JP5263799B2 - Somatosensory integrated assessment training system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a somatic sense exercise integration evaluation training system which integrally evaluates motion sense to prevent its retrogression and improve the somatic sense. <P>SOLUTION: The somatic sense exercise integration evaluation training system comprises; a body fixing part to fix a motion site of a trainee by fixing devices 1a, 1b; a load generation mechanism part 2 to apply force to the body fixing part so as to apply a predetermined amount of force to the motion sites of the trainee; a position sensor 3 to detect a position shift of the body fixing part; a force sensor 4 to detect motion force of the trainee; a control part 5 to control the load generation mechanism so as to apply a predetermined amount of force to a motion site of the trainee corresponding to a force signal detected by the force sensor or the position sensor; and an evaluation process part 6 to carry out a process to evaluate the motion sense of the trainee based on a position signal detected by the force signal and a position signal detected by the position sensor. <P>COPYRIGHT: (C)2011,JPO&amp;INPIT

Description

  The present invention relates to a somatosensory motor integrated evaluation training system for preventing the regression of static and dynamic physical motor ability, integrating and evaluating motor sensation, and preventing and improving the regression. .

  For example, a person's physical motor function decreases due to aging, physical inactivity due to rest following illness / trauma, etc., and a decrease in the amount of exercise in daily activities due to environmental changes. Deterioration of physical motor function due to aging causes a regression of defense response and posture response in daily life, and it is unavoidable that the ability of daily life movement is reduced. For this reason, physical inactivity of middle-aged persons is an incentive to lifestyle-related diseases, which can lead to serious disorders such as cerebrovascular disorders.

  In addition, the decrease in the amount of exercise in children is an important problem for normal development of physical motor function, and the decrease in exercise is negative for muscle and skeletal growth, leading to concerns such as increased fractures and trauma in the future.

  Against this background, it is necessary to prevent and treat aggressive physical motor function regression in order to reduce social burden from the aspect of securing medical expenses and labor force. Muscle power is a component of physical exercise ability. In carrying out daily activities such as walking and other moving means, a minimum muscular strength is required, and the reserve capacity to the weight applied in daily life is determined by the amount of the preliminary muscular strength. Since daily activities are performed voluntarily, exercise (training) for preventing and treating motor function regression needs to be performed intentionally (optional) with will.

  On the other hand, this training is possible by performing voluntary movements associated with daily life movements in a manner suitable for the training (for example, correct walking, walking at a speed that can be used for training, etc.) In that case, however, the movement is performed in a way that the individual is good at, so that the strong muscles are strengthened and the weak muscles are hard to be trained. Therefore, there is a need for a method for evaluating and measuring body movement function that objectively shows the current state of body movement function and creates training guidelines. In addition, from various studies, it is not a training method that merely demonstrates muscle strength, but a method in which the central nervous system that controls joint movement carefully perceives somatic sensory input and trains based on it. It is effective.

  Conventionally, many physical training devices have been proposed, but the analysis of the regression of limb physical ability with aging and the corresponding equipment are sparse, and is this type of physical training device a reasonable training? Many of them are aimed at training a part of the limbs, such as those that are questionable or not, and expanding the range of muscle strength and joint movement. A device suitable for young people or a strengthening device that performs unreasonable training is meaningless from the viewpoint of preventing regression of limb physical ability. In addition, many physical training devices for the purpose of performing rehabilitation have been proposed.

  For example, the “limb rehabilitation training apparatus” described in Patent Document 1 returns information necessary for improving the operation ability of a trainee to a human by using motion force information in a state in which the joint angle of the limb does not change. To do. According to this device, it is possible to recover the operation adjustment function of the limb movement without requiring the displacement of the joint angle of the limb, and at that time, the training result is quantified, and the memory and the evaluation are automatically performed. Can assist in rehabilitation of disorders to the central nervous system.

  The “joint bending and stretching exercise device” of Patent Document 2 is a training device suitable for use in, for example, cognitive exercise therapy for a hemiplegic patient to reacquire the kinematic sense of the joint. According to this joint flexion / extension training apparatus, since the flexion angle of the joint sensed through the arm is determined by comparison with the actual angle, the patient can control the central nervous system and the peripheral nervous system at the joint angle. This makes it possible to concentrate on the judgment, and thereby re-education training of the sensory nervous system and the motor sensation of the peripheral nervous system based on the bending and stretching movements of the joint and the action of the central nerve can be performed.

