JP2017217275A - Rehabilitation support control apparatus and computer program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To support rehabilitation actively performed by an object person of rehabilitation for moving legs.SOLUTION: In a rehabilitation support control apparatus comprising a display control unit for displaying a target image on an output device on the basis of a leg display parameter, the leg display parameter can be changed with the function restoration of the legs of the target person.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a technique for supporting rehabilitation.

  Conventionally, there is a technique for evaluating rehabilitation by displaying an image for rehabilitation on a touch panel and detecting a position touched by a subject subject to rehabilitation corresponding to the image (see, for example, Patent Document 1).

JP 2013-172897 A

  In general, there are many rehabilitations for moving a foot that are monotonous and boring for rehabilitation subjects, and that are uniformly set regardless of the state of the subject. Therefore, the rehabilitation for moving the foot may be painful for the subject, and the rehabilitation for moving the foot may be stopped by the subject.

  In view of the above circumstances, an object of the present invention is to provide a technique that enables a rehabilitation target person who moves a foot to actively support rehabilitation.

  One aspect of the present invention is based on a foot display parameter used for displaying a predetermined target image that is a foot movement destination or a foot must not touch when a rehabilitation subject who moves the foot moves the foot. Then, in the rehabilitation support control device including a display control unit that displays the target image on the output device, the rehabilitation support control device enables the display parameter for the foot to be changed with the recovery of the function of the foot of the subject.

  One aspect of the present invention is the above-described rehabilitation support control device, wherein the display control unit includes a foot distance parameter that is a display parameter for the foot related to a moving distance of the foot of the subject, and the foot of the subject. Based on at least one of the foot time parameter that is the foot display parameter related to the moving time of the foot and the foot vector parameter that is the foot display parameter related to the moving direction of the foot of the subject, The target image is displayed on the output device.

  In one aspect of the present invention, the rehabilitation support control device further includes the output device and a position acquisition unit.

  One aspect of the present invention is based on a foot display parameter used for displaying a predetermined target image that is a foot movement destination or a foot must not touch when a rehabilitation subject who moves the foot moves the foot. In the rehabilitation support control device including a display control unit that displays the target image on the output device, the computer functions as a rehabilitation support control device that can change the display parameter for the foot with the recovery of the function of the foot of the subject. It is a computer program for making it happen.

  According to the present invention, it is possible to assist a rehabilitation target person who moves his / her foot actively performing rehabilitation.

1 is a perspective view showing a system configuration of a rehabilitation support system 1 according to an embodiment of the present invention. It is a schematic block diagram which shows the function structural example of the rehabilitation assistance control apparatus 300 with which the rehabilitation assistance system 1 is equipped. FIG. 5 is a perspective view for explaining a first operation region by the rehabilitation support control device 300. It is a top view which shows the example of a display of the image in the rehabilitation assistance system. FIG. 10 is a perspective view for explaining a second operation region by the rehabilitation support control device 300. It is a top view which shows the example of a display of the image in the rehabilitation assistance system. 5 is a flowchart illustrating an example of a motion region determination process performed by the rehabilitation support control device 300. It is a perspective view which shows the example which the rehabilitation assistance control apparatus 300 displays the target image used as the movement target of a hand. It is a figure which shows the example in which the rehabilitation assistance control apparatus 300 projects a disturbance of a hand. It is a figure which shows the example which the display parameter setting part for 347 sets the value of a step. It is a perspective view which shows the example which the rehabilitation assistance control apparatus 300 projects the target image used as the avoidance target at the time of the subject person EP walking. It is a perspective view which shows the example in which the rehabilitation assistance control apparatus 300 projects the disturbance at the time of object person EP walking. It is a flowchart which shows an example of the recognition process of object person EP by the rehabilitation assistance control apparatus 300. It is a flowchart which shows an example of the parameter setting in the rehabilitation using the rehabilitation assistance system 1. It is a perspective view which shows the example which the rehabilitation assistance control apparatus 300 projects the target image used as the avoidance target of a hand. It is a perspective view which shows the modification of the system configuration | structure of the rehabilitation assistance system 1. FIG.

  FIG. 1 is a perspective view showing a system configuration of a rehabilitation support system 1 according to an embodiment of the present invention. The rehabilitation support system 1 is a system that supports the implementation of rehabilitation for a rehabilitation target person (hereinafter referred to as “target person”). The rehabilitation support system 1 includes a sensor 100 (an example of a position acquisition unit), an output device 200, and a rehabilitation support control device 300.

The sensor 100 detects the subject person EP within the detection range 800 of the sensor 100 (a range surrounded by a broken line in FIG. 1).
The sensor 100 is a sensor that can detect the movement of the subject EP without attaching a marker to the subject EP, such as an image sensor, an infrared sensor, a laser sensor, or a thermo sensor. In this embodiment, as an example of such a sensor, a case where Kinect (registered trademark) incorporating a distance sensor and an image sensor is used as the sensor 100 will be described as an example.
The sensor 100 includes, for example, an image sensor (not shown). The image sensor includes (1) a function as a moving image camera that captures the front direction of itself in real time and acquires a plurality of continuous two-dimensional images (frame images), and (2) the two-dimensional And a function as a distance sensor (depth sensor) that acquires distance information (an image displaying distance information) to an actual position corresponding to each position in the image (frame image). With the function of the distance sensor, an image obtained by capturing the subject EP and distance image information that is coordinate information in the three-dimensional space of each part of the body of the subject EP captured by the image are acquired. The three-dimensional space detected by the sensor 100 is a space indicated by the XYZ orthogonal coordinate system shown in FIG.
Each part of the body of the subject EP is a part of the body that is required to be detected in order to recognize the motion of the subject EP. Specifically, each part of the body of the subject EP is, for example, the position of the head, shoulder, arm, hand, waist, foot, each joint, and the like of the subject EP.
The sensor 100 outputs information indicating the detection result (hereinafter referred to as “detection result information”) to the rehabilitation support control device 300. The detection result information is, for example, position information of a part of the body of the subject person EP.
Note that the sensor 100 may be a sensor that attaches a marker to the subject person EP and detects the subject person EP by detecting the marker.

The output device 200 outputs an image related to rehabilitation performed on the subject EP. The output device 200 is an image projection device such as a projector, for example. The output device 200 projects an image that supports rehabilitation and displays it in the output area 900. Examples of the output image may include an image including a movement history of a part of the body of the subject EP and a movement target position of a part of the body of the subject EP. For example, in the case of walking rehabilitation, the output device 200 displays one or both of the movement history of the position of the foot of the subject EP and the target position that the subject EP moves by moving the foot. Also good. Further, in the case of hand movement rehabilitation, the output device 200 either or both of the movement history of the position of the hand of the subject EP and the target position that the subject EP moves and moves the hand. May be displayed. In the following description, an image indicating a movement history of a part of the body of the subject EP is referred to as a history image. In addition, an image showing a movement target position of a part of the body of the subject person EP is called a target image.
For example, in the case of rehabilitation in which a footprint is displayed and the subject moves his / her foot on the footprint display, the footprint is the target image. Further, for example, in the case of rehabilitation to avoid a car approaching when a pedestrian crossing is displayed and crosses the pedestrian crossing, the displayed car is the target image. Further, for example, in the case of rehabilitation in which a movement destination in the shape of a hand is displayed and the hand is moved to that position, a display indicating the movement destination of the hand is the target image. For example, in the case of rehabilitation in which a hand is moved to the display position of an apple-shaped display, the displayed apple is the target image. Further, for example, in the case of rehabilitation in which a display in the shape of a flame is displayed and the hand is moved so as not to touch the displayed flame, the displayed flame is the target image. Note that the target image may change variously depending on the rehabilitation to be performed, such as the size, the display position, and the shape.

  The rehabilitation support control device 300 is configured using an information processing device. That is, the rehabilitation support control device 300 includes a CPU (Central Processor Unit), a memory, and an auxiliary storage device connected by a bus. The rehabilitation support control device 300 operates by executing a rehabilitation support program.

  The sensor 100 and the like are supported by the leg portion 310. The leg portion 310 can be expanded and contracted in the vertical direction, and the height positions of the sensor 100 and the output device 200 can be adjusted. Thereby, the width of the detection range by the sensor 100 can be adjusted. Further, when the output device 200 is a projection device, the width of the output region 900 can be adjusted. The leg portion 310 includes casters 311, 312, 313, and 314. Since the casters 311 to 314 can roll, the rehabilitation support system 1 can be freely moved on the floor by pushing the casters.

FIG. 2 is a schematic block diagram illustrating a functional configuration example of the rehabilitation support control device 300 provided in the rehabilitation support system 1. The rehabilitation support control device 300 includes an input unit 31, an output unit 32, a storage unit 33, a control unit 34, an operation unit 35, and a display unit 36.
The input unit 31 is an interface for inputting information from the outside. For example, the input unit 31 acquires information (detection result information) indicating a detection result from the sensor 100.
The output unit 32 is an interface that outputs an image generated by the control unit 34 to the output device 200.

  The storage unit 33 is configured using a storage device such as a magnetic hard disk device or a semiconductor storage device. The storage unit 33 functions as a calibration information storage unit 331, a determination condition information storage unit 332, a detection history information storage unit 333, a parameter information storage unit 334, and a program information storage unit 335.

  The calibration information storage unit 331 stores calibration information. The calibration information is information that associates the coordinate system of the coordinates indicating the detection result of the sensor 100 with the coordinate system of the image plane projected by the output device 200. Therefore, the calibration in the rehabilitation support control apparatus 300 is a process of grasping the positional relationship between the detection range 800 by the sensor 100 and the image output area 900 by the output apparatus 200 and setting a common coordinate system for both. The detection range that can be detected by the sensor 100 may be wider than the detection range 800 illustrated. The detection range 800 in the present embodiment is a detection range necessary for acquiring position information of a part of the body targeted for detection of the subject EP in the operation of the subject EP performed on the output area 900. It is. The term “on the output area 900” includes not only a plane area defined by the output area 900 but also a space up to a predetermined height with reference to the output area 900 in that area.

The calibration information may be obtained, for example, by performing calibration in advance.
More specifically, for example, the output device 200 projects the calibration marker image at a plurality of locations such as four corners of the image plane (image output area 900). The rehabilitation support control device 300 has known coordinates in the coordinate system of the output device 200.

  When the output device 200 projects a marker image, the sensor 100 sends the position of each marker image to the rehabilitation support control device 300 using coordinates in the coordinate system of the sensor 100 (the coordinate system used by the sensor 100 to indicate the detection position). Output. Thereby, the rehabilitation assistance control apparatus 300 (control part 34) acquires the position of each marker by both the coordinate in the coordinate system of the sensor 100, and the coordinate in the coordinate system of the output device 200. FIG. Further, the rehabilitation support control device 300 (the control unit 34) grasps coordinates indicating the range of the output region 900 in the coordinate system of the output device 200 based on the marker images projected on the four corners and the like. Thereby, the target determination unit 345 described later can calculate a target position in the coordinate system of the output device 200 in the output region 900.

  The rehabilitation support control apparatus 300 (control unit 34) acquires information for correcting the coordinate system of the sensor 100 as calibration information based on the obtained coordinates. When the sensor 100 has a coordinate system adjustment function, the rehabilitation support control device 300 (control unit 34) uses this function to perform calibration for matching the coordinate system of the sensor 100 with the coordinate system of the output device 200. Generate information. Alternatively, when the output device 200 has a coordinate system adjustment function, the rehabilitation support control device 300 (the control unit 34) uses this function to match the coordinate system of the output device 200 with the coordinate system of the sensor 100. The calibration information may be generated.

