JP2020028511A - Movement function recovery training device - Google Patents

Abstract

To provide a movement function recovery training device that enables a training subject to carry out an automatic movement smoothly.SOLUTION: A movement function recovery training device 1 is provided for performing training to recover a movement function of a forearm part 17 as a training object. The movement function recovery training device includes: a fixing member 15 rotatably supported and for fixing the forearm part 17; a motor 10 for rotating the fixing member 15 in a forward direction and a reverse direction; an encoder 11 for detecting a rotating position of the motor 10; and a controller 12 for controlling the motor 10 on the basis of detection results of the encoder 11. The controller 12 includes an automatic movement control part 26 for controlling the motor 10 so as to rotate only in a predetermined rotating direction when a training subject performs automatic movement to rotate the fixing member 15 voluntarily.SELECTED DRAWING: Figure 6

Description

  The disclosed embodiments relate to a motor function recovery training device.

  Patent Literature 1 describes a motor function recovery training device in which a forearm is targeted for training. This motor function recovery training device performs passive rotational movement at a first angular velocity, then performs passive rotational movement at a second angular velocity higher than the first angular velocity, and then performs automatic rotational movement at the will of the patient. I do. By quickly rotating at the second angular velocity after rotation at the first angular velocity, the tension of the muscle for function recovery is increased, and the extension reflex is excited. In the automatic rotation, a slight resistance is applied by a servomotor in order to maintain muscle tone while maintaining muscle stimulation.

JP 2015-245 A

  The above-described motor function recovery training apparatus of the related art detects a torque generated by a patient during an automatic rotation motion, and generates a speed command by a servomotor according to the detected torque. At this time, if the patient's force fluctuates, the speed generated by the servo motor also fluctuates, so that there is a problem that the operation may not be smooth and the patient may not be able to perform the automatic rotational movement smoothly. .

  The present invention has been made in view of such a problem, and an object of the present invention is to provide a motor function recovery training device in which a trainee can smoothly perform automatic exercise.

  In order to solve the above problems, according to one aspect of the present invention, there is provided a motor function recovery training apparatus that performs training for recovering a motor function of a human body part to be trained, the apparatus being rotatably supported, A fixing member for fixing a human body part, a motor for rotating the fixing member in a forward rotation direction and a reverse rotation direction, a rotation position sensor for detecting a rotation position of the motor, and the motor based on a detection result of the rotation position sensor. And a controller that controls the motor so that the trainee rotates only in a predetermined rotation direction when the trainee voluntarily performs the automatic movement of rotating the fixed member. A motor function recovery training device having a first control unit for controlling is applied.

  ADVANTAGE OF THE INVENTION According to this invention, a patient can implement an automatic exercise | movement smoothly.

It is an explanatory view showing an example of the whole motor function recovery training device concerning this embodiment. It is explanatory drawing which extracts and shows an example of a structure of a rotation part. It is explanatory drawing which shows notionally an example of a cross-section of a fixing member. It is explanatory drawing which shows notionally another example of the cross-section of a fixing member. It is explanatory drawing which shows notionally another example of the cross-section of a fixing member. FIG. 3 is an explanatory diagram illustrating an example of a functional configuration of a controller. It is explanatory drawing showing an example of the change of the rotation speed of a motor when a training type is "pronation" or "pronation". FIG. 8 is an explanatory diagram illustrating an example of a change in the rotation speed of a motor when the training type is “pronation”. It is explanatory drawing showing an example of a display of a touch panel when a training type is "pronation". It is explanatory drawing showing an example of a display of a touch panel when a training type is "outbound". 9 is a flowchart illustrating an example of a processing procedure executed by a CPU of a controller. It is a flowchart showing an example of the processing procedure of a passive exercise process. It is a flowchart showing an example of the processing procedure of an automatic exercise process. It is explanatory drawing showing an example of a structure of the rotation part in the modification which performs training by making a finger perform a bending exercise | movement and an extension exercise | movement. FIG. 3 is an explanatory diagram illustrating an example of a hardware configuration of a controller.

  Hereinafter, an embodiment will be described with reference to the drawings.

<1. Configuration of motor function recovery training device>
First, an example of the configuration of the exercise recovery training apparatus according to the present embodiment will be described with reference to FIGS. FIG. 1 is an explanatory diagram showing an example of the overall configuration of a motor function recovery training device according to the present embodiment, FIG. 2 is an explanatory diagram extracting and showing an example of the configuration of a rotating unit, and FIGS. It is explanatory drawing which shows an example of a cross-section structure notionally. In the following, for convenience of description of the configuration of the motor function recovery training device, the directions of up, down, left, right, front and back shown in FIG. 1 may be appropriately used. Is not limited. In this embodiment, the front-rear direction refers to the direction of the axis of rotation of a rotating portion described later, the vertical direction refers to the vertical direction, and the left-right direction refers to the direction perpendicular to both the front-rear direction and the vertical direction.

  The motor function recovery training device 1 is a device that performs training (rehabilitation) for recovering the motor function of a human body part to be trained. The training target is, for example, a patient having a motor dysfunction due to a cerebrovascular disease such as a stroke or an orthopedic disease. In the present embodiment, a case will be described where the human body part to be trained is the forearm. However, a human body part other than the forearm part may be trained.

  As shown in FIG. 1, the motor function recovery training device 1 includes a lifting table 2, a device main body 3, and a rotating unit 4.

  The elevating table 2 includes a table 5 on which the apparatus main body 3 is placed, a column 6 which can be vertically expanded and contracted by a telescopic mechanism (not shown), and a plurality of (five in this example) legs provided below the column. 7a to 7e. From the center position where the legs 7a to 7e are connected, the leg 7a extends leftward, the leg 7b extends forward, the leg 7c extends rightward, the leg 7d extends right rearward, and the leg 7e extends rearward left. Has been established. By setting the number of the legs 7a to 7e to be five, the stability is improved as compared with, for example, the case where the number of the legs is four (a cross shape at 90 ° intervals). In addition, by setting the interval between the legs 7a and 7b to 90 °, a space is provided on the front left side where the trainee for training the forearm of the right arm approaches, and the trainee's chair, wheelchair, legs, etc. The interference of the legs can be suppressed. Similarly, by setting the interval between the legs 7b and 7c to 90 °, a space for the subject to be trained for training the forearm of the left arm is secured on the front right side, and the subject's chair, wheelchair, feet, etc. And interference between the legs. A caster 8 is provided below each of the legs 7a to 7b.

  On the front surface of the apparatus main body 3, a touch panel 9 (an example of a display unit) for displaying training and performing various operations is provided. A motor 10 (see FIG. 6 described later) that rotates the rotating unit 4 in the normal rotation direction and the reverse rotation direction, and an encoder 11 that detects the rotation position of the motor 10 (a rotation position sensor) For example, a controller 12 (see FIG. 6 described later) for controlling the motor 10 based on the detection result of the encoder 11 and the like are provided. The motor 10 is a servomotor whose position, speed, and / or torque are controlled based on the detection result of the encoder 11. The controller 12 is configured as a computer including a CPU, a memory, and the like (see FIG. 15 described later). Further, a rotational position sensor other than the encoder, such as a resolver or a potentiometer, may be used. Further, a torque sensor for detecting the torque of the motor 10 may be provided.