  In addition, as a means to assist rehabilitation personnel such as physiotherapists and occupational therapists, patients who are treated for rehabilitation are able to enjoy their daily rehabilitation while having an efficient and reliable As a system capable of receiving training, the “medical information system” of Patent Document 3 can be referred to. As the exercise training apparatus that allows the user to obtain the same kinesthetic feeling as in normal exercise, the “exercise training apparatus” of Patent Document 4 can be referred to.

JP 2004-008605 A JP 2003-175085 A JP 2003-305094 A JP 09-84898 A

  Therefore, the motor sensory function, which is one of the body motor functions, is measured, and it is suitable for preventing and treating the regression of the motor sensory function. It is desirable to develop a system for measuring functions.

  In order to perform appropriately in sports activities and daily life, it is necessary to adapt to the environment and output movement power while recognizing the situation where the body is placed. For this reason, regressive prevention and treatment of physical motor function does not have to simply output force as an operating force, but trains a closed-circuit motor control function that recognizes and responds to the presented force. Must-have. For this purpose, it is meaningless to simply measure the displacement of the position due to the presentation of muscle strength or force or the addition of resistance as an evaluation of the body motor function.

  The present invention has been made to solve the above-described problems, and an object of the present invention is to prevent the regression of static and dynamic physical motor ability and to evaluate motor sense in an integrated manner. Another object is to provide a somatosensory motor integrated evaluation training system for preventing and improving the regression.

  In order to achieve the above object, the somatosensory motor integrated evaluation training system according to the present invention includes, as a basic configuration, a body fixing unit that fixes a motion part of a trainer with a fixture, and a motion part of the trainer. A load generating mechanism that applies a force to the body fixing part so as to apply a predetermined amount of force to the exercise task, a position sensor that detects a displacement of the body fixing part from an initial position as a position signal, and a trainee's A force sensor that detects an operating force as a force signal, and a control that controls the load generating mechanism unit so as to apply a predetermined amount of force of an exercise task to an exerciser's operating part according to the force signal detected by the force sensor And an evaluation processing unit that performs a process of evaluating a motor sensation with respect to the exercise task of the trainee based on the force signal detected by the force sensor and the position signal detected by the position sensor.

  Specifically, the body fixing part that fixes the movement part of the trainer placed on the base part with a fixing tool, and a predetermined amount of force in a direction to bend or extend the joint of the trainer sitting on the chair, for example, A load generating mechanism for applying a force to the body fixing part, a position sensor for detecting a position shift of the base part, and a force in a direction to bend or extend the joint of the trainee that is equipped on the base part of the body fixing part. A force sensor for detecting, and a control unit for controlling the load generating mechanism so as to apply a predetermined amount of force in a direction to bend or extend a joint of a trainee seated in accordance with a force signal detected by the force sensor And an evaluation processing unit that performs a process of evaluating a motor sensation with respect to the exercise task of the trainee based on the force signal detected by the force sensor and the position signal detected by the position sensor.

  The somatosensory motor integrated evaluation training system according to the present invention further includes a display device that presents a problem to the trainee, and the evaluation processing unit includes the display device based on the result of evaluating the trainee's motor sensation. The exercise task for the trainee is displayed.

  Further, in this case, in the somatosensory motor integrated evaluation training system, the control unit controls the load generation mechanism unit in response to a motor task and passes the body fixing unit through the body fixing unit. Force to be applied. The presented exercise task is displayed on a display device.

  In the case where the trainee performs training on the exercise task, the display device is not necessarily required. As an exercise task, for example, when the visual information is lost with closed eyes, the force is presented to the extremities, the sensed force is sensed by the extremities rather than the visual information, and the exercise task is pushed back so as not to lose the presented force. Then, a display device is not necessarily required. In this exercise task, it is not always necessary to prevent movement from the place, and it is a task to move while generating the force of the operation force so as to follow the presented position while outputting a constant operation force. Specifically, this exercise task is a task of giving an exercise force so that the trainer does not lose the force output by the load generation mechanism unit and keeping the position of the body movement part at a fixed position. . However, an exercise task such as moving at a given exercise speed while losing, or moving at a constant exercise speed while winning, may be presented while giving a constant force.