When it is difficult to detect the marker image by the sensor 100, for example, when the marker image is blurred because the floor surface scatters light, an operator such as a physical therapist manually detects the position instead of the position detection using the marker image. May be performed. In a state where the output device 200 projects an image on the entire output area 900, the sensor 100 captures an area including the entire projected image with the image sensor. The rehabilitation support control device 300 displays the image captured by the sensor 100 on the display screen. Then, the operator of the rehabilitation support system 1 designates each of the four corners of the output area 900 displayed on the monitor screen by a touch operation.
Since the image displayed on the monitor screen is an image captured by the sensor 100, the position specified by the operator can be acquired by coordinates in the coordinate system of the sensor 100. The rehabilitation support control device 300 (control unit 34) acquires calibration information based on the coordinates and the coordinates of the four corners of the output region 900 in the coordinate system of the output device 200. Note that the coordinates of the floor are used as the coordinates in the height direction.
Alternatively, a physical therapist or the like may place physical markers such as cones at the four corner positions of the image plane. In this case, the sensor 100 detects the placed marker and outputs the coordinates of each marker.

  When the output device 200 projects an image on the floor surface, if calibration is performed when the rehabilitation support system 1 is used for the first time, it is not necessary to perform calibration after the second use. Since neither the positional relationship between the sensor 100 and the floor surface nor the positional relationship between the output device 200 and the floor surface changes, the calibration information obtained at the first use can be used at the second and subsequent uses. is there.

The determination condition information storage unit 332 stores conditions for determining the operation area. The operation area will be described later.
The detection history information storage unit 333 stores a history of position information (detection result information) regarding a part of the body of the subject person EP recognized by the recognition unit 341. For example, when walking rehabilitation is performed, the detection history information storage unit 333 stores a history of detection result information on the position of the foot of the subject EP. When performing rehabilitation of hand movement, the detection history information storage unit 333 stores a history of detection result information on the position of the hand of the subject EP.

The parameter information storage unit 334 includes a foot display parameter set by a foot display parameter setting unit 347 described later, a hand display parameter set by a hand display parameter setting unit 348 described later, and a disturbance display parameter setting unit 349 described later. The disturbance display parameter set by is stored.
The program information storage unit 335 stores a rehabilitation support program.

  The control unit 34 is configured using a CPU. The control unit 34 executes a rehabilitation support program to recognize a recognition unit 341, a display control unit 342, a motion region determination unit 343, a recording unit 344, a target determination unit 345, an evaluation unit 346, a foot display parameter setting unit 347, It functions as a manual display parameter setting unit 348 and a disturbance display parameter setting unit 349.

  The recognition unit 341 acquires the detection result information acquired by the input unit 31, and recognizes the object indicated by the detection result information. For example, the recognition unit 341 recognizes a person, a table, a floor, a wall, or the like existing in the detection range 800 based on the detection result information. For example, when Kinect (registered trademark) is used, the positions of a plurality of parts on the human body of the subject EP can be recognized. For example, when the recognizing unit 341 recognizes a long tip of a long detection target on the table, the recognizing unit 341 detects position information of the tip at every unit time. The recognition unit 341 recognizes the movement of the position of a part of the body of the subject EP based on the position information of these feature points detected by the sensor 100 every moment. For example, when a long object is detected, the recognition unit 341 recognizes the movement of the position of the tip of the object. The movement of the position of the tip may be handled as the position of the hand of the subject EP, for example. In addition, the recognition unit 341 has a function of recognizing the position of each part when the object can be recognized as a person by comparing the shape of the object indicated by the detection result information with the human skeleton model. Good. According to this function, the recognition unit 341 can recognize the position information of each part of the human body in association with the part. For example, the subject person EP stands upright in front of the sensor 100. Then, the recognition unit 341 compares the detection result information detected in this state with a human skeleton model, and recognizes that the target is a person because the target has a human shape. Furthermore, the recognizing unit 341 associates position information of each part with each part, such as left toe and its position information, right heel and its position information, and left and right wrists and respective position information. recognize. When the function of recognizing the position of each part based on the skeleton model (hereinafter referred to as “skeleton tracking function”) is used, the recognition unit 341 can recognize the movement of the position of each part of the subject EP. In this way, the recognition unit 341 tracks the predetermined position of the object having the predetermined shape included in the detection result information, or uses the skeleton tracking function to detect the position of the body part of the target person EP and the position thereof. Recognize movement. Further, when Kinect (registered trademark) is used, coordinate information of an object existing in the detection range 800 (point cloud data including coordinate information for each predetermined interval of the object existing in the detection range 800) can be obtained. The recognizing unit 341 analyzes the detection result information (point cloud data), and has a surface that has an area larger than a predetermined area and the Z coordinate value does not change (in short, a point cloud having a substantially constant Z coordinate value). Is recognized as a plane with walls, floors, tables, etc. Further, the recognition unit 341 is detection data of a part (detection target part) of the body of the subject person EP related to the motion region determined by the motion region determination unit 343 described later, among the detection result information. And the data (detection target information) is selected.

  Here, the motion region is a region where a motion intended for the rehabilitation of the subject EP is performed. More specifically, it is a predetermined area in a space where a part that is strongly related to an action intended to recover by rehabilitation operates. In addition, for example, the motion region is a region where the subject EP brings the part close thereto in rehabilitation. In addition, for example, the motion region is a region including a position that is a target (reaching point) of the motion in the rehabilitation of the subject EP. In addition, the motion area is a place where the target person EP performs a target motion during rehabilitation. As a specific example of the motion area, in the case of a two-dimensional area, a floor, a table, and the like can be given. For example, in the case of a floor, a part that is strongly related to an action intended to recover by rehabilitation is a foot, and in the case of a table, the part is a hand. In addition, the subject EP brings his / her feet close to the floor in the rehabilitation of walking motion, and brings his / her hand close to the table in the rehabilitation of hand movement. In addition, for example, in the rehabilitation of walking motion, the floor is an area including the position that becomes the arrival point of the walking motion (display position of the target image), and the table is the position that becomes the arrival point of the hand in the rehabilitation of hand movement (target (Display position of image). Further, the floor and the table are places where the target motion is performed during rehabilitation of walking motion and rehabilitation of hand movement, respectively. A specific example of the case where the motion area is three-dimensional includes a space having a predetermined height with respect to the table surface on the table (hereinafter referred to as “three-dimensional motion area”). For example, the output device 200 displays a target image meaning “10 cm” on the table. For example, “10 cm” may be displayed at a certain position on the table. This is a target image that means that the position of 10 cm in height with respect to the table surface in the space immediately above the position where the target image of the table is displayed is the position where the hand reaches. . The position indicated by the target image is included in the three-dimensional motion area. Also in this example, for example, the three-dimensional motion region is a region in which a part (hand) that is strongly related to a motion intended to recover by rehabilitation operates. Further, the three-dimensional motion region is a region in which the hand is brought close to the hand movement rehabilitation. The three-dimensional motion area is an area including a position (a position indicated by the target image) that is a reaching point of hand movement. In addition, the three-dimensional motion region is a place where the target person EP performs a target motion during hand movement rehabilitation. As another example of the case where the motion area is three-dimensional, a space on the output area 900 can be given. For example, when the motion area is a space on the output area 900, rehabilitation such as projecting a target image into this space and touching the target EP with the hand may be performed.

  The display control unit 342 generates an image output from the output device 200. For example, the display control unit 342 displays a target image that is displayed in the motion region and guides the motion of the subject EP, an image that includes information on the evaluation result of the rehabilitation, and a motion of the detection target portion of the subject EP performed during the rehabilitation. An image showing a locus is generated.

  The motion region determination unit 343 determines the motion region based on the recognition result by the recognition unit 341. As will be described later, there are various methods for determining the motion region. The motion area determination unit 343 determines, for example, that the motion area is a floor based on a predetermined determination condition. Further, for example, the motion area determination unit 343 determines that the motion area is a table.

  When the motion region determination unit 343 determines the motion region, the motion region determination unit 343 determines a portion (detection target portion) that is a detection target related to the motion region of the subject EP. The part to be detected is a part of the body that is deeply related to the movement intended for rehabilitation. For example, when the motion region determination unit 343 determines that the motion region is a floor, the motion region determination unit 343 determines the ankle of the subject EP as a detection target part. Alternatively, the motion region determination unit 343 may determine the toe of the subject person EP as the detection target part. For example, when the motion region determination unit 343 determines that the motion region is a table, the motion region determination unit 343 determines the back of the hand of the subject person EP as a detection target part. Alternatively, the motion region determination unit 343 may determine the fingertip of the subject person EP as the detection target part.

  The detection target part related to the motion region is set in the storage unit 33 in advance, and the motion region determination unit 343 determines the detection target part based on the information and the motion region determined by itself. For example, in the operation targeted for rehabilitation, a region having a large operation range may be set as the detection target region. For example, in the case of rehabilitation of walking motion, the part having a large motion range is the foot (ankle, toe, heel, etc.) of the subject EP. In the case of rehabilitation of movement, the part having a large movement range is the hand (wrist, fingertip, back of hand, etc.) of the subject EP.

  Alternatively, a part close to the display position of the target image generated by the display control unit 342 may be set as the detection target part. For example, in the case of rehabilitation of walking motion, in this embodiment, a target image imitating a foot shape or the like is displayed at a position where the subject EP should step on the walking motion. In this case, the target image is close to the display position of the target image. The part to be performed is the foot (ankle, toe, heel, etc.) of the subject EP. In the case of hand movement rehabilitation, the target image is displayed at a position to be touched by the target person EP. In this case, the part close to the display position of the target image is the hand (wrist, fingertip) of the target person EP. , Back of the hand, etc.).

The recognizing unit 341 uses the recording unit 344 to detect the detection target part data (positional information of a part of the body) determined by the motion region determining unit 343 included in the detection result information, via the recording unit 344. To record.
The recording unit 344 writes and records the detection result information in the detection history information storage unit 333.

  The target determination unit 345 determines a target position of a part of the body of the subject person EP based on the position of a part of the body (detection target part) of the subject person EP recognized by the recognition unit 341. For example, in the case of walking rehabilitation, the target determination unit 345 determines the foot of the subject person EP based on at least one of the current foot position of the subject person EP and the foot position history of the subject person EP. Determine the movement target position. In particular, the target determination unit 345 may determine the traveling direction of the subject person EP based on the foot position history of the subject person EP, and may determine the movement target position according to the determined traveling direction. Alternatively, the target determination unit 345 may determine the traveling direction of the subject person EP based on the direction of the foot of the subject person EP, and may determine the movement target position according to the determined traveling direction. Alternatively, the target determination unit 345 may determine the movement target position, for example, in a random direction or toward a predetermined goal position regardless of the traveling direction of the subject person EP.

The target determination unit 345 may calculate the movement amount of the detection target part of the body of the subject EP and determine the movement target position based on the calculated movement amount. For example, when the recognition unit 341 recognizes the position of the foot of the subject person EP, the target determination unit 345 calculates the stride of the subject person EP based on the history of the foot position of the subject person EP. Then, the target determination unit 345 sets the movement target position at a position moved by the stride from the current position of the foot of the subject person EP. The stride length of the subject person EP indicates the amount of movement of the leg of the subject person EP, and corresponds to an example of the amount of movement of the detection target part of the body of the subject person EP.
When the recognition unit 341 recognizes the movement of the position of the foot of the subject person EP, the target determination unit 345 may detect the interval at which the foot of the subject person EP has moved as the stride. Alternatively, when the recognition unit 341 recognizes the position where the subject person EP has his / her foot on the floor surface, the target determination unit 345 has the position where the subject person EP has next to his / her foot from the floor surface. The interval up to may be detected as the stride.

