JP5475838B2 - Lower limb exercise assist device - Google Patents

Description

  The present invention relates to a lower limb exercise assist device, and more particularly to a continuous passive movement (passive) exercise type lower limb exercise assist device.

  A variety of continuous passive motion (CPM) devices have been proposed as lower limb exercise assisting devices that continuously and passively exercise lower limb joints such as hip joints, knee joints, and ankle joints to prevent contracture of the lower limb joints. ing.

Japanese Patent Laid-Open No. 11-347081 JP 2000-152968 A Table 2006/040861 JP 2010-162375 A

  However, the conventional CPM device has a complicated structure, is difficult to handle, and can only be used in either a supine posture or a seated posture on a chair and lacks versatility.

  The problem to be solved by the present invention is to make the CPM device simple in structure, easy to handle, and usable in either a supine posture or a posture seated on a chair.

  The lower limb exercise assisting device according to the present invention includes a base (10) and left and right sliders (16, 18) provided on the base (10) so as to be reciprocally movable in parallel in the front-rear direction on one plane. And a drive device (58) for reciprocating the left and right sliders (16, 18) in the front-rear direction, and a heel receiving portion on which a user's foot is placed and which at least prevents the user's heel from moving backward (24B, 26B) around the first axis (A) extending horizontally in the left-right direction on the slider (16, 18) at a position corresponding to the flange receiving portion (24B, 26B). And left and right foot braces (24, 26) mounted for rotation.

  According to this configuration, the foot orthosis (24, 26) is attached to the slider (16, 18) so as to be rotatable around the first axis (A) at a position corresponding to the heel receiving portion (24B, 26B). As a result, the foot joint (heel) is generally coaxial with the first axis (A) of the foot placed on the foot orthosis (24, 26) with the heel attached to the heel receiving portion (24B, 26B). Since it is positioned and the movement of the ankle joint is not restricted, passive bending and stretching movements can be performed based on the natural movement of the ankle joint in either the sitting posture or the supine posture.

  In the lower limb exercise assisting device according to the present invention, preferably, the foot orthosis (24, 26) is further orthogonal to the first axis (A) and penetrates the moving plane of the slider (16, 18). The slider (16, 18) is attached to be rotatable about a second axis (B).

  According to this configuration, the degree of freedom of the foot orthoses (24, 26) is increased, and the ankle joint becomes a more natural movement in the passive flexion and extension movements of the lower limbs in either the sitting posture or the supine posture.

  In the lower limb exercise assisting device according to the present invention, preferably, the foot orthosis (24, 26) is further tiltable in the left-right direction.

  According to this configuration, the degree of freedom of the foot orthoses (24, 26) is increased, and the ankle joint becomes a more natural movement in the passive flexion and extension movements of the lower limbs in either the sitting posture or the supine posture.

  According to the lower limb exercise assisting device of the present invention, the foot orthosis is attached to the slider so as to be rotatable around the first axis extending horizontally in the left-right direction at a position corresponding to the heel receiving portion. The foot placed on the foot brace with a heel on the heel receiving portion is positioned on the same axis as the first axis, and the movement of the ankle joint is not restrained. In any case, passive bending and stretching can be performed under the natural movement of the ankle joint.

1 is a perspective view showing one embodiment of a lower limb exercise assisting device according to the present invention. The skeleton figure which shows the drive system of the lower limb exercise | movement assistance apparatus by this embodiment. Explanatory drawing which shows the use condition in the seating position of the lower limb exercise | movement assistance apparatus by this embodiment. Explanatory drawing which shows the use condition in the supine posture of the lower limb exercise | movement assistance apparatus by this embodiment. The perspective view which shows other embodiment of the foot orthosis used for the leg movement assistance apparatus by this invention. The perspective view which shows other embodiment of the slider and foot orthosis which are used for the leg support apparatus by this invention. Sectional drawing which shows other embodiment of the slider used for the leg movement assistance apparatus by this invention, and a foot orthosis.

  Hereinafter, one embodiment of a lower limb exercise assisting apparatus according to the present invention will be described with reference to FIGS. 1 and 2.

  As shown in FIG. 1, the lower limb exercise assisting apparatus 1 has a square plate-like base 10. The upper surface of the base 10 is formed with slit-shaped left and right openings 12 and 14 that are long in the front-rear direction. The openings 12 and 14 extend in parallel to each other at a predetermined interval in the left-right direction. The distance (separation dimension) between the openings 12 and 14 in the left-right direction may be equal to the distance between the left and right feet when an adult person normally walks.

