JP4378926B2 - Limb body training device - Google Patents

Limb body training device Download PDF

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Publication number
JP4378926B2
JP4378926B2 JP2002296938A JP2002296938A JP4378926B2 JP 4378926 B2 JP4378926 B2 JP 4378926B2 JP 2002296938 A JP2002296938 A JP 2002296938A JP 2002296938 A JP2002296938 A JP 2002296938A JP 4378926 B2 JP4378926 B2 JP 4378926B2
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Japan
Prior art keywords
training
magnitude
force
trainer
trainee
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Expired - Fee Related
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JP2002296938A
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Japanese (ja)
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JP2004129817A (en
Inventor
亮吉 平田
泰輔 榊
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株式会社安川電機
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Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a rehabilitation support apparatus that measures the state of a patient undergoing rehabilitation and presents the rehabilitation content as an image, sound, or force / tactile sensation, targeting a patient having an injury in motor function or brain function. is there.
[0002]
[Prior art]
In the conventional limb body function recovery training support device, the patient can perform the function recovery training of the upper limbs with a training continuation consciousness (see, for example, Patent Document 1).
[0003]
[Patent Document 1]
JP 2000-271180 A
[0004]
Hereinafter, it will be briefly described with reference to the drawings. In FIG. 8, 110 is an upper limb function recovery training support device, 112 is a key input device, 120 is a base unit 120 on which a computer including a storage device and a central processing unit (CPU) is arranged, and 128 is erected from the base table 120. The image display device 122 is provided with a vertical portion 124 and a support portion 126 that extends horizontally above the base portion 120 from the upper end portion of the vertical portion 124, and the device body 130 is suspended by the support portion 126 and is three-dimensional. The upper limb suspension support device is movable in the directions (X, Y, Z) and is rotatable about different axes.
In the above configuration, when the patient performs upper limb training, the patient's training state is detected with respect to the training target by a sensor means (not shown), for example, an error of the actual motion trajectory with respect to the target trajectory, a target motion speed, a target number of times or The progress of the training with respect to the target time is fed back to the patient's audiovisual using an image display device or the like to support the function recovery training. Since the patient himself / herself can recognize his / her training state through audiovisual as necessary, the function recovery training can be executed with motivation.
[0005]
[Problems to be solved by the invention]
However, in the conventional limb function recovery training support device, since the evaluation function is not changed between when the trainer's training results are good and bad, the trainer loses the willingness to train and is effective when the results are bad. I couldn't expect to do any kind of training.
Therefore, the purpose of the present invention is to change the evaluation function and change the target value when the performance of the trainee who is training the limb is good or bad when presenting the results during training to the trainee. It is an object of the present invention to provide a lower limb training apparatus that can perform effective training without losing the willingness of training.
[0008]
[Means for Solving the Problems]
  In order to solve the above problem, the present invention is configured as follows.
  The invention according to claim 1 is an input unit for inputting a magnitude of a target force generated by a trainee, a force detection unit for detecting a magnitude of the force generated by the trainee, and the magnitude of the target force. And a training data storage unit for storing the magnitude of the force, Repeatedly perform training along the training trajectoryIn the limb body training device,Find the maximum value of the stored force magnitude for the previous repetitive training,For the stored target force magnitudeMaximum valuePercentage ofJudge whether it is larger or smaller than the predetermined size,The proportion isAboveWhen the magnitude is less than a predetermined magnitude, the magnitude of the force detected by the force detection unit is weighted with a function that is convex upward and monotonously increases and is output.When the ratio is equal to or greater than the predetermined magnitude, the magnitude of the force detected by the force detector is weighted with a function that monotonously increases in a convex manner and is output.A training result evaluation unit, and a trainer presentation unit that presents an output result of the training result evaluation unit to the trainee.