  The evaluation unit 346 evaluates the positional relationship between the position of the detection target part of the body of the subject person EP and the movement target position. For example, the evaluation unit 346 calculates the distance between the position of the body part of the subject person EP recognized by the recognition unit 341 and the movement target position determined by the target determination unit 345. Then, the evaluation unit 346 determines whether or not the calculated distance is equal to or less than a predetermined threshold value. When it is determined that the distance between the detection target part of the body of the subject person EP and the movement target position is equal to or less than the threshold value, the evaluation unit 346 evaluates that the target position has been reached. On the other hand, when it is determined that the distance between the detection target part of the body of the subject person EP and the movement target position is larger than the threshold value, the evaluation unit 346 evaluates that the target position has not been reached.

  The distance threshold used by the evaluation unit 346 may be a constant set in advance for a plurality of target persons EP. Or you may make it the evaluation part 346 set a threshold value for every object person EP, such as setting 1/10 of the stride of object person EP as a threshold value. Moreover, the threshold value of the distance used by the evaluation unit 346 may be set in common for a plurality of types of rehabilitation, or may be set for each type of rehabilitation. Moreover, the magnitude | size of a threshold value may be set so that the direction of the rehabilitation which moves a leg | foot may become larger than the rehabilitation which moves a hand.

  The number of stages at which the evaluation unit 346 evaluates the relative positional relationship between the position of a part of the body of the subject EP (detection target part) and the movement target position is the target position arrival or target position non-reaching described above. It is not limited to these two stages, and may be a multi-stage having three or more stages. For example, the evaluation unit 346 uses, in addition to the determination threshold value for determining whether or not the target position has been reached, further the determination threshold value for the shift when the target position is not reached, in three stages: target position arrival, small shift, and large shift An evaluation may be performed.

Moreover, the method by which the evaluation unit 346 evaluates the positional relationship between the position of the detection target part of the body of the subject EP and the movement target position is not limited to a method using a threshold value. For example, the evaluation unit 346 may determine whether or not there is an overlap between the position of the detection target part of the body of the subject EP and the movement target position, and may determine that the target position has been reached when it is determined that there is an overlap.
Further, for example, in the case of walking rehabilitation, the target determination unit 345 determines the movement target position on the floor within a certain area, and the recognition unit 341 determines the position of the foot of the subject EP. You may make it recognize in the range of the shape of a leg | foot. Then, the evaluation unit 346 may determine whether or not there is an overlap between the range determined as the movement target position and the range detected as the position of the foot of the subject EP.

The foot display parameter setting unit 347 sets foot display parameters in rehabilitation for moving a foot such as walking. The foot display parameter is a parameter used for displaying the target image when the subject EP moves his / her foot.
The hand display parameter setting unit 348 sets hand display parameters in rehabilitation for moving a hand. The hand display parameter is a parameter used for displaying the target image when the subject EP moves his / her hand.
The disturbance display parameter setting unit 349 sets a disturbance display parameter. The disturbance display parameter is a parameter used for displaying a disturbance that prevents the subject EP from moving the foot or hand to the target image when the subject EP of rehabilitation moves the foot or hand to the predetermined target image. is there. Alternatively, the disturbance display parameter is used to display a disturbance that prevents the target EP from avoiding the foot or hand from the target image when the target EP of the rehabilitation avoids the foot or hand from the target image. The parameter used.
For example, in a rehabilitation in which a footprint is displayed and the subject moves his / her foot on the footprint display, if the vehicle approaches and obstructs the movement of the foot while moving the foot, the displayed vehicle is It is a disturbance. Also, for example, in rehabilitation where the hand is moved to the display position of the apple-shaped display, when a flame is displayed while moving the hand to the displayed apple position, Flame is a disturbance. The disturbance may vary in various ways depending on the rehabilitation to be performed, such as the size, the display position, and the shape. In addition, in the rehabilitation for moving a foot, when a subject crosses a pedestrian crossing while avoiding a car, if the hole is displayed on the pedestrian crossing to prevent the car from being avoided, the displayed hole is a disturbance. In addition, in the rehabilitation to move the hand, when moving the hand without touching the flame, if the cockroach that restricts the movement range of the hand that you do not want to touch is displayed, the displayed cockroach is a disturbance .

  The operation unit 35 is configured using an existing input device such as a keyboard, a pointing device (such as a mouse or a tablet), a button, or a touch panel. The operation unit 35 is operated by a physical therapist or the like when inputting an instruction from the physical therapist or the like to the rehabilitation support control device 300. The operation unit 35 may be an interface for connecting the input device to the rehabilitation support control device 300. In this case, the operation unit 35 inputs an input signal generated in response to an input from a physical therapist or the like in the input device to the rehabilitation support control device 300. The operation unit 35 may be configured as a touch panel integrated with the display unit 36.

  The display unit 36 is an image display device such as a CRT (Cathode Ray Tube) display, a liquid crystal display, or an organic EL (Electro Luminescence) display. The display unit 36 displays images and characters. The display unit 36 may be an interface for connecting the image display device to the rehabilitation support control device 300. In this case, the display unit 36 generates a video signal for displaying images and characters, and outputs the video signal to an image display device connected to the display unit 36.

FIG. 3 is a perspective view for explaining a first operation region by the rehabilitation support control device 300.
FIG. 3 shows a state in which the subject EP is performing rehabilitation of hand movement on the table T (first motion region). The output device 200 projects the target image M1 on the table T. The subject EP performs rehabilitation related to hand movement based on the target image M1 output to the output area 900 by the output device 200.
The sensor 100 detects the position of a part of the body of the subject EP when the subject EP moves the hand within the detection range 800, and outputs detection result information to the rehabilitation support control device 300 at predetermined time intervals. .

  FIG. 4 is a plan view showing a display example of an image in the rehabilitation support system 1. FIG. 4 shows an example of an image when hand movement rehabilitation is performed using the rehabilitation support system 1. In the example of FIG. 4, the image is displayed on the projection surface (output region 900) on the desk by projecting the image of the output device 200. Specifically, target images M111a, M111b, M112a and M112b indicating the history of the target position, history images M121a and M121b of the position of the hand of the subject EP, and an image M131a indicating the current hand position of the subject EP. And M131b and target images M141a and M141b indicating the next target position are shown as hand-shaped images, respectively. In FIG. 4, the symbol “a” indicates the right hand and “b” indicates the left hand. For example, the target image M111a shows the history of the target position of the right hand. The target image M111b shows the history of the target position of the left hand.

  However, these images in the rehabilitation support system 1 are not limited to images of the shape of the body detection target part. For example, the output device 200 may display a circle instead of the image of the shape of the detection target part of the body, such as displaying the target position of the right hand as a red circle and displaying the target position of the left hand as a blue circle. Good.

  In this way, the display control unit 342 controls the output device 200 to display the target image and the history image on the table T, so that the subject EP intuitively moves his / her hand relative to the target. Track record.

FIG. 5 is a perspective view for explaining a second operation region by the rehabilitation support control device 300.
FIG. 5 shows a state in which the subject EP is performing rehabilitation of walking motion on the floor FL (second motion region). The output device 200 projects target images M2 to M5 on the floor FL. The subject EP performs rehabilitation of walking motion based on the target images M2 to M5 output from the output device 200 to the output area 900. For example, the subject person EP performs rehabilitation to walk from the start position shown in the target images M2 to M5 to the target position. The sensor 100 detects the position of the foot of the subject EP within the detection range 800, and outputs the detection result information to the rehabilitation support control device 300 every predetermined time.

FIG. 6 is a plan view showing an example of image display in the rehabilitation support system 1.
FIG. 6 is a diagram illustrating another example of image display in the rehabilitation support system 1. In FIG. 6, the example of the image in the case of performing rehabilitation of a walk using the rehabilitation assistance system 1 is shown. In the example of FIG. 6, the image is displayed on the projection surface (output area 900) on the floor by projecting the image of the output device. Specifically, target images M211 to M214 indicating the history of the target position, history images M221 to M223 of the foot position of the subject person EP, an image M231 showing the current foot position of the subject person EP, A target image M241 indicating the target position is shown as a foot-shaped image.

In the example of FIG. 4, the target positions of the right hand and the left hand are displayed. In the example of FIG. 6, the next target image M241 of the left foot is shown, but the next target image of the right foot is shown. It has not been. This is because the right hand and the left hand can be moved simultaneously in hand movement, whereas the right and left legs are alternately moved in walking. According to the rehabilitation support system 1 of the present embodiment, as a rehabilitation of the motion of the foot, not only walking (the motion of stepping on the left and right feet alternately), but also moving only one foot continuously, “Kenkopa” It is also possible to train the movement of the foot that moves both feet at the same time. In this case, the output device 200 outputs a target image and a history image corresponding to each foot motion to the output area 900.
Note that, as described with reference to FIG. 4, the image displayed by the output device 200 is not limited to a foot-shaped image. For example, the output device 200 may display a circle instead of the foot-shaped image, such as displaying the target position of the right foot with a red circle and displaying the target position of the left foot with a blue circle. In contrast to the above embodiment, the left and right foot target images are not displayed one by one, but the left and right foot target images may always be displayed together. It is also possible to display differently between the current foot position image and the past foot position history image. For example, the current foot position image may be displayed as a graphic such as a circle or a rectangle, and the past left and right foot history images may be displayed as a “footstep” graphic.

  In this manner, the display control unit 342 controls the output device 200 to display the target image and the history image on the floor FL, so that the subject EP intuitively moves his / her foot relative to the target. Track record.

Next, the flow of the detection and recording process of the rehabilitation detection target information of the subject will be described with reference to FIG.
FIG. 7 is a flowchart illustrating an example of a motion region determination process performed by the rehabilitation support control device 300.
First, the rehabilitation support system 1 is moved to an environment where the subject person EP performs rehabilitation according to the rehabilitation content that the physical therapist or occupational therapist intends to perform. Moreover, the height of the leg part 310 is adjusted appropriately. Next, the subject person EP takes a posture corresponding to the content of rehabilitation to be performed in the detection range 800. For example, in the case of performing arm rehabilitation on a table, the subject EP takes a posture of sitting on a chair and placing a hand on the table. Further, for example, when performing rehabilitation of walking motion, the subject EP takes a standing posture. When the subject person EP takes these postures, a physical therapist or the like inputs preparation start instruction information to the rehabilitation support control device 300. The operation unit 35 acquires the preparation start instruction information (step S10). In addition, after a physical therapist or the like inputs preparation start instruction information to the rehabilitation support control device 300, the subject EP may take an attitude corresponding to the content of rehabilitation to be performed in the detection range 800.

  Then, the sensor 100 starts detection, and the input unit 31 acquires detection result information (step S11). The input unit 31 outputs detection result information to the control unit 34. In the control unit 34, the recognition unit 341 acquires the detection result information and recognizes the operation of the subject person EP. Alternatively, the recognizing unit 341 recognizes a table, floor, etc. existing in the detection range 800. The recognition unit 341 outputs the recognition result to the motion region determination unit 343.

