JP2014226442A - 訓練装置 - Google Patents
訓練装置 Download PDFInfo
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- JP2014226442A JP2014226442A JP2013110273A JP2013110273A JP2014226442A JP 2014226442 A JP2014226442 A JP 2014226442A JP 2013110273 A JP2013110273 A JP 2013110273A JP 2013110273 A JP2013110273 A JP 2013110273A JP 2014226442 A JP2014226442 A JP 2014226442A
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- 230000007659 motor function Effects 0.000 abstract description 16
- 210000001364 upper extremity Anatomy 0.000 description 79
- 210000003205 muscle Anatomy 0.000 description 13
- 230000003252 repetitive effect Effects 0.000 description 13
- 210000000038 chest Anatomy 0.000 description 11
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- 208000006011 Stroke Diseases 0.000 description 2
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- 210000000481 breast Anatomy 0.000 description 2
- 208000026106 cerebrovascular disease Diseases 0.000 description 2
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/008—Apparatus for applying pressure or blows almost perpendicular to the body or limb axis, e.g. chiropractic devices for repositioning vertebrae, correcting deformation
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0281—Shoulder
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/005—Moveable platforms, e.g. vibrating or oscillating platforms for standing, sitting, laying or leaning
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H23/00—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms
- A61H23/02—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N1/00—Electrotherapy; Circuits therefor
- A61N1/18—Applying electric currents by contact electrodes
- A61N1/32—Applying electric currents by contact electrodes alternating or intermittent currents
- A61N1/36—Applying electric currents by contact electrodes alternating or intermittent currents for stimulation
- A61N1/36003—Applying electric currents by contact electrodes alternating or intermittent currents for stimulation of motor muscles, e.g. for walking assistance
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/10—Characteristics of apparatus not provided for in the preceding codes with further special therapeutic means, e.g. electrotherapy, magneto therapy or radiation therapy, chromo therapy, infrared or ultraviolet therapy
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
- A61H2201/1215—Rotary drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
- A61H2201/1481—Special movement conversion means
- A61H2201/149—Special movement conversion means rotation-linear or vice versa
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/164—Feet or leg, e.g. pedal
- A61H2201/1642—Holding means therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1664—Movement of interface, i.e. force application means linear
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5023—Interfaces to the user
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2203/00—Additional characteristics concerning the patient
- A61H2203/04—Position of the patient
- A61H2203/0425—Sitting on the buttocks
- A61H2203/0431—Sitting on the buttocks in 90°/90°-position, like on a chair
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
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- Health & Medical Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Public Health (AREA)
- Physical Education & Sports Medicine (AREA)
- Veterinary Medicine (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Rehabilitation Therapy (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Radiology & Medical Imaging (AREA)
- Rehabilitation Tools (AREA)
Abstract
Description
Claims (16)
- 肢部を訓練するための装置であって、
前記肢部により触れさせるための目標部と、
前記肢部に対し上向きに作用する上向力を、前記肢部の上下動を許容しながら電力により発生する力発生機構と、を備える訓練装置。 - 前記力発生機構は、
前記肢部への装着部と、
前記装着部から上方に延出するワイヤと、
前記ワイヤを巻き取るモータと、
前記装着部の上下動を許容しながら前記ワイヤに張力を付与することで前記上向力を発生するように、前記モータをトルク制御するモータ制御装置と、を備える請求項1記載の訓練装置。 - 前記モータ制御装置は、前記肢部の自重に対抗する免荷力を前記上向力として発生するように、前記モータをトルク制御する、請求項2記載の訓練装置。
- 前記モータ制御装置は、前記ワイヤを巻き取る方向に前記モータが加速しているときには、前記肢部の自重に対抗する免荷力に前記肢部の上昇の補助力を加算した力を前記上向力として発生するように、前記モータをトルク制御し、前記ワイヤを送り出す方向に前記モータが加速しているときには、前記免荷力から前記肢部の下降の補助力を減算した力を前記上向力として発生するように、前記モータをトルク制御する、請求項2記載の訓練装置。
- 前記モータ制御装置は、前記モータの回転状態に基づいて前記肢部の筋力を推定し、前記肢部の筋力の推定値に応じて前記補助力を算出する、請求項4記載の訓練装置。