  Further, the invention according to claim 2 is an input unit that inputs the magnitude of the target force generated by the trainee, a force detection unit that detects the magnitude of the force generated by the trainee, and the target force A training data storage unit for storing the magnitude and the magnitude of the force, Repeatedly perform training along the training trajectoryIn the limb body training device,Find the maximum value of the stored force magnitude for the previous repetitive training,For the stored target force magnitudeMaximum valuePercentage ofJudge whether it is larger or smaller than the predetermined size,The proportion isAboveIf the magnitude is less than a predetermined magnitude, the magnitude of the force detected by the force detector is weighted with a logarithmic function and output.If the ratio is greater than or equal to the predetermined magnitude, the magnitude of the force detected by the force detector is weighted with an exponential function and output.A training result evaluation unit, and a trainer presentation means for presenting the output result of the training result evaluation unit to the trainee..
  According to the above invention, when presenting the results during training to the trainee, the evaluation function is changed and the target value is changed depending on whether the performance of the trainee who is training the limb is good or bad. Effective training can be performed without losing the willingness to train.
[0010]
  Also,Claim 3The trainee presenting means is a visual presenting means for presenting an output result of the training result evaluating unit to the trainer by a display recognized by vision, and outputting a sound to the trainer. One of auditory presentation means for presenting an output result of a training result evaluation section, and vibration presentation means for generating a vibration and presenting the output result of the training result evaluation section to the trainee It is.
  According to the present invention, the training result evaluation unit 3 selectively uses one of the visual presentation unit 10 that presents an image, the auditory presentation unit 13 that presents sound, and the vibration presentation unit 16 that presents vibration. By presenting the magnitude of the force generated by the trainer 9 arbitrarily, the trainer can train while recognizing his / her training state, so that effective training can be performed.
[0011]
DETAILED DESCRIPTION OF THE INVENTION
A lower limb training apparatus according to a first embodiment of the present invention will be described with reference to FIG.
That is, in FIG. 1, 1 is a lower limb training apparatus, 2 is a controller, 3 is a training result evaluation unit, 4 is a training data storage unit, 5 is a force sensor, 6 is a trainer presentation means, 7 is an operation panel, and 8 is A training trajectory, 9 is a trainee. 2A is a function that is convex downward and monotonically increasing, and FIG. 2B is a function that is convex upward and monotonously increasing. When a doctor or a physical therapist inputs a target value of the magnitude of the force that the trainer arbitrarily generates to the operation panel, the training data storage unit stores the target value. Then, the trainee repeatedly performs the automatic assistance exercise training along the training trajectory, the trainer arbitrarily measures the magnitude of the force generated by using the force sensor, and the training data storage unit arbitrarily selects the trainer. Memorize the magnitude of the generated force. The training result evaluation unit obtains the maximum value of the force arbitrarily generated by the trainee in the previous repeated training, and the maximum value of the force arbitrarily generated by the trainee is the target value. Judge whether it is more than α% or less. When the maximum value of the force that the trainer has voluntarily generated is less than α% of the target value in the previous repetitive training, the training result evaluation unit uses the presenting means for the trainer to Presented as a convex and monotonically increasing function. When the maximum value of the force that the trainer has voluntarily generated in the previous training is not less than α% of the target value, the training result evaluation unit uses the presenting means for the trainer, Presented as a convex and monotonically increasing function. Presentation to the trainee is performed using a trainer presentation means. For example, it is presented to the trainee by increasing / decreasing the number of lighting of the N LEDs according to the magnitude of the force arbitrarily generated by the trainee.
[0012]
The lower limb training apparatus of the present embodiment is a force sensor 5 attached to the apparatus for the purpose of repeatedly training the limb of the trainer 9 along the training path 8 by the operation of the apparatus attached to the limb of the trainer 9 or In the lower limb training apparatus 1 that controls the operation of the apparatus by force control or position control based on the sensing information of the position / angle sensor, a training data storage unit 4 that stores training data in the controller 2, and the controller 2 The training result evaluation unit 3 that evaluates the magnitude of the force that the trainer 9 optionally generates and changes the evaluation function according to the training state of the trainer 9, and the magnitude of the force that the trainer 9 generates arbitrarily A trainer presenting means 6 for presenting the trainee 9 with the training result evaluation unit 3, wherein the training result evaluation unit 3 has a maximum value of the magnitude of the force generated arbitrarily by the trainer 9 in the previous repetitive training. Α% of target value When full, the magnitude of the arbitrarily generated force of the trainer 9 is presented as a convexly downward monotonically increasing function, and the magnitude of the arbitrarily generated force of the trainer 9 in the previous repeated training When the maximum value of α is equal to or greater than α% of the target value, the magnitude of the force generated by the trainee 9 arbitrarily is presented as a function that is convex upward and monotonously increasing.