  Next, the motion region determination unit 343 determines the motion region by the method described with reference to FIGS. 3 and 5 (step S12). For example, the motion region determination unit 343 may determine that the motion region is the floor FL if the recognition result by the recognition unit 341 indicates that the whole body of the subject person EP is recognized. For example, the motion region determination unit 343 may determine that the motion region is the table T if the recognition result indicates the presence of the table T. In addition to this, the motion region determination unit 343 can determine the motion region using the various determination methods described above. Next, the motion area determination unit 343 determines whether the motion area is the floor FL (step S13). When the motion region is the floor FL (step S13; Yes), the motion region determination unit 343 sets the detection target part to the foot (for example, ankle or toe) of the subject EP (step S17). When the motion region determination unit 343 sets the detection target part to the foot of the subject EP, the foot display parameter setting unit 347 next sets the foot display parameter in the rehabilitation for moving the foot (step S18). The foot display parameter is a parameter used for displaying the target image when the subject EP moves his / her foot.

  The foot display parameters include, for example, foot distance parameters, foot time parameters, foot vector parameters, and the like. For the foot distance parameter, for example, a parameter (step value shown in FIG. 10) used to determine the stride indicated by the target image and a stance (including a step) indicated by the target image are used. Parameters (steps shown in FIG. 10) and the like are included. A stance is two parallel lines that extend in front of the subject (for example, the front or face of the body or the direction in which the subject is scheduled to travel), and a predetermined part of the subject's two legs (eg, the tip of a heel or thumb) ) Represents the distance of the parallel lines passing through each of them. The foot time parameter includes, for example, a parameter indicating the total time during which the target image is displayed and rehabilitation is performed, and the time from when the currently displayed target image is displayed until the next timing at which the target image is displayed. The parameter which shows is included. In addition, the foot vector parameters include, for example, parameters used for determining the display direction of the target image displayed at the next timing with reference to the currently displayed target image. The foot display parameter setting unit 347 records the specified foot distance parameter, foot time parameter, foot vector parameter, and the like in the parameter information storage unit 334. By setting these parameters, for example, a foot-shaped target image as illustrated in FIG. 6 can be displayed according to the content of the rehabilitation of the subject EP.

In addition to this, for example, when the target image is a rehabilitation that is an avoidance target when the target person EP walks, the foot display parameter setting unit 347 determines whether the foot image is displayed in accordance with information input from the operation unit 35. Set display parameters. For example, as shown in FIG. 11, the rehabilitation support control device 300 is an avoidance target when the target person EP walks on a pedestrian crossing. In this rehabilitation, a target image in the shape of a car is projected and the target person EP avoids the target image.
The setting of the foot display parameters and the display by the display control unit 342 using the foot display parameters will be described in detail later.
The display for setting the foot display parameter is displayed on the display unit 36 of the rehabilitation support control device 300.

When the foot display parameter setting unit 347 sets the foot display parameter, the disturbance display parameter setting unit 349 next sets the foot disturbance display parameter (step S19). For example, the rehabilitation support control device 300 executes a dedicated application, and a physical therapist or the like inputs various information to the rehabilitation support control device 300. The disturbance display parameter setting unit 349 displays a disturbance display parameter according to information input to the rehabilitation support control device 300 when the target image is rehabilitation that is a target for moving the foot when the subject EP walks. Set.
For example, as shown in FIG. 12, when the rehabilitation support control device 300 walks the crossing crosswalk, the rehabilitation support control device 300 causes the rehabilitation target EP to move the foot to a predetermined target image. It is a parameter used to project a disturbance in the shape of a hindering automobile as an image.

  The foot disturbance display parameters include, for example, a disturbance distance parameter, a disturbance time parameter, a disturbance vector parameter, and the like. The distance parameter for disturbance includes, for example, a parameter used for determining the distance from the currently displayed disturbance to the disturbance displayed at the next timing. Further, the disturbance time parameter includes, for example, a parameter indicating a time until the currently displayed disturbance is displayed at a position different from the current position. Further, the disturbance vector parameters include, for example, parameters used for determining the display direction of the disturbance displayed at the next timing based on the currently displayed disturbance. The disturbance display parameter setting unit 349 records the specified disturbance distance parameter, disturbance time parameter, disturbance vector parameter, and the like in the parameter information storage unit 334.

On the other hand, when the operation region is not the floor FL (step S13; No). The motion region determination unit 343 sets the detection target part to the hand (for example, the back of the hand or the fingertip) (step S14). The motion region determination unit 343 outputs information on the detection target part to the recognition unit 341. In addition, the motion region determination unit 343 outputs the motion region to the display control unit 342. When the motion region determination unit 343 sets the detection target part in the hand of the subject EP, the hand display parameter setting unit 348 next sets the hand display parameter (step S15). For example, the rehabilitation support control device 300 executes a dedicated application, and an occupational therapist or the like inputs various information to the rehabilitation support control device 300. The hand display parameter setting unit 348 displays the hand image according to the information input from the rehabilitation support control device 300 when the target image is a rehabilitation that is a movement target of the hand when the subject EP moves the hand. Set the parameters.
For example, as shown in FIG. 8, the rehabilitation support control device 300 is a rehabilitation support control device 300 that moves the hand when the target person EP moves the hand. This is a rehabilitation in which a target image in the shape of an apple serving as a moving target is projected and the subject EP moves his hand to the position of the target image.

  The hand display parameters include, for example, hand position parameters, hand time parameters, hand vector parameters, and the like. The hand position parameter includes, for example, a parameter used for determining an area where the target image is displayed. The manual time parameter includes a time parameter indicating a time until the currently displayed target image is displayed at a position different from the current one. The hand vector parameters include parameters used for determining the display direction of the target image displayed at the next timing with reference to the currently displayed target image. The hand display parameter setting unit 348 records the designated hand distance parameter, hand time parameter, hand vector parameter, and the like in the parameter information storage unit 334. By setting these parameters, for example, the target image illustrated in FIG. 4 can be displayed according to the content of the rehabilitation of the subject person EP.

When the hand display parameter setting unit 348 sets the hand display parameter, the disturbance display parameter setting unit 349 sets the hand disturbance display parameter (step S16).
For example, the rehabilitation support control device 300 executes a dedicated application, and an occupational therapist or the like inputs various information to the rehabilitation support control device 300. The disturbance display parameter setting unit 349 displays the disturbance display according to the information input to the rehabilitation support control device 300 when the target image is rehabilitation that is a movement target of the hand when the subject EP moves the hand. Set the parameters.
For example, as shown in FIG. 9, when the rehabilitation support control apparatus 300 moves the hand to the position of the target image that is the character selected by the subject EP, the hand disturbance display parameter is This is a parameter used to project a disturbance that is a character that should not be selected as an image.
The setting of the manual display parameter and the display by the display control unit 342 using the manual display parameter will be described in detail later.
The display for setting the manual display parameter is displayed on the display unit 36 of the rehabilitation support control device 300.

  The hand disturbance display parameters include, for example, a disturbance distance parameter, a disturbance time parameter, a disturbance vector parameter, and the like. The distance parameter for disturbance includes, for example, a parameter used for determining the distance from the currently displayed disturbance to the disturbance displayed at the next timing. Further, the disturbance time parameter includes, for example, a parameter indicating a time until the currently displayed disturbance is displayed at a position different from the current position. Further, the disturbance vector parameters include, for example, parameters used for determining the display direction of the disturbance displayed at the next timing based on the currently displayed disturbance. The disturbance display parameter setting unit 349 records the specified disturbance distance parameter, disturbance time parameter, disturbance vector parameter, and the like in the parameter information storage unit 334. This completes the actual rehabilitation preparation process. Next, the subject person EP starts rehabilitation in the motion region determined in the preparation process.

Next, the recognition process of the subject person EP during the rehabilitation will be described with reference to FIG.
FIG. 13 is a flowchart illustrating an example of recognition processing of the subject person EP by the rehabilitation support control device 300.
The subject EP to be rehabilitated enters the detection range 800 and starts rehabilitation. In addition, the physical therapist or the like inputs rehabilitation start instruction information to the rehabilitation support control device 300 together with the name, gender, height, and the like of the subject EP. Then, the operation part 35 acquires rehabilitation start instruction information (step S20). Next, the display control unit 342 generates a target image corresponding to the operation area. For example, when the operation area is the floor FL, the display control unit 342 generates a target image displaying a foot shape. In addition, the target determination unit 345 calculates coordinate information of a position where the target image is displayed. The position for displaying the target image may be changed according to the foot display parameter set in step S18. When the operation area is a table, the display control unit 342 generates a target image that displays a target to be touched by the subject person EP by hand. Further, the target determining unit 345 calculates coordinate information of the display position. The output unit 32 acquires the information (target image and display position) and instructs the output device 200 to output the information. The output device 200 displays the target image generated by the display control unit 342 in the output area 900 according to the instruction of the output unit 32 (step S21). Thus, when the output device 200 displays the target image in the operation area, the subject person EP performs an operation of moving the body part related to the detection target part to the display position. For example, when a foot-shaped target image is displayed, the subject EP moves the foot to the position where the foot shape is displayed. For example, when the target image of the target is displayed on the table, the target person EP moves the hand to the position where the target image is displayed and touches the table.
The sensor 100 continues to detect the motion of the subject EP and outputs it to the rehabilitation support control device 300. In the rehabilitation support control apparatus 300, the input unit 31 acquires detection result information (step S22), and outputs the detection result information to the control unit 34.

  In the control unit 34, the recognition unit 341 acquires detection result information. When the recognition unit 341 acquires the detection result information, the recognition unit 341 selects data of the detection target part from the information. For example, when Kinect (registered trademark) is used, the recognition unit 341 acquires position information about a plurality of parts of the subject person EP as detection result information. The recognition unit 341 selects position information of the detection target part determined by the motion region determination unit 343 from the recognition unit 341. For example, when the detection target part determined by the motion region determination unit 343 is a foot (the motion region is a floor), the recognition unit 341 selects position information of the foot (for example, ankle) from the detection result information. Further, for example, when the detection target part determined by the motion region determination unit 343 is a hand (motion region is a table), the recognition unit 341 selects position information of the hand (for example, the back of the hand) from the detection result information. The recognition unit 341 outputs the selected detection target part and its position information to the recording unit 344. The recording unit 344 records the detection result information of the detection target part in the detection history information storage unit 333 (step S23). As described above, the recognition unit 341 can detect which data among the data included in the detection result information is related to the motion region even if the detection result information includes the whole body data related to the motion of the subject EP. Recognize whether it is part data and select that data. Then, the recording unit 344 records only the detection result information (position information) of the selected detection target part.

Next, the display control unit 342 generates a history image and outputs it to the output unit 32. The output device 200 displays the history image in the output area 900 according to the instruction of the output unit 32 (step S24).
Next, the control unit 34 determines whether or not to end the detection process (step S25). For example, when a physical therapist or the like inputs rehabilitation end instruction information, the control unit 34 acquires the information via the operation unit 35 and determines to end the detection process. Also, when the subject EP has gone out of the detection range 800, when the hand of the subject EP has gone out of the detection range 800, or when a preset rehabilitation time has elapsed In addition, the control unit 34 determines to end the detection process.
When it determines with not complete | finishing (step S25; No), the process from step S21 is repeated.
When it determines with complete | finishing (step S25; Yes), the control part 34 complete | finishes the production | generation process of a target image, and the process which records the data of a detection target part. Note that the display control unit 342 determines the operation result (for example, the detection target part) of the subject EP in the current rehabilitation from the data (detection target information) of the detection target part of the subject EP recorded in the detection history information storage unit 333. An image that displays the trajectory of the movement) may be generated, and the output device 200 may display this image.

