JP4061432B2 - Exercise therapy equipment - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention aims at correcting systemic dysfunction, improving muscle / skeletal system function, and maintaining / improving health. The present invention relates to a device for performing so-called exercise therapy that performs retraining and neuromuscular retraining and other training.
[0002]
[Prior art]
Conventionally, an exercise apparatus used in orthopedics or an exercise therapy apparatus used in a physical therapy department is as follows.
1) For example, in JP-A-60-179062, JP-A-60-232158, JP-A-61-170464 and JP-B-4-14028, when the operating angle of the limb is set as a numerical value, the patient is moved at a constant speed according to the angle. The so-called continuous passive movement that moves the limbs is performed.
2) In addition, Japanese Patent Publication No. 57-44337 and Japanese Patent Publication No. 3-54587 can perform an isometric exercise, an isotonic exercise, and an isokinetic exercise for the purpose of muscle strength enhancement in addition to the passive exercise. In the passive motion, if the operating angle is set as time series data using so-called direct teaching means in addition to the previous angle input, the limb can be moved according to the time series data. In addition, the automatic movement is a movement in which the limb actively exerts force unlike the passive movement in which the limb is moved by the apparatus.
[0003]
[Problems to be solved by the invention]
However, in the case of 1), in the case of 1), only passive movement can be performed, and so-called automatic movement by muscular strength of the limbs cannot be performed. In addition, in the case of 2), in addition to the passive movement, an isometric movement, an isotonic movement, an automatic movement of a constant speed movement can be performed, but from the exercise therapy performed from the start of the limb body disease to the recovery In view of this, only a part of the exercise therapy can be carried out by the above-mentioned conventional apparatus, and it is impossible to realize the exercise of the part requiring the most delicate exercise therapy skill. For example, the isometric exercise that can be performed by the above-described conventional device is a device that exerts muscular strength in a state in which the device does not operate, and does not have a limb movement. In addition, the isotonic exercise that can be performed by the above-described conventional device is to move the device by exerting muscular strength on the limbs, but is close to a resistance exercise when the muscular strength is recovered to some extent. In addition, the constant velocity exercise that can be performed by the above-mentioned conventional device means that the limb body exerts muscular strength while the device moves at a constant velocity and the limb body moves along with it, but the movement speed of the device is the muscular strength exhibited by the limb body. Is irrelevant. However, any of the above movements cannot be replaced with a so-called automatic assistance movement in which exercise is performed so as to assist in accordance with the magnitude of the muscular strength exerted by the limb.
[0004]
The purpose of the present invention is to change from the various types of automatic movements / automatic assistance movements in the acute phase from the passive movements in the acute phase, isometric exercises, isotonic exercises, and constant velocity exercises according to the disease and recovery state of the joint / muscle strength. It is to provide an exercise therapy apparatus capable of performing comprehensive exercise therapy over all aspects of rehabilitation up to resistance exercise.
[0005]
[Means for Solving the Problems]
  The exercise therapy apparatus of the present invention is
  The trajectory that the patient should exerciseAnd rangeTrajectory teaching means for teaching
  Load measuring means for measuring the load on the device from the limb of the patient;
  The load value measured by the load measuring means is separated into a vertical direction and a horizontal direction with respect to the ground, and load information is obtained in each direction based on the trajectory and range of the limbs set by the trajectory teaching means. Pass the filter to amplify and the filter that converts the load information into position, velocity or acceleration motion commandsLoad information conversion means;
  Limb body driving means for driving the patient's limb according to the motion commandWhen
  Have
  Another exercise therapy device of the present invention is:
  The trajectory that the patient should exerciseAnd rangeTrajectory teaching means for teaching
  First storage means for storing the trajectory as time-series data;
  Second storage means for organizing and storing the trajectory as an order point sequence;
  Coordinate conversion means for sequentially performing coordinate conversion at each point of each point sequence;
  Load measuring means for measuring the load on the device from the limb of the patient;
  Load calculating means for calculating the load along the coordinates of each point sequence;
  The load value measured by the load measuring means is separated into a vertical direction and a horizontal direction with respect to the ground, and load information is obtained in each direction based on the trajectory and range of the limbs set by the trajectory teaching means. Pass the filter to amplify and the filter that converts the load information into position, velocity or acceleration motion commandsLoad information conversion means;
  Motion command correcting means for correcting the motion command;
  Limb body drive means for driving the patient's limb according to the corrected motion commandWhen
  Have
[0006]
With this device, only a part of the exercise therapy can be performed, and in particular, there is no problem that it is not possible to perform the automatic assisting movement that requires the most delicate therapy skills, and the acute phase depends on the disease and recovery state of the joint and muscle strength. Comprehensive exercise therapy for all aspects of rehabilitation, from various automatic movements and isotonic movements, isotonic movements, various automatic movements such as isotonic movements, and automatic assistance movements to resistance movements in the chronic phase Can be implemented.
