JP4051588B2 - Limb body drive device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a limb body drive device such as a rehabilitation support device or a training device used to restore the function of a limb body.
[0002]
[Prior art]
Conventionally, there are a rehabilitation support device, a training device, and the like as a device for recovering the weakened muscular strength, which are put into practical use. These devices open and close the limbs around the joints and apply loads by applying mechanical force, and various mechanisms have been proposed.
One of such mechanisms having a plurality of degrees of freedom of motion is a “continuous passive motion device” disclosed in Japanese Patent Laid-Open No. 7-323048. This device performs impedance control with the limbs attached to the multi-degree-of-freedom mechanism when teaching motion, and performs impedance control with the rotation angle stored in the memory as the equilibrium point when performing therapy. It is characterized by having means to reproduce the power.
Further, as an exercise therapy device including a trajectory setting means for setting the trajectory of the limb and a trajectory correcting means for correcting the trajectory of the limb by gradually correcting the joint angles of the limbs, Japanese Patent Application No. Hei 8- 340535 “exercise therapy device”, and further, as a limb body driving device that automatically generates a limb motion pattern from a limb parameter and a motion angle range, the “limb body” of Japanese Patent Application No. 9-14722 filed by the present applicant. There is a “control device for the driving device”.
These conventional examples will be described with reference to FIGS. In all of the drawings, the same components are denoted by the same reference numerals, and redundant description is omitted. In FIG. 3 showing the conventional first example and FIG. 4 showing the second example, the limb body driving devices 300 and 400 include a base 10, drive shafts 11 and 12, links 14 and 15, a free rotating shaft 13, and a mounting portion. 16. In FIG. 3 of the first example, the base 10 is fixed to the lower step of the stepped bed, and in FIG. 4 of the second example, the base 10 is fixed to the lower step of the bent bed. The lower limbs of the limb 1 can be arbitrarily moved by controlling and rotating the movements of the drive shafts 11 and 12. The hip joint 2 and the knee joint 3 can be bent and stretched.
[0003]
[Problems to be solved by the invention]
However, among these prior arts, the limb body driving device 300 is used with the lower leg fixed at a fixed position by the mounting portion 16, so that if the patient first rides on the bed farther than the device, the patient's leg is attached to the mounting portion. If the position does not reach 16 and the riding position is too close, the knee joint 3 and the hip joint 2 are bent and placed, and the limb 1 cannot be moved from the extended posture of the knee joint 3 and the hip joint 2. Taking the case of riding with the knee joint 3 and the hip joint 2 extended, for example, as shown in FIG. 3, the position of the hip joint 2 is from A to B when the patient's leg is (a) short and (b) long. Change. When exercise is desired from the extended posture of the knee joint 3 and the hip joint 2, it is necessary to move the patient's trunk so that the hip joint 2 is positioned at positions A and B after the lower leg is fixed. In particular, when used for a patient with paralysis, there is a problem that adjustment of the position of the limb body driving device 300 and the patient places a burden on the physical therapist who operates the limb body driving device 300.
The present invention has been made to solve such problems, and an object of the present invention is to provide a limb body driving device that can easily adjust the position of the limb body driving device 300 and a patient.
Further, in order to make the driving range of the limb driving apparatus 400 correspond to the entire movable range of the knee joint 3 and the hip joint 2, it is necessary to lengthen the links 14 and 15 as shown in FIG. If the links 14 and 15 are lengthened, it is necessary to increase the strength of the speed reducer built in the links 14 and 15 and the base 10 and the power of the motor built in the base 10. As a result, the limb body driving device 400 is also large. Become. When this is attached to a bed and used for treatment, the link is long and the overall size of the bed is considerably larger than that of a normal bed. There was a strong demand to make it as large as.