Next, processing for setting parameters during rehabilitation will be described with reference to FIG.
FIG. 14 is a flowchart illustrating an example of parameter setting in rehabilitation using the rehabilitation support system 1.
First, before the rehabilitation is performed, a physical therapist or the like sets parameters (such as foot display parameters) for the subject EP (step S30). Specifically, a physical therapist or the like inputs various parameters to the rehabilitation support control device 300 with reference to a display screen (display unit 36) provided in the rehabilitation support control device 300. Next, a physical therapist etc. inputs preparation start instruction information to the rehabilitation support control apparatus 300, and implements rehabilitation (step S31). As described above, the motion region determination unit 343 of the rehabilitation support control device 300 determines the motion region and sets the detection target part. When the operation area is the floor FL, the foot display parameter setting unit 347 sets the foot display parameter input in step S30. Also, the disturbance display parameter setting unit 349 sets the foot disturbance display parameter input in step S30. On the other hand, when the operation area is the table T, the hand display parameter setting unit 348 sets the hand display parameter input in step S30, and the disturbance display parameter setting unit 349 sets the hand display parameter input in step S30. Set the disturbance display parameters. When the parameter setting by the foot display parameter setting unit 347 and the like is completed, the display control unit 342 generates a target image or the like according to the operation area, and the output device 200 displays these images. The subject person EP performs rehabilitation based on the displayed target image. When a series of predetermined rehabilitation programs are completed, the display control unit 342 generates an image including the rehabilitation result, and the output device 200 displays the rehabilitation result (step S32). The rehabilitation result is, for example, the actual value of the evaluation result through the rehabilitation program by the evaluation unit 346. The rehabilitation result may be displayed, for example, as a ratio of the number of times that the evaluation unit 346 evaluates that the target position has been reached with respect to the total display number of target images.

  Next, a physical therapist determines whether to continue rehabilitation. For example, a physical therapist or the like may determine whether or not to continue the rehabilitation based on whether or not the rehabilitation is performed for a predetermined time. Alternatively, the physical therapist or the like may determine whether or not to continue the rehabilitation based on the degree of fatigue of the subject EP and the achievement level indicated by the rehabilitation result. When it is determined that the rehabilitation is not continued (step S33; No), the flowchart is ended.

When it is determined that the rehabilitation is continued (step S33; Yes), the physical therapist determines whether it is necessary to review the parameter setting (step S34). For example, when the rehabilitation result of the subject person EP exceeds the expectation, the physical therapist determines that it is necessary to review the parameter setting so as to require a more difficult operation. Or, if the subject's EP's movement of the hand or foot is as expected and it seems that it is better to train the movement of the hand or foot of the same difficulty again, the physical therapist, Judge that the parameter settings need not be reviewed. When it is determined that the parameter setting needs not be reviewed (step S34; No), the physical therapist or the like inputs start instruction information to the rehabilitation support control device 300, and repeats the processing from step S31. In addition, when performing rehabilitation in the same motion region for the same subject EP, the motion region determination processing by the motion region determination unit 343 may be omitted.
When it is determined that the parameter setting needs to be reviewed (step S34; Yes), the physical therapist examines a new parameter (step S35). For example, when the rehabilitation result this time is good, the physical therapist examines parameters that require a more difficult movement. Alternatively, if the current rehabilitation result is not good, a physical therapist or the like examines a parameter that requires an operation with low difficulty. When the parameters are examined, the physical therapist or the like sets the new parameters (step S30) and repeats the processing from step S31. According to the rehabilitation support system 1 of the present embodiment, the parameters can be arbitrarily set, so that the subject EP can perform rehabilitation according to physical condition and ability. In the above description, the parameter input / setting is executed with reference to the display screen (display unit 36) provided in the rehabilitation support control device 300, but the parameter setting screen output from the output device 200 is referred to. Various parameters may be input and set on a setting screen displayed on the floor or table.

  According to the present embodiment, one record of the motion information (detection target information of the present embodiment) of the subject person EP in the rehabilitation on the floor FL performed by the physical therapist and the rehabilitation on the table T performed by the occupational therapist The rehabilitation support system 1 can be used. For example, even if the place where the rehabilitation for walking motion is performed and the table T for performing the rehabilitation of hand movement exist at different positions, the rehabilitation support system 1 is moved to detect the motion of the subject EP at each position. The operation information can be recorded. In addition, when rehabilitation of hand movement is performed by installing a table T at a place where rehabilitation of walking motion is performed, rehabilitation of walking motion can be performed only by causing the motion region determination unit 343 to determine the motion region before rehabilitation. And a mode for detecting rehabilitation of hand movement can be switched. Therefore, it is not necessary to introduce a rehabilitation support control device for each type of rehabilitation. In addition, when a plurality of rehabilitation support control devices are introduced, the data structure of the data related to the subject person EP output by each device is generally different. If the data structure is different, for example, when analyzing the rehabilitation history of a certain subject EP, handling of the data becomes complicated and difficult. In the present embodiment, data to be recorded regarding the subject person EP is position information of one part of both hands or both feet, and can be recorded and processed with a common data structure. Therefore, it is possible to share the analysis processing of recorded data and the like, and the handling of data becomes easy. In addition, no matter what action the subject person EP performs, the recognition process and the recording process are limited to the pair of left and right data of the part related to the action intended for rehabilitation, so the process can be speeded up and simplified. Can do. Further, in general motion capture, there is a problem that the subject EP needs to wear a marker in order to detect the motion of the subject EP, which is troublesome. However, the rehabilitation support system 1 according to the present embodiment may be used. In this case, the subject person EP does not need to wear a marker and can easily detect the action of the subject person EP.

  The rehabilitation support control device 300 is a device that makes it possible to change the foot display parameters as the foot function is restored. In addition, the rehabilitation support control device 300 is a device that makes it possible to change hand display parameters as the hand function is restored. Specifically, a foot display parameter suitable for the state of the subject EP is set as the foot function of the subject EP is restored, and display by the display control unit 342 using the set foot display parameter is performed. Done. Further, with the recovery of the hand function of the subject person EP, hand display parameters suitable for the state of the subject person EP are set, and display is performed by the display control unit 342 using the set hand display parameters. Hereinafter, these settings and display will be described in detail.

(Details of foot display parameter setting and hand display parameter setting)
The foot display parameter setting unit 347 includes a foot distance parameter setting unit, a foot time parameter setting unit, a foot vector parameter setting unit, a foot position parameter setting unit, a foot movement number parameter setting unit, and a foot timing parameter setting. And a foot speed parameter setting unit.

  The foot distance parameter setting unit sets a foot distance parameter. The foot distance parameter is one of the foot display parameters related to the movement distance of the foot of the subject EP.

  The foot time parameter setting unit sets a foot time parameter. The foot time parameter is one of the foot display parameters related to the movement time of the foot of the subject EP.

  The foot vector parameter setting unit sets foot vector parameters. The foot vector parameter is one of the foot display parameters related to the moving direction of the foot of the subject EP.

  The foot position parameter setting unit sets foot position parameters. The foot position parameter is one of the foot display parameters related to the movement position of the foot of the subject EP.

  The foot movement number parameter setting unit sets a foot movement number parameter. The foot movement number parameter is one of the foot display parameters related to the number of foot movements of the subject EP.

  The foot timing parameter setting unit sets foot timing parameters. The foot timing parameter is one of the foot display parameters related to the movement timing of the foot of the subject EP. The foot timing parameter is a parameter set along the time axis similarly to the foot time parameter.

  The foot speed parameter setting unit sets a foot speed parameter. The foot speed parameter is one of the foot display parameters related to the moving speed of the foot of the subject EP. The foot speed parameter is a parameter that is set by calculating the moving speed by combining the foot time parameter and the foot distance parameter and dividing the distance by time.

  The hand display parameter setting unit 348 sets hand display parameters in rehabilitation for moving a hand. The hand display parameter is a parameter used for displaying the target image when the subject EP moves his / her hand.

  The manual display parameter setting unit 348 includes a manual distance parameter setting unit, a manual vector parameter setting unit, a manual time parameter setting unit, a manual timing parameter setting unit, a manual position parameter setting unit, and a manual movement number parameter setting. And a manual speed parameter setting unit.

  The hand position parameter setting unit sets hand position parameters. The hand position parameter is one of hand display parameters related to the hand movement position of the subject EP.

  The manual time parameter setting unit sets a manual time parameter. The hand time parameter is one of hand display parameters related to the movement time of the hand of the subject EP.

  The hand vector parameter setting unit sets hand vector parameters. The hand vector parameter is one of hand display parameters related to the moving direction of the hand of the subject EP.

  The manual distance parameter setting unit sets a manual distance parameter. The hand distance parameter is one of hand display parameters related to the hand movement distance of the subject EP.

  The manual movement number parameter setting unit sets a manual movement number parameter. The hand movement number parameter is one of the hand display parameters related to the number of hand movements of the subject EP.

  The manual timing parameter setting unit sets a manual timing parameter. The hand timing parameter is one of hand display parameters related to the hand movement timing of the subject EP. The manual timing parameter is a parameter set along the time axis in the same manner as the manual time parameter.

  The manual speed parameter setting unit sets a manual speed parameter. The hand speed parameter is one of the foot display parameters related to the moving speed of the hand of the subject EP. The manual speed parameter is a parameter that is set by calculating the moving speed by combining the manual time parameter and the manual distance parameter and dividing the distance by time.

(Display by display control unit using foot display parameters)
(When moving your foot to the target image)
The foot display parameter setting unit 347 is configured to display a foot display parameter according to information input from the operation unit 35 when the target image is rehabilitation to be a foot movement target when the subject EP moves the foot. Set.
For example, as shown in FIG. 5, the target image is a rehabilitation that becomes a movement target of the foot when the subject EP moves the foot. For example, the display control unit 342 moves the foot when the subject EP moves the foot. A target image in the shape of a foot, which is a target for moving the foot, is projected, and the subject EP is a rehabilitation for moving the foot to the position of the target image.

Specifically, the foot distance parameter setting unit of the foot display parameter setting unit 347 sets the foot distance parameter.
More specifically, the foot distance parameter setting unit designates a foot distance parameter (step value shown in FIG. 10) used for determining the stride indicated by the target image, and designates the designated foot distance parameter. Is written in the parameter information storage unit 334.
Thereby, the display control part 342 can display the target image which shows the stride in rehabilitation on the output device 200 using the foot distance parameter.
More specifically, the foot distance parameter setting unit designates and designates a foot distance parameter (step shown in FIG. 10) used to determine the left and right foot stances indicated by the target image. The foot distance parameter is written in the parameter information storage unit 334.
Accordingly, the display control unit 342 can display the target image indicating the left and right foot stances in the rehabilitation on the output device 200 using the foot distance parameter.
More specifically, the foot distance parameter setting unit designates a foot distance parameter used to determine a range of distance in which the target image is displayed, and stores the designated foot distance parameter as parameter information. Part 334.
Accordingly, the display control unit 342 can display the target image on the output device 200 within the range of the distance set in the rehabilitation using the foot distance parameter.