[0007]
DETAILED DESCRIPTION OF THE INVENTION
Next, embodiments of the present invention will be described with reference to the drawings.
FIG. 1 is a diagram showing an overall configuration of an exercise therapy apparatus according to a first embodiment of the present invention. A limb body 101 which is a part of a limb body to be treated or trained is gripped by a grip portion 102 of the apparatus. The load on the limb 101 is always measured by a force sensor 203 that is a load measuring unit attached to the grip unit 102 and generates load information 204. The trajectory teaching unit 201 sets the motion trajectory 202 of the limb 101 by various methods as described below. From the load information 204, the motion trajectory 202 generated by the trajectory teaching unit 201, and the motion information 208 of any one of the position / velocity / acceleration of each drive axis input from the limb drive unit 207, the load information conversion unit 205 performs the motion. A command 206 is generated and sent to the limb body drive unit 207. The limb body drive unit 207 generates a torque command 110 to each drive shaft 104 to 106 from the motion information 208 and the motion command 206 of each drive shaft. The mechanism of the apparatus includes a base portion 109, drive shafts 104 to 106, links 107 and 108 for connecting the drive shafts 104 and 105, 105 and 106, and a grip portion 102, respectively. Here, of the mechanism of the apparatus, the movable part, that is, the drive shafts 104 to 106 and the links 107 and 108 are collectively referred to as an arm of the apparatus. The drive shafts 104 to 106 generate drive torque in accordance with the torque command 110 received from the limb body drive unit 207, and the motion information 111 is generated by the angle sensor or the speed sensor provided in each of the drive shafts 104 to 106. Here, as the trajectory teaching unit 201, the movement of the limb body 101 is set by direct teaching in so-called robot engineering, in which the arm motion is taught by directly moving the arm with the apparatus arm attached to the limb body 101. And a method for setting the trajectory and motion range of the limb 101 by virtually adjusting the mechanical impedance of the arm of the device as a trajectory teaching unit 201 by direct teaching, or by direct teaching As a trajectory teaching unit 201, the power of the actuator of the device is reduced or cut to set the trajectory to be moved and the movement range of the limb 101, or as the trajectory teaching unit 201 by direct teaching, from the actuator of the device to the arm. By mechanically interrupting the driving force transmission of the limb 101, the trajectory and range of motion of the limb 101 There is a method to be set. In addition, as the trajectory teaching unit 201, there is a method of setting a trajectory and a motion range in which the limb 101 should move by adjusting a lever or a dial provided separately from the arm of the apparatus. By the above method, the trajectory to which the limb 101 should move can be virtually set as if there is a rail in the space, as shown in FIG. The limb body 101 can freely move on the virtual track rail 301 (303 indicates the center of motion relative to the virtual track rail 301) via the grip portion 102 of the apparatus. In addition, the virtual track rail 301 shown in the drawing is provided with virtual stop portions at both ends and is opened upward, and the limb body 101 can be freely moved on the virtual track rail 301 between the stop portions at both ends. However, if the shape of the rail is closed up and down like the virtual track rail 302, it can be easily set to move only between the upper and lower rails.
[0008]
A method for setting the trajectory and the movement range of the limb 101 by adjusting the lever and dial will be described with reference to FIG. FIG. 3 shows an example in which the trajectory and the movement range of the limb 101 are set by the lever. This example includes a setting unit 401 corresponding to the vertical movable range of the gripping unit 102 of the apparatus, a setting unit 411 corresponding to the horizontal movable range, and a trajectory teaching unit 201 of the gripping unit 102. The setting unit 401 corresponding to the vertical movable range includes a lever 405 and a lever groove 402 corresponding to a vertical position at an end point in the limb body head direction, and a lever 407 corresponding to a vertical position at an end point in the limb body foot direction. And a lever groove 404, and a lever 406 and a lever groove 403 corresponding to a vertical position at an intermediate position between both end points. In each lever groove 402 to 404, the upper end indicates the highest value in the vertical direction, and the lower end indicates the lowest position. By moving the levers 405 to 407, the vertical positions of the trajectories at both end points and intermediate points can be set. Position information 408 to 410 from the levers 405 to 407 is sent to the trajectory teaching unit 201. On the other hand, in the setting unit 411 corresponding to the movable range in the horizontal direction, the two levers 413 and 414 can move in the lever groove 412, and the levers 413 and 414 are respectively positioned at the end point in the head direction and the end point in the foot direction. Indicates. Both pieces of horizontal position information 415 are sent to the trajectory teaching unit 201. The trajectory teaching unit 201 interpolates the trajectory with a secondary or tertiary smooth curve from the position information 408 to 410 in the vertical direction and the position information 415 in the horizontal direction, and the trajectory to which the gripper 102 should move is two-dimensional space. Set in. The set motion trajectory 202 is sent to the load information conversion unit 205. In addition, it can be easily realized by a dial instead of a lever. Also. The setting of the motion trajectory in the three-dimensional space can be easily realized by adding a lever or a dial. The virtual track rail 301 as shown in FIG. 2 can be formed by the track setting by the above methods.