The present invention has been made to solve such problems, and an object of the present invention is to provide a limb body drive device that can easily adjust the relative position between the patient and the limb body drive device without lengthening the link. And
[0004]
[Means for Solving the Problems]
In order to solve the above problems, a limb body drive device of the present invention includes a base provided with a drive source, a link mechanism provided with a drive shaft and a link, and driven by the drive source, and provided at the tip of the link mechanism. In the limb body drive device comprising a mounting portion for fixing a lower limb and a bed on which the base is placed and a patient is placed, a step is provided in the bed, and the lower limb of the person's lower limb is provided in a step below the step . said base via a slidable slide mechanism in the longitudinal direction is Installation, the upper stage of the step is provided with marks used for positioning of the person of the hip, the link is driven in the driving source A first drive shaft, a first link driven by the first drive shaft, a second drive shaft provided at the tip of the first link and driven by the drive source, Second drive shaft Therefore, a force sensor is provided in the mounting portion that is provided at a tip of the second link via a free rotation shaft, and the first link is driven by using information of the force sensor. The impedance of the first and second drive shafts is controlled, and the horizontal spring constant of the link is set to be small among the impedance constants, the hip joint of the mark is placed on the step above the step with the hip joint The slide mechanism is moved and fixed in accordance with the length of the lower limbs placed on the lower step of the step, and the mounting part is moved and the human limb is fixed by moving the impedance-controlled link. It is characterized by doing.
Moreover, the limb body drive device of the present invention fixes a lower limb of a human being provided at the base of a drive source, a link mechanism having a drive shaft and a link and driven by the drive source, and a tip of the link mechanism. In the limb body drive device comprising a mounting portion and a bed on which the base is placed and a patient is placed, the bed is provided with a hinge between a first portion on which the base is placed and a second portion on which the patient is placed. The first portion can be swiveled up and down around the hinge and fixed at an arbitrary angle, and the link includes a first drive shaft driven by the drive source and the first drive A first link driven by a shaft; a second drive shaft provided at the tip of the first link and driven by the drive source; and a second link driven by the second drive shaft And And a force sensor is provided at the mounting portion provided at a tip of the second link via a free rotation shaft, and impedance control is performed on the first and second drive shafts using information of the force sensor. The horizontal spring constant of the link is set small among the impedance constants,
The hinge is rotated and fixed in accordance with the movable range of the lower limb of the person riding on the second part of the bed, and the impedance-controlled link is moved. The mounting portion is moved to fix the lower limb of the person .
After the patient's hip joint is placed in a fixed position on the bed by the above means, the device is moved according to the length of the patient's leg, so that the relative position of the patient and the device can be adjusted. Since the driving range of the device can be matched to the movable range of the patient, a smaller limb body driving device can be provided.
[0005]
DETAILED DESCRIPTION OF THE INVENTION
Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 shows an embodiment of the present invention. In the figure, 21 is a slide mechanism fixed to the lower step of the stepped bed 20, and includes a mounting portion 16, drive shafts 11 and 12, free rotating shaft 13, links 14 and 15, base portion 10, slide mechanism 21, The limb body driving device 100 is formed. Reference numeral 22 denotes a mark attached to the top of the stepped bed.
When using the limb body drive device 100 configured as described above, first, the physical therapist places the patient on the upper stage of the bed 20 according to the mark 22. Then, the limb body driving device 100 is moved and fixed by the slide mechanism 21 according to the length of the patient's leg. Next, the patient's leg is placed on the mounting portion 106 and fixed.
[0006]
Incidentally, it can also be provided a force sensor instrumentation in wear part 16. In that case, the physical therapist places the patient on the bed according to the mark 22, holds the mounting portion 16, and moves the patient according to the length of the patient's leg. At this time, impedance control may be applied to the limb body driving device 100 using force information of the force sensor, and the horizontal spring constant of the impedance constant may be reduced. In that case, it can move freely, and a patient's leg can be easily put on the mounting part 16 and fixed. Thus, when the position of the hip joint 2 is adjusted to a fixed position on the bed 20, the position of the patient and the limb body driving device 100 can be easily adjusted by moving while controlling the position of the mounting portion 16. .
[0007]
Next, a second embodiment of the present invention will be described with reference to FIG. In the figure, 31 is a hinge that rotatably connects the first part and the second part of the bed 30, the base 10 is fixed to the first part, and the patient's limb 1 is placed on the second part. The mounting portion 16, the drive shafts 11 and 12, the free rotation shaft 13, the links 14 and 15, the base portion 10, and the hinge 31 constitute a limb body drive device 200. As shown in (a) and (b), the hinge 31 can be fixed at an arbitrary angle by changing the relative angle between the second portion of the bed and the lower leg of the patient. This figure explains the case of performing the SLR, that is, the hip flexion exercise in the knee joint extended position. When the hinge 31 is fixed at an angle as shown in (a), the patient's lower limb can be moved within the driving range of the limb body driving device 200 from A to B. If the range is the movable range of the patient's lower limb, training can be performed as it is. If the patient's lower limb is to be bent further in the bending direction around the hip joint 2, the hinge 31 is rotated and fixed in the α direction in the figure. If the relative angle between the limb body driving device 200 and the patient's lower limb is changed from (a) to (b) in this way, the movable range of the patient's lower limb can be changed to A'-B 'in (b). Training can be performed according to the state of the lower limbs (the degree of knee / hip joint bending due to joint contracture and muscle atrophy). On the other hand, when the hip joint 2 is over-extended, it is sufficient to rotate and fix the first portion around the hinge 31 in the β direction of (a), and adjust to the state of the lower limbs. Training.