  The display control unit 342 causes the output device 200 to display the target image in the rehabilitation using the foot distance parameter as described above, so that the support base surface becomes narrower as the foot stance becomes narrower, and the rehabilitation difficulty becomes higher. Moreover, even if the movement distance of the foot is too long, it becomes unstable and the difficulty of rehabilitation increases. By changing the difficulty level in this way, the target person can receive rehabilitation suitable for his / her difficulty level.

Specifically, the foot time parameter setting unit of the foot display parameter setting unit 347 sets the foot time parameter.
More specifically, the foot time parameter setting unit determines to stop displaying the target image when the foot of the subject EP is not moved to the position of the target image within a predetermined time after the target image is displayed. The foot time parameter indicating the predetermined time used for the purpose is designated and written in the parameter information storage unit 334.
Accordingly, the display control unit 342 can display the target image on the output device 200 during the display time of the target image in the rehabilitation using the foot time parameter.
More specifically, the foot time parameter setting unit designates a foot time parameter indicating the total time during which the target image is displayed and rehabilitation is performed, and is written in the parameter information storage unit 334.
Accordingly, the display control unit 342 can display the target image on the output device 200 during the total time of rehabilitation using the foot time parameter.
More specifically, the foot time parameter setting unit designates a foot display parameter indicating a time from when the currently displayed target image is displayed until the next timing when the next target image is displayed. To the parameter information storage unit 334.
Accordingly, the display control unit 342 can cause the output device 200 to display the next target image at the next display timing in the rehabilitation using the foot time parameter.

  The display control unit 342 causes the output device 200 to display the target image in the rehabilitation using the foot time parameter as described above, so that the subject EP having a disease such as “shrinking foot” cannot be put out well. You can inform the time interval, timing, etc. Therefore, the subject person EP can learn the time interval and the timing that are easy to put out in the rehabilitation.

Specifically, the foot vector parameter setting unit of the foot display parameter setting unit 347 sets the foot vector parameter.
More specifically, the foot vector parameter setting unit is used to determine the display direction of the next target image to be displayed at the next timing with reference to the currently displayed target image. Is written to the parameter information storage unit 334.
Accordingly, the display control unit 342 can display a target image indicating whether the foot is moved linearly or curvedly in the rehabilitation on the output device 200 using the foot vector parameter.
More specifically, the foot vector parameter setting unit is used to determine a direction from the right foot heel to the toe indicated by the target image and a direction from the left foot heel to the toe. A parameter is designated and written to the parameter information storage unit 334.
Accordingly, the display control unit 342 can cause the output device 200 to display a target image indicating whether the left and right feet of the target image in the rehabilitation have the same orientation or different orientations using the foot vector parameter. it can.

The display control unit 342 uses the foot vector parameters as described above to display the target image in the rehabilitation on the output device 200, thereby giving an instruction to move the foot linearly to the subject EP that fluctuates left and right. it can. Therefore, the subject EP can perform rehabilitation that moves more clearly and linearly.
In addition, the display control unit 342 displays the target image in the rehabilitation on the output device 200 using the foot vector parameters as described above, so that the subject EP that can perform a linear movement is now moved in a curved line. Rehabilitation with a higher degree of difficulty can be performed. Therefore, the subject EP can perform rehabilitation that is close to the movement of the feet in daily life.

Specifically, the foot position parameter setting unit of the foot display parameter setting unit 347 may set the foot position parameter.
More specifically, the foot position parameter setting unit designates a foot position parameter used to determine an area in which the target image is displayed and writes the foot position parameter in the parameter information storage unit 334.
Accordingly, the display control unit 342 can cause the output device 200 to display the target image in which the area displayed in the rehabilitation is limited using the foot position parameter.

  The display control unit 342 causes the output device 200 to display the target image in the rehabilitation using the foot position parameter as described above, so that correct parameter setting is possible even if the therapist (therapist or therapist) changes. .

Specifically, the foot timing parameter setting unit of the foot display parameter setting unit 347 may set the foot timing parameter.
More specifically, the foot timing parameter setting unit specifies foot timing parameters used to determine the timing at which a target image indicating a continuous right foot movement target or a continuous left foot movement target is displayed. To the parameter information storage unit 334.
Thereby, the display control unit 342 uses the foot timing parameter to display the target image at the same time on the left and right, alternately on the left and right, or display the right or left continuously in rehabilitation, Furthermore, it is possible to display on the output device 200 either by displaying the side step that moves in the lateral direction at the position to guide or by displaying the cross step that moves by crossing the legs at the position to guide. it can.

The display control unit 342 causes the output device 200 to display the target image in the rehabilitation using the foot movement number parameter as described above, thereby performing rehabilitation within a safe number of times for the subject EP who does not have endurance. Can do.
In addition, the display control unit 342 displays the target image in the rehabilitation on the output device 200 using the foot movement number parameter as described above, thereby assuming a specific home such as 10 steps to the toilet assuming daily life. Rehabilitation assuming return is possible.

Specifically, the foot timing parameter setting unit of the foot display parameter setting unit 347 may set the foot timing parameter.
More specifically, the foot timing parameter setting unit specifies foot timing parameters used to determine the timing at which a target image indicating a continuous right foot movement target or a continuous left foot movement target is displayed. To the parameter information storage unit 334.
Thereby, the display control unit 342 uses the foot timing parameter to determine whether the target image is displayed on the left and right simultaneously, alternately on the left and right, or displayed on the right or left continuously in the rehabilitation. Either can be displayed on the output device 200.

  As described above, the display control unit 342 causes the output device 200 to display the target image in the rehabilitation using the foot timing parameter, so that not only the left and right feet are moved alternately, but the right foot or the left foot is continuously moved multiple times. Rehabilitation to move. Therefore, the subject person EP can move the foot as preventive rehabilitation so that the movement of the foot does not become difficult.

Specifically, the foot speed parameter setting unit of the foot display parameter setting unit 347 may set a foot speed parameter.
More specifically, the foot speed parameter setting unit is used to determine the rate of change in which the target image indicating the moving target of the right foot or the moving target of the left foot is displayed and the display position of the target image changes per unit time. The foot speed parameter to be specified is designated and written to the parameter information storage unit 334.
For example, by specifying a foot speed parameter, a combination is randomly selected from a plurality of combinations of distance and time satisfying the specified foot moving speed, and the selected distance and the foot speed parameter are selected. A foot distance parameter and a foot time parameter corresponding to each of the times are written in the parameter information storage unit 334.
Accordingly, the display control unit 342 can display the target image on the output device 200 using the foot speed parameter in the same manner as in the case of using the foot distance parameter or the foot time parameter in the rehabilitation.

(When moving the foot to a position where it does not touch the target image)
In addition, for example, the foot display parameter setting unit 347 determines whether or not the target image performs rehabilitation that is an avoidance target when the target person EP moves his / her foot according to information input from the operation unit 35. Set display parameters.
For example, as shown in FIG. 11, the target image is a rehabilitation that is an avoidance target when the subject person EP moves his / her foot. In this rehabilitation, a target image in the shape of an automobile that is an avoidance target is displayed, and the subject EP avoids the target image.

  Through this rehabilitation, the subject person EP can safely perform exercises such as avoidance when a car arrives in daily life. This rehabilitation is made possible by the display control unit 342 displaying an image having contents that have not been displayed in the past rehabilitation.

Specifically, the foot distance parameter setting unit of the foot display parameter setting unit 347 sets the foot distance parameter.
More specifically, the foot distance parameter setting unit designates and designates a foot distance parameter used to determine the distance from the currently displayed target image to the target image displayed at the next timing. The foot distance parameter is written in the parameter information storage unit 334.
Accordingly, the display control unit 342 can display the same target image on the output device 200 at the distance set for each timing in the rehabilitation using the foot distance parameter.
More specifically, the foot distance parameter setting unit is used for determining a distance from the currently displayed target image to a target image different from the target image displayed at the next timing. A parameter is designated, and the designated foot distance parameter is written in the parameter information storage unit 334.
More specifically, the foot distance parameter setting unit designates a foot distance parameter used to determine a range of distance in which the target image is displayed, and stores the designated foot distance parameter as parameter information. Part 334.
Accordingly, the display control unit 342 can display the target image on the output device 200 within the range of the distance set in the rehabilitation using the foot distance parameter.
As a result, the display control unit 342 can cause the output device 200 to display different target images at the distances set for each timing in the rehabilitation using the foot distance parameter.

The display control unit 342 causes the output device 200 to display the target image in the rehabilitation using the foot distance parameter as described above, whereby an appropriate parameter corresponding to the physical ability for each subject EP can be set.
Further, the display control unit 342 causes the output device 200 to display the target image in the rehabilitation using the foot distance parameter as described above, so that even the same target person EP sets farther than the previous time. Rehabilitation for the purpose of challenge can be performed by increasing the difficulty level.

Specifically, the foot time parameter setting unit of the foot display parameter setting unit 347 sets the foot time parameter.
More specifically, the foot time parameter setting unit designates a foot time parameter indicating the time until the currently displayed target image is displayed at a position different from the current image, and writes the foot time parameter in the parameter information storage unit 334. .
Accordingly, the display control unit 342 can display the target image on the output device 200 during the rehabilitation using the foot time parameter with the set movement and stop times.
More specifically, the foot time parameter setting unit designates a foot time parameter indicating the total time during which the target image is displayed and rehabilitation is performed, and is written in the parameter information storage unit 334.
Accordingly, the display control unit 342 can display the target image on the output device 200 during the total time of rehabilitation using the foot time parameter.
More specifically, the foot time parameter setting unit designates a foot time parameter indicating a time from when the currently displayed target image is displayed until a new target image is displayed. To the parameter information storage unit 334.
Accordingly, the display control unit 342 can cause the output device 200 to display a new target image at an elapsed time after avoiding the target image set in the rehabilitation using the foot time parameter.

  The display control unit 342 causes the output device 200 to display the target image in the rehabilitation using the foot time parameter as described above, thereby displaying a large time difference. For example, when the subject EP walks, the next target is obtained. Rehabilitation such as seeking to stop or stopping in the air is possible. Therefore, the target person EP can practice not to move at his own timing, and can receive rehabilitation useful for quick action practice.

Specifically, the foot vector parameter setting unit of the foot display parameter setting unit 347 sets the foot vector parameter.
More specifically, the foot vector parameter setting unit specifies a foot vector parameter used to determine the display direction of the target image displayed at the next timing based on the currently displayed target image. The designated foot vector parameter is written into the parameter information storage unit 334.
Thereby, the display control part 342 can display the target image which shows the direction which moves in rehabilitation on the output device 200 using the foot vector parameter.

  As described above, the display control unit 342 uses the foot vector parameters to display the target image in the rehabilitation on the output device 200, so that it is possible to set an operation direction to be concentrated on the subject person EP. Therefore, the subject person EP can receive high-quality rehabilitation.

Specifically, the foot position parameter setting unit of the foot display parameter setting unit 347 may set the foot position parameter.
More specifically, the foot position parameter setting unit designates a foot position parameter used to determine an area in which the target image is displayed and writes the foot position parameter in the parameter information storage unit 334.
Accordingly, the display control unit 342 can display the target image on the output device 200 by using the foot position parameter while limiting to the area set in the rehabilitation.

  The display control unit 342 causes the output device 200 to display the target image in the rehabilitation using the foot position parameter as described above, thereby narrowing the range in which the subject EP can move. Therefore, the physical ability can be appropriately extracted by appropriately setting the movable range of the subject person EP to be greater than or equal to the current maximum range of the subject person EP by rehabilitation.