  The rotating unit 4 is rotatably provided on the front side of the apparatus main body 3, protrudes forward from the apparatus main body 3, and supports the forearm portion 17 (an example of a human body part to be trained) of the trainee. I do. The rotating part 4 has a disk member 13, a support bar 14, a fixing member 15, and a grip 16. The disk member 13 is provided on the front surface of the apparatus main body 3 and is rotated around the rotation axis AX by the motor 10. The support bar 14 is located at a position offset from the rotation axis AX by a predetermined distance downward, and is provided so as to protrude forward from the disc member 13 substantially in parallel with the rotation axis AX. The fixing member 15 is provided in the vicinity of the distal end of the support bar 14 and removably fixes the wrist 18 of the trainee. The fixed member 15 is rotated around the rotation axis AX by the rotation of the rotation unit 4. The grip 16 is provided so as to protrude upward from the support bar 14, and is gripped by a training subject. The grip 16 may be configured to be detachable from the support bar 14, and the grip position may be changed by, for example, decentering the grip position and rotating it by 180 degrees. Further, a slide mechanism that enables the grip 16 to slide with respect to the support bar 14 may be provided.

  The rotating unit 4 rotates in the clockwise direction and the counterclockwise direction with the position where the grip 16 faces vertically upward as the reference angle (0 °). For example, as shown in FIG. 2, when training the forearm portion 17 of the right arm of the training subject, the rotating portion 4 rotates clockwise to cause the forearm portion 17 to circumscribe and to rotate counterclockwise. By rotating in the direction, the forearm portion 17 is caused to pronation. Although not shown, when training the forearm portion of the left arm, on the contrary, the rotating portion 4 rotates clockwise to cause the forearm portion 17 to perform pronation and rotate counterclockwise. Then, the forearm 17 is supinationally moved.

  As shown in FIG. 2, the fixing member 15 includes a base 19 on which the wrist 18 of the forearm 17 is placed, a pair of opening / closing portions 20 capable of fixing and releasing the wrist 18 by opening and closing, A pair of cushion portions 21 provided inside each of the opening / closing portions 20, and a coupling portion 22 that releasably couples the upper ends of the pair of opening / closing portions 20.

  The cushion portion 21 is made of a flexible material such as urethane, for example, and comes into contact with and presses the wrist portion 18. The base 19 may be made of the same flexible material as the cushion 21. The connecting portion 22 is formed of, for example, a hook-and-loop fastener, and can adjust and connect the gap at the upper end of the pair of opening / closing portions 20 to a desired size. Thus, the fixing member 15 can be fixed regardless of the thickness of the wrist 18 of the training subject.

  The fixing member 15 is configured such that the surface pressure of a portion contacting the distal end side (hand side) of the wrist portion 18 is larger than the surface pressure of a portion contacting the base end side (elbow portion side) of the wrist portion 18. Have been. Although the means for adjusting the surface pressure is not particularly limited, for example, as shown in FIG. 3, the hardness of the cushion 21 a on the hand side is configured to be higher than the hardness of the cushion 21 b on the elbow. You may. In this example, the cushion portion is configured to have two types of hardness. However, the cushion portion may be configured to have three or more types of hardness, or may be configured so that the hardness changes not stepwise but continuously. May be.

  Further, for example, as shown in FIG. 4, the cushion 21 may be configured so that the thickness of the cushion 21 gradually decreases from the hand to the elbow. In addition, in this example, the thickness of the cushion portion is configured to change continuously, but using a plurality of types of cushions having different thicknesses, the thickness gradually decreases from the hand side toward the elbow side. May be configured.

  Further, as shown in FIG. 5, for example, the cushion 21c on the hand side may have a plurality of protrusions 23 on the inner periphery, and the cushion 21d on the elbow may not have the protrusion. The projection 23 is made of, for example, the same flexible material as the cushion, and the projection 23 can increase the surface pressure on the wrist 18. In this example, the cushion portion is configured with two types, one with and without the projection 23. However, the cushion portion may be configured with three or more types according to the number, size, shape, and the like of the projections. Also, the number of projections may be configured to change continuously instead of stepwise, such as gradually decreasing from the hand side to the elbow side.

<2. Controller configuration>
Next, an example of a functional configuration of the controller 12 will be described with reference to FIGS. 6 is an explanatory diagram illustrating an example of a functional configuration of the controller 12, FIGS. 7 and 8 are explanatory diagrams illustrating an example of a change in the rotation speed of the motor 10, and FIG. 8 is an explanatory diagram illustrating an example of a display on the touch panel 9. .

  As shown in FIG. 6, the controller 12 includes a first passive movement control unit 24, a second passive movement control unit 25, an automatic movement control unit 26, a control switching unit 27, and a training type setting unit 57. , Rotation speed calculation unit 28, first filter processing calculation unit 29, torque calculation unit 30, second filter processing calculation unit 31, speed command calculation unit 32, speed command restriction unit 33, stimulus application processing unit 34, a vibration imparting processing unit 35, a human body reaction amount calculation unit 36, a first display control unit 37, a movable range measurement unit 38, an automatic exercise amount calculation unit 39, an achievement rate calculation unit 40, and a second display And a control unit 41.

  The first passive movement control unit 24 controls the rotation speed of the motor 10 so that the motor 10 is driven at a predetermined first set speed V1 when performing the passive movement. The “passive movement” means that the rotating unit 4 is rotated by the motor 10 to cause the forearm 17 of the trainee to perform supination or pronation with an external force. Note that the control by the first passive movement control unit 24 may be speed control based on a speed command, or may be position control that sequentially changes the position command so that the speed becomes the first set speed V1.

  The second passive movement control unit 25 (an example of a second control unit) controls the motor 10 so that the motor 10 is driven at a predetermined second set speed V2 (an example of the set speed) when performing the passive movement. Control the rotation speed. As shown in FIG. 7, the second set speed V2 is set higher than the first set speed V1 in order to excite a human body reaction (for example, extension reflex or muscle spring) of the forearm portion 17. Note that the control by the second passive movement control unit 25 may be speed control based on a speed command, or may be position control that sequentially changes the position command such that the speed becomes the second set speed V2.

  The automatic movement control unit 26 (an example of a first control unit) controls the motor 10 so as to rotate only in a predetermined rotation direction when performing automatic movement. “Automatic exercise” refers to rotating the rotating unit 4 in response to spontaneous supination or pronation exercise performed by the trainee. The control by the automatic motion control unit 26 is speed control based on a speed command Vref described later.

  Based on the selection input of the training type on the touch panel 9, the training type setting unit 57 sets the training type to “pronation” for training the pronation exercise in automatic exercise, and “external” for training the pronation exercise in automatic exercise. , Set to any of “pronation and pronation” for training both pronation and supination in automatic exercise.

