JP2020146321A - Balance training apparatus - Google Patents

Abstract

To provide a balance training apparatus configured to safely perform appropriate rehabilitation training for trainees having disorder in the balance function to recover the balance function.SOLUTION: A balance training apparatus comprises: a movable carriage movable on a movement surface by driving a drive section; a detection section for detecting a load received from the feet of a trainee standing on the movable carriage; a calculation section for calculating a load center of gravity of both feet of the trainee on a boarding surface, from the load detected by the detection section; a setup section for setting a stable range, the range of the load center of gravity presumed that the trainee can retain an upstanding posture on the boarding surface; and a control section for driving the drive section such that the load center of gravity calculated by the calculation section moves inside the stable range set up by the setup section, to control the movement of the movement carriage.SELECTED DRAWING: Figure 1

Description

The present invention relates to a balance training device.

Training devices for lame patients to perform rehabilitation training are becoming widespread. For example, a training device is known in which a trainee who conducts training is made to stand on a tread plate to observe the position of the center of gravity, and the tread plate is moved by a driving means in order to promote stepping or prevent a fall (for example,). See Patent Document 1).

Japanese Unexamined Patent Publication No. 2015-100747

In a configuration in which the tread plate moves a small amount with respect to the training device, the trainee basically maintains an upright state with respect to the floor surface, so that there is little change in the environment and it is difficult to maintain the trainee's motivation. .. In particular, when giving a game to the training trial, the trainee can motivate the training trial so that a greater experience can be obtained in conjunction with the game. Therefore, it has been found that a configuration in which a mobile carriage is provided in the balance training device and the trainee is moved together with the balance training device is effective for rehabilitation training. However, since the stimulus given to the trainer by the movement of the moving carriage in such a balance training device can be arbitrarily set by interlocking with the game, it is difficult for the trainee to maintain the standing state on the boarding surface. May become. On the other hand, if the stimulation is weak, a great effect cannot be expected as a rehabilitation training to restore the balance function.

The present invention has been made to solve such a problem, and provides a balance training device capable of safely performing appropriate rehabilitation training for a trainer having a disease in balance function to restore balance function. Is.

The balance training device according to the specific embodiment of the present invention includes a moving carriage that can move on a moving surface by driving a driving unit, a detecting unit that detects a load received from a trainer's foot standing on the moving vehicle, and a detecting unit. A calculation unit that calculates the load center of gravity of both feet on the boarding surface of the trainee from the load detected by, and a setting unit that sets a stable range that is the range of the load center of gravity that the trainee is estimated to be able to maintain upright on the boarding surface. It is provided with a control unit that controls the movement of the moving carriage by driving the drive unit so that the load center of gravity calculated by the calculation unit moves within the stable range set by the setting unit. By defining a stable range in which the trainee can maintain a stable standing posture in this way and controlling the movement of the moving carriage so that the center of gravity of the load moves significantly within that range, the trainee does not lose balance. Moreover, training to effectively restore the balance function can be performed.

INDUSTRIAL APPLICABILITY According to the present invention, it is possible to provide a balance training device capable of safely performing appropriate rehabilitation training for a trainer having a disease in the balance function to restore the balance function.

It is the schematic perspective view of the balance training apparatus which concerns on this embodiment. It is a figure which shows the system configuration of the balance training apparatus. It is a figure explaining the setting of a stable range. It is a figure which shows the game screen of a training trial and the center of gravity of a load. This is an example of the trajectory of the center of gravity of the load drawn through the training trial. It is a figure explaining the acceleration control executed by the movement control part. It is a figure which shows the flow of the process of a training trial. It is a figure which shows another game screen of a training trial and the center of gravity of a load.

Hereinafter, the present invention will be described through embodiments of the invention, but the invention according to the claims is not limited to the following embodiments. Moreover, not all of the configurations described in the embodiments are indispensable as means for solving the problem.

FIG. 1 is a schematic perspective view of a training device 100 as an example of the balance training device according to the present embodiment. The training device 100 is a device for a person with a disability such as hemiplegia to acquire the movement of the center of gravity necessary for walking, and for a patient with an ankle joint to recover the ankle joint function. For example, when the trainee 900 who wants to restore the ankle joint function tries to continue to board the training device 100 while maintaining a balance, the training device 100 gives a load to the ankle joint of the trainee 900 to the extent that a rehabilitation effect can be expected. be able to.