Specifically, the foot movement number parameter setting unit of the foot display parameter setting unit 347 may set a foot movement number parameter.
More specifically, the foot movement number parameter setting unit designates a foot position parameter used to determine the number of times target images having different determination contents are displayed, and writes the foot position parameter to the parameter information storage unit 334.
Thereby, the display control part 342 can display the target image from which the determination content differs in rehabilitation on the set output device 200 using the foot position parameter.

Specifically, the foot timing parameter setting unit of the foot display parameter setting unit 347 may set the foot timing parameter.
More specifically, the foot timing parameter setting unit designates a foot timing parameter used to determine the timing at which different target images indicating different movement directions are displayed, and writes the foot timing parameter in the parameter information storage unit 334.
Accordingly, the display control unit 342 causes the output device 200 to display different target images indicating different movement directions in the rehabilitation by changing the ratio (frequency) of display for each movement direction using the foot timing parameter. Can do.

  The display control unit 342 displays the target image in the rehabilitation on the output device 200 using the foot timing parameter as described above, thereby allowing the subject EP to intentionally perform different foot movements. Therefore, subject EP can practice the movement of a foot different from the walk which moves a foot alternately by right and left by rehabilitation.

Specifically, the foot speed parameter setting unit of the foot display parameter setting unit 347 may set a foot speed parameter.
More specifically, the foot speed parameter setting unit determines the rate of change for changing the display position of the target image per unit time when displaying the target image indicating the movement target of the right foot or the movement target of the left foot. The foot speed parameter used for this purpose is designated and written in the parameter information storage unit 334.
For example, by specifying a foot speed parameter, a combination is randomly selected from a plurality of combinations of distance and time satisfying the specified foot moving speed, and the selected distance and the foot speed parameter are selected. A foot distance parameter and a foot time parameter corresponding to each of the times are written in the parameter information storage unit 334.
Accordingly, the display control unit 342 can display the target image on the output device 200 using the foot speed parameter, similarly to the case where the foot distance parameter or the foot time parameter is used in the rehabilitation.

(Display by display controller using manual display parameters)
(When moving your hand to the target image)
The hand display parameter setting unit 348 sets the hand display parameter according to the information input from the operation unit 35 when the target image is a rehabilitation that is a movement target of the hand when the subject EP moves the hand. Set.
The rehabilitation in which the target image is a movement target of the hand when the subject EP moves the hand is, for example, as shown in FIG. 8, the display control unit 342 moves the hand when the subject EP moves the hand. This is a rehabilitation in which a target image in the shape of an apple serving as a moving target is projected and the subject EP moves his hand to the position of the target image.

  In the past rehabilitation, the movement target of the hand was unclear, and there were many monotonous movements. However, in the rehabilitation performed by the rehabilitation support control device 300, the hand movement target becomes clear. Therefore, the target person EP can move the hand actively (actively).

Specifically, the hand position parameter setting unit of the hand display parameter setting unit 348 sets the hand position parameter.
More specifically, the hand position parameter setting unit specifies a hand position parameter used to determine an area in which the target image is displayed, and writes the specified parameter in the parameter information storage unit 334.
Thereby, the display control unit 342 can display the target image on the output device 200 by using the hand position parameter only in the area set in the rehabilitation.

  The display control unit 342 causes the output device 200 to display the target image in the rehabilitation using the hand position parameter as described above, so that the rehabilitation can be repeatedly performed only in a region where it is difficult to move the hand. . Therefore, the target person EP can receive rehabilitation of hand movement with high effect.

Specifically, the manual time parameter setting unit of the manual display parameter setting unit 348 sets the manual time parameter.
More specifically, the manual time parameter setting unit determines to stop displaying the target image when the hand of the subject EP is not moved to the position of the target image within a predetermined time after the target image is displayed. A manual time parameter indicating a predetermined time used in the above is designated, and the designated parameter is written in the parameter information storage unit 334.
Accordingly, the display control unit 342 can display the target image on the output device 200 for the display time set in the rehabilitation using the manual time parameter.
More specifically, the manual time parameter setting unit specifies a manual time parameter indicating the total time during which the target image is displayed and rehabilitation is performed, and the specified parameter is written in the parameter information storage unit 334.
Thereby, the display control part 342 can display a target image on the output device 200 during the total time of rehabilitation using a manual time parameter.
More specifically, the manual time parameter setting unit specifies a manual display parameter indicating a time from when the currently displayed target image is displayed until the next timing when the target image is displayed, The designated parameter is written in the parameter information storage unit 334.
Accordingly, the display control unit 342 can display the target image on the output device 200 at the next display timing set in the rehabilitation using the manual time parameter.

  The display control unit 342 displays the target image in the rehabilitation on the output device 200 using the manual distance parameter as described above, thereby making the subject EP aware of the time limit and maximizing the ability of the subject EP. It becomes possible.

Specifically, the hand vector parameter setting unit of the hand display parameter setting unit 348 sets the hand vector parameter.
More specifically, the hand vector parameter setting unit is a hand vector parameter used to determine the display direction of the next target image displayed at the next timing with reference to the currently displayed target image. And the specified parameter is written into the parameter information storage unit 334.
As a result, the display control unit 342 causes the output device 200 to display the target image using either the hand front-rear direction or the hand left-right direction during rehabilitation using the hand vector parameter. be able to.
More specifically, the hand vector parameter setting unit specifies a hand vector parameter used to determine the direction toward the right hand and the direction toward the left hand indicated by the target image, and specifies the specified parameter. Is written in the parameter information storage unit 334.
As a result, the display control unit 342 displays the target image on the output device 200 by using the hand vector parameter in accordance with whether the movement direction of the left and right hands of the target image in the rehabilitation is the same or different. Can be made.

  The display control unit 342 causes the output device 200 to display the target image in the rehabilitation using the hand vector parameters as described above, so that the direction in which the subject EP is not good can be intensively rehabilitated. Although the direction in which the hand is moved differs depending on the subject EP, this makes it possible to perform intensive rehabilitation, and the subject EP can receive high-quality treatment.

Specifically, the hand distance parameter setting unit of the hand display parameter setting unit 348 may set a hand distance parameter.
More specifically, the hand distance parameter setting unit designates a hand distance parameter used to determine the distance interval at which the target image is displayed, and writes the designated parameter in the parameter information storage unit 334.
Accordingly, the display control unit 342 can display the same target image on the output device 200 at the distance set in the rehabilitation using the manual distance parameter. Thereby, the display control unit 342 can cause the output device 200 to display different target images at the distance set in the rehabilitation using the manual distance parameter.
More specifically, the hand distance parameter setting unit designates a hand distance parameter used to determine a range of distance in which the target image is displayed, and stores the designated hand distance parameter in parameter information. Part 334.
Accordingly, the display control unit 342 can display the target image on the output device 200 within the distance range set in the rehabilitation using the manual distance parameter.

  The display control unit 342 causes the output device 200 to display the target image in the rehabilitation using the hand distance parameter as described above, thereby changing the distance of the hand that the subject EP extends in the rehabilitation. The distance of the hand that can be extended differs depending on the subject EP, and the distance of the hand that can be extended becomes longer by repeating the rehabilitation even for the same subject EP. Since “target setting” in rehabilitation is to approach a place that does not reach a little, it is useful to be able to change the distance of the hand that is extended in rehabilitation.

Specifically, the manual movement number parameter setting unit of the manual display parameter setting unit 348 may set the manual movement number parameter.
More specifically, the manual movement number parameter setting unit designates a manual movement number parameter used to determine the number of times target images having different determination contents are displayed, and the designated parameter is a parameter information storage unit. Write to 334.
Accordingly, the display control unit 342 can display the target image having different determination contents in the rehabilitation on the output device 200 using the manual movement number parameter.

  The display control unit 342 causes the output device 200 to display the target image in the rehabilitation using the manual movement number parameter as described above, so that the target EP having no endurance and the target EP having the motion limitation are also limited in number of times. Can be given. Therefore, the subject person EP can receive rehabilitation safely. Further, it is possible to perform more complicated rehabilitation such as causing the subject person EP to count and memorize the number of movements.

Specifically, the manual timing parameter setting unit of the manual display parameter setting unit 348 may set the manual timing parameter.
More specifically, the hand timing parameter setting unit specifies a hand timing parameter used to determine the timing at which a target image indicating a continuous right hand movement target or a continuous left hand movement target is displayed. The designated parameter is written in the parameter information storage unit 334.
As a result, the display control unit 342 displays the target image on the output device 200 by using the manual timing parameter to display the left and right alternately in the rehabilitation, or to display the right or left continuously. Can be made.

  The display control unit 342 uses the hand distance parameter as described above to display the target image in the rehabilitation on the output device 200, thereby performing rehabilitation with a high degree of multitasking difficulty such as moving the hand alternately left and right. Can do. Target EPs can select the difficulty level that suits their level and perform rehabilitation, and can select various levels of difficulty such as left and right alternates. Even so, it is possible to prevent the pattern from being stored.

Specifically, the manual speed parameter setting unit of the manual display parameter setting unit 348 may set the manual speed parameter.
More specifically, the manual speed parameter setting unit determines a change rate for changing the display position of the target image per unit time when displaying the target image indicating the movement target of the right hand or the movement target of the left hand. The hand speed parameter used in the above is designated and written in the parameter information storage unit 334.
For example, by specifying the hand speed parameter, a combination is randomly selected from a plurality of combinations of distance and time that satisfy the specified hand movement speed, and the selected distance and the hand speed parameter are selected. The manual distance parameter and the manual time parameter corresponding to each time are written in the parameter information storage unit 334.
Accordingly, the display control unit 342 can display the target image on the output device 200 using the manual speed parameter, similarly to the case where the manual distance parameter or the manual time parameter is used in rehabilitation.

(When moving the hand to a position that does not touch the target image)
Further, for example, the hand display parameter setting unit 348 determines whether the target image is a hand according to information input from the operation unit 35 when performing rehabilitation that is an avoidance target when the target person EP moves the hand. Set display parameters.
For example, as shown in FIG. 15, the rehabilitation whose target image is an avoidance target when the target person EP moves his / her hand is a flame that becomes an avoidance target when the target person EP moves his / her hand. This is a rehabilitation in which a target image having the shape is projected and the target person EP avoids the target image.

  By this rehabilitation, the subject person EP can safely practice such as avoiding hands from fire in daily life. This rehabilitation can be performed in a safe state even for a subject EP whose cognitive function is reduced and “fire” cannot be recognized as dangerous.

Specifically, the hand position parameter setting unit of the hand display parameter setting unit 348 sets the hand position parameter.
More specifically, the hand position parameter setting unit specifies a hand position parameter used to determine an area in which the target image is displayed, and writes the specified parameter in the parameter information storage unit 334.
Thereby, the display control unit 342 can display the target image limited to the area set in the rehabilitation on the output device 200 using the hand position parameter.

The display control unit 342 causes the output device 200 to display the target image in the rehabilitation using the hand position parameter as described above. Rehabilitation can be performed with limited.
In addition, the display control unit 342 causes the output device 200 to display the target image in the rehabilitation using the hand position parameter as described above, so that the target EP that has a limited reach due to hemiplegia is limited. As a challenge, you can also practice putting your hands out of reach.