  The control switching unit 27 changes the control switching mode according to the training type set by the training type setting unit 57. For example, when the training type is set to “pronation” or “supination”, the control switching unit 27 controls the first passive movement control unit 24 based on the rotational position detected by the encoder 11. And the control by the second passive movement control unit 25 and the control by the automatic movement control unit 26. As shown in FIG. 7, the control switching unit 27 first executes control by the first passive movement control unit 24, and when the detected position reaches the first rotation position P1, the first passive movement control unit 24 Is switched to the control by the second passive movement control unit 25. Further, when the detection position reaches the second rotation position P2, the control by the second passive movement control unit 25 is switched to the control by the automatic movement control unit 26. Then, when the detected position reaches the third rotation position P3, the control by the automatic movement control unit 26 is switched again to the control by the first passive movement control unit 24. A predetermined number of cycles are repeated with a combination of the passive movement and the automatic movement by performing the above three types of control as one cycle.

  On the other hand, when the training type is set to “pronation”, the control switching unit 27 controls the second passive movement control unit 25 based on the rotational position detected by the encoder 11 and the automatic movement control. The control by the unit 26 is switched. As shown in FIG. 8, the control switching unit 27 first executes the control by the second passive movement control unit 25 in one of the supination movement and the pronation movement, and the detection position becomes the fourth rotation position P4. When the movement is reached, the control by the second passive movement control unit 25 is switched to the control by the automatic movement control unit 26. Further, when the detection position reaches the fifth rotation position P5, the control by the automatic movement control unit 26 is switched to the control by the second passive movement control unit 25, and the other of the supination movement or the pronation movement is changed to the second movement. The control by the passive movement control unit 25 is executed. When the detected position reaches the sixth rotation position P6, the control by the second passive movement control unit 25 is switched to the control by the automatic movement control unit 26. Then, when the detected position reaches the seventh rotation position P7, the control by the automatic motion control unit 26 is switched again to the control by the second passive motion control unit 25. A predetermined number of cycles are repeated with one cycle of a combination of the passive movement and the automatic movement by executing the two types of control in each of the above supination and pronation.

  The rotation speed calculation unit 28 calculates the rotation speed of the motor 10 based on the detection result of the encoder 11. For example, the rotation speed calculation unit 28 calculates the rotation speed by performing processing such as first-order differentiation of the position detected by the encoder 11 with time, or counting a detection signal (for example, an incremental signal) for a predetermined time. The rotation speed corresponds to the rotation speed when the trainee voluntarily performs the supination or pronation of the forearm 17.

  The first filter processing operation unit 29 is an operation unit that functions as, for example, a low-pass filter, and removes a high-frequency component higher than a predetermined frequency in the rotation speed signal calculated by the rotation speed calculation unit 28. Accordingly, even if the rotational speed of the trainee subject due to the spontaneous motion is blurred, the vibration component due to the blur can be removed.

  The torque calculator 30 calculates a torque based on the rotation speed calculated by the rotation speed calculator 28. The torque corresponds to a force when the trainee voluntarily exercises the forearm 17 or the pronation on the forearm 17. In addition to calculating the torque from the rotation speed, for example, when a torque sensor is provided, the torque may be calculated based on the detection result.

  The second filter processing operation unit 31 is an operation unit that functions as, for example, a low-pass filter, and removes a high-frequency component higher than a predetermined frequency in the torque signal calculated by the torque calculation unit 30. Thereby, even when the force of the training subject's spontaneous motion is blurred, the vibration component due to the blur can be removed.

  The speed command calculation unit 32 calculates the speed command Vref based on the rotation speed Vfb from which the high frequency component has been removed by the first filter processing calculation unit 29 and the torque Tfb from which the high frequency component has been removed by the second filter processing calculation unit 31. Is calculated. Specifically, the speed command calculation unit 32 calculates the speed command Vref based on the following equation (1).

  Note that the scan time is a time during which the controller 12 executes processing during automatic movement (processing by the automatic movement control unit 26) in one cycle, and is a fixed value determined based on machine specifications. The virtual mass and the virtual viscosity are parameters. With these parameters, it is possible to apply a predetermined resistance to the forearm portion 17, and to maintain the muscle tension, thereby improving the training effect.

  When the speed command Vref calculated by the speed command calculation unit 32 is a speed command corresponding to rotation in the direction opposite to the automatic movement direction (the direction to be rotated in the automatic movement), the speed command limiting unit 33 performs automatic movement. The speed command input to the control unit 26 is set to 0.

  The automatic movement control unit 26 controls the motor 10 based on the speed command Vref calculated by the speed command calculation unit 32 and limited to 0 or more by the speed command restriction unit 33 when performing the automatic movement. As a result, the automatic movement control unit 26 can control the motor 10 so as to rotate only in a predetermined rotation direction (direction in which the trainee intends to rotate) when performing the automatic movement. Becomes

  The stimulus imparting processing unit 34 stimulates a human body reaction (for example, extension reflex or muscle spring) of the forearm 17 when switching from the control by the second passive motion control unit 25 to the control by the automatic motion control unit 26. The stimulus giving device 42 is controlled so as to give the stimulus. This makes it easier for the human body reaction to occur when switching from the passive exercise to the automatic exercise, so that the effect of the training can be further enhanced. Note that the switching at this time does not necessarily need to be at the same time as the control switching timing. In other words, at the time of the switching, the time spans the control by the second passive motion control unit 25 and the control by the automatic motion control unit 26 to such an extent that the reflection is felt as a human reflection at the same time. If the stimulus is applied, this corresponds to applying the stimulus at the time of switching.

  The stimulus giving device 42 is a device attached to the motor function recovery training device 1 and gives a predetermined stimulus for inducing a human body reaction to a site related to the forearm portion 17. Although the device mode of the stimulus applying device 42 is not particularly limited, for example, the stimulus applying device 42 can be configured as one or a plurality of vibration generating devices (not shown) attached to the vicinity of a muscle to be trained in the forearm 17. . In this case, the stimulus application processing unit 34 individually controls the frequency and the vibration level of one or a plurality of vibration generators, and applies a stimulus such as tapping the skin, or provides a time difference between the respective vibration generators. The skin muscle reflex can be induced by applying a stimulus that touches the skin by generating vibration. Further, for example, the stimulus applying device 42 may be configured by a vibration generating device and an electric stimulating device, and may apply both the vibration stimulus and the electric stimulus. In addition, it may be configured as, for example, a device that blows out air from a nozzle, or a device that operates so as to touch the skin with a brush or a rod-shaped member.

  Before performing the training, the vibration application processing unit 35 controls the motor 10 so that the entire rotating unit 4 including the fixed member 15 is vibrated at a predetermined frequency. Thereby, it is possible to directly stimulate the muscles of the forearm portion 17 before the training, and the tension of the muscles is relaxed, so that efficient rehabilitation training can be performed. In addition, at this time, the vibration application processing unit 35 vibrates within the range of the movable range of the trainee measured at the start of the training, so that safety can be ensured.

  The human body reaction amount calculation unit 36 performs the human body reaction of the forearm 17 during a predetermined time period (for example, 100 ms) from the time point when the control by the second passive movement control unit 25 is switched to the control by the automatic movement control unit 26. A human body reaction amount, which is an amount of rotation of the fixing member 15 (a rotation amount of the rotation unit 4), is calculated based on a detection result of the encoder 11. Note that the human body reaction amount calculated by the human body reaction amount calculation unit 36 may be output as training result data in a predetermined file format (for example, a CSV file or the like).