[0013]
According to the lower limb training apparatus of the present embodiment, a force sensor attached to the apparatus for the purpose of repeatedly training the limb of the trainer 9 along the training path 8 by the operation of the apparatus attached to the limb of the trainer 9. In the lower limb training apparatus 1 that controls the operation of the apparatus by force control or position control based on the sensing information of 5 or the position / angle sensor, the training data storage unit 4 that stores training data in the controller 2, and the controller 2, the training result evaluation unit 3 that evaluates the magnitude of the force that the trainer 9 optionally generates and changes the evaluation function according to the training state of the trainer 9, and the force that the trainer 9 optionally generates A trainer presenting means 6 for presenting the magnitude of the trainee 9 to the trainer 9, and the training result evaluation unit 3 is a maximum of the magnitude of the force generated arbitrarily by the trainee 9 in the previous repeat training. Value is target value If less than α%, the magnitude of the arbitrarily generated force of the trainer 9 is presented as a downwardly convex and monotonically increasing function, and the arbitrarily generated force of the trainer 9 in the previous repeated training is shown. When the maximum magnitude is α% or more of the target value, the magnitude of the force generated by the trainer 9 is presented to the trainer as a function that increases monotonously in a convex manner. If the performance of the trainee who is training the limbs is good and bad, the evaluation function is changed, the target value is not changed, and the trainer loses the willingness to train. Training.
[0014]
A lower limb training apparatus according to a second embodiment of the present invention will be described with reference to FIG. That is, in FIG. 3, 1 is a lower limb training apparatus, 2 is a controller, 3 is a training result evaluation unit, 4 is a training data storage unit, 5 is a force sensor, 7 is an operation panel, 8 is a training track, 9 is a trainer, Reference numeral 10 denotes visual presentation means, and 11 denotes N LEDs. 4A is an exponential function, and FIG. 4B is a logarithmic function. When a doctor or a physical therapist inputs a target value of the magnitude of the force that the trainer arbitrarily generates to the operation panel, the training data storage unit stores the target value. Then, the trainee repeatedly performs the automatic assistance exercise training along the training trajectory, the trainer arbitrarily measures the magnitude of the force generated by using the force sensor, and the training data storage unit arbitrarily selects the trainer. Memorize the magnitude of the generated force. The training result evaluation unit obtains the maximum value of the force arbitrarily generated by the trainee in the previous repeated training, and the maximum value of the force arbitrarily generated by the trainee is the target value. Judge whether it is more than α% or less. When the maximum value of the force arbitrarily generated by the trainee is less than α% of the target value in the previous repetitive training, the training result evaluation unit uses the presenting means for the trainer, so that the trainer The magnitude of the force generated arbitrarily is presented as a logarithmic function. When the maximum value of the force arbitrarily generated by the trainee in the previous repetitive training is α% or more of the target value, the training result evaluation unit uses the trainer presenting means, so that the trainer The magnitude of the arbitrarily generated force is presented as an exponential function.
[0015]
In the following, the training result evaluation unit determines whether the maximum value of the force generated arbitrarily by the trainee in the previous repetitive training is 80% or less of the target value, and uses eight LEDs. Explain how to visually present the trainee. Evaluating the case where the trainee's arbitrarily generated force is 0% or more of the target value, in the case of logarithmic function presentation, many LEDs are lit even when the trainee's arbitrarily generated force is very small To do. Therefore, here, an example will be described in which the trainee evaluates the magnitude of the force that is arbitrarily generated by evaluating the magnitude of the force that is arbitrarily generated by 10% or more of the target magnitude of the force. When the maximum value of the force arbitrarily generated by the trainee is less than 80% of the target value in the previous repetitive training, the training result evaluation unit uses the trainer presenting means, The magnitude of the force generated by the trainer is presented as a logarithmic function. When the maximum value of the force arbitrarily generated by the trainee in the previous repetitive training is 80% or more of the target value, the training result evaluation unit uses the trainer presenting means, so that the trainer The magnitude of the arbitrarily generated force is presented as an exponential function.