  In addition, this somatosensory motor integrated evaluation training system can also be configured to individually evaluate the motion of each part of the human limb. In that case, the structures of the body fixing part and the load generating mechanism part are made to correspond to the respective operation parts. It may be adapted to existing exercise forms, for example, pedaling or single joint muscle strength.

  Specifically, as another aspect for evaluating the motion motion of the leg, for example, the body fixing unit is a horizontally movable pedal, and the load generating mechanism unit drives the pedal so that the trainer in a lying state It may be configured as a mechanism for applying a horizontal force to the pedal so as to apply a predetermined amount of force for bending or extending the knee joint. As yet another aspect, a mechanism such as an ergometer can be used. In this case, the body fixing portion is a pedal for fixing the trainee's foot to the crankshaft that rotates, and the load generating mechanism portion is a direction in which the knee joint of the trainee is bent or extended by the rotational motion of the pedal. It is constituted by a mechanism that applies a predetermined amount of force.

  As another example of the aspect, when evaluating the movement motion of the arm, the body fixing portion is a grip portion where a trainee grips a crank shaft that rotates, and the load generation mechanism portion is the grip portion. The mechanism is configured to apply a predetermined amount of force in a direction in which the elbow joint of the trainee is bent or extended by the rotational movement of the part.

  According to the somatosensory motor integrated evaluation training system according to the present invention having such a characteristic mechanism, a trainer places, for example, a foot of a body motion part on the base of the body fixing unit, and puts the foot on the fixing tool. As a state of being fixed to the pedestal, the start of kinesthetic training is instructed and the training is started. When the training is started, the load generating mechanism performs an operation of applying a predetermined amount of force to the body fixing unit so as to apply a force to the trainee's motion part in a direction of bending or extending the knee joint, for example. Start. The load generating mechanism is controlled by the control unit, and the control unit prevents excessive force from being applied to the trainee in order to increase safety, but the trainer responds to the force signal detected by the force sensor. The load generation mechanism is controlled so as to apply a force in the direction of bending or extending the joint.

  The load generating mechanism part drives the trainer who performs training in the direction to bend or extend the joint via the body fixing part. The force that is considered to be the same amount as the force that the body fixing part has pushed is exerted in the direction to push back the body fixing part so that the balance of the force is maintained. In this case, the trainee not only balances the force as an exercise task, but also exerts an operational force in the direction of pushing back the body fixing part so that the position of the body fixing part does not move from the original position as much as possible. Is required.

  The force applied from the load generation mechanism is given with a certain period of strength according to the pattern of a predetermined training program that is regarded as an exercise task. They are required to feel carefully and use the appropriate power.

  In this way, when the trainee exhibits an operating force that matches his senses, this operating force is detected by the force sensor, and the detected force signal is input to the evaluation processing unit. In this case, the position sensor detects a positional deviation from the initial position of the base part of the body fixing part, and a detection signal of the positional deviation is also input to the evaluation processing unit. The evaluation processing unit performs a process of evaluating the exercise sensation of the trainee with respect to the exercise task based on the force signal detected by the force sensor and the detection signal of the displacement detected by the position sensor.

  The somatosensory motor integrated evaluation training system according to the present invention can also be used for exercise therapy training / evaluation for rehabilitation, or for strength training for sports players and health promotion. This mechanism is also configured to control the load force (motor) of the load generating mechanism while monitoring the output (operating force) on the side of the trainee (living body) and present the exercise resistance accordingly. Is used. Also in this case, the evaluation processing unit can evaluate the motor sensory function from the difference between the force output by the practitioner with respect to the motor target value and the target value. In this somatosensory motor integrated evaluation training system, as the motor motion to be evaluated, it can be applied to existing motion forms, for example, pedaling or single joint muscle strength, in that case, the body fixing unit, The structure of the load generating mechanism is made to correspond to each operating part.

  As described above, the somatosensory motor integrated evaluation training system of the present invention can evaluate the motor sensory function which is one of the body motor functions, and prevent and treat the regression of the motor sensory function. Therefore, it can be suitably used. For this reason, the system which presents the resistance which a trainee can enjoy and can exercise can be provided to evaluate the motor sensory function.