The training device 100 is a moving trolley 110 that can move in the front-rear direction on the moving surface with the floor surface of the rehab facility as a moving surface, and a trainer 900 that is erected on the moving trolley 110 and rides on the moving trolley 110. A frame 160 is provided to prevent the frame from falling off. The mobile carriage 110 mainly includes a drive wheel 121, a caster 122, a boarding plate 130, a load sensor 140, and a control box 150.

The drive wheels 121 are arranged as two front wheels in the traveling direction. The drive wheels 121 are rotationally driven by a motor (not shown) as a drive unit to move the moving carriage 110 forward or backward. The caster 122 is a driven wheel and is arranged as two rear wheels in the traveling direction. The boarding plate 130 is a boarding section on which the trainee 900 is boarded and both feet are placed. As the boarding plate 130, a flat plate made of, for example, a polycarbonate resin having a relatively high rigidity that can withstand the boarding of the trainee 900 is used. The boarding plate 130 is supported on the upper surface of the moving carriage 110 via load sensors 140 arranged at the four corners.

The load sensor 140 is, for example, a load cell, and functions as a detection unit that detects the load received from the feet of the trainee 900 standing on the moving carriage 110. The control box 150 accommodates an arithmetic processing unit and a memory described later.

The frame 160 includes an opening / closing door 161 and a handrail 162. The opening / closing door 161 opens when the trainee 900 boards the boarding plate 130 to form a passage for the trainee 900. It is closed and locked when conducting training trials. The handrail 162 is provided so as to surround the trainee 900 so that the trainee 900 can grasp it when he / she is about to lose his / her balance or feels uneasy. The trainer 900 tries to maintain an upright posture by balancing himself without grasping the handrail 162 during the training trial. The frame 160 supports the display panel 170. The display panel 170 is, for example, a display unit which is a liquid crystal panel, and is arranged at a position where the trainee 900 can easily see it during the training trial.

FIG. 2 is a diagram showing a system configuration of the training device 100. The arithmetic processing unit 200 is, for example, an MPU, and executes control of the entire device by executing a control program read from the memory 240. The drive wheel unit 210 includes a drive circuit and a motor for driving the drive wheels 121. Further, the drive wheel unit 210 includes a rotary encoder that detects the amount of rotation of the drive wheel 121.

The operation reception unit 220 receives input operations from the trainee 900 and the operator, and transmits an operation signal to the arithmetic processing unit 200. The trainee 900 and the operator operate the operation buttons provided on the device, the touch panel superimposed on the display panel 170, the attached remote controller, etc., which constitute the operation reception unit 220, to turn on / off the power and try training. Gives start instructions, inputs numerical values related to settings, and selects menu items.

The display control unit 230 generates a graphic image or the like of the task game described later according to the display signal from the arithmetic processing unit 200, and displays it on the display panel 170. The memory 240 is a non-volatile storage medium, and for example, a solid state drive is used. The memory 240 stores a control program or the like for controlling the training device 100. It also stores various parameter values, functions, lookup tables, etc. used for control. In particular, the memory 240 stores a task game 241 which is a program for giving a task in a game format so that the trainee 900 can enjoy the training trial. The load sensor 140 detects the load applied from the foot of the trainee 900 via the boarding plate 130, and transmits the detection signal to the arithmetic processing unit 200.

The arithmetic processing unit 200 also plays a role as a function executing unit that executes various arithmetic operations and control of individual elements in accordance with the request of the control program. The load calculation unit 201 acquires the detection signals of the four load sensors 140 and calculates the load centers of gravity of both feet on the boarding surface of the trainee 900. Specifically, since the positions of the four load sensors 140 are known, the position of the center of gravity is calculated from the distribution of the load in the vertical direction detected by each load sensor 140, and that position is set as the load center of gravity.

The range setting unit 202 sets a stable range, which is the range of the center of gravity of the load estimated that the trainee 900 can maintain the upright position on the boarding surface. The specific setting method will be described later. The movement control unit 203 generates a drive signal to be transmitted to the drive wheel unit 210, and controls the movement of the moving carriage 110 via the drive wheel unit 210.