[0016]
The exponential function presentation shown in FIG.
(1) When P <0.1R
N = 0
(2) When 0.1R <P <R
N = Exp (2.08 × (P−0.1R) /0.9R)
(3) When P> R
N = 8
Where N is the number of LEDs lit, P is the magnitude of the force generated by the trainee,
R: Target strength (eighth LED lights up)
It is.
[0017]
The logarithmic function presentation shown in FIG.
(1) When P <0.1R
N = 0
(2) When 0.1R <P <R
N = LogTen((P-0.1R) × 108/0.9R)
(3) When P> R
N = 8
However,
N: number of LEDs lit, P: magnitude of force generated by the trainee,
R: Target strength (eighth LED lights up)
It is. In the case of the exponential function presentation, when the magnitude of the force that the trainer arbitrarily generates is 80% or more of the target value, five LEDs are lit.
[0018]
As described above, the training result evaluation unit determines whether the maximum value of the force arbitrarily generated by the trainee in the previous repetitive training is 80% or less of the target value, and the exponential function and logarithm The function is switched and the training state is presented to the trainer by using the trainer presenting means. In the lower limb training apparatus of the present embodiment, when the training result evaluation unit 3 has a maximum value of the magnitude of the force generated arbitrarily by the trainer 9 in the previous repeated training less than α% of the target value The magnitude of the force generated arbitrarily by the trainer 9 is presented as a logarithmic function, and the maximum value of the force generated arbitrarily by the trainer 9 in the previous repeated training is α% of the target value. In the above case, the magnitude of the force generated by the trainee 9 is presented by an exponential function.
[0019]
According to the lower limb training apparatus of the present embodiment, the training result evaluation unit 3 has the maximum value of the magnitude of the force generated arbitrarily by the trainer 9 in the previous repeated training less than α% of the target value. In this case, the magnitude of the force generated arbitrarily by the trainer 9 is presented as a logarithmic function, and the maximum value of the force generated arbitrarily by the trainee 9 in the previous previous training is the target value. In the case of α% or more, it is effective without changing the target value and without the trainer losing the willingness to train by presenting the magnitude of the force generated by the trainer 9 as an exponential function. Training can be done.
[0020]
A lower limb training apparatus according to a third embodiment of the present invention will be described with reference to FIGS. 3, 4, and 5.
That is, in FIG. 3, 1 is a lower limb training apparatus, 2 is a controller, 3 is a training result evaluation unit, 4 is a training data storage unit, 5 is a force sensor, 7 is an operation panel, 8 is a training track, 9 is a trainer, Reference numeral 10 denotes visual presentation means, and 11 denotes N LEDs. FIG. 5 shows a history of the magnitude of the force generated arbitrarily by the trainee in the previous repetitive training, FIG. 4A shows an exponential function, and FIG. 4B shows a logarithmic function. When a doctor or a physical therapist inputs a target value of the magnitude of the force that the trainer arbitrarily generates to the operation panel, the training data storage unit stores the target value. Then, the trainee repeatedly performs the automatic assistance exercise training along the training trajectory, the trainer arbitrarily measures the magnitude of the force generated by using the force sensor, and the training data storage unit arbitrarily selects the trainer. Memorize the magnitude of the generated force. Maximum value F of the magnitude of force voluntarily generated by the trainee in the repeated training of one time before the training result evaluation unitMAXTo obtain the target value RN(1 + β / 100) FMAXAnd Maximum value F of the magnitude of the force generated arbitrarily by the trainee in the previous training, the training result evaluation unitMAXIs the target value RNIt is judged whether it is more than α% or less. Maximum value F of the magnitude of force that the trainer voluntarily generated in the previous repetitive trainingMAXIs the target value RNWhen the value is less than α%, the training result evaluation unit uses the trainer presentation means to present the magnitude of the force generated by the trainer as a logarithmic function. Maximum value F of the magnitude of force that the trainer voluntarily generated in the previous repetitive trainingMAXIs the target value RNWhen α is equal to or greater than α%, the training result evaluation unit uses the trainer presenting means to present the magnitude of the force generated by the trainer as an exponential function.