Specifically, the manual time parameter setting unit of the manual display parameter setting unit 348 sets the manual time parameter.
More specifically, the manual time parameter setting unit specifies the manual time parameter indicating a time until the currently displayed target image is displayed at a position different from the current position, and the specified parameter is set as the parameter. Write to the information storage unit 334.
Thereby, the display control part 342 can display the target image which shows the movement and stop time set in rehabilitation on the output device 200 using a manual time parameter.
More specifically, the manual time parameter setting unit specifies a manual time parameter indicating the total time during which the target image is displayed and rehabilitation is performed, and the specified parameter is written in the parameter information storage unit 334.
Thereby, the display control part 342 can display a target image on the output device 200 during the total time of rehabilitation using a manual time parameter.
More specifically, the manual time parameter setting unit designates a manual time parameter indicating a time from when the currently displayed target image is displayed until the next timing when the target image is displayed, The designated parameter is written in the parameter information storage unit 334.
Accordingly, the display control unit 342 can cause the output device 200 to display a new target image when a set time has elapsed after avoiding the target image in the rehabilitation using the manual time parameter.

  The display control unit 342 displays the target image in the rehabilitation on the output device 200 using the manual time parameter as described above, so that the hand of the subject EP can be changed like moving and stopping. Therefore, it is possible to practice hand movements of various combinations, and the subject EP can receive rehabilitation of various contents.

Specifically, the hand vector parameter setting unit of the hand display parameter setting unit 348 sets the hand vector parameter.
More specifically, the hand vector parameter setting unit specifies a hand vector parameter used to determine the display direction of the target image displayed at the next timing with reference to the currently displayed target image. Then, the designated parameter is written into the parameter information storage unit 334.
Accordingly, the display control unit 342 causes the output device 200 to display a target image that is displayed in the front-rear direction of the hand or the left-right direction of the hand in the rehabilitation using the hand vector parameter. be able to.

  The display control unit 342 causes the output device 200 to display the target image in the rehabilitation using the hand vector parameters as described above, so that it is possible to practice in the direction to be concentrated. Therefore, the subject EP can receive effective rehabilitation.

Specifically, the hand distance parameter setting unit of the hand display parameter setting unit 348 may set a hand distance parameter.
More specifically, the hand distance parameter setting unit designates a hand distance parameter used to determine the distance interval at which the target image is displayed, and writes the designated parameter in the parameter information storage unit 334.
Accordingly, the display control unit 342 can display the same target image on the output device 200 at the distance set in the rehabilitation using the manual distance parameter. Accordingly, the display control unit 342 can cause the output device 200 to display different target images at the distance set in the rehabilitation using the manual distance parameter.
More specifically, the hand distance parameter setting unit designates a hand distance parameter used to determine a range of distance in which the target image is displayed, and stores the designated hand distance parameter in parameter information. Part 334.
Accordingly, the display control unit 342 can display the target image on the output device 200 within the distance range set in the rehabilitation using the manual distance parameter.

Specifically, the manual movement number parameter setting unit of the manual display parameter setting unit 348 may set the manual movement number parameter.
More specifically, the manual movement number parameter setting unit designates a manual movement number parameter used to determine the number of times target images having different determination contents are displayed, and the designated parameter is a parameter information storage unit. Write to 334.
Thereby, the display control part 342 can display the target image in which the determination contents differ in the rehabilitation on the set number of times output device 200 using the manual movement number parameter.

  The display control unit 342 causes the output device 200 to display the target image in the rehabilitation using the manual movement number parameter as described above, so that the target EP having no endurance and the target EP having the motion limitation are also limited in number of times. Can be given. Therefore, the subject person EP can receive rehabilitation safely. Further, it is possible to perform more complicated rehabilitation such as causing the subject person EP to count and memorize the number of movements.

Specifically, the manual timing parameter setting unit of the manual display parameter setting unit 348 may set the manual timing parameter.
More specifically, the manual timing parameter setting unit specifies a manual timing parameter used for determining the timing at which different target images indicating different movement directions are displayed, and the specified parameter is used as a parameter information storage unit. Write to 334.
Accordingly, the display control unit 342 uses the manual timing parameter, and in the rehabilitation, the target image is displayed either at the same time on the left and right, alternately on the left and right, or displayed on the right or left continuously. Can be displayed on the output device 200.

  The display control unit 342 displays the target image in the rehabilitation on the output device 200 using the hand timing parameter as described above, so that the hand movement rehabilitation practice called “mirroring” can be performed symmetrically. Therefore, it is possible to implement various effective variations in combination with left and right alternating “multitasking”.

Specifically, the manual speed parameter setting unit of the manual display parameter setting unit 348 may set the manual speed parameter.
More specifically, the manual speed parameter setting unit is used to determine a rate of change in which the target image indicating the moving target of the right hand or the moving target of the left hand is displayed and the display position of the target image changes per unit time. The hand speed parameter to be specified is designated and written to the parameter information storage unit 334.
For example, by specifying the hand speed parameter, a combination is randomly selected from a plurality of combinations of distance and time that satisfy the specified hand movement speed, and the selected distance and the hand speed parameter are selected. The manual distance parameter and the manual time parameter corresponding to each time are written in the parameter information storage unit 334.
Accordingly, the display control unit 342 can display the target image on the output device 200 using the manual speed parameter in the same manner as when the manual distance parameter or the manual time parameter is used in rehabilitation.

  Note that the number of times indicated by each of the foot movement number parameter and the hand movement number parameter in the embodiment of the present invention may be any number. For example, the number of times indicated by the foot movement number parameter and the hand movement number parameter may be made infinite by looping the appearance by the program.

In the embodiment of the present invention, it has been described that the foot display parameters are set as the foot distance parameter, the foot time parameter, and the foot vector parameter. However, the foot display parameters in the embodiment of the present invention are not limited to those for setting the foot distance parameter, the foot time parameter, and the foot vector parameter.
For example, the foot display parameter in the embodiment of the present invention may set only the foot distance parameter, or may set an arbitrary number of parameters.

In the embodiment of the present invention, three hand display parameters are set as a hand position parameter, a hand time parameter, and a hand vector parameter. However, the hand display parameters in the embodiment of the present invention are not limited to those for setting three hand position parameters, hand time parameters, and hand vector parameters.
For example, the hand display parameter in the embodiment of the present invention may set only the hand position parameter, or may set an arbitrary number of parameters.

In the embodiment of the present invention, it has been described that three display parameters for disturbance are set: a disturbance position parameter, a manual time parameter, and a disturbance vector parameter. However, the display parameters for disturbance in the embodiment of the present invention are not limited to those for setting three parameters, a disturbance position parameter, a disturbance time parameter, and a disturbance vector parameter.
For example, the display parameter for disturbance in the embodiment of the present invention may set only the position parameter for disturbance, or may set an arbitrary number of parameters.

In the embodiment of the present invention, each of the foot display parameter, the hand display parameter, and the disturbance display parameter has been described as being set when rehabilitation is started using the rehabilitation support control device 300. However, each of the foot display parameter, the hand display parameter, and the disturbance display parameter in the embodiment of the present invention is not limited to those set when starting rehabilitation. For example, each of the foot display parameter, the hand display parameter, and the disturbance display parameter is stored in the parameter information storage unit 334 in association with the target person EP in association with the target person EP, and when the rehabilitation is performed, the target person The foot display parameter, the hand display parameter, and the disturbance display parameter associated with the EP may be read out.
As described above, the parameter information storage unit 334 stores the foot display parameter, the hand display parameter, and the disturbance display parameter, so that the same rehabilitation can be performed even when the therapist in charge of rehabilitation is changed. Can be reproduced. Therefore, the subject person EP can continue to receive the same rehabilitation, and it is not necessary for the therapist in charge to find and set the setting for the subject person EP again, thereby reducing the burden on the therapist.

As described above, the rehabilitation support control device 300 according to the present embodiment includes the display control unit 342. The display control unit 342 causes the output device 200 to display the target image based on the foot display parameters used for displaying the predetermined target image when the rehabilitation target moves the foot.
By doing so, the rehabilitation support control apparatus 300 can display the target image at a position or time interval suitable for the state of the subject by the foot display parameter. Therefore, effective rehabilitation can be performed on the subject, and the subject can realize the effect of rehabilitation. In addition, since the difficulty level of rehabilitation varies depending on the foot display parameters, it is possible to provide game characteristics. As a result, it is possible to assist the rehabilitation target person actively performing rehabilitation.

(Modification)
FIG. 16 is a perspective view showing a modified example of the system configuration of the rehabilitation support system 1.
The rehabilitation support control device 300 may be implemented by dividing functions into a plurality of devices. For example, the input unit 31 and the recognition unit 341 may be mounted on another device as an image recognition device. For example, the recognition unit 341 may be provided in the sensor 100.
Further, the output device 200 may be configured using an image display device that displays an image instead of the image projection device. In this case, as illustrated in FIG. 16, the output device 200 is configured as a display device having a display surface on a surface corresponding to a surface (projection surface) onto which an image projection device projects an image in the above description. Specific examples of the image display device include a liquid crystal display device, an organic EL (Electro Luminescence) display device, and a touch panel display device. For example, a display device may be incorporated on the surface of the table, and a mark touched by the subject EP may be displayed on the display screen of the display device. Also in this case, the rehabilitation support control device 300 (the control unit 34) performs calibration using, for example, a marker image displayed on the display device as a mark.

  All or some of the functions of each device described above may be realized by using hardware such as an application specific integrated circuit (ASIC), a programmable logic device (PLD), or a field programmable gate array (FPGA). The program executed by each device described above may be recorded on a computer-readable recording medium. The computer-readable recording medium is, for example, a portable medium such as a flexible disk, a magneto-optical disk, a ROM, a CD-ROM, or a storage device such as a hard disk built in the computer system. Each program may be transmitted via a telecommunication line.

DESCRIPTION OF SYMBOLS 1 ... Rehabilitation support system, 31 ... Input part, 32 ... Output part, 33 ... Memory | storage part, 34 ... Control part, 35 ... Operation part, 36 ... Display part, 100 ... Sensor, 200 ... Output device, 300 ... Rehabilitation support control Device: 310 ... Leg part, 311, 312, 313, 314 ... Caster, 331 ... Calibration information storage part, 332 ... Determination condition information storage part, 333 ... Detection history information storage part, 334 ... Parameter information storage part, 335 ... Program information storage unit, 341 ... recognition unit, 342 ... display control unit, 343 ... motion area determination unit, 344 ... recording unit, 345 ... target determination unit, 346 ... evaluation unit, 347 ... foot display parameter setting unit, 348 ... Manual display parameter setting unit, 349 ... Disturbance display parameter setting unit, 800 ... Detection range, 900 ... Output region, 901 ... Point

Claims (4)

In a rehabilitation support control device including a display control unit that displays the target image on an output device based on a foot display parameter,
A rehabilitation support control device capable of changing the display parameter for the foot with the recovery of the function of the foot of the subject. The display control unit
The foot distance parameter which is the foot display parameter related to the movement distance of the subject's foot, the foot time parameter which is the foot display parameter related to the movement time of the subject's foot, and the subject's foot Displaying the target image on the output device based on at least one of the foot vector parameters which are the foot display parameters related to the movement direction of
The rehabilitation support control apparatus according to claim 1. Further comprising the output device and position acquisition means;
The rehabilitation support control device according to claim 1 or 2. In a rehabilitation support control device including a display control unit that displays the target image on an output device based on a foot display parameter,
A computer program for causing a computer to function as a rehabilitation support control device that can change the display parameter for the foot with the recovery of the function of the foot of the subject.

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