JP2014014436A - Operating device for therapeutic apparatus, and therapeutic apparatus having operating device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an operating device for a therapeutic apparatus capable of operating therapeutic action via a simple operation.SOLUTION: A therapeutic apparatus 1 includes a therapeutic part 10 providing therapy to a user, a control part 20 controlling therapeutic action by the therapeutic part 10, and an operating device 30 outputting signals regarding the therapeutic action by the therapeutic part 10. The operating device 30 has a detection part detecting action parameters which are changed by indication operation to the operating device 30 and show the action condition of the operating device, and a determination part determining the therapeutic action on the basis of the detection result by the detection part. The control part 20 controls the therapeutic action in the therapeutic part 10 in accordance with the determination result by the determination part.

Description

  The present invention relates to a treatment device operating device used in a treatment device having a treatment unit for treating a human body, and a treatment device having the operation device.

  A conventional treatment device operating device has a large number of switches. In addition, patent document 1 is disclosing an example of the operating device for conventional treatment apparatuses.

JP 2011-250839 A

  There are a number of switches in a conventional treatment device operating device. For this reason, when the user selects a desired treatment operation, the user needs to select a corresponding switch from a number of switches. For this reason, the user may feel annoying the selection operation of the treatment operation.

  The present invention was created based on the above background, and an object of the present invention is to provide an operation device for a treatment device capable of selecting an operation by a simple operation, and a treatment device having the operation device. To do.

  (1) The first means is a treatment device operating device that is used in a treatment device having a treatment unit that performs a treatment operation and a control unit that controls the treatment unit, and outputs a signal related to the treatment operation of the treatment unit. The treatment device operation device includes a detection unit that detects an operation parameter indicating an operation state of the operation device that is changed by an instruction operation on the operation device, and a signal that indicates a detection result of the detection unit, and A treatment device controller that outputs at least one of the signals generated based on the detection result to the control unit.

  (2) The second means is that “the operation parameter is bending at the bendable portion of the operating device, rotation at the rotatable portion of the operating device, expansion at the expandable portion of the operating device, and The detection unit includes at least one of swinging, and includes a treatment device operation device that detects at least one of the operation parameters.

  (3) The third means is that “the treatment operation device has an operation selection unit that selects an instruction operation indicating a request related to the treatment operation and an instruction operation indicating a request related to posture change”. "including.

  (4) The fourth means is that "the operation parameter is a bending position in the bendable portion of the treatment device operation device, a rotation position in the rotatable portion of the treatment device operation device, the treatment device operation device Including at least one of an extension position of the extendable portion and a swing amount of the treatment device operation device, wherein the control unit is set to at least one of the bending position, the rotation position, the extension position, and the swing amount. Accordingly, a treatment device operation device that outputs a signal related to the amount of movement of the treatment unit is included.

  (5) The fifth means is that “the operation parameter is a bending load at the bendable portion of the treatment device operation device, a rotational load at the rotatable portion of the treatment device operation device, the treatment device operation device Including at least one of an extension load in the extendable part and an oscillation load of the operating device for the treatment device, and the control unit is at least one of the bending load, the rotation load, the extension load, and the oscillation load. Depending on the situation, a treatment device operating device that outputs a signal related to the amount of movement of the treatment unit is included.

  (6) The sixth means is that “the operation parameter is a bending speed at the bendable portion of the operating device, a rotating speed at the rotatable portion of the operating device, an expanding speed at the expandable portion of the operating device, and the Including at least one of a swing speed of an operating device, and the control unit relates to an operation speed of the treatment unit according to at least one of the bending speed, the rotation speed, the extension speed, and the swing speed. It includes a treatment device controller that outputs a signal.

  (7) The seventh means is that “the operation device operates when the state where the operation parameter detected by the detection unit indicates a size within a predetermined range is continued for a predetermined period or longer. It includes a treatment device controller that outputs a signal for maintaining the state.

  (8) The eighth means is that “the operation device is a bendable portion display portion that visually characterizes the bendable portion of the operation device, and a rotatable portion display portion that visually characterizes the rotatable portion of the operation device. , And a treatment device operator having at least one extensible portion display that visually characterizes the extensible portion of the manipulator.

  (9) The ninth means is “for the treatment device having a configuration in which the range of the operation state that can be changed by the instruction operation is limited to a range corresponding to the operable range of the treatment unit. Includes "operator".

  (10) The tenth means is that “the operation device is a treatment device operation device having a notification unit that notifies the detection result of the operation parameter using at least one of a visual method and an audio method”. Including.

  (11) The eleventh means is that, when the operation parameter detected by the detection unit is included in a range outside the operable range of the treatment unit, the visual method and the auditory method A treatment device controller that notifies that the operation parameter is included in a range outside the operable range of the treatment unit using at least one of the methods.

(12) The twelfth means includes a “treatment device operation device that outputs a signal related to a treatment operation of the treatment portion within a range corresponding to the operable range of the treatment portion”.
(13) The thirteenth means is that “the operation device has a configuration in which the deformation resistance of the bendable portion increases in accordance with an increase in the amount of bending in the bendable portion of the operation device; At least one of a configuration in which the deformation resistance of the rotatable portion increases in accordance with an increase in the amount of rotation and a configuration in which the deformation resistance of the expandable portion increases in accordance with an increase in the amount of expansion in the expandable portion of the operating device A treatment device operating device ".

(14) The fourteenth means includes "the treatment device operation device having a shape imitating the shape of a human body or a shape imitating a human body support portion of the treatment device".
(15) The fifteenth means is “when the treatment device has a posture changing mechanism, the operating device has a shape imitating the human body, and no load for operating instructions is input. It has a configuration for holding a basic shape, and the basic shape includes a treatment device operating device similar to the shape of a human body supported by the posture changing mechanism in an initial state.

  (16) The sixteenth means is “a treatment device having a treatment unit and a control unit, wherein the treatment device has a treatment device operation device, and the control unit outputs from the treatment device operation device. A treatment operation of the treatment unit is controlled in response to a signal to be received, and the treatment unit includes at least one device among a massaging ball, an airbag, and a posture changing mechanism, and the at least one device performs the above-described operation. A treatment device for performing a treatment operation ”.

  The present invention provides an operation device for a treatment device capable of selecting an operation by a simple operation, and a treatment device having the operation device.