  The first display control unit 37 causes the touch panel 9 to display the human body reaction amount calculated by the human body reaction amount calculation unit 36 (see FIG. 9 described later). During the execution of the training, the calculation of the human body reaction amount is performed for each cycle, and the display of the human body reaction amount is updated for each cycle.

  The movable range measurement unit 38 measures the movable range of the forearm 17 by rotating the fixed member 15 by the motor 10. For example, the movable range measurement unit 38 rotates the fixing member 15 in each of the pronation direction and the supination direction, and determines the rotation angle when the load torque of the motor 10 (calculated by the torque calculation unit 30) reaches a predetermined value. It is measured as a movable range (see FIG. 9 described later).

  The automatic exercise amount calculation unit 39 is an automatic exercise amount which is an amount (rotation amount of the rotation unit 4) by which the trainee voluntarily rotates the fixed member 15 at the time of control by the automatic exercise control unit 26 (at the time of automatic exercise). Is calculated based on the detection result of the encoder 11. Further, the automatic exercise amount calculation section 39 calculates an average value (average angle) of the automatic exercise amounts from the start of the training. The method for detecting the automatic momentum is not particularly limited. For example, when the rotation speed calculated by the rotation speed calculation unit 28 is equal to or lower than a predetermined value, or when the rotation speed is equal to or lower than the predetermined value, the state continues for a predetermined time or longer. In such a case, it may be determined that the spontaneous automatic exercise by the training point target person has ended, and the rotation amount from the start of the automatic exercise to the time point may be used as the automatic exercise amount. Further, for example, when the torque calculated by the torque calculating unit 30 becomes equal to or less than a predetermined value, or when the state where the torque is equal to or less than the predetermined value continues for a predetermined time or more, the voluntary automatic exercise by the training point target person ends It may be determined that the movement has been performed, and the amount of rotation from the start of the automatic movement to the time point may be used as the automatic movement.

  The achievement rate calculation unit 40 determines an automatic achievement rate (0, which is a ratio of the automatic exercise amount to the movable range based on the automatic exercise amount calculated by the automatic exercise amount calculation unit 39 and the movable range measured by the movable range measurement unit 38). １００100%). Note that the automatic achievement rate calculated by the achievement rate calculation unit 40 can be output in a predetermined file format (for example, a CSV file or the like) as training result data.

  The second display control unit 41 causes the touch panel 9 to display the automatic achievement rate calculated by the achievement rate calculation unit 40 and the average automatic exercise amount calculated by the automatic exercise amount calculation unit 39 (see FIG. 9 described later). During the training, the calculation of the automatic achievement rate and the average automatic exercise amount are performed for each cycle, and the display of the automatic achievement rate and the average automatic exercise amount are updated for each cycle.

  9 and 10 are explanatory diagrams illustrating an example of a display on the touch panel 9 by the first display control unit 37 and the second display control unit 41. As shown in FIG. 9, on the touch panel 9, a training type screen 43, an exercise state screen 44, and a training status screen 45 are displayed. On the training type screen 43, any of the above-described “pronation”, “pronation”, and “pronation” can be selected as the training type. In the example shown in FIG. 9, “pronation” is selected.

  On the exercise state screen 44, the second display control section 41 displays an automatic achievement rate display section 46 for each of the pronation and supination exercises, and also displays an average automatic exercise amount display section 47. In the example shown in FIG. 9, since “pronation” is selected as the training type, the automatic achievement rate display unit 46 corresponding to the pronation exercise is displayed. It is not displayed (or may be lightly displayed). The automatic achievement rate display section 46 is composed of, for example, a plurality of meters, and visualizes the automatic achievement rate calculated by the achievement rate calculation section 40 by lighting a number of meters according to the magnitude of the value. . When the automatic achievement rate is near the maximum value (a value close to 100%), the automatic achievement rate display section 46 lights a predetermined mark 48 (for example, a violet mark) located at the top of the plurality of meters. Let it. By displaying the automatic achievement rate with a meter or a mark in this way, it is possible to easily visualize the amount that the trainee can voluntarily move. The average automatic exercise amount display section 47 displays the average value of the automatic exercise amount from the start of the training as an average angle (87 ° in this example).

  On the training status screen 45, the first display control unit 37 displays a human body reaction amount display unit 49 for each of the pronation and supination. In the example shown in FIG. 9, since “pronation” is selected as the training type, the human body reaction amount display unit 49 corresponding to the pronation exercise is displayed, and the human body reaction amount display unit 49 corresponding to the supination exercise is It is not displayed (or may be lightly displayed). The human body reaction amount display unit 49 visualizes the human body reaction amount calculated by the human body reaction amount calculation unit 36 by displaying a number of marks 50 (for example, violet marks) according to the magnitude of the value. For example, when the human body reaction amount is 5 ° or less, there are 0 marks 50, and when the human body reaction amount is in the range of 6 ° to 11 °, one mark 50 and the human body reaction amount is 12 ° to 17 °. Is within the range, the number of marks 50 is 2. If the amount of human body reaction is within the range of 18 ° to 23 °, the number of marks 50 is 3. If the amount of human body reaction is within the range of 24 ° to 29 °, Indicates four marks 50, and five marks 50 are displayed when the human body reaction amount is 30 ° or more. In the example shown in FIG. 9, the human body reaction amount is in the range of 18 ° to 23 °, and three marks 50 are displayed. By displaying the magnitude of the human body reaction amount by the number of marks in this manner, the presence or absence of the human body reaction of the trainee and the magnitude thereof can be easily visualized.

  In addition, in addition to the human body reaction amount, the training status screen 45 includes the number of exercises 51, the remaining time 52, the number of cycles 53 executed in the current exercise, the movable range 54 in the pronation direction measured by the movable range measurement unit 38, and A movable area 55 in a supination direction and a rotation direction 56 indicating a direction to be rotated in the automatic movement are displayed.

  FIG. 10 is an example of a display when “outside” is selected as the training type. As shown in FIG. 10, on the exercise state screen 44, an automatic achievement rate display section 46 corresponding to the supination exercise is displayed, and the automatic achievement rate display section 46 corresponding to the pronation exercise is not displayed (or may be displayed faintly). ). In the example shown in FIG. 10, the automatic achievement rate is near the maximum value (a value close to 100%), and the automatic achievement rate display section 46 lights all the meters and the mark 48 located at the top. Further, on the training status screen 45, a human body reaction amount display unit 49 corresponding to the pronation exercise is displayed, and the human body reaction amount display unit 49 corresponding to the pronation exercise is not displayed (or may be a thin display). . In the example shown in FIG. 10, the human body reaction amount is within the range of 24 ° to 29 °, and four marks 50 are displayed.

  Note that, when “pronation” is selected as the training type, the display content shown in FIG. 9 and the display content shown in FIG. 10 described above are alternately switched in accordance with switching between pronation and pronation. Is displayed.

  Note that the screen configuration is an example, and other items may be displayed in addition to or instead of the above-described items, or some of the above-described items may be hidden. Further, the mark or the symbol may be changed to another type, or the human body reaction amount and the automatic achievement ratio may be displayed by, for example, numerical values.