  The base 10 is provided with a left slider 16 guided by the opening 12 and reciprocating in the front-rear direction, and a right slider 18 guided by the opening 14 and reciprocating in the front-rear direction. The left and right sliders 16 and 18 are guided by the openings 12 and 14, respectively, and can reciprocate in parallel in the front-rear direction on one plane parallel to the upper surface of the base 10.

  The sliders 16 and 18 have staple-shaped bracket portions 16A and 18A, respectively, at the top thereof. The left and right foot orthoses 24 and 26 are attached to the bracket portions 16A and 18A so as to be rotatable around the central axes of the support shafts 20 and 22 by support shafts 20 and 22 extending horizontally in the left-right direction. In other words, the left and right foot orthoses 24 and 26 are attached to the sliders 16 and 18 so as to be tiltable in the front-rear direction. Hereinafter, the central axis of the support shafts 20 and 22 is referred to as a first axis A.

  The foot orthoses 24 and 26 are for placing the user's feet, and are provided on the sole receiving portions 24A and 26A on which the heel portion to the toe portion are placed, and on the rear end side of the sole receiving portions 24A and 26A. It extends in a direction bent 90 degrees from the end, and has heel receiving portions 24B and 26B that receive the heel of the user and prevent the heel from moving rearward, so that the lateral movement of the foot can be prevented. The whole has a channel cross-sectional shape so as to prevent it.

  The foot orthoses 24 and 26 are rotatable around the first axis A with respect to the sliders 16 and 18 by the support shafts 20 and 22 at the heel receiving portions 24B and 26B. The arrangement positions of the support shafts 20 and 22 are positions corresponding to the positions of the user's ankle joints (ankles) placed on the foot orthoses 24 and 26, and ideally, the first axis A and the foot orthosis 24. , 26 is a position where the center of the user's ankle joint is on the same axis. Since there are individual differences in the position of the ankle joint, the position of the first axis A may be set by identifying the position of the standard ankle joint.

  The rotation range of the foot orthoses 24 and 26 around the first axis A is such that the foot support portions 24A and 26A are horizontal (see FIG. 3) and the foot support portions 24A and 26A are vertical (vertical). The maximum rotation angle may be 90 degrees within the range of the rotation position (see FIG. 4).

  In the base 10, as shown in FIG. 2, four driven pulleys 50, 52, 54, 56, front and rear, left and right, an electric motor 58, and an output shaft 60 of the electric motor 58 are attached. A driving pulley 62 and a toothed transmission belt 64 laid between the driven pulleys 50, 52, 54, 56 and the driving pulley 62 are provided.

  The driven pulley 50 is in front of the front end of the opening 12, the driven pulley 52 is in the rear of the rear end of the opening 12, the driven pulley 54 is in front of the front end of the opening 14, and the driven pulley 56 is in front of the rear end of the opening 14. Be behind. As a result, the toothed transmission belt 64 is moved back and forth between the driven pulleys 50 and 52 and the left section L extending in the front-rear direction just below the opening 12 and between the driven pulleys 54 and 56. And a right section R extending in the direction.

  The left slider 16 is fixed to the left section L of the toothed transmission belt 64, and the right slider 18 is fixed to the right section R. The front and rear lengths of the left section L and the right section R are slightly longer than the front and rear lengths of the openings 12 and 14, respectively, so that the sliders 16 and 18 can reciprocate across the entire area in the front and rear direction of the openings 12 and 14. it can.

  In the present embodiment, the positional relationship between the left slider 16 and the right slider 18 is such that if the left slider 16 is positioned at the rear stroke end position corresponding to the rear end position of the opening 12, the right slider 18 is opened. If the left slider 16 is positioned at the front stroke end position corresponding to the front end position of the opening 12 on the contrary, the right slider 18 is opened at the opening 14. The positional relationship is set at the rear stroke end position corresponding to the rear end position. As a result, the left slider 16 and the right slider 18 reciprocate in the left and right sections L and R in opposite directions.

  Under this positional relationship, when the electric motor 58 is driven counterclockwise as viewed in FIG. 2, the left slider 16 moves rearward in the left section L and at the same time the right slider 18 moves to the left slider. When the electric motor 58 is driven in the clockwise direction as viewed in FIG. 2, the left slider 16 is moved to the left section. At the same time as L moves forward, the right slider 18 moves rearward in the right section R at the same speed as the moving speed of the left slider 16.

  As shown in FIG. 1, a hand-held handle 11 for carrying is attached to the rear portion of the base 10. At the front of the base 10, there is provided an electric box 70 incorporating a control device (not shown) for variably controlling the moving speed and the front and rear stroke of the sliders 16, 18 and a drive circuit (not shown) for the electric motor 58. Yes. A power cord 72 with a plug for connection with an external power source (commercial AC power source) extends from the electric box 70. A power switch 74 is attached to the electric box 70.