FIG. 3 is a diagram for explaining the setting of the stable range. The range setting unit 202 sets the stable range through the calibration work performed by the trainee 900 prior to the training trial. In the calibration operation, the trainee 900 stands on the boarding surface in a standing posture as natural as possible so that the reference position RP determined with respect to the boarding surface of the boarding plate 130 is at the center of both feet. Then, as shown in the upper figure of FIG. 3, the trainee 900 moves the center of gravity forward until just before the heels of both feet float, and then moves the center of gravity to the right foot until just before the left foot floats, while maintaining the standing posture. Move it, move the center of gravity backward until just before the toes of both feet float, and finally move the center of gravity to the left foot until just before the right foot floats. Load calculation unit 201, as illustrated, the load center of gravity _CP F for each movement of the center of _gravity, CP _R, CP B, to calculate the CP _L.

Range setting unit 202 is thus calculated load centroid _{CP F, CP R, CP B} , fitting a smooth closed curve so as to pass through the CP _L, sets the range surrounded by the closed curve as the stable range LC .. The stable range LC set in this way is a range in which the trainee 900 is expected to be able to maintain the stance state by adjusting his / her own balance while the load center of gravity of the trainee 900 is included in this range. In addition to setting the stable range LC through calibration work, the one corresponding to the height, weight, foot size, progress of rehabilitation training, etc. of the trainee 900 is selected from a preset lookup table and set. You may try to do it.

In the present embodiment, the trainee 900 is urged to train by executing the task game 241. The task game 241 processed by the arithmetic processing unit 200 generates a graphic image that changes every moment in conjunction with the movement of the training device 100, and displays it on the display panel 170. The trainee 900 strives to maintain a standing posture on the boarding plate 130 without changing the standing position.

FIG. 4A is a diagram showing a game screen of a training trial, and FIG. 4B is a diagram showing a load center of gravity of the trainee 900. The game screen is an image displayed on the display panel 170, and shows a state in which a rodeo motif is selected from a plurality of task games 241 and executed.

In the center of the stadium, the character M, which is a stylized horse, is displayed superimposed on the background image. In addition, the character P, which is a design of the cowboy, is displayed so as to straddle the character M. The characters M and P represent the mobile carriage 110 and the trainee 900, respectively. Since the display panel 170 is installed in front of the trainee 900, the characters M and P are displayed facing the back. The game screen also includes information such as a selected mode game mode, a score that changes according to the game situation, and an elapsed time.

The character M swings back and forth as the task game 241 progresses. The arrow ar in the figure indicates the direction and magnitude of the swing as an auxiliary so that the trainee 900 can easily recognize the swing of the character M. The movement control unit 203 advances or reverses the moving carriage 110 in synchronization with the swing of the character M. When the moving carriage 110 moves forward or backward, the trainee 900 steps on the boarding plate 130 to maintain a standing posture, and as shown in FIG. 4B, the calculated load center of gravity CP moves every moment. To do.

When the load center of gravity CP is located inside the stable range LC, it can be estimated that the trainee 900 is able to maintain a standing posture without stepping on the foot. On the other hand, when the load center of gravity CP deviates from the stable range LC, it can be estimated that the trainee 900 has stepped on or grabbed the handrail 162. If the trainer can maintain a standing posture without stepping on his / her feet, the trainee 900 tilts his / her center of gravity to adjust the balance, which is effective as a training to restore the balance function. If the trainee changes his / her foot or grabs the handrail 162, the trainee 900 cannot cope with the movement of the moving carriage 110 by his / her own balance adjustment, which is not preferable as a training to restore the balance function. It can be said that.

Therefore, in the present embodiment, the movement control unit 203 drives the drive wheels 121 by the drive control in which the load center of gravity CP of the trainee 900 is expected to move within the stable range LC. FIG. 5 is an example of the trajectory of the center of gravity of the load drawn through the training trial. As shown in the figure, the locus Tr can be expected to be included in the stable range LC while the mobile carriage 110 is moved back and forth by the drive control in the present embodiment.

Specific drive control will be described. FIG. 6 is a diagram illustrating acceleration control executed by the movement control unit 203. The horizontal axis represents the passage of time, and the vertical axis represents the target acceleration generated in the moving carriage 110. As shown in the figure, in the acceleration control in this embodiment, the target acceleration is defined with respect to the passage of time.

The movement control unit 203 determines the maximum value of the permissible acceleration | a _max | and the maximum acceleration time t _max of the permissible acceleration time corresponding to the stable range LC set by the range setting unit 202. Then, a target acceleration linked to the progress of the task game 241 is set within a range that satisfies the conditions of the allowable acceleration and the acceleration time.