  In addition, each processing unit of the controller 12 described above is not limited to the example of the sharing of these processes, and may be processed by a smaller number of processing units (for example, one processing unit). , May be processed by a further subdivided processing unit. Further, the controller 12 may be implemented by an actual device only for a portion (such as an inverter) for supplying drive power to the motor 10, and other functions may be implemented by a program executed by a CPU 901 (see FIG. 15) described later. Some or all of them may be implemented by actual devices such as ASICs, FPGAs, and other electric circuits.

<3. Controller processing procedure>
Next, an example of a processing procedure executed by the CPU 901 of the controller 12 will be described with reference to FIGS.

  As shown in FIG. 11, in step S10, the controller 12 measures the movable range of the forearm 17 by rotating the fixed member 15 by the motor 10 using the movable range measuring unit 38.

  In step S20, the controller 12 sets the training type to one of “pronation”, “external”, and “pronation” based on the selection input of the training type on the touch panel 9 by the training type setting unit 57. .

  In step S30, the controller 12 controls the motor 10 by the vibration application processing unit 35 so as to vibrate the entire rotating unit 4 at a predetermined frequency.

  In step S100, the controller 12 performs a passive exercise process. The contents of the passive exercise processing will be described later (see FIG. 11).

  In step S200, the controller 12 executes an automatic exercise process. The contents of the passive exercise processing will be described later (see FIG. 12).

  In step S40, the controller 12 determines whether to end the training. Whether or not to end the training is determined based on, for example, whether or not the set training time has elapsed, or whether or not the set number of cycles has ended. If the training is not completed (step S40: NO), the process returns to step S100, and steps S100 and S200 are repeated until the training is completed. If the training is to be ended (step S40: YES), this flow is ended.

  FIG. 12 shows an example of a processing procedure of the passive movement processing in step S100. FIG. 12 illustrates a case where the training type is set to “pronation” or “supination” in step S20.

  As shown in FIG. 12, in step S110, the controller 12 controls the rotation speed of the motor 10 by the first passive movement control unit 24 so that the motor 10 is driven at the first set speed V1.

  In step S120, the controller 12 uses the control switching unit 27 to determine whether the position detected by the encoder 11 has reached the first rotation position P1. If the first rotational position P1 has not been reached (step S120: NO), the process returns to step S110. On the other hand, when the first rotation position P1 has been reached (step S120: YES), the process proceeds to step S130.

  In step S130, the controller 12 controls the rotation speed of the motor 10 by the second passive movement control unit 25 so that the motor 10 is driven at the second set speed V2.

  In step S140, the controller 12 uses the control switching unit 27 to determine whether the position detected by the encoder 11 has reached the second rotation position P2. When it has not reached the second rotation position P2 (step S140: NO), the process returns to step S130. On the other hand, when the second rotation position P2 has been reached (step S140: YES), the passive movement process ends, and the process proceeds to the automatic movement process of step S200.

  FIG. 13 shows an example of a processing procedure of the automatic exercise processing in step S200. FIG. 13 illustrates a case where the training type is set to “pronation” or “pronation” in step S20.

  As shown in FIG. 13, in step S205, the controller 12 causes the human body reaction amount calculation unit 36 to switch from the control by the second passive movement control unit 25 to the control by the automatic movement control unit 26, that is, the automatic movement processing. It is determined whether or not a predetermined set time (waiting time for starting the automatic exercise) has elapsed from the start time of. This step is repeated until the set time elapses (step S205: NO), and when the set time elapses (step S205: YES), the process proceeds to step S210.

  In step S210, the controller 12 uses the human body reaction amount calculation unit 36 to calculate the amount of rotation of the fixing member 15 due to the human body reaction of the forearm 17 during a period from the start of the automatic exercise process to the elapse of a predetermined time. A human body reaction amount (rotation amount of the rotation unit 4) is calculated based on the detection result of the encoder 11. Then, the first display control unit 37 causes the touch panel 9 to display the calculated human body reaction amount.

  In step S215, the controller 12 controls the speed of the motor 10 by the automatic motion control unit 26 based on the speed command Vref.

  In step S220, the controller 12 causes the rotation speed calculation unit 28 to calculate the rotation speed of the motor 10 based on the detection result of the encoder 11.

  In step S225, the controller 12 causes the first filter processing operation unit 29 to remove a high-frequency component higher than a predetermined frequency in the rotation speed signal calculated in step S220.

  In step S230, the controller 12 causes the torque calculator 30 to calculate the torque based on the rotation speed calculated in step S220. As described above, for example, when a torque sensor is provided, the torque may be calculated based on the detection result.

  In step S235, the controller 12 causes the second filter processing operation unit 31 to remove a high-frequency component higher than a predetermined frequency in the torque signal calculated in step S230.

  In step S240, the controller 12 causes the speed command calculation unit 32 to calculate the speed command Vref based on the rotation speed from which the high-frequency component has been removed in step S225 and the torque from which the high-frequency component has been removed in step S235.

  In step S245, the controller 12 sets the speed command Vref calculated in step S250 by the speed command limiting unit 33 to the automatic motion direction (the direction in which the trainee should be rotated in the automatic motion. The rotation direction 56 in FIGS. 9 and 10). ) Is determined. If the speed command Vref is in the same direction as the automatic movement direction (step S245: NO), the process proceeds to step S255 described later. On the other hand, if the speed command Vref is in the opposite direction to the automatic movement direction (step S245: YES), the process proceeds to step S250.

  In step S250, the controller 12 sets the speed command Vref input to the automatic motion control unit 26 to 0 by the speed command limiting unit 33.

  In step S255, the controller 12 determines whether the position detected by the encoder 11 has reached the third rotation position P3, or whether the rotation speed calculated in step S220 is zero. . If the rotational position has not reached the third rotational position P3 and the rotational speed is not 0 (step S255: NO), the process returns to step S210. On the other hand, when it has reached the third rotation position P3 or when it is detected that the rotation speed is 0 (step S255: YES), the process proceeds to step S260.

  In step S260, the controller 12 uses the automatic exercise amount calculation unit 39 to calculate the automatic exercise amount, which is the amount by which the trainee voluntarily rotates the fixed member 15 (the amount of rotation of the rotation unit 4), by the detection result of the encoder 11. Calculated based on In addition, the achievement rate calculation unit 40 calculates an automatic achievement rate, which is a ratio of the automatic exercise quantity to the movable area, based on the calculated automatic exercise amount and the movable area measured in step S10. Further, the calculated automatic achievement rate is displayed on the touch panel 9 by the second display control unit 41. Thereafter, the automatic exercise processing ends, and the routine goes to the above-described step S40.

  Although the case where the training type is set to “pronation” or “pronation” has been described above, when the training type is set to “pronation”, steps S100 and S200 in FIG. One cycle is made by repeating twice. In this case, in FIG. 12, steps S110 and S120 are not executed, and only steps S130 and S140 are executed. In step S140, it is determined whether or not the fourth rotation position P4 or the sixth rotation position P6 has been reached. In FIG. 13, in step S255, it is determined whether or not the fifth rotation position P5 or the seventh rotation position P7 has been reached.

  In addition, the above-described process of giving the stimulus for inducing a human body reaction of the forearm 17 to the training subject by the stimulus giving processing unit 34 is performed by another routine different from the above-described flowchart.