  A remote controller 80 is connected to the base 10. The remote controller 80 includes a power switch 82 at hand, a speed setting dial 84 that variably sets the moving speed of the sliders 16 and 18, and a stroke setting dial that variably sets the front and rear strokes of the sliders 16 and 18. 86.

  FIG. 3 shows a use state of the lower limb exercise assisting apparatus 1 in a posture seated on the chair 100. The user turns on the power switch 74, sits shallowly on the chair 100, and attaches the heel portion to the toe portion to the foot sole receiving portion 24A so that the heel portion of the left leg is attached to the heel receiving portion 24B of the left foot brace 24. Put it on top. Similarly, the heel portion to the toe portion are placed on the sole receiving portion 26A so that the heel portion of the right leg is attached to the heel receiving portion 26B of the right foot orthosis 26.

  When the power switch 82 of the remote controller 80 is turned on in this state, the electric motor 58 repeats forward and reverse rotation at a speed determined by the speed setting dial 84 and at a time corresponding to the stroke determined by the stroke setting dial 86. As a result, the left and right sliders 16 and 18 reciprocate back and forth in reverse phases with a predetermined speed and a predetermined stroke. By reciprocating movement of the sliders 16 and 18, the left and right lower limbs are passively bent and stretched alternately while the movement of the heel is stopped by the heel receiving portions 24B and 26B, and the hip joint, knee joint and ankle joint Bending and stretching movements are performed passively alternately left and right.

  In this passive flexion and extension movement, the sliders 16 and 18 move rearward (toward the user), and the soles become closer to the horizontal as the lower leg becomes a vertical posture, and the foot support portions 24A and 26A approach the horizontal. In addition, the foot orthoses 24 and 26 rotate around the first axis A. On the contrary, as the sliders 16 and 18 move forward and the lower leg moves forward, the soles rise forward, and the foot orthoses 24 and 26 move in the direction in which the sole receivers 24A and 26A rise forward. It rotates around the first axis A. As a result, passive bending and stretching movements of the lower limbs in the sitting posture are performed under the natural movement of the ankle joint.

  4 (A) and 4 (B) show the usage state of the lower limb exercise assisting apparatus 1 in a posture of lying on the floor. The user turns on the power switch 74 to be in a supine posture, so that the heel portion of the left leg is attached to the heel receiving portion 24B of the left foot brace 24, and the heel portion to the toe portion are placed on the sole receiving portion 24A. Put it on. Similarly, the heel portion to the toe portion are placed on the sole receiving portion 26A so that the heel portion of the right leg is attached to the heel receiving portion 26B of the right foot orthosis 26.

  When the power switch 82 of the remote controller 80 is turned on in this state, the electric motor 58 repeats forward and reverse rotation at a speed determined by the speed setting dial 84 and at a time corresponding to the stroke determined by the stroke setting dial 86. As a result, the left and right sliders 16 and 18 reciprocate back and forth in reverse phases with a predetermined speed and a predetermined stroke. By reciprocating movement of the sliders 16 and 18, the left and right lower limbs are passively bent and stretched alternately while the movement of the heel is stopped by the heel receiving portions 24B and 26B, and the hip joint, knee joint and ankle joint Bending and stretching movements are performed passively alternately left and right.

  In this passive bending and stretching movement, as shown in FIG. 4 (A), the sliders 16 and 18 move backward (toward the user's side), and the soles of the feet approach the horizontal as the knee joint is bent. The foot orthoses 24 and 26 rotate around the first axis A in a direction in which the sole receiving portions 24A and 26A approach horizontally. On the contrary, as the sliders 16 and 18 move forward and the knee joint is extended, the soles approach the vertical direction, and the foot orthoses 24 and 26 move in the direction in which the sole receiving parts 24A and 26A approach the vertical direction. Rotate around the axis A. As a result, passive bending and stretching movements of the lower limbs in the supine posture are also performed based on natural ankle movements.

  That is, the foot orthoses 24 and 26 are attached to the sliders 16 and 18 so as to be rotatable around the first axis A extending horizontally in the left-right direction at positions corresponding to the heel receiving portions 24B and 26B. Thus, the foot placed on the foot braces 24 and 26 with the heels attached to the heel receiving portions 24B and 26B is such that the ankle joint (the heel) is positioned substantially coaxially with the first axis A, and the movement of the ankle joint Since both the sitting posture and the supine posture are not restrained, passive bending and stretching movements are performed based on the natural movement of the ankle joint.

  Thus, the lower limb exercise assisting device 1 has a simpler structure and is easier to handle than the conventional one, and can be used in either a supine posture or a posture seated on a chair.