[0009]
Next, some examples of the load measuring unit 203 are shown below. For example, the load from the patient's limb 101 to the device can be measured by using a force sensor 203 provided in a portion where the device supports the limb 101 as shown in FIG. Further, as another means, using a torque sensor provided on each of the drive shafts 104 to 106 of the arm of the apparatus of FIG. 1, the load on the apparatus from the patient's limb 101 is determined from the position and posture information of the apparatus arm. It can be measured. As another means, the load on the apparatus from the patient's limb 101 can be measured by using the current value of each actuator of the arm of the apparatus of FIG. As another means, the load on the apparatus from the patient's limb 101 can be measured by using a so-called disturbance observer using the current value of each motor of the arm of the apparatus of FIG. 1 and the speed information of each motor. it can. Further, as another means, using the myoelectric information of the main muscles of the limb 101 to be driven shown in FIG. 1, the load on the apparatus from the limb 101 of the patient based on the angle information of each joint of the limb 101 at that time Can be measured. Further, as another means, by measuring the size of the bulges of the main muscles of the driven limb body 101 in FIG. 1 and the angle information of each joint of the limb body 101 at that time, the patient's limb body 101 is transferred to the apparatus. The load can be measured. As another means, the load from the patient's limb 101 to the apparatus can be measured more precisely by combining the above measuring means.
[0010]
Next, an example of the load information conversion unit 205 is shown in FIG. The load information conversion unit 205 separates the load information 204 measured by the load measurement unit 203 into vertical load information 502 and horizontal load information 503 with respect to the ground in the vertical / horizontal direction separation unit 501, and provides trajectory teaching. Based on the trajectory of the limb 101 from the unit 201 and the motion trajectory 202, the load information 502 based on the filter 504 that amplifies the load information 502 and 503 in each direction, and the load information 507 and 508 after passing through the filter 204 is passed through a vertical / horizontal motion command generation unit 509 which is a filter for converting the motion command 206 into position, velocity or acceleration. At this time, when the limb body 101 is below the trajectory, the vertical filter 505 in the filter 504 that amplifies the load information 502 goes to the ground so that the limb body 101 does not fall below the trajectory to which the limb body 101 should operate. Configure to ignore direction load information. In addition, when the limb body 101 is below the trajectory, the vertical filter 505 is in a direction opposite to the ground according to the distance in the ground direction so that the limb body 101 does not fall below the trajectory on which the limb body 101 should operate. You may comprise so that load information may be added to a load measurement value. Further, when the limb body 101 is above the trajectory, the vertical filter 505 may be configured to add load information in a direction opposite to the ground according to the distance from the trajectory to the load measurement value. A configuration example of the vertical filter 505 at this time is shown in FIGS.
[0011]
Further, the horizontal filter 506 in the filter 504 that amplifies the load information 503 amplifies the load information 503 by multiplying the motion trajectory 202 of the limb 101 to be operated by a positive proportionality constant in the obtained load information 503. Configure to do. Further, the horizontal filter 506 may be configured to amplify the load information 503 by adding a positive offset in the obtained load information 503 to the motion trajectory 202 in which the limb 101 should operate. Further, the horizontal filter 506 may be configured to amplify the load information 503 by providing a dead zone in the obtained load information 503 for the motion trajectory 202 on which the limb 101 should operate. Further, the horizontal filter 506 may be configured to amplify the load information 503 obtained by combining some of the above described motion trajectories 202 on which the limb 101 should operate.