The perspective view which shows schematic structure of the treatment apparatus using the operation device for treatment apparatuses of embodiment. The block diagram which shows the structure of the treatment apparatus using the operation device for treatment apparatuses of embodiment. It is the schematic regarding the treatment apparatus using the operation device for treatment apparatuses of embodiment, (a) is a right view of the apparatus, (b) is a right view of the movable part in a right view. The fragmentary sectional view which shows the fragmentary sectional structure for demonstrating the human body support mechanism of the seat part in the treatment apparatus using the operation device for treatment apparatuses of embodiment. It is a figure which shows the structure of the operation device for treatment apparatuses of embodiment, (a) is a front view explaining the structure of the device, (b) is a bendable part, a rotatable part, and an extendable part of the device. Front view to explain. FIG. 5 is a correspondence diagram of a treatment operation, an operation on the operation device, an operation state, an operation parameter, and a sensor type in a treatment device using the treatment device operation device of the embodiment. It is the schematic regarding the treatment apparatus using the operation device for treatment devices of embodiment, (a) is a right view of an operation device when performing instruction | indication operation of 1st bending extension stretching operation, (b) and (c) ) Is a right side view of the treatment device and the user for explaining the operation. It is the schematic regarding the treatment apparatus using the treatment device operation device of embodiment, (a) is a right view of an operation device when performing instruction | indication operation of 2nd bending extension stretch operation, (b) is the same operation | movement. The right side view of a treatment device and a user for explaining. It is the schematic regarding the treatment apparatus using the operation device for treatment apparatuses of embodiment, (a) is a right view of an operation device when performing instruction | indication operation of 3rd bending extension stretching operation, (b) is the same operation | movement. The right side view of a treatment device and a user for explaining. It is the schematic regarding the treatment apparatus using the operation device for treatment apparatuses of embodiment, (a) is a right view of an operation device when performing instruction | indication operation of 4th bending extension stretching operation, (b) is the same operation | movement. The right side view of a treatment device and a user for explaining. It is the schematic regarding the treatment apparatus using the operation device for treatment apparatuses of embodiment, (a) is a right view of an operation device when performing instruction | indication operation of 5th bending expansion | extension stretch operation, (b) and (c) ) Is a right side view of the treatment device and the user for explaining the operation. It is the schematic regarding the treatment apparatus using the operation device for treatment apparatuses of embodiment, (a) is a front view of the operation device when performing instruction | indication operation of 1st twist stretch operation | movement, (b) demonstrates the operation | movement. (C) is a partial sectional view showing a partial sectional structure taken along line Z12-Z12 in the right side view of the treatment apparatus and the user shown in (b). It is the schematic regarding the treatment apparatus using the operation device for treatment apparatuses of embodiment, (a) is a front view of the operation device when performing instruction | indication operation operation | movement of the 1st twist stretch operation | movement using an airbag, (b) ) Is a right side view of the treatment device and the user for explaining the operation, and (c) is a partial cross sectional view showing a partial cross-sectional structure taken along line Z13-Z13 in the right side view of the treatment device and the user of (b). . It is the schematic regarding the treatment apparatus using the operation device for treatment apparatuses of embodiment, (a) is a front view of the operation device when performing instruction operation of the 2nd twist stretch operation, (b) is in (a) A bottom view and (c) are sectional views of a treatment device and a user for explaining the operation. It is the schematic regarding the treatment apparatus using the operation device for treatment apparatuses of embodiment, (a) is a right view of the apparatus, (b) is a right view in the shape different from (a), (c) is ( The top view of b). It is the schematic regarding the treatment apparatus using the operation device operation device of embodiment, (a) is a front view of the operation device when performing the operation fingering of the 1st traction operation, (b) explains the operation. The top view of the treatment apparatus for performing, and a user. It is the schematic regarding the treatment apparatus using the treatment device operation device of embodiment, (a) is a front view of the operation device when performing instruction | indication operation operation | movement of 2nd traction operation | movement, (b) demonstrates the operation | movement. The top view of the treatment apparatus for performing, and a user. It is the schematic regarding the treatment apparatus using the operation device for treatment apparatuses of embodiment, (a) is a front view of the operation device for demonstrating instruction | indication operation of 3rd traction operation | movement, (b) demonstrates the operation | movement. The right side view of the treatment device for performing and a user. It is the schematic regarding the treatment apparatus using the operation device for treatment apparatuses of embodiment, (a) is a front view of the operation device when performing instruction | indication operation of 1st partial rocking | fluctuation operation | movement, (b) is in (a). Bottom view, (c) and (d) are sectional views of the treatment device and the user for explaining the same operation. It is the schematic regarding the treatment apparatus using the treatment device operation device of embodiment, (a) is a front view of the operation device when performing instruction | indication operation of 2nd partial shaking operation | movement, (b) demonstrates the operation | movement. The top view of the treatment apparatus for performing, and a user. It is the schematic regarding the treatment apparatus using the operation device operation device of embodiment, (a) is a front view of the operation device when performing operation instruction | indication of combination operation | movement, (b) The treatment for demonstrating combination operation | movement The top view of an apparatus and a user. It is the schematic regarding the treatment apparatus using the operation device for treatment apparatuses of other embodiment, (a) is a right view of the operation device for demonstrating a basic shape, (b) is a treatment apparatus and a user's basics The right view for demonstrating a shape. It is a figure regarding the operating device for treatment apparatuses of the embodiment, (a) is a figure explaining the bendable part display part, the rotatable part display part, and the expandable part display part in the operating device, (b) and (c) (A) is a figure explaining the example of a display form in an alerting | reporting part. It is the schematic regarding the operation device for treatment apparatuses of the embodiment, (a) is a right view explaining the operation instruction possible range of an operation device, (b) is a right view explaining the bending position in an operation device, c) A relationship diagram of the operation difficulty level with respect to the bending position of the operation device. It is the schematic regarding the operation device for treatment apparatuses of the embodiment, (a) is a perspective view of a chair type operation device, (b) is a right view of the device. It is the schematic of the chair type operation device in the operation device operation device of the embodiment, (a) is a right side view of the basic shape of the operation device, (b) is a right side view showing the bent shape of the operation device, c) is a right side view showing the twist shape of the operating device, (d) is a right side view showing the twisted shape of the operating device, and (e) is a right side view showing the swinging shape of the operating device.

(Embodiment)
With reference to FIG. 1, the structure of the treatment apparatus 1 is demonstrated.
The treatment device 1 includes a treatment unit 10, a control unit 20, an operating device 30, and a cord 93.

The cord 93 connects the operation device 30 and the control unit 20 to each other.
The treatment unit 10 includes a chair type mechanism 40.
The chair type mechanism 40 includes a seat 41, a backrest 42, an elbow rest 43, and a leg rest 44. The chair-type mechanism 40 constitutes a human body support unit that supports the user 100 (see FIG. 7) who is going to receive treatment.

The backrest part 42 has a back part 45 and a pillow part 46. The leg platform 44 includes a calf platform 47 and a foot platform 48.
The kneading balls 50 are attached to the back portion 45. The airbag 60 is attached to the seat 41, the backrest 42, the elbow rest 43, and the leg mount 44.

As shown in FIG. 2, the treatment unit 10 includes a drive unit 71, a pump 72, an electromagnetic valve 73, and an electric telescopic mechanism 75.
The control unit 20 controls operations of the drive unit 71, the pump 72, the electromagnetic valve 73, and the electric expansion / contraction mechanism 75.

  The drive unit 71 drives the kneading balls 50 according to a control signal from the control unit 20. The drive unit 71 changes the amount of movement of the kneading balls 50 relative to the backrest unit 42. The drive unit 71 changes the position in the height direction of the kneading balls 50 with respect to the backrest unit 42. The drive unit 71 changes the position in the width direction of the kneading balls 50 with respect to the backrest unit 42.

The pump 72 and the electromagnetic valve 73 control the expansion and contraction of the airbag 60 according to a control signal from the control unit 20.
The electric telescopic mechanism 75 has a motor 74. As shown in FIG. 3A, the electric telescopic mechanism 75 performs angle control of the backrest part 42, the leg rest 44, and the footrest 48 in accordance with a control signal from the controller 20.

  The solid line in FIG. 3B shows an example of the state of the backrest 42, the leg rest 44, and the footrest 48 before the position is changed by angle control. The two-dot chain line in FIG. 3B shows an example of the state of the backrest 42, the leg rest 44, and the footrest 48 after the position is changed by the angle control.

The electric telescopic mechanism 75 performs slide operation control for changing the relative positions of the seat 41, the back 45, the pillow 46, the calf 47, and the foot 48.
The control unit 20 changes the posture of the user 100 sitting on the chair type mechanism 40 by controlling the angles of the backrest unit 42, the leg platform 44, and the footrest 48. The backrest part 42, the leg rest 44, the footrest 48, and the electric extension / contraction mechanism 75 constitute an attitude change mechanism.

As shown in FIG. 4, the seat portion 41 includes a human body support plate 201 and an airbag 60 that are attached to the rotating shaft 202 of the seat portion support base 200.
The control unit 20 controls the inflation or deflation of the airbag 60 disposed on the left and right of the human body support plate 201, and gives the human body support plate 201 a clockwise or counterclockwise rotation operation around the rotation shaft 202. .

With reference to FIG. 5, the structure of the operation device 30 is demonstrated.
The operation device 30 has a shape imitating a human body. The operation device 30 includes a trunk 31, a head 32, a pelvis 33, an upper arm 34, a forearm 35, a hand 36, a thigh 37, a crus 38, and a foot 39. The operation device 30 has a neck 81, a waist 82, a shoulder 83, an elbow 84, a wrist 85, a hip joint 86, a knee 87, and an ankle 88.

  The operation device 30 has a plurality of bendable parts, a plurality of rotatable parts, and a plurality of extendable parts. The bendable portion indicates a portion that can perform an operation simulating a bending operation in a human body. The rotatable portion indicates a portion that can perform an operation simulating a rotating operation in a human body. The stretchable portion indicates a portion that can perform an operation simulating the expansion operation in the human body.

The operation device 30 includes an operation selection unit 99.
The operation selection unit 99 has a function of switching a group of operation instructions of the user 100. The operation selection unit 99 includes a treatment operation selection switch for designating a treatment operation instruction group and a posture change selection switch for selecting a posture change instruction group. The operation selection unit 99 outputs a signal corresponding to the operated selection switch to the control unit 20.

  The control unit 20 selects the operation mode of the operation device 30 in accordance with the signal received from the operation selection unit 99. When receiving a signal indicating that the treatment operation selection switch has been operated, the control unit 20 sets the operation mode of the operation device 30 to the treatment operation mode. When the control unit 20 receives a signal indicating that the posture change selection switch has been operated, the control unit 20 sets the operation mode of the operation device 30 to the posture change mode.

  In the treatment operation mode of the operation device 30, a signal for changing the treatment operation is transmitted to the control unit 20 based on an instruction operation on the operation device 30. In the posture change mode of the operation device 30, a signal for changing the posture is transmitted to the control unit 20 based on an instruction operation on the operation device 30.

With reference to FIG. 2, the block configuration of the operation device 30 will be described.
The operation device 30 includes a detection unit 90, a determination unit 91, a notification unit 92, and an operation selection unit 99. The detection unit 90 includes a bending sensor 94 corresponding to the bendable portion, a rotation angle sensor 95 corresponding to the rotatable portion, and a torsion sensor 96 corresponding to the rotatable portion. The detection unit 90 includes a strain sensor 97 corresponding to the extendable portion and an acceleration sensor 98 that detects repeated movement of the operation device 30.