[0021]
In the following, the training result evaluation unit sets 110% of the maximum value of the force arbitrarily generated by the trainee in the previous repetitive training as a target value, and the force generated by the trainer arbitrarily. A method for determining whether the maximum value of the height is 80% or less of the target value and visually presenting it to the trainee using eight LEDs will be described. Evaluating the case where the trainee's arbitrarily generated force is 0% or more of the target value, in the case of logarithmic function presentation, a large number of LEDs are lit even when the trainer's arbitrarily generated force is very small To do. Therefore, here, an example will be described in which the trainee evaluates the magnitude of the force generated arbitrarily by evaluating the magnitude of the force generated arbitrarily by 10% or more of the target magnitude of the force. The maximum value F of the magnitude of the force that the trainer voluntarily generated in the previous training is evaluated by the training result evaluation unit.MAXTo obtain the target value RN1.1FMAXAnd Maximum value F of the magnitude of force that the trainer voluntarily generated in the previous repetitive trainingMAXIs the target value RNLess than 80%, the training result evaluation unit uses the trainer presentation means to present the magnitude of the force generated by the trainer as a logarithmic function. Maximum value F of the magnitude of force that the trainer voluntarily generated in the previous repetitive trainingMAXIs the target value RNIn the case of 80% or more, the training result evaluation unit uses the trainer presenting means to present the magnitude of the force arbitrarily generated by the trainer as an exponential function.
[0022]
The exponential function presentation shown in FIG.
(1) P <0.1RNWhen
N = 0
(2) 0.1RN<P <RNWhen
N = Exp (2.08 × (P−0.1RN) /0.9RN)
(3) P> RNWhen
N = 8
Where N is the number of LEDs lit, P is the magnitude of the force generated by the trainee,
RN: Target strength (8th LED lights up)
It is.
The logarithmic function presentation shown in FIG.
(1) P <0.1RNWhen
N = 0
(2) 0.1RN<P <RNWhen
N = LogTen((P-0.1RN) × 108/0.9RN)
(3) P> RNWhen
N = 8
Where N is the number of LEDs lit, P is the magnitude of the force generated by the trainee,
RN: Target strength (8th LED lights up)
It is. In the case of the exponential function presentation, when the magnitude of the force that the trainer arbitrarily generates is 80% or more of the target value, five LEDs are lit.
[0023]
As described above, the training result evaluation unit obtains the maximum value of the force arbitrarily generated by the trainee in the previous repetitive training and determines the maximum value of the force arbitrarily generated by the trainee. It is determined whether the value is 80% or less of the target value, and the exponential function and logarithmic function are switched, and the training state is presented to the trainer by using the trainer presenting means. In the lower limb training apparatus of the present embodiment, the training result evaluation unit 3 uses (100 + β)% of the maximum value of the magnitude of the force arbitrarily generated by the trainer 9 in the previous repeated training as a target value. To do.
According to the lower limb training apparatus of the present embodiment, the training result evaluation unit 3 targets (100 + β)% of the maximum value of the magnitude of the arbitrarily generated force of the trainer 9 in the previous training once. By setting the value, effective training can be performed.
[0024]
A lower limb training apparatus according to a fourth embodiment of the present invention will be described with reference to FIG. That is, in FIG. 6, 1 is a lower limb training apparatus, 2 is a controller, 3 is a training result evaluation unit, 4 is a training data storage unit, 5 is a force sensor, 7 is an operation panel, 8 is a training track, 9 is a trainer, 10 is a visual presentation means, 12 is an N level meter, 13 is an auditory presentation means, 14 is a sound generator, 15 is a speaker, 16 is a vibration presentation means, and 17 is a vibrator. FIG. 7A shows an exponential function, and FIG. 7B shows a logarithmic function. When a doctor or a physical therapist inputs a target value of the magnitude of the force that the trainer arbitrarily generates to the operation panel, the training data storage unit stores the target value. Then, the trainee repeatedly performs the automatic assistance exercise training along the training trajectory, the trainer arbitrarily measures the magnitude of the force generated by using the force sensor, and the training data storage unit arbitrarily selects the trainer. Memorize the magnitude of the generated force. The training result evaluation unit obtains the maximum value of the force arbitrarily generated by the trainee in the previous repetitive training, and the maximum value of the force generated by the trainee is the target value. Judge whether it is more than α% or less. In the previous repetitive training, when the maximum value of the force arbitrarily generated by the trainee is less than α% of the target value, the training result evaluation unit determines whether the visual presentation means, the auditory presentation means, and the vibration presentation means By selectively using one of them, the magnitude of the force generated arbitrarily by the trainer is presented as a logarithmic function. When the maximum value of the force arbitrarily generated by the trainee in the previous repetitive training is α% or more of the target value, the training result evaluation unit determines whether the visual presentation means, the auditory presentation means, and the vibration presentation means By selectively using one of them, the magnitude of the force generated by the trainee is presented as an exponential function.