The figure explaining the whole structure of the somatosensory motor integrated evaluation training system by this invention The figure which shows the system configuration | structure and load generation | occurrence | production mechanism part of the somatosensory motor integrated evaluation training system by this invention. The figure explaining an example of the training pattern of the somatosensory motor integrated evaluation training system The figure explaining the outline of the process in an evaluation process part The figure explaining the other example of the training pattern of the somatosensory motor integrated evaluation training system The figure explaining another example of the training pattern of the somatosensory motor integrated evaluation training system The figure explaining another example of processing in an evaluation processing part The figure explaining another example of processing in an evaluation processing part The figure explaining another example of processing in an evaluation processing part The figure explaining the control system of exercise load control and evaluation processing

  One mode for carrying out a motor sensation integrated evaluation motion system according to the present invention will be described with reference to the drawings. FIG. 1 is a diagram for explaining the overall configuration of the somatosensory motor integrated evaluation training system according to the present invention, and FIG. 2 shows the load generation mechanism and control system of the somatosensory motor integrated evaluation training system according to the present invention. It is a figure which shows a structure.

  In FIG. 1, 10 is a training program input unit, 11 is a data processing device, 12 is an input / output display device that displays a task on the screen to the trainee and receives instructions from the trainer such as starting training, and 13 is a trainer. This is a kinesthetic training apparatus unit that is provided with a sensor unit that generates a load of a training task for performing kinesthetic training and detects a motion force given by a trainee. 14 represents a trainee. In FIG. 2, 1 is a footrest plate that is a body fixing part, 2 is a load generation drive part, 3 is a position sensor, 4 is a force sensor, 5 is an exercise load control part, 6 is an evaluation processing part, and 7 is a display. Device. Reference numerals 1a and 1b denote fixing tools for fixing the foot of the trainee's movement part to the footrest plate of the body fixing part.

  As shown in FIG. 1, the somatosensory motor integrated evaluation training system includes a training program input unit 10, a data processing device 11, a display device 12 for displaying a task to a trainee, and a kinematic training device unit 13. . The data processing apparatus 11 receives a training program corresponding to the characteristics of the trainer 14 who performs kinesthetic training by the training program input unit 10. The data processing device 11 responds to the trainee by controlling the kinesthetic training device unit 13 according to the kinetic task training program for performing the kinesthetic training for the trainer input and set by the training program input unit 10. To generate a load that is regarded as an exercise task.

  On the other hand, the trainer 14 moves his / her foot on the footrest plate 1 in a state where his / her foot is fixed to the footrest plate 1 of the body fixing portion of the kinesthetic training device unit 13, and the trainee moves the foot to the motor task. Demonstrate the ability to exercise. The kinesthetic training device unit 13 detects the motion force that the trainer 14 has exerted at the motion site by the sensor unit (force sensor 4) provided at the center of the footrest plate 1 and outputs the detection signal to the data processing device 11. To the evaluation processing unit 6. In this case, as will be described later, the positional deviation of the footrest plate 1 is also detected by the sensor unit (position sensor 3), and the data is also input to the evaluation processing unit 6. The evaluation processing unit 6 of the data processing device 11 evaluates the motor sensory function of the trainer 14 based on the input detection signal (motion force) from the sensor unit and the training task (load force) given to the trainer. Further, the load force of the kinesthetic training device unit 13 is also controlled based on this data.

  More specifically, as shown in FIG. 2, the structure of the kinesthetic training device unit 13 includes a footrest plate 1 serving as a body fixing unit, a load generating mechanism unit 2, a position sensor 3, a force sensor 4, and these components. It is comprised from the housing part which carries out. The footrest plate 1 is composed of a horizontally movable base portion on which a trainee's feet are placed and fixtures 1a, 1b for fixing the trainee's feet placed on the base portion.・ It is driven by a motor mechanism. Thereby, for example, a force is applied to the footrest plate 1 so as to apply a predetermined amount of force in the direction of bending or extending the knee joint of the trainee 14 sitting on the chair.