  Trunk 31, head 32, pelvis 33, hand 36, thigh 37, crus 38, foot 39, neck 81, waist 82, shoulder 83, elbow 84, wrist 85, hip joint 86, knee 87, and Each ankle 88 corresponds to a bendable part.

  Trunk 31, head 32, pelvis 33, upper arm 34, forearm 35, hand 36, thigh 37, lower leg 38, foot 39, neck 81, waist 82, shoulder 83, elbow 84, wrist 85 The hip joint 86, the knee 87, and the ankle 88 correspond to the rotatable portions.

  Trunk 31, head 32, pelvis 33, upper arm 34, forearm 35, hand 36, thigh 37, lower leg 38, foot 39, neck 81, waist 82, shoulder 83, elbow 84, wrist 85 The hip joint 86, the knee 87, and the ankle 88 correspond to stretchable parts.

  The operation state of the operation device 30 is changed by an instruction operation of the user 100. The operation of the operating device 30 includes an operation that is bent at the bendable portion, an operation that is twisted at the rotatable portion, an operation that is stretched at the expandable portion, a repetitive operation thereof, and an operation that the operating device 30 is shaken. The operation state of the operation device 30 includes at least one of a bending state in the bendable portion, a rotation state in the rotatable portion, an extension state in the extendable portion, repetition of these, and a swinging state in the operation device 30. The change in the operation state of the operation device 30 is at least one of a change in the bending state in the bendable portion, a change in the rotation state in the rotatable portion, a change in the extension state in the extendable portion, and a change in the swing state in the operation device 30. Indicates that one change will occur.

  The user 100 selects a treatment operation of the treatment unit 10 by performing an instruction operation of the operation device 30. The instruction operation of the user 100 includes at least one of a bending operation, a twisting operation, a pulling operation, a partial shaking operation, and a whole shaking operation.

  The bending operation indicates an operation for bending the bendable portion of the operation device 30. The twisting operation indicates an operation of rotating the rotatable portion of the operating device 30. The pulling operation indicates an operation of extending the extendable part of the operating device 30. The partial swing operation indicates an operation that repeats at least one of a bending operation, a twisting operation, and a pulling operation. The overall shaking operation indicates an operation of shaking the entire operation device 30.

  The bending sensor 94, the rotation angle sensor 95, the torsion sensor 96, the strain sensor 97, and the acceleration sensor 98 of the detection unit 90 detect an operation parameter indicating the operation state of the operation device 30. Operating parameters are bending position, bending load, bending speed, rotation position, rotation load, rotation speed, extension position, extension load, extension speed, partial swing amount, partial swing load, partial swing speed, total swing amount, overall Includes swing load and overall swing speed.

The basic shape of the operation device 30 is similar to the posture of the user 100 who has formed a supine posture on the chair type mechanism 40.
The shape of the operating device 30 is changed from the basic shape to a direction in which a load acts by performing an instruction operation. The bending position in the bendable part, the rotational position in the rotatable part, and the extended position in the extendable part are the basics of the operating device 30 by the force of the spring when the instruction operation is not performed and after the instruction operation is performed. Return to the position corresponding to the shape.

The reference position of the operation device 30 indicates the position in the basic shape.
The bending position indicates a bending angle based on the reference position in the bendable part. The bending load indicates the magnitude of the load input to the bendable portion. The bending speed indicates the changing speed of the bending position in the bendable part.

  The rotation position indicates the amount of twist with reference to the reference position in the rotatable portion. The rotational load indicates the magnitude of the load in the rotational direction input to the rotatable portion. The rotation speed indicates a change speed of the rotation position in the rotatable portion.

  The extension position indicates an extension amount based on the reference position in the extendable part. The extension load indicates the magnitude of the load in the extension direction input to the extendable part. The extension speed indicates the change speed of the extension position in the extendable part.

  The partial swing amount indicates the amount of partial repeated movement in the operation device 30. The partial swing load indicates the magnitude of the load in the partial swing operation input to the operation device 30. The partial rocking speed indicates the rocking speed in the partial rocking operation.

  The total swing amount indicates a movement amount of the entire repeated movement in the operation device 30. The total swing load indicates the magnitude of the load in the total swing operation input to the operation device 30. The overall swing speed indicates a swing speed in the overall swing operation.

Operation | movement of the treatment part 10 and the operation device 30 is demonstrated.
The control unit 20 controls the treatment operation of the treatment unit 10 according to the instruction operation of the operation device 30. The determination unit 91 determines which of the five types of treatment operations the instruction operation of the operation device 30 corresponds to, based on the detection result of the detection unit 90. The five types of treatment operations include flexion / extension stretch, twist stretch, traction, partial swing, and total swing.

  Bending / extending stretch indicates a treatment operation that bends or extends a bendable part of a human body. The bending / extension / stretch instruction is determined by a bending operation of the operation unit 30. The twist stretch is a treatment operation that twists the rotatable portion of the human body. A twist stretch instruction is determined by a twist operation of the operation device 30. Towing is a treatment operation that pulls the extensible part of the human body. The pulling instruction is determined by a pulling operation of the operation device 30. The partial shaking is a treatment operation that shakes a part of the human body. The partial shaking instruction is determined by a partial shaking operation of the operation device 30. Whole shaking is a treatment operation that shakes the entire human body. The whole shaking instruction is determined by the whole shaking operation of the operation device 30.

The control unit 20 causes the treatment unit 10 to perform a treatment operation corresponding to the treatment operation instruction determined by the determination unit 91.
The notification unit 92 notifies the user 100 of the treatment operation being performed.

The relationship between the contents of the instruction operation and the operation device 30 and the control unit 20 will be described.
FIG. 6 shows the correspondence of the treatment operation in the treatment apparatus 1, the instruction operation to the operation device 30, the operation state of the operation device 30, the operation parameter detected by the detection unit 90, and the sensor type for detecting the operation parameter.

  The user 100 performs a bending operation of the operation device 30 when he / she wants to receive a bending / extending stretch. The detection unit 90 detects a change in the bending state of the bendable portion by the bending sensor 94. The bending sensor 94 detects a bending position, a bending load, and a bending speed. The determination unit 91 determines that a flexion / extension / stretch instruction operation has been performed based on the detection result of the detection unit 90. Based on the determination result of the determination unit 91, the control unit 20 causes the treatment unit 10 to perform a flexion / extension stretch. The control unit 20 changes the execution mode of the bending / extending stretch in accordance with the respective sizes of the bending position, the bending load, and the bending speed.

  The user 100 performs a twisting operation of the operation device 30 when he / she wants to receive a twist stretch. The detection unit 90 detects a change in the twist state of the rotatable unit by the rotation angle sensor 95 and the torsion sensor 96. The rotation angle sensor 95 and the torsion sensor 96 detect a rotation position, a rotation load, and a rotation speed. The determination unit 91 determines that a twist stretch instruction operation has been performed based on the detection result of the detection unit 90. The control unit 20 causes the treatment unit 10 to perform twist stretching based on the determination result of the determination unit 91. The control part 20 changes the execution form of twist stretching according to each magnitude | size of a rotational position, a rotational load, and a rotational speed.

  The user 100 performs a pulling operation of the operation device 30 when he / she wants to be pulled. The detection unit 90 detects a change in the tension state of the extendable portion by the strain sensor 97. The strain sensor 97 detects an extension position, an extension load, and an extension speed. The determination unit 91 determines that a towing instruction operation has been performed based on the detection result of the detection unit 90. The control unit 20 causes the treatment unit 10 to perform traction based on the determination result of the determination unit 91. The control unit 20 changes the execution mode of traction according to the respective sizes of the extension position, the extension load, and the extension speed.

  When the user 100 wants to receive partial shaking, the user 100 performs a partial shaking operation of the operation device 30. The detecting unit 90 is configured to detect a repeated change in the bent state in the bendable portion, a repeated change in the twisted state in the rotatable portion, and a repeated change in the extended state in the extendable portion, the bending sensor 94, the rotation angle sensor 95, the torsion sensor 96, and Detected by the strain sensor 97. The bending sensor 94, the rotation angle sensor 95, the torsion sensor 96, and the strain sensor 97 detect the partial swing amount, the partial swing load, and the partial swing speed. The determination unit 91 determines that a partial shaking instruction operation has been performed based on the detection result of the detection unit 90. The control unit 20 causes the treatment unit 10 to execute partial shaking based on the determination result of the determination unit 91. The control unit 20 changes the execution mode of the partial swing according to the magnitudes of the partial swing amount, the partial swing load, and the partial swing speed.

  The user 100 performs the whole shaking operation of the operation device 30 when it wants to receive the whole shaking. The detection unit 90 detects a change in the repeated state of the operation device 30 by the acceleration sensor 98. The acceleration sensor 98 detects the total swing amount, the total swing load, and the total swing speed. Based on the detection result of the detection unit 90, the determination unit 91 determines that the overall shake operation has been performed. The control unit 20 causes the treatment unit 10 to perform overall shaking based on the determination result of the determination unit 91. The control unit 20 changes the execution mode of the total shaking according to the respective magnitudes of the total swing amount, the total swing load, and the total swing speed.