<4. Effect of this embodiment>
As described above, the motor function recovery training apparatus 1 according to the present embodiment includes the fixed member 15 that is rotatably supported and fixes the forearm portion 17 and the motor 10 that rotates the fixed member 15 in the normal rotation direction and the reverse rotation direction. And an encoder 11 for detecting the rotational position of the motor 10, and a controller 12 for controlling the motor 10 based on the detection result of the encoder 11. An automatic movement control unit 26 that controls the motor 10 so that the motor 10 rotates only in a predetermined rotation direction when performing the automatic movement for rotation. Thereby, the following effects are obtained.

  In other words, in the motor function recovery training apparatus 1 of the present embodiment, when the trainee performs the automatic exercise, the controller 12 controls the motor 10 in accordance with the rotational motion of the trainee, thereby controlling the forearm 17. To provide a predetermined resistance, maintain muscle tone and improve training effect. If the force of the trainees fluctuates when performing the automatic exercise, rotation occurs in a direction opposite to the direction to be rotated, for example, as shown by a dashed line 58 in FIGS. 7 and 8. Accordingly, the operation of the motor 10 may be blurred, and the rotation of the fixing member 15 may not be a smooth operation.

  In the present embodiment, the motor 10 is controlled by the automatic motion control unit 26 to rotate only in a predetermined rotation direction. Thereby, the fixing member 15 rotates only in the direction in which the trainee intends to rotate. For example, the fixing member 15 can be smoothly rotated as shown by the solid line in FIGS. 7 and 8. Therefore, the trainee can smoothly perform the automatic exercise.

  Further, in the present embodiment, the controller 12 calculates a rotation speed of the motor 10 based on the detection result of the encoder 11, and a first speed that removes a high-frequency component higher than a predetermined frequency in the rotation speed. The automatic motion control unit 26 includes a filter processing calculation unit 29 and a speed command calculation unit 32 that calculates a speed command Vref based on the rotation speed Vfb from which high-frequency components have been removed. When the motor 10 is controlled based on the speed command Vref, the following effects are obtained.

  That is, in the motor function recovery training apparatus 1 of the present embodiment, when the trainee performs the automatic exercise, the rotation speed of the motor 10 is calculated from the detection result of the encoder 11, and the speed command Vref is calculated from the calculated rotation speed. Then, the motor 10 is controlled based on the calculated speed command Vref. By making the speed command Vref smaller than the fed-back rotation speed, a predetermined resistance force is applied to the forearm 17 to maintain the muscle tension and improve the training effect. If the force of the trainees fluctuates when performing this automatic exercise, the magnitude of the force in the direction to be rotated fluctuates finely, for example, as shown by a dashed-dotted line 59 in FIGS. 7 and 8. (Vibration) or the like, the operation of the motor 10 may be blurred, and the rotation of the fixing member 15 may not be a smooth operation.

  In the present embodiment, since the high frequency component is removed from the rotation speed by the first filter processing operation unit 29, even if the force of the trainee is shaken, the vibration component of the rotation speed due to the shake can be removed. . Thereby, for example, the fixing member 15 can be smoothly rotated as shown by the waveforms shown by the solid lines in FIGS. 7 and 8, so that the trainee can smoothly perform the automatic exercise.

  Further, in the present embodiment, when the speed command Vref calculated by the speed command calculating unit 32 is negative, the controller 12 sets the speed command Vref input to the automatic motion control unit 26 to 0, the speed command limiting unit. In the case of having 33, the following effects are obtained. That is, according to the above configuration, for example, even when a force in a direction opposite to the direction in which the training target person tries to move the fixed member 15 due to fluctuation of the force is applied, the rotation speed of the fixed member 15 is set to 0 and stopped. Can be held. As a result, since the fixing member 15 rotates only in the direction in which the trainee intends to move and does not rotate in the opposite direction, the trainee can perform the automatic movement more smoothly.

  Further, in the present embodiment, the controller 12 includes a torque calculation unit 30 that calculates a torque based on the rotation speed, and a second filter processing calculation unit 31 that removes a high-frequency component of the torque that is higher than a predetermined frequency. However, when the speed command calculation unit 32 calculates the speed command Vref based on the rotation speed Vfb from which high frequency components have been removed and the torque Tfb from which high frequency components have been removed, the following effects are obtained. .

  That is, in the motor function recovery training apparatus 1 of the present embodiment, when the trainee performs the automatic exercise, the rotation speed of the motor 10 is calculated from the detection result of the encoder 11, and the torque is calculated from the calculated rotation speed. A speed command Vref is calculated from the calculated rotation speed and torque, and the motor 10 is controlled based on the calculated speed command Vref. If the power of the trainee changes during the automatic exercise, the calculated rotational speed and torque also change, and the calculated speed command Vref also changes. For example, FIG. 7 and FIG. As in the waveforms 58 and 59 shown by dashed lines, the operation of the motor 10 may be blurred, and the rotation of the fixing member 15 may not be smooth.

  In the present embodiment, in addition to removing the high-frequency component from the rotation speed by the first filter processing operation unit 29 and removing the high-frequency component from the torque by the second filter processing operation unit 31, the force of the trainee varies. Even when the vibration occurs, the rotational speed and the vibration component of the torque due to the shake can be removed. Thereby, for example, the fixing member 15 can be smoothly rotated as shown by the waveforms shown by the solid lines in FIGS. 7 and 8, so that the trainee can smoothly perform the automatic exercise.

  In the present embodiment, the motor function recovery training device 1 further includes a stimulus providing device 42 that provides a predetermined stimulus to a site related to the forearm portion 17 to be trained, and the controller 12 is fixed by the motor 10. When performing the passive movement for rotating the member 15, the second passive movement control unit 25 that controls the rotation speed of the motor 10 so that the motor 10 is driven at the predetermined second set speed V <b> 2 and the encoder 11 detects the second passive movement control unit 25. The control switching unit 27 that switches from the control by the second passive movement control unit 25 to the control by the automatic movement control unit 26 based on the rotational position thus set, and the automatic movement control unit 26 from the control by the second passive movement control unit 25. And a stimulus application processing unit 34 that controls the stimulus application device 42 so as to apply a stimulus that induces a human body reaction of the forearm 17 when switching to the control by , We obtain the following effect.

  That is, in the exercise recovery training apparatus 1 of the present embodiment, the rotation speed of the motor 10 is set so that the motor 10 is driven at the relatively high second set speed V2 in the passive exercise in which the fixed member 15 is rotated by the motor 10. , The effect of stimulating muscles using the human body reaction of the trainee when switching to automatic exercise thereafter, and enhancing the effect of restoring motor function is enhanced. By applying a stimulus to the trainee to further induce a human body reaction when switching from the passive exercise to the automatic exercise, the human body reaction is more likely to occur, and the effect of the training can be further enhanced. Therefore, more efficient rehabilitation training can be provided.

  Further, in the present embodiment, the surface pressure of the portion where the fixing member 15 contacts the distal end side (hand side) of the forearm portion 17 is changed to the surface pressure of the portion where the fixing member 15 contacts the proximal end side (elbow side) of the forearm portion 17. If the configuration is made larger than the above, the following effects are obtained.