  The movement of the footrest plate 1 by the load generating mechanism section 2 is detected by the position sensor 3 as a position shift of the base section. A detection signal of the displacement detected by the position sensor 3 is input to the evaluation processing unit 6. The trainee fixes his / her foot to the footrest plate 1 with the fixtures 1a and 1b, and resists the force to move the footrest plate 1 to which the force is applied by the load generating mechanism 2. Since the operation force is exhibited while feeling a sense, the force sensor 4 detects the force of the operation force. Data of the force signal detected by the force sensor 4 is input to the evaluation processing unit 6. Although not shown, signals from the respective sensors are input to the evaluation processing unit 6 as digital data of digital signals via an analog-digital converter. Note that the position sensor 3 that detects the positional shift specifically uses a linear encoder to detect the shift amount, but detects the shift amount by processing an image captured by the camera. You may make it use a thing.

  Thereby, the force signal detected by the force sensor 4 detects the operating force of the trainee in the direction of bending or extending the trainee's knee joint, and the evaluation processing unit 6 detects the force signal detected by the force sensor 4. And based on the position signal detected from the position sensor 3, the process which evaluates the exercise | movement sensation with respect to the exercise | movement task of a trainee is performed. The evaluation processing unit 6 executes, for example, a process of taking a difference between the motion force exhibited for the exercise task and the presented force and evaluating the error based on the error integral value as the evaluation process. It will be described later.

  In this case, the detection signals from the position sensor 3 and the force sensor 4 input to the evaluation processing unit 6 are also supplied from the evaluation processing unit 6 to the exercise load control unit 5, and the exercise load control unit 5 When the mechanism unit 2 is controlled, control is performed so as to apply a predetermined amount of force in a direction in which the knee joint of a trainee sitting on a chair, for example, bends or extends in accordance with a force signal detected by a force sensor.

  In the somatosensory motor integrated evaluation training system, the exercise task for the trainee is presented on the display device 7 in accordance with each training program of the trainee. In addition, after the training, the result of the training is also displayed. Based on the result of evaluating the trainee's motor sensation, the evaluation processing unit 6 displays the result together with the task for the trainee on the display device.

  In the control by the exercise load control unit 5, the load generation mechanism unit 2 is controlled corresponding to the exercise task presented on the display device 7, and for example, a force is applied in the direction of bending or extending the knee joint of the trainee sitting on the chair. However, the exercise load intensity given to the trainee from the load generating mechanism 2 can be adjusted with respect to the muscular strength that the trainer can exert to the maximum. It is adjusted within a range of 0 to 100%. The exercise load is preferably a low strength load.

  As described above, in exercise of a trainee's exercise task (motion sensation), a force is applied in a direction in which the footrest plate 1 of the body fixing device flexes or extends the knee joint by the driving force of the load generating mechanism 2. Therefore, the force that the trainer thinks is the same amount as the force pushed by the footrest plate is exerted in the direction of pushing back the footrest plate, so that the balance of force is maintained. In this case, the trainer not only exerts the operating force and balances the force, but also exerts the operating force in the direction to push back the footrest plate so that the position of the footrest plate does not move from the original position as much as possible. As required. Moreover, since the force given from the load generation mechanism part 2 is given with strength and weakness under a fixed period, the trainee gives a force commensurate with it while feeling carefully what kind of force is being received.

  When the trainee exhibits an operating force that matches his / her sense (motor sensation), the operating force is detected by a force sensor, and the detected force signal is input to the evaluation processing unit. At that time, the position sensor detects the position of the base portion of the footrest plate, detects the shift of the base portion, and the detection signal of the positional shift is also input to the evaluation processing unit. The evaluation processing unit performs a process of evaluating the exercise sensation of the trainee based on the force signal detected by the force sensor and the position signal detected by the position sensor.

Next, the evaluation process of the kinesthetic training in the evaluation processing unit 6 will be specifically described.
(1) First, the load is set.
The force resistance presented as the load of the exercise task is shown as a pattern such as a sine curve, a bell curve, or a trapezoid curve. The load of the exercise task is set by setting details such as the magnitude of the force, the speed at which the force is changed, the direction in which the force is applied, and the offset force. As shown in FIG. 3, for example, the force resistance pattern presented as a load changes the amplitude and frequency of the pattern curve, and the load task is determined. Another example of a waveform pattern is shown in FIGS. For example, a mixture of a sine curve and a bell curve may be used. FIG. 3 shows an example of a bell-shaped curve pattern, and FIG. 4 shows an example of a trapezoidal curve pattern. FIG. 5 shows an example of a sine curve pattern. FIG. 6 shows an example of a pattern in which a sine curve and a bell-shaped curve are combined.