[0012]
Next, the operation of the apparatus including the limb 101 when the load information conversion unit 205 is configured as described above will be described. First, when a patient puts a force on the muscles of the limbs so as to move the limbs 101 by his / her own intention, the muscles become load information to the apparatus and are measured by the load measuring unit 203. The load information 204 is separated into load information 502 and 503 in the respective directions by the vertical / horizontal direction separation unit 501. Here, the virtual track rail 301 as shown in FIG. It will operate along 301. First, the vertical filter 505 described above ensures that the limb 101 does not travel below the virtual track rail 301 and is always positioned above the virtual track rail 301. In the vertical direction, the limb body gravity term is further compensated to some extent, and the limb body 101 can be lifted from the virtual track rail 301 and moved. Further, the limb body 101 moves within the horizontal range where the virtual track rail 301 is located by the horizontal filter 506 described above. At this time, since the load value in the horizontal direction is amplified, the limb 101 moves with a force greater than the muscular strength applied by the patient, and the patient moves the limb 101 with his / her own intention with a little force. Can do. From the above, the limb body 101 can be moved so as to slide on the virtual track rail 301, and at this time, the patient can move while feeling as if his limb body 101 has become very light, A so-called automatic assistance exercise in which the limb body 101 is moved while assisting the muscle strength of the patient can be performed.
[0013]
In the above embodiment, an electric motor is assumed as the limb drive unit 207. However, the present invention is not limited to this, and the same effect can be obtained by using a hydraulic servo drive means and a pneumatic servo drive means.
FIG. 6 is a diagram showing the overall configuration of the exercise therapy apparatus according to the second embodiment of the present invention. A limb 101 that is a part for treatment or training is gripped by a gripping portion 102 of the apparatus. There are driving units 104 to 106 in the operation part of the apparatus, and the base part 109 of the apparatus is connected to the grip part 102 via links 107 and 108. In addition, a force sensor 203 is disposed between the operating portion and the grip portion 102. The operation part and the control unit 610 exchange load information 204 from the force sensor 203, a torque command 110, and apparatus motion information 111. In the control unit 610, the trajectory teaching unit 611 receives the load information 204 and the exercise information 614 of the apparatus from the limb drive unit 612 and generates an exercise command 613. The limb body drive unit 612 sends the torque command 110 from the motion information 111 of the apparatus to the operation part based on the motion command 613 to drive the drive shafts 104 to 106. The moving part operates according to the torque command 110 and moves the limb 101 through the grip portion 102. The limb body 101 is driven by the operation of the apparatus, or trains against the operation.
[0014]
FIG. 7 shows the control block of the control unit 610 in FIG. 8 in detail. The control block has a different configuration according to the operation mode of the apparatus. The following explanation is divided into 1) teaching mode, 2) passive motion mode, and 3) assistance / automatic / resistance motion mode.
1) Teaching mode
In the teaching mode, the switch 703 is set to the contact A2, and the switch 709 is set to the contact B1. Movements 740 and 741 generated by the operation of the device generate loads 720 and 742 via an operator 717 and a patient 719, respectively. The loads 720 and 742 are measured by the force sensor 203 and become load information 204. The coordinate conversion unit 702 obtains the current position / posture information 721 of the apparatus from the servo system 716 and performs coordinate conversion of the load information 204. The coordinate-converted load information 723 is sent to the teaching filter 705 via the contact A2 of the switch 703, and a motion command 729 is generated. The motion command 729 becomes a command 736 via the contact B1 of the switch 709 and is sent to the adder 715. However, since the motion command 724 from the trajectory correction filter 704 remains zero, the motion command 737 is sent to the servo system 716 as it is. It is done. The servo system 716 obtains device movement (position or velocity or acceleration) information 739 and generates a drive command 738. On the other hand, the teaching filter 705 also sends a motion command 725 to the memory 706 and stores it as time series data of the motion command 725. This is data resulting from teaching the operation of the apparatus.
[0015]
Here, the teaching filter 705 converts the motion information X by applying a second-order filter called mechanical impedance to the load information F as follows. This expression is expressed in the frequency domain, and s is a Laplace operator. M is a virtual inertia coefficient, B is a virtual viscosity coefficient, and K is a virtual spring coefficient, each of which is a positive value.
X = F / (Ms² + Bs + K) (1)
By this filter, the dynamic characteristic of the apparatus viewed from the operator is adjusted to a secondary mechanical impedance composed of parameters (M, B, K), and the operator can directly move the apparatus according to this dynamic characteristic. In the teaching mode, K is set to zero or a small value for easy operation by the operator.
