JP2014180455A - Bending and stretching motion support device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To support motions of a knee joint and a hip joint at a good timing.SOLUTION: A bending and stretching motion support device 10 includes a seat part 20, a pedestal 30, a bending and stretching mechanism 40, and a control unit 50. The seat part 20 is formed in a flat plate shape and is supported by the bending and stretching mechanism 40 so as to move upward and downward. The control unit 50 includes a seat part height setting part 52, a manual operation switch 54, a radio communication part 56, a motor driving part 58, and a control part 60. The radio communication part 56 receives a radio signal of a biological signal (bioelectric potential) reflecting an intention of a stretching or bending motion transmitted from a radio communication unit 80 worn by a trainee P. The control part 60 includes determination means for executing control processing and determining whether or not the trainee P is prepared to perform a rise operation based on the received biological signal. When it is determined that the trainee P is prepared to perform a rise operation, a control signal for starting motor driving is output to the motor driving part 58.

Description

  The present invention relates to a bending / extending motion support device.

  For example, when the trainee is an elderly person with weak leg strength or a patient with gait disorder accompanied by cerebral palsy or the like, the gait is held by a walking training device or a walking aid such as a walking stick to perform gait training. In addition, when physical exercise training cannot be performed, the caregiver or nurse pushes the wheelchair while moving the trainer while sitting on the wheelchair to change the mood.

  In addition, when a patient is sitting in a chair, a blood clot will form in the blood vessel if the patient is in the same posture for a long time. Therefore, the leg should be bent and stretched regularly to promote venous return and prevent blood clots. is important. Furthermore, since trainers with weak leg muscles are difficult to get up from the chair by themselves, a caregiver or nurse is helping them to stand up from the chair.

  Therefore, in order to reduce the burden on attendants such as caregivers and nurses, a chair provided with an auxiliary mechanism that assists in standing up has been developed (see, for example, Patent Document 1).

JP 2012-152297 A

  However, in the thing of the said patent document 1, since the trainee who is sitting in the chair itself is a structure which raises a seat part by operating a lever, before the trainee is ready to stand up after operating a lever. The seat may rise. In this case, the assisting operation by the chair is performed before the trainee with weak leg strength performs the standing-up motion, and it is difficult to match the timing of the trainer's motion and the raising operation of the seat.

  Therefore, in view of the above circumstances, an object of the present invention is to provide a bending / stretching motion support device that solves the above-described problems.

  In order to solve the above problems, the present invention has the following means.

The present invention comprises a seat where a trainee sits;
Bending and stretching means for moving the seat in the bending and stretching direction of the trainee;
A biological signal detecting means for detecting a biological signal reflecting the intention of extension or flexion movement of the knee joint or hip joint of the trainee;
Determination means for determining whether the trainee extends or bends the knee joint and the hip joint based on the biological signal obtained from the biological signal detection means;
When the determination means determines that the trainee extends the knee joint and hip joint, the control means drives the bending / extension means to move the seat in the extension direction;
It is provided with.

  According to the present invention, when it is determined that the trainee extends the knee joint and the hip joint, the flexure and extension means are driven to move the seat in the stretch direction. At that time, the seat rises and it is possible to support the trainer's standing up motion, and the timing of the trainer's motion and the seat lifting motion can be matched.

It is a figure which shows Embodiment 1 of the bending-stretching movement assistance apparatus by this invention. 6 is a flowchart for explaining a seat height control process according to the first embodiment. 4 is a flowchart for explaining a seating height control process according to the first embodiment. It is a figure which shows a state when a trainee becomes the posture which starts bending and extending movement. It is a figure which shows the state where the trainee stood up, supported by the raising operation of the bending / extending movement support device. It is a figure which shows Embodiment 2 of the bending / stretching movement assistance apparatus by this invention. 10 is a flowchart for explaining a seat height control process according to the second embodiment. It is a figure which shows Embodiment 3 of the bending / stretching movement assistance apparatus by this invention. 12 is a flowchart for explaining a seat height control process according to the third embodiment. It is a figure which shows Embodiment 4 of the bending / stretching movement assistance apparatus by this invention. 10 is a flowchart for explaining a seat height control process according to the fourth embodiment. It is a figure which shows Embodiment 5 of the bending / stretching movement assistance apparatus by this invention. It is a figure which shows Embodiment 6 of the bending-stretching movement assistance apparatus by this invention. It is a figure which shows Embodiment 7 of the bending-stretching movement assistance apparatus by this invention.

  Hereinafter, embodiments for carrying out the present invention will be described with reference to the drawings.

Embodiment 1
FIG. 1 is a diagram showing a first embodiment of a bending and stretching motion support device according to the present invention. As shown in FIG. 1, the bending / extension motion support device 10 includes a seat portion 20, a pedestal 30, a bending / extension mechanism (bending / extending means) 40, and a control unit 50. The trainee P sitting on the seat 20 is equipped with a biological signal detection sensor 70 that detects a biological signal (biological potential) that reflects the intention of extension or bending motion associated with the motion of the knee joint and the hip joint in advance. The trainer P also has a wireless communication unit 80 that converts the biological signal detected by the biological signal detection sensor 70 into a wireless signal and transmits the wireless signal. The wireless communication unit 80 is a communication device that can transmit and receive using a short-range wireless communication technology such as Bluetooth (registered trademark) serial communication.

  The seat portion 20 is formed in a flat plate shape, and is supported by the bending / extension mechanism 40 so as to be movable up and down in the vertical direction (extension direction or bending direction). The trainee P seated on the seat portion 20 can extend or bend the knee joint and the hip joint in accordance with the vertical movement by the bending and stretching mechanism 40.