A specific operation of the bending / extending stretch will be described. The flex extension stretch includes a first flex extension stretch to a fifth flex extension stretch.
When the user 100 wants to undergo stretch stretching of the waist, as shown in FIG. 7A, the user 100 performs a bending operation on the waist 82 of the operating device 30. The detection unit 90 detects the bending position, the bending load, and the bending speed as operation parameters from the change in the bending state in the bendable portion, and outputs the detected operation parameters to the determination unit 91.

  The determination unit 91 determines from the operation parameter detection result of the detection unit 90 that the treatment operation instructed by the user 100 is the waist stretch. The control part 20 receives the determination result from the determination part 91, and controls the treatment part 10 as 1st bending extension stretching operation | movement. The control unit 20 moves the kneading balls 50 arranged on the backrest portion 42 to the vicinity of the waist of the user 100, and moves the kneading balls 50 toward the user 100 as shown in FIG. 7B. Take control. By this control, the treatment device 1 causes the user 100 to execute a bending / extension / stretching operation in which the user's 100 is pushed and warped.

  The control unit 20 controls the operation amount of the kneading balls 50 and the operation speed of the kneading balls 50 according to the bending position, the bending load, and the bending speed. The user 100 can obtain a treatment operation by the treatment device 1 according to an instruction operation performed on the operation device 30.

  When the user 100 wants to maintain a state in which his / her waist is warped, the user 100 performs an instruction operation for holding the operation device 30 in a folded state. The control unit 20 performs control to maintain the operation state of the kneading balls 50. The user 100 can obtain a stretching operation that sufficiently stretches the waist by maintaining the state where the waist is warped after the waist is warped.

FIG. 7C illustrates control in which the control unit 20 performs a flexion / extension / stretch operation of the waist with respect to the user 100 using the airbag 60.
The control unit 20 receives the determination result from the determination unit 91 and performs control to inflate the airbag 60 disposed on the waist of the user 100. By this control, the treatment apparatus 1 causes the user 100 to perform a bending / extending / stretching operation in which the waist is pushed and bent by the airbag 60.

The control unit 20 controls the inflation amount and the inflation speed of the airbag 60 according to the bending position, the bending load, and the bending speed.
When the user 100 wants to receive a bending stretch of the hip joint, the user 100 performs a bending operation on the hip joint 86 of the operation device 30 as shown in FIG. The detection unit 90 detects the bending position, the bending load, and the bending speed as operation parameters from the change in the bending state, and outputs them to the determination unit 91.

  The determination unit 91 determines from the operation parameter detection result of the detection unit 90 that the treatment operation instructed by the user 100 is a bending stretch of the hip joint. The control part 20 receives the determination result from the determination part 91, and controls the treatment part 10 as 2nd bending extension stretch operation | movement. A two-dot chain line in FIG. 8B indicates the positions of the user 100 and the chair-type mechanism 40 before the bending and stretching operation. The solid line indicates the position after the bending and stretching operation of the same part. As illustrated in FIG. 8B, the control unit 20 performs control to raise the backrest portion 42 and inflate the airbag 60 disposed in front of the seat portion 41. By this control, the treatment apparatus 1 causes the user 100 to execute a bending / extension / stretching operation for bending the hip joint.

  The control unit 20 controls the operation amount of the backrest portion 42, the inflation amount of the airbag 60, the operation speed of the backrest portion 42, and the inflation speed of the airbag 60 according to the bending position, the bending load, and the bending speed. . The user 100 can obtain a treatment operation by the treatment device 1 according to an instruction operation performed on the operation device 30.

  When the user 100 wants to raise the backrest portion 42 in a state where the operation of the kneading balls 50 and the airbag 60 is stopped, the user 100 selects the posture change mode by the operation selection unit 99, and then FIG. The instruction operation shown in is performed. The control unit 20 causes the backrest unit 42 of the chair type mechanism 40 to stand up. At this time, the operation of the kneading balls 50 and the airbag 60 is stopped.

  When the user 100 wants to receive a stretch stretch of the hip joint, as shown in FIG. 9A, the user 100 performs a bending operation on the hip joint 86 of the operation device 30 in the stretch direction. The detection unit 90 detects the bending position, the bending load, and the bending speed as operation parameters from the change in the bending state in the bendable portion, and outputs the detected operation parameters to the determination unit 91.

  The determination unit 91 determines, based on the operation parameter of the detection unit 90, that the treatment operation instructed by the user 100 is hip stretch stretching. The control unit 20 receives the determination result from the determination unit 91 and controls the treatment unit 10 as the third bending / extension stretch operation. A two-dot chain line in FIG. 9B indicates the positions of the user 100 and the chair-type mechanism 40 before the extension / stretch operation. The solid line indicates the position of the same part after the stretching / stretching operation. As illustrated in FIG. 9B, the control unit 20 performs control to recline the backrest portion 42 and to lower the front of the seat portion 41. With this control, the treatment device 1 executes a flexion / extension / stretch operation for extending the hip joint of the user 100.

  The control unit 20 controls the reclining amount and the reclining speed of the backrest 42 according to the bending position, the bending load, and the bending speed. The user 100 can obtain a treatment operation by the treatment device 1 according to an instruction operation performed on the operation device 30.

  When the user 100 wants to undergo bending stretching of the knee joint, as shown in FIG. 10A, the user 100 performs a bending operation on the knee 87 of the operation device 30. The detection unit 90 detects the bending position, the bending load, and the bending speed as operation parameters from the change in the bending state in the bendable portion, and outputs the detected operation parameters to the determination unit 91.

  The determination unit 91 determines from the operation parameters of the detection unit 90 that the treatment operation instructed by the user 100 is a knee joint bending / stretching operation. The control unit 20 receives the determination result from the determination unit 91 and controls the treatment unit 10 as the fourth bending / extending stretch operation. The dashed-two dotted line of FIG.10 (b) has shown the position of the user 100 and the chair type mechanism 40 before bending stretch operation | movement. The solid line 10 (b) indicates the position after the extension stretching operation of the user 100 and the chair type mechanism 40. As shown in FIG. 10B, the control unit 20 inflates the airbag 60 disposed on the side wall of the leg platform 44 and presses and holds both legs with the airbag 60 from the left and right. Control is performed to turn 44 downward. With this control, the treatment apparatus 1 performs a bending / extending / stretching operation for bending the knee joint of the user 100.

  The control unit 20 controls the rotation amount and the rotation speed of the leg platform 44 according to the bending position, the bending load, and the bending speed. The user 100 can obtain a treatment operation by the treatment device 1 according to an instruction operation performed on the operation device 30.

  When the user 100 wants to rotate the leg platform 44 in a state where the operation of the airbag 60 is stopped, the user 100 selects the posture change mode by the operation selection unit 99, and then performs FIG. The instruction operation shown in is performed. The control unit 20 causes the leg platform 44 to descend. At this time, the operation of the airbag 60 is stopped.

  When the user 100 wants to undergo dorsiflexion stretching of the ankle joint, as shown in FIG. 11A, the user 100 performs a bending operation in the dorsiflexion direction on the ankle 88 of the operation device 30. The detection unit 90 detects the bending position, the bending load, and the bending speed as operation parameters from the change in the bending state in the bendable portion, and outputs the detected operation parameters to the determination unit 91.

  The determination unit 91 determines, based on the operation parameters of the detection unit 90, that the treatment operation instructed by the user 100 is an ankle joint dorsiflexion stretching operation. The control unit 20 receives the determination result from the determination unit 91 and controls the treatment unit 10 as the fifth bending / extension stretch operation. 11B and 11C indicate the positions of the user 100 and the chair type mechanism 40 before the dorsiflexion stretching operation. The solid line indicates the position after the dorsiflexion stretching operation of the same part. As shown in FIG. 11 (b), the control unit 20 operates the foot platform 48 and performs control to rotate so that the user's 100 toes are in front. With this control, the treatment device 1 executes a flexion / extension / stretch operation that causes the ankle joint of the user 100 to bend back.

  The control unit 20 controls the rotation amount and rotation speed of the footrest 48 according to the bending position, the bending load, and the bending speed. The user 100 can obtain a treatment operation by the treatment device 1 according to an instruction operation performed on the operation device 30.

  FIG. 11C shows control in which the control unit 20 performs a dorsiflexion stretching operation on the ankle joint of the user 100 using the airbag 60. In response to the determination result from the determination unit 91, the control unit 20 performs control to inflate the airbag 60 arranged at the tip of the footrest 48. With this control, the treatment device 1 causes the user 100 to perform a flexion / extension / stretch operation on the ankle joint of the user 100 using the airbag 60.

The control unit 20 controls the inflation amount and the inflation speed of the airbag 60 according to the bending position, the bending load, and the bending speed.
A specific operation of twist stretching will be described. The twist stretch includes a first twist stretch and a second twist stretch.