[0016]
Further, as the trajectory teaching unit 611, in addition to virtually adjusting the mechanical impedance of the device arm by control as described above, the power of the actuator of the device is reduced or turned off, or the driving force of the arm from the actuator is reduced. By mechanically interrupting the voltage, the operation of the arm may be taught in a state where the arm can be moved directly with the arm attached to the limb. Further, as the trajectory teaching unit 611, the length and positional relationship between the joints of the limbs targeted for exercise therapy, that is, the so-called kinematics of the limbs is input to the apparatus in advance, and the motion command of the limbs is determined from the motion range of the limbs to move Time series data may be generated.
2) Passive motion mode
In the passive motion mode, the switch 703 is set to the contact A1, and the switch 709 is set to the contact B2. Movement 741 generated by the operation of the device generates a load 742 through patient 719. The load 742 is measured by the force sensor 203 and becomes load information 204. The coordinate conversion unit 702 obtains the current position / posture information 721 of the apparatus from the servo system 716 and performs coordinate conversion of the load information 204. The coordinate-converted load information 723 is sent to the trajectory correcting filter 704 via A1 of the switch 703, and a motion command 724 is generated. The motion command 724 is sent to the adder 715.
[0017]
On the other hand, the time-series teaching data stored in the memory 706 by teaching is sent to the adder 715 as a motion command 736 through the contact B2 of the switch 709 as a motion command 730. The motion command 736 is added to the motion command 724 and sent to the servo system 716 as a new motion command 737 to drive the device. The device moves the patient 719 in a passive manner.
Note that the trajectory correcting filter 704 also converts the load information into motion information by mechanical impedance having the structure of Expression (1) as in the teaching filter 705. In this case, the spring coefficient K is different from the teaching mode, and a positive value having an appropriate size is used as the spring coefficient.
3) Assistance / automatic / resistance motion modes
In the assistance / automatic / resistance motion mode, the switch 703 is set to the contact A1, and the switch 709 is set to B3. Movement 741 generated by the operation of the device generates a load 742 through patient 719. The load 742 is measured by the force sensor 203 and becomes load information 204. The coordinate conversion unit 702 obtains the current position / posture information 721 of the apparatus from the servo system 716 and performs coordinate conversion of the load information 204. The coordinate-converted load information 723 is sent to the trajectory correcting filter 704 via the contact A1 of the switch 703, and a motion command 724 is generated. The motion command 724 is sent to the adder 715.
[0018]
On the other hand, the coordinate conversion unit 702 obtains the current position / attitude information 721 of the device from the servo system 716 and obtains the coordinate system information 728 at the current position of the device from the coordinate calculation unit 708 that calculates the coordinate system at each point. The coordinates of the load information 204 are converted. In the load information 731 subjected to coordinate conversion, the load selection unit 711 selects only the load of the coordinate axis along the teaching trajectory, and ignores the load along the other coordinate axes. The selected load information is set to 732. The selected load information 732 is amplified by the load amplification unit 712 and becomes the load information 733. The load information 733 is converted into a motion command 735 by the filter 713 and sent to the adder 715 as a motion command 736 via the switch 709. The adder 715 adds the motion command 735 and the motion command 724 to generate a new motion command 737. This is the target amount of how much to move on the trajectory formed by the sequence of sequence points and the further segmented sequence of points. A motion command 737 is sent to the servo system 716 to drive the device. The device operates patient 719.
[0019]
At this time, the coordinate system is set by the coordinate conversion unit 710 as follows. The teaching data 726 stored as time series data is first stored as an ordered point sequence in the memory 707, and the coordinate system at each point is calculated from the coordinate calculation unit 708.
In order to organize and store the trajectory as an ordered point sequence, the point sequence is divided into finer point sequences. Alternatively, the point sequence may be interpolated or discarded so that the distance between each other on the trajectory becomes a certain value or larger, and stored again as a point sequence having an order according to a time series. In the latter method, for example, the order of the position of the points is determined according to the time series of the serial data, and at a certain point A, when the distance to the next point B in the order is equal to or less than a preset value, A point C further adjacent to B is set as a point adjacent to point A, and point B is discarded from the point sequence. The above operation is repeated until the distance between each point becomes larger than the set value. Furthermore, the point sequence may be set more finely by interpolating with the points adjacent to each point in the sequence, so that the value becomes smaller than the previously set value.
[0020]
In the application method of the coordinate system, for example, when the point sequence is interpolated with a smooth trajectory, a plane perpendicular to the trajectory is set for each point sequence, and the two adjacent planes in the vicinity of the trajectory are set. In the enclosed area, a coordinate system defined by each point sequence is applied. Alternatively, a plane perpendicular to the line segment passing through the point sequence may be set for each point sequence, and a coordinate system defined by each point sequence may be applied to a region surrounded by the plane.