  The bending / extending mechanism 40 is housed in a cylindrical cover member 42 provided between the seat 20 and the pedestal 30 and includes, for example, a ball screw (transmission means) 44 and a drive motor (drive means) 46. . The drive motor 46 is fixed to the pedestal 30, generates a rotational driving force by a control signal output from the control unit 50, and drives the ball screw 44. Therefore, the ball screw 44 converts the rotation of the drive motor 46 into a linear motion in the vertical direction and transmits the motor driving force to raise and lower the seat portion 20. The bending / extending mechanism 40 may use a driving means other than the ball screw 44 and the driving motor 46 (for example, a direct acting actuator such as a pneumatic cylinder or a hydraulic cylinder).

  The control unit 50 includes a seat height setting unit 52, a manual operation switch 54, a wireless communication unit 56, a motor drive unit 58, and a control unit 60. The seat height setting unit 52 is an arbitrary height position corresponding to the height of the trainee P sitting on the seat 20 or the movement range of the lower limbs of the trainee P (distance of extension or flexion in the knee joint and hip joint). Set by input operation. The wireless communication unit 56 receives a wireless signal of a biological signal (biological potential) transmitted from the wireless communication unit 80 attached to the trainee P.

Based on the received biological signal, the control unit 60 determines whether the trainer P extends or bends the knee joint and the hip joint by executing a control process described later (whether or not the posture for performing the standing-up motion has been reached). A determination means. In addition, when it is determined by the determination means that the trainee extends the knee joint and the hip joint, the control unit 60 drives the bending / extension mechanism 40 to move the seat portion 20 in the stretch direction, so that the trainer P moves the knee. When it is determined that the joint and the hip joint are to be bent, a control unit that drives the bending / extension mechanism 40 to move the seat portion 20 in the bending direction is provided.
When it is determined that the trainee P is in a posture to perform a standing up motion, a motor drive start control signal is output to the motor drive unit 58. Thereby, the bending / extension motion support device 10 can raise the seat 20 when the trainee P is in a posture to perform a standing motion, and the timing of the motion of the trainer P and the lifting motion of the seat 20 can be determined. It becomes possible to match.

  Since the control unit 50 is provided with the manual operation switch 54, the trainee P can manually operate the manual operation switch 54 to adjust the height position of the seat portion 20 to an arbitrary height. Further, when the potential of the biological signal detected by the biological signal detection sensor 70 is small, it is possible to manually operate the manual operation switch 54 to assist the trainer P in starting up. The manual operation switch 54 may be provided in the vicinity of the easy-to-operate seat 20 or on a nearby wall surface.

  FIG. 2 is a flowchart for explaining the seat height control process of the first embodiment. As shown in FIG. 2, the control unit 60 reads the biological signal E transmitted from the wireless communication unit 80 in S11. In next S12, it is checked whether or not the potential of the biological signal E detected by the biological signal detection sensor 70 is equal to or lower than the lower limit potential E1 when no muscle force is generated. In S12, when the biological signal E detected by the biological signal detection sensor 70 is equal to or lower than the lower limit potential E1 (in the case of YES), the process proceeds to S13, and the height of the trainee P set by the seat height setting unit 52 is set. The corresponding height setting value H1 is read.

  Subsequently, in S14, it is checked whether or not the potential of the biological signal E detected by the biological signal detection sensor 70 is equal to or higher than the upper limit potential E2 when generating muscle strength. In S14, when the potential of the biological signal E is less than the upper limit potential E2 (in the case of NO), the trainer P is seated on the seat 20 because the muscle strength of the knee joint and the hip joint of the trainee P is not generated. It is determined that the start-up operation has not started, and a standby state is entered.

  For example, as shown in FIG. 4, as a pre-stage motion of the standing motion, the trainer P tilts the upper body forward to shift the center of gravity to the front side, and increases the muscle strength of both legs so as to float the waist from the seat portion 20. Become a posture to generate. In this leaning posture, the potential of the biological signal E detected by the biological signal detection sensor 70 increases. Therefore, in S14, when the potential of the biological signal E is equal to or higher than the upper limit potential E2 (in the case of YES), since the muscle strength of the knee joint and hip joint of the trainee P is generated, the process proceeds to S15 and the trainer P sits down. It is determined that the seat 20 has changed from the seated state to the state in which the rising motion is started.

  Subsequently, in S <b> 16, a control signal for performing motor drive control is output to the motor drive unit 58. Thereby, the drive motor 46 of the bending / stretching mechanism 40 rotates the ball screw 44 to raise the seat portion 20. That is, the bending / extension motion support device 10 can raise the seat 20 when the trainee P is in a posture to perform a standing motion (motion in the extension direction). It becomes possible to match the timing with the operation.

  Therefore, as shown in FIG. 5, the trainer P can raise the seat part 20 and raise the position of the waist, and can naturally stand up. At this time, the trainee P is not required to support the whole weight with the muscle strength of the knee joint and the hip joint because the rising motion is supported by the raising motion of the seat portion 20, and the physical burden is reduced accordingly. The Therefore, even if the trainee P is an elderly person whose leg strength has declined or a patient having a gait disorder associated with cerebral palsy or the like, the trainer P can stand up smoothly.