  When the user 100 wants to undergo a twist stretching of the waist, as shown in FIG. 12A, the user 100 performs a twisting operation on the trunk 31 of the operating device 30. The detection unit 90 detects the rotation position, the rotation load, and the rotation speed as operation parameters from the change in the twist state in the rotatable unit, and outputs the detected operation parameters to the determination unit 91.

  The determination unit 91 determines, based on the operation parameters of the detection unit 90, that the treatment operation instructed by the user 100 is a waist twist stretch. The control part 20 receives the determination result from the determination part 91, and controls the treatment part 10 as 1st twist stretch operation | movement. The control unit 20 moves the kneading balls 50 arranged on the backrest part 42 to the vicinity of the waist of the user 100 as shown in FIG. 12 (b), and uses it as shown in FIG. 12 (c). Control to move the kneading balls 50 toward the person 100 is performed.

  As illustrated in FIG. 12C, the control unit 20 performs control to operate only one of the kneading balls 50 arranged on the left and right sides of the backrest portion 42 toward the user 100. By this control, the treatment apparatus 1 pushes the user 100 on one side of the waist, and performs a twist stretching operation of the waist on the user 100.

  The control unit 20 controls the operation amount of the kneading balls 50 and the operation speed of the kneading balls 50 according to the rotation position, the rotation load, and the rotation speed. The user 100 can obtain a treatment operation by the treatment device 1 according to an instruction operation performed on the operation device 30.

  When the user 100 wants to maintain a state in which his / her waist is twisted, the user 100 performs an instruction operation for holding the state in which the operation device 30 is twisted. The control unit 20 performs control to maintain the operation state of the kneading balls 50. The user 100 can obtain an operation of sufficiently twisting the waist by maintaining the state where the waist is twisted after the waist is twisted.

FIG. 13 shows an example of control of the control unit 20 that performs a twist stretching operation of the waist with respect to the user 100 using the airbag 60.
The control unit 20 receives the determination result from the determination unit 91 and performs control to inflate the airbag 60 disposed on the waist of the user 100 as shown in FIG.

  The control part 20 controls the airbag 60 arrange | positioned at right and left so that only one may be expand | swelled and the other may be contracted, as FIG.13 (c) shows. With this control, the treatment device 1 performs an operation of twisting the waist of the user 100.

The control unit 20 controls the inflation amount and the inflation speed of the airbag 60 according to the rotational position, the rotational load, and the rotational speed.
When the user 100 wants to receive a stretch that twists the pelvis located in the pelvis part in the right direction, as shown in FIGS. 14A and 14B, the user 100 moves in the right direction with respect to the pelvis part 33. Perform a twisting operation. The detection unit 90 detects the rotation position, the rotation load, and the rotation speed as operation parameters from the change in the twist state in the rotatable unit, and outputs the detected operation parameters to the determination unit 91.

  The determination unit 91 determines, based on the operation parameter of the detection unit 90, that the treatment operation instructed by the user 100 is a twist stretch in the right direction of the pelvis. The control part 20 receives the determination result from the determination part 91, and controls the treatment part 10 as 2nd twist stretch operation | movement. As shown in FIG. 14C, the control unit 20 inflates the left airbag 60 and contracts the right airbag 60 among the airbags 60 arranged at the left and right lower portions of the human body support plate 201. . With this control, the treatment apparatus 1 performs a clockwise rotation operation of the human body support plate 201 around the rotation shaft 202, and performs a twist stretching operation that twists the pelvis of the user 100 in the right direction.

  The control unit 20 controls the inflation amount and the inflation speed of the airbag 60 according to the rotational position, the rotational load, and the rotational speed. The user 100 can obtain a treatment operation by the treatment device 1 according to an instruction operation performed on the operation device 30.

  When the user 100 wants to receive a stretch that twists the pelvis in the left direction, the user 100 performs an operation of twisting the pelvis portion 33 of the operation device 30 in the left direction. The control unit 20 inflates the right airbag 60 out of the airbags 60 arranged at the lower left and right sides of the human body support plate 201 by performing the same detection and determination in the detection unit 90 and the determination unit 91, and Control for contracting the airbag 60 is performed. By this control, the treatment apparatus 1 performs a twisting stretching operation in which the human body support plate 201 is rotated counterclockwise around the rotating shaft 202 and the pelvis of the user 100 is twisted leftward.

The control unit 20 controls the inflation amount and the inflation speed of the airbag 60 according to the rotational position, the rotational load, and the rotational speed.
A specific operation of traction will be described. The traction includes a first traction to a third traction.

  When the user 100 wants to receive a neck pulling operation, the user 100 holds the head 32 and the trunk 31 of the operating device 30 and pulls the neck 81 as shown in FIG. The detection unit 90 detects the extension position, the extension load, and the extension speed as operation parameters from the change in the extension state in the extension unit, and outputs the detection parameters to the determination unit 91.

  The determination unit 91 determines from the operation parameter of the detection unit 90 that the treatment operation instructed by the user 100 is a neck pulling operation. The control unit 20 receives the determination result from the determination unit 91 and controls the treatment unit 10 as the first traction operation. As shown in FIG. 15B, the control unit 20 adjusts the angles of the backrest unit 42, the leg platform 44, and the foot platform 48, and sets each of them horizontally. Thereafter, as shown in FIG. 16 (b), the left and right airbags 60 arranged on the pillow part 46 of the chair type mechanism 40 are inflated, and the upper part of the neck of the user 100 is pressed and gripped from the left and right, and then the pillow part Control is performed to slide 46 upward indicated by a thick arrow. With this control, the treatment device 1 executes a pulling operation that pulls the neck of the user 100.

  The control unit 20 controls the slide amount and the slide speed of the pillow unit 46 according to the extension position, the extension load, and the extension speed. The user 100 can obtain a treatment operation by the treatment device 1 according to an instruction operation performed on the operation device 30.

  When the user 100 wants to maintain a state where the neck is pulled. An instruction operation for holding the pulled state of the operation device 30 is performed. The control unit 20 performs control to maintain the slide amount of the pillow unit 46. The user 100 can maintain the state where the neck is pulled and can obtain an operation of sufficiently stretching the neck.

  When the user 100 wants to receive a waist pulling operation, the user 100 holds the trunk portion 31 and the pelvis portion 33 of the operating device 30 and performs a pulling operation on the waist 82 as shown in FIG. The detection unit 90 detects the extension position, the extension load, and the extension speed as operation parameters from the change in the extension state in the extension unit, and outputs the detection parameters to the determination unit 91.

  The determination unit 91 determines from the operation parameters of the detection unit 90 that the treatment operation instructed by the user 100 is a waist pulling operation. The control unit 20 receives the determination result from the determination unit 91 and controls the treatment unit 10 as the second traction operation. As shown in FIG. 17B, the control unit 20 inflates the airbag 60 disposed on the left and right of the back portion 45 and the airbag 60 disposed on the left and right of the seat portion 41, so that the trunk of the user 100 After the pelvic part is pressed and gripped from the left and right, the backrest part 42 is slid upward as indicated by a thick arrow. By this control, the treatment device 1 executes a pulling operation that pulls the waist of the user 100.

  The control unit 20 controls the slide amount and slide speed of the backrest 42 according to the extension position, extension load, and extension speed. The user 100 can obtain a treatment operation by the treatment device 1 according to an instruction operation performed on the operation device 30.

  When the user 100 wants to receive the elbow pulling operation, the user 100 holds the upper arm portion 34 and the forearm portion 35 of the operating device 30 and pulls the elbow 84 as shown in FIG. The detection unit 90 detects the extension position, the extension load, and the extension speed as operation parameters from the change in the extension state in the extension unit, and outputs the detection parameters to the determination unit 91.

  The determination unit 91 determines from the operation parameters of the detection unit 90 that the treatment operation instructed by the user 100 is an elbow traction operation. The control unit 20 receives the determination result from the determination unit 91 and controls the treatment unit 10 as a third traction operation. 18B shows the positions of the user 100 and the chair type mechanism 40 before the traction operation. The solid line in FIG. 18B shows the position of the same part after the pulling operation. As shown in FIG. 18B, the control unit 20 inflates the airbag 60 disposed in the elbow rest unit 43 and reclines the backrest unit 42 while pressing and gripping the forearm portion of the user 100. Take control. By this control, the treatment device 1 executes a pulling operation that pulls the elbow of the user 100.

  The control unit 20 controls the reclining amount and the reclining speed of the backrest 42 according to the extension position, the extension load, and the extension speed. The user 100 can obtain a treatment operation by the treatment device 1 according to an instruction operation performed on the operation device 30.

A specific operation of partial shaking will be described. The partial shaking includes a first partial shaking and a second partial shaking.
When the user 100 wants to shake the pelvis located in the pelvis part, as shown in FIGS. 19 (a) and 19 (b), a part that repeatedly rotates in the left-right direction with respect to the pelvis part 33 of the operating device 30. Perform a rocking operation. The detection unit 90 detects the partial swing amount, the partial swing load, and the partial swing speed as operation parameters from the repeated change of the rotational position, rotational load, and rotational speed within a predetermined time, and the determination unit 91 Output.