In the filter 713 as well, the load information is converted into motion information by mechanical impedance having the structure of the formula (1) as in the teaching filter 705. In this case, of the parameters (M, B, K), K is zero, and the other M, B is a small positive value in the case of the assisting movement, and a large positive value in the case of the automatic / resistance movement. Once set, the desired operation can be performed. The parameter is changed by the parameter conversion unit 714. Further, during the assisting exercise, if the patient's muscle strength is extremely small, B and K may be set to small negative values so that the operation of the apparatus does not become unstable. Setting these parameters to a small positive value or negative value means that the device operates with a small load, whereby an assisting movement can be realized. Moreover, if it is set to a large positive value, the resistance to the limb increases as the value increases, and it is possible to realize appropriate automatic exercise to resistance exercise according to the magnitude.
[0021]
As an amplification method in the load amplification unit 712, for example, a certain positive proportional multiplier may be applied to the load value, a positive offset may be added, a dead zone may be provided, or a combination thereof may be performed.
In any of the above operation modes, in addition to using the force sensor provided in the portion where the device supports the limb as a means for measuring the load on the device from the patient's limb, each axis of the device arm is used. By using the torque sensor provided, using the current value of the actuator, using the myoelectric value of the limb, measuring the size of the bulge of the muscle of the driven limb, or combining the above measurement means, The load on the device from the patient's limb may be measured.
In any of the above-described filters for converting from load to motion, a static friction or dynamic friction model may be used in addition to the simple second-order model as described, or a non-linear spring may be used.
[0022]
Note that the order of the load selection unit 711, the load amplification unit 712, and the filter 713 may be changed. Further, when the equivalent function can be realized by the filter 713, either of the load amplifying units 712 may be omitted.
[0023]
【The invention's effect】
As described above, the present invention includes various types of automatic movements such as passive movements in the acute phase, isometric exercises, isotonic exercises, and constant velocity exercises among exercise therapies according to joint / muscular strength diseases and recovery states. From the automatic assistance exercise, there is an effect that it is possible to easily carry out so-called automatic exercise by the muscular strength of the limbs and so-called automatic assistance exercises that exercise so as to assist in accordance with the magnitude of the muscular strength exhibited by the limbs.
[Brief description of the drawings]
FIG. 1 is a diagram showing a configuration of an exercise therapy apparatus according to a first embodiment of the present invention.
FIG. 2 is a diagram illustrating an example of trajectory setting according to the first embodiment.
FIG. 3 is a diagram illustrating an example of a trajectory teaching unit 201 according to the first embodiment.
FIG. 4 is a diagram illustrating an example of a load information conversion unit 205 according to the first embodiment.
FIG. 5 is a diagram illustrating an example of a vertical filter 505 among filters 504 that amplify a load according to the first embodiment;
FIG. 6 is a diagram showing a configuration of an exercise therapy apparatus according to a second embodiment of the present invention.
FIG. 7 is a diagram illustrating a control block according to a second embodiment.
[Explanation of symbols]
101 limbs
102 gripping part
104-106 Drive shaft
107, 108 links
109 base
110 Torque command
111 exercise information
201 Trajectory teaching unit
202 motion trajectory
203 Load measurement unit (force sensor)
204 Load information
205 Load information converter
206 Movement command
207 Limb body drive unit
208 exercise information
301 virtual track rail
302 Virtual track rail set separately
303 Motion center for virtual track rail
401 Vertical orbit position setting unit
402-404 Lever groove
405-407 lever
408-410 Location information
411 Setting section of movable range of horizontal trajectory
412 Lever groove
413-414 lever
415 Location information
501 Vertical / horizontal separation part
502 Load information in the vertical direction
503 Horizontal load information
504 Filter that amplifies load information
505 Vertical filter
506 Horizontal filter
507 Vertically amplified load information
508 Horizontally amplified load information
509 Vertical / horizontal motion command generator
610 control unit
611 Trajectory teaching unit
612 Limb body drive unit
613 Exercise command
614 Exercise Information
702 Coordinate transformation unit
703 switch
704 Filter for trajectory correction
705 Teaching filter
706 Memory for storing teaching data as time-series data
707 Memory for storing time-series teaching data as a sequence of sequence points
708 Coordinate calculator for calculating the coordinate system at each point
709 switch
710 Coordinate converter
711 Load selector
712 Load amplifier
713 Conversion filter from load to motion command
714 Parameter conversion part of filter
715 adder
716 Servo system
717 Operator
718 Device operation
719 patients
720 Load from the operator
721 Current position / posture information of the device
723 Load information after coordinate transformation
724 Motion command by trajectory correction filter
725 Motion command by teaching filter
726 Teaching data in time series
727 Teach sequence data
728 Coordinate system information
729 Motion command by teaching filter
730 Exercise command
731 Coordinate transformed load information