  In the next S17, the height position H of the seat portion 20 is obtained from the rotation amount of the ball screw 44, and the height position H of the seat portion 20 is determined according to the height of the trainee P set by the seat height setting portion 52. It is checked whether the height set value H1 has been reached. In S17, when the height position H of the seat part 20 has reached the height set value H1 (H = H1) (in the case of YES), it is determined that the support for the training person P has been completed, and S18 is completed. Then, the control signal to the motor drive unit 58 is stopped. Thus, the seat 20 stops at an arbitrary height position set by the seat height setting unit 52. Therefore, by stopping the seat 20 at a height that matches the height of the trainee P, the rider does not forcibly stand up, and even if the trainee P stops the standup motion, No excessive force is required.

  FIG. 3 is a flowchart for explaining the seating height control process according to the first embodiment. As shown in FIG. 3, the control unit 60 sets the height position H of the seat 20 by the seat height setting unit 52 in S <b> 21 after finishing the seat height control process of FIG. 2 described above. It is checked whether or not the height set value H1 corresponding to the height of the trainee P is reached. In S21, when the height position H of the seat 20 reaches the height set value H1 (H = H1) (in the case of YES), the process proceeds to S22, and the biological signal E transmitted from the wireless communication unit 80 is read. In the next S23, it is checked whether or not the potential of the biological signal E detected by the biological signal detection sensor 70 is equal to or lower than the lower limit potential E1 when no muscle force is generated. In S23, when the biological signal E detected by the biological signal detection sensor 70 is equal to or higher than the lower limit potential E1 (in the case of NO), since the trainer P is performing walking training or the like, the process returns to the process of S22 and waits. It becomes a state.

  In S23, when the biological signal E detected by the biological signal detection sensor 70 is less than the lower limit potential E1 (in the case of YES), the process proceeds to S24, where the trainer P places the hip on the seat 20 and the hip joint and the knee joint. It is determined that the muscular strength is reduced and the seating operation is started. Subsequently, in S25, the drive motor 46 is rotationally driven in the direction opposite to that when the drive motor 46 is raised, and the seat portion 20 is lowered.

  In next S26, it is checked whether or not the height position H of the seat portion 20 has reached the seating height position H2. In S26, when the height position H of the seat portion 20 reaches the seating height position H2, the process proceeds to S27, and the drive motor 46 is stopped. Thus, the descent control process to the seating position is completed. In this way, the trainer P can perform the rehabilitation of the hip joint and the knee joint by driving the bending / extension mechanism 40 while sitting on the seat portion 20 and repeatedly raising and lowering the seat portion 20.

  As described above, the bending / extension motion support device 10 can perform the rehabilitation of the hip joint and the knee joint, and also support the exercise support for the thrombus prevention and the movement to the bed by supporting the bending / extension motion of the trainee P. You can also

  In S23, instead of the biological signal, when a load sensor is provided in the seat portion 20 and it is detected that the trainee P has sat down, the drive motor 46 is driven to place the seat portion 20 in the seating height position. It is also possible to move down (movement in the bending direction).

  In addition, the seating height control process and the lifting / lowering speed adjustment can be performed by operating the manual operation switch 54.

[Embodiment 2]
FIG. 6 is a diagram showing a second embodiment of the bending and stretching motion support device according to the present invention. In FIG. 6, the same parts as those in FIG.

  As shown in FIG. 6, the bending / extension motion support device 10 </ b> A is provided with a plurality of load sensors (center-of-gravity position detecting means) 90 on the upper surface of the seat portion 20. Each load sensor 90 (90a, 90b) is provided at least at two locations on the front side and the rear side of the seat portion 20, and includes, for example, a piezoelectric element that generates a voltage according to pressure. Therefore, the bending / extension motion support device 10 </ b> C determines the posture of the trainee P from the position of the center of gravity based on the detection signals of the biological signal detection sensor 70 and the plurality of load sensors 90 (90 a and 90 b) attached to the trainee P. A large number (two or more) of load sensors 90 are aligned in the X and Y directions on the upper surface of the seat portion 20, and a change in the load W corresponding to each position of the seat portion 20 is detected by a matrix (X, Y coordinates). Then, the state of the trainee P may be determined by obtaining the load distribution of the seat portion 20 associated with the sitting operation and the separating operation.

  In the state where the trainee P is seated on the seat portion 20, the weight of the trainee P is applied to each load sensor 90 (90a, 90b) almost evenly. Therefore, the detection signal of each load sensor 90 (90a, 90b) (Voltage) is also almost uniform. Here, when the trainee P tries to stand up, the upper body tilts forward, and the detection signal detected by the first load sensor 90a disposed on the front side of the seat 20 is the second load sensor on the rear side. It changes to a value larger than the detection signal detected at 90b. Therefore, it is possible to determine whether or not the trainee P is ready to stand up by comparing changes in the detection signals of the load sensors 90 (90a and 90b). Thereby, the bending / extension motion support device 10A can raise the seat 20 when the trainee P is in a posture to perform a standing motion (stretching motion), and the motion of the trainer P and the seat 20 It is possible to match the timing with the ascending operation.

  FIG. 7 is a flowchart for explaining the seat height control process of the second embodiment. As shown in FIG. 7, S31 and S32 are the same processing as S11 and S12 (see FIG. 2) described above, and thus description thereof is omitted.

  The controller 60 reads the voltage value W of the detection signal detected by each load sensor 90 (90a, 90b) provided on the upper surface of the seat 20 in S33. Subsequently, the process proceeds to S34, in which it is checked whether or not the voltage value W of the detection signal detected by each load sensor 90 (90a, 90b) is equal to or greater than a predetermined load threshold W1. In S34, when the voltage value W of the detection signal detected by each load sensor 90 (90a, 90b) is less than the predetermined load W1 (in the case of NO), for example, a state where a load is placed on the seat 20 is assumed. Therefore, there is a high possibility that the trainee P is not seated, and the standby state is entered.

