With this configuration, it is possible to cope with both inward and outward movements, and it is possible to perform rehabilitation repeatedly.
The drive mechanism is preferably arranged evenly on the circumference of the first wearing tool 10, but if it is arranged on the circumference, it can be rotated even if it is not at an equal position. Is possible. This is effective when it cannot be placed on the target in order to secure the mounting space, and when the design is important.
In this embodiment, one set of drive mechanisms having different rotation directions is provided, and one set of two sets. However, the number of drive mechanisms in each rotation direction may not be the same even in a combination of two or more sets.
本実施例においては、駆動部４０として人工筋を用いたが、直進運動を発生するエアシリンダー、油圧シリンダー、リニアモータ、ソレノイド、又はボイスコイルモータを駆動部として構成することもできる。この場合、駆動部４０が両駆動であるため、第１のガイド溝１４の中間位置を回動のニュートラル位置とすることにより、回内・回外両方向に回動させることができる。この構成によれば、向きの異なる第１のガイド溝１４を設ける必要がなく、駆動機構の構成を簡略化することができる。
また本実施例のように、両方向に駆動力を発生することが可能な駆動部を用いた場合、上記構成を簡略化することができる。駆動部として人工筋を用いた場合には、収縮方向にしか駆動力を発生させないため、両方向に回動させるためには、構造を分けて設置する必要があるが、両駆動の駆動部ではその必要がなく、前記のように異なる向きに第１のガイド溝を設ける必要はない。
In the present embodiment, an artificial muscle is used as the drive unit 40. However, an air cylinder, a hydraulic cylinder, a linear motor, a solenoid, or a voice coil motor that generates a straight movement can be configured as the drive unit. In this case, since the drive unit 40 is driven in both directions, the intermediate position of the first guide groove 14 can be rotated in both the inward and outward directions by setting the neutral position of the rotation. According to this configuration, it is not necessary to provide the first guide grooves 14 having different directions, and the configuration of the drive mechanism can be simplified.
Further, when a driving unit capable of generating a driving force in both directions as in the present embodiment is used, the above configuration can be simplified. When an artificial muscle is used as the drive unit, a drive force is generated only in the contraction direction. Therefore, in order to rotate in both directions, it is necessary to install the structure separately. There is no need to provide the first guide grooves in different directions as described above.
本発明は、肘、膝、又は手首などの関節でのねじり動作を支援し、又は筋力補助装置としても使用可能なリハビリ装置として利用できる。 INDUSTRIAL APPLICABILITY The present invention can be used as a rehabilitation device that supports torsional motions at joints such as elbows, knees, and wrists, or can be used as a muscle force assisting device.
１０ 第１の装着具
１３ ガイド機構
１４ 第１のガイド溝
２０ 第２の装着具
４０ 駆動部
４１、４２ ピン
４３ 第２のガイド溝
DESCRIPTION OF SYMBOLS 10 1st mounting tool 13 Guide mechanism 14 1st guide groove 20 2nd mounting tool 40 Drive part 41, 42 Pin 43 2nd guide groove
Claims (10)
第２の装着具の外周に第１の装着具を設け、
前記第２の装着具の外周面と前記第１の装着具の内周面との間に回動機構を設け、
前記第２の装着具には長手方向に対して傾斜させたガイド機構を、前記第１の装着具には長手方向に第１のガイド溝をそれぞれ設け、
長手方向に長さを変化させる駆動部の一端を、前記ガイド機構及び前記第１のガイド溝に、前記駆動部の他端を前記第１の装着具に連結したことを特徴とするリハビリ装置。 A rehabilitation device for twisting one bone of a joint with the other bone,
The first wearing tool is provided on the outer periphery of the second wearing tool,
A rotation mechanism is provided between the outer peripheral surface of the second mounting tool and the inner peripheral surface of the first mounting tool;
The second wearing tool is provided with a guide mechanism that is inclined with respect to the longitudinal direction, and the first wearing tool is provided with a first guide groove in the longitudinal direction,
A rehabilitation device, wherein one end of a drive unit whose length is changed in the longitudinal direction is connected to the guide mechanism and the first guide groove, and the other end of the drive unit is connected to the first mounting tool.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2009133900A JP2010279471A (en) | 2009-06-03 | 2009-06-03 | Rehabilitation device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2009133900A JP2010279471A (en) | 2009-06-03 | 2009-06-03 | Rehabilitation device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JP2010279471A true JP2010279471A (en) | 2010-12-16 |
Family
ID=43536825
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2009133900A Withdrawn JP2010279471A (en) | 2009-06-03 | 2009-06-03 | Rehabilitation device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2010279471A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107550687A (en) * | 2017-10-11 | 2018-01-09 | 王勃然 | Multifunctional adaptive Sex Rehabilitation gloves |
| KR101861445B1 (en) * | 2016-11-10 | 2018-05-25 | 한양대학교 에리카산학협력단 | Prosthetic Arm and the Method Operating the Same |
-
2009
- 2009-06-03 JP JP2009133900A patent/JP2010279471A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101861445B1 (en) * | 2016-11-10 | 2018-05-25 | 한양대학교 에리카산학협력단 | Prosthetic Arm and the Method Operating the Same |
| CN107550687A (en) * | 2017-10-11 | 2018-01-09 | 王勃然 | Multifunctional adaptive Sex Rehabilitation gloves |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| KR101073525B1 (en) | Wearable robot for assisting the muscular strength of lower extremity | |
| US11123254B2 (en) | Finger exoskeleton robot | |
| JP6842675B2 (en) | Muscle strength assist device | |
| JP5173404B2 (en) | Muscle assist device and method of operating the same | |
| WO2014045433A1 (en) | Joint movement device | |
| CN108161903B (en) | Bionic three-degree-of-freedom exoskeleton ankle joint | |
| JP2010082342A (en) | Auxiliary actuator for finger | |
| Cempini et al. | NEUROExos: A powered elbow orthosis for post-stroke early neurorehabilitation | |
| WO2009016478A8 (en) | Wearable mechatronic device | |
| JP5243159B2 (en) | Wrist assist device | |
| JP4686717B2 (en) | Bending joint contracture treatment device | |
| JP2021501645A (en) | Hand exoskeleton device | |
| JP2010063780A5 (en) | ||
| EP2981240B1 (en) | Mechanical linkage | |
| JP6842676B2 (en) | Muscle strength assist device | |
| JP2010131106A (en) | Rehabilitation apparatus | |
| JP2010279471A (en) | Rehabilitation device | |
| JP6161831B2 (en) | Joint motion assist device | |
| US20100280423A1 (en) | Muscle force assisting device (as amended) | |
| WO2009084228A1 (en) | Muscle-power assisting device | |
| KR102530849B1 (en) | Module-based upper-limb rehabilitation robot that is able to be disassembled or combined | |
| US20220296453A1 (en) | Finger motion rail for carrying out a continuous, passive and/or actively assisted movement of a finger and/or a thumb of a patient, as well as a therapeutic device comprising a finger motion rail of this type | |
| JP2008253329A (en) | Upper extremity rehabilitation training apparatus | |
| JP2009247734A (en) | Muscular strength assisting device | |
| JP2009279130A (en) | Muscular strength assisting device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| A300 | Withdrawal of application because of no request for examination |
Free format text: JAPANESE INTERMEDIATE CODE: A300 Effective date: 20120807 |