- 前記モータ制御装置は、前記装着部の位置に応じて前記免荷力を変化させるように前記モータをトルク制御する、請求項3〜5のいずれか一項記載の訓練装置。
- 前記目標部の位置の調節機構を更に備える、請求項1〜6のいずれか一項記載の訓練装置。
- 前記調節機構として、前記目標部の高さの調節機構を備えると共に、前記高さの調節中における前記目標部の下降に対抗する力を発生する落下防止部を更に備える、請求項7記載の訓練装置。
- 前記目標部の押下に伴いオン・オフが切り替わるスイッチを更に備える、請求項1〜8のいずれか一項記載の訓練装置。
- 前記目標部の押下に伴いオン・オフが切り替わるスイッチを更に備え、
前記モータ制御装置は、前記スイッチのオン・オフに応じて前記上向力を変化させるように前記モータをトルク制御する、請求項2〜6のいずれか一項記載の訓練装置。 - 前記モータ制御装置は、前記スイッチのオン・オフと前記装着部の位置とに応じて前記上向力を変化させるように前記モータをトルク制御する、請求項10記載の訓練装置。
- 前記スイッチのオン・オフに応じて前記肢部に振動刺激を与える振動刺激発生部を更に備える、請求項9〜11のいずれか一項記載の訓練装置。
- 関節運動を生じない程度の電流値で前記肢部に電気刺激を与える電気刺激発生部を更に備える、請求項9〜12のいずれか一項記載の訓練装置。
- 前記電気刺激発生部は、前記スイッチのオン・オフに応じて前記肢部に前記電気刺激を与える、請求項13記載の訓練装置。
- 肢部を訓練するための装置であって、
前記肢部により操作させるためのスイッチと、
前記スイッチの位置の調節機構と、を備える訓練装置。 - 前記調節機構として、前記スイッチの高さの調節機構を備えると共に、前記高さの調節中における前記スイッチの下降に対抗する力を発生する落下防止部を更に備える、請求項15記載の訓練装置。
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2013110273A JP6210364B2 (ja) | 2013-05-24 | 2013-05-24 | 訓練装置 |
PCT/JP2014/063300 WO2014189032A1 (ja) | 2013-05-24 | 2014-05-20 | 訓練装置 |
RU2015155290A RU2015155290A (ru) | 2013-05-24 | 2014-05-20 | Устройство для физических упражнений |
EP14800942.6A EP3006006A1 (en) | 2013-05-24 | 2014-05-20 | Exercise apparatus |
CN201480029273.7A CN105263457B (zh) | 2013-05-24 | 2014-05-20 | 训练装置 |
US14/946,785 US20160074271A1 (en) | 2013-05-24 | 2015-11-20 | Training device |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2013110273A JP6210364B2 (ja) | 2013-05-24 | 2013-05-24 | 訓練装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2014226442A true JP2014226442A (ja) | 2014-12-08 |
JP6210364B2 JP6210364B2 (ja) | 2017-10-11 |
Family
ID=51933585
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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JP2013110273A Active JP6210364B2 (ja) | 2013-05-24 | 2013-05-24 | 訓練装置 |
Country Status (6)
Country | Link |
---|---|
US (1) | US20160074271A1 (ja) |
EP (1) | EP3006006A1 (ja) |
JP (1) | JP6210364B2 (ja) |
CN (1) | CN105263457B (ja) |
RU (1) | RU2015155290A (ja) |
WO (1) | WO2014189032A1 (ja) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN104921902A (zh) * | 2014-03-17 | 2015-09-23 | 香港理工大学 | 一种结合感知功能与机械辅助的康复系统 |
JP2019103604A (ja) * | 2017-12-12 | 2019-06-27 | パラマウントベッド株式会社 | 免荷装置および免荷システム |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6210363B2 (ja) * | 2013-05-24 | 2017-10-11 | 株式会社安川電機 | 訓練装置 |
CN105997430B (zh) * | 2016-06-19 | 2017-12-26 | 河北工业大学 | 一种直接驱动与间接驱动相结合的上肢康复机器人 |
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JP2006346108A (ja) * | 2005-06-15 | 2006-12-28 | Kagoshima Univ | 振動刺激療法装置及びその使用方法 |
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JP2012061101A (ja) * | 2010-09-15 | 2012-03-29 | Kagoshima Univ | 上肢運動訓練装置 |
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JP6210363B2 (ja) * | 2013-05-24 | 2017-10-11 | 株式会社安川電機 | 訓練装置 |
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2013
- 2013-05-24 JP JP2013110273A patent/JP6210364B2/ja active Active
-
2014
- 2014-05-20 CN CN201480029273.7A patent/CN105263457B/zh not_active Expired - Fee Related
- 2014-05-20 RU RU2015155290A patent/RU2015155290A/ru unknown
- 2014-05-20 WO PCT/JP2014/063300 patent/WO2014189032A1/ja active Application Filing
- 2014-05-20 EP EP14800942.6A patent/EP3006006A1/en not_active Withdrawn
-
2015
- 2015-11-20 US US14/946,785 patent/US20160074271A1/en not_active Abandoned
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0759821A (ja) * | 1993-08-26 | 1995-03-07 | Agency Of Ind Science & Technol | 上肢動作補助機構 |
JP2006346108A (ja) * | 2005-06-15 | 2006-12-28 | Kagoshima Univ | 振動刺激療法装置及びその使用方法 |
JP2010115385A (ja) * | 2008-11-14 | 2010-05-27 | National Institute Of Information & Communication Technology | 身体運動機能増強装置、ボディースーツ、および身体運動機能増強方法 |
JP2012061101A (ja) * | 2010-09-15 | 2012-03-29 | Kagoshima Univ | 上肢運動訓練装置 |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN104921902A (zh) * | 2014-03-17 | 2015-09-23 | 香港理工大学 | 一种结合感知功能与机械辅助的康复系统 |
JP2019103604A (ja) * | 2017-12-12 | 2019-06-27 | パラマウントベッド株式会社 | 免荷装置および免荷システム |
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CN105263457B (zh) | 2019-01-04 |
US20160074271A1 (en) | 2016-03-17 |
WO2014189032A1 (ja) | 2014-11-27 |
JP6210364B2 (ja) | 2017-10-11 |
RU2015155290A (ru) | 2017-06-30 |
EP3006006A1 (en) | 2016-04-13 |
CN105263457A (zh) | 2016-01-20 |
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