  In S34, when the voltage value W of the detection signal detected by each load sensor 90 (90a, 90b) is equal to or greater than the predetermined load W1 (in the case of YES), the processes of S35 to S37 are performed. Since the process of S35-S37 is the same process as S13-S15 (refer FIG. 2) mentioned above, description is abbreviate | omitted.

  In S36, when the potential of the biological signal E is less than the upper limit potential E2 (in the case of NO), the process proceeds to S37, and the detection signal detected by each load sensor 90 (90a, 90b) provided on the upper surface of the seat 20 is obtained. Read the voltage value W. Then, it progresses to S38 and the load Wa detected by the 1st load sensor 90a arrange | positioned at the front side of the seat part 20 among each load sensor 90 (90a, 90b) and the 1st arrange | positioned at the back side of the seat part 20 are carried out. The center of gravity position is obtained by comparing the load Wb detected by the two load sensor 90b. In S38, if Wa ≦ Wb (in the case of NO), it is determined that the trainer P has not started the rising motion while sitting on the seat 20, and the process returns to S36. Therefore, when the potential of the biological signal E is less than the upper limit potential E2 (NO) in S36 and the case of Wa ≦ Wb (NO) is repeated in S38, the trainer P is seated. Since he / she is still seated at 20, it enters a standby state.

  In S36, when the potential of the biological signal E is equal to or higher than the upper limit potential E2 (in the case of YES), since the muscle strength of the knee joint and the hip joint of the trainee P is generated, the process proceeds to S39, where the trainer P It is determined that the seating portion 20 has changed to the state in which the rising motion is started from the seated state. Alternatively, when Wa> Wb in the above S38 (when YES), the trainer P tilts the upper body forward to move the center of gravity forward as shown in FIG. Since it has changed to a posture that generates muscle strength of both legs so as to float, the process proceeds to S39, and it is determined that the trainee P has changed from the state of sitting on the seat 20 to the state of starting up.

  Thus, when it is difficult for the trainee P to detect the biological signal, the load Wa detected by the first load sensor 90a on the front side and the second load sensor 90b arranged on the rear side of the seat 20 are detected. It can be determined that the rising motion has started from the difference from the applied load Wb. In particular, in the case of an elderly person or a physically handicapped person with weak biological signals, it can be accurately determined that the rising motion has started.

  In the next S40, a control signal for controlling the motor drive is output to the motor drive unit 58. Thereby, the drive motor 46 of the bending / stretching mechanism 40 rotates the ball screw 44 to raise the seat portion 20. In other words, the bending / extension motion support device 10A can raise the seat 20 when the trainee P is in a posture to perform a standing motion, and the motion of the trainer P and the lifting motion of the seat 20 (motion in the extension direction). ) And the timing can be matched.

  Then, it progresses to S41 and the voltage value W of the detection signal detected by each load sensor 90 (90a, 90b) provided in the upper surface of the seat part 20 is read. Then, it progresses to S42 and it is checked whether the voltage value W of the detection signal detected by each load sensor 90 (90a, 90b) is zero. In S42, when W is not 0 (in the case of NO), since the trainee P puts weight on the seat 20, the process proceeds to S43, and the height position H of the seat 20 is obtained from the rotation amount of the ball screw 44. Then, it is checked whether or not the height position H of the seat portion 20 has reached the height setting value H1 corresponding to the height of the trainee P set by the seat height setting portion 52. In S43, when the height position H of the seat part 20 has not reached the height set value H1 (in the case of NO), the process returns to S41.

  In S42, if W = 0 (in the case of YES), it is determined that the trainee P is separated from the seat portion 20, and the process proceeds to S44, where the control signal to the motor driving portion 58 is stopped. In S43, when the height position H of the seat 20 reaches the height setting value H1 (in the case of YES), the process proceeds to S44, and the control signal to the motor driving unit 58 is stopped. Therefore, even when the trainee P moves away from the seat part 20 even when the height position H of the seat part 20 does not reach the height setting value H1, the ascending operation of the seat part 20 can be automatically stopped. . For this reason, for example, when the trainee P has sufficient leg strength, the trainer P can stand up with the power of the trainee P before the height of the seat 20 reaches the set value. The performance degradation of the motor 46 can be suppressed.

  Moreover, although each said Embodiment 2 demonstrated the case where the trainee P stood | starts up, it is not restricted to this, For example, similarly to Embodiment 1, when the trainer P sits down, the seat part 20 is made predetermined height. The motor control may be performed so as to descend from the vertical position (operation in the bending direction).

  As described above, the bending / extension motion support device 10A can perform the rehabilitation of the hip joint and the knee joint, and also supports exercise support for thrombus prevention and movement to the bed by supporting the exerciser P's flexion / extension motion. You can also

[Embodiment 3]
FIG. 8 is a diagram showing a third embodiment of the bending and stretching motion support device according to the present invention. 8, the same parts as those in FIGS. 1 and 6 described above are denoted by the same reference numerals, and description thereof is omitted.

  As shown in FIG. 8, in addition to the biological signal detection sensor 70, the bending / extension motion support apparatus 10B includes at least a pair of floor reaction force sensors (center-of-gravity position detection means) 100a and 100b on the shoe sole of the trainee P. Yes. The floor reaction force sensors 100a and 100b include piezoelectric elements that output detection signals (voltage values) Rf and Rr corresponding to reaction forces from the floor according to the walking motion of the trainee P. Therefore, the bending / extension motion support device 10B determines the posture of the trainee P from the position of the center of gravity based on the detection signals of the biological signal detection sensor 70 and the floor reaction force sensors 100a and 100b attached to the trainee P.