Thus, according to the movable range of the lower limb of the patient, the first part of the limb body driving device 100 can be fixed by rotating around the hinge, so that training according to the situation in which the patient can bend and stretch is performed. Can do.
[0008]
【The invention's effect】
As described above, according to the present invention, after the position of the hip joint is determined, the mounting portion is moved by the mechanism or control of the limb body driving device to adjust the positional relationship between the patient's lower limb and the limb body driving device. There is an effect that it can be adjusted by a simple operation without bothering the hands of the therapist and regardless of the length of the leg of the patient. In addition, a part of the bed can be bent, and the movable range of the mounting part of the limb body driving device can be changed according to the movable range of the lower limbs of the patient. There is an effect that it is possible to perform training according to the extent to which the patient can bend and stretch while maintaining the same size as the above.
[Brief description of the drawings]
FIG. 1 is a side view showing a usage state of a limb body drive device according to a first embodiment of the present invention; (a) an example of a person with short legs; (b) an example of a person with long legs; The side view which shows the use condition of the limb body drive device of an Example. [FIG. 3] The side view which shows the use condition of the conventional 1st limb body drive device (a) Example of a person with a short leg, (b) Example [FIG. 4] Side view showing the state of use of the conventional second limb body drive device [Explanation of symbols]
1 limb body 2 hip joint 3 knee joint 10 base 11, 12 drive shaft 13 free rotation shaft 14, 15 link 16 mounting portion 20, 30 bed 21 slide mechanism 22 mark 31 hinge

Claims (2)

A base having a drive source, a link mechanism having a drive shaft and a link and driven by the drive source, a mounting portion provided at the tip of the link mechanism for fixing a human lower limb, and the base are installed. In a limb body drive device comprising a bed on which a patient is placed,
Wherein the beds step is provided, the base via a slidable slide mechanism in the longitudinal direction of the person of the lower limbs in the bottom row of the level difference is Installation,
The step above the step is provided with a mark used for positioning the human hip joint ,
The link is provided at a first drive shaft driven by the drive source, a first link driven by the first drive shaft, and a tip of the first link and driven by the drive source. A second drive shaft, and a second link driven by the second drive shaft,
A force sensor is provided at the mounting portion provided at the tip of the second link via a free rotation shaft, and the first and second drive shafts are impedance-controlled using the information of the force sensor, and the impedance is Among the constants, the horizontal spring constant of the link is set small,
The slide mechanism is moved and fixed in accordance with the length of the lower limb of the person on the step above the step with the hip joint aligned with the mark, and the impedance is controlled. A limb body driving device characterized in that the attachment portion is moved by moving the link to fix the lower limb of the person . A base having a drive source, a link mechanism having a drive shaft and a link and driven by the drive source, a mounting portion provided at the tip of the link mechanism for fixing a human lower limb, and the base are installed. In a limb body drive device comprising a bed on which a patient is placed,
The bed is provided with a hinge between a first part on which the base is installed and a second part on which a patient is placed. The first part can be swung up and down around the hinge, Can be fixed at an angle ,
The link is provided at a first drive shaft driven by the drive source, a first link driven by the first drive shaft, and a tip of the first link and driven by the drive source. A second drive shaft, and a second link driven by the second drive shaft,
A force sensor is provided at the mounting portion provided at the tip of the second link via a free rotation shaft, and the first and second drive shafts are impedance-controlled using the information of the force sensor, and the impedance is Among the constants, the horizontal spring constant of the link is set small,
The hinge is rotated and fixed in accordance with the movable range of the lower limb of the person riding on the second part of the bed, and the impedance-controlled link is moved. The limb body driving device characterized in that the mounting portion is moved to fix the lower limb of the person .

Images