  The determination unit 91 determines from the operation parameters of the detection unit 90 that the treatment operation instructed by the user 100 is partial shaking of the pelvis. The control unit 20 receives the determination result from the determination unit 91 and controls the treatment unit 10 as the first partial shake. As shown in FIGS. 19 (c) and 19 (d), the control unit 20 is disposed below the human body support plate 201 that supports the pelvis of the user 100 disposed on the seat 41 of the chair type mechanism 40. Control is performed to inflate and contract the arranged airbag 60 alternately left and right. By this control, the treatment apparatus 1 repeats the operation of rotating the human body support plate 201 left and right around the rotation shaft 202, and continuously swings the pelvis of the user 100 by swinging left and right. Perform a shake operation.

  The control unit 20 controls the rotation angle and the rotation speed of the human body support plate 201 according to the partial swing amount, the partial swing load, and the partial swing speed. The user 100 can obtain a treatment operation by the treatment device 1 according to an instruction operation performed on the operation device 30.

  When the user 100 wants to shake the leg, as shown in FIG. 20A, the user 100 partially shakes the entire leg including the thigh 37, the lower leg 38, and the foot 39 of the operating device 30. Perform the operation. The detection unit 90 detects a partial swing amount, a partial swing load, and a partial swing speed based on repeated changes in the bendable portion, repeated changes in the rotatable portion, and repeated changes in the extendable portion within a predetermined time. Is detected as an operation parameter and output to the determination unit 91.

  The determination unit 91 determines from the operation parameters of the detection unit 90 that the treatment operation instructed by the user 100 is a swing of the leg. The control unit 20 receives the determination result from the determination unit 91 and controls the treatment unit 10 as the second partial shaking operation. As illustrated in FIG. 20B, the control unit 20 performs control to swing the leg platform 44 on which the leg portion of the user 100 is placed in the left-right direction. By this control, the treatment apparatus 1 performs a partial shaking operation that shakes both the legs of the user 100 left and right.

  The control unit 20 controls the left-right movement amount and the left-right movement speed of the leg platform 44 according to the partial swing amount, the partial swing load, and the partial swing speed. The user 100 can obtain a treatment operation by the treatment device 1 according to an instruction operation performed on the operation device 30.

A specific operation of the overall shaking will be described.
When the user 100 wants to receive the whole body shaking operation, the user 100 performs the whole shaking operation on the operation device 30. The detection unit 90 detects the total swing amount, the total swing load, and the total swing speed as operation parameters and outputs them to the determination unit 91.

  The determination unit 91 determines from the operation parameters of the detection unit 90 that the treatment operation instructed by the user 100 is shaking of the entire body. The control unit 20 receives the determination result from the determination unit 91 and controls the treatment unit 10 as a whole shaking operation. The control unit 20 performs control to swing the seat portion 41, the backrest portion 42, and the leg mount 44 that support the user 100 in the left-right direction. By this control, the treatment device 1 performs the entire shaking operation of shaking the whole body of the user 100 and loosening the whole body.

  The control unit 20 controls the movement amount in the width direction and the movement speed in the width direction of the seat portion 41, the backrest portion 42, and the leg platform 44 according to the total swing amount, the total swing load, and the total swing speed. I do. The user 100 can obtain a treatment operation by the treatment device 1 according to an instruction operation performed on the operation device 30.

The treatment device 1 can realize various treatment operations by combining a flexion / extension / stretch operation, a twist / stretch operation, a pulling operation, or a shaking operation.
A specific operation example of the combination will be described.

  When the user 100 wants to perform an action of pulling while turning his / her arm, as shown in FIG. 21A, the user 100 holds the upper arm portion 34 and the forearm portion 35 of the operating device 30 and performs a pulling operation on the elbow 84, Twist operation at the same time. The detection unit 90 detects the rotation position, the rotation load, the rotation speed, the extension position, the extension load, and the extension speed as operation parameters from the change in the state of the rotatable unit and the extendable unit, and outputs them to the determination unit 91. .

  The determination unit 91 determines from the operation parameters of the detection unit 90 that the treatment operation instructed by the user 100 is a combination of traction and twist stretching with respect to the upper arm and the forearm. The control unit 20 receives the determination result from the determination unit 91 and controls the treatment unit 10 as a combined operation of traction and twist stretching. As shown in FIG. 21B, the control unit 20 inflates an airbag 60 disposed on the elbow rest 43 of the treatment unit 10 for gripping the left and right sides of the arm, and presses and grips the arm from the left and right. Of the elbow rest 43 divided forward and backward, the front 43A of the elbow rest is slid forward as indicated by the thick arrow, and the rear 43B of the elbow rest is moved by a known motor and link mechanism. , Control to rotate around the axis. By this control, the treatment apparatus 1 performs an operation of pulling while rotating the arm of the user 100.

  The control unit 20 determines the sliding amount of the elbow rest front part 43A, the sliding speed, the rotational amount of the elbow rest rear part 43B, according to the stretching position, stretching load, stretching speed, rotational position amount, rotational load, and rotational speed. And control the rotation speed. The user 100 can obtain a treatment operation by the treatment device 1 according to an instruction operation performed on the operation device 30.

The treatment apparatus 1 of this embodiment has the following effects.
(1) The operation device 30 includes a detection unit 90 that detects an instruction operation of the operation device 30, and a determination unit 91 that determines a treatment operation based on a detection result of the detection unit 90. In the treatment device 1, the control unit 20 controls the treatment unit 10 based on the determination result of the determination unit 91. According to this configuration, the user 100 can instruct a treatment operation by a simple operation that does not require a complicated button operation. For this reason, the convenience of the user 100 is improved.

  (2) The operating device 30 has a shape imitating a human body, a bendable portion capable of simulating a bending motion in the human body, a rotatable portion capable of simulating a twisting motion in the human body, and a human body It has a stretchable part capable of simulating the stretching operation. The operation device 30 detects an instruction operation on the operation device 30 by the user 100 and determines a treatment operation. The treatment device 1 controls the treatment operation of the treatment unit 10 based on the determination result. According to this configuration, the treatment operation desired by the user 100 can be instructed by an intuitive operation corresponding to the treatment operation on the operation device 30. For this reason, the treatment operation in the treatment apparatus 1 can be brought close to the operation desired by the user 100, and a comfortable treatment effect can be given to the user 100.

  (3) The operation device 30 includes an operation selection unit 99 that selects an instruction operation related to the treatment operation and an instruction operation related to posture change. The treatment device 1 controls the treatment operation or the posture change operation of the treatment unit 10 based on the selection instruction of the operation selection unit 99. According to this configuration, it is possible to select a request instruction operation related to a treatment operation and a request instruction related to posture change by a simple operation. For this reason, a treatment operation can be instructed accurately by a simple operation.

  (4) The operation device 30 has a shape imitating a human body and detects an operation parameter indicating an operation state of the operation device 30. The operation parameter includes at least one of a bending position in the bendable portion of the operating device 30, a rotating position in the rotatable portion of the operating device 30, an extended position in the extendable portion of the operating device 30, and a swing amount of the operating device 30. . The control unit 20 controls the treatment operation according to the operation parameter. According to this configuration, the treatment operation of the treatment device 1 can be brought close to the strength desired by the user 100, and a comfortable treatment effect can be given to the user 100.

  (5) The operation device 30 has a shape imitating a human body, and detects an operation parameter indicating an operation state of the operation device 30. The operation parameter is at least one of a bending load at the bendable portion of the operating device 30, a rotational load at the rotatable portion of the operating device 30, an extending load at the extendable portion of the operating device 30, and a swing load of the operating device 30. Including. The control unit 20 controls the treatment operation according to the operation parameter. According to this configuration, the treatment operation of the treatment device 1 can be brought close to the strength desired by the user 100, and a comfortable treatment effect can be given to the user 100.

  (6) The operation device 30 has a shape imitating a human body, and detects an operation parameter indicating an operation state of the operation device 30. The operation parameter is at least one of a bending speed at the bendable portion of the operating device 30, a rotating speed at the rotatable portion of the operating device 30, an extending speed at the extendable portion of the operating device 30, and an oscillation speed of the operating device 30. Including. The control unit 20 controls the treatment operation according to the operation parameter. According to this configuration, the treatment operation of the treatment device 1 can be brought close to the speed desired by the user 100, and a comfortable treatment effect can be given to the user 100.

  (7) The controller 30 detects that the detected instruction operation is held for a predetermined period or longer by the detection unit 90. The control unit 20 performs control to maintain the operation state of the treatment unit 10 according to the detection result of the detection unit 90. With this configuration, an effective treatment operation can be instructed with a simple operation.