  The first floor reaction force sensor 100a is provided at the front end of the shoe sole and detects a reaction force Rf acting on the toe portion of the trainee P. The second floor reaction force sensor 100b is provided at the rear end of the shoe sole and detects a reaction force Rr acting on the heel portion of the trainee P. Accordingly, the reaction forces Rf and Rr detected by the floor reaction force sensors 100a and 100b change with the walking motion of the trainee P.

  Then, the position of the center of gravity is obtained by comparing the reaction forces Rf and Rr detected by the floor reaction force sensors 100a and 100b, and it is determined whether or not the trainee P starts to stand up from the change in the position of the center of gravity. Is possible. For example, when the trainee P is seated on the seat 20, the center of gravity is on the heel side, so Rf <Rr. Further, when the trainee P is in a posture to start a standing motion, the center of gravity moves to the toe side, so that Rf> Rr.

  By raising the seat part 20 based on the determination result, the seat part 20 can be raised when the trainee P is in a posture to perform a standing-up motion. It is possible to make the timing coincide with the operation (operation in the extending direction).

  FIG. 9 is a flowchart for explaining the seat height control process of the third embodiment. In FIG. 9, the processes of S51 to S54 are the same as the processes of S11 to S14 (see FIG. 2) described above, and thus description thereof is omitted. In S54, when the potential of the biological signal E is less than the upper limit potential E2 (in the case of NO), the control unit 60 determines that the trainee P is seated because muscle strength of the knee joint and the hip joint of the trainee P is not generated. When the user is seated at 20, it is determined that the start-up operation is not started, and the process proceeds to S55. In S55, the detection signals of the reaction forces Rf and Rr detected by the floor reaction force sensors 100a and 100b provided on the shoe sole of the trainee P are read.

  Subsequently, in S56, it is possible to determine whether or not the trainee P starts a rising motion by comparing the reaction forces Rf and Rr detected by the floor reaction force sensors 100a and 100b. In S56, when Rf ≦ Rr (in the case of NO), since the center of gravity is on the heel side, it is determined that the trainee P is in a posture sitting on the seat 20, and the process returns to S54. In S56, when Rf> Rr (in the case of YES), since the center of gravity moves to the toe side, the process proceeds to S57, and it is determined that the trainer P has started the rising motion.

  In S54, when the potential of the biological signal E is equal to or higher than the upper limit potential E2 (in the case of YES), since the muscle strength of the knee joint and the hip joint of the trainee P is generated, the process proceeds to S57 and the trainer P It is determined that the seating portion 20 has changed to the state in which the rising motion is started from the seated state. As described above, since the standing motion is determined based on the detection signals of the biological signal detection sensor 70 and the floor reaction force sensors 100a and 100b, for example, in the case of the trainee P who is difficult to detect the biological signal, the floor reaction is detected. It is possible to determine the rising motion based on the detection signals of the reaction forces Rf and Rr detected by the force sensors 100a and 100b. Thus, the bending / extension motion support device 10B can raise the seat 20 when the trainee P is in a posture to perform a standing motion, and the timing of the motion of the trainer P and the lifting motion of the seat 20 can be determined. It becomes possible to match.

  Note that the processing of S58 to S60 is the same as the processing of S16 to S18 (see FIG. 2) described above, and a description thereof will be omitted.

  Thus, the flexion / extension motion support device 10B can perform the rehabilitation of the hip joint and the knee joint, and assists the exerciser P in flexion / extension motion, thereby supporting exercise support for thrombus prevention and movement to the bed. You can also

  Moreover, in each said Embodiment 3, although the case where the trainee P stood up was demonstrated, it is not restricted to this, For example, when the trainee P sits down similarly to Embodiment 1, the seat part 20 is made predetermined height. The motor control may be performed so as to descend from the vertical position (operation in the bending direction).

[Embodiment 4]
FIG. 10 is a diagram showing a fourth embodiment of the bending and stretching motion support device according to the present invention. 10, the same parts as those in FIGS. 1, 6, and 8 described above are denoted by the same reference numerals, and the description thereof is omitted.

  As shown in FIG. 10, the bending / extension motion support device 10 </ b> C includes a plurality of load sensors 90 (90 a, 90 b) on the upper surface of the seat portion 20 in addition to the biological signal detection sensor 70, and the shoe sole of the trainee P Are provided with at least a pair of floor reaction force sensors 100a and 100b. Therefore, the bending / extension motion support device 10C determines the posture of the trainee P based on the detection signals of the biological signal detection sensor 70, the plurality of load sensors 90a and 90b, and the floor reaction force sensors 100a and 100b attached to the trainee P. judge.

  By raising the seat part 20 based on the determination result, the seat part 20 can be raised when the trainee P is in a posture to perform a standing-up motion. It is possible to make the timing coincide with the operation (operation in the extending direction).

  FIG. 11 is a flowchart for explaining the seat height control process of the fourth embodiment. In FIG. 11, the processes of S71 to S75 are the same as the processes of S31 to S35 (see FIG. 7) described above, and a description thereof will be omitted. S76 to S80 are the same processes as S54 to S58 (see FIG. 9) described above, and S81 to S84 are the same processes as S41 to S44 described above.