It can be said that the stable range LC set through the calibration work reflects the current state of the balance function of the trainee 900. In other words, it can be said that the states of the balance function of the trainees in which the same stable range LC is set are common to each other. Therefore, by conducting a test on many trainees, it is possible to collect the relationship between the stable range LC and | a _max |, t _max . By statistically processing these samples, a look-up table with a stable range LC and | a _max |, t _max can be created. The training device 100 stores the look-up table created in this way in the memory 240, and the movement control unit 203 refers to the look-up table so that the stability range LC set | a _max |, t _max is determined.

However, the trainee 900 may fail to adjust the balance during the training trial and the load center of gravity CP may deviate from the stable range LC. In such a case, since it is considered that the stable range LC is wide, it is preferable to narrow the stable range LC and modify the acceleration control so that the corresponding | a _max | and t _max are set. On the contrary, when the locus Tr stays in a part of the region near the center with respect to the stable range LC, it can be said that the stable and natural standing posture is maintained without wobbling. Acceleration control may be performed to expand the range.

FIG. 7 is a flow chart showing a flow of processing of the training trial. The flow is started, for example, with the trainee 900 on board the boarding plate 130. The range setting unit 202 executes calibration in step S101. Specifically, as described with reference to FIG. 3, the trainee 900 is urged to perform a calibration operation for sequentially moving the center of gravity. For example, the display panel 170 displays "Next, move the center of gravity to the right foot until just before the left foot floats." Load calculation unit 201 receives the detection signal from the load sensor 140 each time the center of gravity is moved, successively load centroid _{CP F, CP R, CP B} , to calculate the CP _L. Range setting unit 202 proceeds to step S102, the calculated load centroid _{CP F, CP R, CP B} , sets the stable range LC from CP _L.

The arithmetic processing unit 200 proceeds to step S103, reads the designated task game 241 from the memory 240, and starts the training trial through the task game 241. The arithmetic processing unit 200 displays the video according to the progress of the task game 241 on the display panel 170 via the display control unit 213.

In step S104, the movement control unit 203 sets the target acceleration and the acceleration time according to the progress of the task game 241. Then, the drive torque corresponding to the set target acceleration is calculated, and the drive signal for outputting the drive torque is transmitted to the drive wheel unit 210 over the set acceleration time. In step S105, the load sensor 140 detects the load received from the foot of the trainee 900, and delivers the detected detection signal to the load calculation unit 201. In step S106, the load calculation unit 201 calculates the center of gravity of the load from the received detection signal and delivers it to the movement control unit 203.

In step S107, the movement control unit 203 determines whether or not the current load center of gravity deviates from the stable range LC. If it is determined that the deviation is deviated, the magnitude of the acceleration and the upper limit of the acceleration time are corrected in step S108, and then the process proceeds to step S109. If it is determined that the deviation does not occur, the process directly proceeds to step S109.

In step S109, the arithmetic processing unit 200 determines whether or not the training trial is completed. The training trial ends, for example, when the task game 241 ends, the set time elapses, the target item is achieved, and the like. When the arithmetic processing unit 200 determines that the training has not been completed, the arithmetic processing unit 200 returns to step S104 and continues the training trial. When it is determined that the process is completed, the process proceeds to step S110. When the arithmetic processing unit 200 proceeds to step S110, it executes end processing and ends a series of flows. The end process is a process of displaying the confirmed score on the display panel 170 and updating the history information of the training that has been executed so far.

In the task game 241 with the rodeo as the motif described above, the moving carriage 110 is moved according to the progress of the game, and the trainee 900 maintains a standing posture so as not to lose the balance with respect to the movement. Was to encourage. Some of the task games 241 correspond to active balance training in which the moving carriage 110 is moved according to the balance adjustment of the trainee 900 and the characters in the game are operated in conjunction with the movement.

FIG. 8 is a diagram showing a game screen and a load center of gravity of another game corresponding to active balance training. The game screen is an image displayed on the display panel 170, and shows how a tennis-themed game is selected from a plurality of task games 241 and is being executed.

On the right side of the tennis court displayed in the center, the character M who throws the tennis ball B is superimposed on the background image, and on the left side, the character P who hits the thrown tennis ball B is superimposed on the background image. It is arranged. The character M expresses an action of moving up and down or throwing according to the task given by the task game 241. The character P is a character indicating the trainee 900, and expresses an operation of moving up and down according to the movement of the training device 100 and swinging the racket according to the arrival of the tennis ball B. The tennis ball B reciprocates left and right on the tennis court according to the movements of the characters M and P. The game screen also includes information such as a score and elapsed time that change according to the game situation.