  That is, for example, in the motor function recovery training device 1 that performs training for recovering the motor function of the forearm portion 17, the external force from the device at the time of the passive exercise is transmitted to the forearm portion 17 via the fixing member 15. The torsion angle in the pronation and supination of the forearm 17 is larger on the hand side than on the elbow side. For this reason, if the fixing member 15 has a structure in which the forearm portion 17 is fixed by contact with a constant surface pressure, the pressure by the fixing member 15 is more strongly applied to the elbow portion side where the torsion angle is small. There has been a problem that it cannot be moved to an angle (movable range) that can be twisted originally. On the other hand, in order to solve this, if only the part (wrist part 18) to be twisted to the maximum is to be fixed, there is a problem that the local pressure on the skin and muscles increases.

  In the present embodiment, the fixing member 15 is configured such that the surface pressure of the portion of the forearm portion 17 that contacts the hand portion is greater than the surface pressure of the portion of the forearm portion 17 that contacts the elbow portion. Thus, the forearm portion 17 can be twisted to the original range of motion of the trainee without increasing local pressure on the skin and muscles. Therefore, it is possible to provide the exercise function recovery training device 1 that can perform the training that makes full use of the range of motion of the trainee.

  Further, in the present embodiment, when the controller 12 includes the vibration applying processing unit 35 that controls the motor 10 so as to vibrate the fixed member 15 at a predetermined frequency before performing the training, the following effects are obtained. Get.

  In general, it is well known that vibration stimulation of, for example, less than 100 Hz is effective for relieving muscle tension such as spasticity of a hemiplegic patient. Therefore, in the exercise recovery training apparatus 1, it is conceivable to apply a handy massager or the like to a human body part to relieve muscle tension before training. In that case, it is necessary to prepare a separate handy massager, There is a problem that it is not easy to hit an appropriate site (especially, the supination muscles that perform supination exercises are deep and difficult to directly stimulate even if vibration is applied to the skin).

  In the present embodiment, the vibration of the predetermined frequency is applied to the fixed member 15 by the motor 10 before the training, whereby the muscle of the forearm 17 to be trained can be directly stimulated. Thus, the rehabilitation training can be performed efficiently by relaxing the muscles to be trained and the exercise function recovery training device 1 can perform the preparation exercise and the training consistently.

  In the present embodiment, the motor function recovery training apparatus 1 further includes a touch panel 9 for displaying a display relating to training, and the controller 12 switches from the control by the second passive movement control unit 25 to the control by the automatic movement control unit 26. A human body reaction amount calculation unit 36 that calculates a human body reaction amount, which is an amount of rotation of the fixing member 15 due to a human body reaction of the forearm portion 17 until a predetermined time elapses from the switching time, based on a detection result of the encoder 11. And the first display control unit 37 for displaying the amount of human body reaction on the touch panel 9, the following effects are obtained.

  If the exercise function recovery training device 1 does not display the amount of human body reaction, the training is performed without knowing whether or not a human body reaction has occurred, and therefore, appropriate training may not be performed.

  According to the present embodiment, the presence or absence of a human body reaction and the amount of a human body reaction can be visualized. As a result, the motivation for the training of the trainee can be improved, and the therapist (physiotherapist or occupational therapist) can perform more appropriate training by utilizing the displayed contents.

  In the present embodiment, the motor function recovery training device 1 further includes a touch panel 9 for displaying a display related to training, and the controller 12 measures the movable range of the forearm 17 by rotating the fixed member 15 by the motor 10. Automatic movement amount calculation that calculates the amount of automatic movement, which is the amount by which the trainee spontaneously rotates the fixed member 15, based on the detection result of the encoder 11 at the time of control by the movable range measurement unit 38 and the automatic movement control unit 26. In the case where there is a unit 39, an achievement ratio calculation unit 40 that calculates an automatic achievement ratio that is a ratio of the automatic exercise amount to the movable range, and a second display control unit 41 that displays the automatic achievement ratio on the touch panel 9, The effect is as follows.

  If it is assumed that the motor function recovery training device 1 does not display the automatic achievement rate, it is unknown how much the trainee can move with respect to the range of motion by his / her own power in the automatic movement. (Physiotherapists and occupational therapists) may not be able to accurately determine training and recovery status.

  According to the present embodiment, it is possible to visualize the automatic achievement rate, which is the ratio of the automatic momentum to the movable range. As a result, the motivation for the training of the trainee can be improved, and the therapist (physiotherapist or occupational therapist) can more accurately grasp the training status and the recovery status by using the displayed contents.

<5. Modification>
The embodiment has been described in detail with reference to the accompanying drawings. However, the scope of the technical idea described in the claims is not limited to the embodiments described herein. It is obvious that a person having ordinary knowledge in the technical field to which this embodiment belongs can make various changes, modifications, combinations, and the like within the scope of the technical idea. Therefore, the technology after these changes, corrections, combinations, etc., naturally belong to the scope of the technical idea.

  For example, in the above description, the case where the human body part to be trained is the forearm 17 and the training is performed by causing the forearm 17 to perform supination and pronation exercises, for example, finger joint, elbow joint, knee joint The present invention can also be applied to a case where training is performed by performing a bending motion and an extension motion of a human body part having joints such as.

  FIG. 14 shows an example of the configuration of the rotating unit 60 of a motor function recovery training device (not shown) that performs training by, for example, bending and extending a finger. The rotating unit 60 has a fixing member 61 for detachably fixing the finger of the trainee, and in the example shown in FIG. 14, the index finger 62 is fixed. The fixed member 61 is rotated around the rotation axis AX by the rotation of the rotation part 60. As shown in FIG. 14, the forefinger 62 is extended by rotating the rotating unit 60 clockwise, and the forefinger 62 is bent by rotating counterclockwise. In the present modified example, a passive movement is performed by rotating the rotating unit 60 by a motor (not shown) and causing the index finger 62 of the trainee to extend or bend by an external force. In addition, automatic exercise is performed by rotating the rotating unit 60 in response to spontaneous extension movement or bending movement by the trainee. Other configurations and control contents are the same as in the above embodiment. Also in this modification, the same effects as in the above embodiment can be obtained.

<6. Example of controller hardware configuration>
Next, with reference to FIG. 15, the processing by the first passive movement control unit 24, the second passive movement control unit 25, the automatic movement control unit 26, and the like implemented by the program executed by the CPU 901 described above will be described. An example of a hardware configuration of the controller 12 to be realized will be described. In FIG. 15, a configuration related to a function of supplying drive power to the motor 10 of the controller 12 is omitted as appropriate.

  As shown in FIG. 15, the controller 12 includes, for example, a CPU 901, a ROM 903, a RAM 905, a dedicated integrated circuit 907 constructed for a specific use such as an ASIC or an FPGA, an input device 913, and an output device 915. It has a recording device 917, a drive 919, a connection port 921, and a communication device 923. These components are connected so that signals can be transmitted to each other via a bus 909 and an input / output interface 911.

  The program can be recorded in, for example, the ROM 903, the RAM 905, the recording device 917, or the like.

  Further, the program can be temporarily or permanently recorded on a magnetic disk such as a flexible disk, an optical disk such as various CD / MO disks / DVDs, or a removable recording medium 925 such as a semiconductor memory. . Such a recording medium 925 can be provided as so-called package software. In this case, the programs recorded on these recording media 925 may be read by the drive 919 and recorded on the recording device 917 via the input / output interface 911, the bus 909, or the like.