  That is, in S76, when the potential of the biological signal E is equal to or higher than the upper limit potential E2 (in the case of YES), the trainee P is placed on the seat 20 because the muscle strength of the knee joint and hip joint of the trainee P is generated. From the seated state, it can be determined that the rising motion has started. Furthermore, in S78, when Rf ≦ Rr (in the case of NO), since the center of gravity is on the heel side, it can be determined that the trainee P is in a posture of sitting on the seat portion 20. In S78, when Rf> Rr (in the case of YES), since the center of gravity moves to the toe side, it can be determined that the trainee P has started the rising motion.

  In this way, the bending / extension motion support device 10C determines the rising motion based on the detection signals of the biological signal detection sensor 70 and the floor reaction force sensors 100a and 100b. Therefore, it is possible to determine the rising motion based on the detection signals of the floor reaction forces Rf and Rr detected by the floor reaction force sensors 100a and 100b.

  Accordingly, the bending / extension motion support device 10C can raise the seat 20 when the trainee P is in a posture to perform a standing motion, and the motion of the trainer P and the lifting motion of the seat 20 (in the extension direction). It is possible to match the timing with (operation).

  In addition, in the above-described S82, when the load W detected by the load sensor 90 (90a, 90b) is W = 0 (in the case of YES), the bending / extension motion support device 10C moves away from the seat portion 20. It is determined that the control signal to the motor drive unit 58 is stopped. In S83, when the height position H of the seat 20 reaches the height setting value H1 (H = H1), it is determined that the support for the training person P is completed, and the drive motor 46 is determined. Stop driving.

  Therefore, when the trainee P is separated from the seat portion 20 even when the height position H of the seat portion 20 does not reach the height setting value H1, the load W detected by the load sensor 90 (90a, 90b) is used. Based on this, it is determined that the support for the standing motion for the trainee P has been completed, and the ascending motion of the seat portion 20 can be stopped. For this reason, for example, when the trainee P has sufficient leg strength, the trainer P can stand up with the power of the trainee P before the height of the seat 20 reaches the set value. The performance degradation of the motor 46 can be suppressed.

  Moreover, although each said Embodiment 4 demonstrated the case where the trainer P stood | starts up, it is not restricted to this, For example, similarly to Embodiment 1, when the trainer P sits down, the seat part 20 is made predetermined height. The motor control may be performed so as to descend from the vertical position (operation in the bending direction).

  As described above, the bending / extension motion support device 10C can perform the rehabilitation of the hip joint and the knee joint, and also supports the exercise support for the thrombus prevention and the movement to the bed by supporting the bending / extension motion of the trainee P. You can also

[Embodiment 5]
FIG. 12 is a diagram showing a fifth embodiment of the bending and stretching motion support device according to the present invention. In FIG. 12, the same parts as those in FIGS. 1, 6, 8, and 10 described above are denoted by the same reference numerals, and description thereof is omitted.

  As shown in FIG. 12, the bending / extension motion support device 10 </ b> D has a plurality of load sensors 110 (110 a, 110 b) provided on the bottom surface of the pedestal 30 in addition to the biological signal detection sensor 70, and is attached to the shoe sole of the trainee P. At least a pair of floor reaction force sensors 100a and 100b are provided. The plurality of load sensors 110 (110a, 110b) on the bottom surface (the ground contact surface with the floor) of the pedestal 30 receive the reaction force from the floor as with the load sensor 90 of the seat portion 20 described above, and the posture of the trainee P It is possible to detect a load change corresponding to the change in the. Therefore, the bending / extension motion support device 10D determines the posture of the trainee P based on the detection signals of the biological signal detection sensor 70, the plurality of load sensors 110a and 110b, and the floor reaction force sensors 100a and 100b attached to the trainee P. judge.

  By raising the seat part 20 based on the determination result, the seat part 20 can be raised when the trainee P is in a posture to perform a standing-up motion. It becomes possible to match the timing with the operation. The control process of the fifth embodiment is similar to the control process of the flowchart shown in FIG.

  Further, in the bending / extension motion support device 10D, the trainee P is seated on the seat portion 20 by the load W detected by the load sensor 110 (110a, 110b) provided on the bottom surface (the ground contact surface with the floor) of the pedestal 30. When the load W detected by the load sensor 110 (110a, 110b) is W = 0, it is determined that the support for the trainee P has been supported and the seat 20 is lifted. Can be stopped.

  That is, the bending / extension motion support apparatus 10D determines the rising motion based on the detection signals of the biological signal detection sensor 70, the floor reaction force sensors 100a and 100b, and the load sensors 110a and 110b. In the case of the person P, it is possible to determine the rising motion based on detection signals from the floor reaction force sensors 100a and 100b and the load sensors 110a and 110b. As a result, the bending / extension motion support device 10C can raise the seat 20 when the trainee P is in a posture to perform a standing motion (stretching motion), and the motion of the trainer P and the seat 20 It is possible to match the timing with the ascending operation.

  Thus, the flexion / extension motion support device 10D can perform the rehabilitation of the hip joint and the knee joint, and assists the exerciser P in the flexion / extension motion, thereby supporting exercise support for thrombus prevention and movement to the bed. You can also

  Moreover, although each said Embodiment 5 demonstrated the case where the trainee P stood | starts up, it is not restricted to this, For example, similarly to Embodiment 1, when the trainer P sits down, the seat part 20 is made predetermined height. The motor control may be performed so as to descend from the vertical position (operation in the bending direction).