  In addition, when the sliders 16 and 18 move forward, the feet are displaced forward or dropped with respect to the foot orthoses 24 and 26 by lightly pressing the soles against the foot support portions 24A and 26A. There is nothing. When it is necessary to more reliably prevent the foot from moving forward relative to the foot braces 24 and 26 during the forward movement of the sliders 16 and 18, as shown in FIG. The toe covers 24C and 26C that cover the toes are provided on the foot orthoses 24 and 26, and the foot orthoses 24 and 26 may have a shoe shape that can rotate around the first axis A.

  FIG. 6 shows another embodiment of sliders 16 and 18 used in the lower limb exercise assisting apparatus 1 according to the present invention. In this embodiment, the sliders 16 and 18 have lower members 17 and 19 to which the transmission belt 64 is connected, and bracket portions 16A and 18A, and the foot braces 24 and 26 are supported by the support shafts 20 and 22 on the first axis. It is divided into upper members 21 and 23 which are supported so as to be rotatable around A. Rotating shafts 21A and 23A suspended in the vertical direction are fixed to the bottom of the upper members 21 and 23, and vertical bearing holes 17A that rotatably receive the rotating shafts 21A and 23A are fixed to the lower members 17 and 19, respectively. 19A is formed. Since the rotary shafts 21A and 23A are rotatably fitted in the bearing holes 17A and 19A, the foot braces 24 and 26 can rotate around the first axis A, and in addition to the first axis A. It becomes possible to rotate around a second axis B that is orthogonal and passes through the plane of movement of the sliders 16 and 18.

  As the degree of freedom of the foot braces 24 and 26 increases in this way, the ankle joint becomes more natural in passive bending and stretching movements of the lower limbs in either the sitting posture or the supine posture. The rotation around the second axis B is limited to the stopper pins 21B fixed to the upper members 21, 23 in order to limit the movement of the ankle joint around the second axis B to the range of natural movement. 23B may be limited to a predetermined angular range by engaging arcuate openings 17B and 19B formed in the lower members 17 and 19.

  If it is necessary to further increase the degree of freedom of the foot orthoses 24 and 26, the lower members 17 and 19 and the upper members 21 and 23 may be connected in a spherical joint manner as shown in FIG. In this case, spherical concave portions 17C and 19C are formed on the upper portions of the lower members 17 and 19, and spherical convex portions 21C and 23C are formed on the lower bottom portions of the upper members 21 and 23, and the spherical concave portions 17C and 19C and the spherical surface are formed. The convex portions 21C and 23C may be spherically fitted. Further, elastic members 25 and 27 made of rubber-like elastic material are sandwiched between the lower members 17 and 19 and the upper members 21 and 23.

  The upper members 21 and 23 have a horizontal initial posture by sandwiching the elastic members 25 and 27, and include spherical joints including tilting in the left-right direction with respect to the lower members 17 and 19 with elastic deformation of the elastic members 25 and 27. Tilt in all directions to the formula.

  Although the present invention has been described above with reference to preferred embodiments, the present invention is not limited to such embodiments so that those skilled in the art can easily understand, and departs from the spirit of the present invention. It is possible to change appropriately within the range not to be. For example, the left and right sliders 16 and 18 may be reciprocally driven by individual electric motors. In this case, the left and right sliders 16 and 18 can be selected to reciprocate in opposite phases and to reciprocate in the same phase.

  In addition, all the components shown in the above embodiment are not necessarily essential, and can be appropriately selected without departing from the gist of the present invention.

DESCRIPTION OF SYMBOLS 10 Base 16 Slider 17 Lower member 17A Bearing hole 17C Spherical recessed part 18 Slider 20 Support shaft 21 Upper member 21A Rotating shaft 21B Stopper pin 21C Spherical convex part 24 Foot orthosis 24A Foot sole receiving part 24B Foot receiving part 26 Foot orthosis 26A Foot Back receiving part 26B Reed receiving part 58 Electric motor

Claims (2)

The base,
Left and right sliders provided on the base so as to be able to reciprocate in a back-and-forth direction parallel to each other on one plane;
A drive device for reciprocating the left and right sliders in the front-rear direction;
A user's foot is placed and has at least a heel receiving portion that prevents the heel of the user from moving backward, and each slider extends horizontally in the left-right direction at a position corresponding to the heel receiving portion. Left and right foot braces attached to be rotatable about a second axis that is rotatable about a first axis and that is orthogonal to the first axis and penetrates the moving plane of the slider ;
Lower limb exercise assisting device.   The lower limb exercise assisting device according to claim 1, wherein the foot orthosis is further tiltable in a left-right direction.

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