  Further, the program can be recorded on, for example, a download site, another computer, another recording device, or the like (not shown). In this case, the program is transferred via a network NW such as a LAN or the Internet, and the communication device 923 receives the program. The program received by the communication device 923 may be recorded on the recording device 917 via the input / output interface 911, the bus 909, and the like.

  Further, the program can be recorded in an appropriate externally connected device 927, for example. In this case, the program may be transferred through an appropriate connection port 921 and recorded in the recording device 917 via the input / output interface 911, the bus 909, or the like.

  Then, the CPU 901 executes various processes in accordance with the program recorded in the recording device 917, so that the first passive movement control unit 24, the second passive movement control unit 25, the automatic movement control unit 26, etc. Is realized. At this time, the CPU 901 may, for example, directly read out the program from the recording device 917 and execute the program, or may execute the program after temporarily loading it in the RAM 905. Further, for example, when the CPU 901 receives a program via the communication device 923, the drive 919, and the connection port 921, the CPU 901 may directly execute the received program without recording it on the recording device 917.

  Further, the CPU 901 may perform various processes based on signals and information input from an input device 913 such as a mouse, a keyboard, and a microphone (not shown), as necessary.

  Then, the CPU 901 may output the result of executing the above processing from an output device 915 such as a display device or a sound output device, and the CPU 901 may transmit the processing result to the communication device 923 or the connection device 923 as necessary. The data may be transmitted via the port 921 or may be recorded on the recording device 917 or the recording medium 925.

  In the above description, when there is a description such as “vertical”, “parallel”, and “plane”, the description is not strictly meaning. That is, the terms “vertical”, “parallel”, and “plane” mean tolerances and errors in design and manufacturing, and mean “substantially vertical”, “substantially parallel”, and “substantially plane”. .

  In addition, in the above description, when there is a description such as “identical”, “equal”, “different”, and the like, the description is not strictly meaning. In other words, the terms "identical", "equal", and "different" mean that "substantially the same", "substantially equal", and "substantially different" are allowed in design and manufacturing tolerances and errors. .

  However, if a value serving as a predetermined criterion or a value serving as a delimiter such as a threshold value (see the flowcharts in FIGS. 12 and 13) or a reference value is described, the values are “identical” or “equal”. “Different” and the like are strictly different from the above.

1 Motor function recovery training device 9 Touch panel (display unit)
10 Motor 11 Encoder (Rotation position sensor)
12 Controller 15 Fixing member 17 Forearm (Human body part to be trained)
25 Second passive motion control unit (second control unit)
26 Automatic motion control unit (first control unit)
27 Control switching unit 28 Rotation speed calculation unit 29 First filter processing calculation unit 30 Torque calculation unit 31 Second filter processing calculation unit 32 Speed command calculation unit 33 Speed command restriction unit 34 Stimulation application processing unit 35 Vibration application processing unit 36 Human body reaction Amount calculation unit 37 First display control unit 38 Range of motion measurement unit 39 Automatic exercise amount calculation unit 40 Achievement rate calculation unit 41 Second display control unit 42 Stimulation device 61 Fixed member 62 Forefinger (human body part to be trained)
Tfb torque Vfb rotation speed Vref speed command V2 2nd set speed (set speed)

Claims (9)

A motor function recovery training device that performs training for recovering the motor function of a human body part to be trained,
A fixing member that is rotatably supported and fixes the human body part,
A motor for rotating the fixing member in a forward direction and a reverse direction,
A rotation position sensor for detecting a rotation position of the motor,
A controller that controls the motor based on the detection result of the rotation position sensor,
The controller is
A first control unit that controls the motor so that the trainee rotates only in a predetermined rotation direction when the trainee voluntarily performs an automatic movement of rotating the fixed member; Functional recovery training device. The controller is
A rotation speed calculation unit that calculates a rotation speed of the motor based on a detection result of the rotation position sensor,
A first filter processing operation unit that removes a high-frequency component higher than a predetermined frequency at the rotation speed;
A speed command calculation unit that calculates a speed command based on the rotation speed from which the high-frequency component has been removed,
The first control unit includes:
The motor function recovery training apparatus according to claim 1, wherein the motor is controlled based on the speed command when performing the automatic exercise. The controller is
When the speed command calculated by the speed command calculation unit is opposite to the direction of the automatic movement, a speed command limiting unit that sets the speed command input to the first control unit to 0 is provided. The exercise recovery training device according to claim 2, wherein The controller is
A torque calculation unit that calculates torque based on the rotation speed,
A second filter processing operation unit that removes a high-frequency component higher than a predetermined frequency in the torque,
The speed command calculator,
The motor function recovery training device according to claim 2 or 3, wherein the speed command is calculated based on the rotation speed from which the high-frequency component has been removed and the torque from which the high-frequency component has been removed. . The apparatus further includes a stimulus applying device that applies a predetermined stimulus to a site related to the human body site to be trained,
The controller is
When performing a passive movement to rotate the fixed member by the motor, a second control unit that controls the rotation speed of the motor so that the motor is driven at a predetermined set speed,
A control switching unit that switches from control by the second control unit to control by the first control unit based on the rotational position detected by the rotational position sensor;
A stimulus application processing unit that controls the stimulus application device so as to apply a stimulus that induces a human body reaction at the human body part when switching from the control by the second control unit to the control by the first control unit. The motor function recovery training device according to any one of claims 1 to 4, characterized in that: The fixing member,
The surface pressure of the part which contacts the front end side of the said human body part is comprised so that it may become larger than the surface pressure of the part which contacts the base end side of the said human body part. The exercise function recovery training device according to claim 1. The controller is
The motor function according to any one of claims 1 to 6, further comprising a vibration application processing unit that controls the motor so as to vibrate the fixed member at a predetermined frequency before performing the training. Recovery training device. Further comprising a display unit for displaying the training,
The controller is
When performing a passive movement to rotate the fixed member by the motor, a second control unit that controls the rotation speed of the motor so that the motor is driven at a predetermined set speed,
A control switching unit that switches from control by the second control unit to control by the first control unit based on the rotational position detected by the rotational position sensor;
A human body reaction amount, which is an amount of rotation of the fixing member due to a human body reaction of the human body part during a period from when the control by the second control unit is switched to the control by the first control unit until a predetermined time elapses, A human body reaction amount calculation unit that calculates based on the detection result of the rotation position sensor;
The motor function recovery training device according to any one of claims 1 to 7, further comprising: a first display control unit configured to display the human body reaction amount on the display unit. Further comprising a display unit for displaying the training,
The controller is
A movable range measurement unit that measures the movable range of the human body part by rotating the fixed member by the motor,
At the time of control by the first control unit, an automatic exercise amount calculation unit that calculates an automatic exercise amount, which is an amount by which the trainee voluntarily rotates the fixed member, based on a detection result of the rotation position sensor,
An achievement rate calculation unit that calculates an automatic achievement rate that is a ratio of the automatic exercise amount to the movable range,
The motor function recovery training device according to any one of claims 1 to 8, further comprising: a second display control unit configured to display the automatic achievement ratio on the display unit.

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