Character M, in order to reach the tennis ball B to the target position set B _h this challenge to throw tennis balls B moves upward coat. Then, the tennis ball B moves along the trajectory shown in the figure. The speed at which the tennis ball B moves is predetermined according to the level, and the higher the level, the faster the movement.

Trainee 900, before tennis ball B reaches the B _h, until hitting position T _h which can be hit back in B _h moves the character P. That is, as shown in FIG. 8B, the trainee 900 moves the load center of gravity CP forward of the reference position RP by moving its center of gravity forward and adjusting the balance. Movement control unit 203, the movable carriage 110 is moved forward at the target speed V _T which is set according to the displacement amount ΔC of the load center of gravity at this time. Character P on the game screen is moved at a velocity V _c which in conjunction with the target speed V _T of the cart 110 to the upper part of the screen. If it is possible to move the character P before tennis ball B reaches the B _h until T _h, racquet is swung when the tennis ball B has reached, tennis ball B is hit back. If the tennis ball B can be hit back, the score will be added.

The movement control unit 203 limits the striking position _Th and the speed of the tennis ball B according to the stable range LC. That is, if the trainee 900 can realize the movement of the center of gravity within the stable range LC by adjusting the balance of the trainee, the related parameters are adjusted so that the tennis ball B can be hit back. Specifically, the movement control unit 203 per unit time allowed for the trainee 900 with | a _max |, t _max determined for the stable range LC of the trainer 900 as described above as a limiting condition. The amount of change in the target speed is determined, and the target speed of the moving carriage 110 and the parameters of the task game 241 are determined so that the tennis ball B can be hit back within that range.

Even in the task game corresponding to such active balance training, as in the task game corresponding to passive balance training, the stable range LC in which the trainee 900 can stably maintain the standing posture is determined, and the range LC is defined. The movement of the moving carriage 110 can be controlled so that the load center of gravity CP moves significantly with the limit. As a result, the trainee 900 can perform training to effectively restore the balance function without losing the balance. In addition, the trainee 900 can enjoy the trial training because the moving carriage 110 can obtain not only visual information but also a sense of balance and a sense of posture. If the trial training can be enjoyed, it can be expected that the trainee 900 will actively and continuously perform the training. That is, it can be expected that the balance function will be restored in a shorter period of time.

In the present embodiment described above, since the mobile carriage 110 has a structure that moves back and forth, a movement control and a task game corresponding to the structure are adopted. However, if the moving carriage 110 has a structure that also moves in the left-right direction, appropriate movement control and a task game can be adopted. For example, in the example of FIG. 4, the character M is swung back and forth, left and right, and even diagonally as the task game 241 progresses. In this case, the movement control unit 203 moves the moving carriage 110 in the front-rear direction, the left-right direction, and the diagonal direction in synchronization with the swing of the character M.

Further, in the present embodiment described above, as the movement control, the magnitude of the acceleration given to the moving carriage 110 and the acceleration time are controlled. However, the control target is not limited to this. If the drive control is such that the center of gravity of the load calculated by the calculation unit is expected to move within the stable range LC, various control targets can be selected. For example, the control target may be a position or a speed. Further, the stable range LC may be set from the output by adopting a foot pressure sensor instead of the load cell or in addition to the load cell, or the load center of gravity CP of the trainer 900, which changes every moment, is accumulated and statistically processed. It may be set by doing.

100 training equipment, 110 mobile carriage, 121 drive wheels, 122 casters, 130 boarding plate, 140 load sensor, 150 control box, 160 frame, 161 opening / closing door, 162 handrail, 170 display panel, 200 arithmetic processing unit, 201 load calculation Unit, 202 range setting unit, 203 movement control unit, 210 drive wheel unit, 220 operation reception unit, 230 display control unit, 240 memory, 241 task game, 900 trainee

Claims (1)

A mobile trolley that can move on the moving surface by driving the drive unit,
A detector that detects the load received from the feet of the trainee standing on the moving carriage, and
A calculation unit that calculates the center of gravity of the load of both feet on the boarding surface of the trainee from the load detected by the detection unit.
A setting unit that sets a stable range that is a range of the load center of gravity that is estimated that the trainee can maintain an upright position on the boarding surface.
Balance training including a control unit that drives the drive unit and controls the movement of the moving carriage so that the load center of gravity calculated by the calculation unit moves within the stable range set by the setting unit. apparatus.

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