732 Load information selected
733 Amplified load information
734 Parameter conversion command
735 Motion command by filter
736 Exercise command
737 Added motion command
738 Drive command from servo system
739 Exercise information of the device
740 Movement of the device relative to the operator
741 Movement of device relative to patient or trainer
742 Load from patient or trainer

Claims (31)

In order to correct systemic dysfunction, improve muscle and skeletal system functions, and maintain and improve health, relaxation, joint range of motion training, muscle strength training, strength training, coordination training, and neuromuscular regeneration An exercise therapy device that performs exercise therapy in so-called rehabilitation that provides education and other training,
A trajectory teaching means for teaching the trajectory and range that the patient should move;
Load measuring means for measuring the load on the device from the limb of the patient;
The load value measured by the load measuring means is separated into a vertical direction and a horizontal direction with respect to the ground, and the load in each direction is determined based on the trajectory and range of the limbs set by the trajectory teaching means. Load information converting means for passing the information through a filter for amplifying the information and a filter for converting the load information into a motion command of position or velocity or acceleration ;
Exercise therapy apparatus and a limb driving means for driving the limb of the patient along the motor command. In order to correct systemic dysfunction, improve muscle and skeletal system functions, and maintain and improve health, relaxation, joint range of motion training, muscle strength training, strength training, coordination training, and neuromuscular regeneration An exercise therapy device that carries out education and other training, so-called exercise therapy,
A trajectory teaching means for teaching the trajectory and range that the patient should move;
First storage means for storing the trajectory as time-series data;
Second storage means for organizing and storing the trajectory as an order point sequence;
Coordinate conversion means for sequentially performing coordinate conversion at each point of each point sequence;
Load measuring means for measuring the load on the device from the limb of the patient;
Load calculating means for calculating the load along the coordinates of each point sequence;
The load value measured by the load measuring means is separated into a vertical direction and a horizontal direction with respect to the ground, and the load in each direction is determined based on the trajectory and range of the limbs set by the trajectory teaching means. Load information converting means for passing the information through a filter for amplifying the information and a filter for converting the load information into a motion command of position or velocity or acceleration ;
Motion command correcting means for correcting the motion command;
Exercise therapy apparatus and a limb driving means for driving the limb of a patient along a corrected said movement commands.  2. The trajectory teaching means teaches the movement of the arm by directly moving the arm while the arm of the apparatus is attached to the limb, and sets the movement of the limb by direct teaching in so-called robotics. Or the exercise therapy apparatus of 2.  The trajectory teaching means inputs in advance the length and positional relationship between each joint of the limbs to be subjected to the exercise therapy, that is, so-called kinematics of the limbs, and sets the motion of the limbs to move. 2. The exercise therapy apparatus according to 2. As a track teaching means by direct teaching, by adjusting virtually by controlling the mechanical impedance of the arms of the device, with a trajectory teaching means for setting the trajectory and operating range should movement of limbs, according to claim 1 or 2, wherein Exercise therapy device.  The kinematic therapy device according to claim 1 or 2, further comprising trajectory teaching means for setting a trajectory to be moved and a range of motion of the limb by reducing or cutting the power of the actuator of the apparatus as the trajectory teaching means by direct teaching.  The trajectory teaching means for setting the trajectory to which the limb should move and the movement range by mechanically interrupting transmission of the driving force from the actuator of the apparatus to the arm of the apparatus as the trajectory teaching means by direct teaching. 2. The exercise therapy apparatus according to 2.  The exercise therapy device according to claim 1, wherein the trajectory teaching unit sets a trajectory and a motion range of the limb by adjusting a lever or a dial provided separately from the arm of the device.  The exercise therapy apparatus according to claim 1, wherein the load measuring unit measures a load on the apparatus from a patient's limb by using a force sensor provided in a portion where the apparatus supports the limb.  The exercise therapy device according to claim 1, wherein the load measuring unit measures a load on the device from a patient's limb by using a torque sensor provided on each axis of the arm of the device.  The exercise therapy apparatus according to claim 1, wherein the load measuring unit measures a load on the apparatus from a patient's limb by using a current value of each actuator of an arm of the apparatus.  The load measuring means measures a load from the patient's limb to the apparatus by using a so-called disturbance observer using a current value of each actuator of the arm of the apparatus and speed information of each actuator. The exercise therapy device described.  The exercise therapy device according to claim 1, wherein the load measuring unit measures the load on the device from the limb of the patient by using myoelectric information of the main muscles of the driven limb.  