[0025]
In the following, the training result evaluation unit determines whether the maximum value of the force arbitrarily generated by the trainee in the previous repetitive training is 80% or less of the target value, and sets the eight level meters. The method of visual presentation to the trainee using the method will be described. Evaluating the case where the trainee's voluntary force is 0% or more of the target value, the logarithmic function presents a large number of level meters even when the trainer's voluntary force is minimal. Light. Therefore, here, an example will be described in which the trainee evaluates the magnitude of the force that is arbitrarily generated by evaluating the magnitude of the force that is arbitrarily generated by 10% or more of the target magnitude of the force. When the maximum value of the force arbitrarily generated by the trainee is less than 80% of the target value in the previous repetitive training, the training result evaluation unit uses the trainer presenting means, The magnitude of the force generated by the trainer is presented as a logarithmic function. When the maximum value of the force arbitrarily generated by the trainee in the previous repetitive training is 80% or more of the target value, the training result evaluation unit uses the trainer presenting means, so that the trainer The magnitude of the arbitrarily generated force is presented as an exponential function.
[0026]
Explaining the exponential function presentation shown in FIG.
(1) When P <0.1R
N = 0
(2) When 0.1R <P <R
N = Exp (2.08 × (P−0.1R) /0.9R)
(3) When P> R
N = 8
Where N is the number of lighting of the level meter, P is the magnitude of the force that the trainer voluntarily generates,
R: Target force level (8th level meter lights up)
It is.
The logarithmic function presentation shown in FIG.
(1) When P <0.1R
N = 0
(2) When 0.1R <P <R
N = LogTen((P-0.1R) × 108/0.9R)
(3) When P> R
N = 8
Where N is the number of lighting of the level meter, P is the magnitude of the force that the trainer voluntarily generates,
R: Target force level (8th level meter lights up)
It is. In the case of exponential function presentation, when the magnitude of the force that the trainer voluntarily generates is 80% or more of the target value, five level meters are lit.
[0027]
Also, an auditory presentation method will be described. The higher the magnitude of the force that the trainer voluntarily generates, the higher the treble. The evaluation function is switched by the same method as visual presentation.
Furthermore, a vibration presentation method will be described. As the magnitude of the force generated by the trainee increases, the frequency is increased and presented. The evaluation function is switched by the same method as visual presentation.
[0028]
As described above, the training result evaluation unit determines whether the maximum value of the force arbitrarily generated by the trainee in the previous repetitive training is 80% or less of the target value, and the exponential function and logarithm The function is switched, and the training state is presented to the trainee by selectively using any of visual presentation means, auditory presentation means, and vibration presentation means.
In the lower limb training apparatus of the present embodiment, the training result evaluation unit 3 selectively selects one of the visual presentation means 10 that presents an image, the auditory presentation means 13 that presents sound, and the vibration presentation means 16 that presents vibration. It is used to present the magnitude of the force that the trainer 9 generates arbitrarily.
According to the lower limb training apparatus of the present embodiment, the training result evaluation unit 3 uses any one of the visual presentation unit 10 that presents an image, the auditory presentation unit 13 that presents sound, and the vibration presentation unit 16 that presents vibration. By selectively using and presenting the magnitude of the force generated by the trainer 9 arbitrarily, the trainer can train while recognizing his / her training state, so that effective training is performed. Can do.