  In the fifth embodiment, since the posture of the trainee P can be estimated from the change in the load W detected by the load sensor 110 (110a, 110b), the biological signal detection sensor 70 and the plurality of load sensors 110a, 110b and the detection signals of the floor reaction force sensors 100a, 100b may be combined to determine the posture of the trainee P, or either the load sensor 110a, 110b or the floor reaction force sensor 100a, 100b It is also possible to determine the posture of the trainee P by selectively combining with the detection signal.

[Embodiment 6]
FIG. 13 is a diagram showing a sixth embodiment of the bending and stretching motion support device according to the present invention. As illustrated in FIG. 13, the bending / extending motion support device 10 </ b> E includes a wheelchair 200 and a bending / extending mechanism 240 that moves the seat 220 of the wheelchair 200 up and down. In the bending / extending mechanism 240, the bottom of the drive motor 246 is supported by the frame 250 of the wheelchair 200, and the upper end of the ball screw 244 is coupled to the seat 220.

  When the trainee P is seated in the wheelchair 200, the seat 220 is lowered to a low position (seat height position). Used as a moving means. Further, in a facility such as a care facility or a hospital, when the trainer P in the wheelchair 200 is transferred to the bed, the trainer P operates the manual operation switch 54 or the trainer P starts to start up. To do. Thereby, the control part 60 outputs a motor drive signal to the bending / stretching mechanism 240 similarly to each Embodiment 1-5 mentioned above. Then, the driving motor 246 of the bending / extending mechanism 240 rotates the ball screw 244 to raise the seat 220 to a predetermined height. Thus, when the trainee P is in a posture to perform a standing up motion, the seat 220 can be raised, and the timing of the trainer P's motion and the motion of the seat 20 can be matched. .

  The trainee P is supported by the seat 220 ascending and the hips being lifted and standing up (stretching direction). Thereafter, the trainee P changes the direction of the body and moves to the bed. As described above, the bending / extension movement support device 10E can support the bending / extension movement of the trainee P in the same manner as in the other embodiments 1 to 4, and also supports exercise support for thrombus prevention and movement to the bed. it can.

  In addition to the wheelchair 200, for example, it can be used as a support device for a facility that performs rehabilitation.

  In each of the fifth embodiments, the case where the trainer P stands up is described. However, the present invention is not limited to this. For example, as in the first embodiment, when the trainer P is seated, the seat 220 is set to a predetermined height. It is also possible to perform motor control so as to descend from the vertical position (operation in the bending direction).

  Thus, the flexion / extension motion support device 10E can perform the rehabilitation of the hip joint and the knee joint, and assists the exerciser P in flexion / extension motion, thereby supporting exercise support for thrombus prevention and movement to the bed. You can also

  In the first to fifth embodiments, the case where one trainer P bends and stretches has been described. However, the present invention is not limited to this. For example, the case where a plurality of trainees P perform stretching training in a group at the same time is also described. The invention can be applied.

[Embodiment 7]
FIG. 14 is a diagram showing Embodiment 7 of a bending / extending motion support apparatus according to the present invention. As shown in FIG. 14, the bending / extension motion support device 10 </ b> F is a device for the trainee P to support the horizontal bending / stretching motion. Can be trained. The trainee P is previously equipped with a biological signal detection sensor 70 for detecting a biological signal (biological potential) associated with the operation of the knee joint and the hip joint.

  The control unit 50 of the bending / extending motion support apparatus 10F includes a horizontal movement distance setting unit 52A, a manual operation switch 54, a wireless communication unit 56, a motor driving unit 58, and a control unit 60. The horizontal movement distance setting unit 52A is set by inputting and operating an arbitrary movement distance in the horizontal direction according to the movement range of the lower limbs of the trainee P (the distance of extension or bending at the knee joint and hip joint).

  The bending / extending motion support device 10F includes a guide unit 120 installed on the floor, a movable base 130 movable along the guide unit 120, and a chaise longue 140 mounted on the movable base 130. The guide portion 120 extends in the horizontal direction, and both ends are supported (fixed) on the floor surface by the mounting tables 122 and 124.

  The movable base 130 incorporates a linear motion actuator such as a linear motor or an air cylinder. Therefore, the movable base 130 can reciprocate in the X1 direction (bending direction) or the X2 direction (extending direction) by a control signal from the control unit 50.

  The chaise longue 140 is configured to be able to perform an operation of supporting the bending and extension operations of the hip joint and knee joint of the trainee P by reciprocating in the X1 direction or the X2 direction together with the movable base 130. Specifically, the chaise longue 140 is configured such that the angle is adjusted according to the body shape and each joint of the trainee P, and includes a footrest 141, a below-knee support 142, an above-knee support 143, a seat 144, and a back. A support portion 145 is provided.

  Between the footrest 141 and the below-knee support part 142, the 1st rotation part 150 corresponding to the ankle of the trainee P is provided. In addition, a second rotating portion 152 corresponding to the knee joint of the trainee P is provided between the below-knee support portion 142 and the above-knee support portion 143. Further, a third rotating portion 154 corresponding to the hip joint of the trainee P is provided between the above-knee support portion 143 and the seat portion 144. A reclining mechanism 156 that can adjust the angle according to the posture of the upper body of the trainee P is provided between the waist support part 144 and the back support part 145.

  The footrest 141 is coupled to the guide portion 120 by a fixed side bracket 160. The seat 144 is coupled to the movable base 130 by a movable bracket 162. Therefore, when the trainee P makes contact with the back support portion 145 with the back inclined and presses the footrest 141 with leg power, the reaction force causes the seat portion 144 and the back support portion 145 to move horizontally in the X2 direction. Can do. In addition, although the footrest 141 and the back support part 145 are the structures which can each adjust an inclination angle, they are locked to an adjustment position by a locking mechanism, and are prevented from moving during training.