  (8) The operation device 30 includes a detection unit 90 that detects an instruction operation of the operation device 30 and a determination unit 91 that determines a treatment operation based on a detection result of the detection unit 90. The treatment device 1 is controlled by the control unit 20 based on the determination result of the determination unit 91, the posture changing mechanism of the chair type mechanism 40, the kneading balls 50 for massaging the human body, and the pressure to stimulate the human body to expand. The user is treated by operating the airbag 60. With this configuration, various treatments can be intuitively operated with a simple mechanism based on a mechanism mounted on a conventional massage machine.

(Other embodiments)
The present invention includes other embodiments. Hereinafter, the modification of embodiment as other embodiment of the present invention is shown. The following modifications can be combined with each other.

  -The basic state of the operating device 30 of embodiment is made into the shape similar to the attitude | position of the user 100 which forms the attitude | position of a supine position on the chair type | mold mechanism 40. FIG. On the other hand, the basic state of the operation device 30 of the modified example is similar to the posture of the human body supported by the posture change mechanism in the initial state.

  FIG. 22A shows a basic state of the operation device 30 of this modification. FIG. 22B shows the posture of the user 100 seated in the initial state of the chair type mechanism 40 before treatment. The basic state of the operation device 30 in FIG. 22A is set to a posture similar to the posture of the user 100 in FIG. According to the configuration of this modified example, the operation amount in the treatment device 1 and the treatment feeling received by the user 100 become closer, and the treatment operation can be realized by a more intuitive operation.

  The operation device 30 according to the embodiment includes a bendable portion, a rotatable portion, and an expandable portion that simulate the movement of a human body. On the other hand, the operation device 30 of the modified example includes a bendable portion display portion that visually characterizes the bendable portion, a rotatable portion display portion that visually characterizes the rotatable portion, and an extension that visually characterizes a plurality of expandable portions. It has a possible part display part. The display unit 89 shown in FIG. 23A corresponds to a bendable part display unit. The display unit 89 corresponds to the rotatable unit display unit. The display unit 89 corresponds to the expandable unit display unit. According to the configuration of this modification, the user 100 can easily recognize the operation site.

  The operation device 30 according to the embodiment includes a plurality of bendable parts, a plurality of rotatable parts, and a plurality of extendable parts that simulate the movement of the human body. On the other hand, the operation device 30 according to the modified example includes a bendable portion, a rotatable portion, and an extendable portion with limited operable portions. The operation site can be easily grasped, and the usability of the operation device 30 can be improved.

  -The alerting | reporting part 92 of embodiment notifies the user 100 of the treatment operation in execution. On the other hand, the notification unit 92 according to the modification includes a notification unit that notifies the detection result of the operation parameter by the detection unit 90 using at least one of a visual method and an auditory method.

  As shown in FIG. 23 (b), the notifying unit 92 of this modification example uses the bar graph 210 as a stretch amount for the bending position in the bending operation instruction detected by the detecting unit 90 in the bending operation of the bendable portion. indicate. The notification unit 92 according to the modified example displays the operation parameter that is the detection result of the detection unit 90 as a numerical value. The notification unit 92 of the modification notifies the stretch amount by voice guidance. According to the configuration of this modified example, the user 100 can perform the operation while grasping the operation amount by setting the current operation amount within the operable range and grasping the specific numerical value.

  -The alerting | reporting part 92 of embodiment notifies the user 100 of the treatment operation in execution. On the other hand, when the operation parameter detected by the detection unit is included in a range outside the operable range of the treatment unit, the notification unit 92 according to the modified example operates using at least one of a visual method and an audio method. It is notified that the parameter is included in a range outside the operable range of the treatment unit.

  As shown in FIG. 23C, the notification unit 92 of this modification turns on the LED 211 as a light emitting element when the detected operation parameter is included in a range outside the operable range of the treatment unit. When the detected operation parameter is included in a range outside the operable range of the treatment unit, the notification unit 92 of this modification performs notification by voice. According to the configuration of this modified example, the user 100 can grasp the limit amount of the instruction operation. For this reason, possibility of performing useless operation is reduced and usability is improved. Note that an element other than the LED 211 can be used as the light emitting element.

  The operation device 30 according to the embodiment includes a plurality of bendable parts, a plurality of rotatable parts, and a plurality of extendable parts that simulate the movement of the human body. On the other hand, the operation device 30 of the modification has a configuration in which the range of the operation state that can be changed by the instruction operation is limited to a range corresponding to the operable range of the treatment unit.

  As shown in FIG. 24A, the operation device 30 of this modification sets the operable range of the operation device 30 of the modification. By setting the operable range of the operating device 30 to a range corresponding to the possible operating range of the treatment operation, the haptic operability can be improved and the usability can be improved.

  In the treatment device 1 of the embodiment, the operation device 30 outputs a signal related to the treatment operation of the treatment unit 10 within a range corresponding to the operable range of the treatment unit 10. On the other hand, in the treatment device 1 according to the modified example, the control unit 20 controls the treatment operation of the treatment unit 10 within a range corresponding to the operable range of the treatment unit 10 according to a signal received from the operation device 30.

  The operation device 30 according to the embodiment includes a plurality of bendable parts, a plurality of rotatable parts, and a plurality of extendable parts that simulate the movement of the human body. On the other hand, the operation device 30 of the modified example has a configuration in which the deformation resistance of the bendable portion increases as the bending amount of the bendable portion increases, and the deformation resistance of the rotatable portion increases according to the increase of the rotation amount of the rotatable portion. It has a configuration in which the deformation resistance of the expandable portion increases in accordance with an increase in the amount of expansion in the expandable portion.

  The deformation resistance of the bendable portion indicates a force that opposes an operation load that changes the amount of bending in the bendable portion. The deformation resistance of the rotatable portion indicates a force that opposes an operation load that changes the amount of rotation in the rotatable portion. The deformation resistance of the stretchable portion indicates a force that opposes the load of an operation that changes the stretch amount in the stretchable portion.

  As shown in FIGS. 24 (b) and 24 (c), in the operation device 30 of this modification, in the bending operation of the bendable portion, the deformation resistance of the bendable portion increases as the bending position increases. To do. Each deformation resistance becomes the largest in the vicinity of the operation limit point of the treatment operation in the treatment apparatus 1. According to this configuration, a more intuitive operational feeling can be given to the user 100. Further, in the case of a configuration in which the deformation resistance gradually increases, the limit amount can be notified earlier.

-The operation device 30 of the embodiment has a shape imitating the shape of a human body. On the other hand, the operation device 30 of the modified example has a shape simulating a human body support part of the treatment device.
FIG. 25A and FIG. 25B show a perspective view and a side view of the chair type operating device 300. The chair-type operation device 300 has a shape imitating the chair-type mechanism 40 that is a human body support part. The chair-type operation device 300 has a portion imitating the operation device seat portion 301, the operation device backrest portion 302, and the operation device leg mounting base 303.

  The chair-type operation device 300 includes a plurality of bendable parts, a plurality of rotatable parts, and a plurality of extendable parts. The bendable portion indicates a portion where an operation simulating a bending operation in the chair type mechanism 40 is possible. The rotatable portion indicates a portion that can perform an operation simulating a twisting operation in the chair type mechanism 40. The extensible part indicates a part capable of simulating a pulling action in the chair type mechanism 40. When the user 100 wants to receive a treatment operation, he / she performs an instruction operation on the chair-type controller 300.

  FIG. 26 shows an operation instruction form for the chair type operating device 300. When the user 100 wants to bend and stretch the waist, as shown in FIG. 26B, the user 100 performs an operation of bending the operation unit backrest 302. The detection unit 90 detects the extension position, the extension load, and the extension speed as operation parameters from the change in the bending state in the bendable part, and outputs the detection parameters to the determination unit 91.

  When the user 100 wishes to undergo a twist twist of the waist, the user 100 performs an operation of twisting the operation device seat portion 301 as shown in FIG. The detection unit 90 detects the rotation position, the rotation load, and the rotation speed as operation parameters from the change in the rotation state in the rotatable unit, and outputs the detected operation parameters to the determination unit 91.

  When the user 100 wishes to pull the waist, as shown in FIG. 26 (d), the user 100 holds the operation device seat portion 301 and the operation device backrest portion 302 and performs a pulling operation. The detection unit 90 detects the extension position, the extension load, and the extension speed as operation parameters from the change in the extension state in the extension unit, and outputs the detection parameters to the determination unit 91.

  When the user 100 desires to shake his / her foot, as shown in FIG. 26 (e), the user 100 performs an operation of swinging the operating device leg platform 303. The detection unit 90 detects the partial swing amount, the partial swing load, and the partial swing speed as operation parameters from the repeated changes in the states of the bending movable portion, the rotatable portion, and the extendable portion, and outputs them to the determination portion 91. To do.

  The determination unit 91 receives the operation parameter from the detection unit 90 and determines a treatment operation instructed by the user. The control unit 20 controls the treatment unit 10 according to the determination result of the determination unit 91 to realize the treatment operation in the treatment device 1. The user 100 can perform a more intuitive operation while assuming the movement of the treatment device 1 by using the chair-type operation device 300.