(2) Next, the load is presented.
The presentation of the motor balance task is performed by the following two kinds of methods by the somatosensory motor integrated evaluation training system, and the evaluation process for the motor sensation is performed. The configuration of the control system is shown in FIG.
(2-1) Presentation of load by open circuit control:
In the somatosensory motor integrated evaluation training system, the output torque of the motor of the load generating mechanism is controlled according to a preset pattern of force resistance. In this case, the mechanical characteristics of the apparatus must be included in the program as parameters in advance. The value of the force actually output by the trainee is calculated from the displacement (displacement) of the body fixing part. Moreover, it monitors by the force sensor attached to the body fixing | fixed part.
(2-2) Presentation of load by closed circuit control:
In this case, the motor output value of the load generating mechanism is calculated based on the feedback signal from the force sensor or the position sensor so as to coincide with a preset pattern of force resistance. The load value of the motor output is corrected according to the calculation result, and a control signal is sent to the load generation mechanism. The value of the force actually output by the trainee is calculated from the displacement of the fixed body part. Moreover, it monitors by the force sensor attached to the body fixing | fixed part.

(3) Implementation of motor tasks (motor sense training):
There are two types of loads: load that varies force and load that varies position. One of two types of responses is performed for resistance presentation given based on an exercise task. The first response is a way to adjust the force to keep it as constant as possible. The second method is a method of adjusting the position so as to maintain a constant force.

(4) Feedback signal processing:
The signal fed back is the position information from the encoder of the position sensor and the force output value exhibited by the trainee from the force sensor. The two signals are used to display the results during the computation of motor output closed circuit control and motor sense training, and are stored as variables for use in evaluation.

(5) Evaluation of somatosensory motor linkage function:
FIG. 4 shows a state of exercise training when a training task that changes to a trapezoid is given as a training task. It shows how trainers are demonstrating their power to prevent a shift in the trapezoidal load of the target task. The detection signal of the force sensor of the operating force is shown on the upper side, and the detection signal of the position shift by the position sensor is shown on the lower side.
(5-1) The unit time equivalent (error) of the difference (error curve) of the actually measured values with respect to the position and force target values is used as the evaluation value. As shown in the upper right of FIG. 4, an error integral value of the difference between the target value and the actual measurement value is obtained. As an evaluation process,
(5-2) The standard deviation of the error curve (lower right of FIG. 4) is obtained,
(5-3) Frequency analysis is performed on the error curve.
When frequency analysis is performed, as shown in FIG. 7, frequency analysis is performed on the error curve by fast Fourier transform processing, and evaluation is performed based on a change in intermediate frequency and a change in power calculated for each frequency band. As another evaluation process, as shown in FIG.
(5-4) The cross-correlation coefficient between the target value and the actual measurement value may be obtained.

  During the execution of these processes, the target value, the actual measurement value, and the error curve are displayed on the display device in real time, and feedback error learning is performed. FIG. 9 shows a waveform diagram displayed on the display device during the training. The actual measured force value, target force value, and force error curve are displayed. Although not shown in the figure, the display device displays the position of the body fixing part and the deviation from the target position in a two-dimensional manner, so that the trainee can overlap the position of the body fixing part with the target position. So that the exercise power is demonstrated. In the above description, the embodiment is described in which the force sensor is attached to the body fixing portion. However, the position where the force sensor is provided is not the body fixing portion. For example, the force sensor is connected to the motor of the load generating mechanism portion. Even if they are connected in series, the motion force output by the trainer by the motion can be calculated by calculation based on the structure of the device. With respect to the output of the motor, if a coefficient representing the relationship between the position change and the motor output is set in advance and the motor is operated (force = speed × viscosity coefficient), the force can be calculated from the position change.