  In that case, the 1st rotation part 150, the 2nd rotation part 152, and the 3rd rotation part 154 rotate according to the motion of each joint of the trainer P, and give load to each joint of the trainer P Not to work. Further, during the knee joint and hip joint bending exercise, the seat portion 144 and the back support portion 145 move in the X1 direction (bending direction) or the X2 direction (extension direction), and the distance between the footrest 141 and the back support portion 145. Changes relatively. With this horizontal movement, the rotation angles of the first rotation unit 150, the second rotation unit 152, and the third rotation unit 154 change, so that the ankle joint, knee joint, and hip joint of the trainee P can bend and extend. Can help.

  In the bending / extension motion support device 10F, the control unit 60 determines the posture of the trainer P based on each detection signal of each biological signal detection sensor 70 attached to the trainer P lying on the back of the chaise longue 140. Then, the control unit 60 drives the linear actuator built in the movable base 130 based on each detection signal of each biological signal detection sensor 70 to reciprocate the movable base 130 in the X1 direction and the X2 direction. Along with this, the trainer P can receive exercise support for thrombus prevention while being supported for bending and stretching operations of the ankle joint, knee joint, and hip joint.

  Thus, the flexion / extension motion support device 10F can perform the rehabilitation of the hip joint and the knee joint, and assists the exerciser P in flexion / extension motion, thereby supporting exercise support for thrombus prevention and movement to the bed. You can also

  In the seventh embodiment, the movable base 130 is moved so that the bending direction of the trainee P is the horizontal direction (X1, X2 direction). However, the present invention is not limited to this, and for example, the movement direction of the movable base 130 is trained. It may be inclined at a predetermined angle (for example, 15 ° to 30 °) with respect to the horizontal direction in accordance with the physical condition of the person P.

10, 10A to 10F Bending / extending operation support devices 20, 144, 220 Seat 30 Pedestal 40, 240 Bending / extending mechanism 50 Control unit 44, 244 Ball screw 46, 246 Drive motor 50 Control unit 52 Seat height setting unit 54 Manual operation switch 56 Wireless communication unit 58 Motor drive unit 60 Control unit 70 Biological signal detection sensor 80 Wireless communication unit 90 Load sensors 90a, 110a First load sensors 90b, 110b Second load sensors 100a, 100b Floor reaction force sensor 120 Guide unit 130 Movable base 140 Chaise lounge 200 Wheelchair

Claims (9)

The seat where the trainee sits,
Bending and stretching means for moving the seat in the bending and stretching direction of the trainee;
A biological signal detecting means for detecting a biological signal reflecting the intention of extension or flexion movement of the knee joint or hip joint of the trainee;
Determination means for determining whether the trainee extends or bends the knee joint and the hip joint based on the biological signal obtained from the biological signal detection means;
When the determination means determines that the trainee extends the knee joint and hip joint, the control means drives the bending / extension means to move the seat in the extension direction;
A bending and stretching motion support device characterized by comprising: The seat where the trainee sits,
Bending and stretching means for moving the seat in the bending and stretching direction of the trainee;
A center-of-gravity position detecting means for detecting the position of the center of gravity of the trainee while the trainee is seated on the seat;
When the center of gravity of the trainee shifts to the front side according to the detection signal from the center of gravity position detection means, determination means for determining that the trainee is in a posture to stand up from the seat,
When it is determined by the determination means that the trainee is in a posture to stand up from the seat, the control means for driving the bending and stretching means to raise the seat,
A bending and stretching motion support device characterized by comprising: The seat where the trainee sits,
Bending and stretching means for moving the seat in the bending and stretching direction of the trainee;
A biological signal detection means for detecting a biological signal of the knee or waist of the trainee;
A center-of-gravity position detecting means for detecting the position of the center of gravity of the trainee while the trainee is seated on the seat;
When the trainee stands up from the seat based on the biological signal obtained from the biological signal detection means, or when the trainee's center of gravity shifts to the front side by the detection signal from the center of gravity position detection means, Determination means for determining that the trainee is in a posture to stand up from the seat;
When it is determined by the determination means that the trainee is in a posture to stand up from the seat, the control means for driving the bending and stretching means to raise the seat,
A bending and stretching motion support device characterized by comprising: The bending and stretching means is
A driving means disposed below the seat portion and generating a vertical driving force;
Transmission means for transmitting the driving force of the driving means to move the seat portion in the vertical direction;
The bending and stretching motion support device according to claim 1, wherein   The bending / stretching operation support device according to claim 2, wherein the center-of-gravity position detection unit includes a plurality of load sensors provided in the seat portion.   4. The bending and stretching motion support device according to claim 2, wherein the center-of-gravity position detection means includes a plurality of floor reaction force sensors provided on the shoe sole of the trainee.   The bending / extension motion support device according to claim 2, wherein the center-of-gravity position detection unit includes a plurality of load sensors provided on a bottom surface of a pedestal that supports the seat portion.   The center-of-gravity position detecting means includes at least two of a load sensor provided on the seat, a floor reaction force sensor provided on the shoe sole of the trainee, and a load sensor provided on the bottom of the pedestal that supports the seat. The bending / stretching operation support device according to claim 2 or 3, wherein the bending / extension motion support device is a combination of two sensors. The bending and stretching means is
A driving means disposed below the seat and generating a horizontal driving force;
Transmitting means for transmitting the driving force of the driving means to move the seat portion in the horizontal direction;
The bending / stretching motion support device according to claim 1, comprising:

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