  -The treatment apparatus 1 of embodiment has the operation | movement selection part 99 in the operation device 30. FIG. On the other hand, the treatment apparatus 1 according to the modification includes an operation selection unit 99 in the elbow rest unit 43 of the chair type mechanism 40. The user 100 sits on the chair-type mechanism 40 and operates the motion selection unit 99 with the arm placed on the elbow rest unit 43.

  In the treatment apparatus 1 according to the embodiment, the operation device 30 includes the determination unit 91. On the other hand, the treatment apparatus 1 according to the modification includes a determination unit 91 in the control unit 20 instead of the determination unit 91 of the operation device 30. The operation device 30 outputs the operation parameter detected by the detection unit 90 to the control unit 20, and the determination unit 91 of the control unit 20 determines the treatment operation instructed by the user 100.

  In the treatment apparatus 1 according to the embodiment, the operation device 30 includes the determination unit 91. On the other hand, the treatment apparatus 1 according to the modified example includes a determination unit 91 in the control unit 20 in addition to the determination unit 91 of the operation device 30. The operating device 30 outputs to the control unit 20 at least one of the operation parameter detected by the detection unit 90 and the signal representing the treatment operation instructed by the user 100 determined by the determination unit 91.

  The operation device 30 according to the embodiment has a portion capable of performing an operation simulating a bending movable portion, a rotatable portion, and an extendable portion in a human body. On the other hand, the operation device 30 of the modified example has a bending movable part, a rotatable part, and an extendable part that are adapted to the mechanism of the treatment device 1.

  -The treatment part 10 of embodiment rotates the human body support board 201, and performs the twist stretch operation | movement of a waist | hip | lumbar part. On the other hand, the treatment apparatus 1 according to the modified example performs an operation of rotating the human body support plate 201 and twisting the limbs such as the arms and legs of the user 100. The control unit 20 causes the treatment unit 10 to perform an operation of twisting both arms or both legs when a twisting operation is performed on one arm or one leg in the operation device 30. When a twisting operation is performed on one arm or one leg in the operating device 30, the control unit 20 causes the treatment unit 10 to perform an operation of twisting the other side following the twisting operation on one side of the left and right.

  The operation device 30 according to the embodiment includes a rotatable portion that can perform an operation simulating a twisting operation in a human body. On the other hand, the operation device 30 according to the modified example has a configuration in which a part for performing a twisting operation and a peripheral part of the part for performing the operation are interlocked. The operation device 30 includes a selection unit that selects a twisting operation of the head 32.

  -The treatment part 10 of embodiment performs the pulling operation | movement to the waist which slides the backrest part 42, after pressing and holding the trunk part and pelvis part of the user 100 with the airbag 60 from right and left. On the other hand, the treatment device 1 according to the modification performs a pulling operation to the waist that slides the seat portion 41 and the leg platform 44 forward.

  -The treatment part 10 of embodiment rotates the human body support plate 201 right and left, and performs the rocking | fluctuation operation | movement of a pelvis part. On the other hand, the treatment part 10 of a modification performs the operation | movement which expands / contracts the airbag 60 alternately and rocks a pelvis part directly.

  -The treatment apparatus 1 of embodiment performs instruction | indication operation which shakes both legs with the operation device 30 simultaneously, detects the shake of a leg part, and performs the treatment operation | movement which shakes both legs in the treatment apparatus 1 simultaneously. On the other hand, the treatment device 1 according to the modified example performs an instruction operation of shaking one leg with the operation device 30 to detect a swing of the leg, and performs a treatment operation of shaking both legs in the treatment device 1 at the same time.

  -The treatment apparatus 1 of embodiment performs instruction | indication operation which shakes both legs with the operation device 30 simultaneously, detects the shake of a leg part, and performs the treatment operation | movement which shakes both legs in the treatment apparatus 1 simultaneously. On the other hand, the treatment device 1 according to the modification performs an instruction operation for shaking the legs and a treatment operation for shaking the legs in the treatment device 1 independently for the left and right legs.

  DESCRIPTION OF SYMBOLS 1 ... Treatment apparatus, 10 ... Treatment part, 20 ... Control part, 30 ... Manipulator, 50 ... Grudge ball, 60 ... Air bag, 90 ... Detection part, 92 ... Notification part, 99 ... Operation selection part.

Claims (16)

A treatment device operating device that outputs a signal related to a treatment operation of the treatment unit, used in a treatment device having a treatment unit that performs a treatment operation and a control unit that controls the treatment unit,
The treatment device operation device includes a detection unit that detects an operation parameter indicating an operation state of the operation device that is changed by an instruction operation on the operation device, and includes a signal indicating a detection result of the detection unit, and the detection result. An operation device for a treatment device that outputs at least one of signals generated based on the control unit to the control unit. The operating parameters include at least one of bending in the bendable portion of the operating device, rotation in the rotatable portion of the operating device, stretching in the extendable portion of the operating device, and swinging of the operating device,
The treatment device operation device according to claim 1, wherein the detection unit detects at least one of the operation parameters. The treatment device operation device according to claim 1, wherein the treatment device operation device includes an operation selection unit that selects an instruction operation indicating a request related to the treatment operation and an instruction operation indicating a request related to posture change. The operating parameters include a bending position in the bendable portion of the treatment device operation device, a rotation position in the rotatable portion of the treatment device operation device, an extension position in the expandable portion of the treatment device operation device, and the treatment Including at least one of the swing amounts of the controller for the device;
The said control part outputs the signal regarding the operation amount of the said treatment part according to at least 1 of the said bending position, the said rotation position, the said extension position, and the said rocking | fluctuation amount. An operation device for the treatment device described in 1. The operating parameters include a bending load at a bendable portion of the treatment device operation device, a rotation load at a rotatable portion of the treatment device operation device, an extension load at an expandable portion of the treatment device operation device, and the treatment. Including at least one of the swing loads of the device controller;
The said control part outputs the signal regarding the operation amount of the said treatment part according to at least 1 of the said bending load, the said rotation load, the said extension load, and the said rocking | fluctuation load. An operating device for the treatment device according to item. The operating parameter is at least one of a bending speed at a bendable portion of the operating device, a rotating speed at a rotatable portion of the operating device, an extending speed at an extendable portion of the operating device, and a swing speed of the operating device. Including
The said control part outputs the signal regarding the operation speed of the said treatment part according to at least 1 of the said bending speed, the said rotational speed, the said expansion | extension speed, and the said rocking | fluctuation speed. An operating device for the treatment device according to item. The operating device outputs a signal for maintaining the operating state of the treatment unit when the state in which the operating parameter detected by the detecting unit shows a magnitude within a predetermined range is continued for a predetermined period or longer. The operating device for treatment apparatuses as described in any one of Claims 1-6. The operation device includes a bendable portion display portion that visually characterizes the bendable portion of the operation device, a rotatable portion display portion that visually characterizes the rotatable portion of the operation device, and an expandable portion of the operation device. The operating device for a treatment device according to any one of claims 1 to 7, further comprising at least one of a stretchable portion display unit that visually characterizes the treatment device. The said operation device has a structure by which the range of the operation state which can be changed by the said instruction | indication operation is restrict | limited to the range corresponding to the operation | movement possible range of the said treatment part. Treatment device controller. The said operation device has a alerting | reporting part which alert | reports the detection result of the said operation parameter using at least one method of a visual method and an auditory method. The operation for treatment apparatuses as described in any one of Claims 1-9. vessel. When the operation parameter detected by the detection unit is included in a range outside the operable range of the treatment unit, the notification unit uses at least one of the visual method and the auditory method, The treatment device operation device according to claim 10, wherein an operation parameter is reported to be included in a range outside the operable range of the treatment unit. The said operation device outputs the signal regarding the treatment operation | movement of the said treatment part within the range corresponding to the operation | movement possible range of the said treatment part. The operation device for treatment apparatuses as described in any one of Claims 1-11. The operation device has a configuration in which a deformation resistance of the bendable portion increases in accordance with an increase in the amount of bending in the bendable portion of the operation device, and can rotate in accordance with an increase in the rotation amount in the rotatable portion of the operation device The structure according to claim 1, wherein the deformation resistance of the expandable portion increases, and the deformation resistance of the expandable portion increases according to an increase in the amount of expansion in the expandable portion of the operation device. The operation device for treatment device according to one item. The treatment device operation device according to any one of claims 1 to 13, wherein the operation device has a shape imitating a shape of a human body or a shape imitating a human body support portion of the treatment device. The treatment device has a posture changing mechanism,
The operating device has a shape imitating the human body, and has a configuration for holding a basic shape when a load for operating instructions is not input,
The treatment device operation device according to claim 14, wherein the basic shape is similar to a shape of a human body supported by the posture changing mechanism in an initial state. A treatment device having a treatment part and a control part,
The treatment device has a treatment device operation device according to any one of claims 1 to 15,
The control unit controls a treatment operation of the treatment unit according to a signal output from the treatment device operation unit,
The treatment unit includes at least one device of a kneading ball, an airbag, and a posture changing mechanism, and performs the treatment operation by the at least one device.