  The somatosensory motor integrated evaluation training system according to the present invention can be used for physical therapy physical therapy in rehabilitation, and if the somatosensory motor integrated evaluation training system according to the present invention can be applied clinically, until now, Accurate motor sensory function evaluation and rehabilitation that could not be received by the case are possible, and efficient and effective motor function recovery is expected.

  In addition, in patients who are the subject of physical therapy in clinical practice, the dysfunction was analyzed in detail by conducting a motor sensory function evaluation that was not possible until now. Physiotherapy that aims to improve effective motor sensory function can be provided.

1 footrest board,
1a, 1b Fixture 2 Load generating drive unit,
3 position sensor,
4 force sensor,
5 exercise load control unit,
6 evaluation processing section,
7 Display device 10 Training program input section,
11 Data processing device,
12 display device,
13 Motor sense training device part,
14 Trainers,

Claims (6)

A body fixing part for fixing the movement part of the trainee with a fixing tool;
A load generating mechanism that applies a force to the body fixing part so as to apply a predetermined amount of force of the exercise task to the movement part of the trainer;
A position sensor for detecting a positional deviation from an initial position of the body fixing part as a position signal;
A force sensor that detects a trainee's movement force as a force signal;
A controller that controls the load generating mechanism in response to the exercise task of the trainee to generate a force applied to the trainee's movement part via the body fixing portion ;
An evaluation processing unit for performing a process of evaluating a motor sensation of a trainee's motor task based on the force signal detected by the force sensor and the position signal detected by the position sensor;
It has a display device that presents exercise tasks for trainers,
Wherein the control unit is the control the load generating mechanism, the force with a strength based on a constant cycle by the pattern of the constant training programs where are motor tasks, through the body fixing portion trainee As a force for evaluating motor sensation,
When it is an exercise task that the force sensor keeps a constant force by adjusting the position of the body fixing part against the force presented to the trainer through the body fixing part to detect the operation force exerted as suit its own kinesthetic, enter the force signal of the detected operation force to the evaluation unit,
The position sensor detects a position shift of the body fixing unit, and inputs a detection signal of the detected position shift to the evaluation processing unit,
Based on the force signal detected by the force sensor and the position signal detected by the position sensor, the evaluation processing unit presents the movement force exhibited for the exercise task as an evaluation of the exercise sensation for the exercise task of the trainee. The process of taking the difference from the measured force and evaluating it by the error integral value,
The display device displays the exerted operating force and the presented force, and also displays the evaluation result in the evaluation processing unit,
Somatosensory integrated evaluation training system characterized by that. In the somatosensory motor integrated evaluation training system according to claim 1,
The control unit controls the load generating mechanism unit in response to the problem presented on the display device to generate a force applied via the body fixing unit to the movement part of the trainer,
The somatosensory motor integrated evaluation training system, wherein the display device displays a position and a target position of the body fixing unit. In the somatosensory motor integrated evaluation training system according to claim 1,
The body fixing part is a footrest plate that puts the feet of the trainee on a horizontally movable base part and fixes the legs of the trainer placed on the base part with a fixing tool,
The somatosensory motor integrated evaluation training system, wherein the load generation mechanism applies a force to the footrest so as to apply a predetermined amount of force in a direction in which the knee joint of the trainee is bent or extended. In the somatosensory motor integrated evaluation training system according to claim 1,
The body fixing part is a horizontally movable pedal,
The somatosensory motor integrated evaluation training, wherein the load generating mechanism unit applies a horizontal force to the pedal so as to apply a predetermined amount of force to bend or extend the knee joint of a trainee in a lying state system. In the somatosensory motor integrated evaluation training system according to claim 1,
The body fixing part is a pedal that fixes a trainee's foot to a rotating crankshaft.
The somatosensory motor integrated evaluation training system, wherein the load generation mechanism unit applies a predetermined amount of force in a direction in which the knee joint of the trainee is bent or extended by the rotational motion of the pedal. In the somatosensory motor integrated evaluation training system according to claim 1,
The body fixing part is a grip part where the trainee grips the crankshaft that rotates,
The somatosensory motor integrated evaluation training system, wherein the load generating mechanism part applies a predetermined amount of force in a direction in which the elbow joint of the trainee is bent or extended by the rotational movement of the grip part.