[0029]
【The invention's effect】
According to the present invention, when the performance of the trainee performing limb training is good and bad, the evaluation function is changed, without changing the target value, and without the trainee losing the willingness to train, Effective training can be performed.
In addition, since the trainee can train while recognizing his / her training state, effective training can be performed.
[Brief description of the drawings]
FIG. 1 is a system configuration diagram of a lower limb training apparatus according to a first embodiment of this invention.
FIG. 2A is a diagram showing a function in which an evaluation function is convex downward and monotonously increases. (B) It is a figure which shows the function in which an evaluation function is convex upward and monotonously increases.
FIG. 3 is a system configuration diagram of a lower limb training apparatus according to a second embodiment of this invention.
FIG. 4A is a diagram illustrating an evaluation function as an evaluation function. (B) The evaluation function is a diagram showing a logarithmic function.
FIG. 5 is a diagram showing a history of force generated by a trainee.
FIG. 6 is a system configuration diagram of a lower limb training apparatus according to a fourth embodiment of this invention.
FIG. 7A is a diagram showing an exponential function according to a fourth embodiment of the present invention. (B) It is a figure which shows the logarithmic function of the 4th Embodiment of this invention.
FIG. 8 is a diagram showing a conventional limb function recovery training support device.
[Explanation of symbols]
1 Lower limb training device
2 controller
(3) Training result evaluation department
4 Training data storage
5 force sensor
6 Training means for trainees
7 Control panel
8 training trajectories
9 trainee
10 Visual presentation means
11N LEDs
12N level meters
13 Auditory presentation means
14 sound generator
15 speakers
16 Vibration presentation means
17 vibrator
110 Upper limb function recovery training support device
112 Key input device
114 storage
116 Central processing unit (CPU)
118 computers
122 Image display device
128 Main unit
130 Upper limb suspension support device
154 to 158 Linear drive
160-164 Rotation drive
166 Sensor device (including displacement sensor and force sensor)
168 I / O interface (input / output interface)
170 Amplifier
172 A / D converter

Claims (3)

  1. An input unit for inputting the magnitude of the target force generated by the trainee, a force detection unit for detecting the magnitude of the force generated by the trainee, and the magnitude of the target force and the magnitude of the force are stored. A training data storage unit, and in a limb training apparatus that repeatedly trains along a training trajectory ,
    For repeated training before once the maximum value of the magnitude of the stored force, the ratio of the maximum value for the magnitude of the stored target force is determined whether less or more than a predetermined magnitude, the If the ratio is less than the predetermined magnitude, the force detection unit and outputs the weighting function that increases monotonically with convex upward the magnitude of the force detected, the case where the ratio is equal to or greater than the predetermined size Is a training result evaluation unit that weights and outputs the magnitude of the force detected by the force detection unit with a downwardly convex and monotonically increasing function ;
    A limb training apparatus, comprising: a trainer presenting unit that presents an output result of the training result evaluation unit to the trainee.
  2. An input unit for inputting the magnitude of the target force generated by the trainee, a force detection unit for detecting the magnitude of the force generated by the trainee, and the magnitude of the target force and the magnitude of the force are stored. A training data storage unit, and in a limb training apparatus that repeatedly trains along a training trajectory ,
    For repeated training before once the maximum value of the magnitude of the stored force, the ratio of the maximum value for the magnitude of the stored target force is determined whether less or more than a predetermined magnitude, the When the ratio is less than the predetermined magnitude, the magnitude of the force detected by the force detection section is weighted with a logarithmic function and output. When the ratio is equal to or greater than the predetermined magnitude, the force detection section A training result evaluation unit that outputs the weight of the force detected by
    A limb training apparatus, comprising: a trainer presenting unit that presents an output result of the training result evaluation unit to the trainee.
  3. The trainer presentation means is a visual presentation means for presenting an output result of the training result evaluation unit to the trainer by a display recognized by vision, and outputs a sound to the trainer to output the training result evaluation unit. The auditory presenting means for presenting a result and the vibration presenting means for generating a vibration and presenting an output result of the training result evaluating unit to the trainee, according to claim 1 or 2. limb training device.
JP2002296938A 2002-10-10 2002-10-10 Limb body training device Expired - Fee Related JP4378926B2 (en)

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