The exercise therapy apparatus according to claim 1, wherein the load measuring unit measures a load on the apparatus from a patient's limbs by measuring a size of a muscle bulge of a main muscle of a driven limb. It said load measuring means, coupled to the measuring means described in claims 9 to 14, measuring the load on the device from the patient's limb, exercise therapy apparatus of any one of claims 9 14. Wherein as a filter for amplifying the load information, when there is a limb below the trajectory, the so no limb is lowered below the track teaching means operating trajectory should limb set in the direction of the load towards the ground The exercise therapy device according to any one of claims 3 to 8 , wherein a vertical filter that ignores information is configured. As a filter for amplifying the load information, when there is a limb below the trajectory, the limb does not fall below the trajectory to be operated of the limb set by the trajectory teaching means according to claim 3 to 8. The exercise therapy device according to any one of claims 3 to 8 , wherein a vertical filter that adds load information in a direction opposite to the ground according to a distance in the ground direction to a load measurement value is configured. As a filter for amplifying the load information, when there is a limb above the track, a filter in the vertical direction is added so that the load information is added to the load measurement value in a direction opposite to the ground according to the distance from the track. The exercise therapy device according to claim 1, wherein: As a filter for amplifying the load information relative to the operation to be a range of limb set by the trajectory teaching means, by applying a positive proportionality constant in the obtained load information to perform amplification of the load information, horizontal The exercise therapy device according to claim 3 , wherein the filter is configured. As a filter for amplifying the load information relative to the operation to be a range of limb set by the trajectory teaching means, by adding a positive offset in the obtained load information to perform amplification of the load information, horizontal The exercise therapy device according to claim 3 , wherein the filter is configured. As a filter for amplifying the load information relative to the operation to be a range of limb set by the trajectory teaching means, so that the amplification of the load information provided dead zone in the obtained load information, a horizontal filter The exercise therapy device according to any one of claims 3 to 8, which is configured. As a filter for amplifying the load information relative to the operation to be a range of limb set by the trajectory teaching means, the obtained load information, to amplify the load information by combining the techniques according to claims 19 21 22. The exercise therapy device according to any one of claims 19 to 21 , wherein a horizontal filter is configured.  The exercise therapy apparatus according to claim 1, wherein the limb body driving means drives the limb body by moving an arm of an apparatus attached to the limb body according to the motion command. The second storage means stores the stored time series data as it is as a point sequence having an order according to the time series, or a mutual distance on the trajectory is a predetermined value or a value thereof interpolating or abstracting the time-series data so as to be larger reconfigure, stored as a sequence of points with an order in accordance with the time series, exercise therapy apparatus according to claim 2, wherein.  The coordinate conversion means determines one coordinate axis along a straight line connecting one point of the point sequence and the adjacent point, and sets the other coordinate axis to be parallel to a vertical plane with respect to the ground. The motion therapy apparatus according to claim 2, wherein a coordinate system is defined at each point of the point sequence. When the point sequence is interpolated with a smooth trajectory, a plane perpendicular to the trajectory is set for each point sequence, and in the region surrounded by the two adjacent planes in the vicinity of the trajectory, the coordinates determined by each point sequence 26. The exercise therapy device according to claim 25 , wherein a system is applied to the coordinate transformation means. 26. The motion according to claim 25 , wherein a plane perpendicular to a line segment passing through the point sequence is set for each point sequence, and a coordinate system defined by each point sequence is applied to the coordinate conversion means in a region surrounded by the plane. Therapy device. Said load calculating means, to measure the load along a coordinate system defined in claim 25 or 26, or even loads other than coordinate axis along a straight line that interpolates the sequence of points may be ignored, claim 25 Or the exercise therapy apparatus of 26 . The load information conversion means converts the load value in each coordinate axis direction measured by the method defined in claim 28 into a filter that amplifies the load and a filter that converts the load into a motion command of position, velocity, or acceleration. passing, exercise therapy apparatus according to claim 28. 3. The exercise therapy apparatus according to claim 2 , wherein the load information conversion means uses a static friction model, a dynamic friction model, or a nonlinear spring model in addition to a secondary mechanical impedance model. The load information converting means performs amplification of the load by multiplying a certain positive proportional multiplier by a load value, adding a positive offset to the load value, or providing a dead band or a combination thereof. 2. The exercise therapy apparatus according to 2.

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